version: 66.13
glider: 204
mission: 19
dive: 63
start: 7 15 117 5 28 19
data:
$ID,204
$MISSION,19
$DIVE,63
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$D_NO_BLEED,200
$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,220
$T_MISSION,250
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52433
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0200298
$HD_C,2.53195e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,26
$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,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,97
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.29309
$PRESSURE_SLOPE,0.00010934046
$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,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043580476
$SEABIRD_T_H,0.00063004985
$SEABIRD_T_I,2.4557072e-05
$SEABIRD_T_J,2.6474129e-06
$SEABIRD_C_G,-10.262359
$SEABIRD_C_H,1.1522416
$SEABIRD_C_I,-0.00012417733
$SEABIRD_C_J,0.00011025551
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$GPS1,150717,052131,4743.7168,-12508.8477,38,1.3,38,16.2,0.3,0.0,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-70.0
$GPS2,150717,052800,4743.6807,-12508.7988,3,0.9,4,16.2,0.4,149.2,11,8.5
$SPEED_LIMITS,0.173,0.203
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,230.3,5060,-22.2,-10.000,-26.19,2621
$D_GRID,571
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.25,-170.3,196,2194,1389,1240,0.0,0.0,0,78,0.00,0.00,-63.75,0.000,16386,0.000,0.000,195,2194,2938,2900,2976,0,0,0,0,0,0,26.65,28.83,26.71
$GC,80,-1.25,-170.3,195,2194,2901,2975,5.0,-9.7,6,112,11.70,2.53,-12.80,0.000,18692,0.265,1.245,2646,3603,3639,3605,3673,0,0,0,0,0,0,24.87,24.08,25.40
$GC,215,-1.25,-170.3,2646,3603,3610,3674,35.0,-16.5,33,224,0.00,2.22,0.00,0.000,1030,0.000,0.044,2654,2199,3641,3609,3673,0,0,0,0,0,0,26.10,26.06,26.15
$GC,531,-1.25,-170.3,2654,2198,3612,3675,82.1,-14.4,51,536,0.00,2.28,0.00,0.000,260,0.000,0.062,2646,3604,3642,3611,3673,0,0,0,0,0,0,26.92,25.68,26.96
$GC,640,-1.25,-170.3,2646,3605,3612,3674,97.9,-14.5,73,647,0.00,2.22,0.00,0.000,1030,0.000,0.044,2654,2196,3642,3611,3673,0,0,0,0,0,0,26.16,26.12,26.20
$GC,952,-1.25,-170.3,2654,2196,3613,3674,139.4,-13.2,85,958,0.00,2.30,0.00,0.000,260,0.000,0.061,2645,3614,3642,3612,3673,0,0,0,0,0,0,27.01,25.66,27.06
$GC,1037,-1.25,-170.3,2646,3615,3613,3675,151.7,-14.8,102,1044,0.00,2.25,0.00,0.000,1030,0.000,0.049,2653,2203,3642,3612,3673,0,0,0,0,0,0,26.08,26.02,26.11
$GC,1342,-1.25,-170.3,2655,2203,3613,3674,192.8,-13.6,113,1348,0.00,2.28,0.00,0.000,260,0.000,0.064,2646,3604,3643,3612,3674,0,0,0,0,0,0,27.05,25.59,27.10
