version: 66.13
glider: 204
mission: 19
dive: 109
start: 7 23 117 11 40 4
data:
$ID,204
$MISSION,19
$DIVE,109
$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,52
$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
$GPS1,230717,105819,4658.5820,-12511.5576,52,1.5,75,16.0,1.1,228.9,6,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-58.8
$GPS2,230717,113945,4658.0122,-12511.8135,9,1.5,44,16.0,0.4,0.0,7,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,93.3,13401,-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,-194.6,193,2378,586,411,0.0,0.0,0,99,0.00,0.00,-92.62,0.000,16386,0.000,0.000,193,2378,2774,2725,2823,0,0,0,0,0,0,27.03,28.83,27.10
$GC,101,-1.30,-194.6,193,2378,2727,2823,3.4,-6.5,9,138,11.12,2.40,-19.08,0.000,18980,0.253,1.215,2622,1017,3737,3698,3776,0,0,0,0,0,0,25.15,24.19,25.59
$GC,242,-1.30,-194.6,2621,1019,3700,3778,33.7,-19.4,37,249,0.00,2.17,0.00,0.000,1030,0.000,0.043,2613,2393,3738,3700,3777,0,0,0,0,0,0,26.08,26.03,26.13
$GC,573,-1.30,-194.6,2613,2392,3702,3776,92.4,-16.5,55,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2392,3738,3701,3776,0,0,0,0,0,0,27.05,27.11,27.10
$GC,873,-1.30,-194.6,2613,2393,3701,3777,139.0,-15.1,65,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2392,3738,3701,3776,0,0,0,0,0,0,27.06,27.13,27.12
$GC,1173,-1.30,-194.6,2613,2393,3701,3777,182.6,-14.4,75,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2392,3738,3701,3776,0,0,0,0,0,0,27.06,27.13,27.12
$GC,1473,-1.30,-194.6,2614,2392,3701,3775,228.7,-15.3,85,1479,0.00,2.22,0.00,0.000,516,0.000,0.050,2621,1018,3737,3700,3775,0,0,0,0,0,0,27.07,25.60,27.13
$GC,1528,-1.30,-194.6,2621,1018,3701,3776,237.2,-15.2,96,1535,0.00,2.17,0.00,0.000,1030,0.000,0.041,2613,2390,3737,3699,3775,0,0,0,0,0,0,25.84,25.78,25.88
$GC,1863,-1.30,-194.6,2613,2390,3698,3774,288.0,-15.0,104,1869,0.00,2.17,0.00,0.000,260,0.000,0.065,2603,3696,3735,3696,3774,0,0,0,0,0,0,27.07,25.24,27.13
$GC,1903,-1.30,-194.6,2604,3696,3696,3774,294.3,-16.0,112,1909,0.00,2.03,0.00,0.000,1030,0.000,0.041,2611,2405,3734,3695,3774,0,0,0,0,0,0,26.03,25.99,26.06
$GC,2223,-1.30,-194.6,2610,2406,3694,3771,343.0,-15.3,121,2230,0.00,2.22,0.00,0.000,516,0.000,0.047,2621,1013,3732,3694,3770,0,0,0,0,0,0,27.06,25.58,27.13
$GC,2273,-1.30,-194.6,2621,1014,3694,3772,350.6,-14.9,131,2279,0.00,2.22,0.00,0.000,1030,0.000,0.045,2612,2395,3731,3693,3770,0,0,0,0,0,0,25.70,25.65,25.76
$GC,2584,-1.30,-194.6,2612,2395,3693,3769,396.7,-14.8,138,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2394,3730,3693,3768,0,0,0,0,0,0,27.06,27.13,27.13
$GC,2884,-1.30,-194.6,2612,2395,3692,3767,440.3,-14.4,143,2889,0.00,2.25,0.00,0.000,516,0.000,0.048,2621,1003,3728,3691,3766,0,0,0,0,0,0,27.07,25.52,27.13
$GC,2923,-1.30,-194.6,2621,1003,3692,3766,446.0,-14.2,151,2930,0.00,2.25,0.00,0.000,1030,0.000,0.042,2612,2407,3728,3691,3766,0,0,0,0,0,0,25.72,25.68,25.77
