version: 66.13
glider: 204
mission: 20
dive: 5
start: 9 6 117 21 59 45
data:
$ID,204
$MISSION,20
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,140
$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,40
$T_MISSION,55
$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,32
$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,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
$GPS1,060917,215717,4807.6138,-12223.2295,1,0.7,2,15.8,0.1,0.0,12,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-72.5
$GPS2,060917,215926,4807.6187,-12223.2295,2,0.7,2,15.8,0.1,0.0,12,9.4
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,285.2,1186,-18.5,-10.000,-20.79,2247
$D_GRID,105
$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,-146.6,204,2703,1093,964,0.0,0.0,0,127,0.00,0.00,-112.32,0.000,16386,0.000,0.000,205,2703,3692,3621,3764,0,0,0,0,0,0,26.94,28.83,27.01
$GC,129,-1.04,-146.6,204,2704,3621,3766,4.0,-7.6,11,152,12.12,2.47,-5.47,0.000,18980,0.265,1.216,2808,1296,3963,3905,4021,0,0,0,0,0,0,25.37,24.27,24.13
$GC,376,-0.87,-146.6,2809,1297,3908,4022,39.0,-12.0,60,383,0.20,2.30,0.00,0.000,3206,0.200,0.057,2850,2698,3963,3906,4021,0,0,0,0,0,0,25.15,25.94,25.32
$GC,702,-0.78,-146.6,2851,2699,3909,4022,71.4,-9.9,79,704,0.15,0.00,0.00,0.000,2182,0.179,0.000,2883,2699,3964,3907,4021,0,0,0,0,0,0,24.58,25.10,24.94
$GC,1002,-0.78,-146.6,2882,2699,3907,4021,97.1,-8.5,89,1002,0.00,0.00,0.00,0.000,38,0.000,0.000,2881,2699,3964,3907,4021,0,0,0,0,0,0,27.02,27.09,27.08
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1121,begin apogee
$GC,1124,-0.23,0.0,2882,2699,3907,4021,107.5,-8.7,93,1250,0.70,0.00,124.15,0.568,10246,0.187,0.000,3063,2699,3429,3452,3407,0,0,0,0,0,0,24.64,25.38,24.61
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1253,1.04,146.6,3062,2699,3446,3398,111.7,0.0,97,1396,1.38,1.70,136.95,0.539,10500,0.136,0.064,3470,3703,2825,2867,2784,0,0,0,0,0,0,25.38,25.37,24.63
$GC,1445,0.92,146.6,3470,3702,2839,2770,99.9,10.6,117,1451,0.15,1.58,0.00,0.000,5254,0.167,0.043,3439,2704,2803,2837,2769,0,0,0,0,0,0,25.46,26.06,25.58
$GC,1756,0.97,187.0,3436,2704,2835,2769,73.7,8.2,129,1807,0.00,1.70,46.12,0.509,8484,0.000,0.067,3428,3708,2660,2696,2624,0,0,0,0,0,0,26.85,25.69,24.92
$GC,1831,0.97,187.0,3428,3709,2683,2616,66.8,10.1,144,1837,0.00,1.60,0.00,0.000,1030,0.000,0.044,3434,2689,2648,2682,2615,0,0,0,0,0,0,26.21,26.17,26.25
$GC,2138,1.07,218.9,3433,2689,2676,2614,40.5,8.5,164,2160,0.12,1.65,15.90,0.200,10660,0.169,0.067,3476,3707,2536,2581,2492,0,0,0,0,0,0,26.28,25.58,25.36
$GC,2230,1.01,218.9,3475,3707,2595,2503,30.5,11.1,182,2236,0.00,1.52,2.25,0.179,9350,0.000,0.046,3483,2704,2535,2580,2491,0,0,0,0,0,0,26.30,26.21,25.32
$GC,2541,1.16,274.2,3484,2705,2600,2503,2.3,7.5,214,2554,0.00,0.00,10.93,0.150,8866,0.000,0.000,3483,2704,2462,2514,2410,0,0,0,0,0,0,26.57,28.83,26.65
$STATE,2554,end climb,SURFACE_DEPTH_REACHED
$STATE,2554,begin surface coast
$FINISH,0.8,1.019298
$STATE,2580,end surface coast,CONTROL_FINISHED_OK
$STATE,2580,begin surface
$SM_CCo,2597,162.88,0.140,0,0,1025,588.97
$SM_GC,0.45,9.77,0.00,162.88,0.084,0.000,0.140,194,2704,1025,-9.13,0.11,588.97,0,0,0,0,0,0,26.37,27.07,25.63
$IRIDIUM_FIX,4808.01,-12228.02,060917,215508
$TT8_MAMPS,0.048685,0.313831
$HUMID,53.97
$INTERNAL_PRESSURE,8.62765
$TCM_TEMP,15.90
$XPDR_PINGS,239
$PM_FREEKB_00,58216640
$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,23.96,15.774
$10V_AH,9.56,12.328
$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,24.600,14.525,336.300,162.875,0.000,0.000,0.000,0.000,59.750,0.000,4.189,0.000,1608.275,594.464,596.333,25.425,0.000,812.628,0.000,432.972,0.000,0.543,0.000
$DEVICE_MAMPS,264.690,1215.585,567.630,139.995,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2557.000,2567.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.673,42.602,0.000,0.000
$MEM,188272
$DATA_FILE_SIZE,6802,219
$CAP_FILE_SIZE,45811,0
$CFSIZE,260030464,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,337.80,1
$GPS,060917,224624,4807.773,-12223.634,2,0.9,3,15.8,0.2,330.1,10,9.4