version: 66.12
glider: 203
mission: 8
dive: 186
start: 8 12 115 22 39 40
data:
$ID,203
$MISSION,8
$DIVE,186
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,250
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,100
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.66111
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$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,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120815,223508,5711.0654,-15101.3105,19,0.7,29,16.6,0.7,234.2,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.8
$GPS2,120815,223929,5711.0859,-15101.3584,17,0.8,17,16.6,0.0,291.4,10,4.2
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,90.8,16410,-17.6,-10.667,-19.18,2802
$D_GRID,487
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.90,-194.6,192,2711,697,576,0.0,0.0,0,69,0.00,0.00,-55.00,0.000,16386,0.000,0.000,191,2711,2091,2131,2051,0,0,0,0,0,0,26.76,28.83,26.82
$GC,71,-0.90,-194.6,192,2711,2133,2051,3.1,-3.5,9,125,8.65,1.73,-37.35,0.000,18692,0.230,0.055,2338,3845,3634,3708,3561,0,0,0,0,0,0,25.72,25.80,26.09
$GC,299,-0.85,-194.6,2339,3846,3709,3568,54.2,-21.5,52,304,0.08,1.62,0.00,0.000,3078,0.135,0.019,2362,2682,3637,3708,3566,0,0,0,0,0,0,26.32,26.68,26.36
$GC,609,-0.85,-194.6,2362,2682,3709,3570,107.0,-16.8,83,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2682,3639,3708,3570,0,0,0,0,0,0,26.99,27.07,27.06
$GC,909,-0.85,-194.6,2362,2682,3708,3571,153.6,-15.6,113,913,0.00,1.80,0.00,0.000,260,0.000,0.039,2356,3839,3639,3708,3571,0,0,0,0,0,0,27.06,26.58,27.12
$GC,963,-0.85,-194.6,2356,3838,3709,3572,161.4,-15.4,118,970,0.00,1.60,0.00,0.000,1030,0.000,0.021,2356,2709,3640,3708,3572,0,0,0,0,0,0,26.85,26.84,26.86
$GC,1269,-0.85,-194.6,2356,2709,3709,3571,208.7,-15.5,149,1273,0.00,1.75,0.00,0.000,260,0.000,0.039,2348,3837,3639,3708,3571,0,0,0,0,0,0,27.10,26.60,27.17
$GC,1313,-0.85,-194.6,2348,3839,3709,3572,215.4,-16.6,153,1321,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2699,3639,3708,3571,0,0,0,0,0,0,26.89,26.87,26.89
$GC,1620,-0.85,-194.6,2348,2700,3709,3572,264.6,-15.6,178,1621,0.08,0.00,0.00,0.000,2054,0.187,0.000,2362,2699,3639,3708,3571,0,0,0,0,0,0,26.87,26.91,26.89
$GC,1919,-0.87,-194.6,2362,2701,3708,3572,306.1,-13.7,188,1923,0.00,2.03,0.00,0.000,516,0.000,0.023,2362,1328,3638,3706,3571,0,0,0,0,0,0,27.16,26.79,27.22
$GC,1959,-0.90,-194.6,2362,1328,3709,3571,310.0,-13.5,189,1963,0.00,2.08,0.00,0.000,1030,0.000,0.027,2362,2694,3638,3706,3571,0,0,0,0,0,0,26.78,26.75,26.82
$GC,2279,-0.92,-194.6,2362,2695,3706,3572,352.2,-12.5,200,2283,0.00,1.77,0.00,0.000,260,0.000,0.041,2354,3842,3638,3705,3571,0,0,0,0,0,0,27.17,26.64,27.24
$GC,2324,-0.94,-194.6,2355,3841,3705,3571,355.7,-11.8,201,2328,0.00,1.62,0.00,0.000,1030,0.000,0.021,2354,2699,3638,3705,3571,0,0,0,0,0,0,26.94,26.92,26.96
