version: 66.12
glider: 203
mission: 8
dive: 173
start: 8 11 115 3 29 22
data:
$ID,203
$MISSION,8
$DIVE,173
$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,97
$R_STBD_OVSHOOT,50
$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
$GPS1,110815,032334,5705.5713,-15048.0605,50,0.8,51,16.6,1.0,226.6,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.8
$GPS2,110815,032902,5705.5103,-15048.1807,11,0.9,11,16.6,0.0,208.6,10,8.5
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,9.4,925,-41.9,-10.667,-42.78,453
$D_GRID,1366
$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,-2.10,-31.4,184,2802,1223,1165,0.0,0.0,0,129,0.00,0.00,-30.23,0.000,16386,0.000,0.000,183,2802,2003,2038,1968,0,0,0,0,0,0,26.06,28.83,26.13
$GC,131,-2.10,-31.4,184,2802,2040,1967,3.1,-4.1,5,177,7.22,2.22,-24.90,0.000,18948,0.232,0.033,1955,1332,2969,3045,2894,0,0,0,0,0,0,25.42,25.17,25.78
$GC,407,-2.13,-31.4,1955,1333,3046,2900,97.1,-34.8,42,421,0.00,2.10,0.00,0.000,1030,0.000,0.023,1948,2714,2972,3044,2901,0,0,0,0,0,0,26.06,26.03,26.06
$GC,716,-2.16,-31.4,1948,2714,3046,2902,190.5,-30.7,73,723,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2714,2974,3045,2903,0,0,0,0,0,0,26.10,26.17,26.15
$GC,1017,-2.21,-31.4,1949,2714,3046,2904,277.9,-28.8,97,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2714,2974,3045,2904,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1317,-2.25,-31.4,1948,2715,3045,2906,363.5,-28.4,107,1325,0.00,1.73,0.00,0.000,260,0.000,0.035,1940,3847,2974,3045,2904,0,0,0,0,0,0,26.10,26.01,26.16
$GC,1465,-2.28,-31.4,1939,3844,3045,2901,400.7,-30.6,111,1476,0.00,1.62,0.00,0.000,1030,0.000,0.019,1939,2679,2974,3044,2904,0,0,0,0,0,0,26.16,26.13,26.17
$GC,1769,-2.32,-31.4,1940,2681,3044,2904,496.0,-28.5,122,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2679,2973,3043,2904,0,0,0,0,0,0,26.10,26.17,26.15
$GC,2070,-2.36,-31.4,1940,2679,3043,2904,579.3,-27.5,132,2079,0.10,1.80,0.00,0.000,4356,0.102,0.032,1884,3844,2972,3041,2904,0,0,0,0,0,0,26.01,25.99,26.06
$GC,2304,-2.36,-31.4,1885,3844,3042,2904,643.0,-30.5,139,2315,0.00,1.60,0.00,0.000,1030,0.000,0.020,1884,2700,2972,3040,2904,0,0,0,0,0,0,26.10,26.08,26.11
$GC,2609,-2.38,-31.4,1884,2700,3040,2905,735.4,-27.8,150,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2699,2971,3039,2904,0,0,0,0,0,0,26.08,26.15,26.14
$STATE,2878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2878,begin apogee
$GC,2881,-0.25,0.0,1884,2810,3038,2904,808.0,-26.8,159,2918,2.45,0.00,28.60,1.025,10246,0.185,0.000,2548,2810,2837,2882,2793,0,0,0,0,0,0,25.44,25.56,24.75
$STATE,2919,end apogee,CONTROL_FINISHED_OK
