version: 66.13
glider: 203
mission: 13
dive: 106
start: 7 23 117 12 52 44
data:
$ID,203
$MISSION,13
$DIVE,106
$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,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,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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,230717,120318,4657.3872,-12515.8457,46,1.4,64,16.0,1.1,172.7,7,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-39.0
$GPS2,230717,125205,4656.6431,-12516.7930,23,1.3,37,16.0,1.1,252.7,8,10.0
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,73.5,18127,-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,-194.6,184,2589,496,480,0.0,0.0,0,98,0.00,0.00,-88.38,0.000,16386,0.000,0.000,182,2589,2838,2878,2799,0,0,0,0,0,0,26.75,28.83,26.82
$GC,101,-1.04,-194.6,182,2590,2879,2799,3.9,-6.6,9,134,6.95,2.35,-18.38,0.000,18980,0.216,1.235,1993,1182,3738,3802,3675,0,0,0,0,0,0,25.85,24.58,26.20
$GC,225,-1.04,-194.6,1992,1182,3802,3676,25.2,-15.6,34,229,0.00,2.17,0.00,0.000,1030,0.000,0.035,1986,2606,3739,3802,3676,0,0,0,0,0,0,26.48,26.40,26.51
$GC,536,-1.04,-194.6,1986,2605,3802,3679,66.7,-13.5,58,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2606,3740,3802,3679,0,0,0,0,0,0,26.93,27.00,26.99
$GC,834,-1.04,-194.6,1986,2606,3803,3679,104.0,-11.6,68,838,0.00,2.12,0.00,0.000,516,0.000,0.031,1986,1177,3741,3803,3679,0,0,0,0,0,0,27.02,26.67,27.08
$GC,899,-1.04,-194.6,1985,1176,3803,3679,112.0,-12.4,81,905,0.10,2.15,0.00,0.000,3078,0.174,0.035,2001,2602,3740,3802,3679,0,0,0,0,0,0,26.41,26.63,26.54
$GC,1225,-1.04,-194.6,2000,2602,3802,3679,147.7,-10.7,96,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2603,3740,3802,3679,0,0,0,0,0,0,27.10,27.17,27.16
$GC,1526,-1.04,-194.6,2000,2603,3799,3679,179.4,-10.4,106,1530,0.00,1.92,0.00,0.000,292,0.000,0.058,1994,3844,3739,3799,3679,0,0,0,0,0,0,27.14,26.60,27.20
$GC,1555,-1.04,-194.6,1993,3844,3798,3679,182.6,-11.1,112,1559,0.00,1.88,0.00,0.000,1030,0.000,0.031,1994,2577,3738,3798,3679,0,0,0,0,0,0,26.87,26.81,26.89
$GC,1885,-1.04,-194.6,1993,2577,3796,3679,217.0,-10.5,128,1887,0.00,0.00,0.00,0.000,38,0.000,0.000,1994,2577,3737,3796,3679,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2186,-1.04,-194.6,1993,2577,3792,3679,248.0,-10.6,138,2187,0.00,0.00,0.00,0.000,38,0.000,0.000,1994,2577,3736,3793,3679,0,0,0,0,0,0,27.20,27.29,27.27
$GC,2516,-1.04,-194.6,1994,2577,3790,3679,284.0,-10.9,144,2519,0.00,2.00,0.00,0.000,260,0.000,0.057,1985,3846,3734,3789,3679,0,0,0,0,0,0,27.23,26.64,27.29
$GC,2555,-1.04,-194.6,1985,3846,3789,3679,288.7,-11.8,152,2559,0.00,1.85,0.00,0.000,1030,0.000,0.032,1985,2602,3734,3789,3679,0,0,0,0,0,0,26.93,26.86,26.95
$GC,2875,-1.04,-194.6,1984,2601,3786,3679,324.2,-11.0,161,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2601,3732,3786,3679,0,0,0,0,0,0,27.25,27.32,27.31
$GC,3176,-1.04,-194.6,1984,2601,3782,3679,356.1,-10.6,166,3177,0.00,0.00,0.00,0.000,38,0.000,0.000,1985,2601,3730,3782,3679,0,0,0,0,0,0,27.26,27.34,27.33
$GC,3475,-1.04,-194.6,1985,2601,3778,3679,386.8,-10.3,171,3479,0.00,1.98,0.00,0.000,292,0.000,0.058,1975,3853,3728,3778,3679,0,0,0,0,0,0,27.27,26.64,27.34
$GC,3505,-1.04,-194.6,1975,3853,3778,3679,390.2,-11.3,177,3510,0.10,1.88,0.00,0.000,3078,0.174,0.034,1998,2592,3728,3778,3679,0,0,0,0,0,0,26.60,26.87,26.71
