version: 66.12
glider: 203
mission: 8
dive: 228
start: 8 18 115 19 7 55
data:
$ID,203
$MISSION,8
$DIVE,228
$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,106
$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
$GPS1,180815,190333,5709.4346,-15057.1953,27,0.9,27,16.6,0.8,60.2,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-50.9
$GPS2,180815,190744,5709.4004,-15057.2598,6,0.9,9,16.6,0.6,214.6,9,9.8
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,83.6,11244,-17.6,-10.667,-19.18,2802
$D_GRID,636
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.90,-194.6,182,2812,599,485,0.0,0.0,0,69,0.00,0.00,-54.55,0.000,16386,0.000,0.000,181,2811,1938,1984,1893,0,0,0,0,0,0,26.74,28.83,26.82
$GC,71,-0.90,-194.6,182,2812,1985,1894,3.0,-3.5,9,129,8.55,1.60,-44.00,0.000,18692,0.223,0.058,2334,3855,3633,3710,3557,0,0,0,0,0,0,25.52,25.78,25.96
$GC,289,-0.86,-194.6,2334,3854,3710,3560,47.4,-19.2,51,295,0.05,1.65,0.00,0.000,3078,0.138,0.019,2352,2677,3635,3710,3560,0,0,0,0,0,0,26.39,26.67,26.41
$GC,594,-0.86,-194.6,2352,2676,3711,3564,101.6,-17.1,83,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2676,3637,3710,3564,0,0,0,0,0,0,27.01,27.08,27.06
$GC,895,-0.86,-194.6,2352,2677,3712,3565,148.3,-14.1,113,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2677,3637,3710,3565,0,0,0,0,0,0,27.07,27.14,27.13
$GC,1195,-0.88,-194.6,2353,2678,3711,3567,190.0,-14.2,143,1198,0.00,1.90,0.00,0.000,516,0.000,0.022,2351,1356,3638,3710,3566,0,0,0,0,0,0,27.11,26.72,27.17
$GC,1294,-0.90,-194.6,2352,1357,3711,3567,203.6,-14.8,152,1301,0.00,2.03,0.00,0.000,1030,0.000,0.024,2348,2700,3638,3710,3566,0,0,0,0,0,0,26.72,26.70,26.75
$GC,1600,-0.92,-194.6,2348,2700,3711,3565,245.6,-13.4,183,1603,0.00,2.00,0.00,0.000,516,0.000,0.022,2347,1357,3638,3710,3566,0,0,0,0,0,0,27.15,26.76,27.21
$GC,1624,-0.93,-194.6,2348,1357,3711,3565,248.5,-14.1,185,1631,0.00,2.03,0.00,0.000,1030,0.000,0.026,2339,2698,3637,3710,3565,0,0,0,0,0,0,26.74,26.71,26.77
$GC,1939,-0.93,-194.6,2340,2699,3711,3565,291.6,-13.4,197,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2699,3637,3710,3565,0,0,0,0,0,0,27.17,27.24,27.22
$GC,2239,-0.93,-194.6,2339,2699,3711,3565,333.7,-14.2,207,2244,0.00,1.75,0.00,0.000,260,0.000,0.040,2330,3834,3636,3708,3565,0,0,0,0,0,0,27.17,26.58,27.24
$GC,2284,-0.93,-194.6,2330,3834,3709,3565,338.0,-14.2,208,2288,0.00,1.58,0.00,0.000,1030,0.000,0.021,2330,2719,3636,3707,3566,0,0,0,0,0,0,26.91,26.89,26.93
$GC,2599,-0.93,-194.6,2329,2720,3708,3567,386.1,-14.3,219,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2719,3636,3707,3566,0,0,0,0,0,0,27.19,27.26,27.25
$GC,2899,-0.93,-194.6,2330,2719,3706,3565,428.5,-14.1,229,2904,0.00,2.05,0.00,0.000,516,0.000,0.022,2330,1337,3635,3705,3566,0,0,0,0,0,0,27.20,26.74,27.25
$GC,2939,-0.93,-194.6,2330,1337,3706,3565,432.8,-14.1,230,2944,0.00,2.08,0.00,0.000,1030,0.000,0.025,2322,2703,3634,3704,3565,0,0,0,0,0,0,26.76,26.72,26.79
$GC,3259,-0.93,-194.6,2322,2702,3705,3565,477.6,-13.6,241,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2703,3634,3704,3565,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3559,-0.93,-194.6,2322,2702,3704,3565,519.8,-14.2,251,3564,0.00,2.05,0.00,0.000,516,0.000,0.023,2322,1334,3634,3703,3565,0,0,0,0,0,0,27.20,26.74,27.27
