version: 66.13
glider: 203
mission: 13
dive: 103
start: 7 23 117 0 37 18
data:
$ID,203
$MISSION,13
$DIVE,103
$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,34
$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,0
$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
$GPS1,230717,003317,4657.1084,-12516.8262,4,1.0,11,16.0,0.2,0.0,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-49.5
$GPS2,230717,003632,4657.1001,-12516.8584,4,1.0,10,16.0,0.6,259.4,11,10.0
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,92.1,18452,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.04,-194.6,185,2602,484,490,0.0,0.0,0,88,0.00,0.00,-78.57,0.000,16386,0.000,0.000,185,2602,2590,2624,2557,0,0,0,0,0,0,27.13,28.83,27.20
$GC,91,-1.04,-194.6,185,2602,2626,2557,3.1,-5.3,8,130,6.82,2.28,-25.92,0.000,18980,0.212,1.219,1998,1188,3737,3799,3675,0,0,0,0,0,0,26.12,24.82,26.47
$GC,355,-1.04,-194.6,1997,1188,3801,3677,46.9,-15.8,61,359,0.00,2.12,0.00,0.000,1030,0.000,0.031,1991,2621,3739,3801,3677,0,0,0,0,0,0,26.89,26.82,26.91
$GC,685,-1.04,-194.6,1990,2621,3802,3680,89.0,-12.3,75,689,0.00,2.12,0.00,0.000,516,0.000,0.031,1991,1179,3740,3801,3680,0,0,0,0,0,0,27.24,26.89,27.31
$GC,725,-1.04,-194.6,1990,1179,3801,3680,93.8,-12.1,83,730,0.10,2.10,0.00,0.000,3078,0.168,0.034,2005,2598,3740,3801,3680,0,0,0,0,0,0,26.65,26.86,26.77
$GC,1036,-1.04,-194.6,2005,2598,3801,3680,126.0,-9.3,95,1040,0.00,2.10,0.00,0.000,548,0.000,0.032,2006,1178,3740,3802,3679,0,0,0,0,0,0,27.29,26.91,27.36
$GC,1266,-1.04,-194.6,2005,1178,3800,3680,148.2,-9.8,141,1270,0.00,2.12,0.00,0.000,1062,0.000,0.034,1999,2611,3740,3800,3680,0,0,0,0,0,0,26.99,26.91,27.02
$GC,1596,-1.04,-194.6,1999,2612,3796,3679,179.2,-9.4,157,1600,0.00,1.90,0.00,0.000,292,0.000,0.055,1990,3853,3738,3796,3680,0,0,0,0,0,0,27.34,26.80,27.41
$GC,1611,-1.04,-194.6,1989,3853,3796,3679,180.7,-9.6,160,1615,0.00,1.85,0.00,0.000,1062,0.000,0.031,1990,2583,3737,3795,3680,0,0,0,0,0,0,27.06,27.01,27.09
$GC,1926,-1.04,-194.6,1989,2583,3792,3680,212.6,-9.9,173,1930,0.00,1.95,0.00,0.000,292,0.000,0.055,1981,3842,3735,3792,3679,0,0,0,0,0,0,27.35,26.80,27.41
$GC,2062,-1.04,-194.6,1980,3842,3790,3680,226.8,-10.6,200,2066,0.10,1.80,0.00,0.000,3110,0.163,0.031,2004,2601,3734,3790,3679,0,0,0,0,0,0,26.75,27.02,26.86
$GC,2377,-1.04,-194.6,2003,2601,3787,3679,257.6,-9.9,212,2381,0.00,1.92,0.00,0.000,292,0.000,0.057,1998,3842,3733,3787,3679,0,0,0,0,0,0,27.36,26.79,27.43
$GC,2567,-1.04,-194.6,1997,3842,3784,3679,277.2,-10.4,250,2571,0.00,1.83,0.00,0.000,1062,0.000,0.031,1998,2593,3731,3784,3679,0,0,0,0,0,0,27.07,27.01,27.10
$GC,2917,-1.04,-194.6,1997,2593,3779,3679,312.1,-9.9,265,2921,0.00,2.08,0.00,0.000,548,0.000,0.034,1998,1185,3728,3778,3679,0,0,0,0,0,0,27.37,26.93,27.43
$GC,3148,-1.04,-194.6,1997,1183,3777,3679,335.4,-10.5,311,3152,0.00,2.12,0.00,0.000,1062,0.000,0.036,1989,2605,3727,3776,3679,0,0,0,0,0,0,26.99,26.91,27.03
$GC,3452,-1.04,-194.6,1988,2604,3773,3679,367.6,-10.6,317,3455,0.00,1.92,0.00,0.000,260,0.000,0.059,1979,3849,3726,3773,3679,0,0,0,0,0,0,27.38,26.74,27.44
