version: 66.13
glider: 204
mission: 19
dive: 107
start: 7 23 117 4 40 22
data:
$ID,204
$MISSION,19
$DIVE,107
$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,500
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,230717,041247,4659.9111,-12512.7852,18,1.4,37,16.0,0.1,0.0,7,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-63.6
$GPS2,230717,044003,4659.8086,-12512.8848,8,1.2,33,16.0,0.2,0.0,8,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,99.8,16498,-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,-194.6,185,2379,579,416,0.0,0.0,0,99,0.00,0.00,-92.35,0.000,16386,0.000,0.000,183,2379,2766,2716,2817,0,0,0,0,0,0,27.01,28.83,27.08
$GC,101,-1.30,-194.6,184,2381,2718,2818,3.0,-5.4,9,138,11.18,2.33,-19.90,0.000,18980,0.255,1.211,2622,1021,3737,3698,3776,0,0,0,0,0,0,25.28,24.30,25.71
$GC,322,-1.30,-194.6,2622,1021,3701,3776,47.7,-16.6,53,328,0.00,2.17,0.00,0.000,1030,0.000,0.042,2613,2396,3737,3699,3776,0,0,0,0,0,0,26.16,26.11,26.20
$GC,642,-1.30,-194.6,2613,2397,3702,3777,102.2,-17.0,66,648,0.00,2.17,0.00,0.000,516,0.000,0.047,2621,1023,3737,3700,3775,0,0,0,0,0,0,27.08,25.93,27.13
$GC,702,-1.30,-194.6,2621,1024,3701,3777,111.8,-16.1,78,708,0.00,2.17,0.00,0.000,1030,0.000,0.040,2613,2406,3738,3700,3776,0,0,0,0,0,0,26.08,26.03,26.13
$GC,1032,-1.30,-194.6,2613,2408,3701,3777,159.5,-13.7,94,1038,0.00,2.25,0.00,0.000,516,0.000,0.052,2621,1017,3738,3700,3776,0,0,0,0,0,0,27.08,25.75,27.13
$GC,1137,-1.30,-194.6,2621,1019,3701,3777,172.9,-12.3,115,1143,0.00,2.20,0.00,0.000,1030,0.000,0.042,2613,2402,3738,3700,3776,0,0,0,0,0,0,26.01,25.96,26.05
$GC,1452,-1.30,-194.6,2613,2403,3700,3775,215.0,-14.3,128,1458,0.00,2.22,0.00,0.000,516,0.000,0.050,2621,1021,3736,3699,3774,0,0,0,0,0,0,27.08,25.75,27.14
$GC,1482,-1.30,-194.6,2621,1022,3699,3776,219.4,-14.4,134,1488,0.00,2.17,0.00,0.000,1030,0.000,0.041,2613,2396,3736,3698,3774,0,0,0,0,0,0,26.03,25.98,26.07
$GC,1842,-1.30,-194.6,2613,2396,3696,3771,272.0,-14.9,149,1849,0.00,2.20,0.00,0.000,516,0.000,0.047,2621,1014,3732,3695,3770,0,0,0,0,0,0,27.08,25.80,27.15
$GC,1882,-1.30,-194.6,2622,1014,3696,3770,278.0,-14.6,157,1889,0.00,2.22,0.00,0.000,1030,0.000,0.044,2612,2400,3732,3695,3770,0,0,0,0,0,0,25.89,25.85,25.94
$GC,2203,-1.30,-194.6,2612,2401,3694,3769,323.7,-14.1,166,2209,0.00,2.12,0.00,0.000,260,0.000,0.064,2603,3694,3730,3693,3768,0,0,0,0,0,0,27.08,25.44,27.14
$GC,2273,-1.30,-194.6,2603,3696,3693,3769,333.9,-14.6,180,2279,0.00,2.00,0.00,0.000,1030,0.000,0.041,2611,2421,3730,3692,3768,0,0,0,0,0,0,26.15,26.11,26.20
$GC,2623,-1.30,-194.6,2611,2420,3693,3765,380.2,-13.1,195,2629,0.00,2.15,0.00,0.000,260,0.000,0.067,2602,3699,3728,3691,3765,0,0,0,0,0,0,27.08,25.36,27.14
$GC,2658,-1.30,-194.6,2603,3700,3691,3766,385.1,-14.4,202,2664,0.00,2.05,0.00,0.000,1030,0.000,0.043,2610,2386,3728,3691,3765,0,0,0,0,0,0,26.12,26.08,26.15
$GC,2983,-1.30,-194.6,2610,2387,3689,3763,428.5,-13.3,212,2989,0.00,2.17,0.00,0.000,260,0.000,0.064,2602,3695,3725,3689,3762,0,0,0,0,0,0,27.08,25.37,27.14
