version: 66.13
glider: 204
mission: 19
dive: 65
start: 7 15 117 12 4 21
data:
$ID,204
$MISSION,19
$DIVE,65
$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,38
$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,20
$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
$GPS1,150717,115549,4742.6499,-12511.6045,21,1.9,32,16.2,0.1,0.0,7,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-69.4
$GPS2,150717,120401,4742.6157,-12511.5889,5,1.0,33,16.2,0.5,120.7,12,3.1
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,186.1,1250,-26.4,-10.000,-30.00,1918
$D_GRID,723
$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,12,begin dive
$GC,13,-1.37,-124.6,183,2199,1387,1236,0.0,0.0,0,78,0.00,0.00,-63.58,0.000,16386,0.000,0.000,181,2200,2886,2847,2926,0,0,0,0,0,0,26.70,28.83,26.76
$GC,80,-1.43,-166.7,182,2199,2849,2925,4.1,-7.7,6,112,11.55,2.55,-13.95,0.000,19236,0.267,1.249,2586,3593,3624,3590,3658,0,0,0,0,0,0,24.98,24.13,25.22
$GC,147,-1.43,-166.7,2586,3594,3593,3659,24.3,-28.1,19,152,0.00,2.20,0.00,0.000,1030,0.000,0.050,2588,2202,3625,3592,3658,0,0,0,0,0,0,26.15,26.05,26.19
$GC,477,-1.43,-166.7,2587,2198,3598,3659,82.9,-17.4,41,483,0.00,2.28,0.00,0.000,260,0.000,0.062,2579,3602,3627,3597,3658,0,0,0,0,0,0,26.92,25.65,26.97
$GC,572,-1.43,-166.7,2579,3603,3599,3659,100.3,-18.4,60,578,0.00,2.25,0.00,0.000,1030,0.000,0.044,2587,2181,3627,3597,3658,0,0,0,0,0,0,26.10,26.05,26.13
$GC,898,-1.43,-166.7,2588,2178,3600,3658,155.2,-16.8,75,903,0.00,2.33,0.00,0.000,260,0.000,0.062,2579,3607,3628,3598,3658,0,0,0,0,0,0,27.01,25.58,27.08
$GC,952,-1.43,-166.7,2579,3608,3600,3657,164.4,-16.4,86,959,0.00,2.22,0.00,0.000,1030,0.000,0.045,2587,2199,3628,3599,3658,0,0,0,0,0,0,26.10,26.06,26.15
$GC,1258,-1.43,-166.7,2587,2199,3600,3660,211.1,-15.1,97,1263,0.00,2.28,0.00,0.000,260,0.000,0.063,2578,3602,3628,3598,3658,0,0,0,0,0,0,27.04,25.55,27.10
$GC,1357,-1.43,-166.7,2578,3602,3599,3658,227.1,-16.2,117,1364,0.00,2.22,0.00,0.000,1030,0.000,0.044,2586,2199,3628,3598,3658,0,0,0,0,0,0,26.09,26.05,26.13
$GC,1709,-1.43,-166.7,2587,2198,3600,3658,280.5,-15.2,129,1714,0.00,2.30,0.00,0.000,260,0.000,0.063,2578,3607,3628,3598,3658,0,0,0,0,0,0,27.05,25.51,27.11
$GC,1808,-1.43,-166.7,2578,3607,3600,3658,296.4,-15.8,149,1815,0.00,2.22,0.00,0.000,1030,0.000,0.044,2587,2201,3628,3598,3658,0,0,0,0,0,0,26.06,26.02,26.10
$GC,2129,-1.43,-166.7,2587,2200,3599,3658,344.8,-15.1,158,2134,0.00,2.30,0.00,0.000,260,0.000,0.063,2578,3606,3628,3599,3658,0,0,0,0,0,0,27.06,25.46,27.12
$GC,2219,-1.43,-166.7,2579,3606,3599,3657,359.2,-16.5,176,2224,0.00,2.22,0.00,0.000,1030,0.000,0.044,2587,2201,3627,3598,3657,0,0,0,0,0,0,26.06,26.00,26.08
$GC,2549,-1.43,-166.7,2587,2201,3599,3658,406.1,-13.9,187,2554,0.00,2.30,0.00,0.000,260,0.000,0.063,2578,3606,3627,3597,3658,0,0,0,0,0,0,27.06,25.42,27.12
$GC,2664,-1.43,-166.7,2578,3606,3599,3657,423.3,-15.1,210,2671,0.00,2.25,0.00,0.000,1030,0.000,0.045,2586,2196,3627,3598,3656,0,0,0,0,0,0,26.02,25.96,26.06
$GC,2970,-1.43,-166.7,2587,2195,3599,3655,466.2,-14.0,216,2974,0.00,2.30,0.00,0.000,260,0.000,0.063,2578,3604,3626,3598,3654,0,0,0,0,0,0,27.06,25.39,27.13