$GC,3527,-1.04,-194.6,1979,3849,3772,3679,375.9,-11.0,332,3531,0.10,1.85,0.00,0.000,3078,0.165,0.034,2003,2599,3725,3772,3679,0,0,0,0,0,0,26.72,26.99,26.84
$GC,3872,-1.04,-194.6,2002,2599,3769,3679,409.6,-9.7,346,3876,0.00,2.10,0.00,0.000,548,0.000,0.036,2003,1182,3724,3769,3679,0,0,0,0,0,0,27.38,26.89,27.44
$GC,4102,-1.04,-194.6,2003,1181,3766,3679,431.7,-9.4,392,4106,0.00,2.12,0.00,0.000,1062,0.000,0.037,1998,2596,3722,3766,3679,0,0,0,0,0,0,26.96,26.87,27.00
$GC,4407,-1.04,-194.6,1997,2596,3764,3679,459.7,-9.2,398,4412,0.00,1.95,0.00,0.000,292,0.000,0.059,1988,3849,3721,3764,3679,0,0,0,0,0,0,27.38,26.71,27.44
$GC,4528,-1.04,-194.6,1987,3849,3763,3679,471.4,-9.9,422,4533,0.00,1.88,0.00,0.000,1062,0.000,0.034,1988,2591,3720,3762,3679,0,0,0,0,0,0,27.03,26.96,27.05
$GC,4889,-1.04,-194.6,1988,2590,3759,3679,505.8,-9.7,439,4892,0.00,2.10,0.00,0.000,548,0.000,0.037,1988,1184,3719,3759,3679,0,0,0,0,0,0,27.38,26.85,27.45
$GC,5118,-1.04,-194.6,1987,1180,3757,3679,529.6,-10.3,485,5123,0.10,2.15,0.00,0.000,3110,0.170,0.038,2004,2605,3717,3757,3678,0,0,0,0,0,0,26.63,26.84,26.75
$GC,5424,-1.04,-194.6,2003,2605,3755,3679,556.0,-8.5,491,5427,0.00,1.95,0.00,0.000,292,0.000,0.060,1997,3852,3716,3754,3679,0,0,0,0,0,0,27.38,26.66,27.44
$GC,5473,-1.04,-194.6,1996,3851,3754,3678,560.2,-8.3,501,5477,0.00,1.88,0.00,0.000,1062,0.000,0.037,1997,2597,3716,3754,3678,0,0,0,0,0,0,26.99,26.92,27.03
$GC,5783,-1.04,-194.6,1996,2596,3753,3678,585.1,-8.0,508,5787,0.00,2.10,0.00,0.000,548,0.000,0.038,1997,1192,3715,3753,3678,0,0,0,0,0,0,27.38,26.82,27.44
$STATE,5961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5961,begin apogee
$GC,5968,-0.25,0.0,1988,2599,3752,3678,600.1,-8.2,544,6161,0.80,0.00,189.68,0.817,10246,0.109,0.000,2253,2599,2940,2978,2902,0,0,0,0,0,0,26.37,25.34,24.75
$STATE,6162,end apogee,CONTROL_FINISHED_OK
$STATE,6162,begin climb
$GC,6164,1.04,194.6,2253,2600,2972,2897,607.0,0.0,547,6354,1.15,2.10,181.02,0.808,11012,0.055,0.056,2676,3850,2141,2179,2104,0,0,0,0,0,0,25.50,24.90,24.46
$GC,6579,1.04,194.6,2675,3850,2166,2088,573.3,10.8,634,6584,0.00,1.92,0.00,0.000,1030,0.000,0.037,2685,2604,2127,2166,2088,0,0,0,0,0,0,26.19,26.12,26.22
$GC,6920,1.11,257.7,2684,2603,2163,2086,542.8,8.7,647,6989,0.00,2.30,61.22,0.801,8996,0.000,0.042,2694,1194,1882,1923,1842,0,0,0,0,0,0,26.80,25.65,25.03
$GC,7215,1.16,296.3,2693,1194,1909,1833,514.9,9.6,706,7260,0.00,2.17,37.65,0.807,9254,0.000,0.036,2694,2601,1728,1771,1685,0,0,0,0,0,0,26.36,26.27,25.13
$GC,7580,1.16,296.3,2693,2601,1758,1670,475.9,10.9,724,7584,0.00,2.00,0.00,0.000,260,0.000,0.060,2694,3849,1714,1758,1671,0,0,0,0,0,0,26.72,26.29,26.79
$GC,7810,1.16,296.3,2693,3849,1757,1668,446.3,13.2,770,7815,0.00,1.92,0.00,0.000,1030,0.000,0.037,2703,2593,1712,1756,1668,0,0,0,0,0,0,26.63,26.55,26.66
$GC,8120,1.16,296.3,2702,2593,1755,1668,407.8,12.4,777,8124,0.00,2.03,0.00,0.000,260,0.000,0.059,2703,3854,1711,1755,1668,0,0,0,0,0,0,26.99,26.49,27.06
