version: 66.12
glider: 203
mission: 8
dive: 181
start: 8 12 115 5 14 13
data:
$ID,203
$MISSION,8
$DIVE,181
$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,102
$R_STBD_OVSHOOT,48
$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
$GPS1,120815,050926,5708.6948,-15056.8232,16,0.8,31,16.6,0.5,209.4,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.4
$GPS2,120815,051402,5708.6777,-15056.8857,5,0.9,33,16.6,0.4,271.2,10,6.6
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,75.0,10222,-17.6,-10.667,-19.18,2802
$D_GRID,682
$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,-194.6,198,2806,873,755,0.0,0.0,0,58,0.00,0.00,-44.25,0.000,16386,0.000,0.000,197,2805,1973,2018,1929,0,0,0,0,0,0,26.73,28.83,26.80
$GC,60,-0.90,-194.6,198,2805,2019,1929,3.2,-4.5,7,113,8.68,2.28,-38.97,0.000,18948,0.233,0.037,2339,1331,3636,3710,3562,0,0,0,0,0,0,25.67,24.40,26.06
$GC,272,-0.86,-194.6,2339,1332,3711,3569,48.1,-18.7,48,279,0.08,2.08,0.00,0.000,3078,0.142,0.026,2357,2696,3639,3710,3568,0,0,0,0,0,0,26.22,26.53,26.28
$GC,578,-0.85,-194.6,2357,2696,3711,3572,102.4,-18.2,80,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2696,3641,3710,3572,0,0,0,0,0,0,26.97,27.05,27.03
$GC,879,-0.85,-194.6,2357,2697,3711,3574,151.6,-16.1,110,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2696,3641,3710,3572,0,0,0,0,0,0,27.04,27.12,27.10
$GC,1179,-0.85,-194.6,2357,2695,3711,3572,194.9,-13.5,140,1182,0.00,1.98,0.00,0.000,516,0.000,0.023,2357,1330,3641,3710,3572,0,0,0,0,0,0,27.09,26.74,27.15
$GC,1213,-0.85,-194.6,2357,1331,3711,3573,199.0,-13.7,143,1220,0.00,2.08,0.00,0.000,1030,0.000,0.026,2350,2705,3641,3710,3572,0,0,0,0,0,0,26.76,26.73,26.79
$GC,1518,-0.85,-194.6,2349,2706,3712,3572,245.8,-15.3,174,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2706,3641,3711,3572,0,0,0,0,0,0,27.12,27.19,27.18
$GC,1818,-0.85,-194.6,2350,2707,3711,3574,287.6,-13.7,186,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2706,3641,3710,3572,0,0,0,0,0,0,27.15,27.22,27.21
$GC,2118,-0.85,-194.6,2350,2708,3709,3574,328.5,-14.1,196,2122,0.00,1.75,0.00,0.000,260,0.000,0.041,2348,3848,3640,3709,3572,0,0,0,0,0,0,27.16,26.67,27.22
$GC,2168,-0.85,-194.6,2348,3848,3710,3572,332.8,-14.3,197,2172,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2714,3641,3709,3573,0,0,0,0,0,0,26.91,26.92,26.94
$GC,2478,-0.85,-194.6,2348,2715,3708,3573,379.9,-14.5,208,2482,0.00,1.75,0.00,0.000,260,0.000,0.039,2339,3846,3639,3706,3572,0,0,0,0,0,0,27.17,26.70,27.24
$GC,2503,-0.85,-194.6,2340,3847,3708,3574,379.9,-14.5,208,2510,0.05,1.65,0.00,0.000,3078,0.138,0.021,2357,2703,3639,3706,3572,0,0,0,0,0,0,26.65,26.92,26.69
$GC,2808,-0.87,-194.6,2357,2704,3706,3574,426.3,-13.5,219,2812,0.00,2.05,0.00,0.000,516,0.000,0.023,2357,1315,3638,3705,3572,0,0,0,0,0,0,27.19,26.82,27.24
$GC,2833,-0.90,-194.6,2357,1315,3707,3572,426.3,-13.5,219,2840,0.00,2.10,0.00,0.000,1030,0.000,0.027,2350,2703,3639,3705,3573,0,0,0,0,0,0,26.83,26.79,26.86
$GC,3138,-0.92,-194.6,2350,2704,3705,3574,471.3,-13.6,230,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2703,3638,3704,3572,0,0,0,0,0,0,27.19,27.27,27.26
$GC,3438,-0.94,-194.6,2350,2703,3704,3572,512.9,-13.8,240,3442,0.00,1.75,0.00,0.000,260,0.000,0.041,2343,3844,3637,3703,3572,0,0,0,0,0,0,27.20,26.67,27.26
$GC,3473,-0.97,-194.6,2343,3845,3704,3574,517.1,-13.8,241,3477,0.00,1.65,0.00,0.000,1030,0.000,0.021,2343,2703,3637,3703,3572,0,0,0,0,0,0,26.96,26.94,26.97
