version: 66.13
glider: 204
mission: 19
dive: 44
start: 7 14 117 6 40 18
data:
$ID,204
$MISSION,19
$DIVE,44
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,500
$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,70
$T_MISSION,85
$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,175
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,140717,063501,4747.3960,-12502.7979,7,1.3,29,16.2,0.1,0.0,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-69.3
$GPS2,140717,063959,4747.3433,-12502.8027,3,1.3,4,16.2,0.5,166.1,9,7.5
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,236.1,15144,-22.2,-10.000,-26.19,2621
$D_GRID,132
$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,-1.25,-170.3,182,2195,1181,962,0.0,0.0,0,87,0.00,0.00,-72.65,0.000,16386,0.000,0.000,181,2195,2865,2827,2903,0,0,0,0,0,0,26.72,28.83,26.79
$GC,89,-1.25,-170.3,181,2195,2829,2904,4.4,-8.0,7,121,11.80,2.58,-14.90,0.000,18724,0.264,1.236,2657,3603,3638,3605,3672,0,0,0,0,0,0,24.84,24.11,25.37
$GC,345,-1.25,-170.3,2658,3604,3610,3672,50.7,-16.1,58,351,0.00,2.20,0.00,0.000,1030,0.000,0.044,2666,2203,3640,3609,3672,0,0,0,0,0,0,26.23,26.19,26.27
$GC,540,-1.25,-170.3,2665,2200,3610,3673,78.5,-13.4,67,546,0.00,2.25,0.00,0.000,260,0.000,0.060,2658,3604,3640,3609,3672,0,0,0,0,0,0,26.94,25.86,27.00
$GC,650,-1.25,-170.3,2657,3604,3608,3672,94.5,-14.3,89,656,0.00,2.20,0.00,0.000,1030,0.000,0.043,2666,2199,3641,3610,3673,0,0,0,0,0,0,26.28,26.24,26.32
$GC,841,-1.25,-170.3,2666,2197,3611,3672,120.2,-13.4,97,847,0.00,2.20,0.00,0.000,516,0.000,0.054,2676,800,3641,3610,3672,0,0,0,0,0,0,27.01,25.92,27.05
$GC,875,-1.25,-170.3,2677,800,3610,3672,125.3,-14.2,104,882,0.00,2.22,0.00,0.000,1030,0.000,0.045,2668,2191,3641,3610,3672,0,0,0,0,0,0,26.13,26.07,26.18
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,934,-0.23,0.0,2667,2310,3611,3672,132.8,-13.5,110,1174,1.30,0.00,235.55,0.557,10246,0.191,0.000,2998,2309,2937,3006,2868,0,0,0,0,0,0,24.75,24.93,24.15
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1177,1.25,170.3,2999,2309,3002,2864,144.4,0.0,118,1363,1.60,2.35,174.93,0.545,10500,0.142,0.063,3465,3678,2229,2314,2145,0,0,0,0,0,0,25.06,24.98,24.15
$GC,1587,1.25,170.3,3465,3678,2291,2137,116.1,12.0,201,1594,0.00,2.15,0.00,0.000,1030,0.000,0.039,3473,2302,2213,2290,2137,0,0,0,0,0,0,26.22,26.20,26.27
$GC,1773,1.25,170.3,3474,2300,2291,2136,95.7,10.8,208,1778,0.00,2.28,0.00,0.000,260,0.000,0.067,3473,3683,2212,2289,2136,0,0,0,0,0,0,26.85,25.63,26.91
$GC,1972,1.28,195.6,3474,3684,2288,2136,76.2,9.0,248,2004,0.00,2.17,25.12,0.526,9254,0.000,0.039,3483,2288,2135,2221,2050,0,0,0,0,0,0,26.36,26.34,24.73
$GC,2193,1.28,195.6,3482,2288,2204,2031,52.0,11.2,262,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2288,2116,2202,2031,0,0,0,0,0,0,26.84,26.91,26.91
$GC,2373,1.38,263.3,3483,2288,2202,2031,36.3,7.3,278,2412,0.10,2.35,30.52,0.218,10532,0.120,0.063,3519,3685,1865,1957,1773,0,0,0,0,0,0,26.67,25.75,25.29
$GC,2636,1.42,297.3,3519,3685,1964,1793,9.3,8.7,330,2659,0.00,2.15,17.98,0.164,9254,0.000,0.039,3528,2305,1724,1819,1629,0,0,0,0,0,0,26.35,26.32,25.29
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,-0.4,1.023046
$STATE,2876,end surface coast,CONTROL_FINISHED_OK
$STATE,2876,begin surface
$SM_CCo,2892,52.55,0.145,0,0,1306,400.08
$SM_GC,0.56,10.20,0.15,52.55,0.094,0.074,0.145,180,2197,1306,-8.93,1.16,400.08,0,0,0,0,0,0,26.40,26.70,25.46
$IRIDIUM_FIX,4749.03,-12500.57,140717,054336
$TT8_MAMPS,0.047936,0.283122
$HUMID,51.26
$INTERNAL_PRESSURE,8.69601
$TCM_TEMP,13.50
$XPDR_PINGS,15
$PM_FREEKB_00,124650816
$PM_FREEKB_01,118213824
$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,24.11,4.889
$10V_AH,9.62,2.372
$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,25.000,27.425,484.100,52.550,0.000,0.000,0.000,202.850,3.750,0.000,6.171,0.000,1582.917,580.880,1046.299,52.171,0.000,1122.735,0.000,625.624,0.000,0.540,0.000
$DEVICE_MAMPS,263.925,1236.240,556.920,145.350,0.000,0.000,0.000,94.095,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2881.000,2895.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.186,42.658,0.000,0.000
$MEM,278220
$DATA_FILE_SIZE,10126,356
$CAP_FILE_SIZE,44119,0
$CFSIZE,260030464,256102400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,140.61,1
$GPS,140717,073002,4747.141,-12502.932,1,1.0,2,16.2,0.5,236.5,10,9.3