version: 66.12
glider: 203
mission: 8
dive: 166
start: 8 10 115 4 5 34
data:
$ID,203
$MISSION,8
$DIVE,166
$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,100
$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
$GPS1,100815,040032,5701.4312,-15054.6729,19,0.9,31,16.6,0.7,61.5,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-58.2
$GPS2,100815,040523,5701.3784,-15054.5996,6,0.8,10,16.6,1.4,79.1,11,8.6
$SPEED_LIMITS,0.111,0.311
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,28.9,10832,-18.1,-11.111,-19.67,2691
$D_GRID,1311
$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,-194.6,178,2707,693,545,0.0,0.0,0,163,0.00,0.00,-60.30,0.000,16386,0.000,0.000,175,2705,2185,2231,2140,0,0,0,0,0,0,26.06,28.83,26.13
$GC,165,-0.93,-194.6,176,2706,2232,2143,3.1,-3.6,8,212,8.73,2.05,-29.27,0.000,18948,0.233,0.037,2330,1338,3635,3708,3562,0,0,0,0,0,0,25.52,24.28,25.86
$GC,436,-0.90,-194.6,2331,1339,3709,3570,62.1,-19.3,54,451,0.10,2.08,0.00,0.000,3078,0.170,0.025,2345,2704,3638,3708,3569,0,0,0,0,0,0,25.82,26.04,25.96
$GC,746,-0.90,-194.6,2345,2705,3709,3574,118.0,-16.8,85,753,0.00,1.77,0.00,0.000,260,0.000,0.037,2340,3847,3640,3708,3572,0,0,0,0,0,0,26.10,26.00,26.16
$GC,802,-0.90,-194.6,2340,3847,3709,3572,126.3,-16.0,90,812,0.00,1.62,0.00,0.000,1030,0.000,0.021,2340,2693,3640,3708,3572,0,0,0,0,0,0,26.14,26.11,26.15
$GC,1108,-0.90,-194.6,2340,2695,3709,3574,174.5,-16.6,121,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2694,3640,3708,3572,0,0,0,0,0,0,26.11,26.18,26.17
$GC,1408,-0.90,-194.6,2340,2694,3709,3573,220.2,-14.3,151,1416,0.00,2.03,0.00,0.000,516,0.000,0.022,2340,1341,3640,3708,3572,0,0,0,0,0,0,26.10,26.06,26.15
$GC,1445,-0.90,-194.6,2340,1334,3709,3572,225.1,-14.5,154,1455,0.00,2.08,0.00,0.000,1030,0.000,0.024,2328,2702,3640,3708,3572,0,0,0,0,0,0,26.10,26.06,26.12
$GC,1770,-0.90,-194.6,2332,2705,3709,3574,272.7,-14.6,177,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2703,3640,3708,3572,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2070,-0.90,-194.6,2331,2704,3707,3574,315.3,-14.5,187,2078,0.00,2.05,0.00,0.000,516,0.000,0.023,2332,1343,3639,3706,3572,0,0,0,0,0,0,26.09,26.03,26.15
$GC,2107,-0.90,-194.6,2332,1344,3707,3573,319.3,-14.7,188,2114,0.10,2.05,0.00,0.000,3078,0.168,0.025,2344,2700,3638,3705,3572,0,0,0,0,0,0,25.81,26.03,25.94
$GC,2424,-0.92,-194.6,2345,2701,3705,3574,364.9,-13.9,199,2431,0.00,1.75,0.00,0.000,260,0.000,0.037,2339,3846,3638,3704,3572,0,0,0,0,0,0,26.09,25.98,26.15
$GC,2460,-0.95,-194.6,2339,3846,3705,3574,369.4,-14.0,200,2467,0.00,1.67,0.00,0.000,1030,0.000,0.021,2339,2712,3638,3704,3572,0,0,0,0,0,0,26.10,26.10,26.13
$GC,2787,-0.97,-194.6,2339,2713,3704,3573,415.2,-13.6,211,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2712,3637,3703,3572,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3087,-0.99,-194.6,2339,2712,3702,3572,458.1,-14.6,221,3095,0.00,2.08,0.00,0.000,516,0.000,0.022,2339,1324,3636,3701,3572,0,0,0,0,0,0,26.08,26.02,26.14
