version: 66.12
glider: 203
mission: 8
dive: 8
start: 7 11 115 12 3 25
data:
$ID,203
$MISSION,8
$DIVE,8
$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,83
$R_STBD_OVSHOOT,45
$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
$GPS1,110715,115751,5904.9702,-14728.7617,38,1.0,38,18.1,0.0,0.0,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-63.1
$GPS2,110715,120313,5904.9580,-14728.7744,59,1.0,59,18.1,0.0,172.3,9,3.0
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,65.9,25529,-17.8,-10.000,-19.47,2615
$D_GRID,830
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,91,-0.94,-170.3,203,2802,605,479,0.0,0.0,0,168,0.00,0.00,-74.22,0.000,16386,0.000,0.000,202,2802,2588,2621,2556,0,0,0,0,0,0,26.79,28.83,26.87
$GC,170,-0.94,-170.3,202,2804,2621,2558,3.9,-6.1,12,201,8.27,2.03,-17.50,0.000,18948,0.245,0.043,2305,1414,3535,3602,3469,0,0,0,0,0,0,26.36,25.63,26.60
$GC,427,-0.85,-170.3,2305,1415,3603,3473,63.5,-20.2,56,435,0.15,2.08,0.00,0.000,3078,0.165,0.032,2344,2803,3537,3602,3473,0,0,0,0,0,0,26.60,26.74,26.74
$GC,732,-0.85,-170.3,2344,2805,3603,3475,117.0,-16.8,86,740,0.00,2.05,0.00,0.000,516,0.000,0.027,2344,1410,3538,3602,3474,0,0,0,0,0,0,27.03,26.86,27.09
$GC,829,-0.85,-170.3,2344,1410,3602,3476,132.2,-15.9,95,839,0.00,2.08,0.00,0.000,1030,0.000,0.031,2338,2809,3538,3602,3474,0,0,0,0,0,0,26.93,26.87,26.95
$GC,1134,-0.85,-170.3,2338,2810,3603,3474,178.3,-14.2,126,1141,0.00,2.03,0.00,0.000,516,0.000,0.027,2338,1417,3538,3602,3474,0,0,0,0,0,0,27.11,26.95,27.17
$GC,1225,-0.85,-170.3,2338,1418,3603,3475,190.9,-14.6,134,1237,0.00,2.05,0.00,0.000,1030,0.000,0.032,2331,2802,3538,3602,3474,0,0,0,0,0,0,27.00,26.95,27.03
$GC,1531,-0.85,-170.3,2331,2804,3603,3475,237.5,-14.3,165,1539,0.00,2.03,0.00,0.000,516,0.000,0.027,2331,1422,3537,3600,3474,0,0,0,0,0,0,27.17,27.00,27.24
$GC,1583,-0.85,-170.3,2329,1417,3602,3474,245.3,-15.0,170,1591,0.10,2.05,0.00,0.000,3078,0.183,0.032,2345,2805,3538,3602,3474,0,0,0,0,0,0,26.86,27.00,26.99
$GC,1889,-0.89,-170.3,2345,2806,3603,3474,284.2,-12.5,182,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2805,3538,3602,3474,0,0,0,0,0,0,27.22,27.29,27.28
$GC,2189,-0.93,-170.3,2345,2807,3603,3475,321.1,-12.0,192,2196,0.00,2.03,0.00,0.000,516,0.000,0.027,2345,1417,3537,3601,3474,0,0,0,0,0,0,27.24,27.08,27.31
$GC,2291,-0.97,-170.3,2345,1418,3602,3475,332.6,-12.2,195,2299,0.00,2.05,0.00,0.000,1030,0.000,0.034,2340,2805,3537,3600,3474,0,0,0,0,0,0,27.12,27.07,27.15
$GC,2613,-0.97,-170.3,2340,2804,3601,3472,373.2,-12.1,206,2620,0.00,2.00,0.00,0.000,516,0.000,0.027,2340,1419,3537,3600,3474,0,0,0,0,0,0,27.27,27.10,27.33
