version: 66.13
glider: 204
mission: 21
dive: 3
start: 10 6 117 20 47 34
data:
$ID,204
$MISSION,21
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,40
$T_MISSION,50
$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,250
$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,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,60
$R_STBD_OVSHOOT,33
$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,0.0014
$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
$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,-171.85684
$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,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
$GPS1,061017,204404,1940.3723,-15603.6602,1,0.6,2,9.5,0.3,330.5,12,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.3
$GPS2,061017,204715,1940.4227,-15603.6953,2,0.6,3,9.5,0.4,329.9,12,7.2
$SPEED_LIMITS,0.217,0.257
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,84.8,219,-26.7,-12.500,-30.00,2142
$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,-1.46,-174.1,166,2665,575,500,0.0,0.0,0,147,0.00,0.00,-132.00,0.000,16386,0.000,0.000,165,2666,3768,3693,3843,0,0,0,0,0,0,27.13,28.83,27.20
$GC,149,-1.56,-243.7,166,2666,3694,3842,4.1,-6.0,13,171,11.05,1.90,-3.72,0.000,18724,0.244,1.139,2619,3687,3963,3903,4024,0,0,0,0,0,0,25.36,23.95,25.60
$GC,265,-1.41,-243.7,2619,3688,3904,4025,35.8,-23.2,36,273,0.22,1.48,0.00,0.000,3206,0.220,0.047,2680,2727,3964,3904,4024,0,0,0,0,0,0,25.31,26.44,25.46
$GC,581,-1.45,-243.7,2681,2727,3906,4024,92.3,-16.8,52,586,0.00,2.17,0.00,0.000,644,0.000,0.045,2691,1293,3964,3904,4024,0,0,0,0,0,0,27.15,26.32,27.20
$GC,685,-1.59,-243.7,2692,1295,3903,4024,108.2,-13.7,73,691,0.12,2.20,0.00,0.000,5254,0.117,0.050,2639,2680,3964,3904,4024,0,0,0,0,0,0,26.00,26.28,26.08
$GC,1001,-1.69,-243.7,2639,2682,3905,4025,149.7,-12.0,86,1006,0.12,1.62,0.00,0.000,4516,0.136,0.067,2585,3707,3964,3905,4024,0,0,0,0,0,0,26.76,26.09,26.80
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1014,-0.23,0.0,2592,2702,3905,4023,150.9,-12.2,88,1169,1.83,0.00,151.68,0.544,10246,0.187,0.000,3060,2702,3144,3199,3089,0,0,0,0,0,0,24.79,25.67,24.93
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,1.56,243.7,3061,2702,3193,3084,158.0,0.0,93,1369,1.73,2.15,186.57,0.539,10756,0.103,0.035,3640,1276,2140,2206,2074,0,0,0,0,0,0,25.87,25.75,24.98
$GC,1593,1.45,243.7,3641,1277,2191,2070,86.4,19.2,178,1599,0.10,2.20,0.00,0.000,5254,0.155,0.037,3610,2715,2129,2189,2070,0,0,0,0,0,0,26.08,26.48,26.16
$GC,1900,1.35,243.7,3610,2715,2190,2062,33.3,16.8,197,1904,0.12,1.48,0.00,0.000,4484,0.207,0.049,3578,3694,2125,2189,2062,0,0,0,0,0,0,26.38,26.35,26.42
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,0.2,1.022023
$STATE,2102,end surface coast,CONTROL_FINISHED_OK
$STATE,2102,begin surface
$SM_CCo,2120,107.25,0.113,0,0,1103,500.17
$SM_GC,0.96,9.52,1.55,107.25,0.064,0.041,0.113,175,2683,1103,-9.13,0.85,500.17,0,0,0,0,0,0,26.72,26.54,25.95
$IRIDIUM_FIX,1939.93,-15601.79,061017,204215
$TT8_MAMPS,0.046438,0.304094
$HUMID,53.46
$INTERNAL_PRESSURE,9.56519
$TCM_TEMP,25.10
$XPDR_PINGS,65
$PM_FREEKB_00,60135808
$PM_FREEKB_01,62268672
$PM_FREEKB_02,62335808
$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,23.95,19.209
$10V_AH,10.47,0.278
$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,24.825,18.325,338.250,107.250,0.000,0.000,0.000,0.000,16.250,0.000,4.609,0.000,1158.055,534.839,576.510,22.162,0.000,781.097,0.000,420.463,0.000,0.550,0.000
$DEVICE_MAMPS,244.035,1139.085,543.915,113.220,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2093.000,2104.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.816,39.458,0.000,0.000
$MEM,216216
$DATA_FILE_SIZE,6846,238
$CAP_FILE_SIZE,62248,0
$CFSIZE,260030464,257966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.375,340.71,1
$GPS,061017,212519,1940.822,-15603.814,1,0.7,2,9.5,0.5,317.3,12,7.1