$GC,3604,-0.93,-194.6,2322,1335,3703,3567,524.2,-14.2,252,3608,0.00,2.08,0.00,0.000,1030,0.000,0.026,2319,2700,3634,3703,3565,0,0,0,0,0,0,26.75,26.72,26.79
$GC,3920,-0.93,-194.6,2320,2702,3702,3567,568.2,-13.0,263,3921,0.08,0.00,0.00,0.000,2054,0.197,0.000,2333,2701,3633,3701,3565,0,0,0,0,0,0,26.92,26.95,26.94
$GC,4220,-0.95,-194.6,2333,2701,3700,3565,605.6,-12.5,273,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2701,3632,3700,3565,0,0,0,0,0,0,27.21,27.28,27.27
$STATE,4458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4462,-0.25,0.0,2334,2819,3700,3567,636.4,-13.0,281,4620,0.68,0.00,155.55,0.882,10246,0.113,0.000,2551,2818,2838,2872,2804,0,0,0,0,0,0,25.96,25.11,24.37
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4622,0.90,194.6,2552,2818,2868,2797,644.1,0.0,286,4785,1.05,2.22,154.50,0.868,11012,0.068,0.021,2931,1417,2038,2074,2002,0,0,0,0,0,0,25.27,24.65,23.92
$GC,5004,0.91,280.6,2931,1416,2065,1989,632.6,7.5,299,5079,0.00,2.12,70.25,0.857,9222,0.000,0.025,2931,2779,1695,1737,1653,0,0,0,0,0,0,26.18,26.15,24.56
$GC,5385,0.91,295.5,2931,2779,1720,1628,593.8,10.1,312,5400,0.00,1.65,11.88,0.865,8452,0.000,0.037,2931,3855,1629,1673,1585,0,0,0,0,0,0,26.69,25.75,25.18
$GC,5490,0.91,295.5,2931,3855,1665,1576,583.6,11.4,315,5493,0.00,1.52,0.00,0.000,1030,0.000,0.021,2931,2790,1620,1664,1576,0,0,0,0,0,0,26.47,26.45,26.48
$GC,5800,0.91,317.8,2931,2791,1665,1575,549.9,9.8,326,5823,0.00,0.00,20.23,0.841,8710,0.000,0.000,2931,2790,1536,1581,1492,0,0,0,0,0,0,26.88,26.03,25.28
$GC,6130,0.93,317.8,2932,2791,1572,1481,513.5,11.4,337,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2790,1525,1571,1479,0,0,0,0,0,0,26.84,26.91,26.91
$GC,6430,0.93,317.8,2932,2792,1572,1480,477.5,12.2,347,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2790,1524,1571,1478,0,0,0,0,0,0,26.96,27.03,27.03
$GC,6730,0.94,317.8,2931,2790,1571,1478,441.6,12.2,357,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2790,1524,1570,1478,0,0,0,0,0,0,27.03,27.10,27.10
$GC,7030,0.96,317.8,2932,2791,1570,1479,407.5,11.0,367,7033,0.00,2.03,0.00,0.000,516,0.000,0.024,2932,1408,1523,1569,1478,0,0,0,0,0,0,27.08,26.70,27.14
$GC,7064,0.98,317.8,2932,1408,1570,1478,404.3,10.9,368,7069,0.03,2.12,0.00,0.000,3078,0.100,0.026,2969,2800,1523,1569,1478,0,0,0,0,0,0,26.55,26.67,26.58
$GC,7389,0.98,317.8,2969,2800,1570,1477,365.1,12.0,379,7393,0.00,1.62,0.00,0.000,260,0.000,0.039,2969,3845,1523,1569,1477,0,0,0,0,0,0,27.11,26.57,27.18
$GC,7459,0.96,317.8,2970,3846,1570,1476,357.3,12.6,381,7463,0.00,1.48,0.00,0.000,1030,0.000,0.022,2971,2803,1523,1569,1477,0,0,0,0,0,0,26.86,26.85,26.89
$GC,7779,0.96,317.8,2971,2803,1570,1476,316.3,12.2,392,7783,0.00,1.65,0.00,0.000,260,0.000,0.041,2971,3856,1523,1569,1477,0,0,0,0,0,0,27.14,26.58,27.20
$GC,7835,0.94,317.8,2970,3857,1570,1476,312.5,12.2,393,7841,0.00,1.50,0.00,0.000,1030,0.000,0.022,2971,2796,1523,1569,1477,0,0,0,0,0,0,26.88,26.87,26.89
$GC,8140,0.94,317.8,2972,2798,1569,1478,273.9,11.5,404,8143,0.00,1.65,0.00,0.000,260,0.000,0.041,2971,3846,1522,1568,1476,0,0,0,0,0,0,27.15,26.58,27.22
