version: 66.12
glider: 203
mission: 8
dive: 220
start: 8 17 115 15 32 56
data:
$ID,203
$MISSION,8
$DIVE,220
$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,105
$R_STBD_OVSHOOT,46
$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
$GPS1,170815,152832,5709.3413,-15055.5518,19,0.7,27,16.6,1.2,194.6,12,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-56.5
$GPS2,170815,153245,5709.3364,-15055.4814,8,0.7,12,16.6,0.0,21.2,12,8.2
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,91.7,9738,-17.6,-10.667,-19.18,2802
$D_GRID,669
$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,-194.6,191,2805,793,669,0.0,0.0,0,63,0.00,0.00,-48.75,0.000,16386,0.000,0.000,189,2805,1993,2033,1953,0,0,0,0,0,0,26.77,28.83,26.84
$GC,65,-0.90,-194.6,190,2805,2035,1953,3.2,-5.0,8,124,8.88,1.67,-40.45,0.000,18692,0.238,0.057,2337,3859,3636,3711,3561,0,0,0,0,0,0,25.67,24.31,26.06
$GC,283,-0.84,-194.6,2338,3860,3712,3567,51.5,-20.2,50,287,0.08,1.65,0.00,0.000,3078,0.133,0.019,2362,2679,3638,3711,3566,0,0,0,0,0,0,26.29,26.67,26.35
$GC,593,-0.84,-194.6,2361,2680,3712,3572,105.6,-17.1,81,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2678,3641,3711,3571,0,0,0,0,0,0,27.01,27.08,27.07
$GC,893,-0.84,-194.6,2361,2680,3712,3574,156.3,-16.4,111,896,0.00,1.80,0.00,0.000,260,0.000,0.038,2356,3863,3641,3711,3572,0,0,0,0,0,0,27.07,26.52,27.13
$GC,957,-0.84,-194.6,2355,3863,3712,3572,166.1,-16.4,117,965,0.00,1.62,0.00,0.000,1030,0.000,0.021,2355,2709,3641,3711,3572,0,0,0,0,0,0,26.84,26.82,26.85
$GC,1263,-0.84,-194.6,2355,2709,3712,3572,216.2,-15.5,148,1266,0.00,2.00,0.00,0.000,516,0.000,0.022,2355,1348,3641,3711,3572,0,0,0,0,0,0,27.12,26.72,27.17
$GC,1317,-0.84,-194.6,2356,1349,3712,3574,223.7,-15.1,153,1324,0.00,2.05,0.00,0.000,1030,0.000,0.026,2348,2701,3641,3711,3572,0,0,0,0,0,0,26.71,26.68,26.74
$GC,1623,-0.84,-194.6,2349,2701,3712,3572,266.7,-13.0,176,1624,0.08,0.00,0.00,0.000,2054,0.196,0.000,2363,2701,3641,3710,3572,0,0,0,0,0,0,26.86,26.90,26.88
$GC,1923,-0.87,-194.6,2364,2702,3711,3572,303.4,-12.5,186,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2701,3640,3709,3572,0,0,0,0,0,0,27.17,27.24,27.23
$GC,2223,-0.90,-194.6,2364,2703,3710,3573,341.6,-12.9,196,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2702,3640,3709,3572,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2523,-0.93,-194.6,2364,2701,3710,3572,378.6,-12.2,206,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2701,3639,3706,3572,0,0,0,0,0,0,27.19,27.26,27.25
$GC,2823,-0.97,-194.6,2364,2702,3707,3573,417.9,-13.5,216,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2701,3639,3706,3572,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3123,-1.00,-194.6,2364,2703,3706,3573,457.5,-13.2,226,3124,0.10,0.00,0.00,0.000,4102,0.099,0.000,2300,2701,3638,3704,3572,0,0,0,0,0,0,27.02,27.05,27.03
$GC,3423,-0.98,-194.6,2301,2703,3704,3573,506.7,-16.3,236,3424,0.10,0.00,0.00,0.000,2054,0.170,0.000,2322,2701,3637,3703,3572,0,0,0,0,0,0,26.82,26.88,26.85
$GC,3723,-0.98,-194.6,2323,2701,3703,3571,551.4,-14.8,246,3726,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3842,3637,3702,3572,0,0,0,0,0,0,27.21,26.55,27.27
