version: 66.12
glider: 203
mission: 8
dive: 204
start: 8 15 115 11 1 41
data:
$ID,203
$MISSION,8
$DIVE,204
$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,94
$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
$GPS1,150815,105658,5709.9019,-15057.8682,39,0.8,39,16.6,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.6
$GPS2,150815,110129,5709.9160,-15057.9639,5,0.8,11,16.6,0.0,0.0,10,8.8
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,79.4,12372,-17.6,-10.667,-19.18,2802
$D_GRID,601
$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,-194.6,192,2802,1078,971,0.0,0.0,0,46,0.00,0.00,-32.05,0.000,16386,0.000,0.000,192,2802,1861,1901,1822,0,0,0,0,0,0,26.74,28.83,26.82
$GC,48,-0.90,-194.6,192,2802,1903,1823,3.1,-5.5,5,107,8.65,1.67,-45.03,0.000,18692,0.229,0.058,2339,3851,3634,3710,3559,0,0,0,0,0,0,25.67,24.30,26.05
$GC,226,-0.85,-194.6,2340,3852,3711,3564,41.0,-22.2,39,233,0.05,1.65,0.00,0.000,3078,0.146,0.020,2356,2674,3637,3710,3565,0,0,0,0,0,0,26.32,26.63,26.36
$GC,532,-0.85,-194.6,2356,2676,3712,3569,91.8,-15.0,74,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2674,3638,3709,3568,0,0,0,0,0,0,26.98,27.04,27.03
$GC,833,-0.85,-194.6,2357,2675,3711,3571,136.8,-14.9,104,836,0.00,1.83,0.00,0.000,260,0.000,0.038,2350,3848,3640,3710,3570,0,0,0,0,0,0,27.04,26.49,27.10
$GC,952,-0.85,-194.6,2350,3848,3711,3570,155.1,-14.8,116,956,0.00,1.60,0.00,0.000,1030,0.000,0.021,2350,2716,3639,3709,3570,0,0,0,0,0,0,26.81,26.79,26.83
$GC,1262,-0.87,-194.6,2349,2718,3710,3571,196.6,-13.1,147,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2716,3639,3709,3570,0,0,0,0,0,0,27.10,27.17,27.16
$GC,1563,-0.88,-194.6,2350,2717,3710,3571,235.9,-13.5,177,1566,0.00,2.00,0.00,0.000,516,0.000,0.022,2350,1333,3639,3708,3570,0,0,0,0,0,0,27.13,26.70,27.19
$GC,1607,-0.90,-194.6,2350,1333,3711,3570,241.9,-13.5,181,1611,0.00,2.08,0.00,0.000,1030,0.000,0.026,2348,2707,3639,3709,3570,0,0,0,0,0,0,26.72,26.70,26.74
$GC,1937,-0.90,-194.6,2348,2707,3710,3569,287.7,-13.5,196,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2707,3639,3709,3570,0,0,0,0,0,0,27.15,27.22,27.21
$GC,2237,-0.92,-194.6,2348,2707,3709,3569,329.0,-13.9,206,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2707,3638,3708,3568,0,0,0,0,0,0,27.17,27.24,27.23
$GC,2537,-0.93,-194.6,2348,2709,3707,3571,370.4,-13.8,216,2541,0.00,2.03,0.00,0.000,516,0.000,0.022,2348,1344,3637,3706,3569,0,0,0,0,0,0,27.18,26.74,27.24
$GC,2597,-0.95,-194.6,2348,1344,3707,3570,378.4,-13.7,218,2601,0.00,2.05,0.00,0.000,1030,0.000,0.026,2339,2701,3638,3706,3570,0,0,0,0,0,0,26.75,26.73,26.79
$GC,2927,-0.95,-194.6,2339,2702,3706,3571,421.2,-12.5,229,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3637,3705,3570,0,0,0,0,0,0,27.19,27.26,27.25
$GC,3227,-0.95,-194.6,2339,2701,3704,3569,459.9,-12.8,239,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3636,3703,3569,0,0,0,0,0,0,27.20,27.27,27.26
