version: 66.13
glider: 203
mission: 13
dive: 60
start: 7 15 117 3 6 20
data:
$ID,203
$MISSION,13
$DIVE,60
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$D_NO_BLEED,50
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52418
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2380
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,21
$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,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00113
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,100
$MINV_24V,21
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.37723
$PRESSURE_SLOPE,0.00010878081
$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,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043963501
$SEABIRD_T_H,0.00063669891
$SEABIRD_T_I,2.4874016e-05
$SEABIRD_T_J,2.9344606e-06
$SEABIRD_C_G,-10.04379
$SEABIRD_C_H,1.1655113
$SEABIRD_C_I,-0.0016799819
$SEABIRD_C_J,0.00021581368
$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,0.0
$GPS1,150717,025900,4742.8535,-12507.1816,21,0.9,21,16.1,0.3,264.0,9,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-58.6
$GPS2,150717,030601,4742.8140,-12507.1807,2,0.9,4,16.1,0.5,143.3,10,5.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,235.9,6193,-17.5,-10.000,-21.06,2227
$D_GRID,485
$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,14,-1.04,-146.0,182,2797,1132,1083,0.0,0.0,0,68,0.00,0.00,-52.40,0.000,16386,0.000,0.000,182,2796,2446,2491,2401,0,0,0,0,0,0,26.48,28.83,26.56
$GC,70,-1.04,-146.0,183,2797,2492,2402,3.4,-6.0,5,112,7.22,1.88,-26.25,0.000,18724,0.225,1.281,2022,3862,3540,3610,3470,0,0,0,0,0,0,25.79,24.58,26.10
$GC,141,-1.04,-146.0,2023,3862,3611,3473,14.3,-17.1,19,147,0.00,1.67,0.00,0.000,1030,0.000,0.033,2022,2792,3541,3610,3472,0,0,0,0,0,0,26.23,26.21,26.26
$GC,461,-1.04,-146.0,2022,2793,3612,3476,54.0,-10.1,50,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2793,3542,3610,3475,0,0,0,0,0,0,26.72,26.79,26.77
$GC,761,-1.04,-146.0,2022,2794,3613,3477,85.2,-10.6,60,767,0.00,2.15,0.00,0.000,516,0.000,0.034,2022,1385,3543,3611,3476,0,0,0,0,0,0,26.86,26.52,26.92
$GC,826,-1.04,-146.0,2023,1385,3613,3477,91.9,-10.0,73,832,0.00,2.25,0.00,0.000,1030,0.000,0.041,2014,2802,3543,3611,3476,0,0,0,0,0,0,26.55,26.48,26.58
$GC,1152,-1.04,-146.0,2015,2803,3613,3477,123.5,-10.2,88,1157,0.08,2.17,0.00,0.000,2564,0.224,0.036,2027,1387,3543,3611,3476,0,0,0,0,0,0,26.65,26.61,26.70
$GC,1231,-1.04,-146.0,2027,1388,3613,3477,131.8,-10.5,104,1237,0.00,2.22,0.00,0.000,1030,0.000,0.041,2024,2796,3543,3611,3476,0,0,0,0,0,0,26.63,26.58,26.66
$GC,1542,-1.04,-146.0,2023,2796,3611,3476,163.3,-9.4,116,1542,0.00,0.00,0.00,0.000,38,0.000,0.000,2024,2796,3543,3611,3476,0,0,0,0,0,0,27.04,27.12,27.10
$GC,1842,-1.04,-146.0,2023,2796,3612,3476,193.3,-10.2,126,1847,0.00,2.17,0.00,0.000,516,0.000,0.037,2024,1380,3543,3611,3476,0,0,0,0,0,0,27.08,26.71,27.15
$GC,1896,-1.04,-146.0,2024,1379,3611,3477,198.6,-9.7,137,1904,0.00,2.22,0.00,0.000,1030,0.000,0.041,2017,2791,3545,3611,3479,0,0,0,0,0,0,26.71,26.66,26.76
$GC,2201,-1.04,-146.0,2018,2792,3613,3477,228.7,-9.8,148,2207,0.00,2.17,0.00,0.000,516,0.000,0.037,2018,1378,3543,3611,3476,0,0,0,0,0,0,27.12,26.73,27.18
$GC,2297,-1.04,-146.0,2017,1380,3614,3477,237.6,-9.2,167,2302,0.05,2.25,0.00,0.000,3110,0.186,0.042,2026,2802,3543,3611,3476,0,0,0,0,0,0,26.44,26.67,26.53
