version: 66.12
glider: 203
mission: 8
dive: 211
start: 8 16 115 10 12 16
data:
$ID,203
$MISSION,8
$DIVE,211
$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,98
$R_STBD_OVSHOOT,49
$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
$GPS1,160815,100756,5710.4478,-15058.5850,35,0.8,40,16.6,0.4,262.9,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.2
$GPS2,160815,101205,5710.4663,-15058.6777,6,0.8,12,16.6,0.0,316.4,10,9.4
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,83.0,13557,-17.6,-10.667,-19.18,2802
$D_GRID,577
$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,-194.6,198,2808,715,599,0.0,0.0,0,64,0.00,0.00,-49.65,0.000,16386,0.000,0.000,197,2806,1945,1992,1898,0,0,0,0,0,0,26.75,28.83,26.82
$GC,66,-0.90,-194.6,198,2806,1993,1899,3.2,-4.5,8,124,8.57,1.62,-41.92,0.000,18692,0.226,0.060,2340,3847,3636,3711,3561,0,0,0,0,0,0,25.65,24.30,26.03
$GC,239,-0.87,-194.6,2341,3849,3713,3567,38.1,-19.7,41,246,0.00,1.65,0.00,0.000,1030,0.000,0.020,2340,2684,3639,3712,3566,0,0,0,0,0,0,26.65,26.63,26.65
$GC,545,-0.85,-194.6,2340,2685,3713,3571,94.8,-17.6,78,549,0.10,1.98,0.00,0.000,2564,0.171,0.022,2363,1347,3640,3712,3569,0,0,0,0,0,0,26.60,26.60,26.64
$GC,585,-0.85,-194.6,2363,1348,3713,3570,101.3,-16.3,82,589,0.00,2.08,0.00,0.000,1030,0.000,0.026,2358,2709,3640,3712,3569,0,0,0,0,0,0,26.60,26.59,26.65
$GC,895,-0.85,-194.6,2359,2711,3713,3571,150.4,-14.7,113,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2708,3641,3712,3571,0,0,0,0,0,0,27.06,27.13,27.13
$GC,1196,-0.85,-194.6,2359,2709,3713,3570,194.4,-14.4,143,1199,0.00,1.75,0.00,0.000,260,0.000,0.041,2349,3869,3641,3711,3571,0,0,0,0,0,0,27.10,26.53,27.16
$GC,1225,-0.85,-194.6,2349,3869,3712,3571,198.6,-13.9,146,1229,0.00,1.65,0.00,0.000,1030,0.000,0.021,2349,2713,3640,3711,3570,0,0,0,0,0,0,26.84,26.83,26.86
$GC,1535,-0.87,-194.6,2349,2713,3713,3569,240.7,-13.7,177,1539,0.00,2.05,0.00,0.000,516,0.000,0.023,2349,1324,3641,3712,3570,0,0,0,0,0,0,27.13,26.71,27.20
$GC,1575,-0.89,-194.6,2350,1324,3713,3570,246.2,-13.6,181,1579,0.00,2.08,0.00,0.000,1030,0.000,0.026,2340,2702,3641,3711,3571,0,0,0,0,0,0,26.73,26.70,26.76
$GC,1905,-0.89,-194.6,2341,2703,3712,3572,291.7,-13.5,194,1909,0.00,2.03,0.00,0.000,516,0.000,0.022,2340,1338,3641,3711,3571,0,0,0,0,0,0,27.16,26.73,27.22
$GC,1935,-0.91,-194.6,2340,1338,3712,3570,295.6,-13.5,195,1939,0.00,2.05,0.00,0.000,1030,0.000,0.026,2333,2694,3640,3711,3570,0,0,0,0,0,0,26.73,26.70,26.76
$GC,2265,-0.91,-194.6,2333,2695,3710,3572,338.3,-12.8,206,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2693,3640,3710,3570,0,0,0,0,0,0,27.17,27.24,27.23
$GC,2565,-0.91,-194.6,2333,2695,3709,3572,376.6,-13.0,216,2569,0.00,2.03,0.00,0.000,516,0.000,0.024,2333,1334,3639,3708,3570,0,0,0,0,0,0,27.18,26.74,27.24
$GC,2610,-0.91,-194.6,2333,1334,3709,3570,380.6,-13.2,217,2615,0.05,2.08,0.00,0.000,3078,0.149,0.026,2340,2706,3639,3708,3570,0,0,0,0,0,0,26.46,26.72,26.49
$GC,2925,-0.93,-194.6,2340,2706,3708,3570,426.0,-14.3,228,2929,0.00,1.75,0.00,0.000,260,0.000,0.040,2336,3844,3638,3706,3570,0,0,0,0,0,0,27.19,26.56,27.26