$GC,3527,-0.95,-194.6,2339,2702,3703,3571,500.4,-13.8,249,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3635,3702,3569,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3827,-0.97,-194.6,2339,2702,3702,3571,544.5,-14.4,259,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3635,3701,3569,0,0,0,0,0,0,27.20,27.27,27.27
$GC,4128,-0.99,-194.6,2339,2700,3700,3569,586.1,-13.2,269,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3634,3699,3569,0,0,0,0,0,0,27.21,27.28,27.27
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4246,begin apogee
$GC,4250,-0.25,0.0,2339,2816,3700,3569,602.6,-13.8,273,4478,0.68,0.00,226.20,0.724,10246,0.113,0.000,2553,2816,2839,2874,2804,0,0,0,0,0,0,25.98,25.10,24.46
$STATE,4479,end apogee,CONTROL_FINISHED_OK
$STATE,4479,begin climb
$GC,4480,0.90,194.6,2553,2816,2870,2799,616.2,0.0,280,4643,1.05,1.70,154.95,0.838,11012,0.070,0.040,2921,3827,2037,2074,2000,0,0,0,0,0,0,25.24,24.65,23.94
$GC,4867,0.87,275.2,2921,3827,2065,1984,606.6,7.7,293,4940,0.00,1.48,65.68,0.831,9222,0.000,0.022,2930,2815,1707,1749,1666,0,0,0,0,0,0,26.21,26.21,24.58
$GC,5238,0.87,283.2,2930,2815,1740,1650,568.5,10.4,306,5241,0.00,1.60,0.00,0.000,260,0.000,0.041,2930,3860,1695,1740,1650,0,0,0,0,0,0,26.65,26.27,26.71
$GC,5402,0.87,283.2,2930,3859,1739,1649,551.8,11.0,311,5407,0.00,1.52,0.00,0.000,1030,0.000,0.022,2931,2795,1693,1737,1649,0,0,0,0,0,0,26.58,26.57,26.60
$GC,5718,0.88,306.3,2932,2796,1738,1650,519.0,9.8,322,5749,0.00,0.00,26.20,0.799,8198,0.000,0.000,2931,2795,1579,1623,1536,0,0,0,0,0,0,26.92,25.81,25.32
$GC,6048,0.88,327.3,2931,2794,1616,1523,485.1,9.9,333,6067,0.00,0.00,18.48,0.786,8198,0.000,0.000,2931,2795,1503,1548,1459,0,0,0,0,0,0,26.82,26.05,25.33
$GC,6348,0.90,346.3,2932,2796,1532,1443,455.0,10.0,343,6368,0.00,1.67,17.05,0.775,8452,0.000,0.040,2931,3830,1422,1468,1377,0,0,0,0,0,0,26.80,26.22,25.34
$GC,6417,0.92,352.8,2931,3830,1459,1365,449.0,10.4,345,6422,0.00,1.50,0.00,0.000,1030,0.000,0.021,2932,2791,1412,1458,1366,0,0,0,0,0,0,26.44,26.41,26.44
$GC,6733,0.94,355.2,2932,2792,1458,1365,413.8,10.6,356,6738,0.00,2.00,1.98,0.200,8708,0.000,0.021,2932,1433,1389,1436,1343,0,0,0,0,0,0,26.86,25.82,25.63
$GC,6763,0.97,355.2,2932,1434,1452,1350,411.1,10.8,357,6766,0.00,2.08,0.00,0.000,1030,0.000,0.027,2932,2783,1400,1451,1350,0,0,0,0,0,0,26.54,26.51,26.57
$GC,7088,1.00,355.2,2932,2785,1454,1353,374.4,11.2,368,7089,0.08,0.00,0.00,0.000,2054,0.125,0.000,2979,2783,1402,1452,1352,0,0,0,0,0,0,26.80,26.84,26.82
$GC,7387,1.00,355.2,2978,2784,1454,1351,334.8,13.2,378,7392,0.00,2.03,0.00,0.000,516,0.000,0.024,2984,1431,1402,1452,1352,0,0,0,0,0,0,27.03,26.69,27.09
$GC,7422,1.00,355.2,2984,1432,1454,1353,330.9,13.2,379,7426,0.00,2.10,0.00,0.000,1030,0.000,0.026,2985,2806,1402,1452,1352,0,0,0,0,0,0,26.67,26.65,26.70
