version: 66.12
glider: 203
mission: 8
dive: 237
start: 8 20 115 1 1 49
data:
$ID,203
$MISSION,8
$DIVE,237
$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,102
$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
$GPS1,200815,004722,5708.3735,-15051.6963,38,0.7,39,16.6,0.5,268.3,12,6.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-64.2
$GPS2,200815,010139,5708.4331,-15051.9219,6,0.8,7,16.6,0.9,2.3,11,9.3
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,111.3,5990,-17.6,-10.667,-19.18,2802
$D_GRID,897
$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,-194.6,190,2708,1013,894,0.0,0.0,0,53,0.00,0.00,-38.60,0.000,16386,0.000,0.000,189,2707,1977,2020,1935,0,0,0,0,0,0,26.71,28.83,26.78
$GC,55,-0.90,-194.6,190,2707,2022,1935,3.1,-5.0,6,112,8.73,1.75,-42.55,0.000,18692,0.230,0.054,2334,3856,3633,3708,3558,0,0,0,0,0,0,25.59,25.75,25.97
$GC,336,-0.88,-194.6,2334,3858,3709,3564,55.6,-17.8,57,344,0.05,1.65,0.00,0.000,3078,0.135,0.019,2350,2678,3635,3708,3563,0,0,0,0,0,0,26.39,26.65,26.41
$GC,641,-0.88,-194.6,2351,2679,3709,3566,107.4,-15.5,88,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2678,3637,3709,3565,0,0,0,0,0,0,27.01,27.08,27.08
$GC,942,-0.90,-194.6,2350,2677,3710,3565,153.4,-15.8,118,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2678,3637,3708,3566,0,0,0,0,0,0,27.08,27.15,27.14
$GC,1242,-0.91,-194.6,2349,2678,3710,3565,196.3,-14.3,148,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2678,3636,3708,3565,0,0,0,0,0,0,27.12,27.19,27.18
$GC,1542,-0.94,-194.6,2351,2679,3708,3567,238.5,-14.1,178,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2677,3636,3707,3565,0,0,0,0,0,0,27.15,27.22,27.21
$GC,1841,-0.96,-194.6,2351,2679,3706,3567,280.6,-14.0,194,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2678,3635,3705,3565,0,0,0,0,0,0,27.17,27.24,27.23
$GC,2141,-0.99,-194.6,2351,2678,3705,3565,321.9,-13.8,204,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2678,3634,3703,3565,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2441,-1.01,-194.6,2351,2679,3702,3566,362.3,-13.3,214,2445,0.00,1.83,0.00,0.000,260,0.000,0.039,2347,3849,3633,3701,3566,0,0,0,0,0,0,27.19,26.55,27.25
$GC,2481,-1.04,-194.6,2347,3849,3702,3565,366.3,-13.3,215,2485,0.00,1.60,0.00,0.000,1030,0.000,0.021,2347,2720,3633,3701,3565,0,0,0,0,0,0,26.89,26.89,26.91
$GC,2801,-1.07,-194.6,2347,2721,3699,3566,410.2,-13.2,226,2803,0.10,0.00,0.00,0.000,4102,0.096,0.000,2279,2719,3632,3699,3565,0,0,0,0,0,0,27.02,27.05,27.03
$GC,3101,-1.04,-194.6,2279,2719,3698,3565,461.7,-17.5,236,3105,0.10,2.05,0.00,0.000,2564,0.169,0.023,2302,1334,3631,3697,3565,0,0,0,0,0,0,26.82,26.72,26.84
$GC,3146,-1.02,-194.6,2302,1333,3698,3565,466.8,-17.4,237,3150,0.00,2.08,0.00,0.000,1030,0.000,0.026,2302,2701,3630,3696,3565,0,0,0,0,0,0,26.72,26.69,26.75
$GC,3461,-1.00,-194.6,2302,2703,3695,3566,520.5,-16.5,248,3465,0.00,2.05,0.00,0.000,516,0.000,0.023,2302,1334,3629,3694,3565,0,0,0,0,0,0,27.21,26.72,27.27
$GC,3541,-1.00,-194.6,2302,1333,3695,3565,530.3,-16.7,250,3545,0.00,2.08,0.00,0.000,1030,0.000,0.026,2302,2701,3629,3694,3565,0,0,0,0,0,0,26.72,26.69,26.76
