version: 66.12
glider: 203
mission: 8
dive: 165
start: 8 10 115 1 13 36
data:
$ID,203
$MISSION,8
$DIVE,165
$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,93
$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,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
$GPS1,100815,010803,5700.3467,-15056.6865,39,1.0,39,16.5,0.7,49.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-60.3
$GPS2,100815,011324,5700.3462,-15056.6016,7,0.9,10,16.5,0.0,172.4,10,9.6
$SPEED_LIMITS,0.111,0.311
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,24.8,13583,-18.1,-11.111,-19.67,2691
$D_GRID,1092
$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,-194.6,184,2702,1042,933,0.0,0.0,0,136,0.00,0.00,-38.42,0.000,16386,0.000,0.000,184,2703,2003,2044,1962,0,0,0,0,0,0,26.03,28.83,26.09
$GC,138,-0.93,-194.6,185,2703,2045,1965,3.1,-4.6,6,195,8.68,2.10,-38.30,0.000,19204,0.229,0.036,2332,1325,3637,3710,3565,0,0,0,0,0,0,25.48,24.20,25.79
$GC,420,-0.90,-194.6,2331,1325,3710,3570,60.0,-19.4,53,432,0.10,2.10,0.00,0.000,3078,0.165,0.024,2347,2709,3639,3709,3570,0,0,0,0,0,0,25.79,26.02,25.94
$GC,727,-0.90,-194.6,2347,2709,3710,3573,113.8,-16.6,84,734,0.00,2.08,0.00,0.000,516,0.000,0.022,2347,1330,3640,3709,3572,0,0,0,0,0,0,26.10,26.03,26.15
$GC,773,-0.90,-194.6,2347,1329,3710,3573,121.4,-16.3,88,781,0.00,2.08,0.00,0.000,1030,0.000,0.024,2341,2701,3641,3709,3573,0,0,0,0,0,0,26.08,26.03,26.10
$GC,1078,-0.90,-194.6,2341,2702,3710,3574,167.8,-14.5,118,1086,0.00,2.08,0.00,0.000,516,0.000,0.022,2341,1329,3641,3709,3573,0,0,0,0,0,0,26.08,26.03,26.14
$GC,1140,-0.90,-194.6,2341,1330,3710,3575,176.0,-14.2,123,1150,0.00,2.10,0.00,0.000,1030,0.000,0.025,2331,2707,3641,3709,3573,0,0,0,0,0,0,26.10,26.05,26.11
$GC,1445,-0.90,-194.6,2332,2708,3711,3573,222.2,-15.0,154,1454,0.00,1.77,0.00,0.000,260,0.000,0.037,2324,3847,3641,3709,3573,0,0,0,0,0,0,26.06,25.97,26.13
$GC,1493,-0.90,-194.6,2324,3849,3711,3574,228.7,-15.5,158,1503,0.10,1.65,0.00,0.000,3078,0.156,0.021,2346,2710,3641,3710,3573,0,0,0,0,0,0,25.85,26.10,25.97
$GC,1819,-0.93,-194.6,2346,2712,3710,3574,274.8,-13.7,179,1828,0.00,2.10,0.00,0.000,516,0.000,0.021,2346,1309,3641,3709,3573,0,0,0,0,0,0,26.08,26.02,26.14
$GC,1868,-0.96,-194.6,2346,1309,3710,3574,278.8,-13.6,180,1875,0.00,2.12,0.00,0.000,1030,0.000,0.025,2338,2700,3641,3709,3573,0,0,0,0,0,0,26.08,26.02,26.10
$GC,2180,-0.98,-194.6,2340,2701,3708,3574,324.9,-14.1,191,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2701,3640,3707,3573,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2480,-1.00,-194.6,2340,2700,3706,3573,367.5,-14.1,201,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3639,3705,3573,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2780,-1.02,-194.6,2340,2700,3705,3573,410.8,-14.3,211,2788,0.00,1.77,0.00,0.000,260,0.000,0.038,2330,3848,3638,3703,3573,0,0,0,0,0,0,26.07,25.95,26.13
$GC,2842,-1.05,-194.6,2331,3846,3705,3572,420.0,-14.5,213,2850,0.00,1.67,0.00,0.000,1030,0.000,0.021,2331,2689,3638,3703,3573,0,0,0,0,0,0,26.10,26.07,26.11
$GC,3175,-1.05,-194.6,2331,2690,3703,3574,467.1,-14.3,224,3185,0.00,2.08,0.00,0.000,516,0.000,0.024,2331,1323,3637,3701,3573,0,0,0,0,0,0,26.06,25.99,26.12