$GC,3109,-1.30,-194.6,2602,3695,3687,3763,448.1,-16.0,237,3115,0.00,2.03,0.00,0.000,1030,0.000,0.044,2610,2405,3724,3687,3761,0,0,0,0,0,0,26.08,26.05,26.13
$GC,3464,-1.30,-194.6,2610,2404,3687,3760,499.9,-14.6,253,3470,0.00,2.15,0.00,0.000,260,0.000,0.063,2602,3696,3722,3684,3760,0,0,0,0,0,0,27.08,25.35,27.15
$GC,3600,-1.30,-194.6,2602,3696,3685,3760,519.8,-14.7,280,3605,0.00,2.05,0.00,0.000,1030,0.000,0.043,2610,2402,3722,3684,3760,0,0,0,0,0,0,26.07,26.03,26.10
$GC,3944,-1.30,-194.6,2610,2401,3684,3755,568.2,-14.1,294,3950,0.00,2.17,0.00,0.000,260,0.000,0.065,2602,3699,3719,3683,3756,0,0,0,0,0,0,27.08,25.29,27.14
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4153,begin apogee
$GC,4158,-0.23,0.0,2609,2703,3683,3756,600.5,-15.4,336,4368,1.42,0.00,207.18,0.835,10246,0.193,0.000,2955,2701,2940,3013,2867,0,0,0,0,0,0,23.63,25.15,24.19
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4368,begin climb
$GC,4370,1.30,194.6,2956,2700,3007,2864,611.9,0.0,339,4587,1.67,2.25,208.80,0.804,10756,0.138,0.040,3458,1293,2137,2218,2057,0,0,0,0,0,0,25.15,25.15,24.19
$GC,4630,1.30,194.6,3458,1294,2205,2052,600.7,12.4,365,4638,0.00,2.25,0.00,0.000,1030,0.000,0.041,3450,2699,2126,2203,2050,0,0,0,0,0,0,25.94,25.89,25.99
$GC,4936,1.30,194.6,3450,2701,2200,2044,561.5,13.0,371,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2699,2120,2198,2042,0,0,0,0,0,0,26.98,27.05,27.04
$GC,5236,1.30,194.6,3450,2701,2198,2041,524.8,12.2,376,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2699,2118,2197,2040,0,0,0,0,0,0,27.03,27.10,27.09
$GC,5536,1.30,194.6,3450,2701,2196,2040,489.7,11.6,381,5542,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1294,2116,2195,2038,0,0,0,0,0,0,27.05,25.94,27.10
$GC,5627,1.30,194.6,3459,1294,2197,2039,478.9,11.9,399,5632,0.00,2.22,0.00,0.000,1030,0.000,0.040,3450,2698,2117,2195,2039,0,0,0,0,0,0,26.06,26.01,26.10
$GC,5957,1.30,194.6,3450,2699,2194,2038,442.3,11.0,410,5962,0.00,2.22,0.00,0.000,516,0.000,0.040,3458,1292,2115,2193,2037,0,0,0,0,0,0,27.05,25.92,27.11
$GC,6027,1.30,194.6,3459,1292,2195,2037,434.6,10.9,424,6032,0.00,2.22,0.00,0.000,1030,0.000,0.041,3450,2696,2115,2194,2037,0,0,0,0,0,0,26.01,25.96,26.06
$GC,6377,1.30,194.6,3450,2697,2193,2038,394.7,11.5,439,6382,0.00,2.20,0.00,0.000,516,0.000,0.039,3458,1296,2114,2192,2036,0,0,0,0,0,0,27.05,25.90,27.12
$GC,6437,1.30,194.6,3459,1296,2193,2037,387.6,11.9,451,6442,0.00,2.22,0.00,0.000,1030,0.000,0.039,3450,2699,2114,2192,2037,0,0,0,0,0,0,25.98,25.93,26.03
$GC,6797,1.30,194.6,3449,2701,2192,2038,347.4,11.0,468,6803,0.00,2.22,0.00,0.000,516,0.000,0.041,3458,1295,2113,2191,2036,0,0,0,0,0,0,27.05,25.82,27.12
$GC,6881,1.30,194.6,3459,1295,2192,2036,337.8,11.2,485,6888,0.00,2.22,0.00,0.000,1030,0.000,0.040,3450,2697,2114,2191,2037,0,0,0,0,0,0,25.94,25.89,25.98
$GC,7217,1.30,194.6,3450,2697,2192,2036,299.9,11.4,497,7224,0.00,2.22,0.00,0.000,516,0.000,0.039,3458,1285,2113,2191,2035,0,0,0,0,0,0,27.05,25.84,27.12
