version: 66.13
glider: 204
mission: 19
dive: 37
start: 7 14 117 0 56 25
data:
$ID,204
$MISSION,19
$DIVE,37
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,105
$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,35
$T_MISSION,55
$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,52433
$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,43
$R_STBD_OVSHOOT,32
$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,0.5
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$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,3
$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
$GPS1,140717,005100,4749.0596,-12501.1299,24,1.0,24,16.2,0.5,104.1,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.4
$GPS2,140717,005606,4749.0347,-12501.1533,2,0.9,4,16.2,0.2,0.0,10,4.7
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,229.2,18775,-20.6,-10.000,-24.74,2995
$D_GRID,108
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.21,-194.6,184,2199,1376,1242,0.0,0.0,0,77,0.00,0.00,-62.67,0.000,16386,0.000,0.000,183,2199,2889,2850,2928,0,0,0,0,0,0,26.72,28.83,26.79
$GC,79,-1.21,-194.6,184,2201,2852,2930,4.5,-8.2,6,111,11.88,2.58,-16.17,0.000,18724,0.265,1.238,2668,3602,3737,3698,3777,0,0,0,0,0,0,24.92,24.13,25.43
$GC,281,-1.21,-194.6,2668,3602,3701,3777,40.3,-13.4,46,286,0.00,2.20,0.00,0.000,1030,0.000,0.044,2676,2210,3738,3700,3777,0,0,0,0,0,0,26.21,26.17,26.26
$GC,481,-1.21,-194.6,2676,2207,3702,3776,68.9,-14.9,59,486,0.00,2.28,0.00,0.000,260,0.000,0.068,2668,3601,3739,3701,3777,0,0,0,0,0,0,26.94,25.78,26.99
$GC,511,-1.21,-194.6,2668,3601,3701,3776,73.4,-15.6,65,516,0.00,2.20,0.00,0.000,1030,0.000,0.044,2677,2201,3739,3701,3777,0,0,0,0,0,0,26.26,26.22,26.38
$GC,721,-1.21,-194.6,2677,2199,3703,3777,102.0,-12.9,77,726,0.00,2.25,0.00,0.000,260,0.000,0.061,2668,3604,3739,3701,3777,0,0,0,0,0,0,26.99,25.86,27.05
$STATE,744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,744,begin apogee
$GC,748,-0.23,0.0,2676,2289,3702,3776,105.2,-12.8,82,951,1.23,0.00,198.93,0.561,10246,0.184,0.000,2997,2289,2939,3014,2865,0,0,0,0,0,0,24.82,24.95,24.15
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,954,1.21,194.6,2998,2288,3007,2857,115.4,0.0,88,1164,1.55,2.28,198.52,0.535,10756,0.141,0.046,3463,907,2135,2221,2049,0,0,0,0,0,0,25.13,25.01,24.20
$GC,1252,1.21,194.6,3459,907,2206,2038,101.0,10.7,149,1259,0.00,2.20,0.00,0.000,1030,0.000,0.036,3450,2296,2120,2204,2037,0,0,0,0,0,0,25.96,25.91,26.00
$GC,1459,1.21,194.6,3450,2297,2201,2038,80.7,10.1,160,1464,0.00,2.25,0.00,0.000,260,0.000,0.066,3439,3681,2117,2198,2036,0,0,0,0,0,0,26.77,25.62,26.82
$GC,1628,1.21,194.6,3439,3680,2197,2036,61.2,11.0,194,1634,0.00,2.15,0.00,0.000,1030,0.000,0.041,3448,2302,2117,2197,2037,0,0,0,0,0,0,26.36,26.30,26.39
$GC,1819,1.29,256.2,3448,2303,2197,2038,43.8,7.9,206,1856,0.15,2.33,30.65,0.221,10532,0.140,0.067,3506,3681,1894,1983,1805,0,0,0,0,0,0,26.42,25.48,24.98
$GC,1985,1.29,256.2,3506,3680,1991,1821,23.1,11.1,239,1993,0.00,2.17,1.58,0.175,9222,0.000,0.041,3515,2290,1892,1978,1806,0,0,0,0,0,0,26.32,26.28,25.17
$GC,2171,1.50,404.0,3515,2290,1990,1819,6.6,4.9,258,2251,0.12,2.25,74.43,0.155,10788,0.122,0.047,3561,907,1290,1409,1172,0,0,0,0,0,0,26.56,25.68,25.34
$STATE,2254,end climb,SURFACE_DEPTH_REACHED
$STATE,2255,begin surface coast
$FINISH,-0.2,1.022390
$STATE,2274,end surface coast,CONTROL_FINISHED_OK
$STATE,2275,begin surface
$SM_CCo,2352,0.00,0.000,0,0,1291,404.99
$SM_GC,0.41,9.95,2.05,0.00,0.080,0.037,0.000,188,2198,1291,-8.91,-1.05,404.99,0,0,0,0,0,0,26.26,26.10,26.32
$IRIDIUM_FIX,4750.48,-12500.57,140717,000435
$TT8_MAMPS,0.048685,0.279377
$HUMID,50.03
$INTERNAL_PRESSURE,8.68625
$TCM_TEMP,12.90
$XPDR_PINGS,18
$PM_FREEKB_00,124650816
$PM_FREEKB_01,124568320
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834880
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,24.13,4.326
$10V_AH,9.64,1.990
$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,24.875,31.250,504.100,0.000,0.000,0.000,0.000,210.350,4.500,0.000,6.564,0.000,1213.807,520.339,888.607,49.173,0.000,1029.437,0.000,490.375,0.000,0.540,0.000
$DEVICE_MAMPS,265.455,1237.770,560.745,0.000,0.000,0.000,0.000,92.565,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2278.000,2298.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.434,25.231,0.000,0.000
$MEM,278168
$DATA_FILE_SIZE,10142,278
$CAP_FILE_SIZE,39798,0
$CFSIZE,260030464,256475136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,172.72,1
$GPS,140717,013614,4748.868,-12501.420,1,0.9,3,16.2,0.2,224.3,10,4.9