version: 66.13
glider: 204
mission: 19
dive: 9
start: 7 13 117 5 0 3
data:
$ID,204
$MISSION,19
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,80
$D_ABORT,220
$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,26
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1010
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52000
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026
$HD_B,0.030999999
$HD_C,4.7e-07
$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,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,2
$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,3080
$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,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.29309
$PRESSURE_SLOPE,0.00010934046
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,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,5
$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,1
$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
$GPS1,130717,045450,4755.1074,-12457.0918,2,1.2,3,16.2,0.7,234.8,8,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-67.2
$GPS2,130717,045942,4755.0396,-12457.0986,3,1.2,4,16.2,0.8,225.1,8,9.3
$SPEED_LIMITS,0.178,0.188
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,246.4,30465,-18.7,-10.256,-28.66,3336
$D_GRID,84
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.05,-194.6,201,2217,664,426,0.0,0.0,0,101,0.00,0.00,-92.70,0.000,16386,0.000,0.000,200,2217,2765,2722,2809,0,0,0,0,0,0,26.67,28.83,26.74
$GC,103,-1.05,-194.6,200,2218,2723,2810,3.4,-6.1,9,140,11.75,2.47,-19.83,0.000,18724,0.257,1.232,2723,3604,3737,3700,3775,0,0,0,0,0,0,25.09,24.18,25.32
$GC,364,-1.05,-194.6,2724,3604,3702,3775,42.1,-15.0,61,371,0.00,2.22,0.00,0.000,1030,0.000,0.044,2732,2197,3738,3701,3775,0,0,0,0,0,0,26.25,26.21,26.29
$STATE,693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,694,begin apogee
$GC,696,-0.23,0.0,2733,2084,3703,3777,80.3,-11.1,77,967,0.98,0.00,265.88,0.529,10246,0.164,0.000,3002,2084,2936,3006,2866,0,0,0,0,0,0,25.08,25.08,24.34
$STATE,968,end apogee,CONTROL_FINISHED_OK
$STATE,968,begin climb
$GC,969,1.05,194.6,3004,2084,3004,2864,95.8,0.0,86,1178,1.38,2.28,196.27,0.513,10756,0.138,0.054,3420,718,2131,2208,2055,0,0,0,0,0,0,25.31,25.17,24.41
$GC,1222,1.05,238.9,3420,719,2195,2052,87.0,8.9,137,1283,0.00,2.20,49.17,0.481,9382,0.000,0.037,3420,2098,1963,2046,1881,0,0,0,0,1,0,25.91,25.87,24.25
$GC,1597,1.06,255.2,3420,2099,2047,1882,51.5,9.8,162,1624,0.00,2.20,22.62,0.503,8740,0.000,0.052,3429,713,1893,1978,1809,0,0,0,0,0,0,26.82,25.33,24.90
$GC,1848,1.09,280.1,3429,713,1958,1802,30.1,9.5,212,1864,0.00,2.20,10.35,0.199,9254,0.000,0.041,3425,2100,1795,1882,1709,0,0,0,0,0,0,26.24,26.19,25.18
$GC,2168,1.35,454.5,3425,2102,1902,1720,5.5,4.9,246,2238,0.30,0.00,67.85,0.151,10914,0.135,0.000,3517,2101,1246,1355,1138,0,0,0,0,0,0,26.02,28.83,26.17
$STATE,2239,end climb,SURFACE_DEPTH_REACHED
$STATE,2239,begin surface coast
$FINISH,-0.4,1.022436
$STATE,2272,end surface coast,CONTROL_FINISHED_OK
$STATE,2272,begin surface
$SM_CCo,2287,87.45,0.138,0,0,537,588.97
$SM_GC,0.07,9.90,0.17,87.45,0.086,0.077,0.138,190,2222,537,-8.92,-0.48,588.97,0,0,0,0,0,0,26.33,26.49,25.51
$IRIDIUM_FIX,4755.08,-12457.15,130717,041429
$TT8_MAMPS,0.047187,0.263648
$HUMID,51.65
$INTERNAL_PRESSURE,8.62765
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.18,2.017
$10V_AH,9.50,1.225
$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,24.300,13.900,612.150,87.450,0.000,0.000,0.000,233.300,0.000,0.000,5.927,0.000,1167.375,727.673,755.761,26.845,0.000,1242.831,0.000,385.491,0.000,0.540,0.000
$DEVICE_MAMPS,257.040,1231.650,529.380,138.465,0.000,0.000,0.000,95.625,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.004,0.000,0.000,0.000
$MEM,278204
$DATA_FILE_SIZE,6825,263
$CAP_FILE_SIZE,34025,0
$CFSIZE,260030464,257712128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.346,158.30,1
$GPS,130717,053957,4754.771,-12457.153,2,1.6,4,16.2,0.5,153.2,7,7.8