$GC,3409,-1.07,-194.6,2331,1323,3702,3573,497.8,-14.2,231,3416,0.00,2.10,0.00,0.000,1030,0.000,0.024,2322,2700,3637,3701,3573,0,0,0,0,0,0,26.06,26.01,26.09
$GC,3714,-1.07,-194.6,2322,2701,3699,3574,542.8,-13.2,241,3723,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3842,3636,3699,3573,0,0,0,0,0,0,26.03,25.92,26.09
$GC,3858,-1.11,-194.6,2320,3841,3700,3573,557.3,-11.7,245,3865,0.00,1.65,0.00,0.000,1030,0.000,0.021,2319,2694,3636,3699,3573,0,0,0,0,0,0,26.08,26.06,26.10
$GC,4169,-1.13,-194.6,2319,2688,3698,3573,601.6,-13.6,256,4177,0.00,1.83,0.00,0.000,260,0.000,0.039,2319,3852,3634,3697,3572,0,0,0,0,0,0,26.06,25.92,26.11
$GC,4356,-1.15,-194.6,2320,3853,3697,3574,627.5,-14.2,262,4364,0.10,1.67,0.00,0.000,5126,0.095,0.021,2263,2680,3635,3697,3573,0,0,0,0,0,0,25.94,26.06,26.03
$GC,4683,-1.12,-194.6,2259,2675,3696,3572,686.3,-18.3,273,4691,0.08,0.00,0.00,0.000,2054,0.192,0.000,2270,2675,3634,3695,3573,0,0,0,0,0,0,25.83,25.98,25.93
$GC,4983,-1.11,-194.6,2269,2675,3695,3573,738.4,-17.1,283,4991,0.00,2.03,0.00,0.000,516,0.000,0.023,2271,1331,3633,3694,3573,0,0,0,0,0,0,26.04,25.99,26.10
$GC,5015,-1.09,-194.6,2271,1331,3695,3573,743.1,-17.3,284,5023,0.10,2.10,0.00,0.000,3078,0.180,0.025,2287,2700,3633,3694,3573,0,0,0,0,0,0,25.72,25.97,25.86
$STATE,5066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5066,begin apogee
$GC,5070,-0.25,0.0,2288,2815,3695,3573,752.6,-17.1,286,5237,0.85,0.00,159.75,0.951,10246,0.119,0.000,2552,2816,2837,2875,2800,0,0,0,0,0,0,25.63,24.60,23.92
$STATE,5238,end apogee,CONTROL_FINISHED_OK
$STATE,5238,begin climb
$GC,5239,0.93,194.6,2553,2816,2869,2793,762.3,0.0,291,5409,1.15,1.75,158.50,0.942,11012,0.067,0.038,2939,3830,2036,2076,1997,0,0,0,0,0,0,24.72,24.14,23.47
$GC,5413,0.90,537.6,2939,3831,2073,1993,767.6,-2.0,297,5733,0.00,1.55,305.33,0.907,9222,0.000,0.021,2945,2808,640,715,565,0,0,0,0,0,0,24.46,24.39,23.49
$GC,6029,0.94,537.6,2945,2808,702,543,680.7,16.2,318,6036,0.00,1.65,0.00,0.000,260,0.000,0.037,2945,3827,622,700,545,0,0,0,0,0,0,25.86,25.83,25.93
$GC,6110,0.99,537.6,2945,3828,701,544,670.0,16.8,320,6117,0.00,1.50,0.00,0.000,1030,0.000,0.021,2945,2760,621,700,542,0,0,0,0,0,0,26.01,25.98,26.03
$GC,6424,1.04,537.6,2945,2759,701,542,615.2,16.2,331,6431,0.08,2.00,0.00,0.000,2564,0.127,0.023,2995,1448,620,700,541,0,0,0,0,0,0,26.01,26.09,26.10
$GC,6541,1.07,537.6,2995,1435,700,540,598.0,17.8,334,6555,0.00,2.08,0.00,0.000,1030,0.000,0.025,2995,2795,617,693,541,0,0,0,0,0,0,26.14,26.10,26.16
$GC,6845,1.07,537.6,2995,2796,700,542,533.7,19.3,345,6853,0.00,2.05,0.00,0.000,516,0.000,0.024,2999,1446,620,700,540,0,0,0,0,0,0,26.09,26.10,26.16
$GC,6917,1.07,537.6,2999,1447,697,542,522.8,19.3,347,6925,0.00,2.08,0.00,0.000,1030,0.000,0.027,2999,2803,619,698,541,0,0,0,0,0,0,26.15,26.10,26.17
$GC,7229,1.07,537.6,3000,2805,699,542,461.0,19.1,358,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2803,619,698,541,0,0,0,0,0,0,26.15,26.21,26.21
$GC,7529,1.07,537.6,3000,2803,699,540,403.8,18.8,368,7536,0.00,2.08,0.00,0.000,516,0.000,0.024,3009,1438,619,697,541,0,0,0,0,0,0,26.12,26.10,26.21
