version: 66.12
glider: 203
mission: 8
dive: 217
start: 8 17 115 7 4 6
data:
$ID,203
$MISSION,8
$DIVE,217
$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
$GPS1,170815,065933,5709.5493,-15056.7686,34,0.9,34,16.6,0.0,0.0,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-60.7
$GPS2,170815,070355,5709.5117,-15056.7510,8,0.9,11,16.6,0.6,107.8,9,9.0
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP11
$TGT_LATLONG,5711.000,-15100.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,318.0,4270,-17.6,-10.667,-19.18,2802
$D_GRID,620
$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,-194.6,197,2804,869,757,0.0,0.0,0,58,0.00,0.00,-43.45,0.000,16386,0.000,0.000,195,2805,1942,1989,1896,0,0,0,0,0,0,26.75,28.83,26.82
$GC,60,-0.90,-194.6,196,2805,1990,1897,3.4,-4.1,7,117,8.68,2.20,-41.25,0.000,18948,0.230,0.037,2341,1334,3635,3710,3561,0,0,0,0,0,0,25.65,24.27,26.03
$GC,276,-0.87,-194.6,2342,1335,3710,3568,47.8,-19.5,49,284,0.05,2.08,0.00,0.000,3078,0.151,0.025,2350,2700,3638,3710,3566,0,0,0,0,0,0,26.21,26.48,26.27
$GC,583,-0.87,-194.6,2350,2701,3711,3572,104.9,-16.6,81,588,0.00,2.05,0.00,0.000,516,0.000,0.022,2350,1325,3640,3710,3571,0,0,0,0,0,0,27.00,26.59,27.05
$GC,648,-0.87,-194.6,2351,1325,3712,3571,114.4,-15.8,87,654,0.00,2.08,0.00,0.000,1030,0.000,0.025,2348,2694,3640,3710,3571,0,0,0,0,0,0,26.60,26.58,26.63
$GC,953,-0.87,-194.6,2348,2696,3712,3573,162.8,-14.6,118,957,0.00,1.77,0.00,0.000,260,0.000,0.040,2339,3848,3641,3710,3572,0,0,0,0,0,0,27.08,26.50,27.13
$GC,1033,-0.87,-194.6,2339,3849,3711,3573,174.7,-14.5,126,1037,0.00,1.62,0.00,0.000,1030,0.000,0.021,2339,2711,3641,3711,3572,0,0,0,0,0,0,26.82,26.80,26.84
$GC,1343,-0.87,-194.6,2339,2712,3711,3572,217.6,-13.5,157,1347,0.08,1.75,0.00,0.000,2308,0.190,0.038,2347,3836,3641,3711,3572,0,0,0,0,0,0,26.85,26.53,26.85
$GC,1439,-0.90,-194.6,2348,3835,3711,3571,229.6,-13.2,166,1445,0.00,1.65,0.00,0.000,1030,0.000,0.021,2348,2677,3641,3710,3572,0,0,0,0,0,0,26.86,26.85,26.89
$GC,1744,-0.91,-194.6,2348,2677,3711,3572,269.5,-12.9,187,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2677,3641,3710,3572,0,0,0,0,0,0,27.15,27.22,27.21
$GC,2043,-0.91,-194.6,2348,2678,3711,3573,309.6,-13.4,197,2047,0.00,1.98,0.00,0.000,516,0.000,0.021,2348,1335,3641,3710,3572,0,0,0,0,0,0,27.17,26.74,27.23
$GC,2073,-0.91,-194.6,2349,1336,3711,3572,313.7,-13.5,198,2077,0.00,2.08,0.00,0.000,1030,0.000,0.027,2346,2700,3640,3709,3572,0,0,0,0,0,0,26.72,26.70,26.76
$GC,2403,-0.93,-194.6,2345,2700,3709,3572,358.3,-13.2,209,2407,0.00,1.75,0.00,0.000,260,0.000,0.039,2336,3841,3639,3707,3571,0,0,0,0,0,0,27.18,26.55,27.24
$GC,2428,-0.95,-194.6,2336,3842,3708,3571,358.3,-13.2,209,2435,0.00,1.62,0.00,0.000,1030,0.000,0.021,2336,2713,3639,3707,3572,0,0,0,0,0,0,26.89,26.87,26.91
$GC,2733,-0.95,-194.6,2336,2714,3707,3573,405.0,-14.3,220,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2713,3638,3705,3572,0,0,0,0,0,0,27.19,27.26,27.25
