version: 66.13
glider: 204
mission: 19
dive: 88
start: 7 19 117 21 16 22
data:
$ID,204
$MISSION,19
$DIVE,88
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$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,150
$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,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,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,3040
$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,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,25
$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,20
$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,48
$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,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,1.0
$GPS1,190717,202845,4718.1113,-12514.9346,53,1.2,67,16.1,0.4,0.0,9,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-65.1
$GPS2,190717,211602,4718.4165,-12514.8223,17,1.0,28,16.1,0.2,0.0,10,10.0
$SPEED_LIMITS,0.173,0.188
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,175.3,45220,-24.2,-10.000,-28.00,2247
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.30,-146.0,176,2393,560,436,0.0,0.0,0,108,0.00,0.00,-93.10,0.000,16386,0.000,0.000,176,2393,2739,2700,2779,0,0,0,0,0,0,27.04,28.83,27.11
$GC,110,-1.30,-146.0,175,2394,2700,2781,3.2,-5.5,9,144,11.40,2.38,-16.83,0.000,18724,0.260,1.236,2602,3696,3539,3528,3550,0,0,0,0,0,0,25.20,23.53,25.41
$GC,153,-1.30,-146.0,2601,3697,3526,3551,13.6,-19.5,16,160,0.00,2.03,0.00,0.000,1030,0.000,0.042,2609,2403,3539,3528,3550,0,0,0,0,0,0,26.33,26.29,26.37
$GC,469,-1.30,-146.0,2610,2402,3530,3550,71.4,-17.1,40,474,0.00,2.10,0.00,0.000,260,0.000,0.063,2601,3702,3540,3530,3550,0,0,0,0,0,0,27.05,25.72,27.10
$GC,508,-1.30,-146.0,2602,3703,3530,3550,78.1,-17.5,48,514,0.00,2.05,0.00,0.000,1030,0.000,0.044,2610,2402,3540,3530,3550,0,0,0,0,0,0,26.20,26.15,26.24
$GC,829,-1.30,-146.0,2609,2402,3530,3551,128.3,-15.8,62,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2401,3540,3530,3550,0,0,0,0,0,0,27.08,27.14,27.13
$GC,1129,-1.30,-146.0,2609,2403,3530,3551,171.6,-14.3,72,1134,0.00,2.20,0.00,0.000,516,0.000,0.047,2620,986,3540,3530,3550,0,0,0,0,0,0,27.08,25.80,27.13
$GC,1189,-1.30,-146.0,2621,987,3531,3549,180.4,-14.5,84,1194,0.00,2.28,0.00,0.000,1030,0.000,0.047,2611,2398,3539,3529,3549,0,0,0,0,0,0,25.85,25.80,25.91
$GC,1519,-1.30,-146.0,2611,2397,3531,3546,227.1,-14.0,100,1524,0.00,2.10,0.00,0.000,260,0.000,0.062,2601,3705,3537,3529,3546,0,0,0,0,0,0,27.08,25.51,27.15
$GC,1558,-1.30,-146.0,2602,3705,3530,3545,233.1,-15.3,108,1564,0.00,2.08,0.00,0.000,1030,0.000,0.047,2610,2403,3537,3530,3545,0,0,0,0,0,0,26.06,26.02,26.10
$GC,1879,-1.30,-146.0,2610,2403,3531,3543,279.0,-14.1,119,1884,0.00,2.20,0.00,0.000,516,0.000,0.047,2620,988,3535,3529,3542,0,0,0,0,0,0,27.08,25.75,27.14
$GC,1908,-1.30,-146.0,2621,990,3529,3544,283.1,-13.8,125,1915,0.00,2.28,0.00,0.000,1030,0.000,0.045,2611,2404,3535,3528,3542,0,0,0,0,0,0,25.84,25.78,25.89
$GC,2239,-1.30,-146.0,2611,2402,3528,3541,328.6,-13.9,136,2244,0.00,2.12,0.00,0.000,260,0.000,0.069,2601,3699,3533,3527,3540,0,0,0,0,0,0,27.08,25.31,27.14
$GC,2264,-1.30,-146.0,2601,3698,3527,3540,332.4,-14.9,141,2270,0.00,2.05,0.00,0.000,1030,0.000,0.044,2609,2394,3533,3526,3540,0,0,0,0,0,0,26.09,26.05,26.13
$GC,2600,-1.30,-146.0,2609,2395,3525,3539,381.5,-14.7,153,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2394,3531,3525,3537,0,0,0,0,0,0,27.08,27.15,27.14