$GC,3798,-0.98,-194.6,2342,2705,3703,3573,562.4,-13.5,252,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2703,3637,3702,3572,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4098,-1.00,-194.6,2342,2703,3702,3573,603.6,-13.6,262,4102,0.00,1.77,0.00,0.000,260,0.000,0.040,2336,3847,3636,3701,3572,0,0,0,0,0,0,27.21,26.70,27.27
$GC,4128,-1.02,-194.6,2336,3848,3701,3572,607.8,-13.6,263,4132,0.00,1.65,0.00,0.000,1030,0.000,0.022,2335,2693,3636,3700,3572,0,0,0,0,0,0,26.97,26.95,26.98
$GC,4458,-1.02,-194.6,2336,2694,3699,3574,651.4,-12.9,274,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2693,3635,3699,3572,0,0,0,0,0,0,27.21,27.28,27.27
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4731,-0.25,0.0,2336,2810,3699,3572,685.5,-12.4,283,4958,0.68,0.00,225.25,0.770,10246,0.116,0.000,2551,2811,2838,2874,2802,0,0,0,0,0,0,26.19,25.02,24.37
$STATE,4959,end apogee,CONTROL_FINISHED_OK
$STATE,4959,begin climb
$GC,4960,0.90,194.6,2551,2812,2872,2799,696.2,0.0,290,5124,1.08,1.73,156.00,0.898,11012,0.070,0.040,2926,3828,2037,2074,2001,0,0,0,0,0,0,25.15,24.49,23.77
$GC,5348,0.86,259.7,2926,3830,2065,1987,685.3,8.3,303,5407,0.00,1.52,53.40,0.889,9222,0.000,0.021,2931,2780,1773,1813,1733,0,0,0,0,0,0,26.18,26.16,24.60
$GC,5719,0.86,294.3,2931,2780,1801,1713,647.4,9.4,316,5752,0.00,1.73,29.00,0.874,8452,0.000,0.040,2931,3833,1632,1675,1590,0,0,0,0,0,0,26.63,25.80,25.02
$GC,5931,0.84,294.3,2932,3834,1665,1576,624.8,10.9,323,5935,0.00,1.48,0.00,0.000,1030,0.000,0.022,2931,2808,1619,1664,1574,0,0,0,0,0,0,26.43,26.41,26.44
$GC,6261,0.84,294.3,2932,2809,1665,1574,590.6,10.8,334,6265,0.00,2.08,0.00,0.000,516,0.000,0.024,2932,1430,1617,1663,1572,0,0,0,0,0,0,26.83,26.55,26.90
$GC,6296,0.84,297.8,2932,1431,1664,1571,587.7,10.5,335,6301,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2793,1617,1663,1572,0,0,0,0,0,0,26.58,26.55,26.60
$GC,6621,0.84,302.8,2932,2795,1664,1573,554.2,10.5,346,6625,0.00,1.62,0.00,0.000,260,0.000,0.040,2931,3848,1617,1663,1571,0,0,0,0,0,0,26.96,26.56,27.02
$GC,6691,0.84,302.8,2932,3849,1664,1573,546.9,11.4,348,6695,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2793,1617,1663,1571,0,0,0,0,0,0,26.79,26.77,26.80
$GC,7011,0.84,302.8,2931,2794,1663,1572,511.4,10.7,359,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2792,1616,1662,1571,0,0,0,0,0,0,27.03,27.10,27.10
$GC,7311,0.84,314.2,2932,2793,1661,1571,479.8,10.2,369,7329,0.00,0.00,16.42,0.806,8198,0.000,0.000,2931,2792,1557,1601,1514,0,0,0,0,0,0,27.07,26.31,25.59
$GC,7611,0.84,314.2,2932,2794,1587,1498,447.0,11.0,379,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2792,1541,1586,1497,0,0,0,0,0,0,26.93,27.01,27.00
$GC,7911,0.84,314.2,2931,2792,1587,1496,413.7,11.1,389,7915,0.00,2.05,0.00,0.000,516,0.000,0.025,2932,1428,1541,1587,1496,0,0,0,0,0,0,27.01,26.67,27.08
$GC,7946,0.84,314.2,2932,1429,1587,1497,410.6,10.9,390,7951,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2802,1541,1586,1496,0,0,0,0,0,0,26.71,26.67,26.74
$GC,8271,0.84,314.2,2932,2803,1587,1496,374.8,10.8,401,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2802,1540,1586,1495,0,0,0,0,0,0,27.07,27.15,27.13
$GC,8571,0.86,321.0,2932,2803,1586,1496,343.1,10.4,411,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2802,1540,1585,1495,0,0,0,0,0,0,27.10,27.17,27.17
$GC,8871,0.86,342.3,2931,2802,1586,1494,312.5,9.9,421,8906,0.00,1.65,30.23,0.662,8452,0.000,0.041,2932,3851,1436,1481,1391,0,0,0,0,0,0,27.13,26.29,25.61
