version: 66.12
glider: 203
mission: 8
dive: 196
start: 8 14 115 6 38 1
data:
$ID,203
$MISSION,8
$DIVE,196
$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,4736
$TGT_DEFAULT_LON,-12218
$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,96
$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
$GPS1,140815,063351,5709.6118,-15057.4541,41,1.1,42,16.6,0.8,216.4,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.8
$GPS2,140815,063748,5709.5762,-15057.5117,7,0.7,7,16.6,0.8,114.4,12,0.0
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,67.3,11637,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.90,-194.6,195,2796,975,858,0.0,0.0,0,58,0.00,0.00,-43.55,0.000,16386,0.000,0.000,194,2796,2064,2111,2017,0,0,0,0,0,0,26.82,28.83,26.88
$GC,59,-0.90,-194.6,195,2797,2112,2019,3.3,-4.5,7,112,8.65,1.65,-36.40,0.000,18692,0.230,0.060,2340,3848,3635,3710,3560,0,0,0,0,0,0,25.72,24.38,26.10
$GC,326,-0.87,-194.6,2340,3847,3711,3566,60.3,-21.0,55,329,0.00,1.65,0.00,0.000,1030,0.000,0.019,2340,2668,3638,3710,3566,0,0,0,0,0,0,26.74,26.72,26.74
$GC,636,-0.85,-194.6,2340,2667,3711,3568,117.1,-16.6,86,637,0.10,0.00,0.00,0.000,2054,0.167,0.000,2363,2667,3639,3710,3569,0,0,0,0,0,0,26.65,26.72,26.69
$GC,936,-0.85,-194.6,2363,2668,3711,3571,161.6,-14.4,116,940,0.00,1.88,0.00,0.000,516,0.000,0.023,2363,1358,3639,3710,3569,0,0,0,0,0,0,27.08,26.70,27.14
$GC,986,-0.87,-194.6,2363,1358,3711,3572,168.7,-14.0,121,990,0.00,2.05,0.00,0.000,1030,0.000,0.026,2359,2705,3640,3710,3570,0,0,0,0,0,0,26.71,26.68,26.74
$GC,1296,-0.89,-194.6,2359,2705,3711,3569,211.1,-13.5,152,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2706,3639,3710,3568,0,0,0,0,0,0,27.12,27.19,27.18
$GC,1617,-0.91,-194.6,2359,2707,3711,3571,254.5,-13.7,182,1620,0.00,1.73,0.00,0.000,260,0.000,0.040,2350,3854,3639,3710,3569,0,0,0,0,0,0,27.15,26.60,27.21
$GC,1651,-0.92,-194.6,2350,3854,3712,3569,258.7,-13.8,183,1655,0.00,1.60,0.00,0.000,1030,0.000,0.021,2350,2725,3639,3710,3569,0,0,0,0,0,0,26.93,26.89,26.91
$GC,1976,-0.94,-194.6,2350,2724,3712,3569,305.9,-14.4,194,1979,0.00,2.05,0.00,0.000,516,0.000,0.022,2350,1338,3639,3710,3568,0,0,0,0,0,0,27.17,26.77,27.23
$GC,2001,-0.96,-194.6,2350,1337,3711,3570,305.9,-14.4,194,2007,0.00,2.05,0.00,0.000,1030,0.000,0.027,2347,2690,3639,3709,3569,0,0,0,0,0,0,26.77,26.73,26.80
$GC,2306,-0.98,-194.6,2348,2689,3710,3569,351.2,-13.3,205,2309,0.00,1.77,0.00,0.000,260,0.000,0.040,2339,3846,3638,3708,3569,0,0,0,0,0,0,27.18,26.62,27.24
$GC,2331,-0.99,-194.6,2340,3847,3708,3570,351.2,-13.3,205,2337,0.00,1.62,0.00,0.000,1030,0.000,0.022,2339,2724,3638,3708,3569,0,0,0,0,0,0,26.91,26.89,26.92
$GC,2636,-0.99,-194.6,2339,2724,3707,3569,397.6,-14.4,216,2639,0.00,2.10,0.00,0.000,516,0.000,0.022,2339,1309,3637,3706,3569,0,0,0,0,0,0,27.19,26.77,27.24
$GC,2675,-0.99,-194.6,2339,1309,3708,3569,402.1,-14.5,217,2679,0.00,2.10,0.00,0.000,1030,0.000,0.025,2331,2700,3637,3706,3569,0,0,0,0,0,0,26.79,26.77,26.83