$GC,1427,-1.25,-170.3,2646,3605,3613,3674,205.1,-14.4,130,1434,0.00,2.20,0.00,0.000,1030,0.000,0.044,2654,2200,3642,3612,3672,0,0,0,0,0,0,26.17,26.12,26.21
$GC,1733,-1.25,-170.3,2655,2199,3613,3672,244.8,-12.8,141,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,3642,3612,3673,0,0,0,0,0,0,27.05,27.12,27.10
$GC,2033,-1.25,-170.3,2655,2199,3614,3673,283.1,-12.8,147,2038,0.00,2.28,0.00,0.000,260,0.000,0.062,2646,3604,3642,3612,3673,0,0,0,0,0,0,27.06,25.57,27.12
$GC,2097,-1.25,-170.3,2646,3604,3613,3673,292.0,-13.8,160,2103,0.00,2.22,0.00,0.000,1030,0.000,0.044,2655,2197,3642,3612,3673,0,0,0,0,0,0,26.13,26.10,26.17
$GC,2453,-1.25,-170.3,2654,2197,3612,3674,338.0,-12.7,176,2458,0.00,2.30,0.00,0.000,260,0.000,0.062,2646,3609,3642,3612,3673,0,0,0,0,0,0,27.05,25.54,27.12
$GC,2517,-1.25,-170.3,2646,3610,3613,3673,347.1,-14.3,189,2524,0.00,2.22,0.00,0.000,1030,0.000,0.045,2654,2200,3642,3612,3673,0,0,0,0,0,0,26.10,26.05,26.13
$GC,2874,-1.25,-170.3,2655,2199,3613,3672,391.0,-12.0,205,2879,0.00,2.30,0.00,0.000,260,0.000,0.063,2645,3606,3642,3612,3672,0,0,0,0,0,0,27.06,25.49,27.12
$GC,2934,-1.25,-170.3,2645,3607,3612,3673,398.4,-12.1,217,2940,0.00,2.20,0.00,0.000,1030,0.000,0.044,2655,2194,3641,3612,3671,0,0,0,0,0,0,26.15,26.06,26.18
$GC,3295,-1.25,-170.3,2654,2194,3612,3671,438.3,-11.1,234,3300,0.00,2.30,0.00,0.000,260,0.000,0.063,2646,3604,3640,3611,3670,0,0,0,0,0,0,27.06,25.47,27.13
$GC,3323,-1.25,-170.3,2645,3604,3612,3671,442.0,-13.0,240,3330,0.00,2.22,0.00,0.000,1030,0.000,0.044,2655,2197,3640,3611,3670,0,0,0,0,0,0,26.09,26.05,26.13
$GC,3654,-1.25,-170.3,2655,2197,3612,3669,480.4,-11.5,251,3660,0.00,2.30,0.00,0.000,260,0.000,0.063,2646,3608,3639,3611,3668,0,0,0,0,0,0,27.05,25.45,27.13
$GC,3694,-1.25,-170.3,2646,3608,3615,3668,485.2,-12.2,259,3700,0.00,2.22,0.00,0.000,1030,0.000,0.044,2655,2198,3639,3611,3668,0,0,0,0,0,0,26.07,26.03,26.11
$GC,4014,-1.25,-170.3,2655,2198,3613,3667,521.7,-11.5,268,4020,0.00,2.30,0.00,0.000,260,0.000,0.063,2646,3604,3639,3611,3667,0,0,0,0,0,0,27.06,25.41,27.13
$GC,4048,-1.25,-170.3,2646,3603,3612,3668,525.9,-12.2,275,4055,0.00,2.22,0.00,0.000,1030,0.000,0.044,2654,2197,3639,3611,3667,0,0,0,0,0,0,26.06,26.03,26.10
$GC,4375,-1.25,-170.3,2655,2197,3612,3667,564.2,-11.9,285,4380,0.00,2.30,0.00,0.000,260,0.000,0.063,2646,3603,3638,3610,3667,0,0,0,0,0,0,27.06,25.39,27.12
$GC,4404,-1.25,-170.3,2646,3605,3610,3668,568.1,-12.7,291,4410,0.00,2.22,0.00,0.000,1030,0.000,0.044,2655,2199,3638,3610,3666,0,0,0,0,0,0,26.04,26.00,26.08
