version: 66.12
glider: 203
mission: 8
dive: 241
start: 8 20 115 14 42 53
data:
$ID,203
$MISSION,8
$DIVE,241
$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,425
$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,90
$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
$GPS1,200815,143829,5710.6665,-15059.7656,50,0.9,69,16.6,0.3,240.2,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-67.2
$GPS2,200815,144242,5710.6846,-15059.7881,7,0.8,12,16.6,0.0,0.0,11,9.4
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,90.6,14694,-17.6,-10.667,-19.18,2802
$D_GRID,550
$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,-194.6,197,2701,1152,1067,0.0,0.0,0,47,0.00,0.00,-32.30,0.000,16386,0.000,0.000,197,2702,1962,2003,1921,0,0,0,0,0,0,26.89,28.83,26.96
$GC,48,-0.90,-194.6,197,2704,2004,1922,3.2,-5.1,5,102,8.68,1.85,-41.03,0.000,18692,0.231,0.057,2337,3854,3634,3711,3558,0,0,0,0,0,0,25.72,24.32,26.10
$GC,266,-0.87,-194.6,2337,3856,3712,3564,45.6,-19.6,47,273,0.05,1.67,0.00,0.000,3078,0.137,0.021,2354,2674,3637,3711,3563,0,0,0,0,0,0,26.42,26.70,26.45
$GC,572,-0.87,-194.6,2354,2676,3713,3568,102.6,-16.7,80,576,0.00,1.98,0.00,0.000,516,0.000,0.024,2354,1347,3638,3711,3566,0,0,0,0,0,0,27.05,26.60,27.12
$GC,667,-0.87,-194.6,2354,1349,3712,3568,116.8,-15.9,89,674,0.00,2.05,0.00,0.000,1030,0.000,0.027,2348,2698,3638,3711,3566,0,0,0,0,0,0,26.63,26.60,26.67
$GC,972,-0.87,-194.6,2349,2699,3711,3569,161.5,-13.2,120,976,0.00,1.77,0.00,0.000,260,0.000,0.041,2339,3846,3639,3711,3567,0,0,0,0,0,0,27.11,26.51,27.17
$GC,1027,-0.87,-194.6,2340,3846,3712,3567,168.6,-14.1,125,1035,0.00,1.62,0.00,0.000,1030,0.000,0.022,2339,2719,3639,3711,3567,0,0,0,0,0,0,26.82,26.79,26.83
$GC,1332,-0.87,-194.6,2340,2719,3712,3569,214.6,-15.3,156,1336,0.00,2.08,0.00,0.000,516,0.000,0.024,2340,1322,3639,3711,3567,0,0,0,0,0,0,27.15,26.67,27.21
$GC,1377,-0.89,-194.6,2339,1322,3712,3567,220.3,-14.2,160,1385,0.05,2.10,0.00,0.000,3078,0.144,0.027,2349,2703,3639,3711,3567,0,0,0,0,0,0,26.39,26.65,26.44
$GC,1682,-0.91,-194.6,2350,2704,3712,3569,263.2,-13.6,185,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2703,3639,3711,3567,0,0,0,0,0,0,27.17,27.24,27.23
$GC,1982,-0.94,-194.6,2350,2704,3712,3569,304.6,-13.7,195,1986,0.00,2.08,0.00,0.000,516,0.000,0.024,2349,1323,3639,3711,3567,0,0,0,0,0,0,27.18,26.69,27.24
$GC,2022,-0.97,-194.6,2350,1323,3712,3569,308.8,-13.8,196,2026,0.00,2.10,0.00,0.000,1030,0.000,0.028,2348,2698,3639,3711,3567,0,0,0,0,0,0,26.68,26.64,26.71
$GC,2342,-0.99,-194.6,2348,2698,3712,3567,353.9,-13.3,207,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2697,3638,3710,3567,0,0,0,0,0,0,27.19,27.26,27.25
$GC,2642,-1.02,-194.6,2348,2697,3710,3567,393.4,-13.3,217,2646,0.00,2.05,0.00,0.000,516,0.000,0.024,2348,1325,3637,3708,3567,0,0,0,0,0,0,27.20,26.70,27.26
