version: 66.13
glider: 204
mission: 19
dive: 27
start: 7 13 117 17 26 19
data:
$ID,204
$MISSION,19
$DIVE,27
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,95
$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,31
$T_MISSION,50
$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,3075
$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
$PITCH_ADJ_DBAND,0
$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,37
$R_STBD_OVSHOOT,26
$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,0.0014
$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
$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
$GPS1,130717,172205,4750.9351,-12500.2656,1,1.1,2,16.2,0.7,89.9,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-70.0
$GPS2,130717,172601,4750.9346,-12500.2373,2,1.1,3,16.2,0.3,58.0,8,5.4
$SPEED_LIMITS,0.177,0.218
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,218.9,22108,-21.0,-10.215,-25.08,2932
$D_GRID,100
$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,7,begin dive
$GC,8,-1.23,-194.6,189,2188,1375,1247,0.0,0.0,0,62,0.00,0.00,-52.62,0.000,16386,0.000,0.000,188,2188,2584,2553,2616,0,0,0,0,0,0,26.71,28.83,26.78
$GC,64,-1.23,-194.6,189,2190,2554,2617,3.1,-6.4,5,106,11.77,2.55,-25.17,0.000,18724,0.263,1.237,2659,3603,3737,3700,3775,0,0,0,0,0,0,24.89,24.16,25.15
$GC,155,-1.23,-194.6,2659,3604,3701,3775,20.8,-18.7,23,161,0.00,2.22,0.00,0.000,1030,0.000,0.044,2667,2201,3738,3701,3775,0,0,0,0,0,0,26.18,26.13,26.22
$GC,345,-1.23,-194.6,2667,2200,3702,3775,50.9,-16.3,43,351,0.00,2.30,0.00,0.000,260,0.000,0.062,2658,3601,3738,3701,3775,0,0,0,0,0,0,26.86,25.86,26.92
$GC,395,-1.23,-194.6,2659,3600,3703,3775,58.1,-14.7,53,402,0.00,2.22,0.00,0.000,1030,0.000,0.045,2667,2197,3738,3701,3775,0,0,0,0,0,0,26.23,26.19,26.27
$GC,585,-1.23,-194.6,2667,2198,3702,3776,85.9,-14.6,61,592,0.00,2.25,0.00,0.000,516,0.000,0.054,2678,801,3738,3701,3775,0,0,0,0,0,0,26.96,25.91,27.01
$GC,621,-1.23,-194.6,2678,802,3703,3776,90.9,-13.5,68,627,0.00,2.22,0.00,0.000,1030,0.000,0.046,2670,2189,3738,3702,3775,0,0,0,0,0,0,26.13,26.08,26.19
$STATE,675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,675,begin apogee
$GC,678,-0.23,0.0,2669,2309,3703,3775,98.1,-13.2,74,952,1.25,0.00,270.60,0.547,10246,0.186,0.000,2993,2308,2940,3013,2868,0,0,0,0,0,0,24.85,24.93,24.16
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,954,1.23,194.6,2993,2310,3007,2865,113.4,0.0,83,1165,1.62,2.33,202.38,0.529,10500,0.139,0.066,3462,3687,2136,2223,2050,0,0,0,0,0,0,25.04,24.67,24.23
$GC,1249,1.23,194.6,3462,3687,2198,2039,98.2,12.7,138,1255,0.00,2.20,0.00,0.000,1030,0.000,0.038,3470,2290,2118,2197,2039,0,0,0,0,0,0,26.02,25.96,26.05
$GC,1459,1.25,211.5,3469,2291,2195,2038,76.7,9.6,150,1481,0.00,2.35,14.98,0.524,8484,0.000,0.063,3466,3688,2066,2149,1984,0,0,0,0,0,0,26.75,25.53,24.69
$GC,1509,1.25,211.5,3466,3687,2138,1976,71.2,11.7,160,1516,0.00,2.15,0.00,0.000,1030,0.000,0.037,3474,2302,2056,2137,1976,0,0,0,0,0,0,26.27,26.24,26.31
$GC,1700,1.25,214.9,3474,2302,2136,1974,51.2,10.1,168,1707,0.00,2.25,0.00,0.000,548,0.000,0.050,3485,906,2054,2134,1974,0,0,0,0,0,0,26.83,26.05,26.89
$GC,1735,1.28,234.8,3485,906,2135,1974,47.9,9.5,175,1748,0.00,2.17,9.55,0.213,9254,0.000,0.037,3485,2297,1981,2068,1894,0,0,0,0,0,0,26.23,26.17,24.97
$GC,1933,1.31,252.8,3485,2298,2084,1917,28.8,9.6,196,1949,0.00,2.28,10.98,0.201,8484,0.000,0.068,3485,3681,1908,1996,1821,0,0,0,0,0,0,26.91,25.53,25.08
$GC,2068,1.33,270.1,3485,3682,2008,1846,16.1,9.6,223,2086,0.00,2.15,10.40,0.177,9254,0.000,0.041,3494,2308,1835,1926,1745,0,0,0,0,0,0,26.36,26.33,25.17
$GC,2263,1.60,459.2,3495,2308,1937,1764,4.6,3.6,244,2333,0.28,0.00,67.12,0.151,10530,0.104,0.000,3589,2308,1305,1421,1189,0,0,0,0,0,0,26.16,28.83,26.27
$STATE,2333,end climb,SURFACE_DEPTH_REACHED
$STATE,2333,begin surface coast
$FINISH,-0.7,1.022516
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2431,0.00,0.000,0,0,1307,400.57
$SM_GC,0.26,10.10,0.17,0.00,0.083,0.073,0.000,182,2185,1307,-8.93,0.85,400.57,0,0,0,0,0,0,26.32,26.48,26.37
$IRIDIUM_FIX,4749.42,-12505.04,130717,164227
$TT8_MAMPS,0.048685,0.268891
$HUMID,51.37
$INTERNAL_PRESSURE,8.69601
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.16,3.531
$10V_AH,9.53,1.618
$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,25.025,32.000,586.000,0.000,0.000,0.000,0.000,177.775,0.000,0.000,5.357,0.000,1309.585,625.598,706.535,32.791,0.000,1083.642,0.000,381.138,0.000,0.540,0.000
$DEVICE_MAMPS,263.160,1237.005,546.975,0.000,0.000,0.000,0.000,87.975,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.689,0.000,0.000,0.000
$MEM,278196
$DATA_FILE_SIZE,6839,260
$CAP_FILE_SIZE,38882,0
$CFSIZE,260030464,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,160.64,1
$GPS,130717,180730,4750.692,-12500.422,25,0.9,25,16.2,1.1,97.4,9,5.3