version: 66.13
glider: 203
mission: 13
dive: 109
start: 7 24 117 2 31 13
data:
$ID,203
$MISSION,13
$DIVE,109
$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,36
$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
$GPS1,240717,013719,4655.6807,-12516.9258,41,1.6,59,16.0,0.8,259.1,7,9.4
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.4
$GPS2,240717,023034,4655.0591,-12517.3682,40,1.6,80,16.0,0.2,0.0,8,13.0
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,75.3,18287,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.04,-194.6,173,2602,495,485,0.0,0.0,0,97,0.00,0.00,-87.78,0.000,16386,0.000,0.000,173,2602,2822,2862,2782,0,0,0,0,0,0,26.82,28.83,26.89
$GC,100,-1.04,-194.6,173,2603,2862,2782,4.0,-7.3,9,133,7.00,2.35,-18.65,0.000,18980,0.216,1.235,1993,1188,3738,3800,3676,0,0,0,0,0,0,25.88,24.60,26.22
$GC,333,-1.04,-194.6,1993,1188,3802,3677,40.8,-13.1,56,338,0.00,2.17,0.00,0.000,1030,0.000,0.034,1986,2616,3739,3802,3677,0,0,0,0,0,0,26.58,26.50,26.60
$GC,649,-1.04,-194.6,1985,2616,3802,3680,82.0,-13.1,72,653,0.00,2.15,0.00,0.000,516,0.000,0.034,1986,1188,3741,3802,3680,0,0,0,0,0,0,26.99,26.60,27.05
$GC,763,-1.04,-194.6,1985,1188,3802,3680,96.1,-12.3,95,768,0.10,2.15,0.00,0.000,3078,0.172,0.034,2000,2612,3741,3802,3680,0,0,0,0,0,0,26.41,26.63,26.53
$GC,1093,-1.04,-194.6,1999,2613,3802,3680,133.4,-11.0,111,1097,0.00,2.15,0.00,0.000,516,0.000,0.034,2001,1189,3740,3802,3679,0,0,0,0,0,0,27.10,26.67,27.15
$GC,1278,-1.04,-194.6,2000,1188,3802,3679,154.3,-11.4,148,1282,0.00,2.12,0.00,0.000,1030,0.000,0.034,1995,2603,3741,3802,3680,0,0,0,0,0,0,26.79,26.72,26.82
$GC,1604,-1.04,-194.6,1994,2602,3798,3679,191.3,-11.2,163,1608,0.00,2.12,0.00,0.000,516,0.000,0.033,1995,1184,3738,3798,3679,0,0,0,0,0,0,27.16,26.75,27.23
$GC,1779,-1.04,-194.6,1994,1185,3796,3678,212.1,-11.6,198,1783,0.00,2.12,0.00,0.000,1030,0.000,0.035,1985,2597,3738,3797,3679,0,0,0,0,0,0,26.83,26.74,26.86
$GC,2103,-1.04,-194.6,1985,2597,3793,3679,250.0,-11.4,213,2108,0.00,2.12,0.00,0.000,516,0.000,0.034,1985,1186,3735,3792,3679,0,0,0,0,0,0,27.22,26.77,27.27
$GC,2283,-1.04,-194.6,1985,1186,3791,3679,270.6,-11.0,249,2289,0.10,2.15,0.00,0.000,3078,0.172,0.036,2001,2612,3735,3791,3679,0,0,0,0,0,0,26.55,26.77,26.67
$GC,2645,-1.04,-194.6,2000,2612,3788,3679,302.6,-8.6,266,2649,0.00,2.15,0.00,0.000,548,0.000,0.036,2001,1188,3733,3787,3679,0,0,0,0,0,0,27.24,26.77,27.31
$GC,2829,-1.04,-194.6,2000,1188,3786,3679,320.2,-9.4,303,2833,0.00,2.15,0.00,0.000,1062,0.000,0.037,1996,2611,3732,3786,3679,0,0,0,0,0,0,26.86,26.78,26.91
$GC,3175,-1.04,-194.6,1995,2611,3782,3679,353.2,-9.6,317,3179,0.00,2.15,0.00,0.000,548,0.000,0.037,1996,1188,3730,3782,3679,0,0,0,0,0,0,27.27,26.77,27.34
$GC,3331,-1.04,-194.6,1995,1188,3780,3679,369.4,-10.5,348,3335,0.00,2.15,0.00,0.000,1062,0.000,0.037,1988,2609,3729,3780,3679,0,0,0,0,0,0,26.87,26.79,26.91
$GC,3651,-1.04,-194.6,1987,2610,3777,3679,401.6,-9.9,357,3655,0.00,2.15,0.00,0.000,548,0.000,0.037,1988,1188,3727,3776,3679,0,0,0,0,0,0,27.29,26.77,27.34
$GC,3767,-1.04,-194.6,1987,1188,3775,3679,413.6,-10.6,380,3771,0.10,2.15,0.00,0.000,3110,0.173,0.037,2003,2607,3727,3775,3679,0,0,0,0,0,0,26.55,26.78,26.68
