version: 66.12
glider: 203
mission: 8
dive: 189
start: 8 13 115 6 55 26
data:
$ID,203
$MISSION,8
$DIVE,189
$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,47
$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
$GPS1,130815,065057,5708.7266,-15056.4502,35,1.2,35,16.6,0.0,0.0,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.4
$GPS2,130815,065515,5708.6826,-15056.4961,6,0.8,12,16.6,0.0,220.0,11,8.5
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,64.4,9886,-17.6,-10.667,-19.18,2802
$D_GRID,694
$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,-194.6,186,2803,826,710,0.0,0.0,0,59,0.00,0.00,-44.47,0.000,16386,0.000,0.000,185,2803,1932,1976,1888,0,0,0,0,0,0,26.80,28.83,26.87
$GC,61,-0.90,-194.6,186,2802,1978,1888,3.1,-4.0,7,118,8.62,1.60,-42.80,0.000,18692,0.229,0.056,2337,3854,3633,3709,3558,0,0,0,0,0,0,25.74,25.82,26.10
$GC,342,-0.86,-194.6,2337,3856,3710,3566,62.1,-20.2,55,349,0.05,1.65,0.00,0.000,3078,0.141,0.019,2354,2678,3637,3709,3565,0,0,0,0,0,0,26.44,26.72,26.46
$GC,647,-0.86,-194.6,2354,2678,3710,3567,114.2,-15.1,86,652,0.00,1.83,0.00,0.000,260,0.000,0.037,2348,3851,3638,3709,3567,0,0,0,0,0,0,27.02,26.55,27.08
$GC,697,-0.86,-194.6,2348,3852,3710,3568,121.7,-14.6,91,701,0.00,1.60,0.00,0.000,1030,0.000,0.020,2348,2712,3638,3709,3567,0,0,0,0,0,0,26.82,26.80,26.84
$GC,1008,-0.86,-194.6,2348,2713,3710,3569,167.3,-15.1,122,1011,0.00,2.03,0.00,0.000,516,0.000,0.022,2348,1345,3638,3709,3568,0,0,0,0,0,0,27.08,26.71,27.15
$GC,1027,-0.86,-194.6,2348,1344,3709,3567,170.3,-15.1,124,1031,0.05,2.05,0.00,0.000,3078,0.146,0.026,2356,2702,3638,3709,3568,0,0,0,0,0,0,26.44,26.70,26.50
$GC,1337,-0.86,-194.6,2356,2703,3710,3569,214.0,-14.2,155,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2702,3638,3709,3568,0,0,0,0,0,0,27.12,27.19,27.18
$GC,1648,-0.88,-194.6,2357,2701,3711,3567,255.2,-13.5,184,1651,0.00,1.73,0.00,0.000,260,0.000,0.039,2350,3854,3638,3709,3568,0,0,0,0,0,0,27.15,26.63,27.21
$GC,1692,-0.89,-194.6,2350,3856,3709,3569,259.5,-13.8,185,1697,0.00,1.62,0.00,0.000,1030,0.000,0.021,2350,2708,3638,3709,3567,0,0,0,0,0,0,26.91,26.89,26.94
$GC,2007,-0.89,-194.6,2350,2708,3709,3567,304.7,-13.6,196,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2708,3637,3708,3567,0,0,0,0,0,0,27.17,27.24,27.22
$GC,2307,-0.89,-194.6,2350,2709,3707,3569,346.1,-13.8,206,2311,0.00,2.03,0.00,0.000,516,0.000,0.022,2350,1337,3636,3706,3567,0,0,0,0,0,0,27.18,26.80,27.24
$GC,2342,-0.89,-194.6,2350,1337,3709,3567,350.4,-14.0,207,2346,0.00,2.05,0.00,0.000,1030,0.000,0.026,2348,2692,3636,3706,3567,0,0,0,0,0,0,26.79,26.78,26.82
$GC,2667,-0.89,-194.6,2348,2692,3706,3567,397.1,-14.3,218,2671,0.00,1.77,0.00,0.000,260,0.000,0.040,2340,3845,3635,3704,3567,0,0,0,0,0,0,27.18,26.66,27.25
$GC,2737,-0.89,-194.6,2340,3843,3705,3567,406.0,-14.6,220,2741,0.00,1.62,0.00,0.000,1030,0.000,0.021,2340,2704,3635,3704,3567,0,0,0,0,0,0,26.94,26.93,26.96
$GC,3057,-0.89,-194.6,2340,2703,3705,3567,451.6,-13.3,231,3061,0.00,2.05,0.00,0.000,516,0.000,0.022,2340,1321,3635,3703,3567,0,0,0,0,0,0,27.20,26.80,27.26
$GC,3088,-0.89,-194.6,2340,1322,3704,3569,455.4,-13.1,232,3091,0.00,2.10,0.00,0.000,1030,0.000,0.026,2335,2704,3635,3703,3568,0,0,0,0,0,0,26.80,26.77,26.84
