version: 66.12
glider: 203
mission: 8
dive: 243
start: 8 20 115 20 16 40
data:
$ID,203
$MISSION,8
$DIVE,243
$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,425
$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,93
$R_STBD_OVSHOOT,47
$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
$GPS1,200815,201222,5709.2891,-15055.2393,35,1.0,36,16.6,0.0,0.0,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.0
$GPS2,200815,201629,5709.2773,-15055.2402,7,1.0,9,16.6,0.0,0.0,8,10.0
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,94.4,9481,-17.6,-10.667,-19.18,2802
$D_GRID,694
$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,11,begin dive
$GC,12,-0.90,-194.6,197,2686,928,809,0.0,0.0,0,58,0.00,0.00,-43.47,0.000,16386,0.000,0.000,197,2686,1996,2039,1954,0,0,0,0,0,0,26.85,28.83,26.92
$GC,59,-0.90,-194.6,198,2687,2041,1955,3.2,-4.2,7,117,8.68,1.83,-41.10,0.000,18692,0.230,0.057,2338,3842,3634,3711,3558,0,0,0,0,0,0,25.70,24.32,26.08
$GC,331,-0.87,-194.6,2339,3843,3713,3563,59.6,-18.2,54,338,0.05,1.65,0.00,0.000,3078,0.139,0.021,2354,2678,3637,3711,3563,0,0,0,0,0,0,26.43,26.71,26.46
$GC,636,-0.87,-194.6,2356,2680,3712,3568,112.0,-15.6,85,640,0.00,1.98,0.00,0.000,516,0.000,0.024,2355,1346,3638,3711,3566,0,0,0,0,0,0,27.06,26.63,27.12
$GC,721,-0.87,-194.6,2356,1347,3712,3568,123.8,-14.7,93,728,0.00,2.05,0.00,0.000,1030,0.000,0.027,2349,2694,3639,3711,3567,0,0,0,0,0,0,26.66,26.63,26.69
$GC,1026,-0.87,-194.6,2349,2696,3712,3568,169.0,-13.8,124,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2695,3639,3711,3567,0,0,0,0,0,0,27.10,27.18,27.18
$GC,1327,-0.87,-194.6,2349,2696,3712,3568,214.5,-14.6,154,1331,0.00,2.00,0.00,0.000,516,0.000,0.024,2349,1331,3639,3712,3567,0,0,0,0,0,0,27.15,26.69,27.21
$GC,1391,-0.89,-194.6,2349,1332,3712,3569,222.9,-14.0,160,1398,0.00,2.08,0.00,0.000,1030,0.000,0.028,2339,2695,3639,3711,3567,0,0,0,0,0,0,26.70,26.67,26.73
$GC,1696,-0.89,-194.6,2339,2695,3711,3567,267.2,-14.1,183,1701,0.00,2.03,0.00,0.000,516,0.000,0.024,2340,1342,3638,3710,3567,0,0,0,0,0,0,27.17,26.71,27.23
$GC,1731,-0.89,-194.6,2339,1342,3712,3567,271.4,-14.1,184,1735,0.05,2.08,0.00,0.000,3078,0.147,0.027,2348,2699,3639,3711,3567,0,0,0,0,0,0,26.42,26.67,26.46
$GC,2056,-0.90,-194.6,2348,2700,3711,3568,310.9,-11.6,195,2060,0.00,1.77,0.00,0.000,260,0.000,0.041,2342,3846,3638,3710,3567,0,0,0,0,0,0,27.18,26.54,27.24
$GC,2286,-0.90,-194.6,2342,3847,3710,3569,337.0,-12.5,202,2291,0.00,1.62,0.00,0.000,1030,0.000,0.023,2342,2727,3638,3709,3567,0,0,0,0,0,0,26.87,26.86,26.89
