version: 66.12
glider: 203
mission: 8
dive: 242
start: 8 20 115 17 23 44
data:
$ID,203
$MISSION,8
$DIVE,242
$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,94
$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
$GPS1,200815,171919,5709.9590,-15057.6807,15,1.0,36,16.6,0.7,349.3,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.6
$GPS2,200815,172332,5709.9648,-15057.6250,7,0.8,13,16.6,0.7,38.9,8,8.7
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,89.0,12152,-17.6,-10.667,-19.18,2802
$D_GRID,601
$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,-194.6,203,2686,891,771,0.0,0.0,0,59,0.00,0.00,-44.22,0.000,16386,0.000,0.000,202,2685,1981,2025,1937,0,0,0,0,0,0,26.78,28.83,26.86
$GC,60,-0.90,-194.6,203,2684,2028,1937,3.3,-4.0,7,118,8.75,1.88,-40.35,0.000,18692,0.234,0.056,2333,3861,3634,3710,3559,0,0,0,0,0,0,25.64,24.30,26.03
$GC,312,-0.87,-194.6,2334,3863,3711,3566,53.6,-20.9,54,319,0.05,1.67,0.00,0.000,3078,0.138,0.021,2351,2679,3637,3710,3564,0,0,0,0,0,0,26.40,26.67,26.43
$GC,617,-0.87,-194.6,2351,2679,3712,3566,108.5,-17.2,85,621,0.00,1.98,0.00,0.000,516,0.000,0.024,2351,1349,3638,3710,3566,0,0,0,0,0,0,27.03,26.62,27.09
$GC,737,-0.87,-194.6,2351,1351,3712,3569,129.1,-16.8,97,741,0.00,2.05,0.00,0.000,1030,0.000,0.026,2346,2701,3638,3710,3567,0,0,0,0,0,0,26.65,26.63,26.72
$GC,1047,-0.87,-194.6,2346,2702,3711,3569,176.9,-14.7,128,1051,0.00,2.03,0.00,0.000,516,0.000,0.023,2346,1348,3638,3710,3567,0,0,0,0,0,0,27.10,26.67,27.17
$GC,1072,-0.87,-194.6,2346,1348,3711,3568,179.7,-14.2,130,1079,0.05,2.05,0.00,0.000,3078,0.143,0.027,2354,2695,3639,3710,3568,0,0,0,0,0,0,26.41,26.65,26.46
$GC,1377,-0.90,-194.6,2354,2694,3711,3568,220.1,-12.6,161,1381,0.00,1.77,0.00,0.000,260,0.000,0.040,2346,3844,3638,3710,3567,0,0,0,0,0,0,27.13,26.53,27.20
$GC,1402,-0.92,-194.6,2348,3846,3712,3569,222.7,-12.8,163,1409,0.00,1.62,0.00,0.000,1030,0.000,0.022,2348,2715,3638,3710,3567,0,0,0,0,0,0,26.85,26.82,26.86
$GC,1728,-0.94,-194.6,2348,2717,3711,3569,266.2,-13.5,188,1732,0.00,2.03,0.00,0.000,516,0.000,0.024,2348,1321,3638,3710,3567,0,0,0,0,0,0,27.16,26.71,27.22
$GC,1767,-0.97,-194.6,2348,1321,3711,3566,270.4,-13.6,189,1772,0.00,2.08,0.00,0.000,1030,0.000,0.026,2339,2698,3639,3710,3568,0,0,0,0,0,0,26.73,26.70,26.76
$GC,2087,-0.98,-194.6,2340,2699,3711,3569,318.7,-14.7,200,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2698,3638,3710,3567,0,0,0,0,0,0,27.17,27.24,27.23
$GC,2387,-1.00,-194.6,2339,2699,3711,3568,361.2,-14.1,210,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2698,3638,3709,3567,0,0,0,0,0,0,27.18,27.26,27.24
$GC,2687,-1.02,-194.6,2339,2698,3708,3567,404.3,-14.6,220,2691,0.00,2.05,0.00,0.000,516,0.000,0.024,2339,1325,3637,3707,3567,0,0,0,0,0,0,27.20,26.72,27.25
$GC,2727,-1.05,-194.6,2340,1326,3708,3569,408.8,-14.8,221,2731,0.00,2.10,0.00,0.000,1030,0.000,0.028,2335,2699,3637,3707,3567,0,0,0,0,0,0,26.72,26.68,26.75
