version: 66.13
glider: 204
mission: 19
dive: 100
start: 7 21 117 20 20 24
data:
$ID,204
$MISSION,19
$DIVE,100
$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,37
$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
$GPS1,210717,193828,4707.5864,-12515.1514,26,1.9,64,16.0,0.4,0.0,7,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-63.2
$GPS2,210717,202004,4707.8174,-12515.2324,8,1.3,27,16.0,0.7,0.0,7,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,169.8,25591,-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,2,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,4,-1.30,-194.6,191,2400,563,433,0.0,0.0,0,98,0.00,0.00,-92.12,0.000,16386,0.000,0.000,191,2399,2703,2659,2747,0,0,0,0,0,0,27.03,28.83,27.10
$GC,100,-1.30,-194.6,193,2398,2661,2747,3.0,-6.1,9,137,11.23,2.35,-21.77,0.000,18724,0.257,1.231,2603,3695,3739,3706,3772,0,0,0,0,0,0,25.17,24.30,25.39
$GC,202,-1.30,-194.6,2602,3694,3707,3772,26.9,-24.5,29,208,0.00,2.03,0.00,0.000,1030,0.000,0.041,2611,2405,3739,3706,3772,0,0,0,0,0,0,26.22,26.17,26.25
$GC,532,-1.30,-194.6,2611,2405,3709,3774,88.5,-17.5,49,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2403,3740,3709,3772,0,0,0,0,0,0,27.06,27.13,27.11
$GC,832,-1.30,-194.6,2611,2403,3710,3772,137.2,-15.4,59,838,0.00,2.22,0.00,0.000,516,0.000,0.046,2622,1000,3740,3709,3772,0,0,0,0,0,0,27.07,25.77,27.13
$GC,897,-1.30,-194.6,2622,1000,3710,3772,147.2,-15.1,72,903,0.00,2.20,0.00,0.000,1030,0.000,0.040,2613,2394,3740,3709,3772,0,0,0,0,0,0,25.95,25.89,25.99
$GC,1222,-1.30,-194.6,2613,2395,3710,3772,196.6,-15.0,87,1228,0.00,2.25,0.00,0.000,516,0.000,0.047,2621,987,3740,3709,3771,0,0,0,0,0,0,27.07,25.72,27.13
$GC,1252,-1.30,-194.6,2622,987,3710,3771,201.2,-15.1,93,1259,0.00,2.28,0.00,0.000,1030,0.000,0.047,2612,2397,3739,3708,3771,0,0,0,0,0,0,25.78,25.73,25.83
$GC,1583,-1.30,-194.6,2613,2398,3708,3769,252.0,-15.5,109,1589,0.00,2.25,0.00,0.000,516,0.000,0.049,2621,1006,3738,3707,3769,0,0,0,0,0,0,27.07,25.70,27.13
$GC,1618,-1.30,-194.6,2621,1006,3708,3769,257.5,-15.3,116,1624,0.00,2.25,0.00,0.000,1030,0.000,0.044,2613,2410,3738,3707,3769,0,0,0,0,0,0,25.81,25.76,25.86
$GC,1943,-1.30,-194.6,2614,2411,3705,3768,308.4,-15.7,126,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2411,3736,3704,3768,0,0,0,0,0,0,27.07,27.13,27.13
$GC,2243,-1.30,-194.6,2613,2411,3703,3766,355.3,-15.7,131,2249,0.00,2.30,0.00,0.000,516,0.000,0.054,2621,1002,3734,3702,3766,0,0,0,0,0,0,27.07,25.51,27.13
$GC,2268,-1.30,-194.6,2620,1002,3704,3766,359.2,-15.4,136,2274,0.00,2.22,0.00,0.000,1030,0.000,0.044,2613,2393,3733,3702,3765,0,0,0,0,0,0,25.79,25.74,25.84
$GC,2603,-1.30,-194.6,2613,2393,3702,3765,407.9,-14.4,148,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2393,3733,3701,3765,0,0,0,0,0,0,27.08,27.14,27.13
$GC,2903,-1.30,-194.6,2613,2393,3700,3761,449.0,-13.6,153,2910,0.00,2.28,0.00,0.000,516,0.000,0.050,2621,993,3730,3699,3761,0,0,0,0,0,0,27.07,25.56,27.13
$GC,2939,-1.30,-194.6,2621,993,3699,3761,453.6,-13.1,160,2944,0.00,2.28,0.00,0.000,1030,0.000,0.046,2612,2400,3729,3698,3761,0,0,0,0,0,0,25.72,25.67,25.78
$GC,3264,-1.30,-194.6,2613,2400,3697,3760,494.1,-12.4,170,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2401,3728,3696,3760,0,0,0,0,0,0,27.08,27.14,27.13