$GC,4127,-1.04,-194.6,2002,2608,3772,3679,449.0,-9.8,397,4132,0.00,2.15,0.00,0.000,548,0.000,0.037,2003,1188,3725,3772,3679,0,0,0,0,0,0,27.29,26.77,27.36
$GC,4273,-1.04,-194.6,2002,1188,3771,3679,462.8,-9.4,426,4278,0.00,2.15,0.00,0.000,1062,0.000,0.038,1997,2605,3725,3772,3679,0,0,0,0,0,0,26.86,26.77,26.90
$GC,4603,-1.04,-194.6,1996,2605,3768,3679,493.7,-9.3,437,4608,0.00,2.15,0.00,0.000,548,0.000,0.038,1997,1187,3723,3768,3679,0,0,0,0,0,0,27.31,26.77,27.37
$GC,4689,-1.04,-194.6,1996,1187,3767,3679,501.8,-9.3,454,4693,0.00,2.15,0.00,0.000,1062,0.000,0.039,1988,2601,3723,3768,3679,0,0,0,0,0,0,26.85,26.76,26.89
$GC,5019,-1.04,-194.6,1988,2601,3764,3679,532.2,-9.2,465,5023,0.00,2.15,0.00,0.000,548,0.000,0.039,1988,1189,3721,3764,3679,0,0,0,0,0,0,27.32,26.74,27.38
$GC,5129,-1.04,-194.6,1987,1189,3763,3679,542.6,-9.5,487,5134,0.10,2.15,0.00,0.000,3110,0.173,0.039,2003,2602,3721,3764,3679,0,0,0,0,0,0,26.54,26.76,26.67
$GC,5434,-1.04,-194.6,2002,2603,3762,3679,568.9,-8.6,493,5439,0.00,2.17,0.00,0.000,548,0.000,0.039,2003,1180,3720,3761,3679,0,0,0,0,0,0,27.32,26.74,27.38
$GC,5555,-1.04,-194.6,2003,1180,3759,3679,580.0,-9.3,517,5560,0.00,2.17,0.00,0.000,1062,0.000,0.040,1997,2609,3719,3760,3679,0,0,0,0,0,0,26.84,26.75,26.88
$STATE,5793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5793,begin apogee
$GC,5798,-0.25,0.0,1997,2608,3759,3677,602.0,-9.2,532,5989,0.77,0.00,182.60,1.333,10246,0.111,0.000,2251,2609,2941,2983,2900,0,0,0,0,1,0,26.24,24.52,23.61
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5991,1.04,194.6,2251,2608,2991,2901,612.2,0.0,535,6191,1.17,2.20,188.95,0.811,10500,0.049,0.057,2676,3842,2139,2180,2099,0,0,0,0,0,0,24.75,24.35,23.74
$GC,6417,1.07,215.0,2676,3842,2170,2088,583.9,10.3,623,6441,0.00,1.98,19.02,0.863,9254,0.000,0.037,2686,2595,2062,2103,2021,0,0,0,0,0,0,25.75,25.69,24.63
$GC,6757,1.09,237.7,2685,2595,2089,2009,549.3,10.2,636,6787,0.00,2.10,22.42,0.855,8484,0.000,0.057,2686,3836,1964,2007,1922,0,0,0,0,0,0,26.45,25.75,25.06
$GC,7012,1.09,237.7,2686,3836,2002,1916,519.5,11.4,687,7016,0.00,1.92,0.00,0.000,1030,0.000,0.038,2696,2593,1959,2002,1916,0,0,0,0,0,0,26.31,26.25,26.34
$GC,7357,1.09,237.7,2695,2594,2000,1915,481.0,11.3,701,7362,0.00,2.03,0.00,0.000,260,0.000,0.061,2696,3851,1957,2000,1915,0,0,0,0,0,0,26.77,26.32,26.84
$GC,7587,1.09,237.7,2695,3851,1999,1913,452.2,12.5,747,7591,0.00,1.92,0.00,0.000,1030,0.000,0.037,2706,2592,1956,1999,1913,0,0,0,0,0,0,26.61,26.55,26.64
$GC,7898,1.09,237.7,2704,2592,1997,1914,416.9,11.3,754,7902,0.00,2.00,0.00,0.000,260,0.000,0.060,2705,3844,1955,1997,1913,0,0,0,0,0,0,26.96,26.46,27.03
$GC,7978,1.09,237.7,2705,3844,1997,1912,407.3,12.0,770,7981,0.00,1.90,0.00,0.000,1030,0.000,0.040,2714,2601,1955,1997,1913,0,0,0,0,0,0,26.70,26.62,26.73
$GC,8318,1.11,256.8,2714,2601,1997,1912,371.6,10.4,783,8342,0.00,2.05,18.90,0.816,8484,0.000,0.060,2714,3840,1889,1932,1847,0,0,0,0,0,0,27.04,26.35,25.68
$GC,8438,1.11,256.8,2713,3840,1926,1842,357.8,11.9,807,8442,0.00,1.90,0.00,0.000,1030,0.000,0.039,2722,2601,1884,1926,1843,0,0,0,0,0,0,26.55,26.48,26.58