$GC,2639,-0.96,-194.6,2355,2701,3705,3572,403.0,-14.5,212,2643,0.00,1.77,0.00,0.000,260,0.000,0.040,2347,3839,3637,3703,3571,0,0,0,0,0,0,27.19,26.65,27.24
$GC,2669,-0.97,-194.6,2348,3840,3704,3572,407.8,-14.9,213,2672,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2706,3637,3703,3571,0,0,0,0,0,0,26.94,26.92,26.96
$GC,2999,-0.97,-194.6,2348,2708,3703,3571,453.5,-13.3,224,3002,0.00,2.05,0.00,0.000,516,0.000,0.023,2348,1322,3636,3702,3571,0,0,0,0,0,0,27.19,26.81,27.25
$GC,3043,-0.97,-194.6,2348,1323,3703,3572,457.4,-13.1,225,3047,0.00,2.08,0.00,0.000,1030,0.000,0.028,2348,2696,3636,3702,3571,0,0,0,0,0,0,26.79,26.77,26.82
$STATE,3267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3267,begin apogee
$GC,3271,-0.25,0.0,2348,2815,3702,3572,488.0,-12.7,233,3451,0.65,0.00,168.82,1.271,10246,0.116,0.000,2554,2814,2844,2886,2802,0,0,0,0,1,0,26.15,24.07,23.38
$STATE,3451,end apogee,CONTROL_FINISHED_OK
$STATE,3451,begin climb
$GC,3453,0.90,194.6,2555,2815,2890,2803,497.2,0.0,239,3619,1.08,1.67,158.98,0.773,11012,0.068,0.041,2921,3827,2038,2075,2002,0,0,0,0,0,0,24.53,24.49,23.82
$GC,3844,0.88,274.8,2921,3828,2070,1990,485.1,7.7,252,3913,0.00,1.50,63.90,0.773,9222,0.000,0.021,2929,2796,1713,1756,1670,0,0,0,0,0,0,26.18,26.17,24.68
$GC,4229,0.88,309.2,2929,2798,1745,1655,447.3,9.4,265,4262,0.00,1.70,28.05,0.773,8452,0.000,0.041,2929,3834,1570,1616,1525,0,0,0,0,0,0,26.65,25.89,25.16
$GC,4486,0.88,309.2,2929,3834,1608,1514,420.3,11.6,273,4490,0.00,1.50,0.00,0.000,1030,0.000,0.021,2931,2791,1561,1608,1514,0,0,0,0,0,0,26.51,26.48,26.52
$GC,4801,0.90,316.1,2931,2791,1608,1513,386.0,10.4,284,4805,0.00,1.62,0.00,0.000,260,0.000,0.041,2932,3824,1559,1607,1512,0,0,0,0,0,0,26.86,26.49,26.93
$GC,4921,0.90,316.1,2931,3824,1608,1513,373.1,10.7,288,4925,0.00,1.45,0.00,0.000,1030,0.000,0.021,2932,2803,1560,1607,1513,0,0,0,0,0,0,26.71,26.72,26.74
$GC,5251,0.91,316.1,2932,2802,1608,1512,337.7,11.0,299,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2802,1559,1606,1512,0,0,0,0,0,0,27.00,27.06,27.06
$GC,5551,0.93,330.0,2931,2802,1608,1512,307.4,10.2,309,5572,0.00,2.10,17.30,0.727,8708,0.000,0.025,2932,1428,1487,1533,1442,0,0,0,0,0,0,27.05,26.36,25.64
$GC,5642,0.96,331.1,2932,1429,1526,1436,298.4,10.6,312,5645,0.00,2.05,0.00,0.000,1030,0.000,0.027,2932,2787,1480,1525,1435,0,0,0,0,0,0,26.58,26.53,26.60
$GC,5967,0.99,338.2,2932,2788,1526,1432,263.0,10.4,323,5970,0.08,0.00,2.17,0.372,10246,0.124,0.000,2982,2788,1459,1505,1414,0,0,0,0,0,0,26.80,26.17,24.99
$GC,6267,0.97,366.1,2983,2789,1521,1423,231.4,9.6,345,6300,0.00,0.00,31.33,0.656,8198,0.000,0.000,2982,2788,1345,1392,1299,0,0,0,0,0,0,27.02,26.15,25.53
