version: 66.13
glider: 204
mission: 21
dive: 131
start: 11 5 117 2 44 46
data:
$ID,204
$MISSION,21
$DIVE,131
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,850
$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,300
$T_MISSION,500
$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,1.026
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,21
$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,0.00069999998
$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,16
$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,20
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,48
$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,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$GPS1,051117,023431,1937.5201,-15601.5576,19,1.5,20,9.5,0.2,0.0,5,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.8
$GPS2,051117,024426,1937.4849,-15601.4795,3,1.4,4,9.5,0.2,0.0,5,8.9
$SPEED_LIMITS,0.164,0.186
$TGT_NAME,SHELF2
$TGT_LATLONG,1937.000,-15603.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,248.0,2801,-26.0,-9.444,-29.79,1892
$D_GRID,1010
$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,-1.17,-116.2,190,2512,1171,1036,0.0,0.0,0,118,0.00,0.00,-101.40,0.000,16390,0.000,0.000,188,2512,3619,3551,3688,0,0,0,0,0,0,20.39,19.57,20.43
$GC,120,-1.19,-146.2,189,2513,3552,3689,3.8,-6.2,10,146,16.23,3.12,-2.22,0.000,18980,0.236,0.956,2609,1109,3744,3684,3804,1,0,0,0,0,0,19.90,19.40,20.04
$GC,281,-1.19,-146.2,2609,1109,3689,3804,41.2,-17.6,42,287,0.00,2.92,0.00,0.000,1030,0.000,0.043,2600,2492,3746,3688,3805,0,0,0,0,0,0,20.21,20.15,20.23
$GC,601,-1.19,-146.2,2600,2491,3690,3804,96.9,-16.9,57,606,0.00,2.88,0.00,0.000,516,0.000,0.039,2606,1103,3747,3689,3805,0,0,0,0,0,0,20.42,20.18,20.47
$GC,681,-1.19,-146.2,2606,1102,3690,3804,108.9,-13.9,73,686,0.00,2.95,0.00,0.000,1030,0.000,0.044,2597,2506,3746,3689,3804,0,0,0,0,0,0,20.23,20.16,20.25
$GC,991,-1.19,-146.2,2598,2509,3693,3806,153.3,-14.2,85,996,0.00,2.90,0.00,0.000,516,0.000,0.037,2601,1097,3748,3693,3804,0,0,0,0,0,0,20.44,20.18,20.47
$GC,1131,-1.19,-146.2,2602,1097,3693,3805,168.7,-10.6,113,1136,0.00,2.95,0.00,0.000,1030,0.000,0.042,2592,2507,3748,3693,3804,0,0,0,0,0,0,20.24,20.17,20.26
$GC,1442,-1.19,-146.2,2592,2508,3695,3806,205.5,-12.9,125,1447,0.00,2.55,0.00,0.000,260,0.000,0.055,2583,3700,3749,3694,3804,0,0,0,0,0,0,20.44,20.16,20.48
$GC,1541,-1.19,-146.2,2583,3700,3695,3804,217.3,-11.3,145,1547,0.10,2.45,0.00,0.000,3078,0.163,0.035,2607,2509,3749,3694,3804,0,0,0,0,0,0,20.06,20.22,20.16
$GC,1862,-1.19,-146.2,2607,2510,3697,3805,244.4,-8.7,159,1868,0.00,2.92,0.00,0.000,548,0.000,0.040,2617,1090,3749,3695,3804,0,0,0,0,0,0,20.44,20.19,20.48
$GC,1958,-1.19,-146.2,2618,1090,3697,3804,252.2,-8.4,178,1962,0.00,2.92,0.00,0.000,1062,0.000,0.038,2609,2498,3750,3696,3805,0,0,0,0,0,0,20.25,20.20,20.28
$GC,2279,-1.19,-146.2,2608,2499,3693,3805,280.2,-8.9,187,2284,0.00,2.92,0.00,0.000,548,0.000,0.041,2619,1091,3749,3695,3804,0,0,0,0,0,0,20.44,20.18,20.49
$GC,2363,-1.19,-146.2,2617,1092,3696,3805,290.1,-12.5,204,2369,0.00,2.92,0.00,0.000,1030,0.000,0.038,2607,2502,3749,3695,3804,0,0,0,0,0,0,20.26,20.20,20.28
$GC,2699,-1.19,-146.2,2608,2505,3695,3805,322.0,-8.1,216,2704,0.00,2.55,0.00,0.000,292,0.000,0.056,2599,3699,3749,3694,3804,0,0,0,0,0,0,20.45,20.18,20.49
$STATE,2833,end dive,NO_VERTICAL_VELOCITY
$STATE,2833,begin apogee
$GC,2839,-0.21,0.0,2609,2390,3694,3801,322.0,0.0,243,2992,1.42,0.00,149.40,0.627,10246,0.125,0.000,2923,2389,3144,3173,3116,0,0,0,0,0,0,20.09,19.97,19.56
$STATE,2993,end apogee,CONTROL_FINISHED_OK
$STATE,2993,begin climb
