version: 66.13
glider: 203
mission: 13
dive: 94
start: 7 21 117 2 34 6
data:
$ID,203
$MISSION,13
$DIVE,94
$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,500
$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,35
$R_STBD_OVSHOOT,40
$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,3
$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
$GPS1,210717,022907,4709.4927,-12511.8525,43,1.0,50,16.0,0.5,154.3,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-52.3
$GPS2,210717,023345,4709.4517,-12511.8105,6,0.9,14,16.0,0.7,134.8,12,10.0
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,187.7,28900,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.04,-194.6,195,2602,480,498,0.0,0.0,0,107,0.00,0.00,-91.72,0.000,16386,0.000,0.000,195,2602,2780,2822,2739,0,0,0,0,0,0,26.66,28.83,26.73
$GC,109,-1.04,-194.6,196,2602,2825,2742,3.6,-5.5,9,142,7.00,2.20,-20.73,0.000,18724,0.222,1.283,1987,3848,3738,3803,3673,0,0,0,0,0,0,25.85,24.60,26.03
$GC,346,-1.04,-194.6,1986,3848,3803,3680,46.0,-14.1,56,353,0.00,1.92,0.00,0.000,1030,0.000,0.030,1987,2586,3742,3804,3680,0,0,0,0,0,0,26.53,26.51,26.55
$GC,651,-1.04,-194.6,1988,2587,3810,3680,86.8,-13.3,69,657,0.00,2.03,0.00,0.000,260,0.000,0.057,1978,3842,3744,3808,3681,0,0,0,0,0,0,26.91,26.43,26.96
$GC,701,-1.04,-194.6,1977,3843,3807,3682,93.9,-14.6,79,707,0.05,1.88,0.00,0.000,3078,0.160,0.031,1993,2609,3744,3808,3681,0,0,0,0,0,0,26.36,26.63,26.42
$GC,1011,-1.04,-194.6,1994,2610,3810,3683,128.6,-10.6,91,1017,0.00,2.17,0.00,0.000,548,0.000,0.036,1993,1187,3745,3808,3682,0,0,0,0,0,0,27.00,26.61,27.07
$GC,1241,-1.04,-194.6,1994,1188,3810,3684,153.0,-11.0,137,1248,0.00,2.17,0.00,0.000,1030,0.000,0.035,1988,2594,3745,3808,3682,0,0,0,0,0,0,26.70,26.66,26.73
$GC,1552,-1.04,-194.6,1989,2595,3810,3683,186.6,-10.5,149,1558,0.00,2.17,0.00,0.000,548,0.000,0.035,1988,1183,3745,3808,3682,0,0,0,0,0,0,27.09,26.68,27.16
$GC,1782,-1.04,-194.6,1989,1184,3810,3683,211.0,-10.3,195,1788,0.05,2.17,0.00,0.000,3110,0.153,0.037,1996,2594,3745,3808,3682,0,0,0,0,0,0,26.48,26.72,26.56
$GC,2092,-1.04,-194.6,1997,2595,3810,3683,240.8,-9.4,207,2098,0.00,2.00,0.00,0.000,292,0.000,0.059,1990,3844,3744,3807,3682,0,0,0,0,0,0,27.16,26.60,27.22
$GC,2322,-1.04,-194.6,1990,3845,3806,3683,263.9,-9.9,253,2328,0.00,1.90,0.00,0.000,1062,0.000,0.031,1990,2593,3744,3806,3682,0,0,0,0,0,0,26.86,26.83,26.89
$GC,2633,-1.04,-194.6,1991,2594,3807,3683,294.1,-9.7,260,2638,0.00,2.12,0.00,0.000,548,0.000,0.037,1990,1195,3743,3804,3682,0,0,0,0,0,0,27.20,26.74,27.26
