version: 66.12
glider: 203
mission: 8
dive: 172
start: 8 11 115 0 21 36
data:
$ID,203
$MISSION,8
$DIVE,172
$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,108
$R_STBD_OVSHOOT,52
$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
$GPS1,110815,001729,5705.3765,-15047.9570,2,0.9,17,16.6,0.0,193.5,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.1
$GPS2,110815,002123,5705.3330,-15047.9561,17,0.9,17,16.6,0.0,200.8,10,6.3
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,6.8,1236,-41.3,-10.667,-42.21,466
$D_GRID,1373
$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,-2.07,-32.3,208,2775,562,422,0.0,0.0,0,163,0.00,0.00,-63.40,0.000,16386,0.000,0.000,207,2776,2179,2220,2138,0,0,0,0,0,0,26.18,28.83,26.25
$GC,165,-2.07,-62.9,209,2778,2221,2140,3.2,-3.9,9,204,7.12,2.17,-22.17,0.000,18948,0.233,0.034,1961,1336,3099,3165,3033,0,0,0,0,0,0,25.62,24.29,25.81
$GC,334,-2.11,-62.9,1961,1337,3167,3038,58.9,-35.8,37,345,0.00,2.08,0.00,0.000,1030,0.000,0.024,1954,2710,3101,3166,3037,0,0,0,0,0,0,26.15,26.14,26.17
$GC,640,-2.15,-62.9,1954,2712,3167,3042,168.6,-33.4,68,648,0.00,1.75,0.00,0.000,260,0.000,0.034,1945,3866,3103,3166,3041,0,0,0,0,0,0,26.16,26.13,26.22
$GC,867,-2.17,-62.9,1945,3866,3167,3041,243.1,-33.2,90,880,0.00,1.65,0.00,0.000,1030,0.000,0.018,1945,2681,3103,3166,3040,0,0,0,0,0,0,26.15,26.13,26.15
$GC,1184,-2.21,-62.9,1945,2683,3167,3041,345.3,-30.7,102,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2681,3102,3165,3040,0,0,0,0,0,0,26.16,26.23,26.22
$GC,1484,-2.25,-62.9,1945,2681,3165,3040,437.3,-31.0,112,1491,0.00,1.80,0.00,0.000,260,0.000,0.034,1936,3845,3101,3164,3039,0,0,0,0,0,0,26.17,26.08,26.22
$GC,1680,-2.27,-62.9,1936,3849,3163,3041,496.5,-32.6,118,1688,0.00,1.60,0.00,0.000,1030,0.000,0.019,1936,2704,3101,3162,3040,0,0,0,0,0,0,26.18,26.17,26.20
$GC,1998,-2.27,-62.9,1936,2705,3161,3041,591.1,-27.9,129,2005,0.00,1.77,0.00,0.000,260,0.000,0.034,1928,3857,3100,3160,3040,0,0,0,0,0,0,26.14,26.08,26.20
$GC,2228,-2.27,-62.9,1928,3861,3158,3041,651.7,-28.9,136,2236,0.00,1.62,0.00,0.000,1030,0.000,0.020,1927,2710,3098,3157,3040,0,0,0,0,0,0,26.20,26.17,26.21
$GC,2540,-2.31,-62.9,1928,2701,3156,3041,741.8,-28.8,147,2551,0.00,2.05,0.00,0.000,516,0.000,0.024,1927,1331,3097,3155,3040,0,0,0,0,0,0,26.15,26.08,26.20
$GC,2705,-2.36,-62.9,1927,1333,3151,3041,786.1,-29.5,152,2716,0.00,2.08,0.00,0.000,1030,0.000,0.025,1924,2699,3097,3154,3040,0,0,0,0,0,0,26.13,26.08,26.15
$STATE,2754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2754,begin apogee
$GC,2757,-0.25,0.0,1923,2817,3154,3041,804.9,-29.6,154,2819,2.25,0.00,51.62,1.008,10246,0.177,0.000,2550,2815,2838,2880,2797,0,0,0,0,0,0,25.60,25.32,24.57
$STATE,2820,end apogee,CONTROL_FINISHED_OK
$STATE,2820,begin climb
$GC,2821,2.07,62.9,2550,2815,2877,2796,810.6,0.0,156,2883,2.17,1.62,51.17,0.995,10500,0.067,0.035,3304,3837,2579,2605,2553,0,0,0,0,0,0,25.44,24.78,24.27
$GC,3082,2.08,169.0,3305,3837,2603,2549,838.5,-12.7,165,3179,0.00,1.52,85.05,1.011,9222,0.000,0.022,3313,2803,2146,2170,2122,0,0,0,0,0,0,25.94,25.92,24.22