$GC,6596,0.97,366.1,2983,2788,1380,1283,196.1,11.0,378,6600,0.00,2.05,0.00,0.000,516,0.000,0.024,2990,1432,1331,1379,1283,0,0,0,0,0,0,26.84,26.55,26.91
$GC,6641,0.97,366.1,2990,1432,1379,1283,191.8,11.0,382,6648,0.00,2.10,0.00,0.000,1030,0.000,0.026,2990,2796,1330,1378,1283,0,0,0,0,0,0,26.57,26.54,26.59
$GC,6946,0.97,366.1,2991,2796,1380,1281,148.7,14.3,413,6950,0.00,1.65,0.00,0.000,260,0.000,0.041,2990,3854,1330,1378,1282,0,0,0,0,0,0,26.97,26.54,27.04
$GC,6987,0.96,366.1,2991,3855,1379,1282,142.8,14.9,417,6990,0.08,1.50,0.00,0.000,5126,0.142,0.022,2975,2793,1329,1378,1281,0,0,0,0,0,0,26.39,26.76,26.44
$GC,7297,0.97,378.9,2975,2793,1379,1281,107.0,10.2,448,7308,0.00,1.67,3.88,0.669,8452,0.000,0.040,2975,3851,1299,1348,1250,0,0,0,0,0,0,27.05,26.40,25.30
$GC,7452,0.98,406.8,2976,3852,1354,1256,91.6,9.6,463,7490,0.00,1.48,34.03,0.550,9222,0.000,0.022,2980,2808,1178,1229,1127,0,0,0,0,0,0,26.81,26.80,25.63
$GC,7788,1.01,412.8,2980,2810,1219,1112,54.3,10.4,497,7791,0.00,2.05,0.00,0.000,516,0.000,0.024,2985,1438,1165,1218,1112,0,0,0,0,0,0,26.86,26.55,26.93
$GC,7868,1.05,432.1,2985,1437,1219,1111,45.9,10.0,509,7885,0.00,2.10,9.62,0.236,9222,0.000,0.026,2985,2808,1078,1134,1022,0,0,0,0,0,0,26.60,26.56,25.76
$GC,8185,1.11,502.7,2985,2807,1140,1027,15.6,8.1,572,8221,0.00,2.12,30.90,0.174,8708,0.000,0.023,2993,1419,787,854,721,0,0,0,0,0,0,26.97,26.27,25.94
$GC,8330,1.19,554.6,2993,1418,856,724,3.3,8.8,600,8350,0.05,2.10,15.68,0.147,11266,0.061,0.025,3042,2795,630,697,563,0,0,0,0,0,0,26.46,26.59,26.51
$STATE,8350,end climb,SURFACE_DEPTH_REACHED
$STATE,8350,begin surface coast
$FINISH,0.8,1.006432
$STATE,8368,end surface coast,CONTROL_FINISHED_OK
$STATE,8368,begin surface
$SM_CCo,8441,0.00,0.000,0,0,631,541.62
$SM_GC,1.42,7.47,0.00,0.00,0.038,0.000,0.000,204,2795,631,-7.56,2.69,541.62,0,0,0,0,0,0,26.51,26.94,26.57
$IRIDIUM_FIX,5644.84,-15100.58,080608,091601
$TT8_MAMPS,0.058422,0.058422
$HUMID,44.72
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,18.00
$XPDR_PINGS,2
$24V_AH,23.38,64.809
$10V_AH,10.23,38.645
$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,18.200,57.700,564.650,0.000,0.000,0.000,0.000,191.025,0.500,0.000,18.753,0.000,6230.889,619.604,1754.798,90.996,0.000,1502.120,0.000,1229.654,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,89.505,1270.665,0.000,0.000,0.000,0.000,78.795,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,412.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142636
$DATA_FILE_SIZE,26764,607
$CAP_FILE_SIZE,90208,0
$CFSIZE,1024393216,978599936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,5,0
$INTR,0,9972.21,0x236db2,7,5
$INTR,1,8371.04,0x236db2,7,5
$CURRENT,0.091,240.29,1
$GPS,130815,010103,5710.491,-15059.742,26,0.9,26,16.6,0.7,180.6,10,9.4