$STATE,4428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4431,-0.23,0.0,2654,2506,3610,3666,571.3,-12.7,296,4597,1.33,0.00,156.95,1.362,10246,0.187,0.000,2987,2507,2940,3013,2867,0,0,0,0,1,0,24.03,23.61,22.20
$STATE,4598,end apogee,CONTROL_FINISHED_OK
$STATE,4598,begin climb
$GC,4600,1.25,170.3,2987,2508,3015,2868,578.0,0.0,298,4775,1.73,2.22,160.25,1.421,10500,0.145,0.068,3448,3684,2245,2330,2160,0,0,0,0,1,0,23.86,23.12,21.67
$GC,4999,1.25,170.3,3447,3684,2328,2161,552.6,11.5,380,5005,0.00,1.88,0.00,0.000,1030,0.000,0.041,3455,2494,2245,2328,2162,0,0,0,0,0,0,26.13,26.09,26.15
$GC,5310,1.25,170.3,3454,2495,2327,2163,518.8,10.9,387,5315,0.00,1.98,0.00,0.000,260,0.000,0.067,3448,3679,2243,2326,2161,0,0,0,0,0,0,26.85,25.70,26.91
$GC,5379,1.25,170.3,3448,3679,2326,2161,510.7,11.6,401,5386,0.00,1.85,0.00,0.000,1030,0.000,0.041,3454,2493,2243,2324,2162,0,0,0,0,0,0,26.38,26.34,26.40
$GC,5731,1.25,170.3,3455,2494,2325,2161,473.2,10.7,416,5735,0.00,1.95,0.00,0.000,260,0.000,0.067,3448,3693,2243,2324,2162,0,0,0,0,0,0,26.97,25.62,27.03
$GC,5815,1.25,170.3,3448,3693,2324,2161,463.4,11.3,433,5822,0.00,1.85,0.00,0.000,1030,0.000,0.038,3454,2493,2242,2323,2161,0,0,0,0,0,0,26.45,26.42,26.47
$GC,6152,1.25,170.3,3454,2494,2323,2163,428.8,10.4,445,6157,0.00,1.95,0.00,0.000,260,0.000,0.067,3448,3691,2241,2322,2161,0,0,0,0,0,0,27.01,25.56,27.08
$GC,6206,1.25,170.3,3447,3692,2322,2163,422.7,11.3,456,6213,0.00,1.83,0.00,0.000,1030,0.000,0.038,3454,2505,2241,2321,2161,0,0,0,0,0,0,26.44,26.40,26.47
$GC,6512,1.25,170.3,3454,2505,2322,2162,391.8,10.0,462,6517,0.00,1.95,0.00,0.000,260,0.000,0.072,3448,3685,2241,2321,2161,0,0,0,0,0,0,27.03,25.48,27.09
$GC,6576,1.25,170.3,3448,3686,2320,2162,384.9,10.7,475,6582,0.00,1.85,0.00,0.000,1030,0.000,0.042,3454,2499,2240,2320,2161,0,0,0,0,0,0,26.36,26.32,26.39
$GC,6932,1.25,170.3,3455,2499,2320,2161,349.0,10.1,491,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2499,2240,2319,2162,0,0,0,0,0,0,27.04,27.11,27.10
$GC,7232,1.25,170.3,3455,2500,2319,2161,320.0,9.7,496,7237,0.00,1.95,0.00,0.000,260,0.000,0.067,3448,3691,2239,2318,2161,0,0,0,0,0,0,27.05,25.41,27.10
$GC,7441,1.25,170.3,3448,3691,2319,2161,297.6,10.8,538,7447,0.00,1.85,0.00,0.000,1030,0.000,0.038,3454,2494,2240,2318,2162,0,0,0,0,0,0,26.37,26.34,26.41
$GC,7772,1.25,170.3,3454,2495,2318,2162,263.3,10.5,549,7777,0.00,1.95,0.00,0.000,260,0.000,0.066,3448,3685,2239,2317,2161,0,0,0,0,0,0,27.05,25.41,27.11
$GC,7846,1.25,170.3,3448,3684,2319,2161,255.4,10.5,564,7852,0.00,1.83,0.00,0.000,1030,0.000,0.041,3454,2512,2239,2317,2161,0,0,0,0,0,0,26.33,26.29,26.36
$GC,8162,1.29,204.2,3455,2513,2317,2163,227.1,8.7,581,8209,0.00,0.00,45.20,0.683,8230,0.000,0.000,3454,2512,2107,2194,2021,0,0,0,0,0,0,27.05,25.29,24.46