$GC,3836,-1.04,-194.6,1998,2592,3775,3679,423.3,-9.9,188,3837,0.00,0.00,0.00,0.000,38,0.000,0.000,1999,2591,3727,3775,3679,0,0,0,0,0,0,27.29,27.36,27.35
$GC,4136,-1.04,-194.6,1998,2592,3772,3679,452.2,-9.6,193,4137,0.00,0.00,0.00,0.000,38,0.000,0.000,1998,2592,3725,3772,3679,0,0,0,0,0,0,27.29,27.36,27.36
$GC,4437,-1.04,-194.6,1998,2592,3771,3679,479.8,-9.1,198,4438,0.00,0.00,0.00,0.000,38,0.000,0.000,1999,2592,3724,3770,3679,0,0,0,0,0,0,27.30,27.38,27.36
$GC,4736,-1.04,-194.6,1998,2592,3768,3679,507.5,-9.2,203,4737,0.00,0.00,0.00,0.000,38,0.000,0.000,1998,2592,3723,3768,3679,0,0,0,0,0,0,27.31,27.38,27.37
$GC,5036,-1.04,-194.6,1998,2592,3765,3679,532.0,-8.0,208,5040,0.00,2.00,0.00,0.000,292,0.000,0.061,1992,3848,3721,3764,3679,0,0,0,0,0,0,27.32,26.60,27.38
$GC,5067,-1.04,-194.6,1992,3848,3764,3679,534.5,-8.4,214,5070,0.00,1.88,0.00,0.000,1062,0.000,0.037,1992,2597,3721,3764,3679,0,0,0,0,0,0,26.94,26.86,26.96
$GC,5396,-1.04,-194.6,1991,2597,3764,3679,562.9,-8.7,225,5397,0.00,0.00,0.00,0.000,38,0.000,0.000,1992,2597,3721,3764,3679,0,0,0,0,0,0,27.32,27.39,27.37
$GC,5697,-1.04,-194.6,1992,2597,3760,3679,590.3,-9.1,230,5701,0.00,2.00,0.00,0.000,292,0.000,0.061,1983,3849,3719,3760,3678,0,0,0,0,0,0,27.32,26.58,27.39
$GC,5731,-1.04,-194.6,1982,3849,3760,3678,593.9,-10.5,237,5736,0.08,1.88,0.00,0.000,3110,0.183,0.037,1998,2600,3718,3759,3678,0,0,0,0,0,0,26.66,26.85,26.75
$STATE,5815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5815,begin apogee
$GC,5819,-0.25,0.0,1997,2600,3759,3678,602.3,-9.7,243,6037,0.77,0.00,214.52,0.774,10246,0.110,0.000,2255,2599,2941,2981,2901,0,0,0,0,0,0,26.26,25.15,24.58
$STATE,6038,end apogee,CONTROL_FINISHED_OK
$STATE,6038,begin climb
$GC,6040,1.04,194.6,2255,2599,2974,2895,611.4,0.0,246,6237,1.15,2.22,184.70,0.796,10500,0.059,0.058,2671,3841,2137,2176,2098,0,0,0,0,0,0,25.29,24.68,24.08
$GC,6323,1.06,210.9,2670,3841,2168,2088,596.7,10.5,311,6342,0.00,2.00,14.50,0.876,9254,0.000,0.038,2679,2598,2080,2120,2041,0,0,0,0,0,0,25.46,25.40,24.49
$GC,6658,1.09,238.7,2678,2598,2102,2023,563.1,10.0,323,6693,0.00,2.12,27.80,0.841,8484,0.000,0.059,2679,3842,1957,1999,1916,0,0,0,0,0,0,26.36,25.61,24.94
$GC,6728,1.09,238.7,2678,3842,1993,1908,555.3,11.8,337,6733,0.00,1.98,0.00,0.000,1030,0.000,0.040,2689,2599,1950,1993,1908,0,0,0,0,0,0,25.92,25.86,25.95
$GC,7078,1.09,238.7,2688,2599,1990,1906,517.9,10.7,352,7082,0.00,2.03,0.00,0.000,260,0.000,0.060,2689,3847,1948,1990,1906,0,0,0,0,0,0,26.63,26.20,26.70
$GC,7118,1.09,238.7,2688,3847,1990,1905,513.1,12.2,360,7122,0.00,1.98,0.00,0.000,1030,0.000,0.041,2698,2603,1947,1990,1905,0,0,0,0,0,0,26.44,26.34,26.47
$GC,7438,1.09,238.7,2697,2603,1988,1904,477.9,10.9,369,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2602,1946,1988,1904,0,0,0,0,0,0,26.83,26.90,26.90
$GC,7739,1.09,238.7,2698,2603,1986,1904,444.6,11.2,374,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2602,1945,1986,1904,0,0,0,0,0,0,26.93,27.01,27.00
$GC,8038,1.09,238.7,2697,2603,1985,1903,411.3,11.0,379,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2603,1944,1986,1903,0,0,0,0,0,0,27.00,27.08,27.07
$GC,8338,1.09,238.7,2697,2603,1984,1902,379.2,10.7,384,8342,0.00,2.00,0.00,0.000,260,0.000,0.060,2698,3848,1943,1984,1903,0,0,0,0,0,0,27.05,26.49,27.13
$GC,8423,1.09,238.7,2697,3847,1984,1903,369.6,11.2,401,8428,0.00,1.90,0.00,0.000,1030,0.000,0.039,2707,2599,1943,1984,1902,0,0,0,0,0,0,26.75,26.68,26.79
