version: 66.12
glider: 203
mission: 8
dive: 169
start: 8 10 115 14 7 25
data:
$ID,203
$MISSION,8
$DIVE,169
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$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,225
$T_MISSION,250
$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,106
$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,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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,100815,140203,5704.2017,-15052.1465,24,0.8,24,16.6,0.5,332.6,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.8
$GPS2,100815,140714,5704.1753,-15052.1602,17,0.8,17,16.6,0.5,83.3,10,3.8
$SPEED_LIMITS,0.111,0.311
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,35.0,5379,-18.1,-11.111,-19.67,2691
$D_GRID,1404
$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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.93,-194.6,195,2812,973,848,0.0,0.0,0,143,0.00,0.00,-43.35,0.000,16386,0.000,0.000,194,2813,2039,2086,1993,0,0,0,0,0,0,26.06,28.83,26.13
$GC,145,-0.93,-194.6,195,2813,2088,1993,3.1,-4.2,7,197,8.62,2.30,-38.88,0.000,19204,0.230,0.037,2334,1345,3636,3708,3564,0,0,0,0,0,0,25.46,24.21,25.80
$GC,427,-0.91,-194.6,2334,1347,3709,3571,58.9,-18.4,55,439,0.00,2.08,0.00,0.000,1030,0.000,0.025,2328,2709,3639,3708,3570,0,0,0,0,0,0,26.08,26.03,26.10
$GC,736,-0.91,-194.6,2328,2710,3709,3574,118.2,-18.4,86,744,0.00,2.08,0.00,0.000,516,0.000,0.023,2327,1334,3640,3708,3573,0,0,0,0,0,0,26.10,26.04,26.15
$GC,818,-0.91,-194.6,2327,1334,3709,3573,131.7,-17.3,93,829,0.10,2.08,0.00,0.000,3078,0.171,0.024,2341,2702,3640,3708,3573,0,0,0,0,0,0,25.82,26.04,25.96
$GC,1124,-0.93,-194.6,2341,2702,3710,3573,179.7,-14.6,124,1133,0.00,2.05,0.00,0.000,516,0.000,0.023,2342,1353,3641,3710,3573,0,0,0,0,0,0,26.10,26.06,26.15
$GC,1177,-0.94,-194.6,2342,1342,3709,3574,187.7,-14.9,129,1184,0.00,2.08,0.00,0.000,1030,0.000,0.025,2335,2705,3641,3709,3573,0,0,0,0,0,0,26.08,26.02,26.10
$GC,1482,-0.94,-194.6,2336,2706,3709,3574,233.0,-15.4,159,1490,0.00,2.08,0.00,0.000,516,0.000,0.022,2336,1337,3640,3708,3573,0,0,0,0,0,0,26.09,26.06,26.15
$GC,1513,-0.94,-194.6,2336,1336,3710,3572,237.1,-14.9,161,1525,0.00,2.08,0.00,0.000,1030,0.000,0.025,2325,2701,3640,3708,3573,0,0,0,0,0,0,26.07,26.03,26.11
$GC,1839,-0.94,-194.6,2326,2702,3708,3574,286.9,-14.7,178,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2701,3640,3708,3573,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2139,-0.94,-194.6,2327,2700,3709,3574,330.8,-14.7,188,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2701,3640,3707,3573,0,0,0,0,0,0,26.10,26.17,26.16
$GC,2439,-0.94,-194.6,2326,2700,3708,3573,375.4,-14.9,198,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2701,3639,3706,3573,0,0,0,0,0,0,26.06,26.13,26.12
$GC,2739,-0.96,-194.6,2326,2702,3705,3574,417.9,-13.2,208,2747,0.00,2.05,0.00,0.000,516,0.000,0.024,2326,1347,3638,3704,3573,0,0,0,0,0,0,26.06,26.03,26.12
$GC,2970,-0.96,-194.6,2327,1348,3704,3574,448.7,-15.0,215,2981,0.00,2.08,0.00,0.000,1030,0.000,0.025,2320,2706,3638,3703,3573,0,0,0,0,0,0,26.05,25.99,26.07
$GC,3276,-0.96,-194.6,2319,2707,3702,3574,500.6,-15.5,226,3284,0.00,2.08,0.00,0.000,516,0.000,0.024,2319,1339,3637,3701,3573,0,0,0,0,0,0,26.10,26.00,26.15
$GC,3508,-0.98,-194.6,2320,1338,3701,3573,533.0,-15.0,233,3516,0.00,2.08,0.00,0.000,1030,0.000,0.026,2319,2703,3636,3699,3573,0,0,0,0,0,0,26.06,26.00,26.08
