version: 66.13
glider: 204
mission: 19
dive: 20
start: 7 13 117 12 37 23
data:
$ID,204
$MISSION,19
$DIVE,20
$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,47
$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
$GPS1,130717,123314,4752.5112,-12458.6963,2,1.6,4,16.2,0.4,135.3,5,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-68.9
$GPS2,130717,123702,4752.4966,-12458.7002,3,1.6,4,16.2,0.3,215.0,5,7.2
$SPEED_LIMITS,0.178,0.188
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,249.3,25548,-18.7,-10.256,-28.66,3336
$D_GRID,94
$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,6,begin dive
$GC,7,-1.05,-194.6,191,2216,1148,950,0.0,0.0,0,81,0.00,0.00,-72.32,0.000,16386,0.000,0.000,190,2216,2837,2795,2880,0,0,0,0,0,0,26.72,28.83,26.78
$GC,82,-1.05,-194.6,192,2215,2798,2880,4.5,-8.5,7,114,12.02,0.00,-16.88,0.000,19238,0.262,0.000,2732,2214,3737,3700,3775,0,0,0,0,0,0,24.95,24.65,25.20
$GC,288,-1.05,-194.6,2733,2214,3704,3775,35.4,-12.2,30,294,0.00,2.28,0.00,0.000,260,0.000,0.063,2724,3600,3738,3702,3775,0,0,0,0,0,0,26.86,25.85,26.92
$GC,373,-1.05,-194.6,2723,3601,3703,3776,46.8,-13.7,47,380,0.00,2.20,0.00,0.000,1030,0.000,0.047,2732,2204,3738,3702,3775,0,0,0,0,0,0,26.24,26.20,26.28
$GC,578,-1.05,-194.6,2732,2205,3704,3776,71.5,-11.7,56,584,0.00,2.33,0.00,0.000,260,0.000,0.066,2723,3604,3739,3703,3775,0,0,0,0,0,0,26.97,25.83,27.03
$GC,608,-1.05,-194.6,2723,3604,3705,3774,75.1,-12.5,62,614,0.00,2.20,0.00,0.000,1030,0.000,0.044,2732,2201,3739,3703,3775,0,0,0,0,0,0,26.29,26.25,26.33
$STATE,667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,667,begin apogee
$GC,670,-0.23,0.0,2733,2311,3705,3775,82.4,-11.9,69,880,0.98,0.00,202.68,0.545,10246,0.169,0.000,2999,2311,2929,3002,2856,0,0,0,0,0,0,25.01,25.01,24.23
$STATE,881,end apogee,CONTROL_FINISHED_OK
$STATE,881,begin climb
$GC,882,1.05,194.6,3000,2312,2999,2855,91.9,0.0,76,1093,1.40,0.00,205.62,0.529,10502,0.142,0.000,3410,2312,2144,2229,2059,0,0,0,0,0,0,25.25,24.95,24.23
$GC,1268,1.12,268.2,3410,2311,2202,2029,71.2,8.0,99,1324,0.00,2.30,45.40,0.659,8484,0.000,0.068,3410,3684,1843,1941,1746,0,0,0,0,1,0,26.61,25.22,24.08
$GC,1403,1.08,268.2,3410,3684,1949,1770,57.9,11.1,126,1410,0.00,2.20,1.70,0.170,9350,0.000,0.043,3419,2291,1844,1936,1752,0,0,0,0,0,0,26.08,26.04,25.30
$GC,1588,1.08,268.2,3419,2292,1947,1768,37.7,10.8,142,1596,0.00,2.20,1.52,0.187,8708,0.000,0.050,3429,904,1844,1936,1753,0,0,0,0,0,0,26.76,25.69,25.37
$GC,1819,1.11,297.7,3428,905,1947,1769,17.7,9.3,188,1843,0.00,2.20,15.45,0.177,9254,0.000,0.038,3422,2303,1723,1822,1624,0,0,0,0,0,0,26.25,26.20,25.16
$GC,2020,1.43,530.7,3421,2303,1831,1643,8.8,3.1,210,2116,0.38,0.00,92.70,0.152,10914,0.122,0.000,3536,2303,977,1110,844,0,0,0,0,0,0,25.99,28.83,26.14
$STATE,2116,end climb,SURFACE_DEPTH_REACHED
$STATE,2116,begin surface coast
$FINISH,-0.1,1.022625
$STATE,2129,end surface coast,CONTROL_FINISHED_OK
$STATE,2129,begin surface
$SM_CCo,2204,0.00,0.000,0,0,976,482.01
$SM_GC,0.20,10.00,0.15,0.00,0.086,0.070,0.000,191,2194,976,-8.93,1.22,482.01,0,0,0,0,0,0,26.23,26.48,26.29
$IRIDIUM_FIX,4751.92,-12450.84,130717,115238
$TT8_MAMPS,0.048685,0.259903
$HUMID,51.02
$INTERNAL_PRESSURE,8.65695
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.08,2.959
$10V_AH,9.56,1.467
$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,24.775,18.225,565.075,0.000,0.000,0.000,0.000,169.725,0.000,0.000,5.980,0.000,1143.110,624.074,646.721,28.357,0.000,1035.596,0.000,338.667,0.000,0.541,0.000
$DEVICE_MAMPS,262.395,82.620,658.665,0.000,0.000,0.000,0.000,85.680,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2132.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.368,0.000,0.000,0.000
$MEM,278164
$DATA_FILE_SIZE,6830,230
$CAP_FILE_SIZE,33617,0
$CFSIZE,260030464,257253376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.141,127.83,1
$GPS,130717,131425,4752.395,-12458.892,2,1.6,4,16.2,0.2,0.0,5,5.5