version: 66.13
glider: 204
mission: 19
dive: 110
start: 7 23 117 20 23 20
data:
$ID,204
$MISSION,19
$DIVE,110
$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,0.0099999998
$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,38
$R_STBD_OVSHOOT,27
$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,49
$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
$GPS1,230717,193453,4656.6509,-12515.1963,13,1.8,40,16.0,0.9,320.0,8,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-57.2
$GPS2,230717,202237,4656.5840,-12515.2383,31,1.3,46,16.0,0.6,84.5,8,10.0
$SPEED_LIMITS,0.192,0.310
$TGT_NAME,SHELF4
$TGT_LATLONG,4654.000,-12503.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,91.2,16209,-17.4,-11.111,-19.72,2697
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.07,-194.6,198,2405,589,409,0.0,0.0,0,108,0.00,0.00,-98.15,0.000,16386,0.000,0.000,198,2405,2914,2869,2959,0,0,0,0,0,0,27.08,28.83,27.15
$GC,111,-1.07,-194.6,198,2405,2869,2959,4.3,-7.5,10,145,11.40,2.42,-15.55,0.000,18980,0.254,1.192,2699,1003,3738,3700,3776,0,0,0,0,0,0,25.23,24.30,25.70
$GC,256,-1.07,-194.6,2698,1004,3701,3776,35.8,-17.7,39,261,0.00,2.17,0.00,0.000,1030,0.000,0.046,2690,2398,3738,3701,3776,0,0,0,0,0,0,26.13,26.02,26.18
$GC,566,-1.07,-194.6,2690,2398,3701,3776,78.1,-13.5,57,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2398,3738,3702,3775,0,0,0,0,0,0,27.10,27.17,27.15
$GC,866,-1.07,-194.6,2690,2398,3702,3776,115.7,-12.0,67,870,0.00,2.20,0.00,0.000,516,0.000,0.050,2699,999,3738,3701,3775,0,0,0,0,0,0,27.10,25.85,27.16
$GC,965,-1.07,-194.6,2699,999,3702,3776,128.1,-12.4,87,970,0.00,2.17,0.00,0.000,1030,0.000,0.043,2690,2404,3739,3702,3776,0,0,0,0,0,0,26.09,25.98,26.14
$GC,1286,-1.07,-194.6,2689,2404,3701,3775,168.6,-12.4,101,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2405,3738,3702,3775,0,0,0,0,0,0,27.10,27.17,27.16
$GC,1586,-1.07,-194.6,2689,2404,3701,3775,202.6,-11.2,111,1590,0.00,2.22,0.00,0.000,516,0.000,0.053,2699,1002,3738,3701,3775,0,0,0,0,0,0,27.10,25.76,27.16
$GC,1651,-1.07,-194.6,2698,1002,3700,3774,210.1,-11.4,124,1656,0.00,2.17,0.00,0.000,1030,0.000,0.042,2690,2408,3737,3700,3775,0,0,0,0,0,0,26.06,25.96,26.11
$GC,1971,-1.07,-194.6,2689,2408,3698,3772,248.2,-12.5,138,1975,0.00,2.22,0.00,0.000,516,0.000,0.053,2699,1002,3734,3698,3771,0,0,0,0,0,0,27.10,25.72,27.16
$GC,2026,-1.07,-194.6,2698,1002,3698,3772,255.4,-13.2,149,2030,0.00,2.17,0.00,0.000,1030,0.000,0.042,2690,2397,3735,3698,3772,0,0,0,0,0,0,26.05,25.95,26.10
$GC,2381,-1.07,-194.6,2690,2397,3695,3769,302.3,-13.3,165,2385,0.00,2.17,0.00,0.000,516,0.000,0.047,2699,1001,3732,3695,3769,0,0,0,0,0,0,27.10,25.82,27.16
$GC,2451,-1.07,-194.6,2698,1001,3694,3768,311.4,-13.0,179,2455,0.00,2.17,0.00,0.000,1030,0.000,0.041,2690,2405,3731,3694,3769,0,0,0,0,0,0,26.04,25.95,26.09
$GC,2796,-1.07,-194.6,2689,2405,3693,3766,355.1,-12.6,193,2801,0.00,2.22,0.00,0.000,516,0.000,0.052,2699,1002,3729,3693,3766,0,0,0,0,0,0,27.10,25.67,27.16
$GC,2831,-1.07,-194.6,2698,1002,3693,3766,359.6,-12.9,200,2836,0.00,2.20,0.00,0.000,1030,0.000,0.043,2690,2403,3729,3693,3766,0,0,0,0,0,0,25.98,25.88,26.03
$GC,3151,-1.07,-194.6,2689,2403,3692,3765,398.1,-11.9,209,3156,0.00,2.22,0.00,0.000,516,0.000,0.051,2699,1000,3728,3692,3765,0,0,0,0,0,0,27.10,25.67,27.16