$GC,2596,-0.92,-194.6,2343,2729,3709,3568,377.4,-12.4,213,2600,0.00,2.10,0.00,0.000,516,0.000,0.024,2342,1316,3637,3708,3567,0,0,0,0,0,0,27.20,26.72,27.26
$GC,2811,-0.94,-194.6,2343,1317,3708,3569,403.3,-12.3,220,2815,0.00,2.12,0.00,0.000,1030,0.000,0.028,2335,2704,3637,3707,3567,0,0,0,0,0,0,26.72,26.71,26.75
$GC,3136,-0.94,-194.6,2334,2706,3706,3569,444.6,-12.6,231,3140,0.00,1.77,0.00,0.000,260,0.000,0.041,2327,3846,3636,3705,3567,0,0,0,0,0,0,27.20,26.53,27.26
$GC,3366,-0.94,-194.6,2327,3846,3704,3567,473.0,-13.5,238,3371,0.00,1.67,0.00,0.000,1030,0.000,0.024,2327,2696,3635,3704,3567,0,0,0,0,0,0,26.89,26.86,26.90
$GC,3676,-0.94,-194.6,2327,2697,3705,3568,517.5,-14.3,249,3680,0.00,1.80,0.00,0.000,260,0.000,0.041,2322,3844,3635,3704,3567,0,0,0,0,0,0,27.21,26.51,27.27
$GC,3906,-0.94,-194.6,2322,3844,3703,3567,547.8,-14.4,256,3910,0.00,1.67,0.00,0.000,1030,0.000,0.023,2322,2691,3634,3702,3567,0,0,0,0,0,0,26.88,26.86,26.90
$GC,4216,-0.94,-194.6,2322,2691,3702,3566,595.0,-14.2,267,4220,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3841,3634,3701,3567,0,0,0,0,0,0,27.21,26.50,27.27
$GC,4261,-0.94,-194.6,2320,3841,3701,3567,599.4,-14.3,268,4265,0.00,1.65,0.00,0.000,1030,0.000,0.024,2320,2705,3634,3701,3567,0,0,0,0,0,0,26.88,26.86,26.89
$GC,4576,-0.94,-194.6,2320,2706,3700,3568,646.5,-14.1,279,4580,0.00,2.08,0.00,0.000,516,0.000,0.024,2320,1311,3632,3698,3567,0,0,0,0,0,0,27.21,26.69,27.27
$GC,4601,-0.94,-194.6,2319,1311,3700,3567,646.5,-14.1,279,4608,0.00,2.10,0.00,0.000,1030,0.000,0.028,2320,2696,3633,3699,3567,0,0,0,0,0,0,26.70,26.66,26.73
$GC,4906,-0.94,-194.6,2319,2697,3700,3568,691.5,-13.3,290,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3632,3698,3567,0,0,0,0,0,0,27.21,27.27,27.27
$STATE,4935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4935,begin apogee
$GC,4939,-0.25,0.0,2320,2822,3699,3566,695.4,-13.2,291,5168,0.75,0.00,226.62,0.760,10246,0.118,0.000,2556,2822,2838,2875,2801,0,0,0,0,0,0,25.82,25.09,24.42
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5170,0.90,194.6,2556,2823,2872,2799,705.8,0.0,298,5332,1.05,0.00,157.38,0.891,10502,0.067,0.000,2926,2822,2044,2082,2006,0,0,0,0,0,0,25.26,24.52,23.82
$GC,5626,0.91,266.0,2926,2823,2065,1984,685.1,8.1,314,5691,0.00,1.65,59.53,0.871,8452,0.000,0.042,2926,3833,1744,1787,1702,0,0,0,0,0,0,26.60,25.45,24.65
$GC,5776,0.88,277.2,2926,3833,1778,1689,670.2,10.3,319,5782,0.00,1.52,2.53,0.414,9222,0.000,0.024,2930,2792,1707,1751,1663,0,0,0,0,0,0,26.18,26.16,24.42