$GC,2955,-0.96,-194.6,2336,3845,3706,3571,430.0,-14.0,229,2959,0.00,1.62,0.00,0.000,1030,0.000,0.022,2336,2714,3638,3706,3570,0,0,0,0,0,0,26.90,26.89,26.92
$GC,3285,-0.98,-194.6,2336,2714,3705,3570,475.2,-13.6,240,3289,0.00,2.05,0.00,0.000,516,0.000,0.022,2336,1325,3637,3704,3570,0,0,0,0,0,0,27.20,26.75,27.26
$GC,3320,-1.00,-194.6,2336,1327,3705,3572,479.3,-13.5,241,3324,0.00,2.08,0.00,0.000,1030,0.000,0.026,2327,2700,3637,3704,3570,0,0,0,0,0,0,26.74,26.72,26.79
$GC,3645,-1.00,-194.6,2327,2702,3704,3572,525.2,-14.2,252,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2701,3636,3703,3570,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3945,-1.00,-194.6,2327,2702,3703,3572,570.0,-15.0,262,3949,0.00,2.08,0.00,0.000,516,0.000,0.023,2327,1317,3635,3701,3570,0,0,0,0,0,0,27.21,26.74,27.27
$GC,3980,-1.00,-194.6,2327,1318,3702,3572,574.4,-14.9,263,3984,0.00,2.10,0.00,0.000,1030,0.000,0.026,2322,2703,3636,3702,3571,0,0,0,0,0,0,26.74,26.71,26.77
$STATE,4004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4004,begin apogee
$GC,4008,-0.25,0.0,2322,2816,3703,3569,578.9,-15.0,264,4236,0.73,0.00,225.93,0.712,10246,0.116,0.000,2552,2817,2837,2874,2801,0,0,0,0,0,0,25.94,25.13,24.49
$STATE,4237,end apogee,CONTROL_FINISHED_OK
$STATE,4237,begin climb
$GC,4238,0.90,194.6,2552,2817,2872,2797,593.4,0.0,271,4401,1.05,1.70,154.73,0.823,11012,0.067,0.040,2923,3826,2036,2074,1998,0,0,0,0,0,0,25.27,24.70,23.99
$GC,4626,0.87,303.8,2924,3827,2066,1985,588.0,6.7,284,4719,0.00,1.50,89.78,0.812,9222,0.000,0.022,2931,2793,1599,1643,1555,0,0,0,0,0,0,26.25,26.23,24.54
$GC,5025,0.87,303.8,2931,2794,1625,1530,541.6,13.4,298,5029,0.00,1.65,0.00,0.000,260,0.000,0.040,2931,3829,1576,1624,1529,0,0,0,0,0,0,26.65,26.27,26.72
$GC,5166,0.87,303.8,2932,3830,1624,1529,525.9,13.2,302,5169,0.00,1.48,0.00,0.000,1030,0.000,0.022,2931,2796,1575,1623,1528,0,0,0,0,0,0,26.58,26.55,26.60
$GC,5475,0.87,303.8,2931,2797,1624,1527,488.8,10.8,313,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2798,1574,1622,1527,0,0,0,0,0,0,26.91,26.99,26.98
$GC,5776,0.88,328.7,2931,2797,1623,1527,459.6,9.8,323,5797,0.00,0.00,20.60,0.770,8198,0.000,0.000,2931,2798,1498,1543,1453,0,0,0,0,0,0,27.00,26.19,25.48
$GC,6076,0.90,328.7,2932,2799,1530,1435,428.1,10.8,333,6079,0.00,2.05,0.00,0.000,516,0.000,0.024,2931,1435,1481,1529,1434,0,0,0,0,0,0,26.87,26.55,26.94
$GC,6120,0.92,328.7,2931,1434,1530,1433,425.0,10.8,334,6124,0.00,2.08,0.00,0.000,1030,0.000,0.026,2932,2784,1481,1528,1434,0,0,0,0,0,0,26.57,26.54,26.60
$GC,6436,0.94,328.7,2932,2786,1528,1435,389.5,10.8,345,6439,0.00,1.67,0.00,0.000,260,0.000,0.041,2931,3856,1480,1527,1433,0,0,0,0,0,0,26.99,26.51,27.05
$GC,6470,0.96,328.7,2932,3857,1528,1434,386.0,11.1,346,6474,0.00,1.50,0.00,0.000,1030,0.000,0.022,2931,2805,1479,1527,1432,0,0,0,0,0,0,26.77,26.75,26.77
$GC,6796,0.98,330.5,2932,2805,1528,1432,350.4,10.6,357,6797,0.05,0.00,0.00,0.000,2054,0.170,0.000,2972,2806,1480,1527,1433,0,0,0,0,0,0,26.91,26.93,26.91
$GC,7096,0.98,330.5,2972,2805,1527,1434,314.6,11.7,367,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2805,1479,1526,1433,0,0,0,0,0,0,27.09,27.17,27.15