$GC,3753,-0.98,-194.6,2320,3844,3702,3573,555.8,-14.7,247,3756,0.00,1.62,0.00,0.000,1030,0.000,0.021,2319,2708,3636,3701,3572,0,0,0,0,0,0,26.92,26.90,26.94
$GC,4083,-0.98,-194.6,2320,2708,3701,3571,605.1,-15.0,258,4086,0.00,2.03,0.00,0.000,516,0.000,0.022,2320,1337,3636,3700,3572,0,0,0,0,0,0,27.21,26.76,27.27
$GC,4108,-0.98,-194.6,2320,1338,3701,3572,605.1,-15.0,258,4114,0.00,2.08,0.00,0.000,1030,0.000,0.027,2319,2698,3635,3700,3571,0,0,0,0,0,0,26.73,26.70,26.77
$GC,4413,-0.98,-194.6,2319,2699,3699,3573,655.2,-15.5,269,4416,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3839,3635,3698,3572,0,0,0,0,0,0,27.21,26.53,27.27
$GC,4443,-0.98,-194.6,2319,3839,3700,3571,659.7,-15.4,270,4447,0.00,1.62,0.00,0.000,1030,0.000,0.022,2319,2711,3635,3699,3572,0,0,0,0,0,0,26.90,26.89,26.91
$STATE,4501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4501,begin apogee
$GC,4505,-0.25,0.0,2320,2815,3699,3572,669.2,-15.4,272,4685,0.75,0.00,172.60,1.382,10246,0.115,0.000,2558,2815,2839,2875,2803,0,0,0,0,1,0,25.91,24.09,23.07
$STATE,4686,end apogee,CONTROL_FINISHED_OK
$STATE,4686,begin climb
$GC,4687,0.90,194.6,2559,2815,2889,2803,683.1,0.0,278,4859,1.05,2.25,164.32,0.884,11012,0.050,0.020,2932,1417,2038,2075,2001,0,0,0,0,0,0,24.32,24.08,23.58
$GC,5083,0.91,341.2,2932,1418,2068,1991,681.2,5.3,290,5212,0.00,2.15,120.82,0.881,9222,0.000,0.026,2932,2784,1439,1486,1392,0,0,0,0,0,0,26.12,26.09,24.27
$GC,5518,0.91,341.2,2932,2783,1477,1376,633.1,11.8,305,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2784,1426,1475,1377,0,0,0,0,0,0,26.64,26.70,26.70
$GC,5818,0.91,341.2,2932,2783,1476,1375,597.9,11.8,315,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2784,1425,1475,1375,0,0,0,0,0,0,26.86,26.93,26.92
$GC,6119,0.93,341.2,2931,2784,1474,1374,560.4,12.1,325,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2784,1424,1474,1375,0,0,0,0,0,0,26.96,27.03,27.03
$GC,6419,0.95,341.2,2932,2784,1474,1374,524.5,11.7,335,6422,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3846,1423,1472,1375,0,0,0,0,0,0,27.02,26.57,27.10
$GC,6518,0.95,341.2,2931,3848,1474,1375,512.6,12.8,338,6522,0.00,1.50,0.00,0.000,1030,0.000,0.021,2932,2784,1423,1473,1374,0,0,0,0,0,0,26.82,26.79,26.83
$GC,6838,0.95,341.2,2931,2784,1474,1374,474.5,11.2,349,6842,0.00,2.03,0.00,0.000,516,0.000,0.024,2931,1431,1423,1473,1374,0,0,0,0,0,0,27.08,26.72,27.15
$GC,6868,0.96,341.2,2932,1432,1474,1376,471.0,11.2,350,6872,0.00,2.08,0.00,0.000,1030,0.000,0.026,2932,2802,1423,1472,1374,0,0,0,0,0,0,26.73,26.70,26.76
$GC,7198,0.98,341.2,2932,2804,1473,1375,431.8,12.5,361,7202,0.05,1.62,0.00,0.000,2308,0.168,0.040,2976,3856,1422,1471,1373,0,0,0,0,0,0,26.98,26.60,26.98
$GC,7253,0.98,341.2,2976,3856,1471,1373,427.5,12.9,362,7260,0.00,1.48,0.00,0.000,1030,0.000,0.022,2984,2809,1422,1471,1373,0,0,0,0,0,0,26.87,26.85,26.89
$GC,7559,0.96,341.2,2984,2810,1472,1375,379.0,14.5,373,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2809,1422,1471,1373,0,0,0,0,0,0,27.14,27.21,27.20
$GC,7859,0.92,341.2,2984,2810,1471,1375,335.9,14.6,383,7862,0.10,1.62,0.00,0.000,4356,0.174,0.041,2962,3848,1422,1470,1374,0,0,0,0,0,0,26.77,26.61,26.81
