version: 66.12
glider: 203
mission: 8
dive: 218
start: 8 17 115 9 50 49
data:
$ID,203
$MISSION,8
$DIVE,218
$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,57.182999
$TGT_DEFAULT_LON,-151
$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,108
$R_STBD_OVSHOOT,67
$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
$GPS1,170815,094626,5710.9229,-15059.3105,18,0.8,37,16.6,0.8,221.1,10,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.0
$GPS2,170815,095038,5710.9009,-15059.3652,8,1.0,11,16.6,0.0,230.7,9,9.6
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,93.6,14598,-17.6,-10.667,-19.18,2802
$D_GRID,561
$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,-194.6,189,2725,847,731,0.0,0.0,0,59,0.00,0.00,-45.12,0.000,16386,0.000,0.000,187,2725,1958,2003,1913,0,0,0,0,0,0,26.86,28.83,26.94
$GC,61,-0.90,-194.6,188,2725,2005,1913,3.1,-4.0,7,119,8.60,1.75,-41.78,0.000,18692,0.227,0.060,2334,3830,3635,3712,3559,0,0,0,0,0,0,25.72,24.34,26.10
$GC,293,-0.86,-194.6,2334,3832,3713,3567,51.1,-21.0,51,300,0.08,1.60,0.00,0.000,3078,0.129,0.019,2359,2689,3638,3711,3565,0,0,0,0,0,0,26.34,26.72,26.39
$GC,598,-0.86,-194.6,2359,2689,3713,3568,107.5,-17.5,82,602,0.00,1.77,0.00,0.000,260,0.000,0.038,2353,3831,3639,3711,3568,0,0,0,0,0,0,27.04,26.48,27.10
$GC,623,-0.86,-194.6,2353,3832,3712,3570,110.8,-17.1,84,630,0.00,1.58,0.00,0.000,1030,0.000,0.021,2353,2720,3640,3712,3568,0,0,0,0,0,0,26.79,26.77,26.81
$GC,928,-0.86,-194.6,2353,2719,3713,3568,157.1,-13.9,115,932,0.00,2.05,0.00,0.000,516,0.000,0.022,2353,1331,3639,3711,3568,0,0,0,0,0,0,27.09,26.67,27.15
$GC,973,-0.86,-194.6,2353,1331,3713,3568,162.7,-14.0,119,980,0.00,2.05,0.00,0.000,1030,0.000,0.025,2345,2683,3639,3710,3568,0,0,0,0,0,0,26.69,26.65,26.72
$GC,1278,-0.86,-194.6,2346,2683,3713,3568,208.3,-13.8,150,1282,0.00,1.80,0.00,0.000,260,0.000,0.038,2336,3850,3639,3711,3568,0,0,0,0,0,0,27.13,26.53,27.20
$GC,1318,-0.86,-194.6,2337,3850,3712,3568,213.8,-13.8,154,1322,0.05,1.62,0.00,0.000,3078,0.138,0.021,2354,2714,3639,3711,3568,0,0,0,0,0,0,26.57,26.85,26.60
$GC,1638,-0.88,-194.6,2354,2715,3712,3570,254.4,-12.2,184,1642,0.00,2.05,0.00,0.000,516,0.000,0.022,2354,1326,3639,3711,3568,0,0,0,0,0,0,27.15,26.73,27.22
$GC,1683,-0.90,-194.6,2354,1327,3712,3569,258.1,-12.3,185,1687,0.00,2.08,0.00,0.000,1030,0.000,0.025,2349,2699,3639,3711,3568,0,0,0,0,0,0,26.72,26.70,26.76
$GC,1998,-0.90,-194.6,2349,2699,3711,3568,300.8,-13.4,196,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3639,3710,3568,0,0,0,0,0,0,27.17,27.24,27.24
$GC,2298,-0.92,-194.6,2349,2700,3710,3569,341.7,-13.5,206,2302,0.00,2.05,0.00,0.000,516,0.000,0.023,2349,1324,3638,3709,3568,0,0,0,0,0,0,27.18,26.73,27.24
$GC,2328,-0.93,-194.6,2349,1326,3710,3570,345.9,-13.5,207,2332,0.00,2.08,0.00,0.000,1030,0.000,0.025,2340,2703,3638,3709,3568,0,0,0,0,0,0,26.74,26.72,26.78
$GC,2658,-0.93,-194.6,2340,2704,3708,3569,391.5,-13.9,218,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2703,3637,3707,3568,0,0,0,0,0,0,27.19,27.27,27.26