$GC,3033,-0.95,-194.6,2336,2713,3706,3572,446.4,-13.1,230,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2713,3638,3704,3572,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3333,-0.95,-194.6,2335,2714,3704,3573,487.5,-14.1,240,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2713,3637,3703,3572,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3633,-0.96,-194.6,2336,2714,3704,3573,529.7,-13.9,250,3637,0.00,2.08,0.00,0.000,516,0.000,0.022,2336,1317,3637,3702,3572,0,0,0,0,0,0,27.21,26.73,27.27
$GC,3673,-0.98,-194.6,2336,1317,3703,3571,533.9,-14.0,251,3677,0.00,2.10,0.00,0.000,1030,0.000,0.025,2327,2698,3637,3702,3572,0,0,0,0,0,0,26.74,26.72,26.77
$GC,3993,-0.98,-194.6,2328,2699,3701,3573,578.6,-12.9,262,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2698,3636,3700,3572,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4293,-0.98,-194.6,2328,2698,3700,3571,618.5,-13.5,272,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2698,3635,3698,3572,0,0,0,0,0,0,27.21,27.28,27.27
$STATE,4321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4321,begin apogee
$GC,4325,-0.25,0.0,2327,2831,3699,3573,622.7,-13.5,273,4554,0.73,0.00,226.45,0.735,10246,0.115,0.000,2556,2830,2838,2875,2801,0,0,0,0,0,0,25.91,25.10,24.45
$STATE,4555,end apogee,CONTROL_FINISHED_OK
$STATE,4555,begin climb
$GC,4556,0.90,194.6,2557,2831,2871,2799,636.0,0.0,280,4720,1.05,2.22,155.18,0.851,11012,0.064,0.021,2931,1418,2036,2074,1999,0,0,0,0,0,0,25.25,24.63,23.91
$GC,4789,0.87,417.0,2931,1418,2065,1988,639.0,2.5,288,4990,0.00,2.17,193.80,0.819,9222,0.000,0.025,2931,2776,1134,1187,1082,0,0,0,0,0,0,25.52,25.49,23.93
$GC,5304,0.89,417.0,2931,2776,1172,1059,573.1,14.2,306,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2776,1114,1170,1059,0,0,0,0,0,0,26.58,26.65,26.65
$GC,5604,0.92,417.0,2931,2776,1171,1058,532.9,13.3,316,5607,0.00,2.05,0.00,0.000,516,0.000,0.024,2931,1423,1114,1170,1058,0,0,0,0,0,0,26.83,26.53,26.90
$GC,5644,0.94,417.0,2931,1425,1170,1060,528.6,13.8,317,5647,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2791,1113,1169,1058,0,0,0,0,0,0,26.55,26.53,26.58
$GC,5964,0.97,417.0,2932,2792,1170,1059,484.4,13.2,328,5967,0.00,2.08,0.00,0.000,516,0.000,0.024,2931,1421,1113,1169,1058,0,0,0,0,0,0,26.96,26.63,27.03
$GC,5999,1.01,417.0,2931,1422,1170,1058,480.4,13.2,329,6003,0.05,2.12,0.00,0.000,3078,0.073,0.026,2979,2806,1113,1169,1058,0,0,0,0,0,0,26.49,26.60,26.53
$GC,6324,1.01,417.0,2980,2806,1169,1058,429.9,15.1,340,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2807,1113,1168,1058,0,0,0,0,0,0,27.03,27.10,27.10
$GC,6624,1.01,417.0,2980,2808,1169,1059,385.6,15.2,350,6627,0.00,1.62,0.00,0.000,260,0.000,0.040,2980,3851,1113,1168,1058,0,0,0,0,0,0,27.08,26.58,27.15
$GC,6654,0.99,417.0,2980,3852,1169,1059,380.9,15.4,351,6657,0.00,1.52,0.00,0.000,1030,0.000,0.022,2984,2776,1112,1167,1057,0,0,0,0,0,0,26.86,26.82,26.86
$GC,6984,0.99,417.0,2984,2775,1169,1057,331.5,14.8,362,6987,0.00,1.67,0.00,0.000,260,0.000,0.040,2984,3847,1112,1167,1057,0,0,0,0,0,0,27.10,26.60,27.17