$GC,3564,-1.30,-194.6,2613,2402,3695,3759,531.7,-12.7,175,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2401,3725,3694,3757,0,0,0,0,0,0,27.08,27.15,27.13
$GC,3864,-1.30,-194.6,2611,2401,3694,3757,572.7,-13.7,180,3869,0.00,2.30,0.00,0.000,516,0.000,0.051,2621,995,3724,3693,3756,0,0,0,0,0,0,27.07,25.46,27.13
$GC,3904,-1.30,-194.6,2622,995,3694,3756,578.3,-14.0,188,3909,0.00,2.28,0.00,0.000,1030,0.000,0.046,2612,2403,3724,3692,3756,0,0,0,0,0,0,25.67,25.62,25.72
$STATE,4102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4102,begin apogee
$GC,4106,-0.23,0.0,2610,2715,3693,3757,607.3,-14.5,195,4280,1.45,0.00,165.98,1.421,10246,0.199,0.000,2957,2714,2939,3026,2853,0,0,0,0,1,0,23.78,23.93,22.67
$STATE,4280,end apogee,CONTROL_FINISHED_OK
$STATE,4281,begin climb
$GC,4282,1.30,194.6,2958,2715,3027,2854,615.4,0.0,197,4511,1.77,1.73,217.88,0.812,10500,0.142,0.069,3441,3685,2137,2231,2043,0,0,0,0,0,0,24.00,24.61,23.63
$GC,4710,1.30,194.6,3440,3685,2214,2033,590.8,12.2,288,4715,0.00,1.55,0.00,0.000,1030,0.000,0.041,3446,2685,2123,2213,2033,0,0,0,0,0,0,26.29,26.26,26.33
$GC,5035,1.30,194.6,3446,2685,2212,2030,553.5,11.5,298,5041,0.00,2.17,0.00,0.000,516,0.000,0.043,3457,1304,2120,2211,2030,0,0,0,0,0,0,26.98,26.05,27.05
$GC,5121,1.30,194.6,3456,1305,2212,2031,543.6,11.4,315,5126,0.00,2.22,0.00,0.000,1030,0.000,0.044,3448,2697,2120,2211,2030,0,0,0,0,0,0,26.10,26.05,26.15
$GC,5455,1.30,194.6,3448,2699,2210,2030,505.5,11.4,327,5461,0.00,2.20,0.00,0.000,516,0.000,0.041,3457,1310,2119,2209,2029,0,0,0,0,0,0,27.03,25.98,27.09
$GC,5490,1.30,194.6,3457,1312,2210,2030,501.6,11.2,334,5497,0.00,2.22,0.00,0.000,1030,0.000,0.044,3448,2701,2119,2209,2029,0,0,0,0,0,0,26.03,25.98,26.09
$GC,5816,1.30,194.6,3448,2702,2209,2029,464.5,11.4,344,5821,0.00,2.22,0.00,0.000,516,0.000,0.044,3457,1302,2118,2209,2028,0,0,0,0,0,0,27.03,25.90,27.10
$GC,5856,1.30,194.6,3456,1303,2209,2030,460.0,11.3,352,5861,0.00,2.25,0.00,0.000,1030,0.000,0.044,3448,2709,2118,2209,2028,0,0,0,0,0,0,25.98,25.92,26.03
$GC,6176,1.30,194.6,3449,2708,2208,2028,422.3,11.9,361,6182,0.00,2.25,0.00,0.000,516,0.000,0.042,3457,1299,2117,2208,2027,0,0,0,0,0,0,27.04,25.86,27.10
$GC,6211,1.30,194.6,3457,1299,2209,2027,418.1,12.2,368,6216,0.00,2.22,0.00,0.000,1030,0.000,0.041,3448,2695,2117,2208,2027,0,0,0,0,0,0,25.96,25.91,26.02
$GC,6536,1.30,194.6,3448,2695,2208,2026,377.3,12.6,378,6542,0.00,2.20,0.00,0.000,516,0.000,0.040,3457,1303,2117,2208,2026,0,0,0,0,0,0,27.05,25.90,27.10
$GC,6561,1.30,194.6,3457,1303,2208,2026,374.0,12.1,383,6567,0.00,2.22,0.00,0.000,1030,0.000,0.041,3448,2698,2116,2207,2026,0,0,0,0,0,0,25.94,25.89,26.00
$GC,6896,1.30,194.6,3449,2698,2207,2026,331.2,12.7,395,6902,0.00,2.20,0.00,0.000,516,0.000,0.041,3457,1308,2116,2206,2026,0,0,0,0,0,0,27.05,25.84,27.11
$GC,6936,1.30,194.6,3456,1309,2207,2027,326.4,12.1,403,6942,0.00,2.22,0.00,0.000,1030,0.000,0.044,3448,2694,2116,2206,2026,0,0,0,0,0,0,25.86,25.79,25.93
$GC,7256,1.30,194.6,3448,2695,2207,2025,288.2,11.9,412,7262,0.00,2.20,0.00,0.000,516,0.000,0.039,3457,1303,2115,2205,2025,0,0,0,0,0,0,27.05,25.84,27.11