$GC,3176,-1.07,-194.6,2698,1000,3692,3765,401.0,-11.8,214,3180,0.00,2.17,0.00,0.000,1030,0.000,0.042,2690,2398,3728,3692,3765,0,0,0,0,0,0,25.98,25.89,26.03
$GC,3507,-1.07,-194.6,2690,2398,3690,3761,436.9,-10.7,225,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2398,3725,3690,3761,0,0,0,0,0,0,27.10,27.16,27.16
$GC,3806,-1.07,-194.6,2690,2398,3689,3761,468.7,-10.6,230,3810,0.00,2.20,0.00,0.000,516,0.000,0.049,2699,1000,3724,3688,3761,0,0,0,0,0,0,27.10,25.67,27.15
$GC,3836,-1.07,-194.6,2698,1000,3688,3761,472.0,-11.0,236,3841,0.00,2.20,0.00,0.000,1030,0.000,0.041,2690,2414,3724,3688,3761,0,0,0,0,0,0,25.94,25.84,25.99
$GC,4166,-1.07,-194.6,2690,2414,3686,3758,508.0,-10.9,247,4171,0.00,2.25,0.00,0.000,516,0.000,0.050,2699,999,3722,3686,3758,0,0,0,0,0,0,27.10,25.60,27.15
$GC,4207,-1.07,-194.6,2698,999,3686,3758,512.4,-11.1,255,4211,0.00,2.20,0.00,0.000,1030,0.000,0.043,2690,2409,3722,3686,3758,0,0,0,0,0,0,25.91,25.80,25.96
$GC,4517,-1.07,-194.6,2689,2408,3684,3756,545.1,-10.4,262,4518,0.00,0.00,0.00,0.000,38,0.000,0.000,2690,2409,3720,3684,3756,0,0,0,0,0,0,27.10,27.16,27.15
$GC,4817,-1.07,-194.6,2689,2409,3684,3755,575.9,-10.2,267,4818,0.00,0.00,0.00,0.000,38,0.000,0.000,2691,2409,3719,3683,3755,0,0,0,0,0,0,27.09,27.16,27.15
$STATE,5055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5055,begin apogee
$GC,5060,-0.23,0.0,2688,2702,3683,3755,600.8,-10.4,271,5246,1.05,0.00,177.23,1.340,10246,0.178,0.000,2957,2703,2939,3009,2870,0,0,0,0,1,0,23.48,24.30,23.04
$STATE,5247,end apogee,CONTROL_FINISHED_OK
$STATE,5247,begin climb
$GC,5248,1.07,194.6,2956,2703,3012,2871,610.4,0.0,274,5478,1.48,1.67,220.23,0.825,10500,0.143,0.072,3369,3692,2141,2221,2062,0,0,0,0,0,0,24.19,24.76,24.16
$GC,5563,1.09,215.6,3368,3692,2203,2043,596.7,10.3,339,5589,0.00,1.55,21.75,0.783,9254,0.000,0.039,3375,2698,2061,2145,1978,0,0,0,0,0,0,26.22,26.19,24.49
$GC,5889,1.15,254.4,3375,2698,2121,1954,565.2,9.6,349,5940,0.10,2.17,44.67,0.764,10788,0.123,0.040,3422,1300,1897,1983,1812,0,0,0,0,0,0,26.72,25.16,24.59
$GC,6091,1.15,254.4,3421,1300,1962,1800,543.1,11.2,389,6095,0.00,2.17,0.00,0.000,1030,0.000,0.041,3418,2708,1881,1962,1801,0,0,0,0,0,0,26.31,26.20,26.36
$GC,6420,1.15,254.4,3417,2709,1961,1796,504.3,11.8,400,6425,0.00,2.20,0.00,0.000,516,0.000,0.044,3425,1296,1879,1961,1797,0,0,0,0,0,0,27.02,26.05,27.08
$GC,6475,1.15,254.4,3425,1296,1961,1796,497.6,12.3,411,6479,0.00,2.17,0.00,0.000,1030,0.000,0.041,3419,2704,1878,1961,1796,0,0,0,0,0,0,26.24,26.14,26.30
$GC,6781,1.15,254.4,3418,2703,1960,1795,458.9,12.8,417,6785,0.00,2.20,0.00,0.000,516,0.000,0.044,3427,1296,1877,1960,1795,0,0,0,0,0,0,27.05,25.96,27.10
$GC,6875,1.15,254.4,3426,1296,1959,1795,446.8,12.7,436,6880,0.00,2.17,0.00,0.000,1030,0.000,0.041,3423,2697,1878,1961,1796,0,0,0,0,0,0,26.15,26.05,26.22
$GC,7196,1.15,254.4,3423,2697,1959,1795,407.9,12.1,445,7200,0.00,2.17,0.00,0.000,516,0.000,0.041,3431,1295,1876,1958,1794,0,0,0,0,0,0,27.05,25.96,27.11
$GC,7290,1.15,254.4,3431,1295,1958,1794,396.9,11.7,464,7295,0.00,2.20,0.00,0.000,1030,0.000,0.040,3423,2704,1876,1958,1794,0,0,0,0,0,0,26.10,26.01,26.17
$GC,7611,1.15,254.4,3423,2704,1957,1794,359.1,11.9,473,7615,0.00,2.20,0.00,0.000,516,0.000,0.044,3432,1297,1875,1957,1794,0,0,0,0,0,0,27.05,25.85,27.12
