version: 66.13
glider: 204
mission: 20
dive: 6
start: 9 6 117 22 51 58
data:
$ID,204
$MISSION,20
$DIVE,6
$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,30
$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
$GPS1,060917,224624,4807.7734,-12223.6338,2,0.9,3,15.8,0.2,330.1,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-72.9
$GPS2,060917,225138,4807.7954,-12223.6504,2,0.7,4,15.8,0.2,88.0,12,5.6
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,289.7,575,-21.4,-10.000,-23.54,1673
$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,-1.12,-109.1,196,2703,1104,969,0.0,0.0,0,127,0.00,0.00,-112.70,0.000,16386,0.000,0.000,194,2703,3655,3585,3726,0,0,0,0,0,0,26.84,28.83,26.91
$GC,129,-1.18,-146.6,196,2702,3588,3728,3.6,-6.9,11,152,11.95,2.47,-6.65,0.000,18980,0.265,1.220,2763,1293,3963,3909,4018,0,0,0,0,0,0,25.21,24.25,25.56
$GC,376,-1.00,-146.6,2764,1293,3907,4021,41.2,-13.3,60,383,0.17,2.33,0.00,0.000,3206,0.156,0.057,2804,2706,3963,3906,4021,0,0,0,0,0,0,25.41,25.90,25.52
$GC,692,-0.90,-146.6,2804,2706,3908,4021,78.1,-11.6,76,697,0.15,2.25,0.00,0.000,2692,0.220,0.050,2851,1296,3963,3906,4020,0,0,0,0,0,0,25.91,25.77,25.94
$GC,731,-0.90,-146.6,2851,1297,3906,4021,82.3,-10.0,84,737,0.00,2.30,0.00,0.000,1030,0.000,0.054,2843,2699,3963,3906,4021,0,0,0,0,0,0,25.86,25.79,25.92
$STATE,961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,961,begin apogee
$GC,964,-0.23,0.0,2842,2700,3906,4021,106.1,-10.5,95,1055,0.88,0.00,79.32,0.835,10246,0.187,0.000,3060,2700,3433,3456,3410,0,0,0,0,1,0,24.74,24.85,24.14
$STATE,1057,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1058,1.18,146.6,3060,2701,3458,3415,109.5,0.0,98,1205,1.50,0.00,142.43,0.545,10758,0.135,0.000,3512,2700,2827,2865,2789,0,0,0,0,0,0,25.43,25.28,24.60
$GC,1502,1.12,146.6,3513,2701,2835,2774,70.8,10.3,128,1507,0.00,1.65,0.00,0.000,388,0.000,0.063,3512,3703,2803,2832,2774,0,0,0,0,0,0,26.90,25.85,26.96
$GC,1566,1.00,146.6,3513,3704,2832,2775,63.2,11.9,141,1573,0.17,1.58,0.00,0.000,5254,0.169,0.042,3470,2698,2802,2830,2774,0,0,0,0,0,0,25.43,26.24,25.53
$GC,1874,1.07,168.6,3471,2699,2832,2775,36.2,8.7,164,1890,0.00,2.25,12.60,0.167,8868,0.000,0.041,3479,1284,2741,2773,2710,0,0,0,0,0,0,26.84,25.67,25.22
$GC,1909,1.16,195.3,3479,1284,2782,2721,33.0,8.4,171,1928,0.00,2.30,14.18,0.209,9382,0.000,0.051,3480,2700,2629,2666,2593,0,0,0,0,0,0,26.06,26.01,25.38
$GC,2225,1.28,214.3,3479,2701,2682,2604,4.0,8.8,204,2237,0.20,0.00,10.35,0.149,10406,0.112,0.000,3539,2700,2555,2597,2514,0,0,0,0,0,0,26.23,25.72,25.46
$STATE,2254,end climb,SURFACE_DEPTH_REACHED
$STATE,2254,begin surface coast
$FINISH,0.5,1.019511
$STATE,2274,end surface coast,CONTROL_FINISHED_OK
$STATE,2274,begin surface
$SM_CCo,2290,171.68,0.132,0,0,1027,588.97
$SM_GC,0.39,10.00,0.00,171.68,0.087,0.000,0.132,200,2700,1027,-9.11,0.00,588.97,0,0,0,0,0,0,26.36,26.99,25.63
$IRIDIUM_FIX,4807.36,-12141.52,060917,215800
$TT8_MAMPS,0.047936,0.301098
$HUMID,52.99
$INTERNAL_PRESSURE,8.60812
$TCM_TEMP,15.70
$XPDR_PINGS,216
$PM_FREEKB_00,57161152
$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,24.14,15.836
$10V_AH,9.57,12.379
$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,25.025,17.125,258.875,171.675,0.000,0.000,0.000,209.075,54.000,0.000,6.070,0.000,1407.594,535.262,781.758,65.420,0.000,959.606,0.000,403.532,0.000,0.833,0.000
$DEVICE_MAMPS,264.690,1220.175,834.615,132.345,0.000,0.000,0.000,94.095,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2280.000,2286.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.835,42.405,0.000,0.000
$MEM,188308
$DATA_FILE_SIZE,6796,209
$CAP_FILE_SIZE,35950,0
$CFSIZE,260030464,257736704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.053,330.64,1
$GPS,060917,233341,4807.945,-12223.998,3,1.5,5,15.8,0.1,0.0,8,6.8