$GC,8798,1.14,276.1,2721,2601,1925,1841,319.9,10.4,824,8823,0.00,2.03,20.80,0.780,8484,0.000,0.058,2722,3852,1810,1853,1767,0,0,0,0,0,0,26.94,26.03,25.60
$GC,8929,1.14,276.1,2722,3851,1847,1760,305.7,11.2,850,8933,0.00,1.92,0.00,0.000,1030,0.000,0.039,2730,2602,1804,1847,1761,0,0,0,0,0,0,26.47,26.40,26.49
$GC,9274,1.16,300.2,2730,2601,1846,1760,270.3,10.2,864,9304,0.00,2.03,25.30,0.737,8484,0.000,0.058,2731,3845,1713,1758,1669,0,0,0,0,0,0,26.88,25.94,25.53
$GC,9419,1.16,300.2,2731,3845,1753,1663,253.2,12.0,893,9424,0.00,1.92,0.00,0.000,1030,0.000,0.038,2740,2599,1708,1753,1663,0,0,0,0,0,0,26.41,26.34,26.44
$GC,9725,1.16,300.2,2739,2599,1751,1662,217.2,12.1,909,9729,0.00,2.00,0.00,0.000,260,0.000,0.060,2740,3843,1706,1751,1662,0,0,0,0,0,0,26.82,26.36,26.89
$GC,9765,1.16,300.2,2739,3843,1750,1661,212.1,13.1,917,9769,0.00,1.92,0.00,0.000,1030,0.000,0.040,2748,2598,1706,1751,1661,0,0,0,0,0,0,26.58,26.51,26.61
$GC,10085,1.16,300.2,2747,2598,1750,1661,173.0,12.1,931,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2598,1706,1751,1661,0,0,0,0,0,0,26.95,27.02,27.01
$GC,10385,1.16,300.2,2747,2597,1750,1660,138.0,11.5,941,10389,0.00,2.00,0.00,0.000,260,0.000,0.060,2748,3848,1705,1750,1660,0,0,0,0,0,0,27.02,26.51,27.08
$GC,10495,1.16,300.2,2747,3849,1750,1660,124.1,12.2,963,10499,0.10,1.90,0.00,0.000,5126,0.200,0.037,2737,2598,1705,1750,1660,0,0,0,0,0,0,26.36,26.68,26.52
$GC,10805,1.16,300.2,2737,2598,1750,1660,89.6,11.2,975,10808,0.00,2.00,0.00,0.000,260,0.000,0.059,2737,3854,1705,1750,1660,0,0,0,0,0,0,27.08,26.55,27.15
$GC,11035,1.21,346.2,2736,3854,1749,1659,65.9,9.3,1021,11120,0.00,1.90,77.38,0.533,9254,0.000,0.037,2744,2599,1525,1572,1478,0,0,0,0,0,0,26.81,26.74,25.47
$GC,11425,1.28,404.9,2743,2598,1567,1469,30.8,8.8,1064,11456,0.00,2.20,25.48,0.223,8740,0.000,0.040,2748,1189,1287,1337,1237,0,0,0,0,0,0,26.70,25.98,25.78
$GC,11566,1.39,504.8,2748,1188,1337,1237,19.9,7.3,1092,11618,0.10,2.17,43.90,0.194,11302,0.100,0.037,2802,2598,879,929,829,0,0,0,0,0,0,26.29,26.32,25.80
$STATE,11745,end climb,SURFACE_DEPTH_REACHED
$STATE,11745,begin surface coast
$STATE,11765,end surface coast,CONTROL_FINISHED_OK
$STATE,11765,begin surface
$SM_CCo,11779,41.30,0.154,0,0,498,598.78
$SM_GC,0.54,6.78,0.00,41.30,0.034,0.000,0.154,192,2598,498,-6.62,-0.08,598.78,0,0,0,0,0,0,26.40,26.76,25.88
$IRIDIUM_FIX,4658.14,-12512.45,240717,021826
$TT8_MAMPS,0.026964,0.093625
$HUMID,54.33
$INTERNAL_PRESSURE,8.6441
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,23.61,21.849
$10V_AH,10.42,19.436
$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,16.325,95.775,624.750,41.300,0.000,0.000,0.000,1348.000,0.500,0.000,82.324,792.080,10353.636,699.797,3054.624,135.825,0.000,2959.803,0.000,1594.166,0.000,0.550,0.000
$DEVICE_MAMPS,216.495,1234.710,1332.630,153.765,0.000,0.000,0.000,78.795,420.000,0.000,12.730,19.900,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$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,277968
$DATA_FILE_SIZE,39979,1117
$CAP_FILE_SIZE,126709,0
$CFSIZE,1024393216,983646208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.078,265.70,1
$GPS,240717,055015,4655.690,-12516.245,72,1.5,87,16.0,0.3,0.0,8,10.0