version: 66.12
glider: 203
mission: 8
dive: 192
start: 8 13 115 17 59 34
data:
$ID,203
$MISSION,8
$DIVE,192
$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,103
$R_STBD_OVSHOOT,46
$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
$GPS1,130815,175457,5707.2275,-15049.5430,39,0.8,39,16.6,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.8
$GPS2,130815,175923,5707.1948,-15049.5791,5,0.8,9,16.6,0.0,289.8,9,9.4
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP11
$TGT_LATLONG,5711.000,-15100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,315.1,12612,-17.6,-10.667,-19.18,2802
$D_GRID,1095
$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,12,-0.90,-194.6,194,2801,892,775,0.0,0.0,0,53,0.00,0.00,-38.90,0.000,16386,0.000,0.000,193,2802,1841,1881,1801,0,0,0,0,0,0,26.76,28.83,26.83
$GC,55,-0.90,-194.6,195,2803,1882,1802,3.0,-4.2,6,117,8.65,2.20,-46.67,0.000,18948,0.230,0.038,2343,1335,3634,3709,3560,0,0,0,0,0,0,25.73,24.34,26.09
$GC,292,-0.87,-194.6,2343,1336,3710,3567,48.0,-16.9,52,299,0.05,2.08,0.00,0.000,3078,0.151,0.025,2353,2701,3637,3709,3566,0,0,0,0,0,0,26.26,26.53,26.31
$GC,598,-0.87,-194.6,2353,2701,3710,3570,102.0,-15.1,84,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2701,3639,3709,3569,0,0,0,0,0,0,26.99,27.06,27.05
$GC,899,-0.87,-194.6,2353,2703,3710,3572,145.7,-15.2,114,901,0.00,1.73,0.00,0.000,260,0.000,0.038,2347,3860,3640,3709,3572,0,0,0,0,0,0,27.05,26.54,27.12
$GC,928,-0.87,-194.6,2346,3860,3709,3572,150.2,-15.2,117,932,0.00,1.65,0.00,0.000,1030,0.000,0.021,2347,2695,3640,3709,3571,0,0,0,0,0,0,26.82,26.81,26.84
$GC,1238,-0.87,-194.6,2347,2695,3709,3571,198.7,-15.8,148,1241,0.00,1.80,0.00,0.000,260,0.000,0.037,2338,3856,3640,3709,3571,0,0,0,0,0,0,27.10,26.59,27.16
$GC,1278,-0.87,-194.6,2338,3856,3710,3571,205.1,-16.2,152,1282,0.05,1.65,0.00,0.000,3078,0.132,0.021,2356,2695,3640,3709,3571,0,0,0,0,0,0,26.58,26.85,26.62
$GC,1588,-0.89,-194.6,2356,2695,3710,3571,248.8,-13.3,183,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2695,3640,3709,3571,0,0,0,0,0,0,27.13,27.20,27.20
$GC,1898,-0.91,-194.6,2356,2696,3710,3573,287.7,-12.3,194,1901,0.00,1.80,0.00,0.000,260,0.000,0.039,2349,3850,3640,3709,3571,0,0,0,0,0,0,27.15,26.62,27.22
$GC,1968,-0.94,-194.6,2350,3850,3710,3571,295.5,-12.5,196,1972,0.00,1.62,0.00,0.000,1030,0.000,0.021,2350,2701,3640,3709,3572,0,0,0,0,0,0,26.91,26.89,26.93
$GC,2288,-0.96,-194.6,2350,2700,3709,3571,338.8,-13.2,207,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2701,3639,3707,3571,0,0,0,0,0,0,27.17,27.24,27.24
$GC,2588,-0.98,-194.6,2350,2702,3706,3572,377.4,-13.0,217,2592,0.00,2.03,0.00,0.000,516,0.000,0.023,2349,1332,3638,3705,3571,0,0,0,0,0,0,27.18,26.77,27.24
$GC,2628,-1.00,-194.6,2350,1333,3706,3573,381.3,-12.9,218,2632,0.00,2.08,0.00,0.000,1030,0.000,0.025,2342,2705,3638,3705,3571,0,0,0,0,0,0,26.79,26.76,26.82
$GC,2948,-1.00,-194.6,2342,2705,3705,3571,425.2,-13.4,229,2951,0.00,2.05,0.00,0.000,516,0.000,0.024,2341,1339,3637,3703,3571,0,0,0,0,0,0,27.19,26.77,27.25
$GC,3018,-0.97,-194.6,2341,1340,3705,3573,435.2,-14.7,231,3022,0.00,2.05,0.00,0.000,1030,0.000,0.024,2333,2707,3637,3703,3571,0,0,0,0,0,0,26.82,26.79,26.85
$GC,3338,-0.97,-194.6,2332,2707,3704,3571,483.8,-14.2,242,3341,0.00,2.05,0.00,0.000,516,0.000,0.023,2332,1334,3636,3702,3571,0,0,0,0,0,0,27.20,26.77,27.26