$GC,8220,0.92,317.8,2972,3846,1569,1478,266.4,12.0,406,8223,0.00,1.48,0.00,0.000,1030,0.000,0.022,2971,2802,1522,1568,1477,0,0,0,0,0,0,26.89,26.88,26.91
$GC,8530,0.92,317.8,2972,2802,1569,1476,226.4,11.8,429,8533,0.00,1.65,0.00,0.000,260,0.000,0.041,2972,3851,1522,1568,1476,0,0,0,0,0,0,27.17,26.58,27.23
$GC,8580,0.89,317.8,2971,3850,1569,1475,220.0,12.9,434,8584,0.05,1.48,0.00,0.000,5126,0.159,0.022,2956,2805,1522,1568,1476,0,0,0,0,0,0,26.55,26.89,26.58
$GC,8889,0.89,317.8,2956,2805,1569,1476,185.9,11.3,465,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2805,1522,1568,1476,0,0,0,0,0,0,27.17,27.24,27.24
$GC,9190,0.89,324.6,2956,2805,1569,1478,154.1,10.4,495,9194,0.00,2.00,0.00,0.000,516,0.000,0.023,2959,1424,1521,1567,1476,0,0,0,0,0,0,27.19,26.75,27.25
$GC,9219,0.90,328.4,2959,1425,1569,1478,151.5,10.5,497,9227,0.00,2.10,2.35,0.360,9222,0.000,0.026,2958,2809,1502,1549,1456,0,0,0,0,0,0,26.74,26.71,24.70
$GC,9525,0.91,377.9,2959,2809,1565,1463,122.2,8.9,528,9587,0.00,2.15,56.78,0.562,8708,0.000,0.024,2959,1423,1290,1336,1245,0,0,0,0,0,0,27.18,26.10,25.46
$GC,9721,0.96,377.9,2959,1423,1327,1235,101.7,10.9,547,9728,0.00,2.12,0.00,0.000,1030,0.000,0.026,2959,2794,1279,1325,1234,0,0,0,0,0,0,26.39,26.34,26.41
$GC,10026,1.00,435.7,2959,2794,1326,1234,72.2,8.5,578,10091,0.00,1.65,61.42,0.520,8452,0.000,0.038,2959,3865,1058,1112,1004,0,0,0,0,0,0,26.92,25.69,25.33
$GC,10147,1.04,440.5,2959,3866,1101,993,60.9,10.5,590,10151,0.00,1.55,0.00,0.000,1030,0.000,0.022,2958,2757,1045,1100,991,0,0,0,0,0,0,26.32,26.28,26.33
$GC,10451,1.11,453.7,2958,2757,1101,985,32.0,10.2,639,10464,0.10,1.95,5.88,0.211,10756,0.097,0.024,3026,1434,988,1046,931,0,0,0,0,0,0,26.65,25.98,25.55
$GC,10608,1.16,513.3,3026,1434,1056,936,16.3,8.5,670,10643,0.00,2.10,27.05,0.179,9222,0.000,0.026,3027,2803,743,808,679,0,0,0,0,0,0,26.52,26.49,25.84
$STATE,10745,end climb,SURFACE_DEPTH_REACHED
$STATE,10745,begin surface coast
$FINISH,0.7,1.003380
$STATE,10766,end surface coast,CONTROL_FINISHED_OK
$STATE,10766,begin surface
$SM_CCo,10839,0.00,0.000,0,0,748,512.92
$SM_GC,1.68,7.40,0.00,0.00,0.033,0.000,0.000,193,2804,748,-7.59,2.94,512.92,0,0,0,0,0,0,26.46,26.95,26.51
$IRIDIUM_FIX,5648.78,-15102.13,140608,054334
$TT8_MAMPS,0.056175,0.056175
$HUMID,45.94
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.90
$XPDR_PINGS,1
$24V_AH,23.92,70.863
$10V_AH,10.17,40.762
$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,17.975,62.700,565.875,0.000,0.000,0.000,0.000,188.425,0.250,0.000,10.950,0.000,8474.173,611.879,1897.145,101.226,0.000,1559.096,0.000,1341.570,0.000,0.546,0.000
$DEVICE_MAMPS,222.615,88.740,882.045,0.000,0.000,0.000,0.000,81.090,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,477.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142640
$DATA_FILE_SIZE,30178,701
$CAP_FILE_SIZE,100836,0
$CFSIZE,1024393216,975486976
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10060.13,0x236db2,7,5
$INTR,1,10769.03,0x236db2,7,5
$CURRENT,0.098,241.46,1
$GPS,180815,220928,5708.828,-15054.756,36,0.7,37,16.6,1.0,168.5,11,8.5