version: 66.13
glider: 204
mission: 21
dive: 14
start: 10 8 117 10 15 32
data:
$ID,204
$MISSION,21
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,340
$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,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,29
$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,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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
$GPS1,081017,100700,1941.6960,-15603.3438,33,0.8,33,9.5,0.2,351.9,10,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.7
$GPS2,081017,101513,1941.7809,-15603.3613,2,0.7,4,9.5,0.4,6.4,12,3.5
$SPEED_LIMITS,0.191,0.248
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,180.0,2409,-19.8,-11.000,-23.90,3403
$D_GRID,407
$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,-1.24,-243.7,174,2510,1180,1045,0.0,0.0,0,117,0.00,0.00,-102.15,0.000,16386,0.000,0.000,174,2510,3663,3592,3735,0,0,0,0,0,0,26.84,28.83,26.91
$GC,119,-1.24,-243.7,174,2510,3594,3735,4.2,-6.9,10,141,11.27,2.08,-5.50,0.000,18724,0.247,1.229,2676,3693,3962,3905,4020,0,0,0,0,0,0,25.34,24.58,25.58
$GC,296,-1.01,-243.7,2676,3693,3909,4020,46.2,-18.6,45,303,0.28,1.83,0.00,0.000,3206,0.186,0.041,2758,2517,3964,3907,4022,0,0,0,0,0,0,25.10,26.21,25.28
$GC,622,-1.01,-243.7,2758,2519,3910,4022,88.6,-12.8,58,626,0.00,2.22,0.00,0.000,516,0.000,0.044,2769,1089,3964,3908,4020,0,0,0,0,0,0,27.01,25.70,27.08
$GC,671,-1.06,-243.7,2769,1090,3909,4021,94.7,-12.0,68,677,0.00,2.28,0.00,0.000,1158,0.000,0.047,2760,2499,3964,3908,4020,0,0,0,0,0,0,25.73,25.67,25.78
$GC,982,-1.14,-243.7,2760,2500,3912,4020,124.9,-9.0,80,988,0.12,2.22,0.00,0.000,4772,0.136,0.047,2726,1096,3966,3911,4021,0,0,0,0,0,0,26.59,25.54,26.61
$GC,1032,-1.14,-243.7,2726,1095,3912,4020,130.2,-10.3,90,1038,0.00,2.28,0.00,0.000,1062,0.000,0.048,2717,2496,3965,3910,4021,0,0,0,0,0,0,25.62,25.56,25.67
$GC,1343,-1.14,-243.7,2717,2495,3917,4020,162.8,-9.7,102,1348,0.00,2.00,0.00,0.000,292,0.000,0.070,2708,3706,3967,3914,4021,0,0,0,0,0,0,27.04,25.14,27.10
$GC,1407,-1.14,-243.7,2708,3706,3917,4020,169.3,-10.4,115,1413,0.00,1.90,0.00,0.000,1062,0.000,0.044,2714,2495,3967,3915,4020,0,0,0,0,0,0,25.94,25.90,25.98
$GC,1734,-1.21,-243.7,2714,2495,3917,4020,199.0,-8.7,130,1738,0.00,2.17,0.00,0.000,676,0.000,0.044,2720,1093,3969,3917,4021,0,0,0,0,0,0,27.03,25.67,27.10
$GC,1752,-1.31,-243.7,2721,1093,3918,4020,200.8,-9.3,134,1758,0.10,2.25,0.00,0.000,5286,0.083,0.045,2673,2499,3969,3917,4021,0,0,0,0,0,0,25.47,25.63,25.53
$GC,2063,-1.31,-243.7,2674,2500,3917,4022,228.8,-8.4,146,2064,0.00,0.00,0.00,0.000,38,0.000,0.000,2674,2499,3969,3918,4020,0,0,0,0,0,0,27.05,27.11,27.11
$GC,2393,-1.31,-243.7,2674,2500,3919,4022,256.2,-8.3,156,2399,0.00,1.98,0.00,0.000,292,0.000,0.069,2665,3699,3969,3918,4021,0,0,0,0,0,0,27.05,25.11,27.10
$GC,2478,-1.31,-243.7,2664,3699,3919,4020,264.3,-9.8,173,2484,0.00,1.88,0.00,0.000,1062,0.000,0.040,2672,2493,3969,3918,4020,0,0,0,0,0,0,26.05,26.01,26.08
$GC,2814,-1.35,-243.7,2672,2493,3919,4020,295.9,-9.5,185,2815,0.00,0.00,0.00,0.000,166,0.000,0.000,2673,2493,3969,3918,4020,0,0,0,0,0,0,27.05,27.13,27.11
$GC,3114,-1.39,-243.7,2671,2494,3916,4021,323.2,-9.1,190,3118,0.00,1.98,0.00,0.000,420,0.000,0.063,2664,3700,3966,3914,4019,0,0,0,0,0,0,27.03,25.18,27.08
$GC,3183,-1.39,-243.7,2664,3701,3913,4021,329.9,-9.1,204,3190,0.00,1.88,0.00,0.000,1062,0.000,0.041,2672,2496,3965,3912,4019,0,0,0,0,0,0,25.99,25.96,26.02
$GC,3535,-1.45,-243.7,2671,2497,3909,4017,356.1,-7.2,219,3536,0.15,0.00,0.00,0.000,4262,0.152,0.000,2630,2495,3962,3909,4016,0,0,0,0,0,0,26.41,26.46,26.44
$GC,3835,-1.42,-243.7,2630,2497,3909,4014,382.3,-8.7,224,3835,0.00,0.00,0.00,0.000,166,0.000,0.000,2629,2495,3960,3908,4012,0,0,0,0,0,0,27.05,27.12,27.11
