version: 66.13
glider: 204
mission: 19
dive: 94
start: 7 20 117 20 17 8
data:
$ID,204
$MISSION,19
$DIVE,94
$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,180
$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,200
$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,49
$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
$GPS1,200717,192843,4711.6455,-12513.1699,45,1.1,57,16.0,0.3,0.0,9,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-64.7
$GPS2,200717,201649,4711.5122,-12513.3389,17,1.2,38,16.0,0.6,93.1,8,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,199.8,32501,-22.7,-11.111,-26.47,2697
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5,-1.30,-194.6,182,2383,569,431,0.0,0.0,0,109,0.00,0.00,-102.25,0.000,16386,0.000,0.000,181,2382,3058,3016,3100,0,0,0,0,0,0,27.03,28.83,27.10
$GC,111,-1.30,-194.6,182,2383,3018,3101,4.7,-8.3,10,143,11.35,2.38,-12.07,0.000,18724,0.259,1.231,2603,3693,3737,3700,3775,0,0,0,0,0,0,25.14,24.30,25.37
$GC,302,-1.30,-194.6,2604,3693,3702,3775,52.3,-21.0,48,308,0.00,2.00,0.00,0.000,1030,0.000,0.042,2611,2407,3738,3701,3776,0,0,0,0,0,0,26.28,26.25,26.32
$GC,622,-1.30,-194.6,2612,2407,3704,3775,108.4,-15.7,62,628,0.00,2.22,0.00,0.000,516,0.000,0.047,2622,1004,3739,3703,3775,0,0,0,0,0,0,27.05,25.90,27.11
$GC,657,-1.30,-194.6,2622,1005,3703,3777,113.9,-16.0,69,663,0.00,2.22,0.00,0.000,1030,0.000,0.042,2613,2405,3739,3703,3775,0,0,0,0,0,0,26.04,25.98,26.09
$GC,982,-1.30,-194.6,2613,2405,3704,3775,163.7,-15.5,84,988,0.00,2.28,0.00,0.000,516,0.000,0.053,2622,1001,3738,3702,3775,0,0,0,0,0,0,27.07,25.75,27.13
$GC,1007,-1.30,-194.6,2622,1001,3704,3775,167.7,-16.0,89,1014,0.00,2.20,0.00,0.000,1030,0.000,0.041,2613,2394,3739,3703,3775,0,0,0,0,0,0,26.01,25.96,26.06
$GC,1312,-1.30,-194.6,2612,2395,3703,3776,215.8,-15.7,100,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2393,3738,3702,3775,0,0,0,0,0,0,27.07,27.14,27.13
$GC,1612,-1.30,-194.6,2613,2395,3702,3774,261.0,-15.0,109,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2394,3737,3701,3773,0,0,0,0,0,0,27.08,27.14,27.13
$GC,1912,-1.30,-194.6,2613,2393,3702,3770,305.3,-14.8,114,1918,0.00,2.22,0.00,0.000,516,0.000,0.048,2622,1006,3735,3700,3770,0,0,0,0,0,0,27.08,25.75,27.13
$GC,1967,-1.30,-194.6,2621,1007,3701,3771,313.3,-14.3,125,1974,0.00,2.22,0.00,0.000,1030,0.000,0.045,2613,2393,3734,3699,3770,0,0,0,0,0,0,25.86,25.81,25.91
$GC,2272,-1.30,-194.6,2612,2395,3698,3769,356.9,-14.3,131,2279,0.00,2.22,0.00,0.000,516,0.000,0.047,2621,1006,3732,3697,3768,0,0,0,0,0,0,27.08,25.72,27.13
$GC,2302,-1.30,-194.6,2622,1006,3699,3768,361.1,-14.1,137,2308,0.00,2.25,0.00,0.000,1030,0.000,0.046,2612,2403,3732,3697,3768,0,0,0,0,0,0,25.82,25.77,25.87
$GC,2633,-1.30,-194.6,2612,2404,3695,3767,408.1,-14.4,148,2638,0.00,2.28,0.00,0.000,516,0.000,0.053,2621,1009,3730,3695,3765,0,0,0,0,0,0,27.08,25.58,27.13
$GC,2653,-1.30,-194.6,2621,1010,3696,3767,411.0,-14.9,152,2658,0.00,2.25,0.00,0.000,1030,0.000,0.048,2613,2398,3729,3694,3765,0,0,0,0,0,0,25.75,25.69,25.80
$GC,2993,-1.30,-194.6,2612,2399,3693,3764,461.5,-15.0,165,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2398,3728,3693,3763,0,0,0,0,0,0,27.08,27.15,27.13