$GC,2652,-1.04,-146.0,2025,2802,3610,3477,268.4,-8.8,180,2657,0.00,2.17,0.00,0.000,548,0.000,0.037,2026,1388,3542,3609,3476,0,0,0,0,0,0,27.16,26.75,27.22
$GC,2716,-1.04,-146.0,2027,1389,3611,3476,274.3,-8.8,193,2723,0.00,2.22,0.00,0.000,1062,0.000,0.043,2024,2798,3542,3609,3476,0,0,0,0,0,0,26.74,26.70,26.79
$GC,3072,-1.04,-146.0,2025,2798,3609,3476,305.8,-9.1,209,3078,0.00,2.17,0.00,0.000,548,0.000,0.039,2024,1388,3541,3606,3476,0,0,0,0,0,0,27.18,26.75,27.24
$GC,3173,-1.04,-146.0,2025,1387,3609,3477,314.9,-9.1,229,3179,0.00,2.22,0.00,0.000,1062,0.000,0.043,2017,2802,3541,3607,3476,0,0,0,0,0,0,26.78,26.72,26.82
$GC,3493,-1.04,-146.0,2018,2803,3608,3477,345.0,-9.5,238,3498,0.00,2.17,0.00,0.000,516,0.000,0.039,2017,1388,3540,3605,3476,0,0,0,0,0,0,27.20,26.77,27.27
$GC,3543,-1.04,-146.0,2016,1389,3605,3476,349.6,-9.5,248,3549,0.05,2.22,0.00,0.000,3078,0.180,0.044,2027,2798,3540,3605,3475,0,0,0,0,0,0,26.48,26.70,26.57
$GC,3853,-1.04,-146.0,2028,2800,3606,3477,377.1,-8.8,255,3858,0.00,2.17,0.00,0.000,548,0.000,0.040,2028,1363,3540,3604,3476,0,0,0,0,0,0,27.22,26.77,27.28
$GC,3913,-1.04,-146.0,2028,1365,3606,3477,382.5,-8.8,267,3918,0.00,2.28,0.00,0.000,1062,0.000,0.044,2025,2805,3539,3603,3476,0,0,0,0,0,0,26.77,26.70,26.79
$GC,4273,-1.04,-146.0,2023,2806,3602,3476,413.7,-8.6,284,4278,0.00,2.12,0.00,0.000,548,0.000,0.039,2025,1385,3539,3602,3476,0,0,0,0,0,0,27.24,26.77,27.29
$GC,4378,-1.04,-146.0,2024,1385,3601,3476,423.7,-9.6,305,4384,0.00,2.22,0.00,0.000,1030,0.000,0.043,2018,2795,3538,3601,3475,0,0,0,0,0,0,26.77,26.72,26.83
$GC,4693,-1.04,-146.0,2018,2795,3601,3476,453.7,-9.7,313,4700,0.00,2.17,0.00,0.000,516,0.000,0.041,2017,1388,3538,3601,3476,0,0,0,0,0,0,27.24,26.77,27.31
$GC,4799,-1.04,-146.0,2018,1389,3603,3477,464.7,-10.1,334,4805,0.05,2.22,0.00,0.000,3078,0.173,0.044,2029,2797,3538,3601,3475,0,0,0,0,0,0,26.49,26.72,26.58
$STATE,5052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5052,begin apogee
$GC,5056,-0.25,0.0,2028,2574,3600,3476,486.9,-8.6,341,5203,0.77,0.00,138.80,1.223,10246,0.112,0.000,2286,2572,2940,2969,2911,0,0,0,0,1,0,26.44,24.77,23.91
$STATE,5205,end apogee,CONTROL_FINISHED_OK
$STATE,5205,begin climb
$GC,5206,1.04,146.0,2287,2572,2983,2912,493.1,0.0,343,5367,1.12,2.22,153.98,0.764,10500,0.037,0.055,2720,3861,2338,2362,2314,0,0,0,0,0,0,25.04,24.60,24.21
$GC,5591,1.08,185.0,2721,3862,2346,2295,478.3,8.2,422,5638,0.00,2.00,38.97,0.746,9254,0.000,0.038,2730,2620,2177,2203,2151,0,0,0,0,0,0,25.82,25.79,24.72
$GC,5978,1.11,211.1,2729,2621,2186,2133,444.2,8.8,444,6009,0.00,2.05,25.75,0.756,8484,0.000,0.057,2730,3866,2072,2099,2045,0,0,0,0,0,0,26.39,25.51,25.10
$GC,6048,1.11,211.1,2729,3868,2085,2033,436.9,11.4,458,6053,0.00,2.05,0.00,0.000,1030,0.000,0.041,2734,2597,2058,2085,2032,0,0,0,0,0,0,25.95,25.91,25.98
$GC,6398,1.11,211.1,2734,2596,2084,2030,399.5,10.6,473,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2595,2056,2083,2029,0,0,0,0,0,0,26.58,26.65,26.65
$GC,6698,1.11,211.1,2733,2595,2079,2029,369.4,9.9,478,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2595,2054,2081,2028,0,0,0,0,0,0,26.75,26.82,26.82
$GC,6998,1.11,211.1,2733,2595,2080,2029,340.1,9.8,483,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2595,2054,2080,2028,0,0,0,0,0,0,26.86,26.94,26.93
$GC,7298,1.11,211.1,2734,2596,2082,2028,309.5,10.3,488,7304,0.00,2.05,0.00,0.000,260,0.000,0.059,2733,3856,2053,2080,2027,0,0,0,0,0,0,26.94,26.51,27.01
