version: 66.13
glider: 203
mission: 11
dive: 15
start: 8 26 116 7 0 21
data:
$ID,203
$MISSION,11
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,150
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,275
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$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,500
$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,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2162
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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,-63.912663
$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,1
$LOGGERDEVICE1,3
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$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
$BR_RECORDABOVE,2000.0
$BR_PROFILE,3.0
$BR_XMITPROFILE,3.0
$BR_HONORSURFACEREQUEST,0.0
$GPS1,260816,065532,2801.7607,-8727.1768,15,1.0,29,-2.0,0.7,318.4,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-47.4
$GPS2,260816,070003,2801.8379,-8727.2305,3,0.9,10,-2.0,0.5,332.9,10,8.7
$SPEED_LIMITS,0.192,0.358
$TGT_NAME,DRIFTSTART
$TGT_LATLONG,2757.000,-8725.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,173.7,9260,-15.6,-11.111,-17.25,3698
$D_GRID,500
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5,-1.07,-267.6,161,2190,572,455,0.0,0.0,0,62,0.00,0.00,-55.05,0.000,16386,0.000,0.000,159,2190,2009,2060,1958,0,0,0,0,0,0,26.84,28.83,26.91
$GC,64,-1.07,-267.6,160,2190,2062,1959,3.1,-5.9,9,120,6.38,2.15,-42.62,0.000,18980,0.190,1.257,1994,793,3831,3908,3755,0,0,0,0,0,0,26.55,25.75,26.90
$GC,329,-1.07,-267.6,1994,793,3908,3759,59.8,-19.2,55,337,0.00,1.98,0.00,0.000,1030,0.000,0.022,1991,2149,3833,3909,3758,0,0,0,0,0,0,26.98,26.86,27.01
$GC,635,-1.07,-267.6,1992,2150,3911,3765,112.9,-15.8,86,638,0.00,2.10,0.00,0.000,260,0.000,0.037,1992,3549,3837,3911,3764,0,0,0,0,0,0,27.10,26.96,27.16
$GC,669,-1.07,-267.6,1991,3549,3913,3764,117.5,-15.4,89,677,0.00,1.98,0.00,0.000,1030,0.000,0.018,1992,2152,3837,3911,3763,0,0,0,0,0,0,27.13,27.03,27.16
$GC,975,-1.07,-267.6,1992,2153,3913,3764,163.0,-13.7,120,979,0.00,2.00,0.00,0.000,516,0.000,0.034,1992,789,3838,3913,3764,0,0,0,0,0,0,27.19,27.05,27.25
$GC,1045,-1.07,-267.6,1992,790,3913,3765,172.8,-14.2,127,1048,0.00,1.98,0.00,0.000,1030,0.000,0.023,1992,2162,3839,3914,3764,0,0,0,0,0,0,27.22,27.13,27.25
$GC,1376,-1.07,-267.6,1992,2163,3914,3765,217.1,-13.4,152,1379,0.00,2.00,0.00,0.000,516,0.000,0.033,1991,785,3839,3914,3764,0,0,0,0,0,0,27.26,27.13,27.32
$GC,1400,-1.07,-267.6,1992,785,3913,3765,217.1,-13.4,152,1407,0.00,1.98,0.00,0.000,1030,0.000,0.023,1992,2162,3839,3914,3764,0,0,0,0,0,0,27.29,27.17,27.31
$GC,1705,-1.07,-267.6,1992,2162,3914,3764,260.9,-13.2,163,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2162,3839,3914,3764,0,0,0,0,0,0,27.29,27.37,27.36
$GC,2005,-1.07,-267.6,1990,2163,3914,3765,298.2,-12.3,173,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2162,3838,3913,3764,0,0,0,0,0,0,27.32,27.39,27.39
$GC,2305,-1.07,-267.6,1992,2163,3910,3764,335.1,-12.3,183,2309,0.00,2.03,0.00,0.000,516,0.000,0.034,1992,794,3837,3910,3764,0,0,0,0,0,0,27.34,27.21,27.40