$GC,3504,2.11,169.0,3313,2803,2167,2110,800.3,14.8,179,3514,0.00,2.08,0.00,0.000,516,0.000,0.022,3323,1408,2138,2166,2110,0,0,0,0,0,0,26.06,26.06,26.13
$GC,3708,2.15,169.0,3323,1407,2166,2110,774.8,13.7,185,3715,0.00,2.10,0.00,0.000,1030,0.000,0.025,3323,2796,2137,2165,2110,0,0,0,0,0,0,26.17,26.13,26.19
$GC,4020,2.17,169.0,3323,2797,2164,2108,728.4,14.2,196,4028,0.00,1.60,0.00,0.000,260,0.000,0.036,3323,3855,2135,2163,2108,0,0,0,0,0,0,26.16,26.11,26.22
$GC,4252,2.17,169.0,3323,3856,2162,2109,694.3,16.0,203,4259,0.00,1.50,0.00,0.000,1030,0.000,0.022,3331,2793,2134,2161,2107,0,0,0,0,0,0,26.22,26.20,26.24
$GC,4563,2.19,169.0,3331,2792,2162,2107,648.5,14.0,214,4570,0.00,1.62,0.00,0.000,260,0.000,0.037,3331,3853,2134,2161,2107,0,0,0,0,0,0,26.16,26.10,26.22
$GC,4794,2.19,169.0,3331,3854,2162,2107,617.5,14.4,221,4802,0.00,1.50,0.00,0.000,1030,0.000,0.022,3338,2794,2133,2160,2107,0,0,0,0,0,0,26.21,26.18,26.22
$GC,5107,2.21,169.0,3339,2795,2162,2108,573.1,13.2,232,5114,0.00,1.62,0.00,0.000,260,0.000,0.037,3339,3849,2133,2161,2106,0,0,0,0,0,0,26.16,26.08,26.23
$GC,5313,2.19,169.0,3338,3849,2160,2108,550.3,12.1,238,5326,0.00,1.50,0.00,0.000,1030,0.000,0.022,3347,2790,2132,2159,2106,0,0,0,0,0,0,26.20,26.11,26.21
$GC,5619,2.19,172.0,3347,2789,2159,2106,518.7,10.0,249,5627,0.00,2.05,0.00,0.000,516,0.000,0.020,3355,1418,2129,2153,2106,0,0,0,0,0,0,26.14,26.11,26.19
$GC,5636,2.19,175.0,3355,1419,2157,2108,518.7,10.0,249,5643,0.00,2.12,0.00,0.000,1030,0.000,0.028,3355,2811,2131,2156,2106,0,0,0,0,0,0,26.14,26.08,26.15
$GC,5947,2.19,181.0,3355,2812,2158,2108,494.9,9.3,260,5964,0.00,2.10,8.48,0.895,8708,0.000,0.021,3365,1410,2098,2124,2072,0,0,0,0,0,0,26.10,25.94,25.15
$GC,6158,2.19,181.1,3365,1411,2121,2071,471.3,10.7,267,6166,0.00,2.12,0.00,0.000,1030,0.000,0.026,3365,2805,2095,2119,2072,0,0,0,0,0,0,26.10,26.06,26.12
$GC,6480,2.18,181.1,3366,2805,2120,2070,433.0,11.7,278,6487,0.00,1.62,0.00,0.000,260,0.000,0.036,3365,3844,2095,2120,2070,0,0,0,0,0,0,26.10,26.04,26.16
$GC,6712,2.09,181.1,3366,3846,2125,2071,407.4,12.9,285,6719,0.17,1.52,0.00,0.000,5126,0.225,0.022,3338,2778,2095,2120,2070,0,0,0,0,0,0,25.56,26.09,25.84
$GC,7024,2.11,183.4,3338,2779,2121,2071,371.4,10.2,296,7031,0.00,1.70,0.00,0.000,260,0.000,0.037,3338,3850,2094,2119,2069,0,0,0,0,0,0,26.13,26.03,26.20
$GC,7215,2.11,183.4,3338,3850,2120,2069,349.2,11.3,302,7222,0.00,1.50,0.00,0.000,1030,0.000,0.022,3343,2796,2094,2119,2069,0,0,0,0,0,0,26.15,26.12,26.16
$GC,7536,2.09,186.7,3343,2795,2120,2069,321.2,9.9,313,7543,0.00,2.05,0.00,0.000,516,0.000,0.022,3353,1435,2094,2119,2069,0,0,0,0,0,0,26.10,26.08,26.17
$GC,7767,2.11,191.2,3353,1412,2120,2069,300.1,9.7,320,7785,0.00,2.12,9.35,0.789,9222,0.000,0.026,3353,2810,2057,2081,2034,0,0,0,0,0,0,26.10,26.05,25.20
$GC,8110,2.11,204.5,3354,2812,2080,2030,265.0,7.7,332,8132,0.00,1.62,12.40,0.743,8452,0.000,0.034,3352,3847,2000,2024,1977,0,0,0,0,0,0,26.10,25.64,25.19
$GC,8237,2.09,204.5,3353,3849,2024,1974,248.3,13.8,336,8247,0.12,1.52,0.00,0.000,5126,0.221,0.021,3333,2786,1998,2023,1973,0,0,0,0,0,0,25.60,26.05,25.82
