version: 66.12
glider: 203
mission: 8
dive: 5
start: 7 11 115 5 6 22
data:
$ID,203
$MISSION,8
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,170
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,563.75671
$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,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,39
$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,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,22.5
$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,1
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,110715,050223,5907.2080,-14734.0635,3,1.3,17,18.0,0.3,164.1,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-62.9
$GPS2,110715,050611,5907.1792,-14734.0732,4,1.3,17,18.0,0.0,0.0,8,8.4
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,105.0,32053,-17.8,-10.000,-19.47,2615
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.94,-170.3,207,2798,605,478,0.0,0.0,0,168,0.00,0.00,-74.82,0.000,16386,0.000,0.000,206,2797,2616,2651,2582,0,0,0,0,0,0,27.01,28.83,27.09
$GC,170,-0.94,-170.3,206,2797,2652,2582,3.6,-6.6,12,201,7.90,2.03,-17.35,0.000,18948,0.230,0.041,2306,1401,3535,3602,3468,0,0,0,0,0,0,26.55,25.73,26.80
$GC,421,-0.85,-170.3,2306,1401,3603,3472,59.8,-20.2,56,432,0.12,2.08,0.00,0.000,3078,0.167,0.031,2337,2811,3536,3603,3469,0,0,0,0,0,0,26.79,26.94,26.93
$GC,726,-0.85,-170.3,2337,2813,3603,3475,113.7,-15.1,87,735,0.00,2.05,0.00,0.000,516,0.000,0.026,2338,1408,3537,3602,3473,0,0,0,0,0,0,27.20,27.03,27.27
$GC,961,-0.85,-170.3,2338,1399,3604,3475,148.0,-14.2,110,975,0.00,2.08,0.00,0.000,1030,0.000,0.031,2332,2811,3537,3602,3473,0,0,0,0,0,0,27.12,27.07,27.14
$GC,1270,-0.85,-170.3,2332,2812,3603,3474,193.5,-14.3,141,1277,0.00,2.03,0.00,0.000,516,0.000,0.026,2332,1401,3537,3601,3473,0,0,0,0,0,0,27.29,27.12,27.36
$GC,1311,-0.85,-170.3,2332,1401,3603,3473,198.9,-14.4,144,1322,0.08,2.05,0.00,0.000,3078,0.193,0.031,2337,2807,3537,3602,3473,0,0,0,0,0,0,26.98,27.11,27.10
$GC,1616,-0.89,-170.3,2337,2808,3600,3475,242.7,-13.6,175,1624,0.00,2.03,0.00,0.000,516,0.000,0.027,2338,1398,3537,3601,3473,0,0,0,0,0,0,27.32,27.15,27.39
$GC,1653,-0.92,-170.3,2338,1398,3602,3473,247.0,-13.3,178,1663,0.00,2.05,0.00,0.000,1030,0.000,0.032,2335,2801,3540,3601,3480,0,0,0,0,0,0,27.20,27.14,27.21
$GC,1979,-0.92,-170.3,2334,2801,3597,3473,293.1,-14.1,191,1987,0.00,2.00,0.00,0.000,516,0.000,0.027,2335,1409,3535,3597,3474,0,0,0,0,0,0,27.35,27.16,27.41
$GC,2005,-0.92,-170.3,2336,1410,3598,3473,293.1,-14.1,191,2016,0.00,2.03,0.00,0.000,1030,0.000,0.031,2325,2801,3535,3597,3473,0,0,0,0,0,0,27.22,27.17,27.24
$GC,2311,-0.92,-170.3,2326,2803,3596,3474,337.3,-13.0,202,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2801,3534,3595,3473,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2611,-0.92,-170.3,2324,2801,3593,3473,379.2,-14.8,212,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2801,3532,3592,3473,0,0,0,0,0,0,27.39,27.46,27.45
$GC,2911,-0.92,-170.3,2326,2802,3591,3475,421.6,-14.2,222,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2800,3531,3590,3473,0,0,0,0,0,0,27.39,27.48,27.46
$STATE,3119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3119,begin apogee
$GC,3123,-0.19,0.0,2325,2699,3588,3475,451.2,-13.9,229,3269,0.70,0.00,133.98,1.367,10246,0.120,0.000,2556,2697,2838,2880,2797,0,0,0,0,1,0,27.07,24.95,24.15
$STATE,3270,end apogee,CONTROL_FINISHED_OK
$STATE,3270,begin climb
$GC,3271,0.94,170.3,2556,2698,2893,2800,457.8,0.0,233,3426,1.02,1.92,138.20,0.749,11012,0.072,0.043,2918,3850,2129,2165,2094,0,0,0,0,0,0,25.24,25.27,24.77
$GC,3650,1.02,282.5,2918,3851,2160,2084,453.4,5.6,246,3752,0.08,1.65,90.62,0.731,11270,0.129,0.028,2952,2702,1680,1720,1641,0,0,0,0,0,0,26.34,26.43,24.93
$GC,4056,1.02,282.5,2951,2702,1702,1616,411.9,10.7,260,4065,0.00,1.77,0.00,0.000,260,0.000,0.045,2951,3848,1658,1700,1616,0,0,0,0,0,0,26.67,26.48,26.74