$GC,2863,-1.04,-194.6,1989,1195,3804,3682,317.6,-10.1,306,2868,0.05,2.17,0.00,0.000,3110,0.148,0.037,1998,2604,3743,3804,3682,0,0,0,0,0,0,26.55,26.77,26.61
$GC,3173,-1.04,-194.6,1997,2604,3802,3682,346.5,-9.3,313,3179,0.00,2.15,0.00,0.000,548,0.000,0.037,1998,1176,3741,3801,3682,0,0,0,0,0,0,27.23,26.76,27.29
$GC,3403,-1.04,-194.6,1997,1177,3801,3682,368.8,-9.4,359,3408,0.00,2.20,0.00,0.000,1062,0.000,0.037,1992,2600,3741,3801,3682,0,0,0,0,0,0,26.82,26.77,26.86
$GC,3713,-1.04,-194.6,1991,2600,3799,3682,398.4,-9.6,366,3718,0.00,2.17,0.00,0.000,548,0.000,0.038,1992,1188,3740,3798,3682,0,0,0,0,0,0,27.24,26.77,27.32
$GC,3943,-1.04,-194.6,1992,1189,3798,3682,421.4,-9.9,412,3949,0.03,2.17,0.00,0.000,3110,0.192,0.037,1992,2597,3739,3797,3682,0,0,0,0,0,0,26.63,26.78,26.66
$GC,4253,-1.04,-194.6,1991,2598,3796,3682,452.4,-10.0,419,4258,0.00,2.15,0.00,0.000,548,0.000,0.039,1991,1179,3738,3796,3681,0,0,0,0,0,0,27.27,26.75,27.33
$GC,4483,-1.04,-194.6,1990,1179,3793,3682,477.6,-10.9,465,4489,0.00,2.20,0.00,0.000,1030,0.000,0.038,1988,2596,3738,3794,3682,0,0,0,0,0,0,26.82,26.78,26.86
$GC,4793,-1.04,-194.6,1986,2598,3793,3683,510.9,-10.7,472,4799,0.00,2.17,0.00,0.000,516,0.000,0.040,1987,1193,3737,3792,3682,0,0,0,0,0,0,27.28,26.75,27.34
$GC,5023,-1.04,-194.6,1984,1194,3793,3683,535.6,-10.6,518,5029,0.05,2.17,0.00,0.000,3078,0.157,0.038,1994,2598,3735,3791,3680,0,0,0,0,0,0,26.54,26.77,26.60
$GC,5333,-1.04,-194.6,1993,2599,3790,3682,564.1,-9.0,525,5339,0.00,2.15,0.00,0.000,548,0.000,0.040,1993,1182,3736,3790,3682,0,0,0,0,0,0,27.29,26.74,27.36
$GC,5564,-1.04,-194.6,1993,1182,3788,3682,584.7,-9.1,571,5569,0.00,2.20,0.00,0.000,1062,0.000,0.038,1988,2605,3735,3789,3682,0,0,0,0,0,0,26.82,26.77,26.85
$STATE,5752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5752,begin apogee
$GC,5756,-0.25,0.0,1988,2606,3790,3682,602.3,-9.3,576,5969,0.82,0.00,205.43,1.021,10246,0.113,0.000,2257,2605,2942,2982,2902,0,0,0,0,1,0,26.27,24.62,23.70
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5972,1.04,194.6,2257,2606,2991,2903,612.5,0.0,579,6174,1.17,2.15,192.88,0.810,10500,0.054,0.056,2678,3847,2138,2176,2100,0,0,0,0,0,0,24.88,24.15,23.75
$GC,6399,1.08,222.9,2678,3848,2167,2089,586.3,10.0,667,6430,0.00,2.03,26.85,0.845,9254,0.000,0.036,2686,2601,2029,2069,1990,0,0,0,0,0,0,25.63,25.60,24.52
$GC,6739,1.10,241.2,2687,2602,2056,1976,551.6,10.4,680,6760,0.00,2.12,17.75,0.877,8484,0.000,0.058,2686,3847,1951,1992,1910,0,0,0,0,0,0,26.32,25.67,25.00
