version: 66.13
glider: 204
mission: 19
dive: 91
start: 7 20 117 8 16 15
data:
$ID,204
$MISSION,19
$DIVE,91
$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,47
$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,0
$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
$GPS1,200717,073156,4714.9019,-12514.1875,39,1.4,65,16.0,0.4,0.0,8,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-62.5
$GPS2,200717,081555,4714.7925,-12514.2236,28,1.2,61,16.0,0.3,0.0,8,10.0
$SPEED_LIMITS,0.173,0.188
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,186.9,38520,-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,2,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,4,-1.30,-146.0,189,2376,561,437,0.0,0.0,0,109,0.00,0.00,-103.30,0.000,16386,0.000,0.000,188,2376,3079,3042,3117,0,0,0,0,0,0,27.01,28.83,27.08
$GC,111,-1.30,-146.0,189,2377,3044,3117,4.6,-8.4,10,137,11.27,2.38,-8.30,0.000,18724,0.259,1.235,2601,3694,3539,3523,3556,0,0,0,0,0,0,25.15,24.24,25.67
$GC,362,-1.30,-146.0,2602,3695,3526,3556,60.1,-17.6,60,367,0.00,2.00,0.00,0.000,1030,0.000,0.042,2609,2412,3540,3525,3556,0,0,0,0,0,0,26.22,26.18,26.26
$GC,682,-1.30,-146.0,2610,2411,3528,3556,111.4,-14.9,74,687,0.00,2.15,0.00,0.000,260,0.000,0.069,2601,3695,3541,3526,3556,0,0,0,0,0,0,27.06,25.53,27.12
$GC,746,-1.30,-146.0,2601,3695,3527,3556,121.6,-15.8,87,752,0.00,2.03,0.00,0.000,1030,0.000,0.041,2610,2401,3541,3526,3557,0,0,0,0,0,0,26.21,26.17,26.25
$GC,1072,-1.30,-146.0,2610,2401,3527,3556,168.9,-14.1,102,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2401,3540,3526,3555,0,0,0,0,0,0,27.08,27.14,27.13
$GC,1371,-1.30,-146.0,2609,2402,3526,3554,211.3,-13.9,112,1377,0.00,2.12,0.00,0.000,260,0.000,0.063,2602,3686,3539,3526,3553,0,0,0,0,0,0,27.08,25.51,27.13
$GC,1406,-1.30,-146.0,2602,3686,3527,3553,216.5,-15.1,119,1412,0.00,2.05,0.00,0.000,1030,0.000,0.047,2609,2397,3539,3526,3553,0,0,0,0,0,0,26.06,26.01,26.10
$GC,1731,-1.30,-146.0,2610,2397,3527,3551,262.2,-14.0,133,1738,0.00,2.25,0.00,0.000,516,0.000,0.053,2620,1002,3538,3526,3551,0,0,0,0,0,0,27.08,25.65,27.14
$GC,1777,-1.30,-146.0,2620,1003,3527,3552,268.6,-14.1,142,1783,0.00,2.22,0.00,0.000,1030,0.000,0.043,2611,2397,3537,3525,3550,0,0,0,0,0,0,25.89,25.88,25.94
$GC,2092,-1.30,-146.0,2611,2397,3526,3547,313.6,-14.3,150,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2397,3536,3526,3547,0,0,0,0,0,0,27.08,27.15,27.13
$GC,2392,-1.30,-146.0,2611,2397,3525,3544,356.7,-14.4,155,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2397,3534,3524,3544,0,0,0,0,0,0,27.08,27.15,27.14
$GC,2692,-1.30,-146.0,2611,2398,3524,3544,399.0,-14.1,160,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2397,3533,3523,3543,0,0,0,0,0,0,27.08,27.15,27.14
$GC,2992,-1.30,-146.0,2611,2397,3522,3541,440.7,-13.9,165,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2397,3530,3520,3541,0,0,0,0,0,0,27.08,27.15,27.14
$GC,3292,-1.30,-146.0,2611,2398,3520,3540,481.0,-13.4,170,3298,0.00,2.25,0.00,0.000,516,0.000,0.048,2619,1000,3529,3520,3538,0,0,0,0,0,0,27.08,25.64,27.13
