version: 66.13
glider: 203
mission: 13
dive: 57
start: 7 14 117 21 46 31
data:
$ID,203
$MISSION,13
$DIVE,57
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$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,220
$T_MISSION,250
$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,150
$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,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,24
$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,0.00113
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0.5
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$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,3
$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
$GPS1,140717,214001,4743.8384,-12505.1582,13,1.3,41,16.1,0.1,0.0,7,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.0
$GPS2,140717,214612,4743.7852,-12505.1553,3,1.1,4,16.1,0.3,233.3,8,6.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,242.2,9149,-17.5,-10.000,-21.06,2227
$D_GRID,190
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.04,-146.0,186,2803,1133,1080,0.0,0.0,0,68,0.00,0.00,-52.40,0.000,16386,0.000,0.000,184,2801,2445,2489,2402,0,0,0,0,0,0,26.55,28.83,26.62
$GC,70,-1.04,-146.0,184,2801,2489,2403,3.3,-5.7,5,107,7.22,1.77,-25.08,0.000,18724,0.227,1.276,2022,3857,3538,3606,3471,0,0,0,0,0,0,25.81,24.99,26.15
$GC,191,-1.04,-146.0,2022,3858,3609,3473,23.4,-11.2,29,197,0.00,1.62,0.00,0.000,1030,0.000,0.031,2022,2796,3540,3607,3473,0,0,0,0,0,0,26.43,26.41,26.44
$GC,522,-1.04,-146.0,2022,2797,3607,3476,61.5,-11.5,57,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2796,3542,3609,3476,0,0,0,0,0,0,26.82,26.89,26.88
$GC,821,-1.04,-146.0,2021,2796,3608,3476,94.5,-10.8,67,827,0.00,2.15,0.00,0.000,516,0.000,0.034,2022,1380,3541,3608,3475,0,0,0,0,0,0,26.93,26.62,26.99
$GC,1051,-1.04,-146.0,2021,1381,3608,3476,117.2,-9.9,113,1058,0.03,2.22,0.00,0.000,3078,0.207,0.040,2021,2797,3542,3608,3476,0,0,0,0,0,0,26.46,26.61,26.53
$GC,1362,-1.04,-146.0,2020,2798,3608,3476,147.5,-9.4,125,1363,0.00,0.00,0.00,0.000,38,0.000,0.000,2021,2797,3542,3608,3476,0,0,0,0,0,0,27.04,27.12,27.10
$GC,1663,-1.04,-146.0,2021,2798,3608,3477,174.4,-9.0,135,1668,0.00,2.12,0.00,0.000,548,0.000,0.037,2021,1380,3542,3608,3476,0,0,0,0,0,0,27.08,26.72,27.15
$STATE,1836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1841,-0.25,0.0,2020,2620,3610,3477,190.4,-9.2,170,1990,0.82,0.00,138.52,1.040,10246,0.116,0.000,2288,2618,2946,2981,2911,0,0,0,0,1,0,26.47,24.92,24.17
$STATE,1991,end apogee,CONTROL_FINISHED_OK
$STATE,1991,begin climb
$GC,1993,1.04,146.0,2290,2620,2987,2911,198.4,0.0,175,2146,1.12,2.05,143.82,0.586,10500,0.042,0.053,2718,3856,2333,2357,2309,0,0,0,0,0,0,25.18,24.94,24.63
$GC,2370,1.09,188.0,2717,3857,2345,2295,184.0,8.1,251,2413,0.00,1.98,39.40,0.575,9254,0.000,0.034,2728,2609,2174,2201,2147,0,0,0,0,0,0,26.03,26.00,25.06
$GC,2711,1.11,206.0,2728,2610,2179,2123,153.7,9.2,269,2731,0.00,2.00,15.48,0.588,8484,0.000,0.055,2728,3848,2094,2122,2066,0,0,0,0,0,0,26.48,25.77,25.40
$GC,2805,1.11,206.0,2729,3850,2114,2057,143.9,10.8,288,2811,0.00,1.98,0.00,0.000,1030,0.000,0.037,2736,2598,2083,2111,2056,0,0,0,0,0,0,26.22,26.18,26.25
$GC,3130,1.11,206.0,2737,2599,2112,2054,111.8,9.7,303,3136,0.00,2.05,0.00,0.000,260,0.000,0.057,2736,3854,2081,2110,2053,0,0,0,0,0,0,26.70,26.36,26.77
$GC,3185,1.11,206.0,2738,3855,2112,2054,105.9,10.9,314,3192,0.00,1.95,0.00,0.000,1030,0.000,0.037,2746,2606,2081,2109,2053,0,0,0,0,0,0,26.51,26.47,26.53
$GC,3490,1.14,237.7,2745,2606,2107,2055,77.3,8.5,325,3537,0.00,0.00,45.58,0.543,8230,0.000,0.000,2745,2605,1970,1999,1942,0,0,0,0,0,0,26.86,26.03,25.58
$GC,3820,1.14,237.7,2747,2606,1985,1924,45.2,9.6,338,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2605,1953,1983,1923,0,0,0,0,0,0,26.67,26.75,26.74
$GC,4121,1.20,285.7,2746,2605,1985,1924,19.9,7.8,368,4148,0.00,2.00,21.10,0.191,8484,0.000,0.057,2746,3854,1774,1803,1746,0,0,0,0,0,0,26.84,26.38,26.06
$GC,4282,1.38,443.4,2746,3855,1818,1748,10.2,2.7,399,4369,0.12,1.95,79.80,0.164,11302,0.047,0.035,2822,2596,1129,1169,1090,0,0,0,0,0,0,26.52,26.57,25.98
$STATE,4403,end climb,SURFACE_DEPTH_REACHED
$STATE,4403,begin surface coast
$FINISH,0.3,1.022757
$STATE,4422,end surface coast,CONTROL_FINISHED_OK
$STATE,4422,begin surface
$SM_CCo,4437,3.85,0.165,0,0,1105,450.13
$SM_GC,1.32,6.85,0.35,3.85,0.034,0.065,0.165,185,2797,1105,-6.73,-0.88,450.13,0,0,0,0,0,0,26.40,26.33,26.03
$IRIDIUM_FIX,4744.82,-12508.44,140717,201811
$TT8_MAMPS,0.053179,0.319823
$HUMID,51.69
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,18.60
$XPDR_PINGS,0
$PM_FREEKB_00,124818048
$PM_FREEKB_01,96542144
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834944
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,24.17,14.610
$10V_AH,10.17,8.966
$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,16.175,28.125,483.700,3.850,0.000,0.000,0.000,240.400,0.000,0.000,5.624,0.000,3113.295,515.209,1094.106,102.251,0.000,1137.087,0.000,611.591,0.000,0.548,0.000
$DEVICE_MAMPS,227.205,1276.020,1040.400,165.240,0.000,0.000,0.000,98.685,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4432.000,4443.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.032,41.862,0.000,0.000
$MEM,278104
$DATA_FILE_SIZE,13424,422
$CAP_FILE_SIZE,51502,0
$CFSIZE,1024393216,991985664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,45.18,1
$GPS,140717,230117,4743.543,-12505.494,3,1.5,8,16.1,0.5,177.7,7,8.6