$GC,2329,-1.07,-267.6,1991,795,3912,3764,335.1,-12.3,183,2337,0.00,1.98,0.00,0.000,1030,0.000,0.024,1992,2164,3836,3910,3763,0,0,0,0,0,0,27.38,27.24,27.39
$GC,2635,-1.07,-267.6,1992,2165,3905,3763,374.8,-12.1,194,2639,0.00,2.03,0.00,0.000,516,0.000,0.034,1992,800,3834,3905,3764,0,0,0,0,0,0,27.35,27.22,27.42
$GC,2669,-1.07,-267.6,1992,799,3905,3764,378.6,-12.2,195,2673,0.00,1.98,0.00,0.000,1030,0.000,0.024,1990,2164,3834,3905,3763,0,0,0,0,0,0,27.39,27.27,27.41
$GC,2995,-1.07,-267.6,1990,2164,3901,3764,418.9,-12.1,206,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2163,3832,3900,3764,0,0,0,0,0,0,27.36,27.44,27.43
$GC,3295,-1.07,-267.6,1990,2165,3897,3763,454.6,-11.7,216,3299,0.00,2.03,0.00,0.000,516,0.000,0.034,1992,802,3828,3895,3762,0,0,0,0,0,0,27.36,27.25,27.44
$GC,3355,-1.07,-267.6,1991,802,3896,3764,462.0,-12.0,218,3359,0.00,1.98,0.00,0.000,1030,0.000,0.025,1992,2162,3829,3895,3763,0,0,0,0,0,0,27.41,27.28,27.43
$STATE,3683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3684,begin apogee
$GC,3687,-0.33,0.0,1990,2404,3891,3764,501.2,-12.0,229,3914,0.68,0.00,218.02,1.274,10246,0.093,0.000,2229,2403,2742,2776,2709,0,0,0,0,1,0,27.18,25.29,24.34
$STATE,3915,end apogee,CONTROL_FINISHED_OK
$STATE,3915,begin climb
$GC,3916,1.07,267.6,2229,2404,2783,2715,516.7,0.0,236,4144,1.23,2.17,217.60,0.724,11012,0.043,0.031,2690,1034,1632,1671,1594,0,0,0,0,0,0,25.33,25.48,24.93
$GC,4304,1.07,277.1,2692,1035,1653,1583,502.3,10.8,249,4308,0.00,2.08,0.00,0.000,1062,0.000,0.025,2691,2399,1615,1653,1577,0,0,0,0,0,0,26.47,26.36,26.50
$GC,4615,1.07,277.1,2691,2400,1652,1577,465.5,11.2,260,4618,0.00,2.15,0.00,0.000,260,0.000,0.044,2691,3789,1612,1651,1574,0,0,0,0,0,0,26.83,26.70,26.90
$GC,4639,1.07,277.1,2692,3789,1652,1572,465.5,11.2,260,4648,0.00,2.03,0.00,0.000,1030,0.000,0.022,2693,2400,1612,1652,1572,0,0,0,0,0,0,26.89,26.78,26.91
$GC,4945,1.07,287.3,2692,2400,1650,1572,429.3,10.8,271,4964,0.00,2.08,14.00,0.630,8740,0.000,0.034,2692,1033,1563,1602,1525,0,0,0,0,0,0,27.01,26.70,26.27
$GC,5074,1.07,290.5,2696,1033,1592,1517,416.1,11.0,275,5079,0.00,2.05,0.00,0.000,1062,0.000,0.027,2697,2403,1553,1590,1516,0,0,0,0,0,0,26.95,26.82,26.97
$GC,5395,1.07,292.6,2696,2406,1588,1513,379.1,11.1,286,5398,0.00,2.08,0.00,0.000,548,0.000,0.034,2697,1039,1550,1587,1513,0,0,0,0,0,0,27.07,26.95,27.14
$GC,5455,1.07,293.8,2698,1040,1588,1514,372.4,11.1,288,5459,0.00,2.03,0.00,0.000,1062,0.000,0.026,2697,2406,1550,1588,1513,0,0,0,0,0,0,27.12,26.98,27.15
$GC,5785,1.07,293.8,2698,2407,1585,1513,334.3,11.7,299,5789,0.00,2.08,0.00,0.000,516,0.000,0.034,2697,1036,1549,1586,1512,0,0,0,0,0,0,27.17,27.04,27.23
$GC,5854,1.07,293.8,2696,1036,1587,1513,327.5,11.5,301,5858,0.00,2.03,0.00,0.000,1030,0.000,0.026,2698,2406,1548,1585,1512,0,0,0,0,0,0,27.20,27.08,27.22
$GC,6175,1.07,293.9,2696,2407,1586,1511,291.2,11.1,312,6178,0.00,2.08,0.00,0.000,548,0.000,0.034,2699,1033,1547,1583,1511,0,0,0,0,0,0,27.22,27.10,27.29
