version: 66.12
glider: 203
mission: 8
dive: 6
start: 7 11 115 7 24 12
data:
$ID,203
$MISSION,8
$DIVE,6
$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,84
$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,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
$GPS1,110715,071932,5906.5415,-14732.0195,36,0.8,40,18.1,0.0,190.5,10,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-64.9
$GPS2,110715,072401,5906.4907,-14732.0420,3,0.8,9,18.1,0.5,184.7,10,9.2
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,91.3,29742,-17.8,-10.000,-19.47,2615
$D_GRID,608
$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,-170.3,208,2797,609,469,0.0,0.0,0,161,0.00,0.00,-67.35,0.000,16386,0.000,0.000,207,2798,2360,2393,2327,0,0,0,0,0,0,26.79,28.83,26.86
$GC,163,-0.94,-170.3,208,2797,2394,2328,3.2,-5.9,11,199,8.12,2.03,-24.12,0.000,18948,0.237,0.042,2311,1419,3535,3603,3468,0,0,0,0,0,0,26.37,25.59,26.60
$GC,403,-0.86,-170.3,2311,1418,3604,3472,54.5,-19.4,55,416,0.12,2.05,0.00,0.000,3078,0.174,0.031,2336,2796,3537,3603,3472,0,0,0,0,0,0,26.62,26.77,26.74
$GC,710,-0.83,-170.3,2337,2797,3604,3474,112.2,-19.1,86,718,0.00,2.00,0.00,0.000,516,0.000,0.028,2337,1422,3538,3603,3474,0,0,0,0,0,0,27.06,26.89,27.13
$GC,887,-0.83,-170.3,2336,1422,3603,3477,140.0,-14.8,103,900,0.08,2.05,0.00,0.000,3078,0.200,0.031,2345,2811,3539,3603,3475,0,0,0,0,0,0,26.80,26.93,26.93
$GC,1194,-0.83,-170.3,2345,2810,3603,3474,185.4,-14.4,134,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2811,3539,3603,3475,0,0,0,0,0,0,27.17,27.25,27.24
$GC,1496,-0.86,-170.3,2346,2813,3604,3477,227.5,-13.9,164,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2811,3539,3603,3475,0,0,0,0,0,0,27.22,27.30,27.29
$GC,1806,-0.90,-170.3,2346,2811,3604,3475,271.9,-14.4,185,1814,0.00,2.03,0.00,0.000,516,0.000,0.028,2346,1412,3538,3602,3474,0,0,0,0,0,0,27.25,27.08,27.32
$GC,1878,-0.95,-170.3,2346,1413,3604,3476,280.0,-14.3,187,1886,0.00,2.05,0.00,0.000,1030,0.000,0.032,2346,2804,3538,3603,3474,0,0,0,0,0,0,27.13,27.08,27.15
$GC,2190,-0.99,-170.3,2346,2803,3604,3475,322.7,-12.6,198,2196,0.08,0.00,0.00,0.000,4102,0.132,0.000,2303,2804,3538,3602,3475,0,0,0,0,0,0,27.14,27.20,27.17
$GC,2490,-0.99,-170.3,2303,2805,3602,3476,366.4,-14.8,208,2498,0.00,2.00,0.00,0.000,516,0.000,0.028,2303,1422,3538,3602,3475,0,0,0,0,0,0,27.31,27.14,27.38
$GC,2517,-0.99,-170.3,2303,1421,3603,3474,370.5,-15.0,209,2524,0.00,2.03,0.00,0.000,1030,0.000,0.032,2294,2803,3538,3602,3475,0,0,0,0,0,0,27.18,27.13,27.20
$GC,2844,-0.96,-170.3,2294,2805,3602,3476,425.1,-17.3,220,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2804,3537,3600,3475,0,0,0,0,0,0,27.33,27.41,27.40
$STATE,2992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2992,begin apogee
$GC,2996,-0.19,0.0,2294,2698,3601,3474,451.8,-17.9,225,3148,0.80,0.00,135.35,1.352,10246,0.129,0.000,2553,2697,2844,2893,2796,0,0,0,0,1,0,27.01,24.62,24.00
$STATE,3148,end apogee,CONTROL_FINISHED_OK
$STATE,3149,begin climb
$GC,3150,0.94,170.3,2553,2699,2898,2798,463.7,0.0,230,3303,1.05,1.88,140.93,0.753,11012,0.073,0.042,2919,3850,2137,2174,2100,0,0,0,0,0,0,25.16,24.96,24.60
$GC,3527,1.06,311.4,2920,3850,2163,2082,465.6,4.5,242,3657,0.10,1.67,117.28,0.730,11270,0.111,0.028,2965,2693,1556,1602,1511,0,0,0,0,0,0,26.20,26.27,24.70
$GC,3952,1.06,311.4,2965,2695,1585,1491,420.4,11.3,257,3961,0.00,1.80,0.00,0.000,260,0.000,0.044,2965,3851,1537,1584,1491,0,0,0,0,0,0,26.51,26.32,26.58
$GC,4060,1.01,311.4,2965,3851,1584,1489,408.8,12.1,260,4070,0.00,1.70,0.00,0.000,1030,0.000,0.028,2971,2692,1536,1583,1490,0,0,0,0,0,0,26.53,26.52,26.56
$GC,4379,0.97,311.4,2971,2692,1583,1489,367.9,11.9,271,4386,0.00,1.77,0.00,0.000,260,0.000,0.045,2971,3847,1535,1582,1489,0,0,0,0,0,0,26.86,26.66,26.93