$GC,3244,-1.30,-194.6,2613,2408,3690,3765,491.1,-14.2,160,3249,0.00,2.17,0.00,0.000,260,0.000,0.070,2602,3696,3726,3688,3765,0,0,0,0,0,0,27.06,25.03,27.13
$GC,3284,-1.30,-194.6,2602,3697,3688,3766,497.3,-15.8,168,3289,0.00,2.05,0.00,0.000,1030,0.000,0.043,2610,2403,3726,3688,3765,0,0,0,0,0,0,25.94,25.91,25.98
$GC,3604,-1.30,-194.6,2610,2404,3686,3762,543.8,-14.5,177,3610,0.00,2.28,0.00,0.000,516,0.000,0.050,2621,996,3723,3686,3761,0,0,0,0,0,0,27.07,25.46,27.12
$GC,3640,-1.30,-194.6,2621,996,3687,3761,549.0,-14.5,184,3645,0.00,2.25,0.00,0.000,1030,0.000,0.043,2612,2397,3723,3686,3761,0,0,0,0,0,0,25.69,25.65,25.74
$GC,3965,-1.30,-194.6,2612,2398,3685,3762,594.7,-14.0,194,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2396,3723,3685,3761,0,0,0,0,0,0,27.06,27.13,27.13
$STATE,4023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4023,begin apogee
$GC,4027,-0.23,0.0,2610,2713,3686,3761,602.8,-13.8,195,4238,1.42,0.00,208.12,0.835,10246,0.194,0.000,2956,2713,2940,3009,2872,0,0,0,0,0,0,24.03,24.96,24.04
$STATE,4239,end apogee,CONTROL_FINISHED_OK
$STATE,4239,begin climb
$GC,4240,1.30,194.6,2957,2713,3004,2865,612.1,0.0,198,4459,1.67,1.70,208.73,0.806,10500,0.138,0.070,3440,3685,2136,2215,2057,0,0,0,0,0,0,25.03,24.92,23.96
$GC,4593,1.30,194.6,3440,3685,2201,2045,587.1,12.8,274,4599,0.00,1.55,0.00,0.000,1030,0.000,0.041,3445,2698,2122,2200,2044,0,0,0,0,0,0,26.18,26.15,26.22
$GC,4933,1.30,194.6,3445,2699,2199,2042,546.4,12.1,287,4939,0.00,2.20,0.00,0.000,516,0.000,0.041,3456,1299,2119,2198,2041,0,0,0,0,0,0,26.97,25.98,27.03
$GC,5033,1.30,194.6,3456,1299,2200,2041,534.6,12.2,307,5039,0.00,2.22,0.00,0.000,1030,0.000,0.041,3447,2698,2119,2197,2041,0,0,0,0,0,0,26.06,26.01,26.10
$GC,5354,1.30,194.6,3447,2699,2196,2041,498.1,11.3,316,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2698,2117,2195,2040,0,0,0,0,0,0,27.02,27.09,27.08
$GC,5653,1.30,194.6,3447,2699,2195,2040,463.7,11.4,321,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2698,2115,2193,2038,0,0,0,0,0,0,27.03,27.10,27.09
$GC,5953,1.30,194.6,3447,2699,2194,2039,430.1,11.1,326,5959,0.00,2.22,0.00,0.000,516,0.000,0.040,3455,1295,2115,2193,2038,0,0,0,0,0,0,27.03,25.84,27.10
$GC,6018,1.30,194.6,3456,1295,2194,2038,422.5,11.8,339,6024,0.00,2.22,0.00,0.000,1030,0.000,0.041,3447,2698,2115,2193,2038,0,0,0,0,0,0,25.92,25.86,25.96
$GC,6373,1.30,194.6,3447,2698,2193,2037,381.8,11.4,355,6379,0.00,2.22,0.00,0.000,516,0.000,0.040,3456,1297,2114,2192,2037,0,0,0,0,0,0,27.04,25.80,27.10
$GC,6403,1.30,194.6,3456,1297,2193,2037,378.3,11.5,361,6410,0.00,2.22,0.00,0.000,1030,0.000,0.040,3447,2696,2114,2192,2037,0,0,0,0,0,0,25.87,25.83,25.93
$GC,6734,1.30,194.6,3447,2696,2192,2037,339.6,11.7,372,6739,0.00,2.20,0.00,0.000,516,0.000,0.039,3456,1302,2114,2191,2037,0,0,0,0,0,0,27.04,25.79,27.10
$GC,6808,1.30,194.6,3455,1303,2192,2038,331.0,11.3,387,6815,0.00,2.22,0.00,0.000,1030,0.000,0.041,3447,2695,2114,2191,2037,0,0,0,0,0,0,25.82,25.76,25.85
