version: 66.13
glider: 204
mission: 19
dive: 60
start: 7 14 117 23 39 16
data:
$ID,204
$MISSION,19
$DIVE,60
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,140717,233239,4744.3760,-12506.4883,9,1.0,16,16.1,0.4,272.2,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-70.5
$GPS2,140717,233857,4744.3174,-12506.5557,4,1.1,5,16.1,0.9,249.5,8,9.5
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,233.1,8029,-22.2,-10.000,-26.19,2621
$D_GRID,277
$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,-170.3,186,2201,1381,1226,0.0,0.0,0,77,0.00,0.00,-62.40,0.000,16386,0.000,0.000,184,2201,2889,2850,2928,0,0,0,0,0,0,26.69,28.83,26.75
$GC,79,-1.25,-170.3,184,2202,2851,2929,4.8,-9.3,6,111,11.82,2.50,-14.12,0.000,18724,0.266,1.242,2648,3602,3637,3605,3669,0,0,0,0,0,0,24.85,24.19,25.37
$GC,335,-1.25,-170.3,2649,3602,3611,3668,50.2,-15.5,57,342,0.00,2.20,0.00,0.000,1030,0.000,0.043,2657,2202,3639,3610,3668,0,0,0,0,0,0,26.18,26.14,26.22
$GC,641,-1.25,-170.3,2657,2200,3613,3669,93.0,-14.8,68,646,0.00,2.25,0.00,0.000,260,0.000,0.061,2648,3602,3640,3612,3669,0,0,0,0,0,0,26.97,25.78,27.02
$GC,821,-1.25,-170.3,2648,3603,3612,3670,120.8,-16.6,104,827,0.00,2.20,0.00,0.000,1030,0.000,0.044,2656,2200,3640,3612,3668,0,0,0,0,0,0,26.34,26.20,26.37
$GC,1152,-1.25,-170.3,2657,2199,3613,3669,167.0,-13.4,120,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,3640,3612,3669,0,0,0,0,0,0,27.03,27.10,27.09
$GC,1452,-1.25,-170.3,2657,2201,3613,3668,202.3,-11.0,130,1457,0.00,2.28,0.00,0.000,260,0.000,0.061,2648,3608,3640,3612,3669,0,0,0,0,0,0,27.05,25.75,27.10
$GC,1681,-1.25,-170.3,2648,3608,3613,3669,233.4,-14.0,176,1688,0.00,2.22,0.00,0.000,1030,0.000,0.044,2657,2196,3640,3612,3668,0,0,0,0,0,0,26.23,26.20,26.28
$GC,2022,-1.25,-170.3,2656,2197,3612,3669,275.8,-12.6,186,2027,0.00,2.28,0.00,0.000,260,0.000,0.061,2648,3605,3640,3612,3668,0,0,0,0,0,0,27.06,25.72,27.12
$STATE,2030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2030,begin apogee
$GC,2034,-0.23,0.0,2655,2495,3613,3668,277.0,-12.9,188,2223,1.30,0.00,185.12,0.668,10246,0.190,0.000,2985,2494,2937,3010,2865,0,0,0,0,0,0,24.41,24.82,23.94
$STATE,2225,end apogee,CONTROL_FINISHED_OK
$STATE,2225,begin climb
$GC,2226,1.25,170.3,2985,2496,3001,2863,282.3,0.0,191,2420,1.62,2.25,183.05,0.636,10756,0.146,0.043,3461,1097,2233,2319,2147,0,0,0,0,0,0,25.00,24.81,23.90
$GC,2478,1.25,170.3,3461,1098,2301,2138,269.2,11.0,233,2484,0.00,2.28,0.00,0.000,1030,0.000,0.041,3453,2503,2218,2300,2136,0,0,0,0,0,0,25.77,25.72,25.82
$GC,2784,1.25,170.3,3453,2505,2297,2135,237.1,10.6,246,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2503,2215,2296,2134,0,0,0,0,0,0,26.79,26.86,26.86
