version: 66.13
glider: 204
mission: 20
dive: 23
start: 9 7 117 13 33 18
data:
$ID,204
$MISSION,20
$DIVE,23
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,140
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52283
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0099999998
$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,588.77728
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,3140
$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,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3430
$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,0.5
$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,-171.0345
$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,6
$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
$GPS1,070917,132818,4806.7559,-12222.7041,3,1.3,5,15.8,0.1,0.0,5,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-73.5
$GPS2,070917,133259,4806.7466,-12222.6836,3,1.3,5,15.8,0.1,0.0,5,4.7
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,133.0,1621,-18.5,-10.000,-20.79,2247
$D_GRID,105
$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,-1.04,-146.6,186,2702,1101,956,0.0,0.0,0,127,0.00,0.00,-112.55,0.000,16386,0.000,0.000,186,2702,3600,3532,3668,0,0,0,0,0,0,26.77,28.83,26.84
$GC,129,-1.04,-146.6,186,2702,3532,3669,3.0,-5.4,11,155,12.30,1.83,-8.38,0.000,18724,0.266,1.251,2792,3697,3962,3906,4019,0,0,0,0,0,0,25.31,24.21,24.07
$GC,260,-0.74,-146.6,2793,3698,3910,4020,24.3,-14.7,37,266,0.32,1.58,0.00,0.000,3206,0.201,0.048,2895,2704,3963,3908,4019,0,0,0,0,0,0,25.17,26.21,25.09
$GC,592,-0.74,-146.6,2894,2704,3908,4020,55.5,-8.9,67,596,0.00,2.17,0.00,0.000,548,0.000,0.044,2905,1289,3964,3909,4019,0,0,0,0,0,0,26.95,25.99,27.01
$GC,631,-0.79,-146.6,2906,1290,3911,4020,59.1,-8.9,75,636,0.00,2.33,0.00,0.000,1190,0.000,0.057,2897,2699,3964,3909,4019,0,0,0,0,0,0,23.99,25.78,24.32
$GC,951,-0.79,-146.6,2894,2699,3910,4020,86.2,-8.3,89,957,0.00,1.67,0.00,0.000,292,0.000,0.073,2889,3721,3963,3908,4019,0,0,0,0,0,0,26.94,25.51,27.00
$GC,996,-0.79,-146.6,2887,3721,3908,4020,90.2,-8.9,98,1002,0.00,1.62,0.00,0.000,1062,0.000,0.048,2895,2702,3963,3909,4017,0,0,0,0,0,0,26.10,26.05,26.13
$STATE,1191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1191,begin apogee
$GC,1194,-0.23,0.0,2896,2702,3910,4020,107.2,-8.7,107,1318,0.62,0.00,122.28,0.584,10246,0.181,0.000,3057,2702,3429,3450,3408,0,0,0,0,0,0,24.51,25.31,24.55
$STATE,1320,end apogee,CONTROL_FINISHED_OK
$STATE,1320,begin climb
$GC,1321,1.04,146.6,3056,2703,3443,3400,111.2,0.0,111,1466,1.35,1.65,135.88,0.549,10500,0.138,0.062,3459,3707,2822,2855,2790,0,0,0,0,0,0,25.34,24.94,24.50
$GC,1501,0.93,146.6,3458,3707,2839,2783,101.1,10.1,147,1505,0.00,1.62,0.00,0.000,1158,0.000,0.044,3466,2681,2811,2839,2783,0,0,0,0,0,0,25.99,25.95,26.09
$GC,1831,0.91,172.0,3466,2682,2835,2783,71.6,8.8,163,1862,0.15,0.00,24.17,0.519,12454,0.187,0.000,3431,2682,2715,2745,2686,0,0,0,0,0,0,25.79,25.61,24.93
$GC,2162,1.00,211.4,3430,2682,2731,2683,44.4,8.2,178,2184,0.00,1.73,15.90,0.220,8612,0.000,0.064,3423,3707,2566,2603,2529,0,0,0,0,0,0,24.71,25.78,25.03
$GC,2274,1.06,226.9,3422,3707,2616,2533,33.9,9.3,200,2287,0.12,1.58,8.48,0.200,11430,0.157,0.046,3468,2704,2502,2544,2460,0,0,0,0,0,0,25.63,26.17,25.29
$GC,2584,1.16,259.3,3467,2704,2560,2463,6.0,8.5,232,2605,0.15,0.00,15.62,0.146,10918,0.107,0.000,3518,2704,2366,2419,2314,0,0,0,0,0,0,26.37,25.63,25.47
$STATE,2632,end climb,SURFACE_DEPTH_REACHED
$STATE,2632,begin surface coast
$FINISH,0.8,1.019552
$STATE,2652,end surface coast,CONTROL_FINISHED_OK
$STATE,2652,begin surface
$SM_CCo,2669,147.05,0.129,0,0,1026,588.97
$SM_GC,0.34,9.88,0.00,147.05,0.083,0.000,0.129,194,2704,1026,-9.11,0.11,588.97,0,0,0,0,0,0,26.38,26.95,25.61
$IRIDIUM_FIX,4807.51,-12223.57,070917,123911
$TT8_MAMPS,0.046438,0.301098
$HUMID,51.77
$INTERNAL_PRESSURE,8.56906
$TCM_TEMP,15.20
$XPDR_PINGS,248
$PM_FREEKB_00,36865536
$PM_FREEKB_01,62336896
$PM_FREEKB_02,62267648
$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,23.99,16.982
$10V_AH,9.65,13.325
$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,24.900,17.775,322.325,147.050,0.000,0.000,0.000,177.875,62.000,0.000,6.479,0.000,1659.841,560.415,822.960,72.190,0.000,989.283,0.000,463.415,0.000,0.833,0.000
$DEVICE_MAMPS,266.220,1250.775,584.460,129.285,0.000,0.000,0.000,98.685,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2657.000,2666.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.648,42.359,0.000,0.000
$MEM,188272
$DATA_FILE_SIZE,6805,241
$CAP_FILE_SIZE,39775,0
$CFSIZE,260030464,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,105.63,1
$GPS,070917,142125,4806.518,-12222.399,34,0.8,34,15.8,0.1,0.0,12,4.8