version: 66.12
glider: 203
mission: 8
dive: 207
start: 8 15 115 20 43 18
data:
$ID,203
$MISSION,8
$DIVE,207
$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,97
$R_STBD_OVSHOOT,43
$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
$GPS1,150815,203758,5707.8760,-15051.3242,36,1.0,37,16.6,0.0,345.2,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.3
$GPS2,150815,204307,5707.8745,-15051.4238,5,1.0,11,16.6,0.0,258.7,8,9.4
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,91.0,4890,-17.6,-10.667,-19.18,2802
$D_GRID,987
$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,-194.6,195,2798,1007,892,0.0,0.0,0,53,0.00,0.00,-39.15,0.000,16386,0.000,0.000,194,2798,1965,2007,1924,0,0,0,0,0,0,26.72,28.83,26.79
$GC,55,-0.90,-194.6,195,2799,2010,1925,3.1,-4.4,6,113,8.62,1.67,-41.80,0.000,18692,0.229,0.058,2333,3859,3635,3710,3561,0,0,0,0,0,0,25.63,24.30,26.02
$GC,187,-0.83,-194.6,2334,3860,3710,3567,31.7,-24.6,31,194,0.10,1.65,0.00,0.000,3078,0.127,0.019,2366,2683,3637,3709,3566,0,0,0,0,0,0,26.17,26.60,26.23
$GC,493,-0.83,-194.6,2366,2682,3711,3569,86.0,-16.4,71,496,0.00,1.98,0.00,0.000,516,0.000,0.022,2366,1346,3639,3709,3570,0,0,0,0,0,0,26.95,26.58,27.01
$GC,558,-0.83,-194.6,2366,1348,3711,3573,95.5,-15.5,77,564,0.00,2.05,0.00,0.000,1030,0.000,0.024,2362,2706,3640,3710,3571,0,0,0,0,0,0,26.60,26.58,26.63
$GC,863,-0.83,-194.6,2362,2706,3711,3571,138.1,-13.1,108,866,0.00,2.03,0.00,0.000,516,0.000,0.022,2362,1344,3641,3710,3572,0,0,0,0,0,0,27.04,26.65,27.10
$GC,893,-0.85,-194.6,2361,1344,3711,3572,141.9,-12.9,111,897,0.00,2.05,0.00,0.000,1030,0.000,0.025,2352,2700,3640,3709,3571,0,0,0,0,0,0,26.67,26.63,26.70
$GC,1203,-0.85,-194.6,2352,2701,3711,3574,185.2,-13.6,142,1207,0.00,2.00,0.00,0.000,516,0.000,0.022,2352,1354,3641,3710,3572,0,0,0,0,0,0,27.09,26.70,27.15
$GC,1243,-0.87,-194.6,2353,1355,3710,3574,190.8,-14.2,146,1247,0.00,2.05,0.00,0.000,1030,0.000,0.027,2345,2704,3641,3710,3572,0,0,0,0,0,0,26.70,26.67,26.72
$GC,1553,-0.87,-194.6,2345,2703,3711,3571,235.4,-14.8,177,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2704,3641,3710,3572,0,0,0,0,0,0,27.13,27.20,27.19
$GC,1863,-0.87,-194.6,2345,2704,3712,3572,281.9,-14.8,194,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2704,3641,3710,3572,0,0,0,0,0,0,27.15,27.22,27.21
$GC,2163,-0.88,-194.6,2345,2706,3709,3573,327.7,-15.5,204,2166,0.00,1.77,0.00,0.000,260,0.000,0.040,2336,3852,3639,3707,3572,0,0,0,0,0,0,27.17,26.57,27.22
$GC,2208,-0.90,-194.6,2336,3851,3708,3572,332.4,-15.6,205,2212,0.00,1.60,0.00,0.000,1030,0.000,0.021,2336,2719,3639,3707,3572,0,0,0,0,0,0,26.90,26.89,26.91
$GC,2523,-0.90,-194.6,2336,2718,3706,3571,384.6,-15.6,216,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2719,3639,3705,3573,0,0,0,0,0,0,27.17,27.25,27.24
$GC,2823,-0.90,-194.6,2336,2719,3705,3571,428.2,-14.4,226,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2718,3638,3704,3572,0,0,0,0,0,0,27.18,27.26,27.24
$GC,3123,-0.91,-194.6,2336,2718,3704,3572,473.0,-14.9,236,3126,0.00,2.05,0.00,0.000,516,0.000,0.022,2336,1331,3637,3703,3572,0,0,0,0,0,0,27.20,26.75,27.26
$GC,3158,-0.93,-194.6,2336,1333,3704,3573,477.5,-14.9,237,3162,0.00,2.08,0.00,0.000,1030,0.000,0.026,2327,2697,3637,3703,3572,0,0,0,0,0,0,26.76,26.73,26.79