$STATE,4133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4133,begin apogee
$GC,4137,-0.23,0.0,2632,2382,3906,4009,408.1,-8.7,229,4399,1.45,0.00,258.42,0.655,10246,0.167,0.000,3007,2381,3143,3164,3122,0,0,0,0,0,0,24.28,25.49,24.72
$STATE,4401,end apogee,CONTROL_FINISHED_OK
$STATE,4401,begin climb
$GC,4402,1.24,243.7,3008,2381,3157,3117,416.0,0.0,233,4629,1.48,0.00,221.80,0.697,10502,0.109,0.000,3480,2382,2150,2186,2114,0,0,0,0,0,0,25.46,25.42,24.68
$GC,4915,1.07,243.7,3480,2383,2150,2082,331.7,18.5,275,4916,0.17,0.00,0.00,0.000,4230,0.186,0.000,3438,2383,2115,2150,2081,0,0,0,0,0,0,26.03,26.18,26.13
$GC,5215,0.96,243.7,3438,2381,2149,2078,282.0,16.3,280,5220,0.15,2.12,0.00,0.000,4484,0.170,0.057,3398,3703,2112,2147,2078,0,0,0,0,0,0,26.27,25.65,26.33
$GC,5234,0.86,243.7,3398,3704,2148,2077,278.8,15.1,284,5240,0.12,2.00,0.00,0.000,5254,0.171,0.034,3372,2385,2111,2147,2076,0,0,0,0,0,0,25.56,26.26,25.62
$GC,5544,0.86,243.7,3372,2386,2146,2076,242.1,11.2,297,5549,0.00,2.17,0.00,0.000,260,0.000,0.064,3372,3706,2109,2145,2074,0,0,0,0,0,0,27.00,25.41,27.06
$GC,5563,0.86,243.7,3372,3707,2145,2075,239.7,12.1,301,5570,0.00,2.00,0.00,0.000,1030,0.000,0.037,3379,2417,2109,2145,2074,0,0,0,0,0,0,26.18,26.14,26.21
$GC,5875,0.86,243.7,3380,2415,2145,2072,201.0,12.4,313,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2415,2108,2143,2073,0,0,0,0,0,0,26.99,27.06,27.05
$GC,6175,0.91,250.7,3379,2416,2142,2073,168.7,10.8,323,6180,0.00,2.22,0.00,0.000,676,0.000,0.048,3388,1001,2106,2141,2072,0,0,0,0,0,0,26.99,25.60,27.06
$GC,6219,0.92,258.1,3390,1001,2143,2073,163.8,10.8,332,6230,0.00,2.25,4.00,0.503,9254,0.000,0.042,3390,2404,2089,2125,2053,0,0,0,0,0,0,25.78,25.72,24.91
$GC,6535,0.99,283.1,3390,2406,2126,2055,130.4,10.2,345,6566,0.00,0.00,25.23,0.558,8358,0.000,0.000,3390,2404,1990,2032,1948,0,0,0,0,1,0,26.99,25.66,24.82
$GC,6865,1.11,316.0,3390,2406,2053,1948,99.4,10.0,356,6901,0.17,0.00,28.90,0.591,10406,0.111,0.000,3439,2405,1854,1902,1807,0,0,0,0,1,0,26.45,25.63,24.60
$GC,7195,1.18,341.0,3440,2404,1934,1826,66.7,10.2,367,7245,0.00,2.28,37.75,0.492,8868,0.000,0.049,3450,999,1753,1805,1702,0,0,0,0,1,0,26.96,25.70,24.76
$GC,7324,1.25,341.0,3449,1000,1827,1710,52.5,11.0,393,7330,0.12,2.22,2.25,0.256,11398,0.126,0.041,3495,2400,1750,1801,1699,0,0,0,0,0,0,25.79,26.10,24.79
$GC,7635,1.25,341.0,3495,2402,1828,1709,14.2,12.7,424,7638,0.00,0.00,2.10,0.166,8198,0.000,0.000,3494,2400,1752,1805,1700,0,0,0,0,0,0,26.98,25.62,25.37
$STATE,7734,end climb,SURFACE_DEPTH_REACHED
$STATE,7734,begin surface coast
$FINISH,0.2,1.022014
$STATE,7744,end surface coast,CONTROL_FINISHED_OK
$STATE,7744,begin surface
$SM_CCo,7760,72.82,0.126,0,0,1102,500.17
$SM_GC,1.08,9.50,0.17,72.82,0.068,0.089,0.126,173,2510,1102,-8.96,-0.57,500.17,0,0,0,0,0,0,26.53,26.59,25.80
$IRIDIUM_FIX,1940.23,-15603.88,081017,063007
$TT8_MAMPS,0.045689,0.271138
$HUMID,53.07
$INTERNAL_PRESSURE,9.29174
$TCM_TEMP,23.90
$XPDR_PINGS,386
$PM_FREEKB_00,3895872
$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,24.28,21.217
$10V_AH,10.33,2.413
$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,25.100,46.525,580.450,72.825,0.000,0.000,0.000,356.225,96.500,0.000,6.269,0.000,5993.819,767.650,1461.323,109.214,0.000,1534.330,0.000,819.446,0.000,1.450,0.000
$DEVICE_MAMPS,247.095,1229.355,696.915,126.225,0.000,0.000,0.000,109.395,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7759.000,7764.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.532,40.676,0.000,0.000
$MEM,216028
$DATA_FILE_SIZE,13481,435
$CAP_FILE_SIZE,72002,0
$CFSIZE,260030464,256708608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,6894.22,0x2342ba,1,24
$CURRENT,0.077,322.84,1
$GPS,081017,122646,1941.145,-15603.778,6,1.2,6,9.5,0.9,310.7,7,7.8