$GC,2659,-1.00,-170.3,2341,1421,3601,3475,376.5,-12.1,207,2667,0.00,2.05,0.00,0.000,1030,0.000,0.034,2335,2808,3537,3600,3474,0,0,0,0,0,0,27.15,27.08,27.17
$GC,2964,-1.00,-170.3,2335,2806,3598,3474,416.5,-12.2,217,2972,0.00,2.00,0.00,0.000,516,0.000,0.027,2335,1421,3535,3597,3474,0,0,0,0,0,0,27.29,27.12,27.35
$GC,3031,-1.00,-170.3,2334,1422,3598,3476,423.7,-12.5,219,3038,0.00,2.05,0.00,0.000,1030,0.000,0.034,2326,2811,3535,3596,3474,0,0,0,0,0,0,27.17,27.11,27.19
$STATE,3226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3226,begin apogee
$GC,3230,-0.19,0.0,2327,2704,3597,3474,450.2,-12.9,226,3383,0.70,0.00,140.45,1.272,10246,0.124,0.000,2554,2705,2841,2886,2797,0,0,0,0,1,0,26.99,24.72,23.91
$STATE,3383,end apogee,CONTROL_FINISHED_OK
$STATE,3384,begin climb
$GC,3385,0.94,170.3,2554,2706,2898,2798,456.7,0.0,231,3541,1.05,1.98,139.70,1.346,11012,0.074,0.044,2917,3853,2146,2186,2106,0,0,0,0,1,0,24.99,24.62,23.81
$GC,3766,1.05,308.2,2917,3853,2193,2106,452.4,4.6,244,3899,0.10,1.67,120.47,0.729,11270,0.110,0.027,2957,2698,1580,1624,1536,0,0,0,0,0,0,26.04,26.13,24.60
$GC,4213,1.05,308.2,2957,2699,1604,1509,408.3,10.7,259,4220,0.00,1.83,0.00,0.000,260,0.000,0.045,2957,3857,1555,1603,1508,0,0,0,0,0,0,26.42,26.23,26.49
$GC,4314,1.01,308.2,2958,3859,1604,1508,397.6,11.5,262,4322,0.00,1.67,0.00,0.000,1030,0.000,0.027,2958,2688,1555,1603,1507,0,0,0,0,0,0,26.45,26.41,26.46
$GC,4636,1.01,308.2,2958,2685,1603,1506,360.9,11.0,273,4643,0.00,1.80,0.00,0.000,260,0.000,0.046,2958,3852,1554,1601,1507,0,0,0,0,0,0,26.77,26.58,26.84
$GC,4717,1.01,308.2,2957,3852,1602,1505,353.6,11.4,275,4724,0.00,1.65,0.00,0.000,1030,0.000,0.028,2959,2685,1553,1601,1506,0,0,0,0,0,0,26.72,26.69,26.74
$GC,5028,1.01,308.2,2959,2683,1602,1506,316.2,11.3,286,5036,0.00,1.80,0.00,0.000,260,0.000,0.045,2959,3857,1553,1601,1506,0,0,0,0,0,0,26.93,26.74,26.99
$GC,5064,1.01,308.2,2959,3858,1601,1507,312.5,11.4,287,5071,0.00,1.62,0.00,0.000,1030,0.000,0.028,2961,2701,1552,1600,1505,0,0,0,0,0,0,26.84,26.82,26.86
$GC,5391,1.01,308.2,2956,2701,1601,1506,273.7,11.8,298,5398,0.00,1.75,0.00,0.000,260,0.000,0.046,2959,3851,1552,1600,1505,0,0,0,0,0,0,27.03,26.83,27.10
$GC,5462,1.01,308.2,2959,3853,1601,1505,265.8,12.3,300,5469,0.00,1.62,0.00,0.000,1030,0.000,0.028,2959,2691,1552,1600,1504,0,0,0,0,0,0,26.95,26.91,26.97
$GC,5773,1.01,308.2,2959,2690,1600,1505,228.2,11.5,322,5781,0.00,1.77,0.00,0.000,260,0.000,0.045,2959,3855,1551,1599,1504,0,0,0,0,0,0,27.10,26.90,27.17
$GC,5860,0.96,308.2,2959,3855,1600,1504,217.6,13.2,330,5872,0.00,1.62,0.00,0.000,1030,0.000,0.027,2959,2692,1551,1599,1504,0,0,0,0,0,0,27.02,26.98,27.03
$GC,6167,0.96,308.2,2959,2689,1600,1506,182.1,11.9,361,6175,0.00,1.77,0.00,0.000,260,0.000,0.045,2959,3852,1551,1599,1504,0,0,0,0,0,0,27.15,26.96,27.22
