version: 66.13
glider: 204
mission: 19
dive: 61
start: 7 15 117 1 13 28
data:
$ID,204
$MISSION,19
$DIVE,61
$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,30
$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,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
$GPS1,150717,010731,4744.3345,-12507.1992,27,0.9,27,16.2,0.5,184.3,9,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-70.0
$GPS2,150717,011309,4744.3291,-12507.2373,4,0.9,5,16.2,0.1,0.0,9,7.0
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,236.0,7338,-22.2,-10.000,-26.19,2621
$D_GRID,315
$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,-170.3,193,2196,1385,1244,0.0,0.0,0,67,0.00,0.00,-52.72,0.000,16386,0.000,0.000,192,2196,2572,2541,2604,0,0,0,0,0,0,26.69,28.83,26.75
$GC,69,-1.25,-170.3,192,2197,2542,2606,3.1,-6.7,5,112,11.70,2.55,-22.65,0.000,18724,0.264,1.243,2647,3599,3637,3606,3669,0,0,0,0,0,0,24.84,24.13,25.11
$GC,262,-1.25,-170.3,2647,3597,3607,3669,39.3,-16.1,43,267,0.00,2.20,0.00,0.000,1030,0.000,0.047,2655,2186,3639,3609,3670,0,0,0,0,0,0,26.16,26.07,26.20
$GC,572,-1.25,-170.3,2656,2183,3613,3670,86.0,-13.6,59,577,0.00,2.33,0.00,0.000,260,0.000,0.068,2647,3602,3640,3611,3670,0,0,0,0,0,0,26.94,25.67,26.99
$GC,676,-1.25,-170.3,2647,3603,3612,3671,100.9,-14.5,80,682,0.00,2.20,0.00,0.000,1030,0.000,0.043,2655,2199,3640,3611,3670,0,0,0,0,0,0,26.21,26.17,26.26
$GC,992,-1.25,-170.3,2655,2197,3613,3670,142.7,-12.8,93,998,0.00,2.25,0.00,0.000,260,0.000,0.061,2647,3602,3641,3612,3670,0,0,0,0,0,0,27.02,25.75,27.07
$GC,1036,-1.25,-170.3,2647,3603,3613,3671,149.0,-14.2,102,1042,0.00,2.20,0.00,0.000,1030,0.000,0.043,2655,2197,3641,3612,3670,0,0,0,0,0,0,26.23,26.20,26.28
$GC,1352,-1.25,-170.3,2656,2196,3614,3670,188.7,-12.2,115,1357,0.00,2.28,0.00,0.000,260,0.000,0.062,2648,3605,3641,3612,3670,0,0,0,0,0,0,27.04,25.72,27.10
$GC,1421,-1.25,-170.3,2647,3606,3613,3670,197.9,-13.2,129,1428,0.00,2.20,0.00,0.000,1030,0.000,0.043,2655,2199,3641,3612,3670,0,0,0,0,0,0,26.23,26.19,26.27
$GC,1743,-1.25,-170.3,2656,2198,3613,3669,239.9,-13.5,143,1748,0.00,2.28,0.00,0.000,260,0.000,0.062,2647,3608,3641,3612,3670,0,0,0,0,0,0,27.05,25.68,27.11
$GC,1807,-1.25,-170.3,2647,3609,3613,3671,249.1,-14.4,156,1813,0.00,2.22,0.00,0.000,1030,0.000,0.043,2655,2195,3641,3612,3670,0,0,0,0,0,0,26.22,26.19,26.27
$GC,2133,-1.25,-170.3,2655,2196,3612,3670,291.6,-13.0,166,2138,0.00,2.28,0.00,0.000,260,0.000,0.061,2647,3603,3640,3612,3669,0,0,0,0,0,0,27.06,25.66,27.12
$GC,2237,-1.25,-170.3,2648,3604,3613,3669,307.8,-16.0,187,2243,0.00,2.20,0.00,0.000,1030,0.000,0.042,2655,2198,3640,3612,3669,0,0,0,0,0,0,26.22,26.18,26.25
$STATE,2312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2312,begin apogee
$GC,2315,-0.23,0.0,2655,2508,3613,3670,318.7,-14.5,191,2487,1.30,0.00,163.50,1.085,10246,0.188,0.000,2984,2508,2940,3013,2867,0,0,0,0,1,0,24.31,24.05,22.70
$STATE,2488,end apogee,CONTROL_FINISHED_OK
$STATE,2488,begin climb
$GC,2489,1.25,170.3,2985,2510,3015,2869,326.4,0.0,193,2688,1.67,2.08,190.75,0.647,10500,0.141,0.066,3449,3684,2238,2324,2153,0,0,0,0,0,0,24.33,24.60,23.70
$GC,2912,1.25,170.3,3449,3685,2295,2144,301.7,10.9,280,2918,0.00,1.85,0.00,0.000,1030,0.000,0.041,3455,2499,2218,2295,2142,0,0,0,0,0,0,26.17,26.15,26.21