$STATE,2919,begin climb
$GC,2921,2.10,31.4,2548,2810,2881,2789,811.9,0.0,160,2956,2.20,1.60,26.67,1.013,10500,0.067,0.034,3318,3829,2706,2742,2671,0,0,0,0,0,0,25.64,25.06,24.50
$GC,2985,2.10,31.4,3318,3830,2741,2672,811.7,-1.5,162,2992,0.00,1.50,0.00,0.000,1030,0.000,0.022,3326,2790,2705,2740,2670,0,0,0,0,0,0,25.63,25.60,25.64
$GC,3296,2.11,138.0,3322,2790,2738,2670,855.7,-13.5,173,3391,0.00,1.75,85.12,1.030,8452,0.000,0.035,3326,3833,2272,2296,2248,0,0,0,0,0,0,26.03,24.98,24.22
$GC,3401,2.10,233.9,3326,3834,2294,2245,864.6,-11.1,176,3492,0.00,1.52,79.90,1.017,9222,0.000,0.022,3334,2803,1880,1909,1852,0,0,0,0,0,0,25.27,25.22,23.88
$GC,3811,2.13,233.9,3334,2803,1902,1838,775.0,25.7,190,3821,0.00,1.62,0.00,0.000,260,0.000,0.037,3334,3840,1869,1901,1838,0,0,0,0,0,0,25.89,25.89,25.95
$GC,4044,2.13,233.9,3334,3840,1901,1836,719.7,25.8,197,4054,0.00,1.52,0.00,0.000,1030,0.000,0.022,3341,2794,1868,1900,1836,0,0,0,0,0,0,26.13,26.11,26.15
$GC,4358,2.13,233.9,3342,2791,1901,1836,644.3,20.8,208,4365,0.00,1.62,0.00,0.000,260,0.000,0.036,3341,3840,1867,1899,1836,0,0,0,0,0,0,26.13,26.08,26.19
$GC,4589,2.11,233.9,3341,3840,1899,1834,598.8,21.7,215,4596,0.00,1.52,0.00,0.000,1030,0.000,0.022,3349,2796,1866,1898,1835,0,0,0,0,0,0,26.17,26.15,26.19
$GC,4901,2.13,233.9,3350,2796,1897,1833,524.2,23.1,226,4908,0.00,1.62,0.00,0.000,260,0.000,0.039,3349,3832,1866,1896,1836,0,0,0,0,0,0,26.13,26.04,26.19
$GC,5132,2.07,233.9,3349,3833,1894,1835,478.1,22.3,233,5139,0.10,1.50,0.00,0.000,5126,0.196,0.021,3331,2801,1864,1893,1835,0,0,0,0,0,0,25.67,26.13,25.80
$GC,5444,2.09,233.9,3331,2801,1895,1837,416.9,17.7,244,5451,0.00,1.60,0.00,0.000,260,0.000,0.038,3331,3836,1864,1893,1835,0,0,0,0,0,0,26.11,26.03,26.15
$GC,5520,2.08,233.9,3331,3837,1902,1836,406.1,18.0,246,5527,0.00,1.50,0.00,0.000,1030,0.000,0.022,3337,2809,1864,1893,1835,0,0,0,0,0,0,26.16,26.14,26.17
$GC,5836,2.08,233.9,3337,2808,1893,1834,346.3,18.0,257,5843,0.00,1.60,0.00,0.000,260,0.000,0.039,3337,3831,1863,1892,1835,0,0,0,0,0,0,26.10,26.01,26.17
$GC,5932,2.04,233.9,3337,3831,1891,1834,329.5,18.2,260,5940,0.12,1.50,0.00,0.000,5126,0.243,0.021,3323,2798,1862,1890,1835,0,0,0,0,0,0,25.58,26.12,25.86
$GC,6259,2.06,233.9,3323,2795,1891,1834,278.1,14.2,271,6268,0.00,2.08,0.00,0.000,516,0.000,0.021,3330,1428,1862,1890,1835,0,0,0,0,0,0,26.03,26.08,26.10
$GC,6393,2.06,233.9,3331,1411,1893,1835,260.3,14.5,275,6401,0.00,2.10,0.00,0.000,1030,0.000,0.024,3331,2792,1862,1890,1834,0,0,0,0,0,0,26.11,26.06,26.14
$GC,6700,2.04,233.9,3331,2792,1888,1835,206.4,15.2,303,6708,0.00,2.08,0.00,0.000,516,0.000,0.023,3340,1418,1862,1890,1834,0,0,0,0,0,0,26.08,26.07,26.15