$GC,2995,1.19,146.2,2924,2389,3168,3112,322.1,0.0,245,3152,1.92,2.85,146.95,0.608,10756,0.106,0.033,3385,999,2543,2575,2512,0,0,0,0,0,0,19.98,19.85,19.56
$GC,3301,1.19,146.2,3385,998,2562,2511,289.3,13.8,307,3307,0.00,2.88,0.00,0.000,1030,0.000,0.030,3385,2401,2535,2561,2510,0,0,0,0,0,0,20.17,20.12,20.20
$GC,3652,1.19,146.2,3385,2402,2559,2502,247.7,11.4,322,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2401,2529,2558,2501,0,0,0,0,0,0,20.39,20.44,20.43
$GC,3952,1.19,146.2,3386,2401,2556,2496,217.1,10.3,332,3958,0.00,2.90,0.00,0.000,516,0.000,0.033,3396,999,2526,2555,2497,0,0,0,0,0,0,20.41,20.17,20.45
$GC,4017,1.19,146.2,3395,1000,2556,2497,209.7,12.1,345,4023,0.00,2.88,0.00,0.000,1030,0.000,0.030,3395,2402,2525,2554,2497,0,0,0,0,0,0,20.23,20.17,20.25
$GC,4343,1.19,146.2,3396,2402,2552,2493,175.4,10.6,360,4349,0.00,2.75,0.00,0.000,260,0.000,0.050,3395,3702,2522,2551,2493,0,0,0,0,0,0,20.42,20.16,20.47
$GC,4488,1.19,146.2,3396,3700,2552,2488,158.8,10.1,389,4495,0.00,2.65,0.00,0.000,1030,0.000,0.028,3405,2397,2519,2550,2488,0,0,0,0,0,0,20.25,20.23,20.27
$GC,4794,1.21,174.8,3405,2397,2550,2487,134.9,7.9,400,4825,0.00,2.80,26.27,0.502,8484,0.000,0.049,3404,3701,2423,2466,2380,0,0,0,0,0,0,20.43,19.93,19.68
$GC,4930,1.21,183.7,3405,3701,2460,2372,123.4,9.0,427,4947,0.00,2.60,8.27,0.467,9254,0.000,0.029,3413,2398,2393,2440,2346,0,0,0,0,0,0,20.25,20.23,19.71
$GC,5245,1.23,214.2,3414,2399,2435,2343,97.1,7.8,440,5286,0.00,2.92,33.22,0.468,8740,0.000,0.034,3425,998,2262,2309,2215,0,0,0,0,0,0,20.42,20.05,19.70
$GC,5415,1.23,214.2,3424,998,2300,2213,82.0,9.4,474,5420,0.00,2.85,0.00,0.000,1062,0.000,0.030,3422,2399,2256,2299,2214,0,0,0,0,0,0,20.23,20.17,20.25
$GC,5726,1.24,227.9,3422,2400,2300,2211,54.4,8.7,486,5746,0.00,2.80,13.82,0.430,8484,0.000,0.049,3412,3696,2207,2260,2155,0,0,0,0,0,0,20.43,20.09,19.76
$GC,5890,1.24,227.9,3412,3697,2254,2151,38.2,10.0,519,5903,0.00,2.62,0.00,0.000,1030,0.000,0.028,3420,2403,2201,2253,2149,0,0,0,0,0,0,20.25,20.23,20.26
$GC,6199,1.25,234.6,3421,2403,2254,2149,11.0,9.1,550,6210,0.00,2.90,2.50,0.132,8740,0.000,0.034,3431,1008,2189,2244,2134,0,0,0,0,0,0,20.43,20.19,20.06
$GC,6240,1.25,234.6,3430,1009,2250,2138,6.9,10.0,558,6245,0.00,2.85,0.00,0.000,1030,0.000,0.034,3426,2397,2193,2250,2136,0,0,0,0,0,0,20.25,20.18,20.26
$STATE,6299,end climb,SURFACE_DEPTH_REACHED
$STATE,6299,begin surface coast
$FINISH,0.2,1.011333
$STATE,6319,end surface coast,CONTROL_FINISHED_OK
$STATE,6319,begin surface
$SM_CCo,6339,154.57,0.100,0,0,1103,500.17
$SM_GC,1.00,12.48,0.22,154.57,0.072,0.060,0.100,191,2504,1103,-8.67,-0.54,500.17,0,0,0,0,0,0,20.23,20.20,20.06
$IRIDIUM_FIX,1937.52,-15604.81,041117,215645
$TT8_MAMPS,0.045689,0.32956
$HUMID,49.21
$INTERNAL_PRESSURE,9.3308
$TCM_TEMP,24.60
$XPDR_PINGS,0
$PM_FREEKB_00,0
$PM_FREEKB_01,0
$PM_FREEKB_02,0
$PM_FREEKB_03,0
$PM_FREEKB_04,0
$PM_FREEKB_05,0
$PM_FREEKB_06,0
$PM_FREEKB_07,488640
$PM_ACTIVECARD,4
$24V_AH,19.40,44.302
$10V_AH,10.09,31.364
$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,32.150,79.125,380.450,154.575,0.000,0.000,0.000,443.950,0.000,0.000,5.798,0.000,4528.227,666.176,1760.343,134.487,0.000,1604.264,0.000,1013.254,0.000,0.547,0.000
$DEVICE_MAMPS,236.385,956.250,627.300,100.215,0.000,0.000,0.000,120.105,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6340.000,6329.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.250,29.139,0.000,0.000
$MEM,215700
$DATA_FILE_SIZE,20088,567
$CAP_FILE_SIZE,72785,0
$CFSIZE,260030464,239828992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.128,161.11,1
$GPS,051117,043401,1936.881,-15601.788,24,0.8,24,9.5,0.4,130.2,9,4.9