version: 66.13
glider: 204
mission: 21
dive: 5
start: 10 6 117 22 49 52
data:
$ID,204
$MISSION,21
$DIVE,5
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$D_ABORT,1010
$D_NO_BLEED,200
$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,120
$T_MISSION,140
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.026
$MASS,52527
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0200298
$HD_C,2.53195e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3090
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3145
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,20
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.85684
$PRESSURE_SLOPE,0.00010934046
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_PING_N,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,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043580476
$SEABIRD_T_H,0.00063004985
$SEABIRD_T_I,2.4557072e-05
$SEABIRD_T_J,2.6474129e-06
$SEABIRD_C_G,-10.262359
$SEABIRD_C_H,1.1522416
$SEABIRD_C_I,-0.00012417733
$SEABIRD_C_J,0.00011025551
$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,1.0
$GPS1,061017,224727,1941.4103,-15604.0645,1,1.3,3,9.5,0.6,310.9,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.7
$GPS2,061017,224933,1941.4493,-15604.0820,2,1.5,5,9.5,0.9,316.4,8,9.0
$SPEED_LIMITS,0.192,0.249
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,150.0,1949,-20.0,-11.111,-24.05,3369
$D_GRID,794
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.25,-243.7,199,2405,1168,1049,0.0,0.0,0,117,0.00,0.00,-102.25,0.000,16386,0.000,0.000,199,2404,3587,3525,3650,0,0,0,0,0,0,27.10,28.83,27.16
$GC,119,-1.25,-243.7,199,2404,3526,3651,3.2,-4.4,10,142,10.98,2.33,-7.75,0.000,18724,0.243,1.170,2670,3696,3962,3909,4016,0,0,0,0,0,0,25.41,24.43,25.65
$GC,182,-1.00,-243.7,2669,3697,3910,4017,19.7,-20.9,22,187,0.28,1.98,0.00,0.000,3206,0.190,0.039,2767,2402,3963,3910,4016,0,0,0,0,0,0,25.37,26.52,25.72
$GC,492,-1.00,-243.7,2767,2403,3912,4017,62.5,-12.7,48,498,0.00,2.08,0.00,0.000,260,0.000,0.061,2758,3688,3963,3911,4016,0,0,0,0,0,0,27.14,26.13,27.20
$GC,542,-1.00,-243.7,2758,3689,3912,4017,69.0,-12.9,58,548,0.00,1.98,0.00,0.000,1030,0.000,0.041,2766,2402,3964,3912,4016,0,0,0,0,0,0,26.55,26.51,26.58
$GC,853,-1.07,-243.7,2767,2403,3914,4016,102.8,-10.8,70,858,0.00,2.15,0.00,0.000,676,0.000,0.044,2777,987,3964,3913,4016,0,0,0,0,0,0,27.15,26.31,27.20
$GC,897,-1.18,-243.7,2777,987,3914,4016,107.4,-10.1,79,903,0.15,2.22,0.00,0.000,5286,0.090,0.048,2706,2395,3964,3913,4016,0,0,0,0,0,0,26.08,26.27,26.16
$GC,1213,-1.18,-243.7,2706,2394,3915,4015,143.3,-11.3,92,1218,0.00,2.05,0.00,0.000,260,0.000,0.060,2695,3700,3965,3914,4016,0,0,0,0,0,0,27.15,26.10,27.21