$GC,2677,-1.05,-194.6,2348,1325,3711,3567,397.4,-13.4,218,2681,0.05,2.10,0.00,0.000,5126,0.065,0.028,2294,2699,3638,3709,3567,0,0,0,0,0,0,26.53,26.65,26.57
$GC,3002,-1.05,-194.6,2294,2699,3709,3567,449.8,-15.7,229,3006,0.00,2.08,0.00,0.000,516,0.000,0.024,2294,1322,3637,3707,3567,0,0,0,0,0,0,27.20,26.68,27.27
$GC,3032,-1.05,-194.6,2294,1323,3708,3568,454.7,-15.7,230,3036,0.00,2.10,0.00,0.000,1030,0.000,0.028,2292,2693,3637,3707,3567,0,0,0,0,0,0,26.68,26.67,26.70
$GC,3362,-1.05,-194.6,2293,2693,3707,3567,507.4,-16.1,241,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2693,3636,3705,3567,0,0,0,0,0,0,27.20,27.27,27.27
$STATE,3661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3661,begin apogee
$GC,3665,-0.25,0.0,2293,2818,3706,3567,554.2,-15.7,251,3836,0.82,0.00,163.82,1.352,10246,0.117,0.000,2553,2819,2840,2877,2803,0,0,0,0,1,0,25.78,24.22,23.22
$STATE,3837,end apogee,CONTROL_FINISHED_OK
$STATE,3837,begin climb
$GC,3838,0.90,194.6,2554,2818,2886,2803,562.5,0.0,256,4007,1.10,1.73,160.77,0.809,11012,0.066,0.041,2926,3832,2037,2075,1999,0,0,0,0,0,0,24.41,24.40,23.69
$GC,4232,0.87,272.4,2926,3831,2071,1989,554.5,7.8,270,4301,0.00,1.52,62.62,0.809,9222,0.000,0.024,2931,2794,1720,1763,1678,0,0,0,0,0,0,26.24,26.22,24.62
$GC,4622,0.87,298.5,2931,2794,1757,1664,516.6,9.7,283,4648,0.00,1.62,21.38,0.813,8452,0.000,0.040,2931,3836,1617,1662,1572,0,0,0,0,0,0,26.73,25.67,25.15
$GC,4827,0.87,298.5,2931,3837,1655,1563,494.2,11.1,289,4831,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2797,1608,1654,1562,0,0,0,0,0,0,26.52,26.51,26.55
$GC,5157,0.88,322.8,2932,2799,1653,1561,461.1,9.8,300,5182,0.00,1.60,21.17,0.791,8452,0.000,0.039,2931,3836,1517,1563,1471,0,0,0,0,0,0,26.91,25.84,25.33
$GC,5232,0.88,339.9,2931,3836,1558,1463,455.3,10.0,301,5252,0.00,1.50,15.85,0.793,9222,0.000,0.024,2931,2809,1449,1495,1403,0,0,0,0,0,0,26.46,26.45,25.14
$GC,5573,0.90,339.9,2932,2809,1487,1392,415.3,11.2,313,5576,0.00,2.08,0.00,0.000,516,0.000,0.026,2932,1414,1438,1486,1391,0,0,0,0,0,0,26.84,26.50,26.90
$GC,5632,0.93,339.9,2932,1413,1488,1390,408.8,11.0,315,5636,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2793,1438,1486,1391,0,0,0,0,0,0,26.52,26.49,26.58
$GC,5962,0.95,339.9,2932,2795,1487,1392,372.6,10.8,326,5966,0.00,1.62,0.00,0.000,260,0.000,0.041,2931,3846,1437,1486,1389,0,0,0,0,0,0,26.98,26.50,27.05
$GC,5997,0.97,339.9,2932,3845,1487,1389,369.0,11.1,327,6001,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2797,1438,1486,1390,0,0,0,0,0,0,26.76,26.73,26.77
$GC,6323,1.00,356.6,2932,2797,1488,1390,334.8,10.1,338,6339,0.08,0.00,14.32,0.748,10758,0.125,0.000,2975,2798,1384,1431,1337,0,0,0,0,0,0,26.89,26.27,25.54
$GC,6648,1.00,356.6,2975,2799,1421,1326,294.4,12.2,349,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2798,1372,1420,1325,0,0,0,0,0,0,26.98,27.04,27.03
