version: 66.13
glider: 204
mission: 21
dive: 140
start: 11 6 117 17 11 28
data:
$ID,204
$MISSION,21
$DIVE,140
$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,32
$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,0.00069999998
$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
$GPS1,061117,170453,1936.4275,-15602.6904,2,1.3,4,9.5,0.4,104.7,6,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.9
$GPS2,061117,171108,1936.4048,-15602.6494,3,1.3,4,9.5,0.5,178.1,6,10.0
$SPEED_LIMITS,0.173,0.188
$TGT_NAME,PICKUP
$TGT_LATLONG,1938.270,-15603.170
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,314.5,3572,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.11,-146.2,186,2517,1171,1038,0.0,0.0,0,112,0.00,0.00,-101.85,0.000,16386,0.000,0.000,185,2516,3605,3538,3673,0,0,0,0,0,0,20.39,28.83,20.43
$GC,114,-1.11,-146.2,186,2515,3539,3674,3.5,-4.9,10,141,16.27,3.10,-2.60,0.000,18980,0.233,0.942,2642,1102,3745,3686,3805,0,0,1,0,0,0,19.89,19.44,20.04
$GC,365,-1.11,-146.2,2642,1103,3691,3806,53.9,-17.8,60,372,0.00,2.92,0.00,0.000,1030,0.000,0.047,2633,2488,3747,3689,3805,0,0,1,0,0,0,20.21,20.15,20.23
$GC,686,-1.11,-146.2,2634,2489,3691,3806,106.7,-13.9,74,691,0.00,2.85,0.00,0.000,516,0.000,0.037,2642,1103,3747,3690,3805,0,0,0,0,0,0,20.42,20.18,20.47
$GC,886,-1.11,-146.2,2643,1103,3693,3805,130.6,-11.6,114,892,0.00,2.92,0.00,0.000,1030,0.000,0.044,2634,2508,3748,3692,3805,0,0,1,0,0,0,20.23,20.16,20.25
$GC,1196,-1.11,-146.2,2633,2507,3693,3804,161.6,-8.9,126,1201,0.00,2.53,0.00,0.000,292,0.000,0.056,2625,3696,3749,3693,3805,0,0,0,0,0,0,20.44,20.15,20.47
$GC,1226,-1.11,-146.2,2625,3697,3694,3804,164.3,-9.3,132,1232,0.00,2.45,0.00,0.000,1062,0.000,0.033,2632,2478,3748,3692,3804,0,0,0,0,0,0,20.27,20.22,20.28
$STATE,1375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1375,begin apogee
$GC,1380,-0.21,0.0,2633,2401,3694,3804,181.1,-11.3,142,1529,1.50,0.00,145.88,0.493,10246,0.167,0.000,2923,2401,3143,3169,3117,0,0,0,0,0,0,20.02,20.01,19.68
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1532,1.11,146.2,2924,2401,3166,3115,186.4,0.0,147,1685,1.92,2.78,144.32,0.485,10500,0.126,0.049,3334,3703,2541,2575,2508,0,0,0,0,0,0,19.94,20.00,19.66
$GC,1719,1.11,146.2,3334,3702,2572,2502,173.6,10.0,165,1724,0.00,2.65,0.00,0.000,1030,0.000,0.029,3342,2376,2536,2571,2502,0,0,0,0,0,0,20.16,20.13,20.18
$GC,2039,1.13,180.2,3343,2377,2567,2502,145.0,8.4,179,2081,0.00,2.88,34.42,0.457,8484,0.000,0.053,3334,3695,2401,2449,2354,0,0,0,0,0,0,20.39,20.04,19.72
$GC,2136,1.15,200.1,3334,3697,2444,2351,136.8,9.1,193,2163,0.00,2.58,20.62,0.454,9254,0.000,0.028,3343,2398,2325,2376,2274,0,0,0,0,0,0,20.21,20.17,19.72
$GC,2460,1.19,256.5,3342,2399,2365,2268,113.0,7.4,208,2523,0.15,2.88,56.00,0.440,10788,0.141,0.037,3383,998,2092,2146,2039,0,0,0,0,0,0,20.09,19.94,19.73
$GC,2558,1.20,277.7,3383,999,2139,2039,104.6,9.0,222,2585,0.00,2.88,21.83,0.435,9254,0.000,0.034,3383,2397,2009,2066,1952,0,0,0,0,0,0,20.18,20.13,19.73
$GC,2882,1.21,286.6,3383,2399,2051,1945,71.9,9.6,237,2893,0.00,2.90,2.95,0.304,8740,0.000,0.036,3393,1001,1979,2036,1922,0,0,1,0,0,0,20.41,20.11,19.70
$GC,2912,1.23,323.9,3393,1002,2044,1926,69.1,8.3,243,2964,0.00,2.88,44.65,0.415,9254,0.000,0.034,3393,2402,1818,1877,1759,0,0,0,0,0,0,20.21,20.15,19.75
$GC,3264,1.24,338.4,3393,2402,1865,1754,35.2,9.3,274,3275,0.00,0.00,7.32,0.165,8230,0.000,0.000,3392,2402,1767,1827,1707,0,0,0,0,0,0,20.41,20.11,19.99
$GC,3573,1.24,338.4,3393,2404,1840,1715,4.7,10.1,305,3580,0.00,2.78,2.00,0.134,8452,0.000,0.054,3392,3703,1763,1824,1703,0,0,0,0,0,0,20.42,20.13,20.09
$STATE,3602,end climb,SURFACE_DEPTH_REACHED
$STATE,3603,begin surface coast
$FINISH,0.3,1.022353
$STATE,3613,end surface coast,CONTROL_FINISHED_OK
$STATE,3613,begin surface
$SM_CCo,3634,96.65,0.097,0,0,1106,500.17
$SM_GC,1.05,12.15,2.47,96.65,0.064,0.034,0.097,183,2505,1106,-8.69,0.93,500.17,0,0,0,0,0,0,20.21,20.20,20.06
$IRIDIUM_FIX,1935.48,-15604.81,061117,155455
$TT8_MAMPS,0.04494,0.265895
$HUMID,48.81
$INTERNAL_PRESSURE,9.3894
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,19.44,45.524
$10V_AH,10.25,32.017
$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,32.000,44.575,480.000,96.650,0.000,0.000,0.000,277.500,0.000,0.000,5.977,0.000,2422.188,692.975,895.182,98.919,0.000,1263.045,0.000,456.418,0.000,0.549,0.000
$DEVICE_MAMPS,233.325,942.480,492.660,97.155,0.000,0.000,0.000,110.925,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3602.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.227,0.000,0.000,0.000
$MEM,215484
$DATA_FILE_SIZE,10132,313
$CAP_FILE_SIZE,46432,0
$CFSIZE,260030464,238977024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.197,138.49,1
$GPS,061117,181430,1936.338,-15602.652,33,0.8,33,9.5,0.6,114.4,9,4.0