version: 66.13
glider: 204
mission: 19
dive: 106
start: 7 22 117 23 50 59
data:
$ID,204
$MISSION,19
$DIVE,106
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,220717,230032,4701.2129,-12512.4482,28,1.0,63,16.0,0.3,0.0,9,9.6
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-65.3
$GPS2,220717,235040,4700.9995,-12512.8340,23,1.2,37,16.0,0.4,0.0,10,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,107.5,17969,-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,-194.6,182,2395,580,416,0.0,0.0,0,110,0.00,0.00,-103.68,0.000,16386,0.000,0.000,181,2396,3158,3111,3206,0,0,0,0,0,0,27.02,28.83,27.08
$GC,112,-1.30,-194.6,182,2395,3113,3206,4.7,-7.7,10,138,11.18,2.40,-10.05,0.000,18980,0.256,1.222,2619,1004,3736,3696,3776,0,0,0,0,0,0,25.22,24.50,25.44
$GC,193,-1.30,-194.6,2619,1004,3700,3777,28.1,-21.6,26,198,0.00,2.22,0.00,0.000,1030,0.000,0.047,2611,2395,3737,3699,3776,0,0,0,0,0,0,26.16,26.10,26.21
$GC,523,-1.30,-194.6,2611,2395,3702,3776,87.0,-17.0,46,528,0.00,2.12,0.00,0.000,260,0.000,0.060,2600,3698,3737,3700,3775,0,0,0,0,0,0,27.05,25.61,27.10
$GC,557,-1.30,-194.6,2601,3698,3702,3776,92.7,-16.3,53,564,0.00,2.03,0.00,0.000,1030,0.000,0.041,2607,2392,3738,3701,3776,0,0,0,0,0,0,26.22,26.18,26.26
$GC,883,-1.30,-194.6,2608,2391,3700,3776,144.7,-15.8,68,888,0.00,2.22,0.00,0.000,516,0.000,0.052,2612,1007,3738,3700,3776,0,0,0,0,0,0,27.06,25.68,27.12
$GC,938,-1.30,-194.6,2613,1007,3702,3776,153.4,-15.8,79,945,0.00,2.25,0.00,0.000,1030,0.000,0.047,2603,2400,3738,3701,3776,0,0,0,0,0,0,25.82,25.76,25.87
$GC,1243,-1.30,-194.6,2604,2402,3701,3776,202.6,-15.9,90,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2401,3737,3700,3775,0,0,0,0,0,0,27.06,27.14,27.13
$GC,1543,-1.30,-194.6,2604,2402,3699,3775,250.1,-16.0,100,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2401,3736,3698,3774,0,0,0,0,0,0,27.07,27.13,27.13
$GC,1843,-1.30,-194.6,2604,2401,3697,3770,299.5,-16.4,105,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2401,3733,3696,3770,0,0,0,0,0,0,27.07,27.14,27.13
$GC,2143,-1.30,-194.6,2604,2402,3694,3769,346.8,-15.6,110,2148,0.00,2.15,0.00,0.000,260,0.000,0.064,2594,3697,3730,3693,3768,0,0,0,0,0,0,27.07,25.28,27.13
$GC,2183,-1.30,-194.6,2594,3698,3694,3769,353.3,-16.7,118,2188,0.00,2.03,0.00,0.000,1030,0.000,0.041,2594,2403,3730,3692,3768,0,0,0,0,0,0,26.07,26.03,26.11
$GC,2503,-1.30,-194.6,2594,2403,3693,3765,403.9,-15.8,127,2509,0.00,2.25,0.00,0.000,516,0.000,0.049,2602,999,3728,3692,3765,0,0,0,0,0,0,27.07,25.60,27.13
$GC,2533,-1.30,-194.6,2603,1000,3692,3767,408.6,-15.3,133,2539,0.00,2.25,0.00,0.000,1030,0.000,0.043,2594,2404,3728,3692,3765,0,0,0,0,0,0,25.78,25.75,25.83
$GC,2863,-1.30,-194.6,2594,2406,3690,3764,459.6,-15.5,144,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2405,3726,3689,3763,0,0,0,0,0,0,27.06,27.14,27.13