$GC,3047,-1.06,-194.6,2335,2699,3706,3567,457.5,-14.5,232,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2699,3635,3705,3566,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3347,-1.08,-194.6,2335,2700,3705,3569,499.5,-13.8,242,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2699,3635,3704,3567,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3647,-1.10,-194.6,2335,2700,3704,3569,539.1,-13.0,252,3652,0.08,2.08,0.00,0.000,4612,0.128,0.024,2280,1320,3635,3703,3567,0,0,0,0,0,0,27.03,26.71,27.05
$GC,3672,-1.12,-194.6,2280,1321,3703,3569,539.1,-13.0,252,3679,0.00,2.10,0.00,0.000,1030,0.000,0.027,2279,2705,3635,3702,3568,0,0,0,0,0,0,26.72,26.70,26.75
$GC,3977,-1.09,-194.6,2280,2706,3702,3569,592.3,-16.4,263,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2705,3634,3702,3567,0,0,0,0,0,0,27.20,27.28,27.27
$STATE,4036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4036,begin apogee
$GC,4040,-0.25,0.0,2279,2821,3703,3569,602.4,-16.7,265,4235,0.88,0.00,192.73,0.771,10246,0.121,0.000,2554,2820,2837,2874,2801,0,0,0,0,0,0,25.79,25.20,24.54
$STATE,4236,end apogee,CONTROL_FINISHED_OK
$STATE,4236,begin climb
$GC,4237,0.90,194.6,2554,2821,2870,2799,614.1,0.0,271,4401,1.08,1.65,154.30,0.838,11012,0.067,0.038,2927,3835,2035,2074,1996,0,0,0,0,0,0,25.35,24.52,24.02
$GC,4625,0.87,275.7,2927,3837,2067,1985,604.7,7.7,284,4695,0.00,1.52,66.28,0.827,9222,0.000,0.024,2931,2799,1713,1756,1671,0,0,0,0,0,0,26.32,26.30,24.63
$GC,4996,0.87,304.0,2932,2799,1740,1648,568.7,9.6,296,5027,0.00,1.67,24.00,0.823,8452,0.000,0.042,2931,3832,1588,1635,1542,0,0,0,0,0,0,26.72,25.92,25.13
$GC,5181,0.87,304.0,2932,3833,1629,1535,548.2,11.5,302,5185,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2796,1580,1628,1533,0,0,0,0,0,0,26.48,26.46,26.51
$GC,5506,0.88,314.0,2932,2797,1628,1533,513.9,10.3,313,5511,0.00,1.60,2.17,0.324,8452,0.000,0.038,2932,3839,1560,1607,1513,0,0,0,0,0,0,26.90,25.46,24.63
$GC,5571,0.88,316.2,2931,3838,1620,1523,507.8,10.6,315,5577,0.00,1.50,2.78,0.532,9222,0.000,0.024,2931,2798,1550,1597,1503,0,0,0,0,0,0,26.70,26.67,24.74
$GC,5886,0.88,316.2,2931,2799,1617,1516,473.0,10.8,326,5891,0.00,1.62,0.00,0.000,260,0.000,0.041,2931,3832,1566,1616,1517,0,0,0,0,0,0,26.99,26.51,27.05
$GC,5931,0.88,316.2,2932,3833,1617,1518,469.7,10.9,327,5936,0.00,1.50,1.98,0.191,9222,0.000,0.024,2931,2792,1549,1597,1502,0,0,0,0,0,0,26.77,26.74,25.44
$GC,6241,0.89,317.6,2931,2793,1617,1515,434.8,10.6,338,6245,0.00,0.00,2.60,0.477,8198,0.000,0.000,2931,2791,1544,1591,1497,0,0,0,0,0,0,27.05,26.05,24.79
$GC,6541,0.91,317.6,2931,2791,1612,1509,402.5,11.0,348,6545,0.00,1.62,0.00,0.000,260,0.000,0.041,2931,3826,1561,1611,1511,0,0,0,0,0,0,27.08,26.55,27.15
$GC,6606,0.91,317.6,2932,3827,1612,1512,395.3,11.4,350,6611,0.00,1.48,2.08,0.267,9222,0.000,0.024,2931,2795,1543,1590,1496,0,0,0,0,0,0,26.83,26.81,24.49
$GC,6932,0.93,332.3,2932,2795,1611,1509,360.8,10.1,361,6955,0.00,0.00,22.25,0.723,8198,0.000,0.000,2932,2795,1483,1530,1437,0,0,0,0,0,0,27.11,26.24,25.53
$GC,7232,0.95,348.8,2932,2795,1515,1420,330.4,10.1,371,7251,0.00,1.65,14.95,0.722,8452,0.000,0.042,2932,3829,1410,1457,1363,0,0,0,0,0,0,26.94,26.22,25.46
$GC,7291,0.97,357.3,2932,3828,1451,1355,324.0,10.4,373,7296,0.00,1.50,2.03,0.228,9222,0.000,0.024,2932,2797,1381,1428,1334,0,0,0,0,0,0,26.55,26.53,23.49