$GC,3417,-0.89,-194.6,2336,2706,3702,3569,498.9,-13.4,243,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2704,3634,3701,3567,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3717,-0.89,-194.6,2335,2704,3702,3567,539.9,-13.8,253,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2704,3633,3700,3567,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4017,-0.89,-194.6,2335,2704,3700,3568,580.5,-13.2,263,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2704,3632,3698,3567,0,0,0,0,0,0,27.21,27.29,27.27
$GC,4317,-0.89,-194.6,2335,2706,3698,3569,620.6,-13.6,273,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2704,3632,3698,3567,0,0,0,0,0,0,27.21,27.29,27.28
$GC,4617,-0.89,-194.6,2335,2705,3698,3569,663.3,-14.6,283,4621,0.00,1.77,0.00,0.000,260,0.000,0.041,2327,3852,3632,3696,3568,0,0,0,0,0,0,27.22,26.65,27.28
$GC,4657,-0.89,-194.6,2327,3853,3697,3570,667.7,-14.6,284,4661,0.05,1.65,0.00,0.000,3078,0.145,0.021,2344,2698,3632,3696,3568,0,0,0,0,0,0,26.64,26.94,26.66
$STATE,4856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4856,begin apogee
$GC,4860,-0.25,0.0,2345,2818,3697,3569,696.0,-13.2,291,5089,0.65,0.00,226.15,0.773,10246,0.114,0.000,2554,2817,2835,2869,2801,0,0,0,0,0,0,26.12,25.02,24.36
$STATE,5090,end apogee,CONTROL_FINISHED_OK
$STATE,5090,begin climb
$GC,5091,0.90,194.6,2555,2816,2868,2800,710.3,0.0,298,5257,1.05,2.28,157.00,0.907,11012,0.067,0.022,2931,1430,2036,2069,2004,0,0,0,0,0,0,25.17,24.49,23.75
$GC,5482,0.91,298.0,2931,1430,2059,1992,704.4,6.9,311,5573,0.00,2.12,84.85,0.900,9222,0.000,0.026,2931,2789,1620,1659,1581,0,0,0,0,0,0,26.11,26.08,24.39
$GC,5872,0.91,298.0,2932,2790,1643,1559,659.7,11.8,324,5877,0.00,2.10,0.00,0.000,516,0.000,0.024,2931,1423,1599,1642,1557,0,0,0,0,0,0,26.60,26.34,26.67
$GC,5897,0.91,298.0,2931,1423,1643,1558,659.7,11.8,324,5904,0.00,2.12,0.00,0.000,1030,0.000,0.025,2931,2805,1599,1642,1557,0,0,0,0,0,0,26.37,26.34,26.41
$GC,6202,0.91,298.0,2931,2807,1642,1557,622.8,11.2,335,6207,0.00,1.62,0.00,0.000,260,0.000,0.039,2931,3849,1598,1641,1556,0,0,0,0,0,0,26.84,26.46,26.91
$GC,6307,0.91,298.0,2931,3850,1642,1556,610.8,13.0,338,6311,0.00,1.50,0.00,0.000,1030,0.000,0.021,2932,2798,1598,1641,1555,0,0,0,0,0,0,26.69,26.68,26.71
$GC,6622,0.91,303.0,2932,2798,1642,1555,574.5,10.5,349,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2798,1597,1639,1555,0,0,0,0,0,0,26.97,27.05,27.03
$GC,6922,0.91,303.0,2932,2799,1641,1557,542.7,10.8,359,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2798,1597,1639,1555,0,0,0,0,0,0,27.03,27.10,27.09
$GC,7222,0.91,303.0,2931,2798,1639,1554,508.5,11.7,369,7226,0.00,1.65,0.00,0.000,260,0.000,0.039,2932,3854,1596,1638,1555,0,0,0,0,0,0,27.07,26.62,27.13
$GC,7272,0.91,303.0,2932,3855,1640,1556,504.8,11.8,370,7277,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2793,1596,1639,1554,0,0,0,0,0,0,26.86,26.85,26.87
$GC,7582,0.91,303.0,2932,2793,1640,1554,467.2,11.1,381,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2793,1596,1639,1554,0,0,0,0,0,0,27.10,27.18,27.17
$GC,7883,0.91,303.0,2932,2793,1640,1554,431.9,11.6,391,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2793,1596,1638,1554,0,0,0,0,0,0,27.13,27.20,27.19
$GC,8182,0.91,303.0,2932,2794,1639,1556,397.9,11.1,401,8187,0.00,1.65,0.00,0.000,260,0.000,0.039,2932,3848,1596,1638,1554,0,0,0,0,0,0,27.15,26.65,27.21
$GC,8247,0.91,303.0,2932,3849,1639,1555,390.8,11.4,403,8251,0.00,1.48,0.00,0.000,1030,0.000,0.022,2932,2807,1596,1638,1554,0,0,0,0,0,0,26.91,26.90,26.93
$GC,8572,0.91,319.5,2932,2806,1639,1552,357.2,10.1,414,8591,0.00,0.00,17.15,0.737,8198,0.000,0.000,2932,2806,1535,1576,1494,0,0,0,0,0,0,27.16,26.37,25.66
