version: 66.13
glider: 204
mission: 19
dive: 103
start: 7 22 117 9 35 41
data:
$ID,204
$MISSION,19
$DIVE,103
$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,51
$R_STBD_OVSHOOT,24
$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
$GPS1,220717,085447,4704.9224,-12513.0869,39,1.1,55,16.0,0.5,0.0,6,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-63.3
$GPS2,220717,093522,4705.1055,-12513.3662,11,1.2,40,16.0,0.2,0.0,7,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,159.5,20671,-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,-194.6,179,2382,571,425,0.0,0.0,0,99,0.00,0.00,-92.38,0.000,16386,0.000,0.000,178,2382,2709,2665,2754,0,0,0,0,0,0,27.03,28.83,27.10
$GC,101,-1.30,-194.6,180,2382,2667,2754,3.0,-5.7,9,138,11.25,2.30,-21.33,0.000,18724,0.256,1.226,2608,3696,3736,3700,3773,0,0,0,0,0,0,25.12,24.39,25.36
$GC,362,-1.30,-194.6,2608,3696,3703,3773,51.8,-17.9,61,369,0.00,2.00,0.00,0.000,1030,0.000,0.041,2615,2405,3737,3702,3773,0,0,0,0,0,0,26.20,26.17,26.24
$GC,673,-1.30,-194.6,2616,2407,3704,3774,99.9,-14.4,73,679,0.00,2.12,0.00,0.000,260,0.000,0.060,2608,3696,3738,3703,3773,0,0,0,0,0,0,27.07,25.54,27.12
$GC,903,-1.30,-194.6,2608,3696,3704,3773,137.5,-16.5,119,909,0.00,2.03,0.00,0.000,1030,0.000,0.041,2615,2402,3738,3704,3773,0,0,0,0,0,0,26.15,26.12,26.19
$GC,1213,-1.30,-194.6,2615,2403,3704,3774,183.1,-13.7,131,1219,0.00,2.15,0.00,0.000,260,0.000,0.061,2607,3699,3737,3703,3772,0,0,0,0,0,0,27.07,25.46,27.13
$GC,1333,-1.30,-194.6,2608,3699,3704,3771,200.7,-15.1,155,1339,0.00,2.05,0.00,0.000,1030,0.000,0.042,2616,2387,3737,3703,3771,0,0,0,0,0,0,26.12,26.08,26.15
$GC,1664,-1.30,-194.6,2615,2388,3702,3771,245.8,-13.5,171,1669,0.00,2.20,0.00,0.000,260,0.000,0.066,2607,3697,3735,3701,3770,0,0,0,0,0,0,27.07,25.32,27.13
$GC,1883,-1.30,-194.6,2608,3697,3700,3770,277.0,-14.0,215,1889,0.00,2.03,0.00,0.000,1030,0.000,0.042,2612,2404,3734,3699,3770,0,0,0,0,0,0,26.09,26.06,26.13
$GC,2203,-1.30,-194.6,2611,2405,3698,3769,317.8,-12.7,224,2209,0.00,2.12,0.00,0.000,260,0.000,0.060,2604,3693,3732,3698,3767,0,0,0,0,0,0,27.07,25.41,27.13
$GC,2434,-1.30,-194.6,2604,3693,3696,3766,350.1,-14.3,270,2439,0.00,2.03,0.00,0.000,1030,0.000,0.043,2611,2404,3730,3695,3766,0,0,0,0,0,0,26.03,26.00,26.07
$GC,2743,-1.30,-194.6,2612,2404,3695,3765,391.2,-13.2,277,2750,0.00,2.25,0.00,0.000,516,0.000,0.048,2622,1001,3729,3694,3765,0,0,0,0,0,0,27.08,25.60,27.13
$GC,2894,-1.30,-194.6,2622,1001,3694,3765,410.3,-12.5,307,2900,0.00,2.22,0.00,0.000,1030,0.000,0.041,2613,2398,3727,3693,3762,0,0,0,0,0,0,25.84,25.79,25.89
$GC,3224,-1.30,-194.6,2613,2398,3693,3761,451.6,-12.5,318,3230,0.00,2.15,0.00,0.000,260,0.000,0.063,2603,3699,3726,3692,3761,0,0,0,0,0,0,27.07,25.29,27.13
$GC,3454,-1.30,-194.6,2604,3699,3691,3761,482.0,-13.5,364,3460,0.00,2.05,0.00,0.000,1030,0.000,0.044,2611,2404,3725,3690,3760,0,0,0,0,0,0,25.98,25.94,26.03