$GC,2996,-0.99,-194.6,2331,2702,3706,3570,450.9,-14.9,228,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2701,3636,3704,3569,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3296,-0.99,-194.6,2332,2701,3705,3569,493.8,-13.8,238,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2701,3636,3704,3569,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3596,-0.99,-194.6,2332,2702,3703,3570,533.7,-13.4,248,3600,0.00,2.08,0.00,0.000,516,0.000,0.023,2332,1314,3636,3703,3569,0,0,0,0,0,0,27.21,26.77,27.27
$GC,3626,-0.99,-194.6,2332,1314,3703,3568,537.8,-13.5,249,3629,0.00,2.10,0.00,0.000,1030,0.000,0.025,2323,2700,3635,3702,3569,0,0,0,0,0,0,26.79,26.77,26.82
$GC,3956,-0.99,-194.6,2323,2700,3702,3569,584.4,-14.0,260,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2700,3635,3701,3569,0,0,0,0,0,0,27.21,27.28,27.27
$STATE,4224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4224,begin apogee
$GC,4228,-0.25,0.0,2322,2818,3700,3570,620.6,-13.5,269,4408,0.73,0.00,170.85,1.333,10246,0.116,0.000,2552,2817,2844,2882,2806,0,0,0,0,1,0,26.03,24.19,23.22
$STATE,4409,end apogee,CONTROL_FINISHED_OK
$STATE,4409,begin climb
$GC,4410,0.90,194.6,2552,2817,2889,2806,630.7,0.0,275,4581,1.10,1.73,162.25,0.857,11012,0.067,0.040,2924,3824,2038,2074,2002,0,0,0,0,0,0,24.41,24.35,23.64
$GC,4806,0.87,263.0,2924,3824,2069,1990,619.5,8.2,288,4866,0.00,1.52,55.33,0.860,9222,0.000,0.021,2931,2781,1763,1803,1723,0,0,0,0,0,0,26.17,26.17,24.58
$GC,5186,0.87,263.0,2932,2782,1790,1707,583.3,10.8,301,5190,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3832,1747,1789,1706,0,0,0,0,0,0,26.66,26.31,26.73
$GC,5416,0.84,263.0,2931,3831,1789,1704,560.0,11.0,308,5419,0.00,1.50,0.00,0.000,1030,0.000,0.021,2931,2782,1746,1789,1704,0,0,0,0,0,0,26.64,26.62,26.65
$GC,5726,0.85,288.8,2932,2783,1789,1706,527.1,9.7,319,5749,0.00,0.00,21.40,0.837,8198,0.000,0.000,2931,2782,1658,1699,1617,0,0,0,0,0,0,26.94,26.13,25.40
$GC,6026,0.85,313.2,2931,2782,1689,1602,497.3,9.8,329,6049,0.00,0.00,21.38,0.821,8198,0.000,0.000,2932,2783,1559,1601,1517,0,0,0,0,0,0,26.83,26.03,25.32
$GC,6326,0.85,313.2,2932,2784,1591,1503,465.9,10.9,339,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2782,1545,1589,1502,0,0,0,0,0,0,26.79,26.86,26.85
$GC,6626,0.85,336.8,2932,2784,1590,1502,436.1,9.8,349,6650,0.00,1.62,20.88,0.789,8452,0.000,0.038,2931,3834,1460,1503,1417,0,0,0,0,0,0,26.93,25.91,25.42
$GC,6696,0.85,355.4,2932,3835,1497,1409,430.4,10.0,350,6716,0.00,1.48,16.95,0.787,9222,0.000,0.022,2932,2809,1388,1432,1344,0,0,0,0,0,0,26.48,26.46,25.20
$GC,7042,0.88,367.2,2932,2812,1420,1329,393.4,10.2,362,7055,0.00,2.08,9.90,0.796,8708,0.000,0.024,2932,1420,1338,1383,1293,0,0,0,0,0,0,26.79,26.18,25.37
$GC,7106,0.91,377.2,2932,1421,1378,1290,387.8,10.3,364,7120,0.00,2.10,10.25,0.789,9222,0.000,0.026,2932,2776,1299,1343,1256,0,0,0,0,0,0,26.42,26.41,25.30
$GC,7426,0.94,378.6,2932,2776,1335,1244,352.1,10.6,375,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2776,1289,1334,1244,0,0,0,0,0,0,26.82,26.89,26.89
$GC,7726,0.97,378.6,2932,2776,1335,1243,319.7,11.2,385,7729,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3846,1288,1334,1243,0,0,0,0,0,0,26.94,26.53,27.01
$GC,7786,1.00,378.6,2932,3845,1335,1242,312.3,11.8,387,7790,0.05,1.50,0.00,0.000,3078,0.071,0.022,2979,2798,1287,1333,1242,0,0,0,0,0,0,26.58,26.74,26.61