$GC,6274,0.91,308.2,2959,3852,1599,1503,169.0,12.6,371,6287,0.10,1.60,0.00,0.000,5126,0.201,0.028,2939,2700,1551,1598,1504,0,0,0,0,0,0,26.84,27.04,27.01
$GC,6581,0.98,320.2,2938,2700,1599,1504,136.3,9.5,402,6595,0.00,2.00,3.75,0.480,8708,0.000,0.028,2945,1321,1526,1572,1481,0,0,0,0,0,0,27.20,26.73,26.32
$GC,6645,1.09,358.6,2945,1322,1593,1483,130.7,8.5,408,6699,0.08,2.05,43.25,0.561,11270,0.135,0.032,2982,2706,1371,1419,1323,0,0,0,0,0,0,26.93,26.98,26.00
$GC,6995,1.10,367.0,2982,2706,1406,1305,91.2,9.7,443,7003,0.00,1.75,0.00,0.000,260,0.000,0.045,2981,3858,1355,1405,1305,0,0,0,0,0,0,26.86,26.67,26.92
$GC,7227,1.12,374.6,2982,3860,1405,1304,67.5,9.7,466,7251,0.00,1.62,13.07,0.526,9222,0.000,0.027,2989,2699,1306,1357,1255,0,0,0,0,0,0,26.86,26.83,26.17
$GC,7548,1.12,374.6,2989,2700,1351,1247,35.6,10.0,512,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2699,1296,1348,1245,0,0,0,0,0,0,26.96,27.03,27.02
$GC,7859,1.25,420.8,2989,2698,1349,1245,8.9,8.2,573,7884,0.10,2.03,18.70,0.162,10756,0.108,0.028,3040,1313,1118,1176,1061,0,0,0,0,0,0,26.89,26.74,26.63
$STATE,7941,end climb,SURFACE_DEPTH_REACHED
$STATE,7942,begin surface coast
$FINISH,-0.2,1.023484
$STATE,7962,end surface coast,CONTROL_FINISHED_OK
$STATE,7962,begin surface
$SM_CCo,7977,61.03,0.144,0,0,536,563.94
$SM_GC,0.68,7.45,2.30,61.03,0.047,0.032,0.144,200,2805,536,-7.50,-1.16,563.94,0,0,0,0,0,0,26.83,26.83,26.50
$IRIDIUM_FIX,5841.97,-14742.34,070508,012536
$TT8_MAMPS,0.16478,0.16478
$HUMID,40.54
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,18.10
$XPDR_PINGS,3
$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,8003.20 4109.20
$PA_BOOTCOUNT,310
$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_DATA0,0.06/7.148/117.199/104.098
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.184/27.046/25.489
$PA_DISK_BANK,1
$24V_AH,23.81,1.430
$10V_AH,10.10,3.371
$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,18.100,64.575,479.400,61.025,0.000,0.000,0.000,194.325,0.750,0.000,61.056,0.000,5560.367,582.340,2130.356,86.354,0.000,1637.930,0.000,1243.857,0.000,0.549,0.000
$DEVICE_MAMPS,244.800,88.740,1345.635,143.820,0.000,0.000,0.000,86.445,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,403.705,0.000,0.000,0.000,0.000,0.000,8391.301,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,134.965,0.000,0.000,0.000
$MEM,187140
$DATA_FILE_SIZE,23432,593
$CAP_FILE_SIZE,91358,0
$CFSIZE,1024393216,995786752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,19,0
$INTR,0,8529.18,0x236db2,7,5
$CURRENT,0.254,251.66,1
$GPS,110715,141759,5905.040,-14728.405,15,1.0,16,18.1,0.0,0.0,10,8.2