$GC,3483,-0.93,-194.6,2327,2697,3702,3572,526.5,-14.6,248,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2697,3636,3701,3572,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3783,-0.93,-194.6,2327,2697,3701,3572,569.3,-14.2,258,3786,0.00,2.03,0.00,0.000,516,0.000,0.023,2327,1338,3635,3699,3572,0,0,0,0,0,0,27.20,26.74,27.27
$GC,3837,-0.93,-194.6,2327,1338,3700,3572,573.4,-14.2,259,3845,0.00,2.05,0.00,0.000,1030,0.000,0.025,2322,2694,3635,3699,3571,0,0,0,0,0,0,26.75,26.73,26.79
$GC,4143,-0.93,-194.6,2322,2696,3699,3573,618.6,-13.3,270,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2694,3635,3698,3572,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4443,-0.93,-194.6,2322,2694,3697,3572,658.5,-13.4,280,4446,0.00,1.75,0.00,0.000,260,0.000,0.041,2319,3836,3633,3696,3571,0,0,0,0,0,0,27.21,26.55,27.27
$GC,4467,-0.93,-194.6,2320,3836,3698,3571,658.5,-13.4,280,4475,0.03,1.62,0.00,0.000,3078,0.158,0.022,2329,2703,3634,3696,3572,0,0,0,0,0,0,26.70,26.89,26.71
$GC,4773,-0.95,-194.6,2329,2704,3696,3573,700.4,-12.3,291,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2703,3633,3695,3572,0,0,0,0,0,0,27.21,27.28,27.27
$GC,5073,-0.97,-194.6,2329,2704,3695,3573,736.2,-12.1,301,5076,0.00,2.03,0.00,0.000,516,0.000,0.023,2329,1331,3632,3693,3572,0,0,0,0,0,0,27.21,26.74,27.27
$GC,5098,-0.99,-194.6,2330,1331,3695,3571,736.2,-12.1,301,5105,0.00,2.08,0.00,0.000,1030,0.000,0.027,2329,2697,3633,3694,3572,0,0,0,0,0,0,26.74,26.70,26.76
$GC,5403,-1.01,-194.6,2330,2699,3694,3573,776.3,-11.8,312,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2698,3632,3693,3572,0,0,0,0,0,0,27.21,27.28,27.27
$STATE,5641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5641,begin apogee
$GC,5645,-0.25,0.0,2330,2814,3694,3572,802.7,-11.0,320,5879,0.70,0.00,230.98,0.803,10246,0.114,0.000,2554,2815,2838,2874,2803,0,0,0,0,0,0,25.94,24.94,24.25
$STATE,5879,end apogee,CONTROL_FINISHED_OK
$STATE,5879,begin climb
$GC,5881,0.90,194.6,2555,2814,2871,2797,811.4,0.0,327,6048,1.05,1.73,159.02,0.960,11012,0.061,0.041,2927,3826,2038,2076,2001,0,0,0,0,0,0,25.10,24.34,23.58
$GC,6053,0.84,491.3,2928,3826,2070,1993,813.9,-0.2,333,6344,0.00,1.60,283.55,0.884,9222,0.000,0.022,2931,2804,833,898,769,0,0,0,0,0,0,24.70,24.70,23.72
$GC,6658,0.87,491.3,2931,2803,884,749,723.3,16.0,354,6663,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3834,816,883,749,0,0,0,0,0,0,26.52,26.18,26.58
$GC,6789,0.90,491.3,2932,3834,884,748,703.5,16.5,358,6792,0.00,1.50,0.00,0.000,1030,0.000,0.021,2931,2781,815,882,748,0,0,0,0,0,0,26.51,26.48,26.52
$GC,7108,0.95,491.3,2931,2779,883,746,655.9,14.0,369,7113,0.00,2.03,0.00,0.000,516,0.000,0.025,2932,1439,814,881,747,0,0,0,0,0,0,26.86,26.56,26.94
$GC,7229,1.00,491.3,2932,1440,882,748,640.1,13.2,373,7233,0.10,2.03,0.00,0.000,3078,0.102,0.026,2987,2789,814,881,747,0,0,0,0,0,0,26.49,26.58,26.59
$GC,7558,1.00,491.3,2987,2790,882,748,581.9,18.1,384,7563,0.00,2.05,0.00,0.000,516,0.000,0.025,2989,1435,814,881,747,0,0,0,0,0,0,26.99,26.66,27.06
$GC,7613,1.00,491.3,2989,1434,882,746,576.7,18.0,385,7620,0.00,2.08,0.00,0.000,1030,0.000,0.025,2988,2794,813,881,746,0,0,0,0,0,0,26.68,26.65,26.71
$GC,7918,1.00,491.3,2989,2795,882,746,517.0,18.4,396,7922,0.00,2.05,0.00,0.000,516,0.000,0.024,2998,1435,813,880,747,0,0,0,0,0,0,27.05,26.70,27.11
$GC,7983,1.00,491.3,2998,1434,881,746,506.3,18.1,398,7987,0.00,2.08,0.00,0.000,1030,0.000,0.025,2998,2794,813,880,747,0,0,0,0,0,0,26.72,26.70,26.74