$GC,4450,0.92,311.4,2971,3848,1581,1490,360.0,12.3,273,4458,0.05,1.67,0.00,0.000,5126,0.175,0.028,2946,2693,1535,1582,1488,0,0,0,0,0,0,26.56,26.77,26.72
$GC,4773,0.92,311.4,2946,2694,1582,1490,323.9,10.9,284,4780,0.00,1.77,0.00,0.000,260,0.000,0.045,2946,3856,1535,1582,1488,0,0,0,0,0,0,27.01,26.82,27.08
$GC,4894,0.92,311.4,2946,3857,1582,1489,309.1,12.3,288,4903,0.00,1.62,0.00,0.000,1030,0.000,0.028,2946,2696,1534,1581,1488,0,0,0,0,0,0,26.95,26.91,26.96
$GC,5227,0.92,311.4,2946,2697,1582,1489,269.3,12.0,299,5236,0.00,1.80,0.00,0.000,260,0.000,0.045,2946,3850,1534,1581,1488,0,0,0,0,0,0,27.14,26.91,27.18
$GC,5366,0.92,311.4,2946,3851,1582,1489,253.5,12.9,303,5373,0.00,1.60,0.00,0.000,1030,0.000,0.028,2946,2700,1534,1580,1488,0,0,0,0,0,0,27.05,27.01,27.06
$GC,5672,0.92,311.4,2946,2700,1581,1487,218.6,10.4,333,5679,0.00,1.75,0.00,0.000,260,0.000,0.045,2945,3854,1536,1580,1492,0,0,0,0,0,0,27.17,26.98,27.25
$GC,5718,0.92,311.4,2946,3855,1581,1488,213.9,11.0,337,5728,0.00,1.62,0.00,0.000,1030,0.000,0.028,2946,2688,1533,1580,1487,0,0,0,0,0,0,27.09,27.06,27.10
$GC,6023,0.95,328.3,2946,2688,1581,1486,184.1,9.3,368,6038,0.00,1.77,5.68,0.566,8452,0.000,0.044,2946,3856,1502,1548,1456,0,0,0,0,0,0,27.22,26.89,26.38
$GC,6162,0.95,328.3,2946,3855,1556,1457,169.7,11.1,381,6173,0.00,1.62,0.00,0.000,1030,0.000,0.027,2946,2692,1506,1555,1457,0,0,0,0,0,0,27.08,27.04,27.09
$GC,6468,1.01,338.4,2946,2690,1556,1457,137.9,9.6,412,6492,0.00,0.00,13.50,0.563,8710,0.000,0.000,2946,2692,1456,1503,1409,0,0,0,0,1,0,27.21,26.86,26.36
$GC,6788,1.12,372.6,2946,2692,1501,1409,108.5,8.7,444,6833,0.10,2.05,30.08,0.550,10756,0.116,0.030,3001,1316,1320,1370,1271,0,0,0,0,1,0,26.96,26.51,25.89
$GC,6877,1.12,372.6,3007,1318,1394,1275,99.7,10.9,452,6887,0.00,2.08,0.00,0.000,1030,0.000,0.031,3000,2706,1335,1394,1276,0,0,0,0,0,0,26.70,26.64,26.71
$GC,7182,1.12,372.6,3001,2707,1395,1278,65.7,10.1,483,7189,0.00,2.05,0.00,0.000,516,0.000,0.029,3010,1312,1335,1394,1276,0,0,0,0,0,0,26.97,26.81,27.04
$GC,7333,1.12,372.6,3011,1313,1395,1277,50.4,10.4,497,7346,0.00,2.05,0.00,0.000,1030,0.000,0.031,3011,2700,1335,1394,1276,0,0,0,0,0,0,26.91,26.86,26.93
$GC,7648,1.20,422.1,3011,2700,1395,1276,17.2,8.1,558,7678,0.00,1.77,22.48,0.183,8452,0.000,0.045,3010,3847,1116,1175,1058,0,0,0,0,0,0,27.10,26.82,26.63
$STATE,7796,end climb,SURFACE_DEPTH_REACHED
$STATE,7796,begin surface coast
$FINISH,0.0,1.023520
$STATE,7811,end surface coast,CONTROL_FINISHED_OK
$STATE,7811,begin surface
$SM_CCo,7826,60.35,0.145,0,0,538,563.94
$SM_GC,0.52,7.38,1.52,60.35,0.048,0.027,0.145,205,2794,538,-7.50,2.35,563.94,0,0,0,0,0,0,26.86,26.94,26.55
$IRIDIUM_FIX,5841.97,-14735.26,060508,204720
$TT8_MAMPS,0.164031,0.164031
$HUMID,42.32
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.90
$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,7851.18 3991.15
$PA_BOOTCOUNT,308
$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_DATA0,0.04/4.237/117.199/107.008
$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,24.00,1.166
$10V_AH,10.14,2.654
$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,17.875,51.925,465.275,60.350,0.000,0.000,0.000,191.275,0.000,0.000,10.765,0.000,5461.202,579.684,2026.403,85.543,0.000,1594.912,0.000,1204.119,0.000,0.548,0.000
$DEVICE_MAMPS,237.150,87.210,1351.755,145.350,0.000,0.000,0.000,87.975,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,401.384,0.000,0.000,0.000,0.000,0.000,8172.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,134.712,0.000,0.000,0.000
$MEM,187164
$DATA_FILE_SIZE,23412,590
$CAP_FILE_SIZE,86029,0
$CFSIZE,1024393216,995950592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,8269.17,0x236db2,7,5
$CURRENT,0.215,189.50,1
$GPS,110715,093624,5905.464,-14729.928,18,0.9,26,18.1,0.3,285.8,9,9.9