$GC,7647,1.07,537.6,3008,1437,699,540,382.5,18.2,372,7657,0.00,2.05,0.00,0.000,1030,0.000,0.025,3008,2798,619,697,541,0,0,0,0,0,0,26.12,26.10,26.13
$GC,7976,1.07,537.6,3009,2799,698,541,320.8,19.6,383,7983,0.00,2.10,0.00,0.000,516,0.000,0.026,3016,1448,618,697,540,0,0,0,0,0,0,26.11,26.08,26.17
$GC,8062,1.07,537.6,3016,1437,698,541,309.2,19.1,385,8075,0.00,2.10,0.00,0.000,1030,0.000,0.025,3017,2812,618,697,540,0,0,0,0,0,0,26.14,26.08,26.16
$GC,8368,1.07,537.6,3016,2813,698,542,243.6,19.6,398,8376,0.00,2.08,0.00,0.000,516,0.000,0.024,3026,1446,618,697,540,0,0,0,0,0,0,26.10,26.06,26.17
$GC,8425,1.07,537.6,3027,1447,698,542,233.3,19.7,403,8435,0.10,2.08,0.00,0.000,5126,0.158,0.025,3005,2803,618,697,540,0,0,0,0,0,0,25.85,26.06,26.01
$GC,8730,1.07,537.6,3005,2804,698,542,176.8,18.1,434,8743,0.00,2.08,0.00,0.000,516,0.000,0.024,3012,1438,619,698,540,0,0,0,0,0,0,26.08,26.03,26.16
$GC,8793,1.09,537.6,3013,1439,698,542,165.5,17.8,440,8801,0.00,2.08,0.00,0.000,1030,0.000,0.025,3013,2796,618,697,540,0,0,0,0,0,0,26.10,26.05,26.13
$GC,9098,1.11,537.6,3013,2799,697,542,112.5,15.7,470,9112,0.00,2.05,0.00,0.000,516,0.000,0.024,3013,1443,618,697,540,0,0,0,0,0,0,26.09,26.07,26.16
$GC,9176,1.14,537.6,3013,1443,697,541,101.5,14.4,477,9187,0.00,2.08,0.00,0.000,1030,0.000,0.025,3013,2800,618,697,540,0,0,0,0,0,0,26.10,26.04,26.12
$GC,9481,1.18,537.6,3013,2801,698,540,54.3,14.8,508,9490,0.00,1.62,0.00,0.000,260,0.000,0.039,3013,3850,618,697,540,0,0,0,0,0,0,26.09,25.99,26.15
$GC,9515,1.20,537.6,3013,3851,698,541,49.0,15.6,511,9525,0.00,1.52,0.00,0.000,1030,0.000,0.022,3020,2778,618,697,540,0,0,0,0,0,0,26.13,26.10,26.14
$GC,9826,1.26,537.6,3020,2777,698,538,7.5,12.1,572,9832,0.08,2.03,0.00,0.000,2564,0.122,0.025,3066,1428,617,697,538,0,0,0,0,0,0,26.01,26.06,26.09
$STATE,9875,end climb,SURFACE_DEPTH_REACHED
$STATE,9875,begin surface coast
$FINISH,0.7,1.023386
$STATE,9890,end surface coast,CONTROL_FINISHED_OK
$STATE,9890,begin surface
$SM_CCo,9968,0.00,0.000,0,0,616,545.30
$SM_GC,1.51,7.72,2.00,0.00,0.040,0.025,0.000,188,2701,616,-7.59,-1.50,545.30,0,0,0,0,0,0,26.08,26.08,26.12
$IRIDIUM_FIX,5636.99,-15057.49,050608,100651
$TT8_MAMPS,0.05992,0.05992
$HUMID,39.72
$INTERNAL_PRESSURE,8.7836
$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,9928.83 4947.09
$PA_BOOTCOUNT,473
$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_DATA0,0.31/36.253/117.199/74.992
$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,23.47,59.885
$10V_AH,10.16,37.502
$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,19.125,81.550,623.575,0.000,0.000,0.000,0.000,227.400,0.000,10306.841,10.776,0.000,7248.334,626.605,2296.829,106.057,0.000,1857.502,0.000,1329.989,0.000,0.549,0.000
$DEVICE_MAMPS,228.735,86.445,950.895,0.000,0.000,0.000,0.000,91.800,420.000,61.379,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,398.886,0.000,0.000,0.000,0.000,0.000,10306.750,0.000,0.000,0.000
$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,23466,585
$CAP_FILE_SIZE,102725,0
$CFSIZE,1024393216,980353024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16159.14,0x236db2,7,5
$CURRENT,0.053,269.07,1
$GPS,100815,040032,5701.431,-15054.673,19,0.9,31,16.6,0.7,61.5,10,10.0