$GC,6101,0.88,277.2,2931,2793,1771,1673,633.5,11.4,330,6105,0.00,1.65,0.00,0.000,260,0.000,0.041,2931,3837,1721,1769,1673,0,0,0,0,0,0,26.81,26.37,26.86
$GC,6136,0.88,277.2,2932,3839,1771,1675,629.9,11.6,331,6140,0.00,1.50,0.00,0.000,1030,0.000,0.024,2931,2809,1721,1770,1673,0,0,0,0,0,0,26.60,26.58,26.63
$GC,6461,0.88,279.8,2932,2809,1771,1673,593.4,10.6,342,6465,0.00,0.00,2.75,0.496,8710,0.000,0.000,2932,2808,1696,1742,1651,0,0,0,0,0,0,26.96,25.99,24.81
$GC,6791,0.88,279.8,2932,2808,1765,1664,557.8,10.9,353,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2809,1714,1764,1664,0,0,0,0,0,0,27.03,27.10,27.08
$GC,7091,0.88,301.7,2931,2808,1765,1664,527.6,9.9,363,7125,0.00,2.15,28.00,0.802,8708,0.000,0.025,2932,1416,1599,1643,1555,0,0,0,0,0,0,27.07,26.16,25.34
$GC,7154,0.88,321.6,2931,1418,1636,1547,521.3,9.9,365,7177,0.00,2.12,17.95,0.794,9222,0.000,0.028,2932,2785,1521,1567,1476,0,0,0,0,0,0,26.37,26.34,25.12
$GC,7484,0.88,322.1,2932,2785,1556,1460,485.3,10.7,376,7487,0.00,1.67,0.00,0.000,260,0.000,0.041,2932,3847,1508,1555,1461,0,0,0,0,0,0,26.82,26.36,26.89
$GC,7549,0.88,322.1,2932,3847,1557,1460,478.2,11.3,378,7553,0.00,1.52,0.00,0.000,1030,0.000,0.024,2931,2796,1507,1555,1460,0,0,0,0,0,0,26.63,26.60,26.64
$GC,7874,0.88,341.6,2932,2797,1556,1461,443.9,10.0,389,7893,0.00,0.00,18.33,0.760,8198,0.000,0.000,2931,2796,1445,1491,1400,0,0,0,0,0,0,26.98,26.15,25.42
$GC,8174,0.90,353.7,2931,2797,1476,1382,414.1,10.2,399,8183,0.00,2.10,3.45,0.641,8708,0.000,0.026,2932,1427,1401,1452,1351,0,0,0,0,0,0,26.91,26.13,24.77
$GC,8224,0.93,363.5,2932,1426,1467,1359,411.1,10.3,400,8247,0.00,2.12,17.92,0.749,9222,0.000,0.028,2932,2801,1351,1399,1304,0,0,0,0,0,0,26.53,26.51,25.33
$GC,8565,0.95,363.5,2932,2802,1389,1292,371.5,11.4,412,8568,0.00,2.05,0.00,0.000,516,0.000,0.027,2932,1430,1340,1388,1292,0,0,0,0,0,0,26.89,26.51,26.96
$GC,8589,0.98,363.5,2932,1428,1389,1293,371.5,11.4,412,8595,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2795,1339,1388,1291,0,0,0,0,0,0,26.53,26.50,26.56
$GC,8894,1.00,363.5,2932,2795,1388,1290,334.4,11.3,423,8895,0.10,0.00,0.00,0.000,2054,0.103,0.000,2989,2795,1338,1387,1290,0,0,0,0,0,0,26.81,26.84,26.84
$GC,9194,0.98,363.5,2990,2795,1388,1290,292.0,14.1,433,9197,0.00,1.65,0.00,0.000,260,0.000,0.041,2989,3851,1338,1387,1290,0,0,0,0,0,0,27.06,26.51,27.13
$GC,9284,0.95,363.5,2990,3852,1387,1291,278.4,14.9,436,9288,0.08,1.52,0.00,0.000,5126,0.139,0.024,2974,2788,1338,1386,1290,0,0,0,0,0,0,26.39,26.77,26.44
