version: 66.13
glider: 203
mission: 13
dive: 26
start: 7 13 117 16 55 4
data:
$ID,203
$MISSION,13
$DIVE,26
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,50
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,31
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1010
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52418
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2368
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.37723
$PRESSURE_SLOPE,0.00010878081
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043963501
$SEABIRD_T_H,0.00063669891
$SEABIRD_T_I,2.4874016e-05
$SEABIRD_T_J,2.9344606e-06
$SEABIRD_C_G,-10.04379
$SEABIRD_C_H,1.1655113
$SEABIRD_C_I,-0.0016799819
$SEABIRD_C_J,0.00021581368
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,130717,164902,4751.1372,-12459.5664,13,1.0,15,16.2,0.3,137.8,7,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-54.8
$GPS2,130717,165445,4751.0854,-12459.5527,4,1.0,7,16.2,0.4,190.3,7,8.1
$SPEED_LIMITS,0.177,0.280
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,223.0,22887,-16.4,-10.215,-20.03,2540
$D_GRID,96
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.71,-170.3,187,2792,503,499,0.0,0.0,0,92,0.00,0.00,-81.97,0.000,16386,0.000,0.000,185,2792,2621,2667,2576,0,0,0,0,0,0,26.50,28.83,26.57
$GC,94,-0.71,-170.3,185,2792,2667,2577,4.0,-6.6,8,130,7.53,1.80,-23.48,0.000,18724,0.226,1.278,2117,3860,3638,3709,3567,0,0,0,0,0,0,25.89,24.77,26.20
$GC,279,-0.71,-170.3,2118,3861,3711,3570,27.2,-12.0,45,287,0.00,1.62,0.00,0.000,1030,0.000,0.033,2117,2805,3639,3709,3569,0,0,0,0,0,0,26.45,26.40,26.47
$GC,465,-0.71,-170.3,2118,2806,3711,3572,40.1,-4.7,64,470,0.00,2.17,0.00,0.000,548,0.000,0.037,2117,1388,3640,3709,3571,0,0,0,0,0,0,26.75,26.46,26.82
$GC,505,-0.71,-170.3,2116,1389,3709,3572,43.0,-8.4,72,510,0.00,2.22,0.00,0.000,1062,0.000,0.041,2111,2790,3640,3709,3571,0,0,0,0,0,0,26.49,26.44,26.54
$GC,695,-0.71,-170.3,2112,2792,3711,3571,60.0,-7.7,84,695,0.00,0.00,0.00,0.000,38,0.000,0.000,2111,2791,3640,3709,3571,0,0,0,0,0,0,26.85,26.93,26.91
$GC,875,-0.71,-170.3,2112,2791,3711,3572,73.1,-7.5,90,880,0.00,2.17,0.00,0.000,548,0.000,0.037,2111,1383,3640,3709,3571,0,0,0,0,0,0,26.91,26.63,26.98
$GC,980,-0.71,-170.3,2110,1384,3709,3572,80.2,-7.4,111,985,0.00,2.22,0.00,0.000,1062,0.000,0.040,2109,2797,3640,3709,3571,0,0,0,0,0,0,26.65,26.60,26.69
$GC,1175,-0.71,-170.3,2108,2797,3709,3572,94.9,-7.4,120,1180,0.00,1.67,0.00,0.000,292,0.000,0.060,2106,3856,3640,3709,3571,0,0,0,0,0,0,26.98,26.62,27.05
$STATE,1183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1183,begin apogee
$GC,1189,-0.22,0.0,2106,2499,3709,3572,95.6,-7.1,122,1291,0.55,0.00,94.45,0.878,10246,0.107,0.000,2288,2498,2938,2965,2912,0,0,0,0,1,0,26.51,25.23,24.56
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1293,0.71,170.3,2289,2499,2975,2913,100.6,0.0,125,1506,0.82,2.35,201.98,0.520,11012,0.044,0.042,2609,1098,2235,2257,2213,0,0,0,0,0,0,25.41,25.22,24.81
$GC,1626,0.71,292.0,2610,1098,2248,2203,98.8,5.3,185,1700,0.00,2.28,64.05,0.842,9254,0.000,0.033,2609,2517,1747,1780,1714,0,0,0,0,1,0,25.90,25.86,24.40
$GC,1877,0.71,343.1,2610,2518,1795,1717,79.1,8.1,205,1938,0.00,2.22,47.35,0.633,8484,0.000,0.055,2609,3847,1540,1578,1503,0,0,0,0,1,0,26.17,25.41,24.73
$GC,1993,0.71,343.1,2608,3848,1586,1512,68.3,10.7,228,1999,0.00,2.10,0.00,0.000,1030,0.000,0.037,2610,2501,1549,1587,1511,0,0,0,0,0,0,25.86,25.82,25.89
$GC,2177,0.71,446.4,2608,2502,1588,1511,55.3,6.0,235,2249,0.00,2.28,61.42,0.773,8740,0.000,0.043,2610,1098,1117,1162,1073,0,0,0,0,1,0,26.38,25.13,24.68
$GC,2284,0.71,535.2,2611,1098,1165,1081,48.8,6.6,256,2332,0.00,2.22,42.88,0.254,9254,0.000,0.035,2610,2502,756,776,736,0,0,0,0,0,0,25.73,25.67,25.34
$GC,2508,0.71,547.6,2609,2503,792,735,29.1,9.7,283,2520,0.00,0.00,6.80,0.209,8230,0.000,0.000,2610,2502,706,735,677,0,0,0,0,0,0,26.33,25.88,25.72
$GC,2698,0.71,611.5,2612,2503,752,679,12.9,7.6,302,2730,0.00,2.22,27.08,0.176,8740,0.000,0.041,2610,1090,496,492,500,0,0,0,0,0,0,26.53,26.04,25.91
$GC,2790,0.71,639.2,2611,1091,504,500,5.8,9.1,318,2795,0.00,2.22,0.15,0.507,9254,0.000,0.034,2609,2507,498,498,499,0,0,0,0,0,0,26.32,26.29,25.87
$STATE,2838,end climb,SURFACE_DEPTH_REACHED
$STATE,2838,begin surface coast
$FINISH,0.2,1.010053
$STATE,2858,end surface coast,CONTROL_FINISHED_OK
$STATE,2858,begin surface
$SM_CCo,2931,0.00,0.000,0,0,500,598.53
$SM_GC,0.88,6.35,0.45,0.00,0.040,0.056,0.000,189,2789,500,-6.69,-1.24,598.53,0,0,0,0,0,0,26.37,26.32,26.42
$IRIDIUM_FIX,4751.79,-12502.41,130717,155917
$TT8_MAMPS,0.053179,0.282373
$HUMID,51.65
$INTERNAL_PRESSURE,8.5883
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,24.40,12.125
$10V_AH,10.19,7.024
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.250,34.350,546.150,0.000,0.000,0.000,0.000,258.975,0.000,0.000,8.439,0.000,1709.706,596.266,894.510,77.039,0.000,1197.494,0.000,475.002,0.000,0.548,0.000
$DEVICE_MAMPS,225.675,1277.550,878.220,0.000,0.000,0.000,0.000,83.385,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2857.000,22.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.425,11.431,0.000,0.000
$MEM,278148
$DATA_FILE_SIZE,10140,326
$CAP_FILE_SIZE,45209,0
$CFSIZE,1024393216,995622912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.134,94.22,1
$GPS,130717,174455,4750.825,-12459.835,28,1.0,44,16.2,0.3,107.3,9,4.2