$GC,7353,1.11,211.1,2733,3856,2080,2028,303.2,11.7,499,7360,0.00,1.95,0.00,0.000,1030,0.000,0.039,2741,2599,2053,2080,2027,0,0,0,0,0,0,26.68,26.65,26.71
$GC,7658,1.11,211.1,2742,2600,2081,2028,270.4,10.8,505,7664,0.00,2.22,0.00,0.000,516,0.000,0.047,2747,1187,2053,2080,2027,0,0,0,0,0,0,27.00,26.60,27.07
$GC,7773,1.11,211.1,2747,1187,2081,2029,257.1,11.5,528,7780,0.00,2.22,0.00,0.000,1030,0.000,0.038,2747,2612,2053,2079,2027,0,0,0,0,0,0,26.70,26.65,26.73
$GC,8079,1.11,211.1,2746,2612,2079,2027,223.2,10.6,538,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2612,2052,2079,2026,0,0,0,0,0,0,27.05,27.13,27.13
$GC,8379,1.11,211.1,2747,2613,2084,2027,193.1,10.6,548,8384,0.00,2.25,0.00,0.000,516,0.000,0.046,2753,1194,2051,2076,2026,0,0,0,0,0,0,27.09,26.67,27.16
$GC,8409,1.11,211.1,2754,1195,2080,2027,189.6,11.8,554,8414,0.00,2.20,0.00,0.000,1030,0.000,0.041,2753,2599,2051,2076,2026,0,0,0,0,0,0,26.74,26.70,26.79
$GC,8739,1.11,211.1,2752,2599,2077,2026,153.8,10.1,570,8744,0.00,2.00,0.00,0.000,260,0.000,0.060,2753,3849,2052,2078,2026,0,0,0,0,0,0,27.12,26.63,27.19
$GC,8833,1.11,211.1,2752,3848,2077,2026,143.0,11.7,589,8840,0.00,1.95,0.00,0.000,1030,0.000,0.040,2760,2591,2051,2077,2025,0,0,0,0,0,0,26.82,26.79,26.86
$GC,9159,1.11,211.1,2759,2591,2077,2026,109.4,10.1,604,9165,0.00,2.03,0.00,0.000,260,0.000,0.058,2760,3843,2052,2078,2026,0,0,0,0,0,0,27.15,26.65,27.22
$GC,9244,1.11,211.1,2761,3844,2080,2026,100.4,10.4,621,9252,0.00,1.92,0.00,0.000,1030,0.000,0.040,2764,2597,2052,2078,2026,0,0,0,0,0,0,26.84,26.80,26.87
$GC,9549,1.16,247.9,2765,2597,2080,2027,74.0,8.3,632,9612,0.00,0.00,61.47,0.559,8486,0.000,0.000,2764,2597,1930,1958,1902,0,0,0,0,0,0,27.17,26.12,25.66
$GC,9910,1.21,296.5,2766,2598,1943,1884,41.1,7.8,655,9937,0.00,2.08,23.30,0.238,8484,0.000,0.057,2764,3847,1729,1758,1701,0,0,0,0,0,0,26.72,26.25,25.90
$GC,9946,1.24,323.4,2764,3848,1763,1703,38.0,8.8,661,9964,0.00,1.98,14.77,0.240,9254,0.000,0.041,2771,2600,1621,1652,1591,0,0,0,0,0,0,26.40,26.36,25.86
$GC,10261,1.32,395.6,2771,2600,1666,1594,7.6,6.7,694,10309,0.05,2.28,39.88,0.165,10788,0.183,0.045,2815,1187,1324,1361,1288,0,0,0,0,0,0,26.60,26.28,26.01
$STATE,10332,end climb,SURFACE_DEPTH_REACHED
$STATE,10332,begin surface coast
$FINISH,0.5,1.022435
$STATE,10352,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10369,29.15,0.154,0,0,1102,450.13
$SM_GC,0.86,7.03,2.60,29.15,0.050,0.041,0.154,188,2795,1102,-6.74,-0.88,450.13,0,0,0,0,0,0,26.39,26.28,25.99
$IRIDIUM_FIX,4742.06,-12506.60,150717,005159
$TT8_MAMPS,0.053928,0.302596
$HUMID,52.28
$INTERNAL_PRESSURE,8.5976
$TCM_TEMP,18.50
$XPDR_PINGS,6
$PM_FREEKB_00,124818048
$PM_FREEKB_01,85778880
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834944
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,23.91,14.931
$10V_AH,10.15,9.381
$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,16.425,85.950,496.925,29.150,0.000,0.000,0.000,281.100,1.500,0.000,6.058,0.000,8361.696,648.374,1685.351,132.062,0.000,1541.653,0.000,1021.928,0.000,0.549,0.000
$DEVICE_MAMPS,224.910,1281.375,1223.235,153.765,0.000,0.000,0.000,100.980,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10363.000,10374.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.121,42.033,0.000,0.000
$MEM,278124
$DATA_FILE_SIZE,23401,712
$CAP_FILE_SIZE,93449,0
$CFSIZE,1024393216,991543296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.019,157.58,1
$GPS,150717,060049,4742.143,-12508.608,23,1.3,34,16.1,0.2,0.0,7,5.2