version: 66.13
glider: 203
mission: 13
dive: 108
start: 7 23 117 22 12 58
data:
$ID,203
$MISSION,13
$DIVE,108
$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,30
$R_STBD_OVSHOOT,37
$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,48
$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
$GPS1,230717,212845,4656.4028,-12516.6797,31,1.4,46,16.0,0.7,331.5,7,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-48.4
$GPS2,230717,221219,4656.1489,-12516.5586,17,1.1,48,16.0,1.6,136.3,9,8.8
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,87.8,17613,-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,8,-1.04,-194.6,197,2618,944,862,0.0,0.0,0,78,0.00,0.00,-68.57,0.000,16386,0.000,0.000,198,2618,2738,2778,2698,0,0,0,0,0,0,27.03,28.83,27.10
$GC,81,-1.04,-194.6,198,2618,2781,2697,3.7,-6.2,7,115,6.85,2.33,-20.75,0.000,18980,0.215,1.241,1993,1176,3736,3799,3673,0,0,0,0,0,0,25.96,25.16,26.32
$GC,340,-1.04,-194.6,1992,1176,3801,3677,44.9,-14.4,59,345,0.00,2.15,0.00,0.000,1030,0.000,0.034,1986,2606,3739,3801,3677,0,0,0,0,0,0,26.72,26.65,26.75
$GC,651,-1.04,-194.6,1985,2606,3801,3678,87.2,-13.1,73,655,0.00,1.92,0.00,0.000,260,0.000,0.056,1976,3850,3740,3802,3678,0,0,0,0,0,0,27.10,26.58,27.16
$GC,685,-1.04,-194.6,1975,3850,3801,3678,92.0,-14.0,80,690,0.10,1.88,0.00,0.000,3078,0.173,0.029,1999,2570,3739,3801,3678,0,0,0,0,0,0,26.51,26.80,26.62
$GC,1011,-1.04,-194.6,1998,2570,3802,3679,131.2,-11.4,95,1014,0.00,2.00,0.00,0.000,260,0.000,0.055,1992,3847,3740,3802,3679,0,0,0,0,0,0,27.15,26.62,27.21
$GC,1240,-1.04,-194.6,1991,3848,3801,3678,156.2,-10.6,141,1245,0.00,1.83,0.00,0.000,1030,0.000,0.029,1992,2602,3739,3801,3678,0,0,0,0,0,0,26.92,26.87,26.94
$GC,1551,-1.04,-194.6,1992,2601,3798,3678,184.0,-8.6,153,1556,0.00,2.10,0.00,0.000,548,0.000,0.035,1992,1193,3738,3798,3678,0,0,0,0,0,0,27.20,26.76,27.27
$GC,1601,-1.04,-194.6,1992,1193,3797,3678,188.4,-9.0,163,1606,0.08,2.12,0.00,0.000,3110,0.186,0.034,1999,2609,3738,3798,3678,0,0,0,0,0,0,26.60,26.77,26.71
$GC,1907,-1.04,-194.6,1999,2609,3796,3678,215.0,-9.1,174,1911,0.00,2.12,0.00,0.000,548,0.000,0.035,1999,1197,3736,3795,3678,0,0,0,0,0,0,27.23,26.77,27.29
$GC,1987,-1.04,-194.6,1998,1197,3795,3678,222.7,-9.6,190,1991,0.00,2.10,0.00,0.000,1062,0.000,0.034,1994,2600,3736,3794,3678,0,0,0,0,0,0,26.88,26.79,26.91
$GC,2347,-1.04,-194.6,1993,2600,3791,3678,255.8,-8.9,206,2351,0.00,2.12,0.00,0.000,548,0.000,0.037,1994,1194,3734,3791,3678,0,0,0,0,0,0,27.25,26.77,27.32