$GC,8759,1.14,278.0,2706,2598,1984,1902,336.7,9.6,413,8803,0.00,0.00,39.75,0.733,8742,0.000,0.000,2707,2599,1801,1843,1760,0,0,0,0,0,0,27.10,25.94,25.53
$GC,9119,1.17,302.5,2707,2599,1830,1747,300.3,10.2,430,9146,0.00,0.00,25.27,0.734,8230,0.000,0.000,2707,2598,1706,1750,1662,0,0,0,0,0,0,26.79,26.02,25.44
$GC,9418,1.17,302.5,2706,2598,1734,1646,268.6,10.7,435,9422,0.00,2.03,0.00,0.000,260,0.000,0.059,2707,3844,1690,1734,1646,0,0,0,0,0,0,26.70,26.26,26.77
$GC,9483,1.17,302.5,2706,3844,1733,1646,260.9,12.1,448,9487,0.00,1.92,0.00,0.000,1030,0.000,0.038,2716,2599,1690,1734,1646,0,0,0,0,0,0,26.50,26.42,26.53
$GC,9808,1.17,302.5,2716,2599,1733,1645,224.8,11.2,467,9812,0.00,2.20,0.00,0.000,516,0.000,0.044,2726,1186,1688,1733,1644,0,0,0,0,0,0,26.89,26.46,26.96
$GC,9859,1.17,302.5,2725,1186,1733,1644,218.9,11.9,477,9863,0.00,2.17,0.00,0.000,1030,0.000,0.039,2726,2594,1688,1733,1644,0,0,0,0,0,0,26.58,26.49,26.63
$GC,10169,1.17,302.5,2725,2594,1731,1644,182.9,11.4,489,10173,0.00,2.00,0.00,0.000,260,0.000,0.060,2726,3847,1688,1732,1644,0,0,0,0,0,0,26.98,26.45,27.06
$GC,10229,1.17,302.5,2725,3847,1732,1643,175.3,12.8,501,10233,0.00,1.92,0.00,0.000,1030,0.000,0.040,2734,2588,1687,1732,1643,0,0,0,0,0,0,26.71,26.64,26.74
$GC,10559,1.17,302.5,2733,2589,1731,1643,137.8,11.2,517,10563,0.00,2.03,0.00,0.000,260,0.000,0.061,2734,3846,1687,1732,1643,0,0,0,0,0,0,27.06,26.50,27.13
$GC,10604,1.17,302.5,2733,3846,1732,1642,132.5,11.8,526,10608,0.00,1.90,0.00,0.000,1030,0.000,0.041,2743,2601,1687,1731,1643,0,0,0,0,0,0,26.75,26.67,26.79
$GC,10919,1.17,302.5,2743,2601,1732,1643,97.7,11.3,539,10922,0.00,2.00,0.00,0.000,260,0.000,0.060,2743,3848,1687,1732,1643,0,0,0,0,0,0,27.10,26.52,27.17
$GC,11148,1.17,302.5,2742,3848,1732,1643,73.0,10.8,585,11153,0.00,1.90,0.00,0.000,1030,0.000,0.037,2751,2596,1687,1732,1643,0,0,0,0,0,0,26.81,26.74,26.85
$GC,11459,1.19,328.3,2750,2597,1732,1642,41.1,10.1,601,11473,0.00,2.00,9.18,0.246,8484,0.000,0.059,2751,3847,1601,1647,1555,0,0,0,0,0,0,27.16,26.46,26.00
$GC,11699,1.32,440.3,2750,3846,1655,1559,18.7,6.8,649,11753,0.00,1.88,48.92,0.194,9254,0.000,0.037,2760,2598,1142,1198,1087,0,0,0,0,0,0,26.82,26.76,26.19
$STATE,11888,end climb,SURFACE_DEPTH_REACHED
$STATE,11888,begin surface coast
$STATE,11897,end surface coast,CONTROL_FINISHED_OK
$STATE,11897,begin surface
$SM_CCo,11911,77.03,0.150,1,0,499,598.78
$SM_GC,0.77,6.65,0.00,77.03,0.036,0.000,0.150,190,2597,499,-6.65,-0.08,598.78,0,0,0,0,1,0,26.62,27.06,24.46
$IRIDIUM_FIX,4656.31,-12517.60,230717,123821
$TT8_MAMPS,0.026964,0.090629
$HUMID,54.60
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.08,21.354
$10V_AH,10.41,19.206
$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,15.800,68.225,564.650,77.025,0.000,0.000,0.000,1126.775,0.000,0.000,40.084,559.208,11426.879,690.479,2149.668,115.538,0.000,2437.958,0.000,969.862,0.000,0.549,0.000
$DEVICE_MAMPS,215.730,1234.710,875.925,149.940,0.000,0.000,0.000,82.620,420.000,0.000,12.730,19.900,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$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,277988
$DATA_FILE_SIZE,23360,675
$CAP_FILE_SIZE,100850,0
$CFSIZE,1024393216,983990272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.139,242.30,1
$GPS,230717,161419,4656.467,-12515.821,48,1.2,67,16.0,0.7,224.9,7,10.0