$GC,3124,-1.01,-194.6,2339,1325,3702,3574,462.0,-14.5,222,3131,0.00,2.10,0.00,0.000,1030,0.000,0.025,2333,2700,3636,3701,3572,0,0,0,0,0,0,26.08,26.03,26.10
$GC,3440,-1.03,-194.6,2333,2701,3700,3573,510.3,-14.8,233,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2700,3635,3698,3572,0,0,0,0,0,0,26.08,26.14,26.13
$GC,3740,-1.03,-194.6,2333,2702,3698,3574,554.0,-14.3,243,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2700,3635,3698,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,4041,-1.05,-194.6,2333,2701,3698,3573,596.4,-14.2,253,4048,0.00,2.08,0.00,0.000,516,0.000,0.023,2332,1323,3634,3696,3572,0,0,0,0,0,0,26.07,26.01,26.13
$GC,4087,-1.07,-194.6,2333,1324,3697,3573,600.2,-14.1,254,4095,0.00,2.10,0.00,0.000,1030,0.000,0.025,2324,2703,3638,3704,3572,0,0,0,0,0,0,26.08,26.02,26.10
$GC,4399,-1.07,-194.6,2323,2702,3696,3572,645.9,-13.3,265,4407,0.00,2.10,0.00,0.000,516,0.000,0.023,2324,1325,3633,3694,3572,0,0,0,0,0,0,26.06,26.00,26.13
$GC,4451,-1.07,-194.6,2324,1325,3694,3572,650.1,-13.4,266,4458,0.00,2.10,0.00,0.000,1030,0.000,0.026,2322,2695,3633,3694,3572,0,0,0,0,0,0,26.07,26.01,26.09
$GC,4756,-1.07,-194.6,2322,2698,3694,3573,693.6,-13.7,276,4763,0.00,1.80,0.00,0.000,260,0.000,0.040,2320,3851,3632,3693,3572,0,0,0,0,0,0,26.06,25.95,26.12
$GC,4798,-1.08,-194.6,2319,3853,3694,3573,698.1,-13.9,277,4805,0.00,1.67,0.00,0.000,1030,0.000,0.021,2320,2691,3632,3693,3572,0,0,0,0,0,0,26.11,26.08,26.13
$GC,5119,-1.07,-194.6,2320,2683,3692,3573,746.5,-15.2,288,5126,0.00,2.03,0.00,0.000,516,0.000,0.022,2320,1330,3632,3692,3572,0,0,0,0,0,0,26.06,25.99,26.11
$STATE,5149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5149,begin apogee
$GC,5155,-0.25,0.0,2320,2801,3692,3578,751.5,-15.4,289,5396,0.77,0.00,231.25,0.786,10246,0.125,0.000,2556,2801,2838,2877,2800,0,0,0,0,0,0,25.64,24.65,24.05
$STATE,5396,end apogee,CONTROL_FINISHED_OK
$STATE,5396,begin climb
$GC,5398,0.93,194.6,2556,2802,2873,2797,767.6,0.0,297,5569,1.10,1.75,159.48,0.939,10500,0.066,0.036,2936,3853,2038,2076,2000,0,0,0,0,0,0,24.79,23.99,23.51
$GC,5629,0.87,399.8,2937,3853,2068,1985,767.6,3.3,304,5817,0.00,1.58,177.82,0.913,9222,0.000,0.021,2944,2794,1209,1262,1157,0,0,0,0,0,0,25.02,24.98,23.54
$GC,6137,0.89,399.8,2944,2794,1243,1129,703.1,14.2,321,6146,0.00,2.10,0.00,0.000,516,0.000,0.024,2945,1436,1186,1242,1130,0,0,0,0,0,0,25.90,25.91,25.96
$GC,6170,0.92,399.8,2945,1427,1243,1131,698.3,14.2,322,6178,0.00,2.12,0.00,0.000,1030,0.000,0.026,2945,2806,1185,1242,1129,0,0,0,0,0,0,25.99,25.94,26.01
$GC,6497,0.94,399.8,2945,2808,1242,1130,656.7,12.8,333,6505,0.00,1.67,0.00,0.000,260,0.000,0.041,2944,3856,1184,1240,1129,0,0,0,0,0,0,26.10,26.06,26.17