$GC,3292,-1.30,-194.6,2613,2399,3693,3762,506.5,-15.0,170,3298,0.00,2.25,0.00,0.000,516,0.000,0.049,2621,1006,3726,3692,3761,0,0,0,0,0,0,27.08,25.64,27.14
$GC,3317,-1.30,-194.6,2621,1005,3693,3761,510.3,-15.9,175,3324,0.00,2.25,0.00,0.000,1030,0.000,0.045,2612,2402,3726,3691,3761,0,0,0,0,0,0,25.80,25.72,25.82
$GC,3653,-1.30,-194.6,2612,2403,3691,3761,558.8,-14.4,187,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2402,3725,3690,3760,0,0,0,0,0,0,27.08,27.14,27.13
$GC,3953,-1.30,-194.6,2612,2402,3689,3756,599.1,-13.4,192,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2402,3722,3688,3757,0,0,0,0,0,0,27.08,27.15,27.14
$STATE,4012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4012,begin apogee
$GC,4015,-0.23,0.0,2610,2714,3689,3758,607.1,-13.3,193,4189,1.42,0.00,165.88,1.430,10246,0.197,0.000,2957,2714,2940,3023,2858,0,0,0,0,1,0,24.03,23.90,22.63
$STATE,4190,end apogee,CONTROL_FINISHED_OK
$STATE,4190,begin climb
$GC,4191,1.30,194.6,2958,2715,3024,2859,613.3,0.0,195,4385,1.77,1.88,180.43,1.443,10500,0.140,0.070,3441,3694,2146,2239,2053,0,0,0,0,1,0,24.01,23.30,21.96
$GC,4419,1.30,194.6,3441,3695,2240,2056,606.9,13.1,245,4424,0.00,1.65,0.00,0.000,1030,0.000,0.037,3447,2699,2147,2239,2055,0,0,0,0,0,0,24.80,24.77,24.84
$GC,4769,1.30,194.6,3447,2700,2237,2056,564.3,12.1,260,4775,0.00,2.20,0.00,0.000,516,0.000,0.041,3458,1292,2145,2236,2055,0,0,0,0,0,0,26.91,26.21,26.97
$GC,4829,1.30,194.6,3459,1292,2237,2055,557.2,11.9,272,4835,0.00,2.22,0.00,0.000,1030,0.000,0.042,3449,2697,2145,2236,2055,0,0,0,0,0,0,26.30,26.25,26.34
$GC,5190,1.30,194.6,3450,2697,2235,2054,516.8,11.0,289,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2697,2143,2232,2055,0,0,0,0,0,0,27.01,27.08,27.06
$GC,5489,1.30,194.6,3449,2697,2233,2054,484.6,10.7,294,5495,0.00,2.20,0.00,0.000,516,0.000,0.041,3458,1296,2143,2232,2054,0,0,0,0,0,0,27.02,26.10,27.08
$GC,5564,1.30,194.6,3458,1297,2233,2055,476.5,10.9,309,5570,0.00,2.22,0.00,0.000,1030,0.000,0.041,3449,2702,2143,2232,2054,0,0,0,0,0,0,26.19,26.13,26.23
$GC,5910,1.30,194.6,3449,2703,2231,2054,438.8,10.9,323,5915,0.00,2.22,0.00,0.000,516,0.000,0.044,3458,1298,2142,2231,2053,0,0,0,0,0,0,27.03,25.99,27.09
$GC,5944,1.30,194.6,3458,1299,2233,2053,435.0,10.9,330,5950,0.00,2.22,0.00,0.000,1030,0.000,0.043,3449,2696,2142,2231,2053,0,0,0,0,0,0,26.10,26.06,26.16
$GC,6269,1.30,194.6,3449,2697,2230,2053,398.6,11.2,340,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2696,2140,2229,2052,0,0,0,0,0,0,27.04,27.11,27.10
$GC,6570,1.30,194.6,3450,2696,2230,2052,365.4,10.9,345,6575,0.00,2.20,0.00,0.000,516,0.000,0.040,3458,1295,2140,2228,2052,0,0,0,0,0,0,27.04,25.98,27.10
$GC,6614,1.32,207.8,3458,1296,2229,2053,360.7,10.6,354,6637,0.00,2.22,16.08,0.828,9254,0.000,0.041,3449,2697,2091,2186,1997,0,0,0,0,0,0,26.06,26.01,24.73
$GC,6991,1.32,207.8,3448,2697,2181,1993,318.4,11.2,374,6997,0.00,2.20,0.00,0.000,516,0.000,0.041,3458,1300,2086,2180,1992,0,0,0,0,0,0,27.01,26.04,27.08
$GC,7056,1.32,207.8,3457,1301,2181,1993,311.1,11.4,387,7061,0.00,2.22,0.00,0.000,1030,0.000,0.041,3449,2698,2086,2180,1992,0,0,0,0,0,0,26.11,26.06,26.16
