version: 66.13
glider: 204
mission: 20
dive: 4
start: 9 6 117 21 6 51
data:
$ID,204
$MISSION,20
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,107
$D_NO_BLEED,50
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52283
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0099999998
$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,588.77728
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,3140
$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,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3430
$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,0.5
$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,-171.0345
$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,6
$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
$GPS1,060917,210325,4807.5117,-12222.8926,2,1.2,6,15.8,0.1,0.0,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-69.8
$GPS2,060917,210632,4807.5205,-12222.8975,3,1.2,7,15.8,0.1,0.0,6,10.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,269.9,1627,-18.5,-10.000,-20.79,2247
$D_GRID,107
$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,-1.04,-146.6,204,2698,577,427,0.0,0.0,0,147,0.00,0.00,-132.55,0.000,16386,0.000,0.000,203,2698,3699,3627,3771,0,0,0,0,0,0,27.01,28.83,27.05
$GC,149,-1.04,-146.6,202,2698,3628,3771,4.0,-7.7,13,172,12.25,2.47,-5.25,0.000,18980,0.268,1.211,2807,1296,3963,3904,4023,0,0,0,0,0,0,25.39,24.32,24.13
$GC,396,-0.87,-146.6,2806,1296,3906,4024,40.4,-11.5,62,403,0.20,2.28,0.00,0.000,3206,0.197,0.057,2849,2691,3965,3907,4024,0,0,0,0,0,0,25.15,25.94,25.32
$GC,713,-0.78,-146.6,2848,2691,3906,4023,71.2,-9.8,80,714,0.15,0.00,0.00,0.000,2182,0.190,0.000,2884,2691,3964,3906,4023,0,0,0,0,0,0,25.79,25.96,25.89
$STATE,921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,921,begin apogee
$GC,924,-0.23,0.0,2885,2692,3908,4024,90.2,-8.9,87,1088,0.68,0.00,161.40,0.535,10246,0.187,0.000,3056,2692,3427,3449,3406,0,0,0,0,0,0,24.73,25.41,24.68
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1091,1.04,146.6,3056,2691,3447,3403,95.8,0.0,92,1234,1.38,2.20,134.02,0.525,10756,0.139,0.042,3477,1293,2821,2864,2779,0,0,0,0,0,0,25.41,25.29,24.68
$GC,1248,1.02,170.4,3479,1295,2854,2776,88.6,8.9,117,1279,0.00,2.28,23.55,0.499,9382,0.000,0.048,3477,2697,2727,2764,2690,0,0,0,0,0,0,25.96,25.91,24.77
$GC,1585,0.97,181.7,3477,2697,2746,2686,56.3,9.5,134,1599,0.00,1.65,8.73,0.506,8612,0.000,0.063,3478,3708,2683,2717,2650,0,0,0,0,0,0,26.51,25.84,25.03
$GC,1634,0.86,181.7,3477,3708,2710,2645,51.0,10.8,144,1639,0.22,1.58,0.00,0.000,5254,0.157,0.041,3419,2687,2678,2711,2645,0,0,0,0,0,0,25.68,26.40,25.80
$GC,1945,1.02,244.3,3418,2688,2708,2645,27.4,7.2,174,1979,0.15,1.73,29.98,0.191,10660,0.163,0.071,3456,3704,2431,2489,2373,0,0,0,0,0,0,25.89,26.00,25.61
$GC,2073,1.02,244.3,3457,3705,2505,2375,15.2,9.7,199,2081,0.00,1.58,0.00,0.000,1030,0.000,0.046,3462,2704,2439,2503,2375,0,0,0,0,0,0,26.25,26.20,26.28
$STATE,2248,end climb,SURFACE_DEPTH_REACHED
$STATE,2248,begin surface coast
$FINISH,0.7,1.019381
$STATE,2288,end surface coast,CONTROL_FINISHED_OK
$STATE,2288,begin surface
$SM_CCo,2305,159.32,0.138,0,0,1025,588.97
$SM_GC,0.46,9.70,0.00,159.32,0.083,0.000,0.138,204,2705,1025,-9.11,0.11,588.97,0,0,0,0,0,0,26.32,27.05,25.65
$IRIDIUM_FIX,4805.57,-12219.12,060917,210127
$TT8_MAMPS,0.047936,0.290612
$HUMID,54.05
$INTERNAL_PRESSURE,8.63742
$TCM_TEMP,16.10
$XPDR_PINGS,205
$PM_FREEKB_00,59408832
$PM_FREEKB_01,62336896
$PM_FREEKB_02,62267648
$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,24.13,15.702
$10V_AH,9.64,12.269
$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,24.725,15.750,357.675,159.325,0.000,0.000,0.000,0.000,51.250,0.000,8.624,0.000,1304.535,617.537,585.921,25.624,0.000,848.438,0.000,423.823,0.000,0.544,0.000
$DEVICE_MAMPS,267.750,1210.995,535.500,137.700,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2280.000,2290.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.108,42.605,0.000,0.000
$MEM,188308
$DATA_FILE_SIZE,6833,221
$CAP_FILE_SIZE,41979,0
$CFSIZE,260030464,257826816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,353.34,1
$GPS,060917,214900,4807.589,-12223.232,28,0.8,28,15.8,0.1,0.0,11,3.8