version: 66.13
glider: 203
mission: 13
dive: 112
start: 7 24 117 14 25 29
data:
$ID,203
$MISSION,13
$DIVE,112
$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,39
$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
$GPS1,240717,134237,4655.0059,-12514.7852,39,1.6,65,16.0,0.6,0.0,8,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-43.6
$GPS2,240717,142449,4654.7368,-12515.2725,14,1.2,22,16.0,0.3,0.0,8,10.0
$SPEED_LIMITS,0.192,0.306
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,75.7,15589,-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,4,begin dive
$GC,7,-1.04,-194.6,173,2608,493,483,0.0,0.0,0,97,0.00,0.00,-88.12,0.000,16386,0.000,0.000,173,2609,2799,2840,2759,0,0,0,0,0,0,27.05,28.83,27.13
$GC,100,-1.04,-194.6,173,2609,2842,2761,3.7,-6.3,9,133,7.03,2.33,-20.15,0.000,18980,0.218,1.244,2000,1177,3737,3800,3674,0,0,0,0,0,0,26.01,24.70,26.35
$GC,353,-1.04,-194.6,2000,1177,3802,3676,42.8,-13.1,60,357,0.00,2.17,0.00,0.000,1030,0.000,0.034,1993,2614,3739,3802,3676,0,0,0,0,0,0,26.75,26.67,26.77
$GC,678,-1.04,-194.6,1993,2614,3803,3678,87.8,-13.7,75,680,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2614,3740,3802,3678,0,0,0,0,0,0,27.11,27.18,27.17
$GC,979,-1.04,-194.6,1993,2614,3803,3678,121.1,-10.6,85,980,0.00,0.00,0.00,0.000,38,0.000,0.000,1993,2614,3741,3803,3679,0,0,0,0,0,0,27.15,27.22,27.22
$GC,1278,-1.04,-194.6,1992,2614,3802,3678,153.1,-10.8,95,1282,0.00,2.15,0.00,0.000,516,0.000,0.033,1993,1179,3740,3802,3678,0,0,0,0,0,0,27.19,26.79,27.24
$GC,1358,-1.04,-194.6,1993,1179,3802,3678,161.9,-10.9,111,1363,0.08,2.15,0.00,0.000,3078,0.195,0.035,1999,2607,3740,3802,3678,0,0,0,0,0,0,26.60,26.77,26.71
$GC,1669,-1.04,-194.6,1998,2607,3799,3678,193.5,-10.2,123,1670,0.00,0.00,0.00,0.000,38,0.000,0.000,1999,2607,3738,3799,3678,0,0,0,0,0,0,27.22,27.29,27.28
$GC,1969,-1.04,-194.6,1999,2607,3796,3678,224.4,-10.1,133,1973,0.00,1.92,0.00,0.000,292,0.000,0.057,1993,3842,3737,3796,3678,0,0,0,0,0,0,27.24,26.67,27.30
$GC,1999,-1.04,-194.6,1992,3842,3796,3678,227.6,-11.2,139,2003,0.00,1.85,0.00,0.000,1030,0.000,0.031,1992,2590,3737,3796,3678,0,0,0,0,0,0,26.95,26.89,26.98
$GC,2359,-1.04,-194.6,1992,2590,3792,3678,265.4,-10.9,154,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2590,3735,3792,3678,0,0,0,0,0,0,27.25,27.33,27.32
$GC,2659,-1.04,-194.6,1992,2590,3790,3678,299.3,-11.3,159,2663,0.00,1.98,0.00,0.000,260,0.000,0.058,1983,3842,3733,3789,3678,0,0,0,0,0,0,27.27,26.68,27.33
$GC,2705,-1.04,-194.6,1983,3842,3789,3678,304.7,-12.2,168,2709,0.08,1.85,0.00,0.000,3078,0.186,0.032,1998,2593,3733,3789,3677,0,0,0,0,0,0,26.70,26.90,26.79
$GC,3020,-1.04,-194.6,1997,2593,3786,3678,338.1,-10.3,176,3021,0.00,0.00,0.00,0.000,38,0.000,0.000,1998,2594,3732,3786,3678,0,0,0,0,0,0,27.28,27.35,27.34
$GC,3320,-1.04,-194.6,1997,2593,3782,3677,369.1,-10.4,181,3325,0.00,1.98,0.00,0.000,292,0.000,0.059,1992,3842,3730,3783,3678,0,0,0,0,0,0,27.29,26.68,27.35
$GC,3390,-1.04,-194.6,1991,3842,3782,3677,376.9,-11.4,195,3394,0.00,1.85,0.00,0.000,1030,0.000,0.034,1992,2597,3730,3782,3678,0,0,0,0,0,0,26.96,26.90,27.00
$GC,3741,-1.04,-194.6,1991,2597,3778,3678,415.8,-11.1,210,3744,0.00,1.98,0.00,0.000,260,0.000,0.059,1983,3845,3727,3778,3677,0,0,0,0,0,0,27.29,26.66,27.36