$GC,7411,1.32,207.8,3449,2698,2180,1992,270.7,11.3,403,7416,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1296,2085,2179,1992,0,0,0,0,0,0,27.04,25.96,27.10
$GC,7451,1.32,207.8,3458,1298,2180,1993,266.4,10.8,411,7456,0.00,2.22,0.00,0.000,1030,0.000,0.041,3449,2697,2085,2179,1992,0,0,0,0,0,0,26.04,25.99,26.08
$GC,7771,1.32,207.8,3450,2696,2179,1991,231.7,10.8,422,7776,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1293,2084,2178,1991,0,0,0,0,0,0,27.05,25.91,27.11
$GC,7811,1.34,221.8,3458,1293,2179,1991,227.5,10.6,430,7833,0.00,2.25,17.15,0.754,9254,0.000,0.041,3449,2709,2032,2128,1937,0,0,0,0,0,0,26.01,25.96,24.75
$GC,8131,1.34,221.8,3449,2710,2120,1932,192.8,10.8,444,8137,0.00,2.25,0.00,0.000,516,0.000,0.043,3458,1296,2024,2118,1931,0,0,0,0,0,0,27.00,25.99,27.06
$GC,8181,1.36,238.2,3458,1297,2120,1932,187.5,10.5,454,8207,0.00,2.22,20.10,0.721,9254,0.000,0.041,3449,2697,1965,2062,1869,0,0,0,0,0,0,26.10,26.05,24.77
$GC,8521,1.36,238.2,3449,2698,2053,1863,150.8,10.6,472,8528,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1294,1957,2053,1862,0,0,0,0,0,0,26.99,26.03,27.05
$GC,8582,1.40,262.9,3457,1294,2053,1863,144.6,10.2,484,8615,0.10,2.22,28.40,0.672,11302,0.122,0.041,3495,2696,1868,1968,1769,0,0,0,0,0,0,25.75,26.07,24.75
$GC,8912,1.40,262.9,3495,2697,1956,1757,103.2,13.1,500,8918,0.00,2.20,0.00,0.000,516,0.000,0.039,3505,1295,1855,1955,1756,0,0,0,0,0,0,26.98,26.08,27.03
$GC,8947,1.40,262.9,3505,1295,1955,1757,98.5,13.1,507,8953,0.00,2.22,0.00,0.000,1030,0.000,0.038,3506,2711,1855,1954,1756,0,0,0,0,0,0,26.16,26.11,26.21
$GC,9272,1.40,262.9,3506,2711,1954,1755,60.3,10.7,522,9278,0.00,2.22,0.00,0.000,516,0.000,0.039,3515,1296,1853,1952,1755,0,0,0,0,0,0,27.03,26.02,27.10
$GC,9348,1.42,276.5,3516,1296,1954,1755,52.4,10.6,537,9365,0.00,2.20,12.30,0.627,9254,0.000,0.039,3516,2691,1811,1913,1709,0,0,0,0,0,0,26.09,26.04,24.88
$GC,9662,1.61,411.4,3516,2693,1903,1703,20.9,6.0,568,9740,0.12,1.65,72.85,0.185,10532,0.141,0.072,3544,3688,1260,1375,1145,0,0,0,0,0,0,26.55,25.73,25.56
$GC,9799,1.61,411.4,3544,3689,1376,1147,8.0,12.4,592,9807,0.00,1.55,0.00,0.000,1030,0.000,0.038,3549,2689,1260,1375,1145,0,0,0,0,0,0,26.39,26.33,26.42
$STATE,9853,end climb,SURFACE_DEPTH_REACHED
$STATE,9853,begin surface coast
$FINISH,0.3,1.023038
$STATE,9863,end surface coast,CONTROL_FINISHED_OK
$STATE,9863,begin surface
$SM_CCo,9879,112.18,0.139,1,0,497,598.78
$SM_GC,0.15,10.32,0.43,112.18,0.099,0.048,0.139,190,2399,497,-8.80,1.30,598.78,0,0,0,0,1,0,26.42,26.46,24.32
$IRIDIUM_FIX,4713.40,-12511.99,200717,201234
$TT8_MAMPS,0.049434,0.073402
$HUMID,52.32
$INTERNAL_PRESSURE,8.61789
$TCM_TEMP,17.20
$XPDR_PINGS,2
$24V_AH,21.96,11.335
$10V_AH,9.91,9.439
$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,25.100,87.750,513.175,112.175,0.000,0.000,0.000,1101.325,0.500,0.000,39.623,0.000,9712.280,802.885,2280.841,92.010,0.000,2447.147,0.000,858.517,0.000,0.541,0.000
$DEVICE_MAMPS,258.570,1230.885,1442.790,139.230,0.000,0.000,0.000,58.905,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,277560
$DATA_FILE_SIZE,20058,599
$CAP_FILE_SIZE,96492,0
$CFSIZE,260030464,251445248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.106,73.02,1
$GPS,200717,230520,4710.714,-12513.600,59,0.9,78,16.0,0.1,0.0,9,10.0