$GC,2437,-1.04,-194.6,1993,1193,3791,3678,263.8,-8.8,224,2441,0.00,2.12,0.00,0.000,1062,0.000,0.035,1985,2609,3734,3790,3678,0,0,0,0,0,0,26.88,26.80,26.91
$GC,2757,-1.04,-194.6,1985,2609,3787,3678,292.6,-9.0,233,2762,0.03,2.15,0.00,0.000,2596,0.300,0.036,1997,1192,3732,3787,3677,0,0,0,0,0,0,27.02,26.76,27.04
$GC,2874,-1.04,-194.6,1997,1192,3786,3678,303.5,-9.5,256,2878,0.00,2.12,0.00,0.000,1062,0.000,0.035,1991,2605,3732,3787,3678,0,0,0,0,0,0,26.89,26.81,26.93
$GC,3234,-1.04,-194.6,1990,2606,3783,3678,336.9,-9.2,273,3238,0.00,2.12,0.00,0.000,548,0.000,0.037,1991,1201,3730,3783,3678,0,0,0,0,0,0,27.29,26.77,27.34
$GC,3344,-1.04,-194.6,1990,1201,3782,3678,347.4,-9.4,295,3349,0.08,2.10,0.00,0.000,3110,0.184,0.036,1998,2598,3729,3781,3678,0,0,0,0,0,0,26.65,26.81,26.74
$GC,3649,-1.04,-194.6,1998,2598,3778,3678,374.2,-8.8,301,3654,0.00,2.12,0.00,0.000,548,0.000,0.039,1998,1199,3727,3778,3677,0,0,0,0,0,0,27.29,26.76,27.36
$GC,3776,-1.04,-194.6,1998,1199,3777,3678,386.2,-9.6,326,3780,0.00,2.12,0.00,0.000,1062,0.000,0.037,1993,2606,3727,3777,3677,0,0,0,0,0,0,26.88,26.79,26.91
$GC,4125,-1.04,-194.6,1992,2606,3774,3678,417.7,-8.9,341,4130,0.00,2.15,0.00,0.000,548,0.000,0.039,1993,1193,3726,3774,3678,0,0,0,0,0,0,27.30,26.75,27.37
$GC,4256,-1.04,-194.6,1992,1193,3773,3678,430.4,-9.6,367,4261,0.08,2.12,0.00,0.000,3110,0.192,0.037,2000,2599,3725,3772,3678,0,0,0,0,0,0,26.63,26.79,26.72
$GC,4602,-1.04,-194.6,1999,2599,3771,3677,462.3,-9.3,381,4606,0.00,1.95,0.00,0.000,292,0.000,0.060,1994,3842,3724,3771,3677,0,0,0,0,0,0,27.31,26.60,27.38
$GC,4831,-1.04,-194.6,1993,3842,3769,3678,486.5,-10.7,427,4835,0.00,1.85,0.00,0.000,1030,0.000,0.035,1994,2605,3723,3769,3677,0,0,0,0,0,0,26.94,26.88,26.98
$GC,5142,-1.04,-194.6,1993,2604,3765,3678,516.6,-9.5,434,5146,0.00,2.15,0.00,0.000,548,0.000,0.041,1994,1188,3721,3765,3678,0,0,0,0,0,0,27.32,26.72,27.39
$GC,5197,-1.04,-194.6,1994,1188,3765,3677,522.0,-9.8,445,5202,0.00,2.15,0.00,0.000,1062,0.000,0.039,1984,2602,3721,3765,3678,0,0,0,0,0,0,26.84,26.75,26.89
$GC,5502,-1.04,-194.6,1984,2601,3764,3677,551.5,-9.6,451,5506,0.08,1.95,0.00,0.000,2340,0.201,0.059,1994,3845,3720,3764,3677,0,0,0,0,0,0,27.02,26.59,27.04
$GC,5732,-1.04,-194.6,1992,3845,3762,3677,571.8,-8.4,497,5737,0.00,1.88,0.00,0.000,1062,0.000,0.036,1994,2592,3719,3762,3677,0,0,0,0,0,0,26.93,26.86,26.96
$GC,6042,-1.04,-194.6,1993,2591,3759,3677,596.6,-8.0,504,6046,0.00,2.12,0.00,0.000,548,0.000,0.041,1993,1189,3718,3760,3677,0,0,0,0,0,0,27.33,26.72,27.39