$GC,3332,-1.30,-146.0,2619,1000,3521,3538,486.4,-13.4,178,3338,0.00,2.22,0.00,0.000,1030,0.000,0.042,2611,2397,3528,3519,3538,0,0,0,0,0,0,25.84,25.79,25.89
$GC,3652,-1.30,-146.0,2611,2396,3519,3537,529.6,-13.5,187,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2396,3528,3519,3537,0,0,0,0,0,0,27.08,27.15,27.14
$GC,3952,-1.30,-146.0,2611,2397,3518,3535,569.8,-13.3,192,3958,0.00,2.17,0.00,0.000,260,0.000,0.065,2601,3701,3525,3516,3534,0,0,0,0,0,0,27.08,25.27,27.13
$GC,3982,-1.30,-146.0,2601,3702,3516,3536,574.0,-14.5,198,3988,0.00,2.08,0.00,0.000,1030,0.000,0.044,2609,2385,3525,3516,3534,0,0,0,0,0,0,25.98,25.95,26.03
$STATE,4191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4191,begin apogee
$GC,4194,-0.23,0.0,2609,2705,3516,3533,601.7,-13.1,207,4360,1.45,0.00,162.65,0.833,10246,0.198,0.000,2959,2706,2940,3024,2856,0,0,0,0,0,0,24.01,24.97,24.03
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4362,1.30,146.0,2960,2706,3021,2848,608.7,0.0,209,4530,1.67,1.70,158.90,0.816,10500,0.139,0.074,3440,3693,2337,2433,2242,0,0,0,0,0,0,25.06,24.49,23.89
$GC,4719,1.30,146.0,3440,3694,2416,2222,590.8,9.9,284,4725,0.00,1.55,0.00,0.000,1030,0.000,0.037,3445,2700,2318,2416,2221,0,0,0,0,0,0,26.34,26.28,26.39
$GC,5064,1.32,158.2,3445,2700,2415,2218,558.5,9.4,298,5074,0.00,0.00,9.05,0.793,8230,0.000,0.000,3445,2701,2295,2395,2196,0,0,0,0,0,0,26.99,25.63,24.70
$GC,5364,1.32,158.2,3445,2701,2380,2185,529.2,9.8,303,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2700,2281,2379,2183,0,0,0,0,0,0,27.00,27.08,27.06
$GC,5664,1.36,184.7,3445,2700,2379,2182,502.6,8.8,308,5697,0.00,0.00,32.25,0.780,8230,0.000,0.000,3445,2700,2187,2291,2083,0,0,0,0,0,0,27.03,25.44,24.56
$GC,5964,1.36,184.7,3445,2700,2265,2065,472.0,10.4,313,5970,0.00,2.17,0.00,0.000,516,0.000,0.041,3456,1315,2164,2263,2065,0,0,0,0,0,0,26.95,26.08,27.01
$GC,6029,1.36,184.7,3456,1316,2264,2066,465.0,10.9,326,6036,0.00,2.20,0.00,0.000,1030,0.000,0.042,3447,2697,2163,2262,2065,0,0,0,0,0,0,26.15,26.09,26.19
$GC,6385,1.36,184.7,3447,2698,2262,2065,425.5,11.1,342,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2697,2162,2261,2063,0,0,0,0,0,0,27.03,27.10,27.10
$GC,6684,1.36,184.7,3448,2697,2262,2063,392.1,11.2,347,6690,0.00,2.20,0.00,0.000,516,0.000,0.041,3456,1307,2161,2261,2062,0,0,0,0,0,0,27.05,25.96,27.11
$GC,6739,1.36,184.7,3456,1308,2261,2063,386.0,11.0,358,6747,0.00,2.25,0.00,0.000,1030,0.000,0.045,3447,2706,2161,2260,2062,0,0,0,0,0,0,25.94,25.89,26.01
$GC,7044,1.36,184.7,3448,2707,2259,2063,352.2,11.0,364,7051,0.00,2.22,0.00,0.000,516,0.000,0.044,3456,1316,2160,2259,2061,0,0,0,0,0,0,27.05,25.84,27.12
$GC,7115,1.36,184.7,3456,1317,2260,2063,344.7,10.6,378,7121,0.00,2.20,0.00,0.000,1030,0.000,0.043,3447,2695,2160,2259,2062,0,0,0,0,0,0,25.96,25.91,26.01
$GC,7465,1.36,184.7,3448,2695,2260,2061,307.4,10.6,393,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2695,2159,2258,2061,0,0,0,0,0,0,27.05,27.13,27.12