$GC,8310,1.16,296.3,2703,3854,1755,1667,382.4,13.6,815,8314,0.00,1.92,0.00,0.000,1030,0.000,0.039,2713,2589,1711,1756,1667,0,0,0,0,0,0,26.75,26.68,26.79
$GC,8660,1.16,296.3,2712,2589,1754,1667,338.1,12.6,830,8665,0.00,2.03,0.00,0.000,260,0.000,0.059,2712,3854,1710,1754,1667,0,0,0,0,0,0,27.11,26.55,27.18
$GC,8775,1.16,296.3,2712,3854,1754,1666,322.0,14.1,853,8779,0.00,1.92,0.00,0.000,1030,0.000,0.040,2721,2592,1710,1754,1667,0,0,0,0,0,0,26.81,26.74,26.85
$GC,9081,1.16,296.3,2720,2592,1754,1666,281.8,13.1,859,9084,0.00,2.00,0.00,0.000,260,0.000,0.059,2721,3846,1710,1754,1667,0,0,0,0,0,0,27.17,26.57,27.24
$GC,9260,1.16,296.3,2720,3846,1753,1666,256.7,14.2,895,9264,0.00,1.90,0.00,0.000,1030,0.000,0.039,2730,2591,1709,1753,1666,0,0,0,0,0,0,26.84,26.77,26.89
$GC,9590,1.16,296.3,2730,2591,1753,1666,214.1,12.9,916,9594,0.00,2.00,0.00,0.000,260,0.000,0.059,2730,3852,1709,1753,1666,0,0,0,0,0,0,27.21,26.58,27.28
$GC,9705,1.16,296.3,2729,3852,1753,1666,198.7,13.2,939,9709,0.00,1.90,0.00,0.000,1030,0.000,0.040,2737,2597,1709,1753,1666,0,0,0,0,0,0,26.86,26.79,26.91
$GC,10010,1.16,296.3,2736,2598,1753,1666,162.8,11.5,950,10015,0.00,2.00,0.00,0.000,260,0.000,0.060,2737,3854,1709,1753,1666,0,0,0,0,0,0,27.24,26.58,27.30
$GC,10180,1.16,296.3,2736,3854,1752,1666,141.3,12.5,984,10184,0.00,1.95,0.00,0.000,1030,0.000,0.038,2746,2598,1709,1752,1666,0,0,0,0,0,0,26.84,26.82,26.88
$GC,10490,1.16,296.3,2745,2598,1752,1666,106.6,11.0,996,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2598,1709,1752,1666,0,0,0,0,0,0,27.27,27.34,27.33
$GC,10790,1.18,314.3,2746,2598,1752,1666,74.2,10.4,1006,10810,0.00,1.98,15.23,0.624,8484,0.000,0.056,2746,3849,1658,1702,1615,0,0,0,0,0,0,27.27,26.47,26.09
$GC,11036,1.20,330.7,2746,3848,1695,1607,48.3,10.5,1055,11049,0.00,1.90,6.43,0.262,9254,0.000,0.037,2755,2586,1590,1636,1544,0,0,0,0,0,0,26.82,26.75,26.08
$GC,11356,1.26,386.2,2754,2586,1645,1547,16.3,9.0,1089,11386,0.00,2.00,24.65,0.194,8484,0.000,0.056,2755,3850,1362,1412,1313,0,0,0,0,0,0,27.15,26.46,26.28
$STATE,11555,end climb,SURFACE_DEPTH_REACHED
$STATE,11555,begin surface coast
$STATE,11575,end surface coast,CONTROL_FINISHED_OK
$STATE,11575,begin surface
$SM_CCo,11591,48.17,0.160,0,0,901,500.17
$SM_GC,0.72,6.62,1.95,48.17,0.038,0.034,0.160,185,2595,901,-6.63,1.19,500.17,0,0,0,0,0,0,26.79,26.74,26.21
$IRIDIUM_FIX,4659.61,-12512.45,230717,002739
$TT8_MAMPS,0.026964,0.090629
$HUMID,57.48
$INTERNAL_PRESSURE,8.6813
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.46,20.912
$10V_AH,10.45,19.019
$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,15.800,92.400,515.875,48.175,0.000,0.000,0.000,0.000,0.000,0.000,11.455,809.782,8538.621,613.221,1674.629,93.476,0.000,1506.417,0.000,1615.511,0.000,0.551,0.000
$DEVICE_MAMPS,211.905,1218.645,817.020,159.885,0.000,0.000,0.000,0.000,420.000,0.000,12.730,19.900,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,278236
$DATA_FILE_SIZE,39966,1133
$CAP_FILE_SIZE,153055,0
$CFSIZE,1024393216,984236032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,252.92,1
$GPS,230717,035246,4657.351,-12517.075,38,1.5,53,16.0,0.1,0.0,7,10.0