$STATE,6085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6085,begin apogee
$GC,6092,-0.25,0.0,1984,2605,3759,3677,600.3,-8.3,513,6287,0.82,0.00,191.27,0.815,10246,0.110,0.000,2255,2604,2940,2980,2900,0,0,0,0,0,0,26.28,25.15,24.53
$STATE,6287,end apogee,CONTROL_FINISHED_OK
$STATE,6288,begin climb
$GC,6289,1.04,194.6,2255,2604,2974,2894,608.7,0.0,516,6484,1.15,2.12,184.95,0.801,10500,0.049,0.055,2683,3852,2141,2180,2102,0,0,0,0,0,0,25.32,24.52,24.10
$GC,6709,1.06,212.9,2683,3851,2166,2087,577.4,10.4,604,6733,0.00,1.98,16.70,0.875,9254,0.000,0.037,2693,2597,2066,2106,2027,0,0,0,0,0,0,25.89,25.82,24.78
$GC,7044,1.11,252.6,2693,2597,2096,2016,545.2,9.6,616,7090,0.00,2.08,40.12,0.818,8484,0.000,0.056,2693,3846,1905,1949,1862,0,0,0,0,0,0,26.51,25.39,24.94
$GC,7255,1.11,252.6,2693,3846,1940,1853,521.2,11.6,658,7259,0.00,1.95,0.00,0.000,1030,0.000,0.037,2704,2594,1896,1940,1853,0,0,0,0,0,0,26.19,26.12,26.21
$GC,7580,1.13,266.8,2703,2594,1938,1851,486.7,10.6,668,7599,0.00,2.25,13.30,0.890,8740,0.000,0.044,2714,1194,1847,1892,1803,0,0,0,0,0,0,26.71,26.11,25.41
$GC,7635,1.15,284.9,2713,1195,1887,1802,481.0,10.4,679,7660,0.00,2.20,19.38,0.847,9254,0.000,0.039,2713,2602,1779,1823,1735,0,0,0,0,0,0,26.30,26.22,25.20
$GC,8000,1.15,284.9,2713,2602,1812,1722,442.4,10.7,697,8005,0.00,2.22,0.00,0.000,516,0.000,0.044,2723,1191,1767,1812,1722,0,0,0,0,0,0,26.68,26.32,26.74
$GC,8150,1.15,284.9,2722,1191,1810,1722,425.8,11.4,727,8154,0.00,2.20,0.00,0.000,1030,0.000,0.037,2723,2609,1766,1810,1722,0,0,0,0,0,0,26.50,26.42,26.53
$GC,8481,1.15,284.9,2722,2610,1808,1721,387.6,11.6,738,8485,0.00,2.22,0.00,0.000,516,0.000,0.044,2733,1187,1764,1808,1721,0,0,0,0,0,0,26.90,26.49,26.96
$GC,8630,1.15,284.9,2733,1187,1807,1720,369.7,12.0,768,8634,0.00,2.17,0.00,0.000,1030,0.000,0.038,2733,2600,1763,1807,1720,0,0,0,0,0,0,26.65,26.56,26.68
$GC,8956,1.15,284.9,2732,2600,1807,1720,330.7,11.9,778,8960,0.00,2.20,0.00,0.000,516,0.000,0.044,2743,1188,1763,1807,1720,0,0,0,0,0,0,27.01,26.57,27.08
$GC,9185,1.15,284.9,2742,1187,1807,1720,304.1,12.0,824,9189,0.00,2.17,0.00,0.000,1030,0.000,0.037,2743,2607,1763,1807,1720,0,0,0,0,0,0,26.72,26.63,26.77
$GC,9491,1.15,284.9,2743,2608,1807,1720,268.4,11.6,830,9495,0.00,2.20,0.00,0.000,516,0.000,0.044,2753,1190,1763,1807,1720,0,0,0,0,0,0,27.10,26.63,27.16
$GC,9720,1.15,284.9,2752,1190,1806,1720,241.5,11.8,876,9725,0.10,2.15,0.00,0.000,5126,0.182,0.037,2732,2601,1763,1806,1720,0,0,0,0,0,0,26.44,26.68,26.61