$GC,8492,1.29,204.2,3454,2513,2180,2012,193.6,10.1,592,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2512,2094,2179,2010,0,0,0,0,0,0,26.85,26.92,26.91
$GC,8792,1.32,224.9,3454,2513,2177,2011,165.8,9.2,602,8824,0.12,2.00,23.65,0.686,10532,0.138,0.070,3505,3685,2016,2102,1931,0,0,0,0,0,0,26.54,25.54,24.62
$GC,8885,1.32,224.9,3505,3686,2095,1930,154.6,13.1,620,8889,0.00,1.83,0.00,0.000,1030,0.000,0.041,3513,2478,2011,2094,1929,0,0,0,0,0,0,26.34,26.27,26.38
$GC,9214,1.32,224.9,3513,2478,2093,1929,113.0,12.6,636,9219,0.00,2.00,0.00,0.000,260,0.000,0.067,3511,3687,2010,2092,1928,0,0,0,0,0,0,26.94,25.41,27.00
$GC,9428,1.32,224.9,3514,3687,2092,1927,84.8,13.4,679,9434,0.00,1.83,0.00,0.000,1030,0.000,0.039,3520,2501,2009,2091,1928,0,0,0,0,0,0,26.36,26.32,26.39
$GC,9734,1.32,224.9,3520,2502,2092,1930,47.0,11.7,694,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2500,2009,2091,1928,0,0,0,0,0,0,27.03,27.10,27.09
$GC,10034,1.32,224.9,3520,2501,2091,1929,19.9,9.5,724,10039,0.00,1.95,0.00,0.000,260,0.000,0.068,3518,3684,2009,2091,1928,0,0,0,0,0,0,27.04,25.34,27.10
$GC,10264,1.63,447.4,3518,3686,2090,1930,10.4,1.3,770,10396,0.15,1.83,125.43,0.168,11302,0.107,0.042,3615,2516,1114,1240,988,0,0,0,0,0,0,25.77,26.25,25.47
$STATE,10400,end climb,SURFACE_DEPTH_REACHED
$STATE,10400,begin surface coast
$FINISH,-0.6,1.022964
$STATE,10410,end surface coast,CONTROL_FINISHED_OK
$STATE,10410,begin surface
$SM_CCo,10486,0.00,0.000,0,0,1112,448.65
$SM_GC,0.44,10.20,0.47,0.00,0.084,0.044,0.000,191,2201,1112,-8.89,1.27,448.65,0,0,0,0,0,0,26.27,26.29,26.32
$IRIDIUM_FIX,4730.14,-11719.53,150717,025810
$TT8_MAMPS,0.050932,0.292859
$HUMID,50.47
$INTERNAL_PRESSURE,8.62765
$TCM_TEMP,13.10
$XPDR_PINGS,2
$PM_FREEKB_00,124650752
$PM_FREEKB_01,93530304
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834880
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,21.67,6.611
$10V_AH,9.47,3.700
$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,25.225,89.175,511.475,0.000,0.000,0.000,0.000,270.250,0.500,0.000,5.931,0.000,8078.915,652.173,2055.423,97.945,0.000,1595.766,0.000,1384.205,0.000,0.540,0.000
$DEVICE_MAMPS,265.455,1244.655,1421.370,0.000,0.000,0.000,0.000,106.335,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10422.000,10430.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.184,11.307,0.000,0.000
$MEM,278116
$DATA_FILE_SIZE,26718,797
$CAP_FILE_SIZE,93441,0
$CFSIZE,260030464,254861312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.008,128.92,1
$GPS,150717,082409,4743.206,-12510.194,30,0.9,30,16.2,0.3,196.1,9,8.9