$GC,4129,0.98,282.5,2952,3850,1701,1617,404.3,11.4,262,4136,0.00,1.65,0.00,0.000,1030,0.000,0.028,2958,2684,1657,1700,1615,0,0,0,0,0,0,26.66,26.63,26.67
$GC,4450,0.98,282.5,2958,2684,1699,1615,366.5,11.4,273,4458,0.00,1.80,0.00,0.000,260,0.000,0.045,2958,3857,1656,1699,1614,0,0,0,0,0,0,26.96,26.77,27.03
$GC,4636,0.90,282.5,2958,3856,1699,1613,344.3,12.2,279,4645,0.10,1.62,0.00,0.000,5126,0.204,0.027,2938,2691,1655,1698,1613,0,0,0,0,0,0,26.72,26.92,26.87
$GC,4964,0.91,286.7,2939,2690,1698,1613,311.7,9.8,290,4972,0.00,1.75,0.00,0.000,260,0.000,0.044,2938,3850,1655,1697,1613,0,0,0,0,0,0,27.13,26.94,27.20
$GC,5195,0.87,286.7,2938,3849,1697,1612,288.0,11.3,297,5203,0.10,1.60,0.00,0.000,5126,0.191,0.028,2923,2703,1654,1696,1612,0,0,0,0,0,0,26.86,27.05,27.00
$GC,5508,0.94,296.7,2923,2703,1697,1611,255.5,9.6,308,5520,0.00,1.73,3.92,0.545,8452,0.000,0.044,2923,3853,1625,1668,1583,0,0,0,0,0,0,27.22,26.72,26.25
$GC,5559,0.99,309.0,2923,3852,1683,1590,252.5,9.5,309,5586,0.00,1.62,14.12,0.619,9222,0.000,0.028,2927,2689,1573,1615,1531,0,0,0,0,1,0,27.08,27.05,26.26
$GC,5891,1.05,316.6,2928,2690,1623,1532,218.1,9.7,342,5905,0.10,1.77,3.15,0.476,10500,0.114,0.046,2967,3853,1553,1600,1506,0,0,0,0,0,0,26.96,26.82,26.08
$GC,5975,0.97,316.6,2971,3854,1613,1520,208.3,12.0,350,5989,0.00,1.62,2.33,0.335,9222,0.000,0.028,2971,2688,1549,1597,1502,0,0,0,0,0,0,27.02,26.98,26.13
$GC,6285,0.97,317.4,2972,2687,1613,1513,175.8,10.0,381,6299,0.00,1.80,2.08,0.263,8452,0.000,0.046,2971,3844,1548,1597,1499,0,0,0,0,0,0,27.17,26.86,25.82
$GC,6523,0.90,317.4,2972,3844,1610,1513,148.3,12.6,404,6535,0.15,1.60,0.00,0.000,5126,0.181,0.028,2935,2693,1561,1609,1513,0,0,0,0,0,0,26.86,27.08,27.01
$GC,6829,1.07,389.4,2935,2693,1610,1512,119.0,7.2,435,6894,0.08,1.80,47.95,0.790,10500,0.132,0.043,2967,3854,1254,1305,1204,0,0,0,0,1,0,27.10,25.97,25.44
$GC,6938,1.07,389.4,2967,3855,1313,1212,109.3,10.5,445,6949,0.00,1.65,0.00,0.000,1030,0.000,0.027,2971,2698,1259,1312,1207,0,0,0,0,0,0,26.47,26.44,26.48
$GC,7244,1.13,394.0,2972,2699,1314,1207,77.3,9.8,476,7259,0.00,2.03,3.05,0.506,8708,0.000,0.031,2971,1325,1236,1291,1181,0,0,0,0,0,0,26.88,26.58,25.85
$GC,7344,1.29,439.8,2971,1325,1305,1184,69.1,8.2,485,7395,0.17,2.05,35.75,0.617,11270,0.079,0.031,3043,2702,1044,1101,987,0,0,0,0,1,0,26.72,26.74,25.55
$GC,7694,1.29,439.8,3042,2703,1118,993,23.2,12.6,540,7701,0.00,1.77,0.00,0.000,260,0.000,0.045,3043,3877,1054,1117,991,0,0,0,0,0,0,26.84,26.63,26.89
$STATE,7858,end climb,SURFACE_DEPTH_REACHED
$STATE,7858,begin surface coast
$FINISH,1.4,1.023501
$STATE,7863,end surface coast,CONTROL_FINISHED_OK
$STATE,7864,begin surface
$SM_CCo,7879,52.72,0.145,0,0,539,563.94
$SM_GC,0.19,7.90,1.58,52.72,0.077,0.027,0.145,207,2798,539,-7.51,2.46,563.94,0,0,0,0,0,0,26.72,26.80,26.44
$IRIDIUM_FIX,5841.97,-14735.26,060508,182911
$TT8_MAMPS,0.163282,0.163282
$HUMID,43.38
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.70
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,7896.06 4043.57
$PA_BOOTCOUNT,307
$PA_DFQS,0/0
$PA_LOG,0.01/0.246/31.498/29.652
$PA_DATA1,0.00/0.070/117.199/111.175
$PA_DATA0,0.02/2.802/117.199/108.443
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.183/27.046/25.489
$PA_DISK_BANK,1
$24V_AH,24.15,1.045
$10V_AH,10.17,2.306
$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,18.500,55.300,475.150,52.725,0.000,0.000,0.000,0.000,0.000,0.000,18.312,0.000,5466.884,590.629,1863.487,63.684,0.000,1430.001,0.000,1222.772,0.000,0.549,0.000
$DEVICE_MAMPS,229.500,87.975,1367.055,145.350,0.000,0.000,0.000,0.000,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,389.786,0.000,0.000,0.000,0.000,0.000,7927.130,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,134.222,0.000,0.000,0.000
$MEM,187196
$DATA_FILE_SIZE,23433,574
$CAP_FILE_SIZE,98632,0
$CFSIZE,1024393216,996016128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,4449.31,0x236db2,7,5
$CURRENT,0.107,194.56,1
$GPS,110715,071932,5906.542,-14732.020,36,0.8,40,18.1,0.0,190.5,10,6.0