version: 66.13
glider: 204
mission: 19
dive: 52
start: 7 14 117 14 13 52
data:
$ID,204
$MISSION,19
$DIVE,52
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$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,220
$T_MISSION,250
$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,3065
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,29
$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
$GPS1,140717,140831,4745.9526,-12504.4551,7,1.2,9,16.2,0.4,300.8,6,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-71.1
$GPS2,140717,141333,4745.9712,-12504.4141,2,1.1,4,16.2,0.2,0.0,6,5.4
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,237.9,11978,-22.2,-10.000,-26.19,2621
$D_GRID,152
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.25,-170.3,192,2214,1379,1244,0.0,0.0,0,78,0.00,0.00,-63.40,0.000,16386,0.000,0.000,192,2213,2938,2902,2975,0,0,0,0,0,0,26.72,28.83,26.78
$GC,80,-1.25,-170.3,191,2213,2904,2975,5.0,-9.7,6,111,12.00,2.55,-12.10,0.000,19204,0.272,1.233,2665,808,3638,3604,3673,0,0,0,0,0,0,24.75,24.08,25.31
$GC,321,-1.25,-170.3,2664,810,3608,3675,51.2,-15.7,54,326,0.00,2.17,0.00,0.000,1030,0.000,0.045,2658,2200,3640,3607,3673,0,0,0,0,0,0,26.12,26.01,26.17
$GC,531,-1.25,-170.3,2656,2201,3608,3674,82.5,-14.4,66,536,0.00,2.28,0.00,0.000,260,0.000,0.068,2646,3602,3641,3609,3673,0,0,0,0,0,0,26.93,25.72,26.98
$GC,570,-1.25,-170.3,2646,3603,3609,3674,88.8,-16.5,74,576,0.00,2.22,0.00,0.000,1030,0.000,0.044,2654,2197,3640,3608,3673,0,0,0,0,0,0,26.20,26.16,26.25
$GC,771,-1.25,-170.3,2654,2198,3609,3673,117.2,-14.3,84,776,0.00,2.22,0.00,0.000,516,0.000,0.054,2665,792,3641,3609,3673,0,0,0,0,0,0,26.99,25.86,27.04
$GC,790,-1.25,-170.3,2665,792,3610,3673,120.0,-14.1,88,796,0.00,2.22,0.00,0.000,1030,0.000,0.041,2656,2200,3639,3608,3671,0,0,0,0,0,0,26.15,26.10,26.20
$GC,981,-1.25,-170.3,2656,2201,3609,3673,146.6,-14.2,96,986,0.00,2.28,0.00,0.000,260,0.000,0.069,2646,3603,3641,3609,3673,0,0,0,0,0,0,27.01,25.70,27.07
$STATE,1019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1019,begin apogee
$GC,1024,-0.23,0.0,2652,2494,3610,3673,152.5,-14.7,104,1207,1.30,0.00,179.82,0.588,10246,0.190,0.000,2986,2494,2938,3009,2868,0,0,0,0,0,0,24.70,24.86,24.04
$STATE,1209,end apogee,CONTROL_FINISHED_OK
$STATE,1209,begin climb
$GC,1210,1.25,170.3,2986,2494,3005,2863,162.2,0.0,110,1397,1.60,2.00,178.07,0.558,10500,0.139,0.064,3444,3684,2233,2318,2149,0,0,0,0,0,0,25.06,24.53,24.06
$GC,1601,1.25,170.3,3446,3684,2292,2137,139.1,10.4,189,1607,0.00,1.85,0.00,0.000,1030,0.000,0.041,3452,2495,2214,2291,2137,0,0,0,0,0,0,26.19,26.14,26.22
$GC,1807,1.25,170.3,3452,2496,2290,2137,118.8,9.9,200,1812,0.00,1.95,0.00,0.000,260,0.000,0.066,3446,3684,2212,2289,2136,0,0,0,0,0,0,26.84,25.60,26.90
$GC,1881,1.25,170.3,3445,3685,2290,2138,111.1,10.4,215,1888,0.00,1.83,0.00,0.000,1030,0.000,0.041,3451,2510,2212,2289,2136,0,0,0,0,0,0,26.33,26.29,26.36
$GC,2077,1.25,170.3,3451,2510,2289,2137,92.4,9.5,224,2082,0.00,2.20,0.00,0.000,516,0.000,0.047,3462,1097,2212,2288,2136,0,0,0,0,0,0,26.94,26.01,27.01
$GC,2212,1.28,193.0,3462,1099,2288,2137,81.1,9.1,251,2238,0.00,2.22,21.83,0.549,9254,0.000,0.043,3454,2496,2152,2234,2070,0,0,0,0,0,0,26.15,26.10,24.68
$GC,2438,1.31,214.6,3454,2497,2212,2049,60.1,9.2,266,2471,0.00,2.00,23.38,0.544,8484,0.000,0.070,3445,3682,2052,2137,1968,0,0,0,0,0,0,26.88,25.56,24.73
$GC,2694,1.36,252.7,3446,3684,2123,1962,36.5,8.5,317,2718,0.12,1.85,17.88,0.203,11302,0.096,0.042,3506,2496,1907,1996,1819,0,0,0,0,0,0,25.96,26.25,25.23
$GC,2903,1.43,299.4,3506,2497,2007,1839,16.2,8.2,340,2935,0.00,2.22,25.12,0.174,8740,0.000,0.043,3517,1093,1716,1810,1622,0,0,0,0,0,0,26.89,25.74,25.36
$GC,2985,1.48,339.9,3517,1094,1816,1635,9.2,8.4,356,3012,0.00,2.20,21.75,0.160,9254,0.000,0.040,3518,2509,1550,1645,1456,0,0,0,0,0,0,26.19,26.09,25.44
$STATE,3086,end climb,SURFACE_DEPTH_REACHED
$STATE,3086,begin surface coast
$FINISH,0.3,1.022622
$STATE,3107,end surface coast,CONTROL_FINISHED_OK
$STATE,3107,begin surface
$SM_CCo,3123,32.05,0.142,0,0,1310,400.08
$SM_GC,0.01,10.35,0.47,32.05,0.103,0.042,0.142,189,2195,1310,-8.90,1.16,400.08,0,0,0,0,0,0,26.29,26.43,25.47
$IRIDIUM_FIX,4748.11,-12503.20,140717,131206
$TT8_MAMPS,0.047936,0.315329
$HUMID,50.43
$INTERNAL_PRESSURE,8.67648
$TCM_TEMP,13.20
$XPDR_PINGS,16
$PM_FREEKB_00,124650816
$PM_FREEKB_01,107248896
$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,24.04,5.525
$10V_AH,9.56,2.891
$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,25.375,38.500,467.850,32.050,0.000,0.000,0.000,200.000,4.000,0.000,6.398,0.000,1799.012,540.648,1076.229,59.024,0.000,1099.437,0.000,646.952,0.000,0.540,0.000
$DEVICE_MAMPS,271.575,1233.180,588.285,142.290,0.000,0.000,0.000,98.685,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3113.000,3125.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.765,40.755,0.000,0.000
$MEM,278192
$DATA_FILE_SIZE,13421,371
$CAP_FILE_SIZE,49079,0
$CFSIZE,260030464,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,154.23,1
$GPS,140717,150731,4745.733,-12504.672,10,0.9,28,16.2,0.4,82.4,9,2.2