$GC,6214,1.07,293.9,2698,1033,1583,1511,287.7,11.2,313,6218,0.00,2.03,0.00,0.000,1030,0.000,0.026,2697,2405,1547,1584,1511,0,0,0,0,0,0,27.25,27.12,27.28
$GC,6535,1.07,293.9,2698,2406,1577,1509,249.3,11.7,324,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2405,1546,1583,1509,0,0,0,0,0,0,27.26,27.34,27.33
$GC,6835,1.07,293.9,2695,2406,1584,1510,214.5,11.6,334,6838,0.00,2.08,0.00,0.000,516,0.000,0.034,2697,1027,1545,1581,1509,0,0,0,0,0,0,27.29,27.17,27.36
$GC,6865,1.07,293.9,2698,1027,1581,1510,211.1,11.4,335,6868,0.00,2.03,0.00,0.000,1030,0.000,0.025,2697,2407,1545,1582,1509,0,0,0,0,0,0,27.32,27.19,27.35
$GC,7175,1.07,303.5,2697,2408,1580,1509,176.5,10.8,358,7198,0.00,2.10,13.68,0.540,8740,0.000,0.034,2697,1030,1493,1530,1456,0,0,0,0,0,0,27.31,27.01,26.55
$GC,7312,1.07,311.0,2698,1031,1522,1451,161.7,10.9,371,7320,0.00,2.03,1.98,0.201,9254,0.000,0.025,2697,2404,1468,1506,1430,0,0,0,0,0,0,27.20,27.09,26.85
$GC,7617,1.07,320.2,2697,2405,1528,1432,127.4,10.9,402,7640,0.00,2.08,17.00,0.503,8740,0.000,0.032,2697,1021,1426,1463,1389,0,0,0,0,0,0,27.24,26.92,26.47
$GC,7753,1.07,331.1,2696,1018,1459,1383,113.4,10.8,415,7761,0.00,2.05,3.53,0.449,9254,0.000,0.025,2697,2407,1384,1422,1346,0,0,0,0,0,0,27.13,27.00,26.31
$GC,8059,1.07,356.4,2698,2407,1452,1347,79.9,10.4,446,8105,0.00,2.12,36.00,0.454,8740,0.000,0.034,2697,1027,1283,1325,1241,0,0,0,0,1,0,27.17,26.70,26.15
$GC,8149,1.08,439.1,2698,1027,1344,1242,71.7,8.8,455,8270,0.00,2.05,110.78,0.428,9254,0.000,0.025,2697,2406,938,985,891,0,0,0,0,0,0,26.91,26.77,25.67
$GC,8569,1.09,555.1,2697,2406,970,876,29.2,7.9,519,8625,0.00,2.08,49.25,0.203,8740,0.000,0.031,2697,1026,502,559,446,0,0,0,0,0,0,26.82,26.53,26.33
$GC,8849,1.11,671.2,2697,1027,572,456,4.9,7.9,573,8857,0.00,2.03,2.05,0.177,9254,0.000,0.023,2697,2395,497,552,442,0,0,0,0,0,0,26.95,26.82,26.60
$STATE,8889,end climb,SURFACE_DEPTH_REACHED
$STATE,8889,begin surface coast
$FINISH,0.3,1.010926
$STATE,8910,end surface coast,CONTROL_FINISHED_OK
$STATE,8910,begin surface
$SM_CCo,8988,0.00,0.000,0,0,511,546.04
$SM_GC,1.25,6.32,0.30,0.00,0.030,0.040,0.000,195,2142,511,-6.63,2.63,546.04,0,0,0,0,0,0,26.82,26.89,26.98
$IRIDIUM_FIX,2722.64,-8719.43,260816,042254
$TT8_MAMPS,0.068908,0.183505
$HUMID,54.68
$INTERNAL_PRESSURE,9.3416
$TCM_TEMP,25.70
$BR_FREEKB,7900960
$24V_AH,24.34,2.607
$10V_AH,10.54,4.407
$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,14.600,74.250,683.875,0.000,0.000,0.000,0.000,201.425,0.000,0.000,11.815,0.000,6587.702,716.679,1859.905,95.583,0.000,1642.083,0.000,1192.750,0.000,0.000,0.000
$DEVICE_MAMPS,190.485,1256.895,1274.490,0.000,0.000,0.000,0.000,84.150,0.000,0.000,26.960,0.000,0.390,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,386.907,0.000,0.000,0.000,0.000,0.000,9322.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,10.275,0.000,0.000,0.000
$MEM,335064
$DATA_FILE_SIZE,23463,585
$CAP_FILE_SIZE,90678,0
$CFSIZE,1024393216,996540416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.129,11.49,1
$GPS,260816,093051,2800.961,-8726.833,14,0.8,24,-2.0,0.5,317.0,10,9.5