$GC,1353,-1.18,-243.7,2696,3701,3915,4017,159.8,-11.6,120,1359,0.00,1.98,0.00,0.000,1030,0.000,0.039,2695,2400,3965,3914,4016,0,0,0,0,0,0,26.57,26.54,26.68
$GC,1664,-1.22,-243.7,2696,2402,3916,4017,191.1,-9.3,132,1670,0.00,2.05,0.00,0.000,420,0.000,0.061,2686,3700,3965,3915,4016,0,0,0,0,0,0,27.15,26.09,27.20
$GC,1739,-1.22,-243.7,2686,3701,3916,4017,198.6,-10.4,147,1744,0.00,1.98,0.00,0.000,1062,0.000,0.040,2691,2402,3965,3915,4016,0,0,0,0,0,0,26.56,26.53,26.59
$GC,2055,-1.29,-243.7,2691,2403,3915,4017,226.0,-8.0,160,2056,0.00,0.00,0.00,0.000,166,0.000,0.000,2691,2402,3965,3915,4016,0,0,0,0,0,0,27.14,27.22,27.20
$GC,2355,-1.36,-243.7,2691,2402,3916,4015,252.0,-9.0,170,2360,0.12,2.08,0.00,0.000,4516,0.145,0.060,2649,3719,3965,3915,4016,0,0,0,0,0,0,26.70,26.05,26.73
$GC,2380,-1.36,-243.7,2649,3719,3916,4015,254.4,-10.0,175,2385,0.00,2.03,0.00,0.000,1062,0.000,0.039,2655,2393,3965,3915,4016,0,0,0,0,0,0,26.55,26.51,26.59
$GC,2715,-1.36,-243.7,2657,2394,3915,4015,283.0,-8.3,187,2720,0.00,2.10,0.00,0.000,292,0.000,0.065,2649,3706,3963,3913,4013,0,0,0,0,0,0,27.13,25.96,27.20
$GC,2735,-1.36,-243.7,2650,3705,3914,4013,284.9,-9.4,191,2740,0.00,2.03,0.00,0.000,1062,0.000,0.044,2657,2401,3963,3913,4013,0,0,0,0,0,0,26.48,26.44,26.51
$GC,3075,-1.36,-243.7,2657,2402,3910,4013,318.7,-10.1,204,3081,0.00,2.08,0.00,0.000,292,0.000,0.061,2649,3704,3959,3909,4010,0,0,0,0,0,0,27.13,25.98,27.20
$GC,3191,-1.36,-243.7,2649,3704,3909,4011,331.2,-10.5,227,3197,0.00,2.05,0.00,0.000,1062,0.000,0.044,2657,2383,3959,3908,4010,0,0,0,0,0,0,26.44,26.40,26.48
$GC,3496,-1.40,-243.7,2657,2382,3909,4006,363.1,-10.5,233,3501,0.00,2.10,0.00,0.000,420,0.000,0.063,2648,3697,3957,3908,4006,0,0,0,0,0,0,27.09,25.89,27.15
$GC,3525,-1.40,-243.7,2650,3698,3908,4007,366.2,-10.0,239,3531,0.00,2.00,0.00,0.000,1062,0.000,0.041,2657,2397,3956,3907,4006,0,0,0,0,0,0,26.47,26.44,26.51
$GC,3856,-1.45,-243.7,2657,2397,3906,4000,395.0,-8.6,250,3861,0.00,2.10,0.00,0.000,420,0.000,0.065,2648,3698,3952,3904,4001,0,0,0,0,0,0,27.07,25.82,27.13
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3914,-0.23,0.0,2655,2806,3905,4000,400.1,-9.2,261,4161,1.30,0.00,243.90,0.640,10246,0.165,0.000,3006,2806,3143,3180,3107,0,0,0,0,0,0,24.63,25.56,24.77
$STATE,4162,end apogee,CONTROL_FINISHED_OK
$STATE,4162,begin climb
$GC,4163,1.25,243.7,3007,2808,3174,3101,407.1,0.0,265,4382,1.50,1.48,208.60,0.685,10500,0.113,0.057,3488,3708,2139,2190,2089,0,0,0,0,0,0,25.59,25.26,24.75
$GC,4541,0.98,243.7,3488,3709,2168,2072,343.3,20.2,343,4547,0.30,1.40,0.00,0.000,5254,0.164,0.035,3408,2788,2118,2167,2069,0,0,0,0,0,0,25.58,24.97,25.71
$GC,4872,0.90,243.7,3409,2789,2166,2066,295.5,14.1,354,4877,0.00,2.10,0.00,0.000,644,0.000,0.035,3417,1390,2114,2165,2064,0,0,0,0,0,0,27.03,26.34,27.10
