version: 66.13
glider: 204
mission: 19
dive: 105
start: 7 22 117 20 13 47
data:
$ID,204
$MISSION,19
$DIVE,105
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,220717,193110,4702.0371,-12512.4639,53,1.8,92,16.0,0.1,0.0,7,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-68.3
$GPS2,220717,201328,4701.7441,-12512.8252,9,1.2,40,16.0,0.7,271.7,9,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,116.9,18981,-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,-194.6,181,2394,982,825,0.0,0.0,0,89,0.00,0.00,-82.35,0.000,16386,0.000,0.000,180,2393,3051,3006,3097,0,0,0,0,0,0,27.03,28.83,27.10
$GC,91,-1.30,-194.6,180,2395,3006,3099,4.7,-8.1,8,123,11.27,2.33,-12.07,0.000,18724,0.258,1.238,2603,3685,3738,3700,3776,0,0,0,0,0,0,25.19,24.25,25.63
$GC,127,-1.30,-194.6,2604,3685,3702,3776,17.9,-26.4,15,134,0.00,2.03,0.00,0.000,1030,0.000,0.047,2611,2404,3738,3700,3776,0,0,0,0,0,0,26.25,26.20,26.29
$GC,442,-1.30,-194.6,2611,2405,3704,3778,77.8,-17.5,37,449,0.00,2.22,0.00,0.000,516,0.000,0.047,2622,998,3740,3704,3777,0,0,0,0,0,0,27.03,25.94,27.09
$GC,673,-1.30,-194.6,2621,997,3705,3777,115.3,-15.7,83,678,0.00,2.20,0.00,0.000,1030,0.000,0.041,2613,2391,3741,3705,3777,0,0,0,0,0,0,26.04,25.99,26.09
$GC,983,-1.30,-194.6,2613,2392,3705,3777,164.5,-15.7,95,988,0.00,2.25,0.00,0.000,516,0.000,0.050,2621,994,3740,3705,3776,0,0,0,0,0,0,27.07,25.75,27.13
$GC,1033,-1.30,-194.6,2622,995,3706,3776,172.2,-15.1,105,1039,0.00,2.22,0.00,0.000,1030,0.000,0.044,2613,2393,3741,3705,3777,0,0,0,0,0,0,25.96,25.89,25.99
$GC,1343,-1.30,-194.6,2613,2394,3704,3777,218.1,-14.7,117,1350,0.00,2.12,0.00,0.000,260,0.000,0.061,2603,3694,3739,3704,3775,0,0,0,0,0,0,27.08,25.51,27.13
$GC,1384,-1.30,-194.6,2603,3695,3704,3777,224.4,-15.7,125,1391,0.00,2.05,0.00,0.000,1030,0.000,0.041,2611,2383,3739,3703,3775,0,0,0,0,0,0,26.15,26.10,26.18
$GC,1704,-1.30,-194.6,2611,2383,3701,3777,271.6,-14.6,137,1711,0.00,2.20,0.00,0.000,516,0.000,0.047,2621,999,3738,3701,3775,0,0,0,0,0,0,27.08,25.73,27.13
$GC,1745,-1.30,-194.6,2621,1001,3702,3777,277.2,-13.8,145,1751,0.00,2.22,0.00,0.000,1030,0.000,0.041,2612,2397,3738,3701,3775,0,0,0,0,0,0,25.91,25.87,25.96
$GC,2066,-1.30,-194.6,2612,2398,3700,3774,320.4,-13.4,154,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2397,3736,3699,3773,0,0,0,0,0,0,27.08,27.15,27.13
$GC,2365,-1.30,-194.6,2612,2399,3698,3771,362.5,-14.1,159,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2397,3734,3698,3770,0,0,0,0,0,0,27.08,27.15,27.13
$GC,2665,-1.30,-194.6,2612,2398,3696,3769,405.4,-14.3,164,2671,0.00,2.15,0.00,0.000,260,0.000,0.063,2603,3697,3731,3695,3768,0,0,0,0,0,0,27.08,25.34,27.13
$GC,2705,-1.30,-194.6,2603,3698,3695,3769,411.4,-15.2,172,2711,0.00,2.05,0.00,0.000,1030,0.000,0.043,2610,2397,3731,3694,3768,0,0,0,0,0,0,26.06,26.02,26.10
$GC,3025,-1.30,-194.6,2610,2398,3694,3767,457.3,-14.3,181,3033,0.00,2.25,0.00,0.000,516,0.000,0.054,2621,1011,3729,3693,3766,0,0,0,0,0,0,27.08,25.49,27.13