$GC,7283,1.30,194.6,3459,1285,2192,2035,292.0,12.1,510,7288,0.00,2.25,0.00,0.000,1030,0.000,0.043,3450,2693,2113,2190,2036,0,0,0,0,0,0,25.84,25.79,25.89
$GC,7638,1.30,194.6,3450,2694,2190,2036,246.3,13.1,526,7643,0.00,2.22,0.00,0.000,516,0.000,0.039,3458,1285,2113,2190,2036,0,0,0,0,0,0,27.05,25.80,27.12
$GC,7682,1.30,194.6,3459,1285,2191,2035,240.8,12.2,535,7688,0.00,2.25,0.00,0.000,1030,0.000,0.041,3450,2694,2112,2189,2036,0,0,0,0,0,0,25.84,25.79,25.89
$GC,7998,1.30,194.6,3450,2695,2190,2037,204.0,11.4,548,8003,0.00,2.22,0.00,0.000,516,0.000,0.039,3458,1286,2112,2189,2035,0,0,0,0,0,0,27.06,25.78,27.12
$GC,8052,1.30,194.6,3459,1286,2191,2036,197.8,11.3,559,8059,0.00,2.28,0.00,0.000,1030,0.000,0.042,3450,2713,2112,2189,2035,0,0,0,0,0,0,25.81,25.75,25.85
$GC,8358,1.32,208.7,3450,2713,2190,2035,165.6,10.6,570,8370,0.00,0.00,10.57,0.640,8230,0.000,0.000,3450,2713,2090,2168,2012,0,0,0,0,0,0,27.06,25.63,24.82
$GC,8657,1.32,208.7,3449,2714,2153,1998,134.2,10.7,580,8663,0.00,2.25,0.00,0.000,516,0.000,0.039,3458,1286,2074,2151,1998,0,0,0,0,0,0,27.03,25.88,27.10
$GC,8718,1.37,243.0,3458,1287,2151,1998,128.2,9.8,592,8769,0.00,2.25,43.70,0.618,9254,0.000,0.041,3450,2702,1940,2024,1857,0,0,0,0,0,0,25.91,25.86,24.68
$GC,9079,1.43,283.2,3450,2702,2009,1844,90.6,9.6,614,9134,0.15,0.00,48.65,0.591,11046,0.145,0.000,3505,2702,1777,1868,1687,0,0,0,0,0,0,26.42,25.41,24.65
$GC,9439,1.43,283.2,3506,2702,1851,1670,46.7,13.3,636,9445,0.00,1.67,0.00,0.000,260,0.000,0.074,3505,3689,1760,1850,1670,0,0,0,0,0,0,26.96,25.37,27.03
$GC,9514,1.43,283.2,3505,3690,1850,1671,36.9,13.0,651,9520,0.00,1.55,0.00,0.000,1030,0.000,0.040,3512,2685,1759,1849,1670,0,0,0,0,0,0,26.27,26.25,26.32
$GC,9819,1.62,424.4,3512,2686,1848,1668,12.6,5.7,682,9897,0.15,2.20,71.00,0.166,10788,0.125,0.044,3566,1301,1206,1318,1094,0,0,0,0,0,0,26.51,25.86,25.53
$STATE,9940,end climb,SURFACE_DEPTH_REACHED
$STATE,9940,begin surface coast
$FINISH,0.7,1.023038
$STATE,9950,end surface coast,CONTROL_FINISHED_OK
$STATE,9950,begin surface
$SM_CCo,9967,39.58,0.142,0,0,898,500.17
$SM_GC,0.06,10.27,1.77,39.58,0.096,0.040,0.142,203,2414,898,-8.80,-0.59,500.17,0,0,0,0,0,0,26.29,26.10,25.57
$IRIDIUM_FIX,4700.38,-12442.71,230717,042929
$TT8_MAMPS,0.048685,0.074151
$HUMID,54.13
$INTERNAL_PRESSURE,8.65695
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.63,13.399
$10V_AH,9.92,10.377
$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,24.850,90.050,589.900,39.575,0.000,0.000,0.000,0.000,0.000,0.000,34.268,0.000,7836.996,826.977,1356.991,62.003,0.000,1413.912,0.000,1010.859,0.000,0.543,0.000
$DEVICE_MAMPS,254.745,1210.995,834.615,142.290,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,278004
$DATA_FILE_SIZE,23443,708
$CAP_FILE_SIZE,127356,0
$CFSIZE,260030464,250626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,307.81,1
$GPS,230717,072828,4659.430,-12512.151,33,1.5,61,16.0,0.5,0.0,8,10.0