$GC,3770,-1.04,-194.6,1982,3845,3777,3677,419.3,-11.9,216,3775,0.08,1.85,0.00,0.000,3078,0.181,0.035,1998,2603,3728,3778,3678,0,0,0,0,0,0,26.71,26.89,26.79
$GC,4101,-1.04,-194.6,1997,2603,3775,3678,454.3,-10.5,227,4105,0.00,2.12,0.00,0.000,548,0.000,0.037,1998,1188,3726,3775,3677,0,0,0,0,0,0,27.30,26.79,27.36
$GC,4150,-1.04,-194.6,1997,1188,3774,3677,460.1,-11.8,237,4155,0.00,2.15,0.00,0.000,1030,0.000,0.038,1992,2601,3726,3775,3677,0,0,0,0,0,0,26.88,26.79,26.92
$GC,4455,-1.04,-194.6,1991,2601,3772,3677,496.5,-11.9,243,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2601,3725,3773,3677,0,0,0,0,0,0,27.31,27.39,27.36
$GC,4755,-1.04,-194.6,1991,2601,3771,3677,531.3,-11.5,248,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2601,3724,3772,3677,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5055,-1.04,-194.6,1992,2601,3769,3677,564.2,-10.9,253,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2601,3723,3769,3677,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5356,-1.04,-194.6,1991,2601,3765,3677,593.4,-9.6,258,5357,0.00,0.00,0.00,0.000,38,0.000,0.000,1991,2601,3721,3765,3677,0,0,0,0,0,0,27.32,27.40,27.39
$STATE,5475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5475,begin apogee
$GC,5479,-0.25,0.0,1992,2601,3765,3677,604.2,-9.2,260,5671,0.80,0.00,183.35,1.330,10246,0.113,0.000,2254,2601,2941,2983,2899,0,0,0,0,1,0,26.29,24.49,23.56
$STATE,5672,end apogee,CONTROL_FINISHED_OK
$STATE,5672,begin climb
$GC,5674,1.04,194.6,2254,2602,2997,2900,611.9,0.0,263,5871,1.17,2.15,188.45,0.806,10500,0.046,0.055,2683,3841,2140,2181,2100,0,0,0,0,0,0,24.72,24.14,23.72
$GC,6077,1.04,194.6,2682,3841,2171,2087,582.2,11.5,347,6081,0.00,1.98,0.00,0.000,1030,0.000,0.036,2692,2600,2129,2171,2087,0,0,0,0,0,0,25.68,25.62,25.72
$GC,6437,1.04,194.6,2691,2600,2168,2084,543.0,11.0,364,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2599,2126,2168,2085,0,0,0,0,0,0,26.52,26.59,26.59
$GC,6737,1.07,215.7,2692,2599,2166,2084,512.0,10.3,369,6758,0.00,0.00,19.30,0.846,8230,0.000,0.000,2692,2599,2060,2100,2020,0,0,0,0,0,0,26.74,26.03,25.38
$GC,7038,1.10,244.4,2692,2600,2089,2009,482.0,10.0,374,7072,0.00,2.05,29.77,0.811,8484,0.000,0.056,2692,3851,1939,1983,1896,0,0,0,0,0,0,26.71,25.68,25.24
$GC,7128,1.10,244.4,2692,3851,1978,1888,472.1,11.6,392,7132,0.00,1.98,0.00,0.000,1030,0.000,0.037,2702,2591,1933,1978,1888,0,0,0,0,0,0,26.19,26.13,26.21
$GC,7453,1.10,244.4,2701,2591,1975,1885,435.4,11.4,402,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2591,1931,1976,1886,0,0,0,0,0,0,26.72,26.79,26.78
$GC,7753,1.10,244.4,2701,2591,1974,1885,401.5,11.3,407,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2590,1929,1974,1885,0,0,0,0,0,0,26.86,26.94,26.93
$GC,8053,1.10,244.4,2701,2591,1973,1885,368.7,10.9,412,8057,0.00,2.00,0.00,0.000,260,0.000,0.058,2702,3845,1929,1973,1885,0,0,0,0,0,0,26.96,26.48,27.02
$GC,8113,1.10,244.4,2701,3844,1973,1885,361.8,11.7,424,8117,0.00,1.92,0.00,0.000,1030,0.000,0.038,2711,2592,1928,1972,1885,0,0,0,0,0,0,26.70,26.63,26.74
$GC,8473,1.10,244.4,2710,2592,1972,1885,322.0,11.2,441,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2592,1928,1972,1885,0,0,0,0,0,0,27.03,27.11,27.10