$GC,2958,-0.93,-194.6,2339,2703,3707,3568,432.7,-13.9,228,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2703,3636,3705,3568,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3258,-0.93,-194.6,2340,2703,3706,3568,472.6,-13.0,238,3262,0.00,2.05,0.00,0.000,516,0.000,0.022,2340,1328,3636,3704,3568,0,0,0,0,0,0,27.20,26.74,27.27
$GC,3308,-0.93,-194.6,2339,1329,3704,3568,476.5,-12.9,239,3312,0.00,2.08,0.00,0.000,1030,0.000,0.025,2333,2703,3636,3704,3568,0,0,0,0,0,0,26.74,26.71,26.77
$GC,3618,-0.93,-194.6,2333,2704,3703,3569,518.7,-12.4,250,3622,0.00,1.75,0.00,0.000,260,0.000,0.039,2324,3845,3635,3702,3568,0,0,0,0,0,0,27.20,26.55,27.27
$GC,3668,-0.93,-194.6,2325,3846,3703,3569,522.6,-12.5,251,3672,0.00,1.65,0.00,0.000,1030,0.000,0.021,2324,2697,3635,3702,3568,0,0,0,0,0,0,26.90,26.88,26.91
$STATE,3917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3917,begin apogee
$GC,3921,-0.25,0.0,2324,2818,3703,3568,561.9,-15.0,260,4100,0.73,0.00,169.75,1.306,10246,0.116,0.000,2553,2819,2844,2885,2804,0,0,0,0,1,0,25.90,24.22,23.22
$STATE,4101,end apogee,CONTROL_FINISHED_OK
$STATE,4101,begin climb
$GC,4102,0.90,194.6,2553,2818,2891,2804,573.6,0.0,266,4272,1.10,1.75,161.27,0.812,11012,0.063,0.039,2931,3835,2036,2075,1998,0,0,0,0,0,0,24.46,24.41,23.72
$GC,4498,0.86,287.9,2931,3834,2069,1987,564.8,7.2,279,4581,0.00,1.52,75.07,0.808,9222,0.000,0.021,2932,2784,1655,1700,1611,0,0,0,0,0,0,26.22,26.20,24.57
$GC,4879,0.87,313.1,2932,2785,1693,1599,527.7,9.7,292,4903,0.00,1.62,21.10,0.815,8452,0.000,0.037,2932,3830,1555,1601,1510,0,0,0,0,0,0,26.67,25.64,25.13
$GC,5128,0.87,313.1,2932,3831,1592,1499,500.7,11.8,299,5132,0.00,1.48,0.00,0.000,1030,0.000,0.021,2931,2796,1544,1591,1497,0,0,0,0,0,0,26.54,26.52,26.54
$GC,5443,0.87,313.1,2932,2797,1591,1498,465.4,10.8,310,5447,0.00,1.62,0.00,0.000,260,0.000,0.039,2932,3828,1543,1590,1496,0,0,0,0,0,0,26.90,26.46,26.96
$GC,5518,0.87,313.1,2932,3829,1591,1497,458.6,10.7,312,5522,0.00,1.45,0.00,0.000,1030,0.000,0.022,2932,2810,1543,1590,1496,0,0,0,0,0,0,26.72,26.70,26.73
$GC,5833,0.87,320.0,2932,2811,1591,1496,424.6,10.4,323,5837,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1433,1542,1590,1495,0,0,0,0,0,0,27.01,26.66,27.06
$GC,5853,0.87,326.8,2932,1434,1591,1496,424.6,10.4,323,5868,0.00,2.08,11.20,0.800,9222,0.000,0.026,2932,2785,1503,1550,1456,0,0,0,0,0,0,26.67,26.64,25.52
$GC,6194,0.89,330.3,2932,2785,1542,1446,386.1,10.5,335,6198,0.00,1.62,0.00,0.000,260,0.000,0.041,2932,3860,1493,1540,1447,0,0,0,0,0,0,26.96,26.50,27.02
$GC,6268,0.89,330.3,2932,3860,1542,1446,379.0,11.1,337,6272,0.00,1.52,0.00,0.000,1030,0.000,0.022,2937,2793,1493,1540,1446,0,0,0,0,0,0,26.76,26.74,26.77
$GC,6583,0.89,330.3,2937,2793,1541,1445,341.9,10.9,348,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2793,1493,1540,1446,0,0,0,0,0,0,27.05,27.12,27.10
$GC,6883,0.89,330.3,2938,2794,1541,1447,308.4,11.2,358,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2793,1493,1540,1446,0,0,0,0,0,0,27.08,27.16,27.15
$GC,7183,0.89,330.3,2938,2793,1541,1446,274.7,10.9,368,7187,0.00,2.03,0.00,0.000,516,0.000,0.023,2945,1425,1492,1539,1445,0,0,0,0,0,0,27.11,26.72,27.17