$GC,5096,0.85,243.7,3417,1390,2163,2065,261.2,16.1,399,5102,0.17,2.22,0.00,0.000,5254,0.161,0.041,3367,2802,2112,2162,2062,0,0,0,0,0,0,25.56,26.22,25.67
$GC,5412,0.85,243.7,3367,2802,2161,2060,218.8,12.8,410,5416,0.00,2.12,0.00,0.000,516,0.000,0.037,3376,1404,2110,2160,2060,0,0,0,0,0,0,27.08,26.26,27.14
$GC,5641,0.89,243.7,3376,1404,2159,2060,191.5,11.6,456,5647,0.00,2.22,0.00,0.000,1158,0.000,0.046,3372,2804,2108,2157,2060,0,0,0,0,0,0,26.14,26.09,26.20
$GC,5952,0.92,265.0,3372,2804,2157,2057,158.5,10.5,468,5979,0.00,2.22,17.33,0.529,8740,0.000,0.040,3381,1399,2059,2111,2007,0,0,0,0,1,0,27.09,26.02,25.10
$GC,6104,0.98,265.0,3381,1398,2113,2007,141.9,11.3,498,6109,0.00,2.20,0.00,0.000,1158,0.000,0.048,3380,2802,2059,2111,2007,0,0,0,0,0,0,26.25,26.13,26.29
$GC,6434,1.12,328.3,3380,2804,2110,2009,106.5,9.2,514,6490,0.20,2.25,41.33,0.685,10916,0.135,0.041,3451,1404,1809,1875,1743,0,0,0,0,1,0,26.29,25.72,24.61
$GC,6713,1.12,328.3,3452,1404,1894,1756,75.5,11.4,570,6720,0.00,2.22,2.58,0.326,9222,0.000,0.047,3442,2805,1803,1867,1740,0,0,0,0,0,0,26.22,26.17,24.95
$GC,7025,1.16,328.3,3443,2805,1890,1751,40.5,11.3,589,7036,0.00,2.22,2.00,0.172,8836,0.000,0.039,3451,1403,1806,1873,1739,0,0,0,0,0,0,27.06,25.76,25.45
$GC,7236,1.23,335.9,3451,1403,1891,1754,17.4,10.9,631,7249,0.15,2.17,5.68,0.161,11430,0.163,0.048,3488,2800,1774,1840,1708,0,0,0,0,0,0,25.79,26.08,25.49
$STATE,7365,end climb,SURFACE_DEPTH_REACHED
$STATE,7365,begin surface coast
$FINISH,0.2,1.009687
$STATE,7376,end surface coast,CONTROL_FINISHED_OK
$STATE,7376,begin surface
$SM_CCo,7392,75.40,0.122,0,0,1103,500.17
$SM_GC,0.91,9.40,0.60,75.40,0.068,0.045,0.122,174,2403,1103,-8.97,1.33,500.17,0,0,0,0,0,0,26.63,26.51,25.89
$IRIDIUM_FIX,1938.19,-15603.88,061017,224540
$TT8_MAMPS,0.044191,0.304843
$HUMID,57.71
$INTERNAL_PRESSURE,9.36987
$TCM_TEMP,24.00
$XPDR_PINGS,435
$PM_FREEKB_00,55433152
$PM_FREEKB_01,62268672
$PM_FREEKB_02,62335808
$PM_FREEKB_03,62335808
$PM_FREEKB_04,62336320
$PM_FREEKB_05,62335808
$PM_FREEKB_06,62335808
$PM_FREEKB_07,62336576
$PM_ACTIVECARD,0
$24V_AH,24.43,19.406
$10V_AH,10.35,0.483
$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,24.550,66.175,521.400,75.400,0.000,0.000,0.000,0.000,108.750,0.000,7.028,0.000,5324.881,718.442,1439.703,51.287,0.000,1270.691,0.000,1115.573,0.000,0.550,0.000
$DEVICE_MAMPS,243.270,1169.685,685.440,122.400,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7367.000,7377.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.780,39.696,0.000,0.000
$MEM,216092
$DATA_FILE_SIZE,23370,646
$CAP_FILE_SIZE,89375,0
$CFSIZE,260030464,257802240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.105,341.54,1
$GPS,071017,005525,1941.304,-15604.324,19,1.1,30,9.5,0.3,359.2,8,7.3