version: 66.13
glider: 204
mission: 21
dive: 4
start: 10 6 117 21 35 49
data:
$ID,204
$MISSION,21
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,250
$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,60
$T_MISSION,70
$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,3110
$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,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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
$GPS1,061017,213303,1940.9602,-15603.8877,1,1.0,3,9.5,0.4,325.6,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.9
$GPS2,061017,213530,1941.0051,-15603.9102,2,1.0,3,9.5,0.6,326.3,8,7.1
$SPEED_LIMITS,0.202,0.253
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,156.6,1081,-20.9,-11.667,-24.80,3214
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.29,-243.7,176,2402,1168,1044,0.0,0.0,0,117,0.00,0.00,-102.30,0.000,16386,0.000,0.000,175,2403,3601,3540,3662,0,0,0,0,0,0,27.10,28.83,27.16
$GC,119,-1.29,-243.7,176,2402,3542,3662,3.2,-4.3,10,142,11.15,2.33,-7.40,0.000,18724,0.243,1.161,2681,3697,3961,3909,4014,0,0,0,0,0,0,25.50,24.36,25.95
$GC,182,-1.08,-243.7,2681,3696,3910,4014,19.7,-19.6,22,187,0.22,1.98,0.00,0.000,3206,0.197,0.041,2759,2399,3962,3910,4014,0,0,0,0,0,0,25.47,26.52,25.80
$GC,512,-1.08,-243.7,2759,2400,3912,4014,65.9,-13.3,48,517,0.00,2.05,0.00,0.000,260,0.000,0.062,2750,3696,3962,3910,4014,0,0,0,0,0,0,27.15,26.15,27.20
$GC,566,-1.08,-243.7,2752,3697,3911,4015,73.0,-13.1,59,574,0.00,1.98,0.00,0.000,1030,0.000,0.038,2760,2392,3962,3911,4014,0,0,0,0,0,0,26.61,26.58,26.63
$GC,872,-1.16,-243.7,2759,2393,3910,4015,108.0,-11.2,70,877,0.00,2.12,0.00,0.000,676,0.000,0.049,2770,1001,3962,3911,4014,0,0,0,0,0,0,27.15,26.30,27.21
$GC,907,-1.28,-243.7,2771,1001,3912,4014,111.8,-11.0,77,912,0.15,2.20,0.00,0.000,5286,0.084,0.047,2697,2395,3962,3910,4014,0,0,0,0,0,0,26.15,26.30,26.22
$GC,1233,-1.28,-243.7,2698,2395,3912,4014,148.4,-11.0,92,1237,0.00,2.05,0.00,0.000,292,0.000,0.061,2686,3704,3962,3911,4013,0,0,0,0,0,0,27.15,26.13,27.21
$GC,1322,-1.28,-243.7,2687,3705,3912,4015,158.4,-10.9,110,1327,0.00,1.95,0.00,0.000,1062,0.000,0.044,2690,2401,3963,3912,4014,0,0,0,0,0,0,26.59,26.51,26.63
$GC,1652,-1.33,-243.7,2691,2403,3912,4015,191.1,-9.8,126,1657,0.00,2.05,0.00,0.000,420,0.000,0.060,2681,3700,3962,3911,4014,0,0,0,0,0,0,27.13,26.13,27.20
$GC,1717,-1.37,-243.7,2683,3698,3912,4014,197.3,-9.5,139,1723,0.00,1.98,0.00,0.000,1190,0.000,0.039,2689,2399,3962,3911,4014,0,0,0,0,0,0,26.58,26.55,26.63
$STATE,1861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1861,begin apogee
$GC,1865,-0.23,0.0,2692,1989,3912,4012,210.1,-8.9,148,2023,1.20,0.00,155.07,0.569,10246,0.155,0.000,3029,1988,3142,3189,3096,0,0,0,0,0,0,25.14,25.65,24.90
$STATE,2025,end apogee,CONTROL_FINISHED_OK
$STATE,2025,begin climb
$GC,2026,1.29,243.7,3029,1990,3183,3090,217.0,0.0,153,2223,1.45,0.00,188.02,0.552,10758,0.095,0.000,3520,1989,2136,2191,2081,0,0,0,0,0,0,25.85,25.64,24.94
$GC,2523,1.15,243.7,3522,1989,2176,2070,142.2,16.5,180,2528,0.15,2.17,0.00,0.000,4484,0.179,0.045,3483,3418,2122,2177,2067,0,0,0,0,0,0,26.41,26.36,26.51
$GC,2753,1.03,243.7,3483,3419,2177,2063,108.4,12.7,226,2759,0.15,2.12,0.00,0.000,5254,0.161,0.028,3449,1983,2118,2176,2061,0,0,0,0,0,0,25.96,26.62,26.04
$GC,3063,1.11,296.6,3451,1982,2176,2061,75.8,10.0,238,3125,0.00,2.12,56.30,0.463,8996,0.000,0.044,3458,610,1927,1992,1862,0,0,0,0,0,0,27.13,25.52,25.13
$GC,3289,1.16,296.6,3458,609,1977,1859,48.3,12.2,283,3295,0.00,2.12,0.00,0.000,1158,0.000,0.033,3449,2007,1917,1975,1859,0,0,0,0,0,0,26.51,26.46,26.54
$GC,3595,1.28,332.6,3449,2008,1978,1855,14.5,10.5,315,3618,0.22,2.15,15.85,0.148,10660,0.110,0.047,3527,3408,1787,1858,1716,0,0,0,0,0,0,26.58,25.84,25.68
$STATE,3681,end climb,SURFACE_DEPTH_REACHED
$STATE,3682,begin surface coast
$FINISH,0.3,1.022018
$STATE,3691,end surface coast,CONTROL_FINISHED_OK
$STATE,3691,begin surface
$SM_CCo,3708,74.93,0.118,0,0,1103,500.17
$SM_GC,0.97,9.48,1.55,74.93,0.070,0.043,0.118,177,2404,1103,-9.02,1.36,500.17,0,0,0,0,0,0,26.71,26.48,25.91
$IRIDIUM_FIX,1940.23,-15603.88,061017,213049
$TT8_MAMPS,0.046438,0.310086
$HUMID,56.49
$INTERNAL_PRESSURE,9.51636
$TCM_TEMP,24.80
$XPDR_PINGS,127
$PM_FREEKB_00,58571904
$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,24.36,19.286
$10V_AH,10.48,0.352
$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,24.175,33.525,415.250,74.925,0.000,0.000,0.000,0.000,31.750,0.000,5.190,0.000,2412.134,594.059,810.511,31.821,0.000,901.262,0.000,605.388,0.000,0.550,0.000
$DEVICE_MAMPS,243.270,1161.270,569.160,117.810,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3682.000,3693.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.846,39.558,0.000,0.000
$MEM,216080
$DATA_FILE_SIZE,10128,334
$CAP_FILE_SIZE,57117,0
$CFSIZE,260030464,257912832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308,338.49,1
$GPS,061017,223938,1941.268,-15604.007,8,1.4,10,9.5,0.6,323.8,8,9.8