$GC,7748,0.98,355.2,2985,2805,1454,1352,285.8,14.1,390,7751,0.00,2.05,0.00,0.000,516,0.000,0.023,2994,1431,1402,1453,1352,0,0,0,0,0,0,27.08,26.71,27.14
$GC,7792,0.98,355.2,2994,1431,1455,1351,282.0,13.8,391,7796,0.00,2.10,0.00,0.000,1030,0.000,0.026,2994,2805,1402,1452,1352,0,0,0,0,0,0,26.71,26.68,26.74
$GC,8098,0.96,355.2,2995,2806,1454,1353,239.0,12.7,407,8099,0.10,0.00,0.00,0.000,4102,0.168,0.000,2973,2806,1401,1452,1351,0,0,0,0,0,0,26.73,26.79,26.77
$GC,8397,0.96,355.2,2973,2807,1454,1353,202.8,13.3,437,8401,0.00,2.05,0.00,0.000,516,0.000,0.024,2973,1436,1402,1453,1352,0,0,0,0,0,0,27.13,26.73,27.20
$GC,8442,0.96,355.2,2973,1436,1454,1351,197.6,12.9,441,8450,0.00,2.08,0.00,0.000,1030,0.000,0.027,2973,2795,1401,1452,1351,0,0,0,0,0,0,26.74,26.71,26.77
$GC,8747,0.96,355.2,2973,2797,1454,1353,158.8,11.7,472,8751,0.00,1.62,0.00,0.000,260,0.000,0.041,2973,3850,1402,1453,1352,0,0,0,0,0,0,27.15,26.59,27.21
$GC,8947,0.96,355.2,2973,3850,1454,1351,134.3,12.3,492,8951,0.00,1.48,0.00,0.000,1030,0.000,0.021,2973,2802,1401,1452,1351,0,0,0,0,0,0,26.91,26.89,26.91
$GC,9258,0.98,385.6,2973,2801,1454,1351,102.2,9.6,523,9299,0.00,0.00,38.25,0.548,8198,0.000,0.000,2972,2802,1260,1308,1213,0,0,0,0,0,0,27.17,26.22,25.64
$GC,9598,1.02,430.7,2973,2802,1298,1201,69.7,9.0,557,9649,0.00,0.00,47.90,0.516,8710,0.000,0.000,2973,2801,1077,1131,1023,0,0,0,0,0,0,26.91,25.97,25.42
$GC,9948,1.07,475.8,2973,2802,1120,1008,38.1,9.0,605,9972,0.00,2.10,18.00,0.226,8708,0.000,0.024,2973,1428,898,960,837,0,0,0,0,0,0,26.79,26.11,25.70
$GC,10047,1.16,547.4,2973,1428,970,843,29.7,8.0,624,10088,0.12,2.08,32.50,0.207,11270,0.083,0.026,3039,2812,607,670,545,0,0,0,0,0,0,26.36,26.41,25.74
$STATE,10266,end climb,SURFACE_DEPTH_REACHED
$STATE,10266,begin surface coast
$FINISH,0.7,1.012491
$STATE,10281,end surface coast,CONTROL_FINISHED_OK
$STATE,10281,begin surface
$SM_CCo,10354,0.00,0.000,0,0,613,546.28
$SM_GC,1.36,7.43,0.08,0.00,0.030,0.106,0.000,191,2711,613,-7.59,2.97,546.28,0,0,0,0,0,0,26.41,26.70,26.47
$IRIDIUM_FIX,5644.84,-15051.72,100608,204613
$TT8_MAMPS,0.056175,0.056175
$HUMID,45.62
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,23.94,67.355
$10V_AH,10.20,39.555
$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,18.150,48.325,647.175,0.000,0.000,0.000,0.000,203.850,0.000,0.000,12.558,0.000,8029.722,675.099,1817.229,94.100,0.000,1583.198,0.000,1265.218,0.000,0.546,0.000
$DEVICE_MAMPS,228.735,105.570,838.440,0.000,0.000,0.000,0.000,84.150,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,456.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142600
$DATA_FILE_SIZE,26829,670
$CAP_FILE_SIZE,93116,0
$CFSIZE,1024393216,977256448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,13124.62,0x236db2,7,5
$CURRENT,0.158,219.80,1
$GPS,150815,135502,5709.053,-15055.637,20,0.8,30,16.6,0.0,245.4,11,5.3