version: 66.13
glider: 204
mission: 19
dive: 97
start: 7 21 117 8 8 46
data:
$ID,204
$MISSION,19
$DIVE,97
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,180
$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,200
$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,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,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,3040
$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,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,26
$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,0
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,48
$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,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,1.0
$GPS1,210717,072658,4709.0879,-12513.5518,50,1.6,84,16.0,0.4,0.0,9,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-66.1
$GPS2,210717,080827,4708.8984,-12513.8018,7,1.2,29,16.0,0.3,0.0,9,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,185.4,27633,-22.7,-11.111,-26.47,2697
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5,-1.30,-194.6,185,2402,564,432,0.0,0.0,0,110,0.00,0.00,-103.38,0.000,16386,0.000,0.000,184,2402,3110,3070,3150,0,0,0,0,0,0,27.04,28.83,27.10
$GC,112,-1.30,-194.6,184,2403,3072,3152,4.5,-7.1,10,139,11.32,2.35,-10.95,0.000,18724,0.259,1.228,2605,3695,3738,3701,3775,0,0,0,0,0,0,25.13,24.22,25.59
$GC,168,-1.30,-194.6,2605,3694,3704,3775,23.7,-25.1,21,176,0.00,2.03,0.00,0.000,1030,0.000,0.041,2612,2404,3739,3703,3775,0,0,0,0,0,0,26.17,26.13,26.22
$GC,493,-1.30,-194.6,2614,2403,3706,3775,81.3,-17.4,42,498,0.00,2.12,0.00,0.000,260,0.000,0.062,2604,3692,3740,3705,3775,0,0,0,0,0,0,27.06,25.56,27.12
$GC,548,-1.30,-194.6,2604,3693,3706,3776,91.0,-17.7,53,555,0.00,2.03,0.00,0.000,1030,0.000,0.041,2612,2401,3740,3705,3775,0,0,0,0,0,0,26.15,26.10,26.20
$GC,853,-1.30,-194.6,2612,2402,3706,3776,140.9,-16.0,64,858,0.00,2.22,0.00,0.000,516,0.000,0.047,2623,1001,3740,3705,3775,0,0,0,0,0,0,27.08,25.78,27.13
$GC,923,-1.30,-194.6,2623,1002,3706,3776,151.6,-14.8,78,929,0.00,2.20,0.00,0.000,1030,0.000,0.041,2614,2395,3740,3705,3775,0,0,0,0,0,0,25.96,25.92,26.01
$GC,1243,-1.30,-194.6,2614,2395,3706,3774,198.9,-15.0,92,1249,0.00,2.22,0.00,0.000,516,0.000,0.045,2623,999,3740,3705,3775,0,0,0,0,0,0,27.08,25.78,27.13
$GC,1268,-1.30,-194.6,2623,1001,3706,3775,202.7,-15.1,97,1275,0.00,2.22,0.00,0.000,1030,0.000,0.040,2614,2405,3739,3705,3774,0,0,0,0,0,0,25.94,25.89,25.98
$GC,1573,-1.30,-194.6,2614,2406,3703,3773,248.7,-15.1,108,1578,0.00,2.28,0.00,0.000,516,0.000,0.051,2623,1001,3737,3703,3772,0,0,0,0,0,0,27.08,25.65,27.14
$GC,1598,-1.30,-194.6,2623,1001,3704,3772,252.6,-15.4,113,1606,0.00,2.22,0.00,0.000,1030,0.000,0.042,2614,2396,3737,3703,3771,0,0,0,0,0,0,25.89,25.84,25.94
$GC,1903,-1.30,-194.6,2615,2396,3702,3770,299.3,-15.4,119,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2396,3735,3701,3769,0,0,0,0,0,0,27.08,27.15,27.13
$GC,2203,-1.30,-194.6,2614,2396,3701,3768,345.5,-15.5,124,2208,0.00,2.25,0.00,0.000,516,0.000,0.047,2623,996,3734,3700,3768,0,0,0,0,0,0,27.08,25.71,27.13
$GC,2243,-1.30,-194.6,2623,995,3700,3768,351.7,-15.3,132,2248,0.00,2.25,0.00,0.000,1030,0.000,0.042,2614,2405,3734,3700,3768,0,0,0,0,0,0,25.84,25.80,25.89