$GC,3066,-1.30,-194.6,2621,1011,3695,3766,463.2,-14.4,189,3073,0.00,2.25,0.00,0.000,1030,0.000,0.048,2612,2397,3729,3693,3766,0,0,0,0,0,0,25.67,25.62,25.72
$GC,3388,-1.30,-194.6,2612,2398,3693,3766,508.3,-14.0,198,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2396,3728,3692,3765,0,0,0,0,0,0,27.08,27.15,27.13
$GC,3687,-1.30,-194.6,2612,2398,3691,3763,551.6,-14.5,203,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2396,3726,3691,3761,0,0,0,0,0,0,27.08,27.14,27.13
$GC,3987,-1.30,-194.6,2612,2398,3689,3762,595.6,-14.7,208,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2397,3725,3689,3761,0,0,0,0,0,0,27.08,27.15,27.13
$STATE,4046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4046,begin apogee
$GC,4050,-0.23,0.0,2610,2714,3689,3762,604.3,-14.7,209,4262,1.42,0.00,209.77,0.848,10246,0.193,0.000,2958,2715,2940,3014,2867,0,0,0,0,0,0,24.09,25.02,24.08
$STATE,4263,end apogee,CONTROL_FINISHED_OK
$STATE,4263,begin climb
$GC,4264,1.30,194.6,2960,2715,3008,2860,615.6,0.0,212,4486,1.65,1.67,210.98,0.803,10500,0.139,0.069,3438,3678,2135,2219,2052,0,0,0,0,0,0,25.13,25.05,24.10
$GC,4630,1.30,194.6,3439,3678,2200,2034,591.5,13.2,290,4636,0.00,1.52,0.00,0.000,1030,0.000,0.041,3443,2701,2117,2200,2035,0,0,0,0,0,0,26.25,26.22,26.29
$GC,4960,1.30,194.6,3443,2701,2199,2032,550.7,12.4,301,4966,0.00,2.20,0.00,0.000,516,0.000,0.041,3454,1300,2115,2198,2032,0,0,0,0,0,0,26.98,26.04,27.05
$GC,5015,1.30,194.6,3454,1300,2199,2032,543.8,12.5,312,5022,0.00,2.22,0.00,0.000,1030,0.000,0.041,3445,2699,2114,2198,2030,0,0,0,0,0,0,26.12,26.08,26.17
$GC,5320,1.30,194.6,3445,2699,2197,2030,505.6,12.5,318,5326,0.00,2.22,0.00,0.000,516,0.000,0.041,3454,1297,2113,2196,2030,0,0,0,0,0,0,27.03,25.96,27.09
$GC,5345,1.30,194.6,3454,1297,2197,2030,502.5,12.4,323,5351,0.00,2.22,0.00,0.000,1030,0.000,0.041,3445,2696,2113,2196,2030,0,0,0,0,0,0,26.04,25.99,26.09
$GC,5681,1.30,194.6,3445,2696,2195,2029,460.3,12.6,335,5686,0.00,2.20,0.00,0.000,516,0.000,0.039,3453,1299,2111,2194,2029,0,0,0,0,0,0,27.04,25.94,27.10
$GC,5735,1.30,194.6,3453,1299,2195,2029,453.3,12.7,346,5742,0.00,2.22,0.00,0.000,1030,0.000,0.041,3445,2697,2112,2195,2030,0,0,0,0,0,0,26.00,25.94,26.04
$GC,6040,1.30,194.6,3445,2699,2193,2030,415.4,12.4,352,6046,0.00,2.20,0.00,0.000,516,0.000,0.039,3453,1303,2111,2193,2029,0,0,0,0,0,0,27.04,25.90,27.10
$GC,6091,1.30,194.6,3453,1304,2193,2030,409.4,11.9,362,6096,0.00,2.22,0.00,0.000,1030,0.000,0.044,3445,2697,2111,2193,2029,0,0,0,0,0,0,25.91,25.86,25.95
$GC,6400,1.30,194.6,3445,2697,2193,2028,374.0,11.4,369,6407,0.00,2.20,0.00,0.000,516,0.000,0.040,3454,1303,2110,2192,2028,0,0,0,0,0,0,27.05,25.86,27.11
$GC,6451,1.30,194.6,3453,1304,2193,2030,368.3,11.1,379,6456,0.00,2.22,0.00,0.000,1030,0.000,0.043,3445,2695,2109,2191,2028,0,0,0,0,0,0,25.89,25.84,25.93
$GC,6761,1.30,194.6,3445,2695,2192,2029,333.1,11.4,386,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2694,2109,2191,2028,0,0,0,0,0,0,27.05,27.12,27.11
$GC,7061,1.30,194.6,3445,2695,2191,2029,300.4,10.8,391,7066,0.00,2.20,0.00,0.000,516,0.000,0.038,3454,1300,2108,2190,2027,0,0,0,0,0,0,27.05,25.84,27.11
