version: 66.13
glider: 204
mission: 21
dive: 139
start: 11 6 117 16 2 54
data:
$ID,204
$MISSION,21
$DIVE,139
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,150
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,42
$R_STBD_OVSHOOT,18
$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,0.00069999998
$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,16
$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,20
$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,1
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,48
$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,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$GPS1,061117,155230,1936.9921,-15602.9150,19,1.4,19,9.5,0.4,144.8,6,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.0
$GPS2,061117,160235,1936.9744,-15602.8779,2,1.4,4,9.5,0.3,45.8,6,5.7
$SPEED_LIMITS,0.173,0.188
$TGT_NAME,PICKUP
$TGT_LATLONG,1936.270,-15603.170
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,190.1,1400,-24.1,-10.000,-27.98,2247
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.11,-146.2,179,2503,1174,1037,0.0,0.0,0,113,0.00,0.00,-102.45,0.000,16386,0.000,0.000,178,2503,3634,3565,3703,0,0,0,0,0,0,20.38,28.83,20.43
$GC,115,-1.11,-146.2,179,2504,3566,3705,3.5,-5.4,10,141,16.35,3.10,-1.98,0.000,18980,0.235,0.962,2642,1114,3744,3684,3804,1,0,1,0,0,0,19.87,19.37,20.02
$GC,365,-1.11,-146.2,2642,1114,3688,3804,55.0,-17.2,60,372,0.00,2.90,0.00,0.000,1030,0.000,0.041,2633,2497,3745,3687,3804,0,0,0,0,0,0,20.22,20.16,20.24
$GC,686,-1.11,-146.2,2633,2496,3690,3803,103.2,-12.7,74,691,0.00,2.90,0.00,0.000,516,0.000,0.043,2642,1110,3746,3689,3803,0,0,0,0,0,0,20.42,20.16,20.47
$GC,816,-1.11,-146.2,2641,1111,3692,3806,120.3,-13.2,100,822,0.00,2.90,0.00,0.000,1030,0.000,0.041,2633,2502,3747,3690,3804,0,0,0,0,0,0,20.23,20.17,20.25
$GC,1137,-1.11,-146.2,2633,2503,3695,3805,158.5,-10.8,114,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2502,3748,3692,3804,0,0,0,0,0,0,20.44,20.49,20.47
$STATE,1375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1379,-0.21,0.0,2633,2410,3695,3804,181.6,-9.7,122,1529,1.50,0.00,146.52,0.493,10246,0.168,0.000,2921,2411,3144,3171,3117,0,0,0,0,0,0,20.01,19.99,19.64
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1532,1.11,146.2,2922,2410,3168,3112,184.6,0.0,127,1686,1.92,2.97,143.32,0.483,10756,0.129,0.039,3352,989,2542,2575,2510,0,0,0,0,0,0,19.93,19.99,19.63
$GC,1710,1.11,156.1,3353,989,2570,2509,170.9,9.5,163,1726,0.00,2.92,9.25,0.468,9254,0.000,0.037,3342,2396,2509,2545,2473,0,0,0,0,0,0,20.14,20.08,19.65
$GC,2042,1.15,201.3,3343,2397,2537,2469,142.5,7.9,179,2096,0.00,2.83,47.60,0.467,8484,0.000,0.051,3333,3698,2315,2366,2265,0,0,0,0,0,0,20.39,20.02,19.67
$GC,2111,1.15,212.2,3333,3700,2363,2262,136.5,9.5,193,2127,0.00,2.60,11.35,0.460,9254,0.000,0.028,3342,2383,2279,2334,2224,0,0,0,0,0,0,20.18,20.15,19.68
$GC,2431,1.15,212.2,3342,2383,2320,2216,106.7,10.5,207,2436,0.00,2.80,0.00,0.000,260,0.000,0.052,3333,3700,2266,2319,2214,0,0,0,0,0,0,20.39,20.13,20.44
$GC,2481,1.15,212.2,3334,3700,2320,2212,101.2,10.8,217,2486,0.00,2.58,0.00,0.000,1030,0.000,0.030,3341,2404,2266,2319,2213,0,0,0,0,0,0,20.23,20.19,20.25
$GC,2791,1.21,286.2,3342,2404,2318,2212,78.4,6.6,229,2873,0.20,2.92,72.62,0.430,10788,0.125,0.034,3400,1005,1970,2029,1912,0,0,0,0,0,0,20.12,20.04,19.71
$GC,2907,1.21,286.2,3400,1006,2023,1911,66.9,11.4,252,2915,0.00,2.92,0.00,0.000,1030,0.000,0.034,3400,2400,1965,2022,1908,0,0,0,0,0,0,20.20,20.13,20.22
$GC,3213,1.23,327.1,3400,2401,2016,1908,38.6,8.1,271,3246,0.00,2.78,25.33,0.183,8484,0.000,0.054,3400,3700,1813,1876,1751,0,0,0,0,0,0,20.41,20.09,19.96
$GC,3370,1.23,327.1,3400,3701,1884,1757,20.2,12.3,302,3377,0.00,2.62,1.60,0.127,9222,0.000,0.030,3408,2405,1809,1869,1749,0,0,0,0,0,0,20.23,20.20,20.06
$STATE,3554,end climb,SURFACE_DEPTH_REACHED
$STATE,3554,begin surface coast
$FINISH,0.1,0.997804
$STATE,3574,end surface coast,CONTROL_FINISHED_OK
$STATE,3574,begin surface
$SM_CCo,3593,102.57,0.099,0,0,1104,500.17
$SM_GC,0.95,12.27,0.22,102.57,0.067,0.054,0.099,185,2512,1104,-8.68,-0.45,500.17,0,0,0,0,0,0,20.23,20.20,20.04
$IRIDIUM_FIX,1933.06,-15607.83,061117,104548
$TT8_MAMPS,0.047936,0.271138
$HUMID,48.46
$INTERNAL_PRESSURE,9.3601
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,19.37,45.449
$10V_AH,10.10,31.987
$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,32.250,40.150,457.600,102.575,0.000,0.000,0.000,468.950,0.000,0.000,6.032,0.000,2432.160,631.954,1107.350,115.525,0.000,1422.046,0.000,478.510,0.000,0.547,0.000
$DEVICE_MAMPS,234.855,962.370,493.425,99.450,0.000,0.000,0.000,121.635,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.287,0.000,0.000,0.000
$MEM,215424
$DATA_FILE_SIZE,10133,323
$CAP_FILE_SIZE,47724,0
$CFSIZE,260030464,239026176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0,0
$CURRENT,0.149,138.01,1
$GPS,061117,170453,1936.427,-15602.690,2,1.3,4,9.5,0.4,104.7,6,8.2