$GC,3552,-0.97,-194.6,2333,1335,3702,3573,513.3,-13.8,249,3556,0.00,2.05,0.00,0.000,1030,0.000,0.026,2332,2692,3636,3702,3571,0,0,0,0,0,0,26.80,26.76,26.83
$GC,3878,-0.99,-194.6,2332,2691,3701,3571,557.7,-13.6,260,3882,0.00,1.75,0.00,0.000,260,0.000,0.039,2323,3836,3635,3700,3571,0,0,0,0,0,0,27.20,26.63,27.27
$GC,3998,-0.99,-194.6,2324,3837,3700,3572,574.1,-13.7,264,4002,0.00,1.60,0.00,0.000,1030,0.000,0.022,2324,2705,3635,3699,3571,0,0,0,0,0,0,26.94,26.92,26.96
$GC,4328,-1.01,-194.6,2324,2707,3699,3573,618.3,-13.4,275,4332,0.00,2.03,0.00,0.000,516,0.000,0.023,2323,1336,3634,3698,3571,0,0,0,0,0,0,27.21,26.78,27.27
$GC,4378,-1.02,-194.6,2324,1338,3699,3573,622.5,-13.6,276,4381,0.00,2.05,0.00,0.000,1030,0.000,0.026,2320,2697,3635,3700,3571,0,0,0,0,0,0,26.79,26.76,26.82
$GC,4688,-1.02,-194.6,2320,2698,3698,3572,667.0,-13.5,287,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2697,3633,3697,3570,0,0,0,0,0,0,27.21,27.29,27.27
$GC,4988,-1.02,-194.6,2320,2698,3696,3573,708.9,-14.0,297,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2697,3633,3695,3571,0,0,0,0,0,0,27.21,27.29,27.27
$GC,5288,-1.02,-194.6,2319,2697,3695,3571,751.9,-14.4,307,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2697,3632,3694,3571,0,0,0,0,0,0,27.22,27.29,27.28
$GC,5588,-1.02,-194.6,2319,2697,3696,3571,795.4,-14.1,317,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2697,3632,3694,3571,0,0,0,0,0,0,27.22,27.29,27.28
$STATE,5646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5646,begin apogee
$GC,5650,-0.25,0.0,2321,2813,3695,3571,804.0,-14.2,319,5811,0.73,0.00,158.38,0.989,10246,0.116,0.000,2551,2813,2838,2871,2806,0,0,0,0,0,0,26.01,24.91,24.13
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5813,0.90,194.6,2552,2813,2866,2798,813.1,0.0,324,5982,1.08,2.22,158.40,0.976,10756,0.070,0.020,2931,1427,2036,2069,2003,0,0,0,0,0,0,25.06,24.09,23.56
$GC,5986,0.84,504.9,2931,1427,2068,1998,816.5,-0.7,330,6271,0.00,2.25,278.48,0.936,9222,0.000,0.025,2931,2782,779,841,717,0,0,0,0,0,0,24.68,24.65,23.57
$GC,6577,0.88,504.9,2932,2782,822,690,741.1,13.8,350,6579,0.00,1.65,0.00,0.000,260,0.000,0.041,2931,3854,755,821,690,0,0,0,0,0,0,26.46,26.14,26.53
$GC,6701,0.92,504.9,2932,3854,821,689,723.2,15.0,354,6704,0.00,1.52,0.00,0.000,1030,0.000,0.022,2931,2785,755,821,689,0,0,0,0,0,0,26.47,26.45,26.48
$GC,7026,0.97,504.9,2932,2786,821,690,675.1,14.6,365,7029,0.00,2.03,0.00,0.000,516,0.000,0.025,2931,1445,754,820,688,0,0,0,0,0,0,26.84,26.55,26.91
$GC,7147,1.02,504.9,2931,1444,820,688,658.7,13.6,369,7151,0.10,2.05,0.00,0.000,3078,0.102,0.026,2987,2818,753,819,688,0,0,0,0,0,0,26.49,26.58,26.59
$GC,7471,1.02,504.9,2987,2817,820,688,601.5,17.9,380,7474,0.00,2.10,0.00,0.000,516,0.000,0.024,2997,1433,753,819,688,0,0,0,0,0,0,26.98,26.65,27.05
$GC,7525,1.02,504.9,2997,1433,819,689,596.2,17.8,381,7534,0.00,2.10,0.00,0.000,1030,0.000,0.025,2997,2804,753,818,688,0,0,0,0,0,0,26.68,26.65,26.72
$GC,7831,1.02,504.9,2998,2806,821,690,534.5,18.8,392,7834,0.00,2.05,0.00,0.000,516,0.000,0.024,3006,1441,753,818,688,0,0,0,0,0,0,27.03,26.71,27.10
$GC,7875,1.02,504.9,3006,1440,819,688,528.9,18.7,393,7880,0.00,2.08,0.00,0.000,1030,0.000,0.026,3006,2799,753,818,688,0,0,0,0,0,0,26.73,26.69,26.74
$GC,8191,1.02,504.9,3007,2800,819,690,467.3,18.6,404,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2799,753,817,689,0,0,0,0,0,0,27.08,27.15,27.15