$GC,6984,1.10,241.2,2686,3848,1986,1901,521.7,12.4,729,6991,0.00,1.98,0.00,0.000,1030,0.000,0.037,2696,2601,1941,1983,1900,0,0,0,0,0,0,26.20,26.17,26.23
$GC,7340,1.10,241.2,2696,2601,1984,1899,481.4,11.3,745,7347,0.00,2.05,0.00,0.000,260,0.000,0.059,2696,3846,1940,1982,1899,0,0,0,0,0,0,26.70,26.28,26.77
$GC,7441,1.10,241.2,2694,3846,1982,1899,468.9,12.6,765,7447,0.00,1.98,0.00,0.000,1030,0.000,0.038,2705,2591,1940,1982,1898,0,0,0,0,0,0,26.48,26.46,26.51
$GC,7761,1.10,241.2,2704,2591,1981,1898,431.4,11.7,774,7767,0.00,2.05,0.00,0.000,260,0.000,0.060,2705,3840,1938,1981,1896,0,0,0,0,0,0,26.86,26.41,26.94
$GC,7816,1.10,241.2,2705,3841,1983,1897,424.5,12.8,785,7824,0.00,1.95,0.00,0.000,1030,0.000,0.040,2713,2600,1938,1980,1897,0,0,0,0,0,0,26.59,26.55,26.63
$GC,8121,1.10,241.2,2713,2601,1980,1897,389.4,11.4,791,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2601,1938,1980,1896,0,0,0,0,0,0,26.96,27.03,27.03
$GC,8421,1.10,241.2,2715,2601,1981,1897,356.2,11.0,796,8427,0.00,2.03,0.00,0.000,260,0.000,0.059,2713,3844,1938,1980,1897,0,0,0,0,0,0,27.01,26.51,27.08
$GC,8461,1.10,241.2,2713,3845,1978,1897,351.6,11.8,804,8467,0.00,1.95,0.00,0.000,1030,0.000,0.039,2721,2596,1938,1979,1897,0,0,0,0,0,0,26.70,26.67,26.73
$GC,8781,1.10,241.2,2719,2597,1978,1897,317.1,10.7,813,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2596,1938,1979,1897,0,0,0,0,0,0,27.05,27.13,27.13
$GC,9081,1.12,261.5,2722,2597,1981,1898,286.0,10.3,818,9107,0.00,2.00,20.02,0.770,8484,0.000,0.059,2721,3845,1867,1908,1827,0,0,0,0,0,0,27.09,26.41,25.77
$GC,9156,1.12,261.5,2722,3846,1903,1820,277.7,11.5,833,9163,0.00,1.95,0.00,0.000,1030,0.000,0.038,2730,2602,1860,1901,1820,0,0,0,0,0,0,26.53,26.51,26.58
$GC,9472,1.12,261.5,2731,2603,1902,1820,243.3,10.9,847,9477,0.00,2.03,0.00,0.000,260,0.000,0.059,2730,3845,1859,1900,1819,0,0,0,0,0,0,26.91,26.44,26.98
$GC,9507,1.12,261.5,2731,3845,1902,1819,239.3,11.5,854,9512,0.00,1.95,0.00,0.000,1030,0.000,0.040,2738,2602,1859,1900,1819,0,0,0,0,0,0,26.61,26.59,26.65
$GC,9832,1.15,284.8,2738,2601,1899,1819,205.3,10.2,869,9864,0.00,2.25,24.20,0.709,8740,0.000,0.044,2747,1194,1770,1811,1729,0,0,0,0,0,0,27.00,26.31,25.70
$GC,9893,1.16,301.0,2748,1192,1807,1727,199.0,10.5,881,9914,0.00,2.22,16.52,0.723,9254,0.000,0.040,2746,2599,1710,1753,1668,0,0,0,0,0,0,26.41,26.36,25.53
$GC,10223,1.16,301.0,2747,2600,1745,1658,161.2,12.0,897,10224,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2599,1699,1743,1656,0,0,0,0,0,0,26.71,26.79,26.77