$GC,2563,-1.30,-194.6,2614,2406,3699,3766,400.3,-15.0,141,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2405,3731,3698,3765,0,0,0,0,0,0,27.08,27.15,27.13
$GC,2863,-1.30,-194.6,2614,2406,3696,3763,443.5,-14.3,146,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2405,3729,3695,3763,0,0,0,0,0,0,27.07,27.15,27.13
$GC,3163,-1.30,-194.6,2614,2407,3694,3762,486.3,-14.3,151,3168,0.00,2.30,0.00,0.000,516,0.000,0.054,2622,999,3727,3693,3761,0,0,0,0,0,0,27.08,25.49,27.13
$GC,3198,-1.30,-194.6,2623,999,3694,3761,491.3,-14.1,158,3204,0.00,2.25,0.00,0.000,1030,0.000,0.042,2614,2406,3727,3693,3761,0,0,0,0,0,0,25.81,25.76,25.86
$GC,3523,-1.30,-194.6,2614,2407,3692,3761,538.5,-14.7,168,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2406,3725,3692,3759,0,0,0,0,0,0,27.08,27.15,27.13
$GC,3823,-1.30,-194.6,2614,2406,3692,3756,582.3,-14.6,173,3829,0.00,2.30,0.00,0.000,516,0.000,0.054,2623,1002,3723,3691,3756,0,0,0,0,0,0,27.08,25.46,27.13
$GC,3858,-1.30,-194.6,2623,1002,3692,3757,587.3,-14.0,180,3864,0.00,2.25,0.00,0.000,1030,0.000,0.046,2614,2393,3723,3691,3756,0,0,0,0,0,0,25.69,25.63,25.75
$STATE,4002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4002,begin apogee
$GC,4005,-0.23,0.0,2612,2711,3691,3756,607.8,-14.1,187,4220,1.42,0.00,211.85,0.836,10246,0.194,0.000,2957,2712,2940,3021,2859,0,0,0,0,0,0,23.70,24.94,23.99
$STATE,4221,end apogee,CONTROL_FINISHED_OK
$STATE,4221,begin climb
$GC,4222,1.30,194.6,2957,2713,3016,2853,618.3,0.0,190,4442,1.67,1.67,210.60,0.803,10500,0.139,0.070,3440,3693,2138,2232,2045,0,0,0,0,0,0,25.04,24.56,23.96
$GC,4601,1.30,194.6,3440,3694,2213,2027,590.9,13.1,271,4607,0.00,1.55,0.00,0.000,1030,0.000,0.037,3445,2685,2119,2213,2026,0,0,0,0,0,0,26.30,26.26,26.33
$GC,4916,1.30,194.6,3447,2685,2211,2023,551.9,12.4,279,4922,0.00,2.17,0.00,0.000,516,0.000,0.042,3457,1307,2117,2211,2023,0,0,0,0,0,0,26.98,26.06,27.05
$GC,5002,1.30,194.6,3457,1308,2211,2024,541.6,12.2,296,5007,0.00,2.22,0.00,0.000,1030,0.000,0.046,3448,2693,2116,2210,2022,0,0,0,0,0,0,26.07,26.01,26.13
$GC,5336,1.30,194.6,3449,2692,2211,2021,500.6,12.4,308,5342,0.00,2.17,0.00,0.000,516,0.000,0.040,3457,1310,2115,2209,2021,0,0,0,0,0,0,27.03,26.01,27.10
$GC,5381,1.30,194.6,3457,1310,2210,2021,495.1,12.3,317,5388,0.00,2.20,0.00,0.000,1030,0.000,0.043,3448,2694,2115,2209,2021,0,0,0,0,0,0,26.04,25.98,26.10
$GC,5697,1.30,194.6,3448,2694,2209,2020,456.7,12.2,325,5703,0.00,2.17,0.00,0.000,516,0.000,0.040,3456,1315,2113,2207,2020,0,0,0,0,0,0,27.04,25.97,27.10
$GC,5737,1.30,194.6,3457,1315,2208,2020,452.0,11.7,333,5744,0.00,2.20,0.00,0.000,1030,0.000,0.041,3448,2697,2113,2207,2020,0,0,0,0,0,0,26.02,25.96,26.06
$GC,6058,1.30,194.6,3449,2697,2207,2019,415.1,11.5,342,6063,0.00,2.20,0.00,0.000,516,0.000,0.040,3457,1306,2112,2206,2019,0,0,0,0,0,0,27.05,25.94,27.11
$GC,6098,1.30,194.6,3456,1306,2208,2019,410.5,11.3,350,6103,0.00,2.22,0.00,0.000,1030,0.000,0.044,3448,2693,2112,2206,2019,0,0,0,0,0,0,25.93,25.87,25.98
$GC,6418,1.30,194.6,3449,2693,2206,2019,375.6,10.9,359,6423,0.00,2.17,0.00,0.000,516,0.000,0.039,3457,1313,2111,2204,2019,0,0,0,0,0,0,27.05,25.91,27.11
$GC,6443,1.32,209.8,3457,1312,2206,2019,373.0,10.5,364,6459,0.00,2.20,12.75,0.728,9254,0.000,0.041,3448,2697,2085,2180,1991,0,0,0,0,0,0,25.94,25.89,24.76