$GC,8116,1.00,378.6,2979,2800,1335,1243,266.4,14.3,398,8119,0.00,2.05,0.00,0.000,516,0.000,0.023,2985,1423,1288,1334,1242,0,0,0,0,0,0,27.03,26.70,27.09
$GC,8206,1.00,378.6,2985,1425,1334,1244,253.9,14.0,401,8209,0.00,2.10,0.00,0.000,1030,0.000,0.026,2985,2795,1288,1333,1243,0,0,0,0,0,0,26.72,26.69,26.74
$GC,8516,1.00,378.6,2985,2796,1334,1243,209.5,13.9,430,8519,0.00,1.62,0.00,0.000,260,0.000,0.040,2985,3847,1287,1333,1241,0,0,0,0,0,0,27.08,26.62,27.15
$GC,8541,0.97,378.6,2985,3848,1333,1243,206.6,14.4,432,8547,0.00,1.50,0.00,0.000,1030,0.000,0.022,2993,2789,1286,1332,1241,0,0,0,0,0,0,26.85,26.84,26.87
$GC,8846,0.97,378.6,2993,2789,1334,1241,164.7,12.9,463,8849,0.00,1.65,0.00,0.000,260,0.000,0.039,2993,3850,1287,1333,1241,0,0,0,0,0,0,27.11,26.63,27.17
$GC,8956,0.94,378.6,2994,3851,1334,1242,148.9,15.2,474,8960,0.10,1.50,0.00,0.000,5126,0.137,0.022,2970,2784,1287,1333,1241,0,0,0,0,0,0,26.43,26.91,26.48
$GC,9266,0.96,378.6,2970,2785,1334,1242,112.4,11.3,505,9270,0.00,2.00,0.00,0.000,516,0.000,0.024,2972,1431,1287,1333,1241,0,0,0,0,0,0,27.14,26.77,27.20
$GC,9331,1.00,389.2,2972,1431,1334,1240,106.1,10.3,511,9339,0.00,2.10,3.88,0.656,9222,0.000,0.026,2972,2809,1252,1299,1205,0,0,0,0,0,0,26.78,26.75,25.33
$GC,9636,1.03,389.2,2972,2810,1313,1208,72.6,11.2,542,9639,0.00,1.60,0.00,0.000,260,0.000,0.040,2972,3852,1260,1312,1209,0,0,0,0,0,0,27.12,26.64,27.18
$GC,9736,1.03,389.2,2972,3853,1313,1208,61.1,11.6,552,9740,0.00,1.48,0.00,0.000,1030,0.000,0.021,2972,2803,1260,1312,1208,0,0,0,0,0,0,26.90,26.89,26.93
$GC,10041,1.07,439.2,2972,2803,1313,1208,31.1,8.8,602,10071,0.00,2.00,23.02,0.212,8708,0.000,0.024,2972,1435,1047,1102,993,0,0,0,0,0,0,27.15,26.37,25.97
$GC,10235,1.16,493.7,2972,1436,1109,995,15.3,8.7,640,10266,0.08,2.08,23.67,0.173,11270,0.049,0.026,3033,2798,823,885,761,0,0,0,0,0,0,26.59,26.71,26.05
$STATE,10373,end climb,SURFACE_DEPTH_REACHED
$STATE,10373,begin surface coast
$FINISH,0.6,1.023537
$STATE,10388,end surface coast,CONTROL_FINISHED_OK
$STATE,10389,begin surface
$SM_CCo,10462,0.00,0.000,0,0,824,494.03
$SM_GC,1.82,7.45,0.00,0.00,0.038,0.000,0.000,199,2799,824,-7.56,2.80,494.03,0,0,0,0,0,0,26.63,27.10,26.69
$IRIDIUM_FIX,5648.78,-15102.13,090608,171557
$TT8_MAMPS,0.058422,0.058422
$HUMID,45.31
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,23.22,66.223
$10V_AH,10.17,39.135
$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,18.250,65.075,539.750,0.000,0.000,0.000,0.000,180.800,0.000,0.000,7.791,0.000,8113.333,598.456,1886.776,97.738,0.000,1521.207,0.000,1343.342,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,87.210,1332.630,0.000,0.000,0.000,0.000,81.855,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,457.277,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142652
$DATA_FILE_SIZE,26817,670
$CAP_FILE_SIZE,100955,0
$CFSIZE,1024393216,977879040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,9892.95,0x236db2,7,5
$INTR,1,10391.95,0x236db2,7,5
$CURRENT,0.210,237.38,1
$GPS,140815,093301,5709.083,-15056.136,17,0.7,20,16.6,1.0,260.8,12,8.4