$GC,6948,1.00,356.6,2974,2797,1420,1324,256.7,12.8,359,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2797,1371,1419,1324,0,0,0,0,0,0,27.05,27.12,27.11
$GC,7248,1.00,356.6,2975,2799,1420,1326,219.0,12.2,385,7252,0.00,2.05,0.00,0.000,516,0.000,0.024,2984,1426,1371,1419,1324,0,0,0,0,0,0,27.10,26.69,27.15
$GC,7278,1.00,356.6,2984,1426,1420,1324,215.2,12.7,388,7281,0.00,2.12,0.00,0.000,1030,0.000,0.028,2984,2810,1371,1418,1324,0,0,0,0,0,0,26.70,26.67,26.72
$GC,7588,1.00,356.6,2983,2811,1420,1323,177.5,12.3,419,7592,0.00,1.60,0.00,0.000,260,0.000,0.042,2984,3845,1370,1418,1323,0,0,0,0,0,0,27.13,26.55,27.19
$GC,7703,0.98,356.6,2984,3847,1418,1324,162.6,13.9,430,7709,0.00,1.50,0.00,0.000,1030,0.000,0.024,2988,2798,1370,1418,1323,0,0,0,0,0,0,26.86,26.83,26.86
$GC,8008,0.98,356.6,2988,2797,1420,1323,126.0,11.4,461,8012,0.00,2.03,0.00,0.000,516,0.000,0.024,2997,1429,1370,1418,1323,0,0,0,0,0,0,27.15,26.72,27.21
$GC,8068,0.98,356.6,2998,1429,1420,1322,119.2,11.1,467,8072,0.08,2.10,0.00,0.000,5126,0.125,0.028,2974,2808,1370,1418,1323,0,0,0,0,0,0,26.41,26.68,26.45
$GC,8378,1.00,408.1,2974,2808,1419,1321,89.9,8.8,498,8433,0.00,0.00,53.33,0.533,8710,0.000,0.000,2974,2808,1173,1225,1122,0,0,0,0,0,0,27.17,26.10,25.53
$GC,8728,1.05,438.3,2975,2809,1215,1108,55.8,9.6,533,8762,0.00,2.12,29.85,0.516,8708,0.000,0.026,2974,1432,1047,1104,990,0,0,0,0,0,0,26.88,26.12,25.49
$GC,8849,1.11,481.0,2974,1432,1097,983,44.6,9.1,550,8873,0.08,2.08,18.48,0.243,11270,0.120,0.027,3017,2806,876,940,812,0,0,0,0,0,0,26.27,26.35,25.57
$GC,9173,1.16,493.8,3018,2808,943,820,10.1,10.2,614,9184,0.00,1.60,5.93,0.177,8452,0.000,0.037,3018,3856,825,890,760,0,0,0,0,0,0,26.89,25.78,25.61
$STATE,9242,end climb,SURFACE_DEPTH_REACHED
$STATE,9242,begin surface coast
$FINISH,0.7,1.023906
$STATE,9258,end surface coast,CONTROL_FINISHED_OK
$STATE,9258,begin surface
$SM_CCo,9332,0.00,0.000,0,0,829,493.05
$SM_GC,1.78,7.43,1.70,0.00,0.035,0.021,0.000,202,2690,829,-7.57,2.49,493.05,0,0,0,0,0,0,26.44,26.66,26.51
$IRIDIUM_FIX,5644.84,-15100.58,160608,010644
$TT8_MAMPS,0.058422,0.058422
$HUMID,45.47
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,23.22,72.869
$10V_AH,10.23,41.417
$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,18.400,63.475,567.525,0.000,0.000,0.000,0.000,188.400,0.000,0.000,13.003,0.000,7090.021,605.054,1789.443,95.051,0.000,1499.987,0.000,1259.215,0.000,0.546,0.000
$DEVICE_MAMPS,231.030,79.560,1351.755,0.000,0.000,0.000,0.000,79.560,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,430.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142568
$DATA_FILE_SIZE,26767,631
$CAP_FILE_SIZE,93411,0
$CFSIZE,1024393216,974585856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,10759.59,0x236db2,7,5
$CURRENT,0.115,228.26,1
$GPS,200815,171919,5709.959,-15057.681,15,1.0,36,16.6,0.7,349.3,8,10.0