$GC,3073,-1.43,-166.7,2578,3604,3599,3655,482.7,-16.0,237,3081,0.00,2.22,0.00,0.000,1030,0.000,0.044,2587,2199,3626,3597,3655,0,0,0,0,0,0,25.99,25.95,26.04
$GC,3390,-1.43,-166.7,2587,2199,3598,3654,531.3,-15.4,245,3396,0.00,2.30,0.00,0.000,260,0.000,0.064,2578,3604,3625,3597,3653,0,0,0,0,0,0,27.06,25.36,27.12
$GC,3465,-1.43,-166.7,2579,3603,3599,3653,543.5,-15.9,260,3471,0.00,2.22,0.00,0.000,1030,0.000,0.045,2586,2203,3625,3597,3653,0,0,0,0,0,0,25.98,25.93,26.02
$GC,3811,-1.43,-166.7,2587,2199,3597,3651,595.5,-15.2,274,3816,0.00,2.30,0.00,0.000,260,0.000,0.064,2578,3603,3623,3596,3651,0,0,0,0,0,0,27.06,25.32,27.13
$GC,3850,-1.43,-166.7,2578,3604,3596,3653,601.8,-16.0,282,3856,0.00,2.22,0.00,0.000,1030,0.000,0.045,2586,2203,3623,3596,3651,0,0,0,0,0,0,25.97,25.92,26.01
$GC,4171,-1.43,-166.7,2587,2201,3597,3650,648.5,-14.5,291,4176,0.00,2.30,0.00,0.000,260,0.000,0.064,2578,3604,3622,3595,3650,0,0,0,0,0,0,27.06,25.29,27.12
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4253,-0.23,0.0,2585,2496,3596,3650,660.7,-15.4,307,4419,1.67,0.00,156.57,1.413,10246,0.202,0.000,2987,2494,2939,3011,2867,0,0,0,0,1,0,24.32,23.47,22.04
$STATE,4420,end apogee,CONTROL_FINISHED_OK
$STATE,4421,begin climb
$GC,4422,1.43,166.7,2988,2494,3015,2868,666.8,0.0,309,4598,1.92,2.47,160.82,1.489,10756,0.139,0.043,3526,1095,2260,2344,2177,0,0,0,0,1,0,23.91,22.92,21.44
$GC,4672,1.43,166.7,3527,1095,2345,2180,655.8,12.9,361,4677,0.00,2.33,0.00,0.000,1030,0.000,0.039,3526,2493,2261,2344,2179,0,0,0,0,0,0,25.10,25.05,25.15
$GC,5012,1.43,166.7,3526,2493,2338,2178,611.4,13.1,374,5018,0.00,2.03,0.00,0.000,260,0.000,0.075,3526,3691,2258,2338,2179,0,0,0,0,0,0,26.79,25.58,26.85
$GC,5242,1.43,166.7,3526,3692,2336,2180,578.3,14.5,420,5248,0.00,1.85,0.00,0.000,1030,0.000,0.037,3534,2487,2257,2335,2179,0,0,0,0,0,0,26.44,26.42,26.48
$GC,5553,1.43,166.7,3534,2489,2335,2179,537.1,13.2,427,5558,0.00,1.98,0.00,0.000,260,0.000,0.070,3529,3689,2256,2335,2178,0,0,0,0,0,0,26.98,25.56,27.04
$GC,5613,1.43,166.7,3530,3689,2335,2179,528.7,14.1,439,5618,0.00,1.80,0.00,0.000,1030,0.000,0.041,3537,2497,2256,2334,2179,0,0,0,0,0,0,26.46,26.40,26.50
$GC,5973,1.43,166.7,3536,2498,2334,2180,485.7,11.6,456,5978,0.00,2.00,0.00,0.000,260,0.000,0.069,3530,3689,2256,2333,2179,0,0,0,0,0,0,27.02,25.52,27.08
$GC,6082,1.43,166.7,3530,3689,2332,2180,472.7,11.6,478,6089,0.00,1.83,0.00,0.000,1030,0.000,0.037,3537,2499,2254,2330,2179,0,0,0,0,0,0,26.45,26.41,26.48
$GC,6393,1.43,166.7,3537,2500,2332,2180,439.2,10.8,485,6398,0.00,2.00,0.00,0.000,260,0.000,0.068,3530,3690,2255,2331,2179,0,0,0,0,0,0,27.03,25.46,27.09
$GC,6618,1.43,166.7,3530,3691,2330,2180,412.6,12.6,530,6624,0.00,1.83,0.00,0.000,1030,0.000,0.037,3537,2499,2254,2330,2178,0,0,0,0,0,0,26.43,26.39,26.46
$GC,6934,1.43,166.7,3538,2499,2330,2179,372.9,12.8,538,6940,0.00,1.95,0.00,0.000,260,0.000,0.067,3530,3689,2253,2329,2178,0,0,0,0,0,0,27.04,25.39,27.10
$GC,7079,1.43,166.7,3531,3690,2328,2178,353.6,13.1,567,7084,0.00,1.83,0.00,0.000,1030,0.000,0.037,3537,2498,2253,2328,2179,0,0,0,0,0,0,26.40,26.36,26.44