$GC,3163,-1.30,-194.6,2594,2405,3688,3762,505.1,-15.2,149,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2405,3724,3687,3761,0,0,0,0,0,0,27.07,27.14,27.13
$GC,3463,-1.30,-194.6,2595,2405,3687,3760,549.4,-14.7,154,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2405,3722,3685,3760,0,0,0,0,0,0,27.07,27.14,27.13
$GC,3763,-1.30,-194.6,2595,2405,3685,3757,593.5,-14.8,159,3769,0.00,2.30,0.00,0.000,516,0.000,0.054,2600,1010,3720,3684,3756,0,0,0,0,0,0,27.07,25.37,27.13
$GC,3793,-1.30,-194.6,2601,1010,3685,3756,597.9,-14.6,165,3800,0.00,2.28,0.00,0.000,1030,0.000,0.050,2592,2397,3720,3684,3756,0,0,0,0,0,0,25.53,25.48,25.59
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3807,begin apogee
$GC,3811,-0.23,0.0,2590,2715,3685,3758,600.2,-14.2,168,3992,1.50,0.00,171.55,1.369,10246,0.194,0.000,2956,2714,2939,3012,2867,0,0,0,0,1,0,24.20,23.99,22.73
$STATE,3992,end apogee,CONTROL_FINISHED_OK
$STATE,3992,begin climb
$GC,3993,1.30,194.6,2957,2714,3017,2868,610.4,0.0,171,4220,1.77,1.73,215.32,0.806,10500,0.138,0.069,3443,3688,2134,2217,2052,0,0,0,0,0,0,24.09,24.72,23.74
$GC,4339,1.30,194.6,3443,3690,2205,2042,589.6,12.3,241,4345,0.00,1.55,0.00,0.000,1030,0.000,0.038,3450,2685,2122,2203,2041,0,0,0,0,0,0,26.24,26.20,26.27
$GC,4649,1.30,194.6,3449,2686,2202,2038,555.1,11.0,248,4655,0.00,2.17,0.00,0.000,516,0.000,0.044,3459,1309,2119,2201,2037,0,0,0,0,0,0,26.96,26.07,27.02
$GC,4734,1.30,194.6,3460,1309,2202,2038,544.9,12.8,265,4741,0.00,2.22,0.00,0.000,1030,0.000,0.046,3451,2698,2118,2199,2038,0,0,0,0,0,0,26.12,26.07,26.18
$GC,5070,1.30,194.6,3450,2699,2199,2038,503.2,12.4,277,5076,0.00,2.20,0.00,0.000,516,0.000,0.041,3460,1304,2117,2198,2037,0,0,0,0,0,0,27.02,26.02,27.08
$GC,5105,1.30,194.6,3460,1304,2199,2037,498.7,12.8,284,5111,0.00,2.22,0.00,0.000,1030,0.000,0.044,3451,2696,2118,2199,2037,0,0,0,0,0,0,26.07,26.01,26.11
$GC,5430,1.30,194.6,3451,2696,2198,2036,459.0,12.0,294,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2697,2116,2197,2036,0,0,0,0,0,0,27.03,27.10,27.09
$GC,5730,1.30,194.6,3451,2697,2196,2036,423.8,11.8,299,5736,0.00,2.20,0.00,0.000,516,0.000,0.040,3460,1299,2116,2196,2036,0,0,0,0,0,0,27.03,25.94,27.10
$GC,5805,1.30,194.6,3460,1299,2197,2036,415.4,10.9,314,5811,0.00,2.22,0.00,0.000,1030,0.000,0.041,3451,2698,2115,2195,2036,0,0,0,0,0,0,26.00,25.95,26.03
$GC,6150,1.30,194.6,3451,2698,2195,2035,377.0,11.2,328,6156,0.00,2.20,0.00,0.000,516,0.000,0.040,3460,1307,2114,2194,2035,0,0,0,0,0,0,27.04,25.89,27.10
$GC,6195,1.30,194.6,3460,1308,2196,2035,371.8,11.7,337,6202,0.00,2.22,0.00,0.000,1030,0.000,0.044,3451,2693,2114,2194,2035,0,0,0,0,0,0,25.90,25.85,25.95
$GC,6511,1.30,194.6,3451,2694,2194,2036,335.1,11.6,345,6517,0.00,2.20,0.00,0.000,516,0.000,0.039,3460,1300,2114,2193,2035,0,0,0,0,0,0,27.04,25.88,27.10