$GC,6778,1.32,209.8,3448,2696,2161,1972,333.7,11.9,376,6784,0.00,2.20,0.00,0.000,516,0.000,0.039,3457,1302,2065,2158,1972,0,0,0,0,0,0,27.01,26.00,27.08
$GC,6828,1.32,209.8,3457,1303,2159,1973,327.5,12.3,386,6834,0.00,2.22,0.00,0.000,1030,0.000,0.042,3448,2697,2065,2158,1972,0,0,0,0,0,0,26.02,25.97,26.07
$GC,7138,1.32,209.8,3448,2698,2158,1973,288.6,12.6,393,7145,0.00,2.20,0.00,0.000,516,0.000,0.040,3457,1303,2064,2157,1971,0,0,0,0,0,0,27.04,25.91,27.10
$GC,7214,1.32,209.8,3457,1303,2158,1971,279.2,12.3,408,7219,0.00,2.25,0.00,0.000,1030,0.000,0.044,3448,2707,2064,2157,1972,0,0,0,0,0,0,25.90,25.84,25.96
$GC,7529,1.32,209.8,3448,2709,2157,1972,241.6,11.8,422,7534,0.00,2.22,0.00,0.000,516,0.000,0.044,3457,1317,2063,2156,1971,0,0,0,0,0,0,27.05,25.79,27.11
$GC,7583,1.32,209.8,3457,1317,2157,1971,235.4,11.1,433,7591,0.00,2.20,0.00,0.000,1030,0.000,0.042,3448,2696,2063,2156,1971,0,0,0,0,0,0,25.89,25.85,25.94
$GC,7889,1.32,209.8,3449,2695,2157,1971,202.7,10.7,444,7894,0.00,2.20,0.00,0.000,516,0.000,0.040,3457,1303,2063,2155,1971,0,0,0,0,0,0,27.05,25.85,27.12
$GC,7924,1.36,235.9,3457,1303,2156,1971,199.1,10.1,451,7961,0.00,2.25,32.30,0.643,9254,0.000,0.043,3448,2712,1976,2074,1878,0,0,0,0,0,0,25.84,25.78,24.67
$GC,8280,1.41,269.5,3448,2714,2054,1860,164.0,9.8,472,8327,0.15,2.28,41.45,0.626,10788,0.158,0.039,3515,1300,1836,1939,1734,0,0,0,0,0,0,26.37,25.51,24.63
$GC,8425,1.41,269.5,3515,1301,1917,1724,144.8,14.2,501,8433,0.00,2.22,0.00,0.000,1030,0.000,0.040,3514,2707,1819,1916,1722,0,0,0,0,0,0,26.15,26.10,26.19
$GC,8731,1.41,269.5,3514,2708,1914,1719,99.7,14.6,512,8736,0.00,2.20,0.00,0.000,516,0.000,0.041,3525,1315,1816,1914,1718,0,0,0,0,0,0,26.98,25.98,27.05
$GC,8780,1.41,269.5,3525,1315,1915,1718,92.3,14.6,522,8786,0.10,2.17,0.00,0.000,5126,0.170,0.041,3497,2691,1816,1914,1718,0,0,0,0,0,0,25.56,26.02,25.63
$GC,9091,1.44,294.8,3497,2691,1914,1717,56.9,10.1,534,9123,0.00,2.15,21.23,0.567,8740,0.000,0.037,3506,1297,1736,1840,1633,0,0,0,0,1,0,27.03,25.19,24.60
$GC,9203,1.44,294.8,3506,1299,1842,1636,44.4,11.9,556,9208,0.00,2.17,0.00,0.000,1030,0.000,0.039,3506,2704,1738,1841,1635,0,0,0,0,0,0,26.25,26.15,26.29
$GC,9512,1.56,376.1,3506,2703,1843,1635,17.5,8.0,588,9566,0.10,1.67,45.08,0.177,10532,0.147,0.077,3529,3680,1404,1512,1296,0,0,0,0,0,0,26.67,25.84,25.56
$STATE,9668,end climb,SURFACE_DEPTH_REACHED
$STATE,9668,begin surface coast
$FINISH,0.7,1.023038
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9696,131.27,0.135,0,0,499,598.78
$SM_GC,0.17,10.38,2.03,131.27,0.104,0.041,0.135,189,2400,499,-8.81,1.22,598.78,0,0,0,0,0,0,26.40,26.23,25.62
$IRIDIUM_FIX,4707.34,-12515.34,210717,075849
$TT8_MAMPS,0.049434,0.074151
$HUMID,52.36
$INTERNAL_PRESSURE,8.60812
$TCM_TEMP,17.30
$XPDR_PINGS,2
$24V_AH,23.70,11.777
$10V_AH,9.91,9.621
$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,25.150,95.825,575.250,131.275,0.000,0.000,0.000,711.150,0.500,0.000,31.298,0.000,9432.638,877.083,1919.768,90.362,0.000,2155.133,0.000,889.449,0.000,0.541,0.000
$DEVICE_MAMPS,259.335,1227.825,836.145,135.405,0.000,0.000,0.000,58.905,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,277696
$DATA_FILE_SIZE,20150,621
$CAP_FILE_SIZE,96399,0
$CFSIZE,260030464,251260928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.059,72.83,1
$GPS,210717,105340,4707.877,-12514.024,40,0.9,49,16.0,0.6,298.2,9,10.0