version: 66.13
glider: 204
mission: 19
dive: 23
start: 7 13 117 14 41 10
data:
$ID,204
$MISSION,19
$DIVE,23
$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,0.0044816299
$HD_B,0.0200298
$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,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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,130717,143716,4751.9346,-12459.3125,3,1.2,7,16.2,0.5,256.8,6,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-71.8
$GPS2,130717,144052,4751.9233,-12459.2988,3,1.1,6,16.2,0.3,0.0,6,10.0
$SPEED_LIMITS,0.178,0.218
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,235.9,24256,-21.1,-10.256,-25.15,2920
$D_GRID,96
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.15,-194.6,194,2208,1379,1248,0.0,0.0,0,62,0.00,0.00,-52.88,0.000,16386,0.000,0.000,194,2209,2596,2563,2629,0,0,0,0,0,0,26.72,28.83,26.79
$GC,64,-1.15,-194.6,195,2209,2566,2629,3.1,-6.4,5,106,11.95,2.50,-23.40,0.000,18724,0.265,1.241,2692,3603,3737,3700,3775,0,0,0,0,0,0,25.12,24.19,25.34
$GC,114,-1.04,-194.6,2692,3604,3702,3776,14.7,-14.9,15,121,0.12,2.20,0.00,0.000,3206,0.200,0.045,2732,2217,3738,3701,3775,0,0,0,0,0,0,25.60,26.17,25.73
$GC,305,-1.09,-194.6,2732,2214,3702,3774,39.0,-11.2,35,305,0.00,0.00,0.00,0.000,134,0.000,0.000,2731,2213,3738,3702,3775,0,0,0,0,0,0,26.84,26.90,26.89
$GC,494,-1.14,-194.6,2732,2214,3703,3774,60.9,-11.5,48,500,0.00,2.30,0.00,0.000,644,0.000,0.058,2742,794,3738,3701,3775,0,0,0,0,0,0,26.93,25.91,26.98
$GC,529,-1.22,-194.6,2743,795,3704,3775,64.9,-11.2,55,536,0.10,2.22,0.00,0.000,5254,0.082,0.043,2690,2193,3738,3702,3775,0,0,0,0,0,0,25.98,26.13,26.05
$STATE,673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,673,begin apogee
$GC,676,-0.23,0.0,2690,2308,3703,3774,83.0,-12.5,64,954,1.17,0.00,274.38,0.534,10246,0.181,0.000,2998,2308,2938,3012,2865,0,0,0,0,0,0,24.92,24.97,24.22
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,956,1.15,194.6,2999,2307,3009,2862,98.5,0.0,73,1171,1.50,2.38,203.12,0.520,10500,0.140,0.065,3429,3687,2132,2222,2043,0,0,0,0,0,0,25.20,25.05,24.27
$GC,1395,1.11,194.6,3429,3687,2199,2033,67.8,10.6,163,1401,0.00,2.20,0.00,0.000,1158,0.000,0.040,3437,2286,2115,2198,2033,0,0,0,0,0,0,26.25,26.21,26.28
$GC,1605,1.15,243.3,3437,2286,2199,2032,48.9,8.5,175,1633,0.00,2.22,23.10,0.223,8484,0.000,0.062,3429,3685,1945,2041,1850,0,0,0,0,0,0,26.86,25.17,24.90
$GC,1646,1.19,282.7,3429,3684,2041,1859,45.4,8.9,183,1670,0.00,2.17,20.02,0.243,9254,0.000,0.040,3437,2292,1785,1884,1687,0,0,0,0,0,0,26.30,26.26,25.08
$GC,1847,1.23,314.7,3437,2292,1893,1708,25.4,9.1,205,1870,0.12,0.00,17.42,0.194,10278,0.170,0.000,3468,2291,1653,1750,1557,0,0,0,0,0,0,26.29,25.64,25.10
$GC,2047,1.37,407.6,3468,2291,1759,1576,8.5,7.0,225,2102,0.15,2.22,48.08,0.156,11172,0.115,0.049,3532,911,1275,1394,1156,0,0,0,0,0,0,26.49,25.68,25.34
$STATE,2134,end climb,SURFACE_DEPTH_REACHED
$STATE,2135,begin surface coast
$FINISH,-0.2,1.022560
$STATE,2155,end surface coast,CONTROL_FINISHED_OK
$STATE,2155,begin surface
$SM_CCo,2231,0.00,0.000,0,0,1280,407.69
$SM_GC,0.13,9.95,2.05,0.00,0.084,0.038,0.000,186,2203,1280,-8.94,-0.96,407.69,0,0,0,0,0,0,26.29,26.11,26.34
$IRIDIUM_FIX,4752.75,-12555.03,130717,135827
$TT8_MAMPS,0.048685,0.263648
$HUMID,50.39
$INTERNAL_PRESSURE,8.66672
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.19,3.203
$10V_AH,9.60,1.532
$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,25.075,22.650,586.125,0.000,0.000,0.000,0.000,154.600,0.000,0.000,8.393,0.000,1167.081,600.985,657.017,29.173,0.000,1022.867,0.000,361.224,0.000,0.540,0.000
$DEVICE_MAMPS,264.690,1240.830,533.970,0.000,0.000,0.000,0.000,88.740,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2157.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.770,0.000,0.000,0.000
$MEM,278148
$DATA_FILE_SIZE,6815,246
$CAP_FILE_SIZE,35647,0
$CFSIZE,260030464,257138688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,174.25,1
$GPS,130717,151900,4751.666,-12459.494,25,0.8,25,16.2,0.3,242.4,11,4.1