version: 66.13
glider: 204
mission: 19
dive: 56
start: 7 14 117 18 15 30
data:
$ID,204
$MISSION,19
$DIVE,56
$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,39
$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,0.0014
$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
$GPS1,140717,180930,4745.1489,-12505.0732,19,1.1,19,16.1,0.5,139.0,7,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-71.5
$GPS2,140717,181511,4745.0796,-12505.0410,3,1.1,4,16.1,0.2,0.0,7,10.0
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,257.6,10381,-22.2,-10.000,-26.19,2621
$D_GRID,195
$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,-170.3,192,2196,1384,1241,0.0,0.0,0,78,0.00,0.00,-63.88,0.000,16386,0.000,0.000,192,2196,2961,2926,2997,0,0,0,0,0,0,26.71,28.83,26.77
$GC,80,-1.25,-170.3,192,2197,2928,2998,5.0,-9.6,6,112,11.57,2.53,-12.77,0.000,18692,0.262,1.239,2646,3601,3638,3605,3672,0,0,0,0,0,0,24.84,24.10,25.37
$GC,245,-1.25,-170.3,2646,3601,3609,3672,37.5,-16.9,39,253,0.00,2.20,0.00,0.000,1030,0.000,0.044,2654,2204,3640,3608,3672,0,0,0,0,0,0,26.19,26.12,26.20
$GC,571,-1.25,-170.3,2655,2203,3611,3674,84.9,-15.3,56,576,0.00,2.28,0.00,0.000,260,0.000,0.063,2646,3606,3641,3610,3672,0,0,0,0,0,0,26.95,25.79,27.01
$GC,620,-1.25,-170.3,2646,3606,3611,3672,92.3,-14.7,66,626,0.00,2.22,0.00,0.000,1030,0.000,0.044,2654,2197,3641,3610,3672,0,0,0,0,0,0,26.25,26.20,26.27
$GC,932,-1.25,-170.3,2655,2195,3611,3672,135.0,-14.0,78,936,0.00,2.25,0.00,0.000,260,0.000,0.061,2646,3601,3641,3610,3672,0,0,0,0,0,0,27.01,25.81,27.08
$GC,1000,-1.25,-170.3,2646,3601,3611,3672,145.2,-14.4,92,1006,0.00,2.20,0.00,0.000,1030,0.000,0.043,2654,2199,3641,3610,3672,0,0,0,0,0,0,26.27,26.22,26.31
$GC,1321,-1.25,-170.3,2654,2200,3611,3674,191.2,-14.3,106,1326,0.00,2.25,0.00,0.000,260,0.000,0.062,2646,3601,3641,3610,3672,0,0,0,0,0,0,27.05,25.77,27.10
$STATE,1350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1350,begin apogee
$GC,1355,-0.23,0.0,2653,2493,3611,3672,195.5,-14.6,112,1599,1.30,0.00,240.82,0.583,10246,0.188,0.000,2985,2493,2938,3010,2867,0,0,0,0,0,0,24.57,24.87,24.04
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1602,1.25,170.3,2986,2493,3008,2862,208.8,0.0,120,1789,1.58,2.30,175.23,0.588,11012,0.131,0.044,3466,1092,2230,2314,2146,0,0,0,0,0,0,25.08,24.87,23.99
$GC,1847,1.25,170.3,3466,1092,2302,2137,197.6,9.8,166,1853,0.00,2.25,0.00,0.000,1030,0.000,0.038,3461,2498,2218,2301,2136,0,0,0,0,0,0,25.81,25.77,25.86
$GC,2163,1.25,170.3,3461,2499,2298,2137,165.2,9.5,179,2168,0.00,2.00,0.00,0.000,260,0.000,0.073,3461,3681,2215,2296,2135,0,0,0,0,0,0,26.82,25.55,26.88
$GC,2248,1.25,170.3,3461,3682,2295,2136,156.1,10.6,196,2255,0.00,1.85,0.00,0.000,1030,0.000,0.041,3467,2494,2214,2293,2135,0,0,0,0,0,0,26.32,26.28,26.36
$GC,2553,1.28,194.7,3467,2494,2294,2135,126.6,9.0,207,2585,0.00,2.00,23.60,0.566,8484,0.000,0.065,3465,3681,2134,2217,2051,0,0,0,0,0,0,26.96,25.54,24.65
$GC,2639,1.28,194.7,3465,3682,2207,2045,118.2,10.0,224,2646,0.00,1.85,0.00,0.000,1030,0.000,0.040,3471,2493,2124,2205,2043,0,0,0,0,0,0,26.32,26.29,26.36
$GC,2945,1.31,214.5,3471,2494,2204,2042,89.2,9.2,235,2970,0.00,2.00,19.70,0.558,8484,0.000,0.067,3471,3685,2057,2140,1974,0,0,0,0,0,0,26.94,25.60,24.74
$GC,3194,1.31,214.5,3471,3685,2121,1965,61.7,11.1,285,3200,0.00,1.85,0.00,0.000,1030,0.000,0.039,3480,2494,2042,2121,1963,0,0,0,0,0,0,26.35,26.32,26.39
$GC,3505,1.31,214.5,3479,2495,2122,1965,30.8,10.0,310,3510,0.00,1.95,0.00,0.000,260,0.000,0.066,3480,3686,2042,2121,1963,0,0,0,0,0,0,26.98,25.59,27.04
$GC,3555,1.31,214.5,3479,3686,2122,1963,25.8,10.0,320,3560,0.00,1.85,0.00,0.000,1030,0.000,0.040,3488,2493,2041,2120,1962,0,0,0,0,0,0,26.41,26.37,26.43
$GC,3865,1.58,407.6,3488,2493,2120,1963,6.0,2.4,352,3968,0.25,0.00,98.65,0.151,10534,0.103,0.000,3568,2492,1275,1393,1157,0,0,0,0,0,0,26.29,25.82,25.55
$STATE,3974,end climb,SURFACE_DEPTH_REACHED
$STATE,3974,begin surface coast
$FINISH,-0.7,1.022352
$STATE,3994,end surface coast,CONTROL_FINISHED_OK
$STATE,3994,begin surface
$SM_CCo,4070,0.00,0.000,0,0,1278,407.69
$SM_GC,0.29,10.05,0.43,0.00,0.084,0.048,0.000,183,2197,1278,-8.88,1.47,407.69,0,0,0,0,0,0,26.35,26.35,26.40
$IRIDIUM_FIX,4748.11,-12503.20,140717,170850
$TT8_MAMPS,0.047936,0.31458
$HUMID,49.92
$INTERNAL_PRESSURE,8.65695
$TCM_TEMP,13.30
$XPDR_PINGS,4
$PM_FREEKB_00,124650816
$PM_FREEKB_01,102227136
$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,23.99,5.862
$10V_AH,9.47,3.150
$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,24.750,38.000,558.000,0.000,0.000,0.000,0.000,234.375,1.000,0.000,5.800,0.000,2617.246,596.999,1141.427,67.040,0.000,1201.476,0.000,677.142,0.000,0.540,0.000
$DEVICE_MAMPS,261.630,1238.535,587.520,0.000,0.000,0.000,0.000,93.330,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4001.000,4013.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.279,25.118,0.000,0.000
$MEM,278128
$DATA_FILE_SIZE,13460,374
$CAP_FILE_SIZE,48534,0
$CFSIZE,260030464,255397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,166.99,1
$GPS,140717,192410,4744.867,-12505.292,15,1.8,16,16.1,0.1,0.0,6,8.4