$GC,7415,1.43,166.7,3538,2498,2329,2178,313.3,12.0,579,7419,0.00,1.95,0.00,0.000,260,0.000,0.067,3530,3688,2253,2328,2179,0,0,0,0,0,0,27.05,25.35,27.11
$GC,7609,1.43,166.7,3530,3689,2327,2179,289.2,12.1,618,7615,0.00,1.83,0.00,0.000,1030,0.000,0.037,3538,2501,2252,2327,2178,0,0,0,0,0,0,26.39,26.35,26.41
$GC,7955,1.43,166.7,3538,2499,2328,2179,249.9,11.5,632,7960,0.00,2.00,0.00,0.000,260,0.000,0.067,3531,3685,2253,2327,2179,0,0,0,0,0,0,27.05,25.32,27.12
$GC,8084,1.43,166.7,3530,3686,2327,2178,233.6,13.0,658,8091,0.00,1.83,0.00,0.000,1030,0.000,0.038,3538,2501,2252,2326,2178,0,0,0,0,0,0,26.35,26.32,26.38
$GC,8406,1.43,166.7,3538,2500,2327,2179,195.5,11.4,672,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2500,2252,2326,2178,0,0,0,0,0,0,27.05,27.13,27.12
$GC,8706,1.43,166.7,3538,2501,2327,2180,162.4,10.8,682,8711,0.00,1.98,0.00,0.000,260,0.000,0.069,3531,3695,2252,2326,2179,0,0,0,0,0,0,27.05,25.21,27.12
$GC,8886,1.43,166.7,3531,3695,2326,2178,142.1,11.3,718,8891,0.00,1.85,0.00,0.000,1030,0.000,0.037,3538,2493,2252,2326,2178,0,0,0,0,0,0,26.36,26.31,26.36
$GC,9216,1.43,166.7,3538,2492,2327,2178,108.2,9.8,734,9222,0.00,2.00,0.00,0.000,260,0.000,0.066,3530,3701,2251,2325,2178,0,0,0,0,0,0,27.05,25.20,27.12
$GC,9446,1.51,225.8,3530,3702,2325,2179,88.5,6.8,780,9528,0.00,1.88,74.68,0.598,9254,0.000,0.039,3537,2501,2015,2103,1928,0,0,0,0,0,0,26.27,26.25,24.41
$GC,9847,1.51,225.8,3538,2501,2093,1928,48.6,10.6,810,9853,0.00,2.03,0.00,0.000,260,0.000,0.070,3530,3693,2009,2092,1926,0,0,0,0,0,0,26.87,25.37,26.94
$GC,10008,1.51,225.8,3531,3693,2094,1927,30.2,10.3,842,10014,0.00,1.85,0.00,0.000,1030,0.000,0.037,3538,2492,2008,2091,1926,0,0,0,0,0,0,26.34,26.32,26.37
$GC,10319,1.79,421.4,3538,2492,2091,1927,13.1,-0.5,874,10434,0.28,0.00,111.68,0.171,10790,0.091,0.000,3636,2491,1221,1341,1101,0,0,0,0,0,0,26.36,25.74,25.44
$STATE,10458,end climb,SURFACE_DEPTH_REACHED
$STATE,10458,begin surface coast
$FINISH,-0.6,1.022864
$STATE,10468,end surface coast,CONTROL_FINISHED_OK
$STATE,10468,begin surface
$SM_CCo,10545,0.00,0.000,0,0,1213,423.63
$SM_GC,0.36,10.25,0.43,0.00,0.084,0.048,0.000,190,2207,1213,-8.87,1.47,423.63,0,0,0,0,0,0,26.31,26.30,26.36
$IRIDIUM_FIX,4744.82,-12508.44,150717,083817
$TT8_MAMPS,0.053928,0.283122
$HUMID,50.47
$INTERNAL_PRESSURE,8.64718
$TCM_TEMP,13.10
$XPDR_PINGS,4
$PM_FREEKB_00,124650752
$PM_FREEKB_01,91952576
$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,21.44,6.893
$10V_AH,9.45,3.902
$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,25.675,93.050,503.750,0.000,0.000,0.000,0.000,329.575,1.000,0.000,35.125,0.000,7974.087,637.112,2306.501,115.841,0.000,1705.809,0.000,1530.898,0.000,0.540,0.000
$DEVICE_MAMPS,266.985,1249.245,1488.690,0.000,0.000,0.000,0.000,113.220,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10484.000,10480.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.133,13.319,0.000,0.000
$MEM,278056
$DATA_FILE_SIZE,30044,899
$CAP_FILE_SIZE,98300,0
$CFSIZE,260030464,254660608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.023,59.17,1
$GPS,150717,150109,4741.849,-12512.034,29,0.9,29,16.2,0.2,0.0,10,9.5