$GC,2900,-1.30,-146.0,2609,2395,3524,3536,423.6,-14.0,158,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2394,3529,3523,3535,0,0,0,0,0,0,27.08,27.15,27.14
$GC,3200,-1.30,-146.0,2610,2393,3522,3533,465.1,-13.8,163,3205,0.00,2.22,0.00,0.000,516,0.000,0.055,2619,998,3526,3520,3533,0,0,0,0,0,0,27.08,25.53,27.14
$GC,3254,-1.30,-146.0,2620,997,3521,3533,472.8,-13.9,174,3262,0.00,2.25,0.00,0.000,1030,0.000,0.042,2610,2405,3527,3520,3534,0,0,0,0,0,0,25.84,25.79,25.89
$GC,3560,-1.30,-146.0,2611,2405,3520,3531,515.1,-13.9,180,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2405,3525,3519,3531,0,0,0,0,0,0,27.08,27.15,27.14
$GC,3860,-1.30,-146.0,2610,2406,3518,3531,555.4,-13.4,185,3866,0.00,2.15,0.00,0.000,260,0.000,0.070,2601,3698,3524,3518,3530,0,0,0,0,0,0,27.08,25.15,27.14
$GC,3890,-1.30,-146.0,2600,3700,3519,3530,559.5,-14.1,191,3896,0.00,2.08,0.00,0.000,1030,0.000,0.045,2609,2384,3523,3518,3529,0,0,0,0,0,0,25.98,25.94,26.01
$STATE,4220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4220,begin apogee
$GC,4223,-0.23,0.0,2608,2707,3517,3529,601.5,-12.6,202,4389,1.45,0.00,162.15,0.840,10246,0.200,0.000,2955,2705,2937,3024,2850,0,0,0,0,0,0,23.70,24.99,24.04
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4392,1.30,146.0,2956,2706,3019,2842,606.5,0.0,204,4561,1.67,1.73,158.45,0.805,10500,0.139,0.076,3439,3684,2333,2432,2235,0,0,0,0,0,0,25.04,24.96,23.95
$GC,4785,1.30,146.0,3439,3686,2414,2215,576.8,11.8,284,4790,0.00,1.52,0.00,0.000,1030,0.000,0.043,3443,2706,2313,2412,2215,0,0,0,0,0,0,26.32,26.27,26.34
$GC,5105,1.30,146.0,3443,2707,2412,2214,543.2,10.4,293,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2706,2311,2411,2212,0,0,0,0,0,0,27.00,27.08,27.07
$GC,5405,1.30,146.0,3443,2707,2410,2214,514.1,9.7,298,5410,0.00,1.67,0.00,0.000,260,0.000,0.070,3438,3691,2310,2409,2211,0,0,0,0,0,0,27.03,25.45,27.10
$GC,5449,1.30,146.0,3439,3692,2410,2211,509.6,10.3,307,5455,0.00,1.52,0.00,0.000,1030,0.000,0.040,3444,2702,2310,2409,2211,0,0,0,0,0,0,26.34,26.30,26.37
$GC,5765,1.32,160.8,3444,2701,2410,2210,480.1,9.3,315,5782,0.00,2.15,11.05,0.773,8740,0.000,0.038,3455,1302,2279,2380,2179,0,0,0,0,0,0,27.05,25.34,24.75
$GC,5820,1.32,160.8,3454,1301,2371,2174,474.7,9.8,326,5828,0.00,2.22,0.00,0.000,1030,0.000,0.043,3446,2706,2270,2369,2171,0,0,0,0,0,0,26.28,26.22,26.33
$GC,6127,1.32,160.8,3446,2707,2366,2170,444.1,10.0,332,6131,0.00,2.20,0.00,0.000,516,0.000,0.044,3454,1300,2267,2366,2169,0,0,0,0,0,0,27.03,25.96,27.09
$GC,6216,1.32,160.8,3455,1300,2368,2169,435.4,9.9,350,6221,0.00,2.22,0.00,0.000,1030,0.000,0.045,3446,2691,2267,2365,2169,0,0,0,0,0,0,26.02,25.96,26.08
$GC,6547,1.32,160.8,3446,2692,2365,2171,402.0,10.3,361,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2692,2265,2364,2167,0,0,0,0,0,0,27.05,27.13,27.12
$GC,6846,1.32,160.8,3446,2691,2365,2166,369.8,10.8,366,6851,0.00,1.70,0.00,0.000,260,0.000,0.071,3438,3697,2264,2363,2166,0,0,0,0,0,0,27.06,25.25,27.13
$GC,6880,1.32,160.8,3439,3697,2364,2166,366.0,11.2,373,6887,0.00,1.58,0.00,0.000,1030,0.000,0.040,3443,2679,2264,2363,2166,0,0,0,0,0,0,26.25,26.22,26.29
$GC,7207,1.32,160.8,3444,2679,2364,2163,333.0,10.0,383,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2679,2264,2362,2166,0,0,0,0,0,0,27.06,27.13,27.13
$GC,7507,1.32,160.8,3444,2679,2363,2165,304.3,9.6,388,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2678,2264,2362,2166,0,0,0,0,0,0,27.06,27.13,27.13
