version: 66.13
glider: 204
mission: 19
dive: 53
start: 7 14 117 15 12 59
data:
$ID,204
$MISSION,19
$DIVE,53
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$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,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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52433
$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,400
$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,2
$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,3065
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,25
$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,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
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.29309
$PRESSURE_SLOPE,0.00010934046
$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,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
$GPS1,140717,150731,4745.7329,-12504.6719,10,0.9,28,16.2,0.4,82.4,9,2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-69.6
$GPS2,140717,151240,4745.7383,-12504.6055,2,0.9,3,16.2,0.2,0.0,9,6.4
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,238.7,11527,-22.2,-10.000,-26.19,2621
$D_GRID,152
$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,12,begin dive
$GC,13,-1.25,-170.3,189,2193,1380,1243,0.0,0.0,0,77,0.00,0.00,-62.42,0.000,16386,0.000,0.000,189,2193,2895,2855,2935,0,0,0,0,0,0,26.70,28.83,26.77
$GC,79,-1.25,-170.3,188,2193,2856,2937,4.9,-9.4,6,111,11.77,2.53,-13.38,0.000,18724,0.266,1.240,2646,3606,3638,3605,3672,0,0,0,0,0,0,24.84,24.10,25.39
$GC,144,-1.25,-170.3,2646,3606,3607,3672,22.0,-17.7,19,152,0.00,2.22,0.00,0.000,1030,0.000,0.045,2655,2201,3638,3605,3672,0,0,0,0,0,0,26.17,26.13,26.20
$GC,350,-1.25,-170.3,2655,2201,3609,3673,55.0,-16.2,38,355,0.00,2.22,0.00,0.000,516,0.000,0.055,2666,796,3641,3609,3673,0,0,0,0,0,0,26.85,25.86,26.91
$GC,534,-1.25,-170.3,2668,796,3610,3672,83.9,-14.2,75,541,0.00,2.25,0.00,0.000,1030,0.000,0.044,2657,2206,3640,3609,3672,0,0,0,0,0,0,26.11,26.05,26.15
$GC,741,-1.25,-170.3,2657,2207,3611,3672,112.8,-14.6,86,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2207,3641,3610,3672,0,0,0,0,0,0,26.98,27.05,27.04
$GC,920,-1.25,-170.3,2657,2207,3611,3673,139.3,-14.4,92,926,0.00,2.25,0.00,0.000,260,0.000,0.065,2645,3604,3640,3609,3672,0,0,0,0,0,0,27.01,25.76,27.07
$GC,990,-1.25,-170.3,2647,3604,3610,3672,148.9,-13.4,106,996,0.00,2.20,0.00,0.000,1030,0.000,0.044,2655,2201,3641,3610,3672,0,0,0,0,0,0,26.24,26.20,26.29
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1043,-0.23,0.0,2655,2509,3611,3673,155.3,-12.8,111,1270,1.27,0.00,218.12,0.630,10246,0.188,0.000,2983,2508,2939,3011,2867,0,0,0,0,1,0,24.56,24.63,23.31
$STATE,1271,end apogee,CONTROL_FINISHED_OK
$STATE,1271,begin climb
$GC,1272,1.25,170.3,2983,2509,3017,2869,164.7,0.0,118,1466,1.62,2.03,183.77,0.575,10500,0.140,0.067,3447,3707,2235,2320,2150,0,0,0,0,0,0,24.96,24.91,24.06
$GC,1690,1.25,170.3,3447,3708,2297,2143,140.5,10.2,203,1696,0.00,1.90,0.00,0.000,1030,0.000,0.040,3454,2493,2219,2297,2142,0,0,0,0,0,0,26.22,26.17,26.25
$GC,1896,1.28,191.9,3454,2493,2298,2141,121.4,9.2,214,1922,0.00,2.03,21.70,0.553,8484,0.000,0.065,3447,3686,2150,2234,2066,0,0,0,0,0,0,26.85,25.51,24.65
$GC,1995,1.28,191.9,3448,3687,2217,2055,110.8,11.1,234,2001,0.00,1.85,0.00,0.000,1030,0.000,0.039,3455,2495,2135,2215,2055,0,0,0,0,0,0,26.28,26.26,26.32
$GC,2197,1.30,208.7,3454,2495,2217,2053,91.3,9.3,244,2218,0.00,2.17,15.73,0.555,8740,0.000,0.043,3465,1092,2082,2164,2000,0,0,0,0,0,0,26.86,25.19,24.72
$GC,2441,1.30,208.7,3464,1092,2153,1989,65.8,11.1,293,2447,0.00,2.22,0.00,0.000,1030,0.000,0.039,3455,2505,2069,2150,1989,0,0,0,0,0,0,26.18,26.13,26.23
$GC,2627,1.30,208.7,3456,2506,2149,1991,45.3,9.8,306,2632,0.00,2.20,0.00,0.000,516,0.000,0.045,3465,1093,2069,2149,1989,0,0,0,0,0,0,26.94,26.07,27.00
$GC,2778,1.44,306.9,3465,1095,2149,1991,33.7,6.2,336,2831,0.22,2.17,47.85,0.210,11302,0.100,0.039,3528,2506,1685,1780,1591,0,0,0,0,0,0,26.02,26.17,25.39
$GC,3008,1.44,306.9,3528,2505,1783,1602,9.0,9.7,364,3012,0.00,2.17,0.00,0.000,516,0.000,0.046,3538,1108,1692,1783,1602,0,0,0,0,0,0,26.89,25.99,26.94
$STATE,3106,end climb,SURFACE_DEPTH_REACHED
$STATE,3107,begin surface coast
$FINISH,0.4,1.022585
$STATE,3136,end surface coast,CONTROL_FINISHED_OK
$STATE,3136,begin surface
$SM_CCo,3154,48.38,0.142,0,0,1306,400.08
$SM_GC,0.63,10.45,1.73,48.38,0.106,0.037,0.142,189,2193,1306,-8.89,-1.05,400.08,0,0,0,0,0,0,26.34,26.20,25.49
$IRIDIUM_FIX,4745.35,-12501.36,140717,141015
$TT8_MAMPS,0.045689,0.308588
$HUMID,50.63
$INTERNAL_PRESSURE,8.67648
$TCM_TEMP,13.20
$XPDR_PINGS,19
$PM_FREEKB_00,124650816
$PM_FREEKB_01,105912832
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834880
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,23.31,5.612
$10V_AH,9.55,2.957
$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,25.350,34.650,487.175,48.375,0.000,0.000,0.000,208.725,4.750,0.000,5.522,0.000,1778.571,576.550,1113.695,59.521,0.000,1151.136,0.000,675.495,0.000,0.541,0.000
$DEVICE_MAMPS,266.220,1240.065,630.360,141.525,0.000,0.000,0.000,97.155,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3142.000,3155.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.713,40.795,0.000,0.000
$MEM,278220
$DATA_FILE_SIZE,13449,390
$CAP_FILE_SIZE,48284,0
$CFSIZE,260030464,255574016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.110,161.95,1
$GPS,140717,160701,4745.557,-12504.683,1,1.4,3,16.1,0.2,0.0,7,7.7