$GC,7686,1.15,254.4,3431,1298,1957,1794,350.2,11.9,488,7691,0.00,2.20,0.00,0.000,1030,0.000,0.041,3423,2707,1876,1958,1794,0,0,0,0,0,0,26.04,25.94,26.10
$GC,8026,1.15,254.4,3423,2707,1956,1793,309.4,12.0,501,8030,0.00,2.20,0.00,0.000,516,0.000,0.043,3431,1300,1875,1957,1793,0,0,0,0,0,0,27.06,25.82,27.12
$GC,8166,1.15,254.4,3431,1300,1957,1793,292.6,12.0,529,8170,0.00,2.17,0.00,0.000,1030,0.000,0.041,3423,2704,1874,1956,1793,0,0,0,0,0,0,26.00,25.90,26.06
$GC,8496,1.15,254.4,3423,2704,1956,1793,252.1,12.5,540,8500,0.00,2.20,0.00,0.000,516,0.000,0.043,3432,1300,1874,1956,1793,0,0,0,0,0,0,27.06,25.77,27.13
$GC,8611,1.15,254.4,3431,1300,1956,1793,237.8,12.0,563,8615,0.00,2.17,0.00,0.000,1030,0.000,0.041,3423,2698,1874,1956,1793,0,0,0,0,0,0,25.94,25.84,26.01
$GC,8941,1.15,254.4,3423,2698,1956,1792,199.6,11.4,579,8945,0.00,2.17,0.00,0.000,516,0.000,0.041,3431,1299,1874,1956,1792,0,0,0,0,0,0,27.06,25.80,27.13
$GC,9061,1.15,254.4,3431,1299,1955,1792,186.0,11.3,603,9065,0.00,2.17,0.00,0.000,1030,0.000,0.041,3423,2701,1874,1956,1793,0,0,0,0,0,0,25.92,25.83,25.99
$GC,9382,1.17,272.3,3423,2701,1955,1792,152.0,10.4,617,9405,0.00,2.25,17.55,0.629,8740,0.000,0.042,3432,1295,1823,1909,1738,0,0,0,0,0,0,27.06,25.71,24.84
$GC,9491,1.17,272.3,3431,1295,1895,1730,140.3,10.7,639,9495,0.00,2.17,0.00,0.000,1030,0.000,0.039,3423,2707,1812,1895,1730,0,0,0,0,0,0,26.21,26.11,26.27
$GC,9796,1.19,287.2,3422,2707,1894,1726,107.8,10.5,650,9820,0.00,2.28,16.65,0.610,8740,0.000,0.042,3432,1295,1762,1850,1675,0,0,0,0,0,0,27.04,25.73,24.87
$GC,9946,1.23,315.5,3430,1295,1836,1667,92.8,10.0,680,9991,0.00,2.17,32.17,0.580,9254,0.000,0.040,3424,2705,1649,1738,1561,0,0,0,0,1,0,26.20,26.11,24.75
$GC,10307,1.26,330.4,3422,2705,1732,1558,55.3,10.5,702,10333,0.00,2.28,20.25,0.575,8740,0.000,0.044,3431,1295,1588,1678,1498,0,0,0,0,0,0,27.00,25.72,24.89
$GC,10559,1.31,372.3,3431,1295,1660,1487,29.9,9.5,752,10585,0.15,2.17,20.60,0.207,11302,0.200,0.040,3456,2707,1421,1518,1325,0,0,0,0,0,0,25.53,26.07,25.41
$STATE,10889,end climb,SURFACE_DEPTH_REACHED
$STATE,10889,begin surface coast
$STATE,10909,end surface coast,CONTROL_FINISHED_OK
$STATE,10909,begin surface
$SM_CCo,10926,124.80,0.141,0,0,499,598.78
$SM_GC,0.16,9.70,0.47,124.80,0.079,0.046,0.141,205,2395,499,-8.80,1.10,598.78,0,0,0,0,0,0,26.27,26.48,25.61
$IRIDIUM_FIX,4654.46,-12513.21,230717,201554
$TT8_MAMPS,0.02247,0.074151
$HUMID,53.62
$INTERNAL_PRESSURE,8.67648
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.04,13.869
$10V_AH,9.91,10.624
$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,23.875,92.275,571.100,124.800,0.000,0.000,0.000,0.000,0.000,0.000,48.036,604.460,8517.604,757.455,1211.224,84.145,0.000,1456.229,0.000,1131.011,0.000,0.542,0.000
$DEVICE_MAMPS,253.980,1191.870,1339.515,140.760,0.000,0.000,0.000,0.000,420.000,0.000,12.730,13.320,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$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,278332
$DATA_FILE_SIZE,26726,790
$CAP_FILE_SIZE,118947,0
$CFSIZE,260030464,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.122,304.61,1
$GPS,230717,232925,4656.448,-12514.402,51,1.4,79,16.0,0.3,0.0,7,10.0