$GC,3851,-1.00,-194.6,2302,2703,3694,3567,578.9,-14.7,261,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2701,3629,3693,3565,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4151,-1.00,-194.6,2302,2701,3692,3564,624.4,-15.2,271,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2701,3628,3691,3565,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4451,-1.00,-194.6,2302,2701,3691,3565,670.8,-15.6,281,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2702,3627,3690,3565,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4751,-1.00,-194.6,2303,2701,3690,3565,716.8,-15.3,291,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2702,3626,3688,3565,0,0,0,0,0,0,27.21,27.29,27.28
$GC,5051,-1.00,-194.6,2302,2702,3688,3564,760.2,-13.9,301,5055,0.00,2.03,0.00,0.000,516,0.000,0.023,2302,1336,3626,3687,3565,0,0,0,0,0,0,27.22,26.72,27.27
$GC,5086,-1.00,-194.6,2302,1335,3688,3565,764.5,-13.9,302,5090,0.00,2.08,0.00,0.000,1030,0.000,0.026,2302,2704,3626,3687,3565,0,0,0,0,0,0,26.71,26.69,26.74
$STATE,5350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5350,begin apogee
$GC,5354,-0.25,0.0,2302,2823,3686,3566,802.9,-14.3,311,5534,0.77,0.00,172.62,1.442,10246,0.116,0.000,2550,2822,2839,2875,2803,0,0,0,0,1,0,25.79,23.97,22.91
$STATE,5534,end apogee,CONTROL_FINISHED_OK
$STATE,5535,begin climb
$GC,5536,0.90,194.6,2551,2822,2888,2805,813.3,0.0,317,5715,1.10,2.25,167.15,0.963,11012,0.061,0.022,2931,1433,2036,2074,1999,0,0,0,0,0,0,24.22,24.20,23.42
$GC,5939,0.91,295.9,2932,1435,2069,1993,804.2,7.0,330,6028,0.00,2.10,83.60,0.965,9222,0.000,0.026,2932,2785,1627,1671,1584,0,0,0,0,0,0,26.14,26.10,24.30
$GC,6344,0.91,298.1,2931,2785,1660,1565,763.8,10.6,344,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2785,1612,1659,1565,0,0,0,0,0,0,26.68,26.75,26.74
$GC,6644,0.91,298.1,2931,2787,1660,1566,730.2,11.3,354,6648,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1427,1611,1658,1564,0,0,0,0,0,0,26.89,26.57,26.94
$GC,6674,0.91,298.1,2932,1429,1659,1566,726.7,11.3,355,6678,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2793,1611,1658,1564,0,0,0,0,0,0,26.59,26.55,26.62
$GC,7004,0.91,298.1,2932,2794,1658,1564,689.3,11.1,366,7008,0.00,1.62,0.00,0.000,260,0.000,0.041,2932,3843,1610,1657,1563,0,0,0,0,0,0,26.99,26.54,27.05
$GC,7094,0.91,298.1,2932,3843,1657,1563,677.8,12.5,369,7098,0.00,1.48,0.00,0.000,1030,0.000,0.022,2932,2802,1610,1657,1563,0,0,0,0,0,0,26.78,26.77,26.81
$GC,7424,0.91,298.1,2932,2802,1656,1564,638.9,11.7,380,7428,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3854,1609,1655,1563,0,0,0,0,0,0,27.07,26.57,27.13
$GC,7494,0.91,298.1,2932,3855,1656,1564,631.5,11.9,382,7498,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2797,1609,1655,1563,0,0,0,0,0,0,26.84,26.82,26.85
$GC,7814,0.91,298.1,2932,2798,1655,1564,595.4,10.8,393,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2797,1608,1654,1563,0,0,0,0,0,0,27.10,27.18,27.17
$GC,8114,0.91,298.1,2932,2799,1655,1564,562.7,11.0,403,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2797,1608,1654,1563,0,0,0,0,0,0,27.13,27.20,27.20
$GC,8414,0.91,304.1,2932,2797,1655,1562,530.4,10.4,413,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2798,1608,1654,1562,0,0,0,0,0,0,27.15,27.22,27.21
$GC,8714,0.91,304.1,2932,2796,1655,1561,496.9,11.3,423,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2797,1607,1653,1561,0,0,0,0,0,0,27.16,27.23,27.22
$GC,9014,0.91,304.1,2932,2797,1655,1562,463.0,11.2,433,9018,0.00,2.03,0.00,0.000,516,0.000,0.023,2942,1428,1607,1653,1562,0,0,0,0,0,0,27.17,26.76,27.23
$GC,9049,0.91,304.1,2942,1427,1654,1561,459.9,10.9,434,9053,0.00,2.10,0.00,0.000,1030,0.000,0.026,2942,2806,1607,1653,1562,0,0,0,0,0,0,26.74,26.71,26.77