$GC,7014,0.97,417.0,2984,3848,1168,1058,327.0,14.7,363,7017,0.00,1.48,0.00,0.000,1030,0.000,0.022,2984,2804,1112,1167,1057,0,0,0,0,0,0,26.86,26.86,26.89
$GC,7344,0.97,417.0,2985,2805,1168,1058,276.7,15.3,374,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2804,1112,1168,1057,0,0,0,0,0,0,27.13,27.21,27.20
$GC,7644,0.97,417.0,2984,2804,1168,1058,232.7,14.0,392,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2804,1112,1167,1057,0,0,0,0,0,0,27.15,27.22,27.22
$GC,7944,0.97,417.0,2985,2805,1168,1059,191.9,14.0,422,7947,0.00,2.00,0.00,0.000,516,0.000,0.024,2994,1441,1112,1168,1057,0,0,0,0,0,0,27.16,26.77,27.23
$GC,7978,0.97,417.0,2995,1428,1169,1057,187.7,13.9,425,7986,0.05,2.10,0.00,0.000,5126,0.133,0.027,2978,2808,1112,1167,1057,0,0,0,0,0,0,26.49,26.72,26.54
$GC,8284,0.97,417.0,2978,2808,1168,1057,145.3,14.2,456,8287,0.00,1.60,0.00,0.000,260,0.000,0.041,2978,3841,1112,1167,1057,0,0,0,0,0,0,27.17,26.60,27.24
$GC,8448,0.97,417.0,2978,3841,1168,1056,123.1,13.6,472,8456,0.00,1.50,0.00,0.000,1030,0.000,0.022,2984,2790,1111,1167,1056,0,0,0,0,0,0,26.92,26.89,26.94
$GC,8754,0.97,417.0,2984,2791,1168,1058,86.3,12.0,503,8757,0.00,1.65,0.00,0.000,260,0.000,0.040,2984,3845,1112,1167,1057,0,0,0,0,0,0,27.18,26.60,27.24
$GC,8778,0.97,417.0,2984,3845,1167,1056,83.9,12.3,505,8786,0.00,1.50,0.00,0.000,1030,0.000,0.022,2985,2779,1111,1167,1056,0,0,0,0,0,0,26.91,26.90,26.94
$GC,9084,1.00,417.0,2985,2780,1168,1058,47.3,11.2,538,9090,0.00,2.00,0.00,0.000,516,0.000,0.024,2994,1429,1111,1167,1056,0,0,0,0,0,0,27.19,26.78,27.25
$GC,9245,1.04,443.4,2994,1431,1168,1058,31.0,9.7,570,9258,0.00,2.08,9.00,0.207,9222,0.000,0.026,2995,2794,1029,1088,971,0,0,0,0,0,0,26.76,26.74,25.66
$GC,9558,1.11,502.7,2994,2794,1102,983,3.6,8.5,632,9588,0.00,1.77,26.10,0.151,8707,0.000,0.022,2999,1621,785,850,721,0,0,0,0,0,0,27.17,26.40,26.10
$STATE,9588,end climb,SURFACE_DEPTH_REACHED
$STATE,9588,begin surface coast
$FINISH,0.6,1.023290
$STATE,9611,end surface coast,CONTROL_FINISHED_OK
$STATE,9611,begin surface
$SM_CCo,9685,0.00,0.000,0,0,787,503.36
$SM_GC,1.68,7.28,1.65,0.00,0.032,0.026,0.000,193,2721,787,-7.59,-1.44,503.36,0,0,0,0,0,0,26.61,26.71,26.67
$IRIDIUM_FIX,5644.84,-15053.64,120608,165043
$TT8_MAMPS,0.056924,0.056924
$HUMID,45.31
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.80
$XPDR_PINGS,1
$24V_AH,23.91,69.268
$10V_AH,10.16,40.205
$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,17.950,63.850,610.525,0.000,0.000,0.000,0.000,194.875,0.250,0.000,12.554,0.000,7463.325,656.730,1723.502,94.768,0.000,1538.673,0.000,1191.222,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,78.030,851.445,0.000,0.000,0.000,0.000,83.385,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,436.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26725,642
$CAP_FILE_SIZE,91467,0
$CFSIZE,1024393216,976306176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,12992.37,0x236db2,7,5
$CURRENT,0.108,244.99,1
$GPS,170815,094626,5710.923,-15059.311,18,0.8,37,16.6,0.8,221.1,10,7.5