version: 66.13
glider: 203
mission: 13
dive: 105
start: 7 23 117 8 43 50
data:
$ID,203
$MISSION,13
$DIVE,105
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,180
$T_MISSION,270
$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,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,598.77728
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,2
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,15
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,3
$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,2350
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,34
$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,0
$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,0.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,230717,075901,4657.7866,-12516.5957,34,1.5,63,16.0,0.6,231.4,9,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-49.9
$GPS2,230717,084311,4657.3613,-12516.6338,22,1.3,43,16.0,0.4,0.0,8,10.0
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,91.9,18341,-16.5,-11.111,-19.96,2670
$D_GRID,1000
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-1.04,-194.6,177,2598,936,857,0.0,0.0,0,77,0.00,0.00,-68.30,0.000,16386,0.000,0.000,177,2598,2744,2786,2702,0,0,0,0,0,0,27.06,28.83,27.14
$GC,80,-1.04,-194.6,177,2598,2786,2703,3.9,-7.1,7,114,6.95,2.28,-20.45,0.000,18980,0.216,1.242,1994,1185,3738,3801,3675,0,0,0,0,0,0,25.96,24.73,26.34
$GC,339,-1.04,-194.6,1994,1185,3802,3678,44.5,-13.6,59,343,0.00,2.15,0.00,0.000,1030,0.000,0.034,1987,2613,3740,3802,3678,0,0,0,0,0,0,26.73,26.66,26.77
$GC,650,-1.04,-194.6,1986,2612,3803,3679,86.9,-13.5,73,654,0.00,2.12,0.00,0.000,516,0.000,0.032,1987,1183,3741,3803,3679,0,0,0,0,0,0,27.11,26.70,27.17
$GC,879,-1.04,-194.6,1986,1183,3803,3679,115.5,-12.1,119,884,0.10,2.12,0.00,0.000,3078,0.176,0.034,2002,2604,3741,3803,3679,0,0,0,0,0,0,26.50,26.74,26.63
$GC,1190,-1.04,-194.6,2001,2604,3803,3679,151.4,-11.8,131,1193,0.00,2.12,0.00,0.000,516,0.000,0.032,2002,1179,3741,3803,3680,0,0,0,0,0,0,27.18,26.77,27.24
$GC,1399,-1.04,-194.6,2001,1178,3803,3679,175.6,-11.6,173,1404,0.00,2.15,0.00,0.000,1030,0.000,0.034,1996,2609,3740,3802,3679,0,0,0,0,0,0,26.84,26.77,26.88
$GC,1730,-1.04,-194.6,1996,2608,3798,3679,211.1,-10.4,189,1735,0.00,2.15,0.00,0.000,548,0.000,0.034,1996,1174,3738,3798,3679,0,0,0,0,0,0,27.22,26.79,27.29
$GC,1880,-1.04,-194.6,1996,1174,3797,3679,227.2,-10.5,219,1884,0.00,2.15,0.00,0.000,1062,0.000,0.034,1988,2606,3737,3796,3679,0,0,0,0,0,0,26.86,26.79,26.90
$GC,2241,-1.04,-194.6,1987,2606,3793,3679,263.7,-9.9,234,2245,0.00,2.15,0.00,0.000,548,0.000,0.034,1988,1173,3736,3793,3679,0,0,0,0,0,0,27.26,26.79,27.32