$GC,8773,1.10,244.4,2710,2592,1971,1885,287.0,11.7,446,8777,0.00,2.00,0.00,0.000,260,0.000,0.059,2711,3844,1928,1971,1885,0,0,0,0,0,0,27.08,26.55,27.15
$GC,8828,1.10,244.4,2711,3845,1971,1885,280.6,11.5,457,8833,0.00,1.95,0.00,0.000,1030,0.000,0.038,2720,2598,1928,1971,1885,0,0,0,0,0,0,26.76,26.72,26.79
$GC,9133,1.12,261.0,2719,2598,1971,1885,248.4,10.5,463,9151,0.00,0.00,16.40,0.767,8230,0.000,0.000,2720,2598,1875,1919,1832,0,0,0,0,0,0,27.12,26.43,25.82
$GC,9433,1.12,261.0,2719,2598,1908,1821,215.6,11.2,473,9437,0.00,2.00,0.00,0.000,260,0.000,0.059,2720,3849,1864,1907,1821,0,0,0,0,0,0,26.96,26.48,27.03
$GC,9468,1.12,261.0,2719,3848,1907,1820,211.4,12.1,480,9472,0.00,1.92,0.00,0.000,1030,0.000,0.039,2728,2591,1864,1908,1820,0,0,0,0,0,0,26.70,26.63,26.72
$GC,9793,1.12,261.0,2728,2591,1908,1821,173.8,11.6,495,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2591,1864,1907,1821,0,0,0,0,0,0,27.04,27.12,27.10
$GC,10093,1.14,278.5,2728,2591,1907,1821,141.6,10.4,505,10117,0.00,2.25,16.45,0.704,8740,0.000,0.042,2737,1184,1800,1843,1757,0,0,0,0,0,0,27.09,26.47,25.85
$GC,10138,1.14,278.5,2737,1183,1839,1755,136.8,11.5,514,10142,0.00,2.17,0.00,0.000,1030,0.000,0.039,2737,2598,1797,1839,1755,0,0,0,0,0,0,26.63,26.54,26.65
$GC,10449,1.17,303.8,2737,2597,1838,1751,104.0,10.1,526,10480,0.00,0.00,29.83,0.603,8230,0.000,0.000,2737,2598,1702,1748,1656,0,0,0,0,0,0,26.97,26.20,25.67
$GC,10778,1.23,357.2,2737,2598,1740,1647,72.8,9.1,537,10876,0.00,2.12,91.22,0.519,8484,0.000,0.057,2737,3851,1480,1529,1432,0,0,0,0,0,0,26.82,25.69,25.21
$GC,10939,1.23,357.2,2736,3851,1525,1428,55.4,12.0,559,10942,0.00,1.95,0.00,0.000,1030,0.000,0.036,2746,2599,1476,1524,1428,0,0,0,0,0,0,26.07,26.01,26.09
$GC,11249,1.29,409.0,2746,2599,1521,1423,22.9,9.1,590,11277,0.00,2.28,21.65,0.203,8740,0.000,0.041,2754,1190,1270,1322,1218,0,0,0,0,0,0,26.66,26.13,25.78
$GC,11359,1.39,499.9,2753,1190,1322,1220,15.1,7.6,612,11405,0.10,2.17,39.90,0.181,11302,0.103,0.034,2808,2602,901,956,847,0,0,0,0,0,0,26.28,26.32,25.81
$STATE,11494,end climb,SURFACE_DEPTH_REACHED
$STATE,11494,begin surface coast
$STATE,11501,end surface coast,CONTROL_FINISHED_OK
$STATE,11501,begin surface
$SM_CCo,11515,43.70,0.152,0,0,496,598.78
$SM_GC,0.52,6.82,0.00,43.70,0.034,0.000,0.152,184,2602,496,-6.64,0.06,598.78,0,0,0,0,0,0,26.39,26.71,25.84
$IRIDIUM_FIX,4654.46,-12513.21,240717,141750
$TT8_MAMPS,0.026964,0.090629
$HUMID,53.97
$INTERNAL_PRESSURE,8.6348
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,23.56,22.274
$10V_AH,10.41,19.586
$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,16.150,61.225,636.325,43.700,0.000,0.000,0.000,752.625,1.000,0.000,24.107,532.873,11053.455,723.654,1707.802,100.625,0.000,2061.471,0.000,907.884,0.000,0.548,0.000
$DEVICE_MAMPS,218.025,1243.890,1329.570,152.235,0.000,0.000,0.000,65.790,420.000,0.000,12.730,19.900,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$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,278064
$DATA_FILE_SIZE,20082,631
$CAP_FILE_SIZE,93053,0
$CFSIZE,1024393216,983416832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.085,260.33,1
$GPS,240717,173944,4654.695,-12513.828,47,1.5,61,16.0,0.8,164.6,7,10.0
$RESTART_TIME,Thu Jan  1 00:01:16 1970