$GC,7141,1.30,194.6,3453,1301,2192,2028,291.9,10.7,407,7146,0.00,2.22,0.00,0.000,1030,0.000,0.041,3445,2697,2108,2190,2027,0,0,0,0,0,0,25.86,25.80,25.91
$GC,7481,1.33,214.4,3446,2697,2191,2027,256.6,10.4,420,7507,0.00,2.17,16.67,0.679,8740,0.000,0.037,3454,1298,2058,2144,1972,0,0,0,0,1,0,27.05,24.39,23.99
$GC,7561,1.35,230.6,3454,1298,2137,1968,248.3,10.5,436,7587,0.00,2.22,19.90,0.675,9254,0.000,0.041,3445,2704,1995,2083,1907,0,0,0,0,0,0,26.14,26.10,24.69
$GC,7902,1.35,230.6,3445,2704,2065,1891,210.8,11.0,454,7907,0.00,2.17,0.00,0.000,516,0.000,0.043,3453,1303,1977,2064,1891,0,0,0,0,0,0,26.98,25.92,27.05
$GC,7976,1.38,249.7,3454,1304,2064,1891,203.0,10.4,469,8004,0.10,2.22,21.83,0.649,11302,0.143,0.044,3486,2690,1918,2008,1828,0,0,0,0,0,0,25.53,25.92,24.75
$GC,8323,1.38,249.7,3486,2690,1986,1809,159.5,12.5,488,8328,0.00,2.15,0.00,0.000,516,0.000,0.039,3497,1298,1897,1985,1809,0,0,0,0,0,0,26.99,25.99,27.05
$GC,8358,1.38,249.7,3497,1299,1986,1810,155.1,12.8,495,8363,0.00,2.22,0.00,0.000,1030,0.000,0.039,3497,2706,1897,1985,1809,0,0,0,0,0,0,26.08,26.03,26.13
$GC,8683,1.38,249.7,3497,2707,1985,1808,112.5,12.6,510,8688,0.00,2.22,0.00,0.000,516,0.000,0.041,3507,1303,1896,1984,1808,0,0,0,0,0,0,27.03,25.87,27.09
$GC,8803,1.38,249.7,3506,1304,1984,1810,98.0,11.8,534,8809,0.00,2.20,0.00,0.000,1030,0.000,0.041,3507,2713,1896,1984,1808,0,0,0,0,0,0,25.98,25.87,26.04
$GC,9133,1.38,249.7,3507,2714,1985,1807,60.5,10.8,550,9138,0.00,2.22,0.00,0.000,516,0.000,0.037,3517,1300,1895,1983,1807,0,0,0,0,0,0,27.05,25.86,27.10
$GC,9238,1.41,271.6,3518,1301,1984,1807,49.3,10.3,571,9256,0.00,2.22,9.52,0.214,9254,0.000,0.039,3517,2704,1834,1928,1741,0,0,0,0,0,0,25.91,25.86,25.06
$GC,9553,1.49,326.9,3517,2704,1941,1756,18.1,9.0,604,9591,0.00,1.67,31.45,0.181,8484,0.000,0.076,3515,3680,1604,1701,1508,0,0,0,0,0,0,27.05,25.69,25.35
$STATE,9733,end climb,SURFACE_DEPTH_REACHED
$STATE,9733,begin surface coast
$FINISH,0.2,1.023038
$STATE,9754,end surface coast,CONTROL_FINISHED_OK
$STATE,9754,begin surface
$SM_CCo,9772,151.43,0.136,0,0,499,598.78
$SM_GC,0.15,10.25,2.03,151.43,0.096,0.039,0.136,181,2399,499,-8.82,1.16,598.78,0,0,0,0,0,0,26.39,26.13,25.57
$IRIDIUM_FIX,4700.90,-12514.27,220717,200444
$TT8_MAMPS,0.049434,0.073402
$HUMID,52.36
$INTERNAL_PRESSURE,8.61789
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.99,13.087
$10V_AH,9.92,10.232
$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,24.700,86.575,520.125,151.425,0.000,0.000,0.000,744.625,0.000,0.000,41.886,0.000,9538.792,829.579,1998.823,93.882,0.000,2139.943,0.000,921.922,0.000,0.541,0.000
$DEVICE_MAMPS,257.805,1237.770,847.620,136.170,0.000,0.000,0.000,52.020,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,277992
$DATA_FILE_SIZE,23381,644
$CAP_FILE_SIZE,96018,0
$CFSIZE,260030464,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.098,286.29,1
$GPS,220717,230032,4701.213,-12512.448,28,1.0,63,16.0,0.3,0.0,9,9.6