$GC,9374,0.89,304.1,2942,2806,1655,1561,423.3,11.7,445,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2807,1607,1653,1561,0,0,0,0,0,0,27.18,27.25,27.24
$GC,9674,0.84,345.5,2942,2808,1653,1563,394.4,9.1,455,9720,0.00,1.67,41.97,0.740,8452,0.000,0.043,2942,3847,1423,1469,1378,0,0,0,0,0,0,27.18,26.12,25.35
$GC,9795,0.79,354.1,2942,3847,1459,1366,382.5,10.3,459,9800,0.08,1.50,1.83,0.194,13318,0.130,0.023,2920,2808,1394,1439,1349,0,0,0,0,0,0,26.11,26.46,25.33
$GC,10115,0.75,354.1,2920,2808,1456,1355,340.6,12.8,470,10118,0.00,1.65,0.00,0.000,260,0.000,0.041,2920,3851,1405,1455,1355,0,0,0,0,0,0,26.90,26.37,26.96
$GC,10344,0.70,354.1,2920,3853,1455,1357,314.1,12.4,477,10348,0.08,1.50,0.00,0.000,5126,0.155,0.022,2896,2799,1404,1454,1355,0,0,0,0,0,0,26.29,26.71,26.34
$GC,10654,0.70,355.5,2896,2800,1456,1356,279.8,10.6,488,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2799,1405,1455,1355,0,0,0,0,0,0,27.05,27.13,27.12
$GC,10955,0.77,432.5,2896,2799,1456,1355,254.0,7.8,498,11039,0.00,2.12,79.05,0.633,8708,0.000,0.024,2902,1427,1066,1121,1011,0,0,0,0,0,0,27.10,25.79,25.14
$GC,11199,0.90,531.4,2902,1428,1110,997,233.9,7.0,518,11297,0.05,2.12,92.00,0.604,11270,0.070,0.026,2946,2793,666,732,601,0,0,0,0,0,0,26.15,26.27,24.91
$GC,11594,0.96,531.4,2946,2792,720,573,180.0,13.0,558,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2793,646,719,573,0,0,0,0,0,0,26.72,26.79,26.78
$GC,11895,1.03,531.4,2946,2795,720,570,142.0,11.7,588,11899,0.05,2.03,0.00,0.000,2564,0.166,0.022,2999,1424,644,719,569,0,0,0,0,0,0,26.77,26.54,26.77
$GC,12000,1.07,531.4,2999,1424,719,568,127.5,14.0,598,12003,0.00,2.08,0.00,0.000,1030,0.000,0.027,2999,2809,643,718,569,0,0,0,0,0,0,26.60,26.54,26.64
$GC,12304,1.11,531.4,2999,2810,719,568,81.9,15.3,628,12308,0.00,2.08,0.00,0.000,516,0.000,0.024,3009,1434,642,718,567,0,0,0,0,0,0,27.02,26.64,27.08
$GC,12339,1.14,531.4,3007,1434,719,567,77.4,14.9,631,12346,0.00,2.08,0.00,0.000,1030,0.000,0.026,3009,2797,642,718,567,0,0,0,0,0,0,26.64,26.61,26.67
$GC,12644,1.18,531.4,3009,2798,719,568,34.3,12.2,674,12651,0.00,2.05,0.00,0.000,516,0.000,0.024,3018,1430,642,718,566,0,0,0,0,0,0,27.08,26.68,27.15
$GC,12725,1.23,531.4,3018,1430,719,566,24.5,12.8,690,12732,0.00,2.10,0.00,0.000,1030,0.000,0.026,3018,2808,641,717,566,0,0,0,0,0,0,26.67,26.65,26.70
$STATE,12914,end climb,SURFACE_DEPTH_REACHED
$STATE,12914,begin surface coast
$FINISH,0.7,1.023203
$STATE,12930,end surface coast,CONTROL_FINISHED_OK
$STATE,12930,begin surface
$SM_CCo,13003,0.00,0.000,0,0,640,539.17
$SM_GC,1.59,7.35,0.08,0.00,0.034,0.106,0.000,201,2701,640,-7.57,2.86,539.17,0,0,0,0,0,0,26.60,26.97,26.67
$IRIDIUM_FIX,5644.84,-15055.18,150608,142251
$TT8_MAMPS,0.057673,0.057673
$HUMID,46.18
$INTERNAL_PRESSURE,8.7464
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,22.91,72.276
$10V_AH,10.20,41.224
$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,18.450,61.225,638.225,0.000,0.000,0.000,0.000,611.400,0.000,0.000,9.012,0.000,10603.910,653.655,2468.618,123.524,0.000,2092.092,0.000,1477.172,0.000,0.548,0.000
$DEVICE_MAMPS,229.500,106.335,1442.025,0.000,0.000,0.000,0.000,81.090,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,499.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142552
$DATA_FILE_SIZE,30121,731
$CAP_FILE_SIZE,115607,0
$CFSIZE,1024393216,974831616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,13941.33,0x236db2,7,5
$CURRENT,0.068,281.74,1
$GPS,200815,043928,5707.145,-15049.584,37,1.0,38,16.6,0.0,346.2,10,9.9