$GC,3764,-1.30,-194.6,2611,2405,3689,3759,520.4,-12.3,371,3770,0.00,2.25,0.00,0.000,516,0.000,0.050,2621,1004,3723,3689,3757,0,0,0,0,0,0,27.07,25.53,27.13
$GC,3974,-1.30,-194.6,2622,1004,3688,3756,545.8,-11.8,413,3980,0.00,2.25,0.00,0.000,1030,0.000,0.044,2613,2400,3721,3687,3756,0,0,0,0,0,0,25.72,25.66,25.77
$GC,4304,-1.30,-194.6,2613,2400,3687,3757,585.7,-12.3,424,4310,0.00,2.17,0.00,0.000,260,0.000,0.065,2603,3700,3720,3685,3755,0,0,0,0,0,0,27.07,25.15,27.13
$STATE,4408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4408,begin apogee
$GC,4413,-0.23,0.0,2609,2705,3686,3755,600.3,-14.0,445,4594,1.45,0.00,172.65,1.379,10246,0.198,0.000,2959,2702,2941,3020,2862,0,0,0,0,1,0,23.97,23.91,22.65
$STATE,4594,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4596,1.30,194.6,2960,2703,3021,2862,611.2,0.0,448,4826,1.77,2.35,219.40,0.802,10756,0.141,0.040,3458,1293,2137,2223,2052,0,0,0,0,0,0,24.00,24.64,23.68
$GC,4945,1.32,209.0,3458,1294,2207,2046,593.1,10.6,519,4966,0.00,2.25,14.60,0.773,9254,0.000,0.041,3449,2699,2082,2171,1994,0,0,0,0,0,0,26.06,26.01,24.44
$GC,5310,1.32,209.0,3449,2699,2153,1979,553.1,11.0,537,5317,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1293,2065,2151,1980,0,0,0,0,0,0,26.96,26.10,27.03
$GC,5431,1.32,209.0,3458,1293,2152,1979,539.3,11.6,561,5437,0.00,2.22,0.00,0.000,1030,0.000,0.041,3449,2699,2065,2150,1980,0,0,0,0,0,0,26.17,26.11,26.22
$GC,5791,1.32,209.0,3450,2700,2150,1978,495.5,12.3,578,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2699,2063,2149,1978,0,0,0,0,0,0,27.02,27.09,27.08
$GC,6091,1.32,209.0,3449,2701,2148,1978,458.6,12.3,583,6096,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1297,2062,2148,1976,0,0,0,0,0,0,27.03,25.93,27.10
$GC,6171,1.32,209.0,3458,1298,2149,1977,448.9,12.0,599,6176,0.00,2.22,0.00,0.000,1030,0.000,0.041,3449,2703,2062,2147,1977,0,0,0,0,0,0,26.02,25.96,26.07
$GC,6511,1.32,209.0,3450,2703,2148,1976,406.5,12.5,612,6516,0.00,2.25,0.00,0.000,516,0.000,0.044,3458,1294,2061,2146,1976,0,0,0,0,0,0,27.04,25.82,27.10
$GC,6596,1.32,209.0,3458,1293,2147,1976,395.7,12.7,629,6602,0.00,2.22,0.00,0.000,1030,0.000,0.041,3449,2695,2061,2146,1976,0,0,0,0,0,0,25.97,25.91,26.02
$GC,6932,1.32,209.0,3450,2695,2147,1976,352.7,12.8,641,6938,0.00,2.22,0.00,0.000,516,0.000,0.040,3457,1290,2060,2145,1976,0,0,0,0,0,0,27.05,25.86,27.10
$GC,6997,1.32,209.0,3458,1290,2147,1976,344.5,12.6,654,7003,0.00,2.25,0.00,0.000,1030,0.000,0.041,3449,2704,2060,2145,1976,0,0,0,0,0,0,25.91,25.86,25.96
$GC,7352,1.32,209.0,3449,2705,2146,1975,300.8,12.2,670,7358,0.00,2.25,0.00,0.000,516,0.000,0.043,3458,1295,2060,2145,1976,0,0,0,0,0,0,27.05,25.75,27.11
$GC,7407,1.32,209.0,3458,1296,2145,1977,294.2,12.0,681,7415,0.00,2.25,0.00,0.000,1030,0.000,0.041,3449,2708,2060,2145,1976,0,0,0,0,0,0,25.88,25.84,25.94