$GC,8003,0.92,341.2,2961,3848,1472,1373,319.2,13.8,387,8011,0.00,1.48,0.00,0.000,1030,0.000,0.021,2968,2803,1421,1470,1373,0,0,0,0,0,0,26.91,26.89,26.92
$GC,8309,0.89,341.2,2968,2804,1471,1375,273.3,13.6,398,8312,0.10,2.05,0.00,0.000,4612,0.181,0.025,2945,1429,1421,1469,1373,0,0,0,0,0,0,26.76,26.74,26.81
$GC,8538,0.91,341.2,2945,1431,1471,1375,247.2,11.3,407,8542,0.00,2.10,0.00,0.000,1030,0.000,0.026,2946,2811,1421,1470,1373,0,0,0,0,0,0,26.76,26.72,26.79
$GC,8849,0.93,355.5,2945,2811,1470,1373,213.8,10.1,438,8860,0.00,2.03,5.62,0.739,8708,0.000,0.021,2946,1431,1391,1440,1343,0,0,0,0,0,0,27.18,26.08,25.60
$GC,9020,0.97,379.0,2945,1430,1449,1343,197.3,9.8,455,9053,0.00,2.08,27.75,0.633,9222,0.000,0.026,2945,2796,1288,1336,1241,0,0,0,0,0,0,26.74,26.71,25.61
$GC,9350,1.00,379.0,2946,2797,1325,1228,161.3,11.7,488,9353,0.00,2.05,0.00,0.000,516,0.000,0.024,2946,1437,1275,1324,1227,0,0,0,0,0,0,26.93,26.56,27.00
$GC,9405,1.04,379.0,2946,1438,1325,1228,155.2,12.4,493,9411,0.05,2.08,0.00,0.000,3078,0.069,0.026,2998,2792,1275,1324,1227,0,0,0,0,0,0,26.43,26.55,26.47
$GC,9710,1.04,379.0,2999,2793,1325,1228,113.0,13.2,524,9713,0.00,2.05,0.00,0.000,516,0.000,0.023,3008,1424,1275,1324,1227,0,0,0,0,0,0,27.03,26.65,27.10
$GC,9764,1.04,379.0,3009,1423,1325,1227,106.0,13.8,529,9772,0.00,2.10,0.00,0.000,1030,0.000,0.026,3008,2795,1275,1324,1227,0,0,0,0,0,0,26.67,26.62,26.67
$GC,10069,1.04,379.0,3008,2796,1325,1228,69.3,11.3,560,10073,0.00,1.62,0.00,0.000,260,0.000,0.039,3008,3845,1275,1324,1226,0,0,0,0,0,0,27.09,26.53,27.15
$GC,10260,1.03,379.0,3008,3847,1325,1227,46.1,12.6,582,10266,0.05,1.48,0.00,0.000,5126,0.145,0.022,2999,2799,1274,1324,1225,0,0,0,0,0,0,26.53,26.83,26.55
$GC,10567,1.07,515.1,3000,2801,1325,1226,18.1,5.7,643,10629,0.00,1.60,55.50,0.181,8452,0.000,0.037,2999,3851,736,801,672,0,0,0,0,0,0,27.14,26.16,25.99
$GC,10670,1.13,533.0,2999,3851,805,675,10.2,10.0,662,10681,0.00,1.50,7.93,0.172,9222,0.000,0.022,3003,2797,662,727,598,0,0,0,0,0,0,26.72,26.71,25.86
$STATE,10744,end climb,SURFACE_DEPTH_REACHED
$STATE,10744,begin surface coast
$FINISH,0.7,1.023744
$STATE,10760,end surface coast,CONTROL_FINISHED_OK
$STATE,10760,begin surface
$SM_CCo,10833,0.00,0.000,0,0,667,532.55
$SM_GC,1.56,7.35,0.00,0.00,0.034,0.000,0.000,196,2796,667,-7.58,2.71,532.55,0,0,0,0,0,0,26.52,27.03,26.58
$IRIDIUM_FIX,5648.78,-15058.65,130608,020131
$TT8_MAMPS,0.058422,0.058422
$HUMID,45.31
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,23.07,69.695
$10V_AH,10.17,40.344
$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,18.725,62.400,554.550,0.000,0.000,0.000,0.000,188.350,0.000,0.000,13.639,0.000,8432.033,629.313,1918.414,101.137,0.000,1571.920,0.000,1361.041,0.000,0.546,0.000
$DEVICE_MAMPS,237.915,85.680,1381.590,0.000,0.000,0.000,0.000,81.855,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,462.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142620
$DATA_FILE_SIZE,30138,680
$CAP_FILE_SIZE,101253,0
$CFSIZE,1024393216,976093184
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,10474.31,0x236db2,7,5
$INTR,1,10763.58,0x236db2,7,5
$CURRENT,0.114,225.13,1
$GPS,170815,183430,5708.255,-15053.136,40,0.8,43,16.6,0.8,200.4,9,8.8