$GC,3084,1.25,170.3,3453,2505,2294,2133,207.3,10.0,256,3090,0.00,2.20,0.00,0.000,516,0.000,0.044,3461,1095,2212,2293,2132,0,0,0,0,0,0,26.94,26.03,27.00
$GC,3134,1.25,170.3,3461,1095,2294,2132,202.3,10.0,266,3140,0.00,2.22,0.00,0.000,1030,0.000,0.039,3452,2507,2212,2293,2132,0,0,0,0,0,0,26.18,26.13,26.23
$GC,3446,1.29,198.3,3452,2506,2293,2130,173.7,8.9,278,3477,0.00,0.00,21.55,0.591,8486,0.000,0.000,3453,2507,2128,2214,2043,0,0,0,0,1,0,27.00,25.41,24.46
$GC,3775,1.32,219.8,3453,2506,2214,2044,143.4,9.2,294,3812,0.12,2.22,30.55,0.592,10788,0.152,0.044,3512,1091,2035,2121,1949,0,0,0,0,0,0,26.45,25.53,24.65
$GC,3846,1.32,219.8,3512,1091,2111,1939,134.8,12.6,308,3852,0.00,2.22,0.00,0.000,1030,0.000,0.036,3512,2502,2023,2109,1938,0,0,0,0,0,0,26.15,26.10,26.18
$GC,4167,1.32,219.8,3512,2502,2102,1937,93.5,12.4,322,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2502,2019,2101,1937,0,0,0,0,0,0,26.89,26.96,26.96
$GC,4467,1.32,219.8,3512,2502,2101,1937,60.8,11.1,332,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2502,2018,2099,1937,0,0,0,0,0,0,26.98,27.05,27.04
$GC,4767,1.32,219.8,3512,2503,2099,1938,28.9,10.4,354,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2502,2018,2099,1937,0,0,0,0,0,0,27.02,27.09,27.08
$GC,5068,1.53,375.4,3512,2502,2098,1937,8.6,3.9,384,5157,0.15,2.00,82.28,0.161,11044,0.128,0.073,3548,3679,1406,1513,1300,0,0,0,0,0,0,26.53,25.72,25.46
$STATE,5181,end climb,SURFACE_DEPTH_REACHED
$STATE,5181,begin surface coast
$FINISH,-0.3,1.022557
$STATE,5201,end surface coast,CONTROL_FINISHED_OK
$STATE,5201,begin surface
$SM_CCo,5219,13.88,0.156,0,0,1309,400.08
$SM_GC,1.91,10.02,2.38,13.88,0.083,0.044,0.156,192,2199,1309,-8.87,0.90,400.08,0,0,0,0,0,0,26.34,26.08,25.36
$IRIDIUM_FIX,4745.74,-12505.82,140717,220524
$TT8_MAMPS,0.048685,0.294357
$HUMID,51.10
$INTERNAL_PRESSURE,8.64718
$TCM_TEMP,13.10
$XPDR_PINGS,4
$PM_FREEKB_00,124650816
$PM_FREEKB_01,97564672
$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,23.90,6.244
$10V_AH,9.52,3.426
$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,25.050,35.450,502.550,13.875,0.000,0.000,0.000,266.725,1.000,0.000,6.862,0.000,3711.582,573.451,1267.231,72.564,0.000,1214.454,0.000,750.763,0.000,0.540,0.000
$DEVICE_MAMPS,266.220,1241.595,667.845,156.060,0.000,0.000,0.000,99.450,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5211.000,5220.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.973,24.834,0.000,0.000
$MEM,278136
$DATA_FILE_SIZE,13450,407
$CAP_FILE_SIZE,52708,0
$CFSIZE,260030464,255139840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066,127.99,1
$GPS,150717,010731,4744.334,-12507.199,27,0.9,27,16.2,0.5,184.3,9,7.5