$GC,10025,1.15,284.9,2731,2601,1806,1718,207.1,11.3,887,10029,0.00,2.20,0.00,0.000,516,0.000,0.044,2738,1182,1762,1806,1719,0,0,0,0,0,0,27.15,26.65,27.22
$GC,10141,1.15,284.9,2738,1182,1806,1719,193.8,11.5,910,10145,0.00,2.17,0.00,0.000,1030,0.000,0.037,2738,2608,1762,1806,1719,0,0,0,0,0,0,26.79,26.70,26.84
$GC,10466,1.15,284.9,2738,2608,1805,1719,157.1,11.0,925,10470,0.00,2.20,0.00,0.000,516,0.000,0.044,2748,1188,1762,1805,1719,0,0,0,0,0,0,27.17,26.66,27.25
$GC,10651,1.15,284.9,2747,1188,1805,1719,137.3,10.7,962,10655,0.00,2.15,0.00,0.000,1030,0.000,0.037,2747,2603,1762,1805,1719,0,0,0,0,0,0,26.81,26.72,26.86
$GC,10971,1.15,284.9,2747,2603,1805,1719,102.5,10.8,976,10974,0.00,1.98,0.00,0.000,260,0.000,0.060,2747,3853,1762,1805,1719,0,0,0,0,0,0,27.21,26.58,27.27
$GC,11011,1.15,284.9,2747,3853,1805,1719,97.8,11.9,984,11015,0.10,1.92,0.00,0.000,5126,0.194,0.039,2736,2586,1762,1805,1719,0,0,0,0,0,0,26.48,26.79,26.63
$GC,11332,1.20,330.9,2736,2586,1805,1719,67.0,9.3,998,11414,0.00,2.28,74.82,0.539,8740,0.000,0.043,2743,1187,1589,1635,1543,0,0,0,0,0,0,27.22,26.08,25.57
$GC,11641,1.24,369.0,2743,1187,1629,1538,37.1,9.6,1060,11662,0.00,2.17,16.45,0.240,9254,0.000,0.035,2743,2600,1435,1483,1388,0,0,0,0,0,0,26.39,26.32,25.76
$GC,11968,1.34,460.1,2743,2601,1482,1388,9.3,7.6,1095,12013,0.08,2.15,39.83,0.171,10788,0.128,0.040,2799,1192,1060,1117,1003,0,0,0,0,0,0,26.65,26.10,25.96
$STATE,12064,end climb,SURFACE_DEPTH_REACHED
$STATE,12064,begin surface coast
$STATE,12083,end surface coast,CONTROL_FINISHED_OK
$STATE,12083,begin surface
$SM_CCo,12100,67.78,0.152,0,0,497,598.78
$SM_GC,0.69,6.80,2.25,67.78,0.035,0.039,0.152,190,2598,497,-6.65,-1.13,598.78,0,0,0,0,0,0,26.41,26.34,25.90
$IRIDIUM_FIX,4657.60,-12519.42,230717,220745
$TT8_MAMPS,0.027713,0.08988
$HUMID,54.21
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,24.10,21.676
$10V_AH,10.43,19.362
$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,16.325,109.700,596.825,67.775,0.000,0.000,0.000,800.000,0.250,0.000,50.024,820.407,10676.822,690.042,2491.817,124.656,0.000,2403.763,0.000,1595.548,0.000,0.549,0.000
$DEVICE_MAMPS,299.880,1240.830,889.695,152.235,0.000,0.000,0.000,58.905,420.000,0.000,12.730,19.900,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$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,277984
$DATA_FILE_SIZE,40002,1118
$CAP_FILE_SIZE,128962,0
$CFSIZE,1024393216,983760896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,259.65,1
$GPS,240717,013719,4655.681,-12516.926,41,1.6,59,16.0,0.8,259.1,7,9.4