$GC,7712,1.32,209.0,3450,2708,2145,1975,258.2,11.8,687,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2708,2060,2144,1976,0,0,0,0,0,0,27.05,27.12,27.11
$GC,8012,1.32,209.0,3449,2709,2144,1977,224.0,11.2,695,8018,0.00,2.25,0.00,0.000,516,0.000,0.042,3458,1296,2059,2144,1975,0,0,0,0,0,0,27.05,25.74,27.11
$GC,8082,1.32,209.0,3458,1298,2145,1977,216.7,10.6,709,8089,0.00,2.22,0.00,0.000,1030,0.000,0.040,3449,2695,2059,2143,1975,0,0,0,0,0,0,25.84,25.79,25.89
$GC,8403,1.38,247.1,3449,2696,2144,1976,184.6,9.7,723,8444,0.00,2.25,29.35,0.719,8740,0.000,0.038,3457,1288,1933,2025,1841,0,0,0,0,1,0,27.05,25.48,24.04
$GC,8538,1.38,247.1,3458,1289,2036,1851,170.1,11.3,750,8544,0.00,2.25,1.92,0.185,9222,0.000,0.042,3449,2699,1929,2020,1839,0,0,0,0,0,0,26.17,26.11,25.34
$GC,8853,1.38,247.1,3449,2700,2035,1851,134.2,11.2,763,8859,0.00,2.20,1.73,0.191,8708,0.000,0.038,3458,1292,1930,2022,1839,0,0,0,0,0,0,27.00,25.29,25.13
$GC,8888,1.41,273.9,3458,1291,2030,1845,130.6,10.1,770,8935,0.12,2.22,40.53,0.635,11302,0.106,0.041,3503,2696,1819,1915,1723,0,0,0,0,0,0,25.71,26.01,24.67
$GC,9245,1.41,273.9,3503,2697,1898,1707,82.4,14.6,791,9250,0.00,2.17,0.00,0.000,516,0.000,0.038,3514,1284,1802,1898,1706,0,0,0,0,0,0,26.96,26.00,27.03
$GC,9364,1.41,273.9,3514,1285,1897,1707,66.1,12.1,815,9370,0.00,2.25,0.00,0.000,1030,0.000,0.042,3514,2695,1801,1897,1706,0,0,0,0,0,0,26.02,25.97,26.07
$GC,9675,1.46,308.6,3514,2695,1897,1705,34.4,9.8,841,9696,0.00,2.17,15.73,0.219,8740,0.000,0.035,3524,1283,1680,1780,1581,0,0,0,0,0,0,27.03,25.45,25.22
$GC,9715,1.54,361.8,3523,1284,1784,1585,30.7,9.1,849,9749,0.00,2.25,29.42,0.211,9254,0.000,0.041,3523,2702,1464,1567,1362,0,0,0,0,0,0,26.14,26.08,25.35
$STATE,10044,end climb,SURFACE_DEPTH_REACHED
$STATE,10045,begin surface coast
$FINISH,0.0,1.023038
$STATE,10064,end surface coast,CONTROL_FINISHED_OK
$STATE,10064,begin surface
$SM_CCo,10081,135.38,0.135,0,0,498,598.78
$SM_GC,0.20,10.27,0.47,135.38,0.096,0.046,0.135,186,2383,498,-8.82,0.88,598.78,0,0,0,0,0,0,26.32,26.48,25.58
$IRIDIUM_FIX,4703.28,-12511.69,220717,090646
$TT8_MAMPS,0.048685,0.0749
$HUMID,52.04
$INTERNAL_PRESSURE,8.61789
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,22.65,12.730
$10V_AH,9.92,10.050
$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,24.875,87.650,525.325,135.375,0.000,0.000,0.000,647.250,0.000,0.000,42.297,0.000,9430.479,820.226,2306.794,98.200,0.000,2181.802,0.000,1264.901,0.000,0.541,0.000
$DEVICE_MAMPS,255.510,1226.295,1378.530,134.640,0.000,0.000,0.000,52.020,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,277684
$DATA_FILE_SIZE,30010,887
$CAP_FILE_SIZE,104935,0
$CFSIZE,260030464,250867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.024,320.25,1
$GPS,220717,122725,4704.530,-12514.156,45,1.2,70,16.0,0.3,0.0,9,10.0