$GC,10523,1.16,301.0,2748,2600,1745,1657,124.1,12.1,907,10529,0.00,2.03,0.00,0.000,260,0.000,0.059,2747,3854,1699,1743,1655,0,0,0,0,0,0,26.85,26.39,26.91
$GC,10618,1.16,301.0,2748,3855,1745,1656,111.8,12.7,926,10624,0.05,1.95,0.00,0.000,5126,0.181,0.037,2742,2601,1698,1743,1654,0,0,0,0,0,0,26.29,26.56,26.35
$GC,10944,1.16,301.0,2742,2601,1743,1655,74.3,11.4,941,10950,0.00,2.03,0.00,0.000,260,0.000,0.058,2742,3870,1698,1742,1654,0,0,0,0,0,0,26.96,26.46,27.03
$GC,10994,1.16,301.0,2741,3873,1743,1654,68.4,11.2,951,10999,0.00,2.00,0.00,0.000,1030,0.000,0.038,2747,2590,1698,1743,1653,0,0,0,0,0,0,26.67,26.63,26.70
$GC,11305,1.21,340.5,2746,2591,1743,1654,38.2,9.6,971,11327,0.00,2.03,15.48,0.244,8484,0.000,0.059,2747,3858,1551,1596,1506,0,0,0,0,0,0,27.03,26.46,26.05
$GC,11356,1.23,363.6,2746,3859,1597,1507,33.0,10.2,981,11373,0.00,1.98,10.98,0.230,9254,0.000,0.038,2754,2597,1454,1501,1408,0,0,0,0,0,0,26.68,26.64,26.04
$GC,11677,1.35,469.9,2755,2598,1501,1408,8.9,7.0,1015,11730,0.00,2.03,45.83,0.168,8484,0.000,0.059,2754,3857,1020,1078,963,0,0,0,0,0,0,26.99,26.41,26.12
$STATE,11757,end climb,SURFACE_DEPTH_REACHED
$STATE,11757,begin surface coast
$FINISH,0.2,1.015099
$STATE,11778,end surface coast,CONTROL_FINISHED_OK
$STATE,11778,begin surface
$SM_CCo,11794,12.50,0.163,0,0,899,500.17
$SM_GC,1.44,6.68,1.98,12.50,0.037,0.036,0.163,192,2596,899,-6.65,1.10,500.17,0,0,0,0,0,0,26.53,26.55,26.08
$IRIDIUM_FIX,4711.02,-12514.58,200717,231258
$TT8_MAMPS,0.053928,0.319823
$HUMID,53.78
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,19.20
$XPDR_PINGS,4
$PM_FREEKB_00,124817984
$PM_FREEKB_01,6560640
$PM_FREEKB_02,10570624
$PM_FREEKB_03,124834944
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,2
$24V_AH,23.70,19.524
$10V_AH,10.05,17.045
$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,15.950,95.350,575.925,12.500,0.000,0.000,0.000,145.050,1.000,0.000,15.855,0.000,9119.431,740.100,2112.616,123.144,0.000,1713.017,0.000,1478.172,0.000,0.548,0.000
$DEVICE_MAMPS,221.850,1282.905,1020.510,162.945,0.000,0.000,0.000,81.855,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11794.000,11796.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.783,42.114,0.000,0.000
$MEM,277704
$DATA_FILE_SIZE,36709,1035
$CAP_FILE_SIZE,110254,0
$CFSIZE,1024393216,985694208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.102,58.88,1
$GPS,210717,055228,4708.985,-12510.432,28,1.1,59,16.0,0.4,0.0,10,10.0