$GC,7395,0.98,330.5,2972,2807,1527,1434,280.5,11.4,377,7399,0.00,2.05,0.00,0.000,516,0.000,0.024,2972,1422,1479,1526,1432,0,0,0,0,0,0,27.12,26.72,27.18
$GC,7420,0.98,330.5,2973,1424,1527,1434,280.5,11.4,377,7427,0.00,2.10,0.00,0.000,1030,0.000,0.027,2971,2801,1479,1526,1432,0,0,0,0,0,0,26.72,26.68,26.75
$GC,7725,0.98,330.5,2972,2802,1527,1433,242.4,11.9,392,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2801,1479,1526,1432,0,0,0,0,0,0,27.14,27.21,27.20
$GC,8026,0.98,330.5,2972,2802,1527,1433,206.9,11.6,422,8029,0.00,2.03,0.00,0.000,516,0.000,0.024,2971,1429,1479,1526,1432,0,0,0,0,0,0,27.15,26.74,27.22
$GC,8065,0.98,330.5,2972,1422,1527,1433,202.5,11.0,426,8069,0.00,2.10,0.00,0.000,1030,0.000,0.026,2972,2800,1478,1526,1431,0,0,0,0,0,0,26.74,26.71,26.77
$GC,8375,0.98,359.8,2973,2802,1527,1433,170.1,9.6,457,8409,0.00,1.67,28.08,0.602,8452,0.000,0.041,2972,3860,1364,1410,1318,0,0,0,0,0,0,27.17,26.34,25.66
$GC,8633,0.97,359.8,2972,3861,1402,1307,140.1,12.6,482,8639,0.00,1.52,0.00,0.000,1030,0.000,0.022,2978,2790,1353,1401,1305,0,0,0,0,0,0,26.68,26.67,26.71
$GC,8938,0.97,365.4,2978,2791,1402,1306,106.6,10.5,513,8941,0.00,2.03,0.00,0.000,516,0.000,0.023,2985,1431,1352,1401,1304,0,0,0,0,0,0,27.02,26.63,27.08
$GC,8978,0.99,374.4,2985,1432,1402,1306,102.4,10.3,517,8993,0.00,2.10,11.38,0.588,9222,0.000,0.026,2984,2804,1311,1358,1265,0,0,0,0,0,0,26.63,26.59,25.65
$GC,9293,1.01,393.5,2984,2804,1349,1251,72.2,10.0,548,9315,0.00,0.00,18.67,0.543,8198,0.000,0.000,2984,2804,1230,1279,1181,0,0,0,0,0,0,26.99,26.24,25.65
$GC,9613,1.04,409.0,2985,2806,1271,1170,38.8,10.1,591,9625,0.00,2.10,5.12,0.220,8708,0.000,0.024,2984,1426,1172,1227,1118,0,0,0,0,0,0,26.94,26.08,25.63
$GC,9720,1.09,464.8,2985,1427,1239,1127,29.5,8.6,612,9754,0.00,2.05,25.83,0.207,9222,0.000,0.026,2984,2809,944,1006,883,0,0,0,0,0,0,26.61,26.55,25.89
$GC,10054,1.17,528.7,2985,2809,1015,891,2.4,8.3,678,10068,0.10,0.00,11.50,0.152,10754,0.097,0.000,3040,2809,838,903,773,0,0,0,0,0,0,26.79,28.83,26.82
$STATE,10068,end climb,SURFACE_DEPTH_REACHED
$STATE,10068,begin surface coast
$FINISH,0.7,1.016798
$STATE,10086,end surface coast,CONTROL_FINISHED_OK
$STATE,10086,begin surface
$SM_CCo,10159,0.00,0.000,0,0,839,490.85
$SM_GC,1.77,7.47,0.08,0.00,0.037,0.106,0.000,195,2701,839,-7.57,2.88,490.85,0,0,0,0,0,0,26.52,26.81,26.58
$IRIDIUM_FIX,5644.84,-15055.18,110608,203414
$TT8_MAMPS,0.056175,0.056175
$HUMID,45.31
$INTERNAL_PRESSURE,8.8022
$TCM_TEMP,18.20
$XPDR_PINGS,1
$24V_AH,23.99,68.400
$10V_AH,10.20,39.903
$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,18.125,68.275,591.600,0.000,0.000,0.000,0.000,184.075,0.250,0.000,12.565,0.000,7793.322,646.343,1862.654,99.185,0.000,1565.679,0.000,1311.711,0.000,0.547,0.000
$DEVICE_MAMPS,226.440,105.570,823.140,0.000,0.000,0.000,0.000,80.325,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,465.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30134,684
$CAP_FILE_SIZE,99524,0
$CFSIZE,1024393216,976748544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10870.72,0x236db2,7,5
$CURRENT,0.128,219.43,1
$GPS,160815,130229,5709.680,-15056.289,35,0.7,37,16.6,0.3,338.3,12,9.7