$GC,7765,1.36,184.7,3447,2696,2258,2062,275.3,10.7,398,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2695,2159,2257,2061,0,0,0,0,0,0,27.06,27.13,27.12
$GC,8066,1.36,184.7,3447,2695,2258,2060,243.5,10.4,404,8071,0.00,2.20,0.00,0.000,516,0.000,0.040,3456,1307,2159,2257,2061,0,0,0,0,0,0,27.06,25.84,27.12
$GC,8100,1.36,184.7,3456,1308,2257,2062,240.0,10.1,411,8106,0.00,2.22,0.00,0.000,1030,0.000,0.044,3447,2693,2159,2257,2061,0,0,0,0,0,0,25.84,25.79,25.90
$GC,8425,1.36,184.7,3448,2693,2256,2060,206.0,10.9,426,8432,0.00,2.20,0.00,0.000,516,0.000,0.039,3456,1302,2158,2256,2061,0,0,0,0,0,0,27.06,25.82,27.12
$GC,8536,1.36,184.7,3456,1302,2258,2061,194.5,10.2,448,8542,0.00,2.25,0.00,0.000,1030,0.000,0.043,3447,2708,2158,2256,2061,0,0,0,0,0,0,25.81,25.76,25.86
$GC,8846,1.36,184.7,3447,2708,2257,2060,164.1,9.7,460,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2708,2157,2255,2060,0,0,0,0,0,0,27.06,27.13,27.13
$GC,9146,1.40,216.7,3446,2709,2256,2061,137.1,8.5,470,9183,0.15,2.25,24.65,0.650,10788,0.161,0.041,3514,1301,2054,2158,1950,0,0,0,0,1,0,26.41,25.54,24.47
$GC,9222,1.40,216.7,3514,1302,2163,1954,129.5,10.9,485,9228,0.00,2.22,0.00,0.000,1030,0.000,0.041,3514,2699,2058,2164,1953,0,0,0,0,0,0,26.19,26.13,26.24
$GC,9537,1.40,216.7,3514,2699,2165,1954,94.8,11.6,498,9544,0.00,1.67,0.00,0.000,260,0.000,0.074,3514,3689,2059,2164,1955,0,0,0,0,0,0,27.01,25.26,27.07
$GC,9768,1.43,237.0,3514,3690,2165,1955,69.6,9.1,544,9805,0.00,1.52,31.42,0.591,9254,0.000,0.039,3520,2702,1968,2074,1862,0,0,0,0,0,0,26.25,26.22,24.73
$GC,10109,1.48,270.4,3521,2701,2054,1848,38.4,8.5,570,10131,0.00,2.20,15.23,0.226,8740,0.000,0.039,3531,1296,1836,1946,1726,0,0,0,0,0,0,26.98,25.76,25.28
$GC,10220,1.48,270.4,3531,1296,1956,1740,28.8,9.8,592,10226,0.00,2.22,1.62,0.194,9222,0.000,0.041,3530,2698,1835,1945,1726,0,0,0,0,0,0,26.08,26.03,25.26
$GC,10530,1.66,398.0,3530,2698,1953,1740,11.3,4.2,624,10604,0.15,1.62,67.50,0.165,10532,0.158,0.071,3570,3687,1313,1429,1197,0,0,0,0,0,0,26.37,25.71,25.54
$STATE,10633,end climb,SURFACE_DEPTH_REACHED
$STATE,10633,begin surface coast
$FINISH,0.6,1.023038
$STATE,10642,end surface coast,CONTROL_FINISHED_OK
$STATE,10642,begin surface
$SM_CCo,10660,115.38,0.139,0,0,500,598.78
$SM_GC,0.15,10.35,2.03,115.38,0.097,0.034,0.139,169,2381,500,-8.82,0.99,598.78,0,0,0,0,0,0,26.48,26.35,25.54
$IRIDIUM_FIX,4716.16,-12513.82,200717,081039
$TT8_MAMPS,0.050183,0.074151
$HUMID,50.74
$INTERNAL_PRESSURE,8.62765
$TCM_TEMP,17.70
$XPDR_PINGS,2
$24V_AH,23.89,10.849
$10V_AH,9.91,9.272
$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,25.050,67.575,503.275,115.375,0.000,0.000,0.000,831.200,0.500,0.000,63.182,0.000,10449.271,767.919,2115.406,87.460,0.000,2153.345,0.000,924.612,0.000,0.542,0.000
$DEVICE_MAMPS,258.570,1235.475,833.085,139.230,0.000,0.000,0.000,63.495,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,277664
$DATA_FILE_SIZE,23346,646
$CAP_FILE_SIZE,94343,0
$CFSIZE,260030464,251609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.079,95.07,1
$GPS,200717,111656,4713.759,-12514.272,31,1.2,48,16.0,0.4,0.0,6,10.0