$GC,9595,0.95,363.5,2974,2788,1386,1289,238.2,13.1,451,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2788,1338,1386,1290,0,0,0,0,0,0,27.11,27.18,27.17
$GC,9895,0.95,363.5,2974,2788,1387,1289,199.9,12.4,481,9898,0.00,2.00,0.00,0.000,516,0.000,0.027,2974,1433,1338,1386,1290,0,0,0,0,0,0,27.13,26.68,27.20
$GC,9969,0.95,363.5,2974,1433,1387,1289,190.9,12.2,488,9972,0.00,2.10,0.00,0.000,1030,0.000,0.028,2974,2803,1338,1386,1290,0,0,0,0,0,0,26.70,26.67,26.74
$GC,10279,0.95,363.5,2974,2802,1387,1288,152.0,12.2,519,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2803,1337,1386,1289,0,0,0,0,0,0,27.16,27.23,27.22
$GC,10579,0.95,363.5,2974,2804,1387,1290,117.5,10.8,549,10583,0.00,2.05,0.00,0.000,516,0.000,0.027,2974,1424,1337,1386,1289,0,0,0,0,0,0,27.17,26.70,27.24
$GC,10614,0.97,383.6,2974,1423,1387,1289,114.7,9.9,552,10640,0.00,2.10,18.05,0.581,9222,0.000,0.028,2974,2793,1266,1315,1218,0,0,0,0,0,0,26.71,26.68,25.70
$GC,10939,0.99,398.3,2974,2794,1309,1210,79.4,10.1,585,10960,0.00,2.10,12.45,0.568,8708,0.000,0.026,2974,1430,1208,1258,1158,0,0,0,0,0,0,27.04,26.33,25.63
$GC,11084,1.05,432.7,2975,1432,1254,1155,65.8,9.4,599,11130,0.00,2.10,37.85,0.515,9222,0.000,0.028,2974,2805,1067,1123,1012,0,0,0,0,0,0,26.57,26.54,25.50
$GC,11430,1.10,479.0,2974,2805,1115,999,28.5,9.0,654,11453,0.00,0.00,18.85,0.207,8454,0.000,0.000,2974,2805,884,948,820,0,0,0,0,0,0,26.87,26.06,25.71
$STATE,11750,end climb,SURFACE_DEPTH_REACHED
$STATE,11750,begin surface coast
$FINISH,0.7,1.001676
$STATE,11770,end surface coast,CONTROL_FINISHED_OK
$STATE,11770,begin surface
$SM_CCo,11843,0.00,0.000,0,0,891,477.84
$SM_GC,1.70,7.25,0.00,0.00,0.034,0.000,0.000,201,2806,891,-7.56,3.00,477.84,0,0,0,0,0,0,26.51,27.03,26.57
$IRIDIUM_FIX,5644.84,-15100.58,160608,064657
$TT8_MAMPS,0.056175,0.056175
$HUMID,45.58
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,23.82,73.128
$10V_AH,10.19,41.515
$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,18.000,75.825,621.650,0.000,0.000,0.000,0.000,185.375,0.000,0.000,9.923,0.000,9131.861,690.197,2154.787,107.715,0.000,1734.515,0.000,1568.458,0.000,0.546,0.000
$DEVICE_MAMPS,230.265,78.795,891.225,0.000,0.000,0.000,0.000,81.855,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,492.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30041,722
$CAP_FILE_SIZE,113045,0
$CFSIZE,1024393216,974438400
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10375.09,0x236db2,7,5
$INTR,1,11773.79,0x236db2,7,5
$CURRENT,0.086,269.91,1
$GPS,200815,233457,5708.585,-15053.805,36,1.0,36,16.6,0.6,4.0,8,9.5