$GC,6932,2.06,233.9,3340,1419,1892,1836,166.6,17.8,325,6944,0.00,2.12,0.00,0.000,1030,0.000,0.027,3340,2801,1862,1890,1835,0,0,0,0,0,0,26.07,26.02,26.10
$GC,7238,2.06,233.9,3343,2801,1892,1834,112.6,15.9,356,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2801,1862,1890,1834,0,0,0,0,0,0,26.10,26.17,26.17
$GC,7539,2.10,237.6,3340,2801,1892,1834,72.7,9.8,386,7547,0.00,2.08,0.00,0.000,516,0.000,0.022,3350,1413,1862,1890,1834,0,0,0,0,0,0,26.05,26.04,26.13
$GC,7773,2.17,249.8,3349,1413,1891,1835,53.1,7.9,409,7791,0.00,2.10,7.95,0.565,9222,0.000,0.026,3350,2800,1820,1849,1791,0,0,0,0,0,0,26.06,26.03,25.27
$GC,8090,2.24,275.4,3350,2799,1846,1783,29.4,4.9,467,8113,0.00,1.67,10.05,0.213,8964,0.000,0.038,3350,3853,1715,1746,1684,0,0,0,0,0,0,26.09,25.86,25.51
$GC,8339,2.29,308.0,3350,3854,1749,1685,20.7,3.3,515,8358,0.00,1.55,13.65,0.191,9222,0.000,0.021,3357,2792,1580,1614,1547,0,0,0,0,0,0,26.11,26.10,25.56
$GC,8658,2.37,317.3,3358,2793,1617,1548,2.7,8.6,578,8666,0.12,1.73,3.70,0.159,10500,0.094,0.036,3413,3861,1540,1574,1507,0,0,0,0,0,0,26.00,25.91,25.64
$STATE,8668,end climb,SURFACE_DEPTH_REACHED
$STATE,8668,begin surface coast
$FINISH,0.7,1.023744
$STATE,8689,end surface coast,CONTROL_FINISHED_OK
$STATE,8689,begin surface
$SM_CCo,8706,33.28,0.147,0,0,1206,400.08
$SM_GC,3.81,9.27,1.73,33.28,0.076,0.020,0.147,193,2702,1206,-7.59,2.91,400.08,0,0,0,0,0,0,26.04,26.15,25.63
$IRIDIUM_FIX,5640.91,-15050.18,060608,134435
$TT8_MAMPS,0.058422,0.058422
$HUMID,39.56
$INTERNAL_PRESSURE,8.8487
$TCM_TEMP,18.30
$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,8703.55 4288.68
$PA_BOOTCOUNT,481
$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_DATA0,0.46/53.518/117.199/57.727
$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,23.88,62.646
$10V_AH,10.18,37.968
$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,21.600,52.425,255.650,33.275,0.000,0.000,0.000,220.950,0.000,9105.520,19.014,0.000,6368.023,329.938,2263.953,107.200,0.000,1426.619,0.000,1332.600,0.000,0.549,0.000
$DEVICE_MAMPS,242.505,79.560,1030.455,146.880,0.000,0.000,0.000,94.095,420.000,61.231,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,399.560,0.000,0.000,0.000,0.000,0.000,9105.780,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,142844
$DATA_FILE_SIZE,26818,584
$CAP_FILE_SIZE,95783,0
$CFSIZE,1024393216,979615744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,11264.84,0x236db2,7,5
$CURRENT,0.076,248.66,1
$GPS,110815,055631,5705.973,-15048.560,46,1.0,70,16.6,0.2,8.6,11,9.8