$GC,8491,1.02,504.9,3007,2800,818,689,411.8,17.9,414,8494,0.00,2.05,0.00,0.000,516,0.000,0.024,3015,1435,752,817,687,0,0,0,0,0,0,27.10,26.75,27.17
$GC,8570,1.02,504.9,3015,1436,819,689,400.2,18.4,416,8575,0.08,2.08,0.00,0.000,5126,0.124,0.025,2990,2804,752,817,687,0,0,0,0,0,0,26.46,26.74,26.53
$GC,8881,1.02,504.9,2990,2805,818,689,343.8,16.9,427,8884,0.00,2.05,0.00,0.000,516,0.000,0.024,2997,1443,752,817,688,0,0,0,0,0,0,27.13,26.77,27.20
$GC,8975,1.02,504.9,2997,1443,819,687,327.9,17.6,430,8979,0.00,2.08,0.00,0.000,1030,0.000,0.028,2997,2797,752,817,687,0,0,0,0,0,0,26.76,26.72,26.79
$GC,9301,1.02,504.9,2997,2797,818,687,270.1,17.0,441,9304,0.00,2.05,0.00,0.000,516,0.000,0.024,3006,1436,752,817,687,0,0,0,0,0,0,27.15,26.77,27.22
$GC,9426,1.02,504.9,3006,1436,818,687,250.9,15.9,445,9429,0.00,2.08,0.00,0.000,1030,0.000,0.025,3006,2800,752,818,687,0,0,0,0,0,0,26.79,26.76,26.82
$GC,9731,1.02,504.9,3007,2800,818,687,198.9,16.3,474,9734,0.00,2.05,0.00,0.000,516,0.000,0.024,3014,1433,752,817,687,0,0,0,0,0,0,27.16,26.77,27.23
$GC,9765,1.02,504.9,3015,1434,818,689,194.1,16.2,477,9773,0.05,2.08,0.00,0.000,5126,0.136,0.025,2998,2796,752,817,687,0,0,0,0,0,0,26.53,26.77,26.57
$GC,10071,1.02,504.9,2998,2799,817,689,145.0,15.7,508,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2797,752,817,687,0,0,0,0,0,0,27.17,27.24,27.24
$GC,10372,1.05,504.9,2998,2798,818,689,97.1,15.2,538,10375,0.00,2.00,0.00,0.000,516,0.000,0.024,3005,1435,752,817,687,0,0,0,0,0,0,27.18,26.79,27.24
$GC,10421,1.08,504.9,3006,1436,818,688,90.8,14.1,542,10427,0.00,2.08,0.00,0.000,1030,0.000,0.025,3005,2799,752,817,687,0,0,0,0,0,0,26.79,26.77,26.82
$GC,10726,1.11,504.9,3005,2800,818,688,46.5,13.7,575,10732,0.00,2.05,0.00,0.000,516,0.000,0.024,3015,1436,752,817,687,0,0,0,0,0,0,27.18,26.79,27.25
$GC,10757,1.15,504.9,3015,1437,818,688,42.4,13.3,581,10764,0.00,2.08,0.00,0.000,1030,0.000,0.026,3014,2799,752,817,687,0,0,0,0,0,0,26.79,26.77,26.82
$GC,11064,1.21,507.6,3015,2800,818,686,4.0,10.6,642,11070,0.00,2.00,0.00,0.000,516,0.000,0.024,3024,1433,751,817,685,0,0,0,0,0,0,27.20,26.79,27.26
$STATE,11083,end climb,SURFACE_DEPTH_REACHED
$STATE,11083,begin surface coast
$FINISH,0.8,1.014806
$STATE,11098,end surface coast,CONTROL_FINISHED_OK
$STATE,11098,begin surface
$SM_CCo,11173,0.00,0.000,0,0,750,512.68
$SM_GC,1.88,7.38,1.95,0.00,0.036,0.025,0.000,194,2709,750,-7.59,-1.27,512.68,0,0,0,0,0,0,26.71,26.78,26.77
$IRIDIUM_FIX,5640.91,-15125.59,090608,033545
$TT8_MAMPS,0.058422,0.058422
$HUMID,45.82
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.56,65.668
$10V_AH,10.15,38.944
$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,18.150,83.075,595.250,0.000,0.000,0.000,0.000,201.300,0.250,0.000,10.358,0.000,8704.121,636.654,1986.739,102.850,0.000,1643.254,0.000,1411.445,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,87.975,989.145,0.000,0.000,0.000,0.000,84.150,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,443.478,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142612
$DATA_FILE_SIZE,26798,649
$CAP_FILE_SIZE,106131,0
$CFSIZE,1024393216,978157568
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13619.08,0x236db2,7,5
$INTR,1,6232.03,0x233784,1,24
$CURRENT,0.125,237.70,1
$GPS,130815,210633,5708.803,-15052.057,29,1.0,29,16.6,0.5,247.9,8,9.6