version: 66.13
glider: 204
mission: 21
dive: 6
start: 10 7 117 1 9 44
data:
$ID,204
$MISSION,21
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$D_ABORT,1010
$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,120
$T_MISSION,140
$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,3090
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,22
$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
$GPS1,071017,010702,1941.5325,-15604.3809,1,1.0,3,9.5,0.8,342.6,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.8
$GPS2,071017,010925,1941.5773,-15604.3906,2,1.0,3,9.5,0.8,8.7,8,10.0
$SPEED_LIMITS,0.192,0.249
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,142.5,2426,-20.0,-11.111,-24.05,3369
$D_GRID,1181
$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,-243.7,201,2402,1178,1048,0.0,0.0,0,119,0.00,0.00,-103.72,0.000,16386,0.000,0.000,200,2403,3672,3606,3738,0,0,0,0,0,0,27.05,28.83,27.12
$GC,121,-1.25,-243.7,201,2402,3607,3738,3.6,-5.3,10,143,11.07,2.33,-5.53,0.000,18724,0.246,1.200,2671,3699,3962,3905,4019,0,0,0,0,0,0,25.39,24.48,25.63
$GC,173,-0.98,-243.7,2671,3699,3910,4020,19.9,-20.8,20,178,0.38,1.95,0.00,0.000,3206,0.190,0.041,2774,2401,3964,3909,4020,0,0,0,0,0,0,25.52,26.45,25.86
$GC,503,-0.98,-243.7,2775,2402,3909,4021,67.3,-13.5,46,508,0.00,2.08,0.00,0.000,260,0.000,0.062,2766,3699,3964,3909,4020,0,0,0,0,0,0,27.09,25.91,27.15
$GC,607,-0.98,-243.7,2766,3699,3910,4019,81.2,-13.1,67,613,0.00,2.00,0.00,0.000,1030,0.000,0.040,2777,2396,3964,3909,4019,0,0,0,0,0,0,26.44,26.41,26.49
$GC,923,-1.09,-243.7,2775,2395,3912,4019,113.7,-9.3,80,925,0.12,0.00,0.00,0.000,4262,0.148,0.000,2738,2395,3964,3910,4019,0,0,0,0,0,0,26.65,26.72,26.70
$GC,1224,-1.17,-243.7,2739,2396,3913,4021,140.9,-8.6,90,1228,0.00,2.10,0.00,0.000,420,0.000,0.064,2729,3705,3965,3912,4019,0,0,0,0,0,0,27.13,25.84,27.18
$GC,1348,-1.24,-243.7,2729,3706,3913,4021,152.5,-9.6,115,1354,0.10,2.03,0.00,0.000,5286,0.078,0.044,2684,2401,3966,3913,4020,0,0,0,0,0,0,26.15,26.34,26.26
$GC,1674,-1.24,-243.7,2683,2401,3915,4019,189.8,-11.0,130,1678,0.00,2.08,0.00,0.000,292,0.000,0.060,2674,3701,3967,3914,4020,0,0,0,0,0,0,27.12,25.89,27.18
$GC,1743,-1.24,-243.7,2674,3701,3915,4018,196.6,-10.0,144,1748,0.00,2.03,0.00,0.000,1062,0.000,0.041,2682,2382,3967,3914,4020,0,0,0,0,0,0,26.39,26.36,26.44
$GC,2064,-1.28,-243.7,2682,2382,3915,4019,224.1,-8.9,158,2068,0.00,2.10,0.00,0.000,420,0.000,0.060,2675,3701,3966,3914,4019,0,0,0,0,0,0,27.10,25.86,27.17
$GC,2078,-1.28,-243.7,2674,3701,3915,4019,225.5,-9.1,161,2084,0.00,2.00,0.00,0.000,1062,0.000,0.041,2682,2400,3967,3914,4020,0,0,0,0,0,0,26.42,26.38,26.45
$GC,2424,-1.34,-243.7,2682,2400,3916,4019,257.0,-9.3,174,2429,0.00,2.08,0.00,0.000,420,0.000,0.061,2674,3701,3967,3914,4020,0,0,0,0,0,0,27.12,25.83,27.17
$GC,2503,-1.38,-243.7,2674,3700,3915,4019,263.9,-8.6,190,2509,0.10,2.00,0.00,0.000,5286,0.129,0.040,2651,2398,3966,3914,4019,0,0,0,0,0,0,25.98,26.39,26.03
$GC,2844,-1.38,-243.7,2651,2398,3913,4019,296.1,-9.8,203,2849,0.00,2.08,0.00,0.000,292,0.000,0.063,2641,3699,3964,3912,4017,0,0,0,0,0,0,27.11,25.77,27.17
$GC,2873,-1.38,-243.7,2641,3698,3912,4017,299.4,-11.5,209,2880,0.00,2.00,0.00,0.000,1030,0.000,0.041,2649,2398,3964,3911,4017,0,0,0,0,0,0,26.39,26.36,26.43
$GC,3205,-1.38,-243.7,2649,2398,3910,4014,333.3,-10.1,220,3209,0.00,2.10,0.00,0.000,292,0.000,0.063,2640,3707,3961,3908,4014,0,0,0,0,0,0,27.08,25.72,27.15
$GC,3254,-1.38,-243.7,2640,3709,3910,4016,338.5,-10.7,230,3259,0.00,2.05,0.00,0.000,1062,0.000,0.045,2650,2402,3961,3908,4014,0,0,0,0,0,0,26.29,26.25,26.32