$GC,2405,-1.04,-194.6,1987,1174,3791,3679,280.9,-10.3,267,2410,0.10,2.15,0.00,0.000,3110,0.172,0.035,2003,2603,3735,3791,3679,0,0,0,0,0,0,26.57,26.79,26.69
$GC,2711,-1.04,-194.6,2002,2603,3788,3679,309.3,-9.3,273,2715,0.00,2.15,0.00,0.000,548,0.000,0.035,2002,1175,3733,3788,3679,0,0,0,0,0,0,27.28,26.79,27.34
$GC,2866,-1.04,-194.6,2002,1175,3786,3679,324.5,-9.8,304,2870,0.00,2.15,0.00,0.000,1062,0.000,0.037,1998,2599,3732,3786,3679,0,0,0,0,0,0,26.86,26.78,26.90
$GC,3186,-1.04,-194.6,1997,2599,3783,3679,355.0,-9.4,313,3191,0.00,2.15,0.00,0.000,548,0.000,0.037,1998,1177,3730,3782,3679,0,0,0,0,0,0,27.29,26.77,27.35
$GC,3327,-1.04,-194.6,1997,1178,3781,3678,368.8,-9.8,341,3332,0.00,2.15,0.00,0.000,1062,0.000,0.037,1989,2601,3730,3781,3679,0,0,0,0,0,0,26.88,26.79,26.91
$GC,3668,-1.04,-194.6,1989,2601,3777,3679,400.9,-9.4,354,3672,0.00,2.15,0.00,0.000,548,0.000,0.037,1989,1180,3728,3777,3679,0,0,0,0,0,0,27.29,26.77,27.36
$GC,3768,-1.04,-194.6,1988,1180,3776,3679,410.7,-9.9,374,3772,0.10,2.15,0.00,0.000,3110,0.171,0.037,2004,2601,3727,3776,3679,0,0,0,0,0,0,26.56,26.79,26.68
$GC,4084,-1.04,-194.6,2003,2601,3773,3679,438.9,-8.9,382,4088,0.00,2.15,0.00,0.000,548,0.000,0.037,2004,1182,3725,3772,3679,0,0,0,0,0,0,27.31,26.77,27.37
$GC,4233,-1.04,-194.6,2003,1182,3772,3678,453.0,-9.5,412,4237,0.00,2.15,0.00,0.000,1062,0.000,0.039,1998,2599,3725,3772,3679,0,0,0,0,0,0,26.85,26.76,26.89
$GC,4553,-1.04,-194.6,1998,2599,3770,3679,482.8,-9.4,421,4558,0.00,2.15,0.00,0.000,548,0.000,0.038,1999,1179,3724,3769,3679,0,0,0,0,0,0,27.32,26.76,27.38
$GC,4679,-1.04,-194.6,1998,1179,3769,3679,495.1,-9.8,446,4683,0.00,2.17,0.00,0.000,1062,0.000,0.039,1990,2608,3724,3769,3679,0,0,0,0,0,0,26.86,26.77,26.89
$GC,5035,-1.04,-194.6,1990,2608,3764,3679,529.9,-9.8,462,5039,0.00,2.17,0.00,0.000,548,0.000,0.039,1990,1180,3721,3764,3679,0,0,0,0,0,0,27.32,26.74,27.39
$GC,5165,-1.04,-194.6,1989,1180,3765,3679,543.1,-10.0,488,5170,0.10,2.17,0.00,0.000,3110,0.166,0.038,2004,2608,3721,3763,3679,0,0,0,0,0,0,26.55,26.76,26.67
$GC,5511,-1.04,-194.6,2004,2608,3763,3679,574.5,-9.0,502,5515,0.00,2.17,0.00,0.000,548,0.000,0.040,2005,1186,3720,3762,3679,0,0,0,0,0,0,27.32,26.72,27.39
$GC,5632,-1.04,-194.6,2004,1186,3761,3679,585.9,-9.4,526,5636,0.00,2.15,0.00,0.000,1062,0.000,0.039,1999,2601,3720,3761,3679,0,0,0,0,0,0,26.84,26.74,26.88
$STATE,5804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5804,begin apogee
$GC,5809,-0.25,0.0,1999,2602,3759,3678,601.8,-9.0,539,5997,0.77,0.00,184.75,0.830,10246,0.112,0.000,2253,2602,2940,2979,2901,0,0,0,0,0,0,26.26,25.16,24.56