$GC,7617,1.01,398.6,2931,2798,1444,1342,293.0,9.2,384,7667,0.10,1.62,45.65,0.659,10500,0.103,0.039,2987,3837,1208,1258,1158,0,0,0,0,0,0,26.75,25.70,25.27
$GC,7712,1.01,398.6,2987,3837,1248,1145,281.7,12.4,387,7715,0.00,1.52,0.00,0.000,1030,0.000,0.024,2995,2803,1195,1247,1144,0,0,0,0,0,0,26.31,26.28,26.33
$GC,8021,1.01,398.6,2994,2803,1248,1141,234.1,14.4,403,8025,0.00,2.08,0.00,0.000,516,0.000,0.025,3004,1429,1193,1246,1141,0,0,0,0,0,0,26.84,26.48,26.91
$GC,8056,1.01,398.6,3005,1428,1246,1141,229.8,14.3,406,8063,0.05,2.10,0.00,0.000,5126,0.132,0.028,2989,2781,1193,1245,1141,0,0,0,0,0,0,26.26,26.48,26.30
$GC,8361,1.01,398.6,2989,2781,1246,1139,187.3,13.9,437,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2781,1191,1244,1139,0,0,0,0,0,0,26.98,27.05,27.05
$GC,8662,1.01,398.6,2989,2782,1245,1140,144.1,12.9,467,8665,0.00,2.03,0.00,0.000,516,0.000,0.025,2995,1428,1191,1244,1139,0,0,0,0,0,0,27.05,26.64,27.13
$GC,8686,1.01,398.6,2996,1417,1245,1140,141.5,13.2,469,8693,0.00,2.12,0.00,0.000,1030,0.000,0.028,2995,2799,1191,1244,1139,0,0,0,0,0,0,26.64,26.65,26.68
$GC,8991,1.01,398.6,2996,2799,1245,1138,98.8,13.2,500,8995,0.00,1.65,0.00,0.000,260,0.000,0.041,2996,3854,1191,1244,1138,0,0,0,0,0,0,27.10,26.53,27.17
$GC,9021,1.01,398.6,2997,3854,1245,1137,94.8,13.3,503,9026,0.00,1.52,0.00,0.000,1030,0.000,0.024,3003,2794,1190,1244,1137,0,0,0,0,0,0,26.82,26.80,26.83
$GC,9331,1.01,401.3,3004,2795,1245,1139,62.2,10.6,534,9336,0.00,2.05,0.00,0.000,516,0.000,0.025,3013,1420,1190,1244,1137,0,0,0,0,0,0,27.13,26.70,27.20
$GC,9467,1.03,401.3,3013,1419,1245,1136,47.5,11.6,549,9473,0.08,2.08,0.00,0.000,5126,0.165,0.028,2998,2808,1190,1244,1137,0,0,0,0,0,0,26.51,26.67,26.59
$GC,9773,1.08,483.1,2998,2809,1244,1136,19.8,7.7,610,9813,0.00,0.00,34.20,0.190,8198,0.000,0.000,2998,2809,866,931,801,0,0,0,0,0,0,27.16,26.15,25.97
$STATE,9971,end climb,SURFACE_DEPTH_REACHED
$STATE,9971,begin surface coast
$FINISH,0.7,1.023629
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10065,0.00,0.000,0,0,871,482.75
$SM_GC,1.77,7.20,0.10,0.00,0.028,0.087,0.000,197,2686,871,-7.56,2.40,482.75,0,0,0,0,0,0,26.63,26.91,26.68
$IRIDIUM_FIX,5644.84,-15100.58,160608,040606
$TT8_MAMPS,0.056924,0.056924
$HUMID,45.70
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,18.00
$XPDR_PINGS,1
$24V_AH,23.49,72.991
$10V_AH,10.17,41.463
$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,18.300,65.300,567.975,0.000,0.000,0.000,0.000,188.050,0.250,0.000,14.314,0.000,7744.659,634.140,1834.695,100.038,0.000,1540.849,0.000,1286.376,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,89.505,838.440,0.000,0.000,0.000,0.000,79.560,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,445.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142672
$DATA_FILE_SIZE,26785,653
$CAP_FILE_SIZE,99704,0
$CFSIZE,1024393216,974503936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9650.27,0x236db2,7,5
$CURRENT,0.102,232.34,1
$GPS,200815,201222,5709.289,-15055.239,35,1.0,36,16.6,0.0,0.0,8,8.7