$GC,8872,0.91,324.8,2932,2807,1562,1474,325.8,10.5,424,8876,0.00,1.62,0.00,0.000,260,0.000,0.039,2932,3844,1518,1561,1475,0,0,0,0,0,0,27.00,26.53,27.05
$GC,8917,0.91,326.8,2932,3844,1561,1474,322.5,10.6,425,8921,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2795,1517,1561,1474,0,0,0,0,0,0,26.79,26.77,26.80
$GC,9233,0.93,326.8,2933,2797,1561,1476,284.7,11.4,436,9237,0.00,2.03,0.00,0.000,516,0.000,0.023,2941,1426,1517,1560,1474,0,0,0,0,0,0,27.06,26.72,27.13
$GC,9272,0.95,326.8,2941,1428,1562,1476,281.4,11.2,437,9277,0.00,2.10,0.00,0.000,1030,0.000,0.027,2941,2795,1516,1559,1474,0,0,0,0,0,0,26.72,26.67,26.74
$GC,9583,0.95,326.8,2941,2795,1561,1473,246.1,10.7,449,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2795,1517,1560,1474,0,0,0,0,0,0,27.10,27.18,27.17
$GC,9883,0.95,333.1,2941,2795,1560,1473,215.1,10.4,479,9896,0.00,0.00,11.27,0.679,8710,0.000,0.000,2941,2795,1480,1521,1439,0,0,0,0,0,0,27.13,26.39,25.72
$GC,10193,0.97,334.7,2940,2795,1511,1425,182.5,10.6,510,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2795,1468,1510,1426,0,0,0,0,0,0,27.04,27.12,27.10
$GC,10494,0.99,354.5,2941,2795,1511,1425,152.5,9.9,540,10518,0.00,1.60,20.77,0.614,8452,0.000,0.039,2941,3851,1388,1430,1346,0,0,0,0,0,0,27.09,26.10,25.69
$GC,10588,0.99,354.5,2941,3851,1421,1334,141.4,12.3,549,10591,0.00,1.50,0.00,0.000,1030,0.000,0.022,2945,2804,1376,1419,1334,0,0,0,0,0,0,26.65,26.64,26.67
$GC,10898,1.02,354.5,2945,2803,1421,1332,106.8,10.7,580,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2803,1376,1420,1332,0,0,0,0,0,0,26.98,27.05,27.04
$GC,11199,1.07,419.9,2945,2804,1420,1333,78.4,8.3,610,11273,0.10,1.65,69.72,0.517,10500,0.099,0.038,3004,3860,1121,1170,1073,0,0,0,0,0,0,26.86,25.74,25.38
$GC,11377,1.07,419.9,3004,3860,1160,1061,57.6,12.9,627,11385,0.00,1.52,0.00,0.000,1030,0.000,0.021,3012,2801,1108,1159,1058,0,0,0,0,0,0,26.38,26.35,26.39
$GC,11683,1.10,456.5,3012,2802,1157,1056,20.1,9.3,683,11702,0.00,2.10,13.73,0.190,8708,0.000,0.024,3022,1425,975,1030,920,0,0,0,0,0,0,26.83,26.13,25.77
$GC,11731,1.14,513.4,3022,1425,1042,923,15.7,8.6,692,11761,0.00,2.12,25.35,0.173,9222,0.000,0.027,3022,2803,741,803,680,0,0,0,0,0,0,26.48,26.44,25.81
$STATE,11873,end climb,SURFACE_DEPTH_REACHED
$STATE,11874,begin surface coast
$FINISH,0.7,1.001776
$STATE,11894,end surface coast,CONTROL_FINISHED_OK
$STATE,11894,begin surface
$SM_CCo,11967,0.00,0.000,0,0,747,513.17
$SM_GC,1.84,7.43,0.00,0.00,0.035,0.000,0.000,199,2804,747,-7.56,2.94,513.17,0,0,0,0,0,0,26.44,26.89,26.50
$IRIDIUM_FIX,5644.84,-15100.58,080608,171340
$TT8_MAMPS,0.056175,0.056175
$HUMID,45.55
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,23.75,65.179
$10V_AH,10.16,38.785
$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,18.000,65.075,626.000,0.000,0.000,0.000,0.000,192.775,0.250,0.000,13.405,0.000,9469.635,665.792,1979.737,103.705,0.000,1644.834,0.000,1398.090,0.000,0.546,0.000
$DEVICE_MAMPS,228.735,72.675,906.525,0.000,0.000,0.000,0.000,79.560,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,493.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142616
$DATA_FILE_SIZE,30151,724
$CAP_FILE_SIZE,105281,0
$CFSIZE,1024393216,978386944
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11086.33,0x236db2,7,5
$INTR,1,11897.44,0x236db2,7,5
$CURRENT,0.222,228.22,1
$GPS,130815,101535,5708.076,-15054.569,23,0.8,25,16.6,0.7,248.1,10,9.4