$GC,8541,2.12,204.5,3337,2785,2024,1973,207.7,14.1,367,8549,0.00,1.65,0.00,0.000,260,0.000,0.037,3332,3854,1997,2022,1973,0,0,0,0,0,0,26.09,26.03,26.15
$GC,8773,2.12,204.5,3332,3856,2022,1973,173.6,13.6,390,8781,0.00,1.50,0.00,0.000,1030,0.000,0.022,3337,2795,1997,2021,1973,0,0,0,0,0,0,26.13,26.10,26.13
$GC,9086,2.14,206.0,3338,2796,2022,1974,136.9,10.3,421,9100,0.00,2.05,0.00,0.000,516,0.000,0.022,3347,1414,1996,2021,1972,0,0,0,0,0,0,26.12,26.07,26.18
$GC,9324,2.17,224.7,3348,1415,2022,1974,116.4,6.5,444,9353,0.00,2.12,15.02,0.614,9222,0.000,0.026,3347,2808,1916,1943,1890,0,0,0,0,0,0,26.09,26.03,25.27
$GC,9649,2.19,231.9,3347,2808,1943,1887,83.6,9.1,477,9663,0.00,2.10,2.38,0.465,8708,0.000,0.022,3356,1407,1894,1924,1865,0,0,0,0,0,0,26.09,25.86,24.87
$GC,9713,2.22,241.5,3357,1408,1928,1866,78.0,8.6,483,9729,0.00,2.12,7.15,0.609,9222,0.000,0.025,3357,2799,1852,1880,1825,0,0,0,0,0,0,26.08,26.03,25.26
$GC,10028,2.25,250.2,3356,2798,1878,1820,49.1,8.7,515,10040,0.00,1.65,2.97,0.266,8452,0.000,0.037,3356,3857,1819,1849,1790,0,0,0,0,0,0,26.08,25.82,25.39
$GC,10120,2.25,251.2,3357,3857,1851,1789,39.7,10.4,532,10132,0.00,1.50,0.00,0.000,1030,0.000,0.021,3364,2795,1820,1850,1790,0,0,0,0,0,0,26.12,26.09,26.13
$GC,10433,2.30,300.0,3365,2796,1851,1791,22.2,-0.1,593,10457,0.00,1.70,20.80,0.197,8452,0.000,0.037,3364,3848,1613,1644,1582,0,0,0,0,0,0,26.13,25.88,25.55
$GC,10681,2.35,328.1,3365,3849,1644,1578,10.6,4.5,642,10700,0.00,1.52,10.90,0.170,9222,0.000,0.021,3372,2803,1497,1532,1462,0,0,0,0,0,0,26.15,26.13,25.60
$STATE,10789,end climb,SURFACE_DEPTH_REACHED
$STATE,10789,begin surface coast
$FINISH,0.7,1.024224
$STATE,10803,end surface coast,CONTROL_FINISHED_OK
$STATE,10804,begin surface
$SM_CCo,10819,28.38,0.148,0,0,1205,400.08
$SM_GC,4.06,8.62,0.00,28.38,0.046,0.000,0.148,194,2803,1205,-7.58,2.94,400.08,0,0,0,0,0,0,26.04,26.22,25.63
$IRIDIUM_FIX,5640.91,-15041.34,060608,134107
$TT8_MAMPS,0.059171,0.059171
$HUMID,40.35
$INTERNAL_PRESSURE,8.8487
$TCM_TEMP,18.00
$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,10809.37 5220.48
$PA_BOOTCOUNT,480
$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_DATA0,0.44/51.893/117.199/59.353
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.217/27.046/25.455
$PA_DISK_BANK,3
$24V_AH,24.22,62.419
$10V_AH,10.21,37.919
$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,20.475,75.375,277.300,28.375,0.000,0.000,0.000,0.000,0.000,10872.181,18.355,0.000,7844.242,387.865,2584.912,85.868,0.000,1524.287,0.000,1772.307,0.000,0.548,0.000
$DEVICE_MAMPS,233.325,86.445,1010.565,147.645,0.000,0.000,0.000,0.000,420.000,61.270,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,455.263,0.000,0.000,0.000,0.000,0.000,10872.311,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.379,0.000,0.000,0.000
$MEM,142904
$DATA_FILE_SIZE,30070,666
$CAP_FILE_SIZE,129070,0
$CFSIZE,1024393216,979697664
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$INTR,0,7819.50,0x236db2,7,5
$INTR,1,10807.79,0x236db2,7,5
$CURRENT,0.058,221.71,1
$GPS,110815,032334,5705.571,-15048.061,50,0.8,51,16.6,1.0,226.6,10,8.1