$GC,7807,1.35,178.5,3445,2680,2363,2167,276.6,9.2,393,7828,0.00,0.00,19.67,0.691,8230,0.000,0.000,3444,2679,2213,2314,2112,0,0,0,0,0,0,27.06,25.53,24.70
$GC,8107,1.35,178.5,3444,2680,2296,2094,247.8,9.5,398,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2679,2194,2295,2093,0,0,0,0,0,0,27.00,27.07,27.06
$GC,8407,1.35,178.5,3443,2680,2295,2094,218.6,10.1,408,8412,0.00,2.12,0.00,0.000,516,0.000,0.041,3454,1298,2193,2294,2093,0,0,0,0,0,0,27.05,25.91,27.11
$GC,8461,1.35,178.5,3454,1298,2295,2093,213.0,10.3,419,8468,0.00,2.25,0.00,0.000,1030,0.000,0.042,3446,2706,2193,2293,2093,0,0,0,0,0,0,25.95,25.90,26.01
$GC,8767,1.37,195.9,3446,2706,2294,2092,183.8,9.2,430,8793,0.00,2.25,18.83,0.656,8740,0.000,0.044,3454,1303,2133,2235,2032,0,0,0,0,0,0,27.06,25.66,24.75
$GC,8842,1.37,195.9,3454,1304,2225,2028,176.4,9.6,445,8849,0.08,2.22,0.00,0.000,3078,0.164,0.046,3472,2693,2124,2224,2025,0,0,0,0,0,0,25.82,26.13,25.91
$GC,9158,1.37,195.9,3474,2691,2223,2021,142.5,10.8,458,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2691,2121,2222,2021,0,0,0,0,0,0,27.02,27.09,27.08
$GC,9458,1.37,195.9,3472,2692,2222,2022,112.5,9.9,468,9463,0.00,2.15,0.00,0.000,516,0.000,0.039,3482,1300,2122,2223,2021,0,0,0,0,0,0,27.05,25.91,27.11
$GC,9568,1.40,218.0,3483,1300,2222,2022,102.3,9.0,490,9599,0.00,2.22,24.62,0.610,9254,0.000,0.041,3485,2694,2046,2151,1942,0,0,0,0,0,0,25.94,25.89,24.75
$GC,9908,1.40,218.0,3483,2694,2135,1925,69.3,9.9,508,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,2694,2029,2134,1925,0,0,0,0,0,0,27.01,27.07,27.06
$GC,10209,1.47,267.7,3483,2696,2134,1925,45.5,7.7,520,10242,0.00,1.67,24.33,0.240,8484,0.000,0.071,3483,3686,1847,1958,1736,0,0,0,0,0,0,27.04,25.77,25.27
$GC,10346,1.52,298.0,3482,3687,1962,1750,32.4,8.6,547,10369,0.08,1.52,17.35,0.215,11302,0.073,0.041,3523,2700,1723,1837,1609,0,0,0,0,0,0,26.09,26.26,25.35
$GC,10674,1.64,386.0,3523,2702,1842,1625,10.6,6.0,582,10728,0.12,1.65,47.42,0.162,10532,0.149,0.070,3552,3693,1363,1476,1251,0,0,0,0,0,0,26.53,25.71,25.55
$STATE,10767,end climb,SURFACE_DEPTH_REACHED
$STATE,10767,begin surface coast
$FINISH,0.4,1.023038
$STATE,10777,end surface coast,CONTROL_FINISHED_OK
$STATE,10777,begin surface
$SM_CCo,10795,123.10,0.138,0,0,500,598.78
$SM_GC,0.18,10.02,2.03,123.10,0.084,0.034,0.138,190,2383,500,-8.80,1.05,598.78,0,0,0,0,0,0,26.42,26.34,25.57
$IRIDIUM_FIX,4719.83,-12513.06,190717,211200
$TT8_MAMPS,0.049434,0.324317
$HUMID,50.63
$INTERNAL_PRESSURE,8.65695
$TCM_TEMP,14.30
$XPDR_PINGS,49
$PM_FREEKB_00,124650752
$PM_FREEKB_01,12326336
$PM_FREEKB_02,66179264
$PM_FREEKB_03,124834880
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,2
$24V_AH,23.53,10.492
$10V_AH,9.39,9.138
$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,24.825,73.700,483.875,123.100,0.000,0.000,0.000,998.925,12.250,0.000,29.957,0.000,10417.810,749.172,2485.344,112.594,0.000,2295.060,0.000,1101.380,0.000,0.541,0.000
$DEVICE_MAMPS,260.100,1236.240,839.970,138.465,0.000,0.000,0.000,60.435,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10792.000,10798.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.154,43.049,0.000,0.000
$MEM,277832
$DATA_FILE_SIZE,20081,602
$CAP_FILE_SIZE,98018,0
$CFSIZE,260030464,251838464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,104.55,1
$GPS,200717,002006,4717.212,-12514.639,57,0.9,68,16.1,0.3,0.0,10,10.0