$GC,3565,-1.38,-243.7,2649,2401,3909,4010,367.7,-9.3,237,3570,0.00,2.10,0.00,0.000,292,0.000,0.063,2640,3705,3958,3907,4010,0,0,0,0,0,0,27.08,25.69,27.15
$GC,3625,-1.38,-243.7,2640,3706,3908,4010,373.7,-10.2,249,3631,0.00,2.03,0.00,0.000,1062,0.000,0.046,2649,2382,3957,3906,4009,0,0,0,0,0,0,26.29,26.20,26.32
$STATE,3925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3925,begin apogee
$GC,3928,-0.23,0.0,2648,2809,3904,4005,401.6,-9.3,265,4183,1.35,0.00,250.62,0.627,10246,0.167,0.000,3009,2812,3143,3173,3113,0,0,0,0,0,0,24.81,25.49,24.72
$STATE,4184,end apogee,CONTROL_FINISHED_OK
$STATE,4184,begin climb
$GC,4185,1.25,243.7,3010,2813,3167,3110,411.3,0.0,269,4407,1.50,2.25,213.43,0.674,10756,0.115,0.033,3500,1398,2142,2187,2098,0,0,0,0,0,0,25.54,25.53,24.70
$GC,4551,1.06,243.7,3500,1399,2159,2081,349.9,19.7,345,4557,0.22,2.22,0.00,0.000,5254,0.165,0.041,3437,2798,2118,2158,2078,0,0,0,0,0,0,25.46,24.84,25.58
$GC,4892,0.93,243.7,3437,2797,2157,2072,286.6,19.0,358,4899,0.17,2.12,0.00,0.000,4740,0.177,0.034,3402,1391,2113,2155,2072,0,0,0,0,0,0,26.18,26.26,26.28
$GC,5033,0.90,243.7,3403,1390,2155,2072,264.0,15.0,386,5039,0.00,2.22,0.00,0.000,1158,0.000,0.043,3402,2797,2113,2154,2072,0,0,0,0,0,0,26.17,26.11,26.22
$GC,5345,0.85,243.7,3403,2797,2154,2067,221.8,13.3,402,5350,0.12,2.15,0.00,0.000,4740,0.200,0.037,3379,1391,2109,2152,2067,0,0,0,0,0,0,26.27,26.15,26.29
$GC,5574,0.85,243.7,3380,1393,2151,2068,194.1,11.3,448,5581,0.00,2.25,0.00,0.000,1030,0.000,0.045,3379,2804,2108,2150,2067,0,0,0,0,0,0,26.05,25.98,26.10
$GC,5885,0.85,243.7,3379,2805,2150,2065,159.2,11.7,460,5890,0.00,2.15,0.00,0.000,516,0.000,0.037,3388,1390,2106,2148,2064,0,0,0,0,0,0,27.05,26.14,27.12
$GC,6060,0.88,243.7,3388,1390,2149,2063,138.3,11.5,495,6067,0.00,2.25,0.00,0.000,1158,0.000,0.046,3388,2798,2105,2147,2063,0,0,0,0,0,0,25.98,25.93,26.04
$GC,6365,0.88,243.7,3388,2797,2148,2063,103.5,11.5,506,6371,0.00,1.48,0.00,0.000,260,0.000,0.065,3388,3698,2104,2146,2063,0,0,0,0,0,0,27.05,25.72,27.11
$GC,6426,0.88,243.7,3388,3697,2148,2061,95.9,12.4,518,6432,0.00,1.35,0.00,0.000,1030,0.000,0.037,3393,2812,2104,2146,2062,0,0,0,0,0,0,26.36,26.32,26.39
$GC,6757,1.05,343.1,3394,2816,2147,2063,64.0,8.1,534,6824,0.10,2.20,55.83,0.649,10916,0.134,0.037,3433,1384,1747,1807,1688,0,0,0,0,1,0,26.76,25.27,24.68
$GC,7050,1.18,374.6,3432,1385,1832,1703,35.5,10.2,592,7072,0.17,2.20,17.83,0.200,11430,0.184,0.045,3466,2803,1614,1672,1556,0,0,0,0,0,0,25.58,26.08,25.53
$STATE,7327,end climb,SURFACE_DEPTH_REACHED
$STATE,7327,begin surface coast
$FINISH,0.0,1.022061
$STATE,7338,end surface coast,CONTROL_FINISHED_OK
$STATE,7338,begin surface
$SM_CCo,7354,60.15,0.126,0,0,1102,500.17
$SM_GC,0.85,9.35,0.62,60.15,0.067,0.042,0.126,173,2386,1102,-8.97,0.88,500.17,0,0,0,0,0,0,26.58,26.49,25.83
$IRIDIUM_FIX,1939.86,-15606.90,071017,010514
$TT8_MAMPS,0.047936,0.313831
$HUMID,58.58
$INTERNAL_PRESSURE,9.34057
$TCM_TEMP,23.80
$XPDR_PINGS,485
$PM_FREEKB_00,52312768
$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,24.29,19.531
$10V_AH,10.34,0.615
$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,24.775,63.275,537.700,60.150,0.000,0.000,0.000,0.000,121.250,0.000,4.899,0.000,5326.474,706.566,1394.289,51.982,0.000,1243.982,0.000,1081.090,0.000,0.550,0.000
$DEVICE_MAMPS,246.330,1199.520,673.965,126.225,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7329.000,7339.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.831,39.781,0.000,0.000
$MEM,216088
$DATA_FILE_SIZE,20063,623
$CAP_FILE_SIZE,89136,0
$CFSIZE,260030464,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.134,358.31,1
$GPS,071017,031425,1941.250,-15604.403,31,1.0,31,9.5,0.6,333.6,8,5.5