$GC,7213,0.89,330.3,2945,1425,1541,1445,271.4,10.8,369,7217,0.00,2.10,0.00,0.000,1030,0.000,0.027,2945,2798,1492,1539,1446,0,0,0,0,0,0,26.73,26.69,26.76
$GC,7523,0.89,330.3,2945,2799,1541,1447,236.9,10.9,386,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2798,1492,1539,1445,0,0,0,0,0,0,27.13,27.21,27.20
$GC,7824,0.89,373.1,2945,2798,1539,1446,206.7,9.1,416,7874,0.00,2.12,41.90,0.626,8708,0.000,0.024,2945,1425,1307,1353,1261,0,0,0,0,0,0,27.15,26.20,25.53
$GC,7939,0.92,404.1,2944,1425,1347,1254,196.3,9.5,427,7975,0.00,2.10,28.62,0.620,9222,0.000,0.026,2945,2811,1181,1232,1130,0,0,0,0,0,0,26.43,26.36,25.29
$GC,8274,0.95,404.1,2945,2811,1225,1118,158.4,11.6,461,8277,0.00,1.62,0.00,0.000,260,0.000,0.041,2944,3848,1170,1224,1116,0,0,0,0,0,0,26.79,26.34,26.86
$GC,8358,0.95,404.1,2946,3848,1225,1118,147.4,14.0,469,8365,0.00,1.50,0.00,0.000,1030,0.000,0.021,2948,2794,1169,1223,1116,0,0,0,0,0,0,26.63,26.61,26.64
$GC,8664,0.99,410.0,2948,2794,1224,1115,111.6,10.5,500,8667,0.00,1.65,0.00,0.000,260,0.000,0.040,2948,3851,1169,1223,1116,0,0,0,0,0,0,26.97,26.46,27.03
$GC,8800,1.02,417.6,2948,3852,1224,1116,97.5,10.4,513,8806,0.00,1.50,3.70,0.606,9222,0.000,0.022,2956,2796,1135,1188,1082,0,0,0,0,0,0,26.76,26.74,25.18
$GC,9104,1.08,460.2,2957,2797,1203,1094,67.6,9.1,544,9166,0.10,2.03,54.60,0.516,10756,0.100,0.023,3023,1432,955,1015,896,0,0,0,0,0,0,26.84,26.07,25.47
$GC,9206,1.08,460.2,3023,1431,1009,890,55.5,12.5,554,9210,0.00,2.10,0.00,0.000,1030,0.000,0.027,3022,2812,949,1008,890,0,0,0,0,0,0,26.32,26.25,26.34
$GC,9510,1.10,460.2,3022,2813,1008,885,16.0,11.5,611,9517,0.00,2.10,0.00,0.000,516,0.000,0.024,3026,1432,945,1007,884,0,0,0,0,0,0,26.85,26.48,26.91
$GC,9591,1.15,470.3,3026,1432,1007,883,7.3,10.3,627,9598,0.00,2.10,2.53,0.173,9222,0.000,0.025,3027,2806,918,979,857,0,0,0,0,0,0,26.54,26.51,25.72
$STATE,9646,end climb,SURFACE_DEPTH_REACHED
$STATE,9646,begin surface coast
$FINISH,0.6,1.011648
$STATE,9661,end surface coast,CONTROL_FINISHED_OK
$STATE,9661,begin surface
$SM_CCo,9734,0.00,0.000,0,0,924,469.75
$SM_GC,1.36,7.43,0.00,0.00,0.034,0.000,0.000,192,2807,924,-7.58,3.00,469.75,0,0,0,0,0,0,26.51,26.98,26.56
$IRIDIUM_FIX,5644.84,-15100.58,120608,202710
$TT8_MAMPS,0.057673,0.057673
$HUMID,46.02
$INTERNAL_PRESSURE,8.8022
$TCM_TEMP,17.80
$XPDR_PINGS,2
$24V_AH,23.22,69.416
$10V_AH,10.19,40.251
$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,18.075,69.825,569.750,0.000,0.000,0.000,0.000,188.675,0.500,0.000,12.566,0.000,7405.726,627.416,1849.813,98.178,0.000,1560.509,0.000,1310.524,0.000,0.547,0.000
$DEVICE_MAMPS,227.205,74.205,1305.855,0.000,0.000,0.000,0.000,79.560,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,436.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142600
$DATA_FILE_SIZE,26824,641
$CAP_FILE_SIZE,97565,0
$CFSIZE,1024393216,976240640
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,10002.32,0x236db2,7,5
$INTR,1,4509.23,0x233782,1,24
$INTR,2,9663.88,0x236db2,7,5
$CURRENT,0.114,251.73,1
$GPS,170815,123357,5710.300,-15057.606,15,0.8,36,16.6,0.5,310.2,10,9.8