$GC,8971,0.86,342.3,2932,3852,1476,1384,302.6,10.7,424,8975,0.00,1.50,0.00,0.000,1030,0.000,0.021,2937,2805,1428,1474,1383,0,0,0,0,0,0,26.55,26.55,26.59
$GC,9291,0.88,342.3,2937,2806,1475,1383,263.4,12.2,435,9295,0.00,2.08,0.00,0.000,516,0.000,0.024,2945,1429,1427,1474,1381,0,0,0,0,0,0,26.93,26.60,26.99
$GC,9326,0.90,342.3,2945,1430,1474,1383,260.0,12.1,436,9330,0.00,2.10,0.00,0.000,1030,0.000,0.026,2945,2799,1427,1474,1381,0,0,0,0,0,0,26.62,26.58,26.64
$GC,9632,0.90,342.3,2945,2798,1475,1380,223.6,11.3,461,9637,0.00,1.58,0.00,0.000,260,0.000,0.041,2945,3853,1426,1473,1380,0,0,0,0,0,0,27.01,26.56,27.08
$GC,9676,0.90,342.3,2945,3855,1474,1380,218.8,11.7,465,9683,0.00,1.50,0.00,0.000,1030,0.000,0.022,2951,2800,1426,1473,1379,0,0,0,0,0,0,26.81,26.78,26.82
$GC,9981,0.90,342.3,2951,2799,1474,1379,183.0,11.7,496,9985,0.00,1.65,0.00,0.000,260,0.000,0.041,2951,3848,1425,1472,1379,0,0,0,0,0,0,27.07,26.60,27.14
$GC,10021,0.90,342.3,2951,3849,1473,1380,178.1,12.4,500,10025,0.00,1.50,0.00,0.000,1030,0.000,0.022,2958,2791,1425,1473,1378,0,0,0,0,0,0,26.85,26.84,26.87
$GC,10332,0.90,346.3,2958,2791,1474,1378,144.4,10.5,531,10335,0.00,2.03,0.00,0.000,516,0.000,0.024,2959,1431,1426,1473,1379,0,0,0,0,0,0,27.10,26.76,27.17
$GC,10402,0.92,370.8,2959,1430,1474,1378,137.5,9.8,538,10434,0.00,2.10,26.23,0.591,9222,0.000,0.026,2959,2809,1320,1365,1275,0,0,0,0,0,0,26.77,26.74,25.70
$GC,10732,0.95,370.8,2959,2809,1358,1262,100.6,12.0,571,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2809,1309,1356,1262,0,0,0,0,0,0,26.94,27.01,27.00
$GC,11033,0.99,397.7,2959,2810,1356,1262,72.0,9.7,601,11064,0.00,2.05,25.90,0.539,8708,0.000,0.022,2958,1428,1210,1259,1162,0,0,0,0,0,0,27.01,26.06,25.67
$GC,11183,1.05,413.1,2959,1429,1251,1156,57.2,10.1,616,11204,0.00,2.10,13.23,0.541,9222,0.000,0.026,2958,2793,1147,1199,1096,0,0,0,0,0,0,26.51,26.48,25.56
$GC,11504,1.11,444.2,2959,2794,1193,1087,27.2,9.5,673,11522,0.10,2.03,11.95,0.201,10756,0.096,0.021,3028,1423,1027,1084,970,0,0,0,0,0,0,26.70,25.98,25.78
$GC,11717,1.16,479.6,3028,1422,1095,975,5.5,9.4,715,11740,0.00,2.10,15.82,0.155,9222,0.000,0.027,3027,2793,879,941,817,0,0,0,0,0,0,26.58,26.56,25.93
$STATE,11753,end climb,SURFACE_DEPTH_REACHED
$STATE,11753,begin surface coast
$FINISH,0.6,1.023503
$STATE,11773,end surface coast,CONTROL_FINISHED_OK
$STATE,11773,begin surface
$SM_CCo,11846,0.00,0.000,0,0,882,480.05
$SM_GC,1.36,7.45,0.00,0.00,0.038,0.000,0.000,194,2794,882,-7.57,2.66,480.05,0,0,0,0,0,0,26.53,26.96,26.59
$IRIDIUM_FIX,5644.84,-15100.58,070608,153743
$TT8_MAMPS,0.057673,0.057673
$HUMID,44.80
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,23.77,64.118
$10V_AH,10.15,38.400
$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,18.100,70.150,603.425,0.000,0.000,0.000,0.000,188.925,0.000,0.000,34.927,0.000,9331.951,661.346,2017.493,104.576,0.000,1640.098,0.000,1413.412,0.000,0.546,0.000
$DEVICE_MAMPS,233.325,74.970,898.110,0.000,0.000,0.000,0.000,82.620,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,495.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142648
$DATA_FILE_SIZE,30036,726
$CAP_FILE_SIZE,108151,0
$CFSIZE,1024393216,978960384
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10777.37,0x236db2,7,5
$INTR,1,9632.46,0x233784,1,24
$INTR,2,11776.34,0x236db2,7,5
$CURRENT,0.155,248.35,1
$GPS,120815,083235,5708.202,-15054.872,37,0.8,39,16.6,0.3,300.4,11,8.7