$GC,8308,0.99,491.3,2999,2794,882,746,444.9,18.5,409,8312,0.08,2.05,0.00,0.000,4612,0.191,0.025,2985,1441,813,880,746,0,0,0,0,0,0,26.82,26.71,26.84
$GC,8343,0.99,491.3,2985,1441,881,746,439.5,18.5,410,8347,0.00,2.08,0.00,0.000,1030,0.000,0.026,2985,2802,813,880,746,0,0,0,0,0,0,26.73,26.70,26.77
$GC,8668,0.99,491.3,2985,2802,881,745,390.1,13.7,421,8673,0.00,2.05,0.00,0.000,516,0.000,0.024,2986,1435,812,880,745,0,0,0,0,0,0,27.12,26.74,27.18
$GC,8898,0.99,491.3,2985,1436,881,747,358.8,15.0,428,8902,0.00,2.08,0.00,0.000,1030,0.000,0.027,2985,2798,812,880,745,0,0,0,0,0,0,26.74,26.72,26.78
$GC,9208,0.93,491.3,2986,2799,881,746,306.1,17.6,439,9212,0.10,1.62,0.00,0.000,4356,0.177,0.041,2964,3848,812,880,745,0,0,0,0,0,0,26.74,26.62,26.80
$GC,9278,0.86,491.3,2963,3849,880,747,294.8,19.2,441,9283,0.08,1.48,0.00,0.000,5126,0.151,0.022,2945,2802,812,880,745,0,0,0,0,0,0,26.47,26.87,26.51
$GC,9599,0.91,491.3,2946,2803,881,747,251.4,12.8,452,9602,0.00,2.05,0.00,0.000,516,0.000,0.026,2946,1432,812,880,745,0,0,0,0,0,0,27.15,26.74,27.22
$GC,9678,0.96,491.3,2946,1432,880,745,241.2,12.8,458,9682,0.00,2.08,0.00,0.000,1030,0.000,0.026,2946,2794,812,880,745,0,0,0,0,0,0,26.77,26.74,26.79
$GC,9989,1.00,491.3,2946,2795,881,747,200.2,13.7,489,9992,0.00,2.05,0.00,0.000,516,0.000,0.025,2946,1433,812,880,745,0,0,0,0,0,0,27.17,26.74,27.24
$GC,10053,1.06,491.3,2946,1434,881,746,192.2,13.3,495,10060,0.05,2.08,0.00,0.000,3078,0.067,0.026,2997,2796,812,880,745,0,0,0,0,0,0,26.60,26.74,26.65
$GC,10358,1.06,491.3,2997,2796,881,744,141.9,16.1,526,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2796,813,881,745,0,0,0,0,0,0,27.17,27.25,27.24
$GC,10659,1.06,491.3,2997,2796,881,745,99.4,13.5,556,10663,0.00,2.00,0.00,0.000,516,0.000,0.024,3006,1430,813,880,746,0,0,0,0,0,0,27.18,26.77,27.25
$GC,10763,1.09,491.3,3006,1430,881,745,85.7,13.6,566,10770,0.00,2.10,0.00,0.000,1030,0.000,0.026,3006,2809,812,880,745,0,0,0,0,0,0,26.77,26.73,26.79
$GC,11068,1.11,491.3,3006,2810,881,747,43.6,13.0,601,11076,0.00,1.60,0.00,0.000,260,0.000,0.041,3006,3842,812,880,745,0,0,0,0,0,0,27.19,26.60,27.26
$GC,11135,1.11,491.3,3006,3842,881,745,34.3,14.4,614,11141,0.00,1.48,0.00,0.000,1030,0.000,0.022,3012,2795,812,880,745,0,0,0,0,0,0,26.91,26.89,26.94
$STATE,11429,end climb,SURFACE_DEPTH_REACHED
$STATE,11429,begin surface coast
$FINISH,0.7,1.023525
$STATE,11445,end surface coast,CONTROL_FINISHED_OK
$STATE,11445,begin surface
$SM_CCo,11518,0.00,0.000,0,0,810,497.71
$SM_GC,1.85,7.28,0.00,0.00,0.032,0.000,0.000,192,2794,810,-7.56,2.66,497.71,0,0,0,0,0,0,26.73,27.27,26.78
$IRIDIUM_FIX,5644.84,-15051.72,110608,061510
$TT8_MAMPS,0.057673,0.057673
$HUMID,46.61
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.58,67.833
$10V_AH,10.15,39.706
$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,18.175,80.200,673.550,0.000,0.000,0.000,0.000,241.150,0.000,0.000,12.537,0.000,8975.160,714.327,2024.929,103.059,0.000,1763.003,0.000,1403.488,0.000,0.547,0.000
$DEVICE_MAMPS,228.735,90.270,960.075,0.000,0.000,0.000,0.000,79.560,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,461.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142580
$DATA_FILE_SIZE,26749,676
$CAP_FILE_SIZE,106396,0
$CFSIZE,1024393216,977027072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13883.32,0x236db2,7,5
$INTR,1,11448.15,0x236db2,7,5
$CURRENT,0.117,261.32,1
$GPS,150815,235604,5707.057,-15049.173,30,0.9,31,16.6,0.0,0.0,9,7.8