$GC,3813,-0.98,-194.6,2319,2702,3699,3574,580.3,-13.9,243,3821,0.00,2.08,0.00,0.000,516,0.000,0.024,2319,1345,3639,3705,3573,0,0,0,0,0,0,26.07,26.01,26.13
$GC,4020,-0.98,-194.6,2319,1337,3698,3574,605.8,-14.0,249,4030,0.00,2.10,0.00,0.000,1030,0.000,0.026,2319,2703,3635,3698,3572,0,0,0,0,0,0,26.07,26.01,26.09
$GC,4325,-1.00,-194.6,2319,2703,3698,3573,651.4,-13.7,260,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3635,3697,3573,0,0,0,0,0,0,26.08,26.15,26.15
$GC,4625,-1.01,-194.6,2319,2705,3696,3574,689.4,-12.0,270,4633,0.00,1.77,0.00,0.000,260,0.000,0.041,2310,3845,3634,3695,3573,0,0,0,0,0,0,26.06,25.91,26.11
$GC,4692,-1.01,-194.6,2310,3844,3695,3572,697.6,-12.6,272,4700,0.00,1.62,0.00,0.000,1030,0.000,0.022,2310,2711,3633,3694,3573,0,0,0,0,0,0,26.10,26.08,26.12
$GC,5019,-1.01,-194.6,2310,2712,3696,3574,742.5,-13.6,283,5026,0.00,1.80,0.00,0.000,260,0.000,0.041,2306,3850,3633,3693,3573,0,0,0,0,0,0,26.05,25.93,26.11
$STATE,5079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5079,begin apogee
$GC,5084,-0.25,0.0,2307,2798,3694,3574,751.3,-13.9,285,5282,0.80,0.00,190.43,0.871,10246,0.124,0.000,2550,2796,2838,2876,2800,0,0,0,0,0,0,25.61,24.58,23.90
$STATE,5283,end apogee,CONTROL_FINISHED_OK
$STATE,5283,begin climb
$GC,5284,0.93,194.6,2550,2796,2869,2793,761.1,0.0,291,5454,1.12,1.85,158.60,0.939,11012,0.068,0.038,2935,3851,2037,2076,1998,0,0,0,0,0,0,24.71,24.17,23.49
$GC,5679,0.88,224.0,2935,3851,2068,1982,741.5,10.0,305,5713,0.00,1.52,24.08,0.935,9222,0.000,0.023,2943,2795,1919,1962,1876,0,0,0,0,0,0,25.79,25.77,24.59
$GC,6009,0.86,256.1,2943,2796,1953,1863,709.2,9.9,316,6045,0.00,1.73,27.20,0.924,8452,0.000,0.040,2943,3850,1787,1830,1745,0,0,0,0,0,0,26.02,25.56,24.80
$GC,6254,0.82,256.1,2943,3850,1823,1732,678.8,13.3,324,6262,0.05,1.55,0.00,0.000,5126,0.158,0.023,2931,2797,1777,1822,1732,0,0,0,0,0,0,25.78,26.02,25.86
$GC,6581,0.82,256.1,2930,2797,1822,1730,640.8,11.2,335,6589,0.00,1.65,0.00,0.000,260,0.000,0.040,2931,3851,1775,1821,1730,0,0,0,0,0,0,26.09,26.03,26.15
$GC,6813,0.81,256.1,2931,3850,1822,1729,615.2,12.1,342,6820,0.00,1.50,0.00,0.000,1030,0.000,0.023,2932,2788,1775,1821,1730,0,0,0,0,0,0,26.15,26.13,26.17
$GC,7125,0.79,256.1,2932,2787,1821,1729,578.5,11.2,353,7132,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3847,1775,1820,1730,0,0,0,0,0,0,26.13,26.03,26.18
$GC,7356,0.75,273.0,2932,3847,1819,1729,555.0,10.5,360,7378,0.08,1.52,13.73,0.866,13318,0.147,0.023,2909,2806,1726,1769,1684,0,0,0,0,0,0,25.83,26.13,25.08
$GC,7698,0.75,324.4,2910,2807,1758,1667,520.8,9.1,372,7753,0.00,0.00,46.35,0.809,8710,0.000,0.000,2909,2806,1508,1555,1461,0,0,0,0,0,0,26.07,25.41,24.77
$GC,8057,0.69,324.4,2909,2806,1540,1449,480.2,12.4,384,8067,0.10,2.10,0.00,0.000,4612,0.193,0.022,2890,1425,1494,1539,1449,0,0,0,0,0,0,25.75,25.95,25.89
$GC,8196,0.60,324.4,2890,1425,1540,1448,465.2,12.4,388,8204,0.12,2.10,0.00,0.000,5126,0.142,0.028,2859,2795,1493,1538,1448,0,0,0,0,0,0,25.82,26.02,25.98
$GC,8509,0.69,400.0,2860,2797,1540,1448,435.4,8.2,399,8585,0.00,1.73,66.75,0.750,8452,0.000,0.037,2860,3858,1199,1249,1149,0,0,0,0,0,0,26.11,25.35,24.71
$GC,8809,0.74,400.0,2860,3858,1240,1131,397.4,11.9,409,8816,0.00,1.52,0.00,0.000,1030,0.000,0.023,2863,2784,1188,1239,1137,0,0,0,0,0,0,26.02,25.98,26.03
$GC,9141,0.80,404.3,2864,2784,1239,1128,362.5,10.9,420,9148,0.10,1.70,0.00,0.000,2308,0.105,0.037,2918,3860,1184,1239,1129,0,0,0,0,0,0,26.01,25.98,26.06