$GC,6566,1.30,194.6,3460,1299,2195,2035,329.0,11.1,356,6573,0.00,2.22,0.00,0.000,1030,0.000,0.041,3451,2703,2114,2193,2035,0,0,0,0,0,0,25.93,25.88,25.98
$GC,6871,1.30,194.6,3451,2703,2193,2034,296.0,10.8,362,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2703,2113,2193,2034,0,0,0,0,0,0,27.05,27.12,27.11
$GC,7171,1.36,235.3,3451,2703,2193,2034,266.8,9.6,367,7212,0.00,2.25,29.65,0.737,8740,0.000,0.043,3460,1307,1980,2067,1894,0,0,0,0,1,0,27.05,25.50,24.15
$GC,7266,1.36,235.3,3459,1307,2080,1900,256.4,11.2,386,7272,0.00,2.22,0.00,0.000,1030,0.000,0.044,3451,2694,1989,2078,1900,0,0,0,0,0,0,26.17,26.11,26.22
$GC,7591,1.36,235.3,3452,2695,2081,1902,216.5,13.1,400,7597,0.00,2.15,1.62,0.199,8708,0.000,0.037,3460,1303,1978,2066,1891,0,0,0,0,0,0,26.99,25.29,25.13
$GC,7702,1.36,235.3,3460,1303,2080,1901,202.4,12.9,422,7707,0.00,2.20,0.00,0.000,1030,0.000,0.044,3451,2710,1990,2079,1901,0,0,0,0,0,0,26.05,25.94,26.10
$GC,8011,1.36,235.3,3451,2710,2080,1901,166.1,11.0,434,8018,0.00,2.20,1.40,0.210,8708,0.000,0.040,3460,1306,1979,2066,1893,0,0,0,0,0,0,27.03,25.25,25.08
$GC,8112,1.42,278.0,3460,1306,2078,1899,155.6,9.5,454,8183,0.15,2.20,63.05,0.621,11302,0.134,0.045,3502,2703,1800,1892,1708,0,0,0,0,0,0,25.63,25.82,24.61
$GC,8492,1.42,278.0,3502,2704,1875,1695,104.5,13.8,480,8498,0.00,2.22,0.00,0.000,516,0.000,0.042,3512,1302,1784,1874,1694,0,0,0,0,0,0,26.95,25.97,27.01
$GC,8722,1.42,278.0,3511,1303,1872,1694,73.4,12.8,526,8728,0.00,2.22,0.00,0.000,1030,0.000,0.041,3512,2699,1782,1872,1693,0,0,0,0,0,0,26.01,25.96,26.06
$GC,9032,1.49,328.9,3512,2699,1872,1691,38.0,9.2,544,9065,0.00,2.20,24.10,0.228,8740,0.000,0.040,3522,1309,1597,1691,1504,0,0,0,0,0,0,27.03,25.70,25.23
$GC,9229,1.53,355.0,3522,1310,1697,1515,17.8,10.1,583,9248,0.00,2.22,14.77,0.183,9254,0.000,0.044,3522,2697,1490,1585,1396,0,0,0,0,0,0,25.95,25.90,25.32
$STATE,9413,end climb,SURFACE_DEPTH_REACHED
$STATE,9413,begin surface coast
$FINISH,-0.2,1.023038
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9449,135.95,0.138,0,0,500,598.78
$SM_GC,0.16,9.98,0.45,135.95,0.082,0.043,0.138,187,2383,500,-8.80,1.24,598.78,0,0,0,0,0,0,26.39,26.54,25.56
$IRIDIUM_FIX,4700.90,-12514.27,220717,233603
$TT8_MAMPS,0.048685,0.074151
$HUMID,53.18
$INTERNAL_PRESSURE,8.62765
$TCM_TEMP,17.20
$XPDR_PINGS,1
$24V_AH,22.73,13.245
$10V_AH,9.93,10.283
$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,24.575,74.925,521.475,135.950,0.000,0.000,0.000,1224.400,0.250,0.000,39.228,0.000,9296.612,806.886,2403.717,91.325,0.000,2570.205,0.000,867.031,0.000,0.542,0.000
$DEVICE_MAMPS,255.510,1221.705,1369.350,137.700,0.000,0.000,0.000,75.735,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,277984
$DATA_FILE_SIZE,20062,605
$CAP_FILE_SIZE,91854,0
$CFSIZE,260030464,250712064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.090,270.87,1
$GPS,230717,023236,4700.260,-12512.343,59,1.4,94,16.0,0.4,0.0,7,10.0