$GC,7311,1.30,194.6,3456,1304,2206,2027,281.8,11.5,423,7318,0.00,2.25,0.00,0.000,1030,0.000,0.043,3448,2708,2115,2205,2025,0,0,0,0,0,0,25.85,25.80,25.90
$GC,7616,1.30,194.6,3449,2709,2206,2025,247.7,11.1,429,7622,0.00,2.25,0.00,0.000,516,0.000,0.042,3456,1299,2115,2205,2025,0,0,0,0,0,0,27.05,25.76,27.11
$GC,7651,1.33,213.5,3456,1300,2206,2027,244.0,10.4,436,7678,0.00,2.22,18.77,0.666,9254,0.000,0.041,3447,2696,2060,2157,1964,0,0,0,0,0,0,25.86,25.82,24.75
$GC,7976,1.33,213.5,3448,2696,2148,1955,208.9,10.8,451,7982,0.00,2.20,0.00,0.000,516,0.000,0.039,3457,1299,2050,2146,1955,0,0,0,0,0,0,27.00,25.96,27.06
$GC,8026,1.35,228.0,3457,1299,2148,1955,203.6,10.6,461,8048,0.00,2.22,15.12,0.661,9254,0.000,0.041,3448,2701,2005,2103,1908,0,0,0,0,0,0,26.02,25.96,24.77
$GC,8367,1.38,246.0,3448,2703,2091,1899,166.6,10.4,479,8393,0.00,2.20,21.48,0.632,8740,0.000,0.041,3457,1298,1931,2031,1831,0,0,0,0,0,0,27.01,25.27,24.77
$GC,8452,1.38,246.0,3457,1298,2019,1822,157.7,10.9,496,8459,0.00,2.22,0.00,0.000,1030,0.000,0.041,3448,2697,1919,2018,1821,0,0,0,0,0,0,26.20,26.16,26.26
$GC,8757,1.40,262.1,3447,2697,2016,1821,125.6,10.5,507,8780,0.15,2.17,17.17,0.615,10788,0.162,0.037,3514,1301,1864,1965,1764,0,0,0,0,0,0,26.36,25.32,24.82
$GC,8829,1.40,262.1,3513,1302,1955,1758,116.7,12.8,521,8835,0.00,2.20,0.00,0.000,1030,0.000,0.040,3514,2695,1855,1954,1756,0,0,0,0,0,0,26.25,26.20,26.29
$GC,9149,1.40,262.1,3513,2696,1952,1753,73.7,13.0,535,9155,0.00,2.17,0.00,0.000,516,0.000,0.038,3524,1307,1851,1951,1752,0,0,0,0,0,0,27.01,26.00,27.07
$GC,9189,1.40,262.1,3524,1308,1953,1754,69.0,11.4,543,9195,0.10,2.22,0.00,0.000,5126,0.168,0.041,3495,2708,1851,1951,1752,0,0,0,0,0,0,25.51,25.96,25.58
$GC,9500,1.46,304.2,3495,2709,1952,1753,38.1,9.5,564,9526,0.00,2.17,21.45,0.222,8740,0.000,0.038,3504,1300,1696,1803,1590,0,0,0,0,0,0,27.03,25.48,25.26
$GC,9575,1.48,319.1,3504,1300,1809,1598,30.6,10.5,579,9592,0.00,2.22,9.02,0.207,9254,0.000,0.041,3504,2703,1638,1743,1533,0,0,0,0,0,0,26.12,26.07,25.27
$GC,9890,1.67,459.0,3504,2703,1749,1545,5.2,5.8,612,9938,0.22,0.00,45.78,0.151,10530,0.127,0.000,3573,2704,1296,1411,1181,0,0,0,0,0,0,26.15,28.83,26.23
$STATE,9939,end climb,SURFACE_DEPTH_REACHED
$STATE,9939,begin surface coast
$FINISH,-0.6,1.023038
$STATE,9962,end surface coast,CONTROL_FINISHED_OK
$STATE,9962,begin surface
$SM_CCo,9977,113.82,0.148,1,0,499,598.78
$SM_GC,0.15,10.10,0.47,113.82,0.086,0.050,0.148,182,2403,499,-8.82,0.99,598.78,0,0,0,0,1,0,26.41,26.39,24.53
$IRIDIUM_FIX,4706.42,-12517.92,210717,200234
$TT8_MAMPS,0.048685,0.074151
$HUMID,52.36
$INTERNAL_PRESSURE,8.63742
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,22.67,12.251
$10V_AH,9.93,9.829
$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,25.025,93.300,532.650,113.825,0.000,0.000,0.000,717.725,0.000,0.000,29.094,0.000,9755.524,815.057,1932.564,90.258,0.000,2102.038,0.000,893.641,0.000,0.540,0.000
$DEVICE_MAMPS,257.040,1230.885,1420.605,148.410,0.000,0.000,0.000,55.845,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,277632
$DATA_FILE_SIZE,20078,624
$CAP_FILE_SIZE,97199,0
$CFSIZE,260030464,251068416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.087,41.78,1
$GPS,210717,231015,4707.007,-12514.939,57,1.1,77,16.0,0.3,0.0,9,10.0