version: 66.13
glider: 204
mission: 19
dive: 15
start: 7 13 117 9 11 35
data:
$ID,204
$MISSION,19
$DIVE,15
$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,400
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,27
$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
$GPS1,130717,090738,4753.4902,-12457.7939,20,1.4,20,16.2,0.1,0.0,6,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-68.9
$GPS2,130717,091114,4753.4785,-12457.7891,2,1.4,4,16.2,0.4,155.9,7,9.1
$SPEED_LIMITS,0.178,0.188
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,230.7,27670,-18.7,-10.256,-28.66,3336
$D_GRID,93
$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,-194.6,184,2199,1244,1067,0.0,0.0,0,71,0.00,0.00,-62.58,0.000,16386,0.000,0.000,183,2198,2646,2612,2680,0,0,0,0,0,0,26.74,28.83,26.80
$GC,72,-1.05,-194.6,183,2199,2613,2681,3.1,-5.9,6,115,12.07,2.55,-22.35,0.000,18724,0.265,1.235,2724,3601,3737,3701,3774,0,0,0,0,0,0,25.00,24.15,25.51
$GC,248,-1.05,-194.6,2724,3602,3702,3776,30.3,-13.6,41,256,0.00,2.22,0.00,0.000,1030,0.000,0.045,2733,2198,3738,3701,3775,0,0,0,0,0,0,26.21,26.17,26.25
$GC,454,-1.05,-194.6,2733,2197,3703,3774,53.6,-10.2,60,461,0.00,2.33,0.00,0.000,292,0.000,0.063,2723,3605,3738,3703,3774,0,0,0,0,0,0,26.91,25.88,26.96
$GC,559,-1.05,-194.6,2724,3606,3703,3776,66.9,-12.7,81,565,0.00,2.22,0.00,0.000,1030,0.000,0.045,2733,2196,3737,3701,3774,0,0,0,0,0,0,26.28,26.23,26.32
$STATE,693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,693,begin apogee
$GC,696,-0.23,0.0,2733,2308,3704,3774,81.7,-10.8,88,899,0.98,0.00,200.07,0.539,10246,0.167,0.000,3001,2308,2939,3011,2867,0,0,0,0,0,0,25.08,25.03,24.27
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,901,1.05,194.6,3002,2309,3006,2861,89.6,0.0,94,1111,1.38,2.30,200.50,0.515,11012,0.140,0.049,3415,898,2136,2220,2052,0,0,0,0,0,0,25.27,25.09,24.32
$GC,1130,1.10,248.0,3417,898,2208,2045,84.7,8.6,135,1197,0.00,2.25,57.95,0.507,9254,0.000,0.039,3416,2292,1917,2011,1824,0,0,0,0,0,0,25.72,25.67,24.41
$GC,1386,1.11,254.2,3416,2293,1994,1807,59.0,10.1,156,1391,0.00,2.35,0.00,0.000,292,0.000,0.071,3413,3687,1899,1993,1806,0,0,0,0,0,0,26.66,25.57,26.72
$GC,1475,1.13,278.7,3414,3687,1991,1806,49.4,9.5,174,1493,0.00,2.20,13.43,0.219,9254,0.000,0.042,3422,2288,1803,1902,1704,0,0,0,0,0,0,26.27,26.22,24.82
$GC,1678,1.13,278.7,3422,2290,1914,1729,30.4,11.3,196,1684,0.00,2.20,2.40,0.181,8708,0.000,0.048,3432,897,1802,1897,1707,0,0,0,0,0,0,26.86,25.37,25.19
$GC,1788,1.13,278.7,3432,898,1911,1727,19.6,11.5,218,1794,0.00,2.22,1.88,0.174,9222,0.000,0.042,3423,2301,1802,1897,1707,0,0,0,0,0,0,26.22,26.16,25.21
$GC,1978,1.43,499.0,3424,2302,1910,1727,5.6,3.5,238,2067,0.38,0.00,85.93,0.157,10914,0.123,0.000,3538,2301,1112,1234,990,0,0,0,0,0,0,26.00,28.83,26.15
$STATE,2067,end climb,SURFACE_DEPTH_REACHED
$STATE,2067,begin surface coast
$FINISH,-0.7,1.010956
$STATE,2100,end surface coast,CONTROL_FINISHED_OK
$STATE,2100,begin surface
$SM_CCo,2175,0.00,0.000,0,0,1115,447.92
$SM_GC,0.26,9.88,0.15,0.00,0.080,0.079,0.000,189,2199,1115,-8.92,1.22,447.92,0,0,0,0,0,0,26.28,26.48,26.34
$IRIDIUM_FIX,4754.16,-12459.78,130717,082716
$TT8_MAMPS,0.050183,0.263648
$HUMID,50.86
$INTERNAL_PRESSURE,8.68625
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,24.15,2.529
$10V_AH,9.59,1.358
$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,24.675,23.175,562.150,0.000,0.000,0.000,0.000,157.050,0.000,0.000,5.568,0.000,1111.115,592.101,668.381,27.514,0.000,1016.795,0.000,369.826,0.000,0.540,0.000
$DEVICE_MAMPS,264.690,1234.710,539.325,0.000,0.000,0.000,0.000,91.800,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2104.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.352,0.000,0.000,0.000
$MEM,278184
$DATA_FILE_SIZE,6781,252
$CAP_FILE_SIZE,34975,0
$CFSIZE,260030464,257458176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,162.64,1
$GPS,130717,094808,4753.343,-12457.941,2,1.2,4,16.2,0.4,113.7,7,8.7