$GC,7154,1.30,194.6,3447,2696,2191,2038,292.9,10.9,401,7160,0.00,2.20,0.00,0.000,516,0.000,0.039,3456,1300,2113,2190,2037,0,0,0,0,0,0,27.04,25.77,27.10
$GC,7249,1.32,208.7,3456,1300,2192,2037,282.7,10.6,420,7265,0.00,2.22,11.02,0.689,9254,0.000,0.041,3447,2700,2087,2166,2009,0,0,0,0,0,0,25.80,25.75,24.77
$GC,7575,1.35,225.7,3447,2700,2152,1996,248.5,10.5,430,7596,0.00,0.00,19.62,0.685,8742,0.000,0.000,3448,2699,2019,2100,1938,0,0,0,0,0,0,27.01,25.58,24.76
$GC,7905,1.35,225.7,3448,2699,2082,1918,211.7,11.3,446,7911,0.00,2.22,0.00,0.000,516,0.000,0.041,3456,1298,1999,2080,1919,0,0,0,0,0,0,26.98,25.92,27.05
$GC,7970,1.35,225.7,3455,1299,2080,1921,204.2,11.7,459,7976,0.00,2.22,0.00,0.000,1030,0.000,0.041,3447,2696,1999,2080,1919,0,0,0,0,0,0,25.98,25.94,26.03
$GC,8295,1.35,225.7,3447,2698,2080,1920,165.0,12.0,474,8301,0.00,2.22,0.00,0.000,516,0.000,0.040,3456,1294,1998,2079,1918,0,0,0,0,0,0,27.03,25.83,27.09
$GC,8365,1.35,225.7,3456,1294,2080,1918,156.6,12.0,488,8371,0.00,2.22,0.00,0.000,1030,0.000,0.040,3447,2693,1999,2080,1918,0,0,0,0,0,0,25.89,25.84,25.94
$GC,8685,1.35,225.7,3448,2694,2079,1918,121.0,10.7,502,8691,0.00,2.20,0.00,0.000,516,0.000,0.038,3455,1299,1998,2078,1918,0,0,0,0,0,0,27.03,25.79,27.10
$GC,8890,1.43,281.9,3456,1300,2079,1919,101.7,9.0,543,8967,0.12,2.22,72.10,0.594,11302,0.121,0.041,3500,2697,1789,1877,1701,0,0,0,0,0,0,25.35,25.76,24.60
$GC,9287,1.43,281.9,3500,2697,1852,1676,55.8,10.8,572,9292,0.00,2.20,0.00,0.000,516,0.000,0.038,3509,1299,1764,1852,1676,0,0,0,0,0,0,26.94,25.98,27.00
$GC,9517,1.46,307.8,3510,1300,1851,1677,32.3,10.1,618,9533,0.00,2.22,11.52,0.201,9254,0.000,0.039,3511,2707,1682,1773,1592,0,0,0,0,0,0,25.98,25.93,25.15
$GC,9837,1.66,450.6,3509,2708,1786,1607,6.7,5.7,652,9902,0.20,0.00,62.40,0.156,10786,0.130,0.000,3571,2708,1200,1310,1091,0,0,0,0,0,0,26.24,28.83,26.30
$STATE,9902,end climb,SURFACE_DEPTH_REACHED
$STATE,9902,begin surface coast
$FINISH,0.1,1.023038
$STATE,9916,end surface coast,CONTROL_FINISHED_OK
$STATE,9916,begin surface
$SM_CCo,9932,93.45,0.142,0,0,500,598.78
$SM_GC,0.13,10.05,0.47,93.45,0.085,0.045,0.142,190,2391,500,-8.81,1.13,598.78,0,0,0,0,0,0,26.36,26.41,25.52
$IRIDIUM_FIX,4659.05,-12509.87,230717,111913
$TT8_MAMPS,0.048685,0.073402
$HUMID,52.48
$INTERNAL_PRESSURE,8.63742
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.96,13.652
$10V_AH,9.92,10.469
$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,24.600,75.025,593.525,93.450,0.000,0.000,0.000,693.050,0.000,0.000,46.312,0.000,9632.963,805.101,1985.687,90.599,0.000,2084.364,0.000,952.985,0.000,0.543,0.000
$DEVICE_MAMPS,253.215,1214.820,835.380,142.290,0.000,0.000,0.000,58.140,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,278028
$DATA_FILE_SIZE,23426,666
$CAP_FILE_SIZE,93146,0
$CFSIZE,260030464,250523648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,262.63,1
$GPS,230717,142840,4657.476,-12511.144,33,1.8,73,16.0,0.6,0.0,7,11.0
$RESTART_TIME,Sun Jul 23 18:48:22 2017