$GC,3258,1.25,170.3,3456,2499,2294,2140,264.8,10.8,294,3264,0.00,1.98,0.00,0.000,260,0.000,0.066,3449,3679,2216,2293,2140,0,0,0,0,0,0,26.88,25.63,26.94
$GC,3453,1.25,170.3,3449,3680,2292,2141,243.4,11.2,333,3459,0.00,1.83,0.00,0.000,1030,0.000,0.041,3455,2506,2215,2291,2140,0,0,0,0,0,0,26.36,26.33,26.40
$GC,3769,1.27,190.6,3456,2506,2293,2139,212.7,9.2,346,3795,0.00,2.22,19.65,0.622,8740,0.000,0.049,3466,1093,2154,2235,2074,0,0,0,0,0,0,26.99,25.56,24.62
$GC,3809,1.31,215.8,3465,1093,2231,2069,208.9,9.0,354,3841,0.00,2.22,28.92,0.616,9254,0.000,0.041,3457,2498,2062,2149,1975,0,0,0,0,0,0,26.23,26.18,24.51
$GC,4162,1.31,215.8,3458,2497,2115,1959,169.9,11.4,374,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2498,2036,2114,1959,0,0,0,0,0,0,26.84,26.91,26.91
$GC,4461,1.31,215.8,3457,2499,2112,1960,137.6,10.7,384,4466,0.00,1.95,0.00,0.000,260,0.000,0.071,3449,3686,2034,2111,1958,0,0,0,0,0,0,26.96,25.47,27.02
$GC,4590,1.31,215.8,3449,3688,2111,1960,122.6,11.5,410,4597,0.00,1.85,0.00,0.000,1030,0.000,0.042,3455,2498,2034,2111,1958,0,0,0,0,0,0,26.34,26.31,26.38
$GC,4912,1.31,215.8,3456,2498,2111,1957,89.5,10.9,424,4917,0.00,2.15,0.00,0.000,516,0.000,0.044,3466,1101,2033,2110,1957,0,0,0,0,0,0,27.02,26.02,27.08
$GC,5047,1.31,215.8,3466,1102,2111,1959,75.6,10.9,451,5052,0.00,2.22,0.00,0.000,1030,0.000,0.043,3457,2501,2033,2109,1957,0,0,0,0,0,0,26.22,26.06,26.29
$GC,5352,1.33,230.0,3457,2503,2110,1958,46.5,9.4,465,5365,0.12,1.98,6.25,0.171,10532,0.148,0.070,3506,3686,2005,2086,1925,0,0,0,0,0,0,26.58,25.08,24.81
$GC,5589,1.36,248.7,3506,3686,2097,1937,20.6,9.3,512,5608,0.00,1.85,12.88,0.186,9254,0.000,0.041,3513,2496,1922,2005,1839,0,0,0,0,0,0,26.33,26.29,25.10
$GC,5905,1.65,455.6,3514,2495,2007,1843,7.6,1.9,545,6007,0.25,0.00,98.95,0.158,10530,0.107,0.000,3610,2494,1197,1320,1075,0,0,0,0,0,0,26.26,28.83,26.34
$STATE,6007,end climb,SURFACE_DEPTH_REACHED
$STATE,6007,begin surface coast
$FINISH,-0.5,1.022455
$STATE,6021,end surface coast,CONTROL_FINISHED_OK
$STATE,6021,begin surface
$SM_CCo,6097,0.00,0.000,0,0,1194,428.54
$SM_GC,0.10,10.25,0.45,0.00,0.086,0.047,0.000,188,2201,1194,-8.88,1.10,428.54,0,0,0,0,0,0,26.31,26.31,26.36
$IRIDIUM_FIX,4744.43,-12503.98,140717,233435
$TT8_MAMPS,0.048685,0.2996
$HUMID,51.29
$INTERNAL_PRESSURE,8.66672
$TCM_TEMP,13.40
$XPDR_PINGS,1
$PM_FREEKB_00,124650816
$PM_FREEKB_01,96125056
$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,22.70,6.351
$10V_AH,9.53,3.509
$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,25.300,52.300,520.900,0.000,0.000,0.000,0.000,227.775,0.250,0.000,6.562,0.000,4282.511,570.632,1516.108,78.448,0.000,1301.249,0.000,988.008,0.000,0.539,0.000
$DEVICE_MAMPS,263.925,1243.125,1084.770,0.000,0.000,0.000,0.000,104.040,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6029.000,6040.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.647,24.617,0.000,0.000
$MEM,278076
$DATA_FILE_SIZE,20090,566
$CAP_FILE_SIZE,66180,0
$CFSIZE,260030464,255053824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.016,152.32,1
$GPS,150717,025609,4744.146,-12507.950,17,1.0,30,16.2,0.2,0.0,12,4.5