$STATE,5998,end apogee,CONTROL_FINISHED_OK
$STATE,5998,begin climb
$GC,6000,1.04,194.6,2253,2602,2973,2895,610.5,0.0,542,6192,1.17,2.12,183.27,0.803,10500,0.060,0.056,2677,3847,2141,2180,2102,0,0,0,0,0,0,25.30,24.56,24.13
$GC,6418,1.06,211.1,2676,3847,2168,2088,580.7,10.5,628,6437,0.00,1.98,14.70,0.894,9254,0.000,0.037,2686,2599,2079,2119,2040,0,0,0,0,0,0,25.89,25.83,24.82
$GC,6763,1.08,230.0,2686,2599,2104,2026,545.4,10.4,642,6787,0.00,2.10,18.40,0.872,8484,0.000,0.060,2686,3842,1997,2037,1958,0,0,0,0,0,0,26.53,25.87,25.18
$GC,6927,1.08,230.0,2686,3843,2034,1952,526.5,11.7,675,6931,0.00,1.95,0.00,0.000,1030,0.000,0.039,2695,2595,1992,2033,1952,0,0,0,0,0,0,26.26,26.20,26.29
$GC,7243,1.10,247.5,2695,2595,2031,1950,493.3,10.4,683,7267,0.00,2.10,17.77,0.871,8484,0.000,0.060,2696,3844,1926,1968,1885,0,0,0,0,0,0,26.74,26.08,25.39
$GC,7403,1.10,247.5,2695,3844,1964,1880,474.7,11.7,715,7407,0.00,1.92,0.00,0.000,1030,0.000,0.039,2705,2598,1922,1964,1880,0,0,0,0,0,0,26.38,26.32,26.41
$GC,7723,1.10,247.5,2704,2599,1963,1878,440.4,10.6,724,7726,0.00,2.00,0.00,0.000,260,0.000,0.060,2705,3845,1920,1963,1878,0,0,0,0,0,0,26.81,26.35,26.88
$GC,7822,1.10,247.5,2705,3844,1963,1878,428.6,11.9,744,7826,0.00,1.92,0.00,0.000,1030,0.000,0.039,2714,2593,1920,1963,1877,0,0,0,0,0,0,26.60,26.53,26.63
$GC,8143,1.10,247.5,2714,2593,1962,1877,392.3,11.3,753,8147,0.00,2.00,0.00,0.000,260,0.000,0.060,2714,3845,1919,1962,1877,0,0,0,0,0,0,26.96,26.45,27.01
$GC,8217,1.10,247.5,2714,3844,1961,1877,383.1,12.5,768,8222,0.00,1.98,0.00,0.000,1030,0.000,0.041,2722,2594,1919,1962,1877,0,0,0,0,0,0,26.65,26.62,26.74
$GC,8563,1.10,247.5,2721,2594,1961,1877,344.3,11.1,782,8567,0.00,2.00,0.00,0.000,260,0.000,0.060,2722,3845,1919,1961,1877,0,0,0,0,0,0,27.03,26.49,27.10
$GC,8704,1.10,247.5,2721,3845,1961,1876,328.0,11.7,810,8708,0.00,1.90,0.00,0.000,1030,0.000,0.040,2731,2598,1918,1960,1876,0,0,0,0,0,0,26.75,26.67,26.79
$GC,9043,1.10,247.5,2731,2598,1960,1876,291.2,10.7,823,9047,0.00,2.00,0.00,0.000,260,0.000,0.060,2732,3851,1918,1960,1877,0,0,0,0,0,0,27.10,26.53,27.17
$GC,9218,1.10,247.5,2731,3851,1960,1876,269.4,12.5,858,9223,0.10,1.90,0.00,0.000,5126,0.198,0.039,2721,2601,1918,1960,1876,0,0,0,0,0,0,26.41,26.72,26.55
$GC,9524,1.13,269.3,2720,2601,1960,1876,237.3,10.3,866,9553,0.00,2.05,22.60,0.738,8484,0.000,0.060,2720,3842,1837,1879,1795,0,0,0,0,0,0,27.15,26.43,25.80
$GC,9654,1.13,269.3,2720,3843,1874,1792,222.6,11.5,892,9658,0.00,1.90,0.00,0.000,1030,0.000,0.039,2726,2599,1833,1874,1792,0,0,0,0,0,0,26.60,26.53,26.63