$GC,9373,0.75,404.3,2918,3859,1238,1128,328.8,15.9,427,9380,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2807,1182,1237,1128,0,0,0,0,0,0,26.08,26.06,26.09
$GC,9684,0.70,404.3,2920,2809,1236,1128,275.6,15.4,438,9692,0.12,1.65,0.00,0.000,4356,0.164,0.037,2885,3853,1181,1236,1127,0,0,0,0,0,0,25.79,25.96,25.88
$GC,9916,0.72,404.3,2885,3854,1236,1127,245.4,12.7,447,9923,0.00,1.50,0.00,0.000,1030,0.000,0.022,2890,2788,1181,1236,1126,0,0,0,0,0,0,26.13,26.10,26.14
$GC,10228,0.78,424.8,2890,2787,1237,1125,211.6,10.3,478,10262,0.00,1.75,21.10,0.641,8964,0.000,0.038,2890,3858,1101,1157,1045,0,0,0,0,0,0,26.08,25.84,25.21
$GC,10427,0.86,438.3,2890,3858,1154,1037,191.1,10.6,497,10450,0.08,1.50,13.25,0.652,11270,0.122,0.022,2933,2800,1050,1109,992,0,0,0,0,0,0,25.89,26.03,25.17
$GC,10754,0.92,438.3,2934,2802,1098,978,153.1,11.1,530,10762,0.00,2.05,0.00,0.000,516,0.000,0.024,2941,1433,1037,1097,977,0,0,0,0,0,0,26.07,26.01,26.13
$GC,10936,0.99,438.3,2942,1433,1098,977,132.3,12.2,547,10946,0.00,2.10,0.00,0.000,1030,0.000,0.026,2942,2803,1037,1097,977,0,0,0,0,0,0,26.07,26.02,26.09
$GC,11241,1.05,438.3,2943,2804,1098,977,94.3,11.2,578,11249,0.10,2.08,0.00,0.000,2564,0.102,0.021,3009,1428,1036,1096,976,0,0,0,0,0,0,25.98,26.06,26.05
$GC,11335,1.08,438.3,3010,1429,1097,978,82.8,12.4,587,11347,0.00,2.10,0.00,0.000,1030,0.000,0.026,3009,2800,1036,1096,976,0,0,0,0,0,0,26.07,26.02,26.09
$GC,11644,1.10,438.3,3009,2801,1097,977,41.8,12.8,624,11655,0.00,2.08,0.00,0.000,516,0.000,0.023,3018,1424,1034,1093,975,0,0,0,0,0,0,26.06,26.03,26.12
$GC,11690,1.12,438.3,3019,1425,1097,977,36.4,11.3,632,11701,0.00,2.12,0.00,0.000,1030,0.000,0.026,3018,2812,1036,1096,976,0,0,0,0,0,0,26.09,26.03,26.11
$GC,12002,1.17,472.5,3018,2812,1097,973,2.1,9.8,693,12009,0.00,0.00,5.43,0.165,8194,0.000,0.000,3018,2812,978,1039,918,0,0,0,0,0,0,26.12,28.83,26.18
$STATE,12009,end climb,SURFACE_DEPTH_REACHED
$STATE,12010,begin surface coast
$FINISH,0.7,1.023625
$STATE,12027,end surface coast,CONTROL_FINISHED_OK
$STATE,12027,begin surface
$SM_CCo,12102,0.00,0.000,0,0,980,456.01
$SM_GC,1.65,7.55,0.08,0.00,0.037,0.103,0.000,193,2705,980,-7.59,2.97,456.01,0,0,0,0,0,0,26.05,26.06,26.09
$IRIDIUM_FIX,5640.91,-15052.11,060608,000419
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.97
$INTERNAL_PRESSURE,8.8115
$TCM_TEMP,17.60
$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,12060.69 5801.22
$PA_BOOTCOUNT,477
$PA_DFQS,0/0
$PA_LOG,0.01/0.268/31.498/29.630
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.39/45.249/117.199/65.997
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.216/27.046/25.456
$PA_DISK_BANK,3
$24V_AH,23.49,61.312
$10V_AH,10.17,37.742
$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,18.950,78.650,566.900,0.000,0.000,0.000,0.000,212.575,0.000,12415.201,18.715,0.000,8811.736,582.971,2888.028,120.798,0.000,2002.953,0.000,1823.852,0.000,0.547,0.000
$DEVICE_MAMPS,230.265,103.275,939.420,0.000,0.000,0.000,0.000,90.270,420.000,61.673,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,477.143,0.000,0.000,0.000,0.000,0.000,12415.351,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.372,0.000,0.000,0.000
$MEM,142880
$DATA_FILE_SIZE,30088,698
$CAP_FILE_SIZE,124848,0
$CFSIZE,1024393216,979959808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$INTR,0,12332.30,0x236db2,7,5
$CURRENT,0.065,270.03,1
$GPS,100815,173003,5705.332,-15051.873,39,0.8,39,16.6,0.9,48.8,10,8.1