$GC,9974,1.13,269.3,2726,2599,1873,1790,188.8,10.6,906,9977,0.00,2.00,0.00,0.000,260,0.000,0.058,2726,3850,1831,1873,1790,0,0,0,0,0,0,26.96,26.44,27.03
$GC,10093,1.13,269.3,2726,3850,1873,1789,174.3,12.2,930,10097,0.00,1.92,0.00,0.000,1030,0.000,0.040,2734,2589,1831,1873,1790,0,0,0,0,0,0,26.70,26.62,26.73
$GC,10424,1.14,283.5,2734,2589,1873,1789,138.2,10.6,946,10439,0.00,2.08,10.57,0.767,8484,0.000,0.058,2734,3846,1780,1822,1738,0,0,0,0,0,0,27.06,26.51,25.86
$GC,10500,1.14,283.5,2733,3846,1818,1735,129.3,11.9,961,10504,0.00,1.92,0.00,0.000,1030,0.000,0.039,2743,2593,1776,1818,1735,0,0,0,0,0,0,26.66,26.59,26.68
$GC,10810,1.18,316.1,2742,2593,1817,1733,97.4,9.9,973,10859,0.00,2.10,41.40,0.590,8484,0.000,0.058,2743,3844,1648,1692,1605,0,0,0,0,0,0,27.01,26.16,25.63
$GC,10910,1.18,316.1,2742,3844,1690,1602,87.2,10.6,993,10915,0.00,1.92,0.00,0.000,1030,0.000,0.040,2751,2599,1646,1690,1602,0,0,0,0,0,0,26.37,26.31,26.39
$GC,11231,1.23,362.1,2750,2599,1688,1599,57.0,9.3,1007,11315,0.00,2.10,71.80,0.523,8484,0.000,0.057,2751,3840,1462,1508,1416,0,0,0,0,1,0,26.81,25.77,24.97
$GC,11340,1.23,362.1,2750,3840,1508,1418,45.3,11.9,1029,11345,0.00,1.95,0.00,0.000,1030,0.000,0.040,2760,2599,1462,1508,1417,0,0,0,0,0,0,26.06,26.00,26.08
$GC,11651,1.31,427.3,2759,2599,1508,1417,12.6,8.6,1061,11685,0.00,2.08,28.25,0.182,8484,0.000,0.058,2760,3847,1196,1247,1145,0,0,0,0,0,0,26.66,26.13,25.82
$GC,11696,1.36,471.5,2759,3847,1247,1146,8.6,9.4,1070,11720,0.00,1.95,19.27,0.174,9254,0.000,0.040,2767,2591,1017,1074,961,0,0,0,0,0,0,26.35,26.29,25.81
$STATE,11779,end climb,SURFACE_DEPTH_REACHED
$STATE,11779,begin surface coast
$STATE,11799,end surface coast,CONTROL_FINISHED_OK
$STATE,11799,begin surface
$SM_CCo,11813,55.83,0.155,0,0,498,598.78
$SM_GC,0.77,6.72,0.00,55.83,0.035,0.000,0.155,189,2591,498,-6.63,-0.25,598.78,0,0,0,0,0,0,26.34,26.68,25.82
$IRIDIUM_FIX,4657.60,-12519.42,230717,083037
$TT8_MAMPS,0.026964,0.091378
$HUMID,54.84
$INTERNAL_PRESSURE,8.6162
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,24.13,21.218
$10V_AH,10.41,19.148
$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,16.125,103.600,612.800,55.825,0.000,0.000,0.000,847.000,0.250,0.000,45.259,789.476,10460.944,686.471,2479.960,125.714,0.000,2432.387,0.000,1546.363,0.000,0.549,0.000
$DEVICE_MAMPS,216.495,1242.360,893.520,154.530,0.000,0.000,0.000,78.795,420.000,0.000,12.730,19.900,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,277912
$DATA_FILE_SIZE,36667,1083
$CAP_FILE_SIZE,123731,0
$CFSIZE,1024393216,984055808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.150,250.92,1
$GPS,230717,120318,4657.387,-12515.846,46,1.4,64,16.0,1.1,172.7,7,10.0