$GC,6564,0.96,399.8,2945,3854,1242,1128,648.6,12.8,335,6571,0.00,1.50,0.00,0.000,1030,0.000,0.022,2945,2787,1184,1240,1128,0,0,0,0,0,0,26.18,26.16,26.20
$GC,6891,0.99,399.8,2945,2787,1242,1127,606.4,12.9,346,6900,0.00,1.70,0.00,0.000,260,0.000,0.040,2945,3844,1184,1240,1128,0,0,0,0,0,0,26.13,26.08,26.20
$GC,6955,1.01,399.8,2945,3845,1241,1127,598.1,13.0,348,6962,0.00,1.50,0.00,0.000,1030,0.000,0.022,2945,2778,1182,1238,1127,0,0,0,0,0,0,26.19,26.15,26.20
$GC,7287,0.96,399.8,2945,2775,1242,1126,551.9,16.4,359,7295,0.00,2.03,0.00,0.000,516,0.000,0.025,2945,1436,1183,1240,1126,0,0,0,0,0,0,26.15,26.09,26.21
$GC,7470,0.99,399.8,2945,1436,1242,1126,526.7,13.8,365,7478,0.00,2.10,0.00,0.000,1030,0.000,0.026,2945,2812,1183,1240,1126,0,0,0,0,0,0,26.14,26.09,26.17
$GC,7802,0.99,399.8,2945,2812,1240,1126,479.1,14.9,376,7813,0.00,1.60,0.00,0.000,260,0.000,0.038,2945,3849,1182,1239,1125,0,0,0,0,0,0,26.11,26.04,26.18
$GC,8037,0.94,399.8,2945,3849,1239,1127,443.8,16.4,383,8044,0.00,1.52,0.00,0.000,1030,0.000,0.021,2952,2798,1182,1238,1126,0,0,0,0,0,0,26.16,26.15,26.17
$GC,8349,0.90,399.8,2953,2799,1239,1127,390.8,14.6,394,8356,0.00,2.05,0.00,0.000,516,0.000,0.024,2958,1434,1182,1238,1126,0,0,0,0,0,0,26.07,26.08,26.15
$GC,8575,0.90,399.8,2958,1433,1238,1128,361.2,14.2,401,8591,0.00,2.12,0.00,0.000,1030,0.000,0.026,2958,2806,1182,1238,1126,0,0,0,0,0,0,26.11,26.06,26.14
$GC,8886,0.90,399.8,2958,2807,1239,1127,312.6,13.7,412,8893,0.00,1.62,0.00,0.000,260,0.000,0.039,2958,3856,1182,1238,1126,0,0,0,0,0,0,26.09,26.01,26.15
$GC,9112,0.90,399.8,2959,3856,1239,1125,278.5,17.4,419,9121,0.00,1.52,0.00,0.000,1030,0.000,0.021,2956,2804,1181,1238,1125,0,0,0,0,0,0,26.15,26.14,26.16
$GC,9420,0.90,399.8,2959,2803,1238,1125,237.7,11.6,435,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2804,1181,1237,1125,0,0,0,0,0,0,26.10,26.17,26.15
$GC,9722,0.90,399.8,2958,2803,1239,1124,193.0,14.2,465,9732,0.00,1.67,0.00,0.000,260,0.000,0.040,2958,3842,1181,1238,1125,0,0,0,0,0,0,26.09,26.01,26.15
$GC,9857,0.90,399.8,2959,3843,1239,1127,174.0,14.0,478,9865,0.00,1.52,0.00,0.000,1030,0.000,0.021,2958,2792,1181,1238,1125,0,0,0,0,0,0,26.11,26.10,26.13
$GC,10169,0.94,399.8,2959,2792,1239,1125,135.5,11.9,509,10176,0.00,1.67,0.00,0.000,260,0.000,0.038,2959,3860,1181,1238,1125,0,0,0,0,0,0,26.10,25.98,26.17
$GC,10260,0.95,399.8,2959,3861,1239,1127,123.9,13.1,518,10268,0.00,1.50,0.00,0.000,1030,0.000,0.022,2961,2799,1181,1238,1125,0,0,0,0,0,0,26.12,26.10,26.13
$GC,10573,0.99,402.3,2961,2799,1238,1124,87.4,11.0,549,10582,0.00,2.08,0.00,0.000,516,0.000,0.023,2971,1431,1181,1238,1125,0,0,0,0,0,0,26.08,26.03,26.14
$GC,10661,1.04,423.7,2970,1433,1238,1127,78.4,10.3,557,10693,0.00,2.10,21.33,0.545,9222,0.000,0.025,2971,2802,1108,1165,1051,0,0,0,0,0,0,26.07,26.02,25.24
$GC,10993,1.08,423.7,2972,2803,1153,1038,41.5,11.1,598,11005,0.00,2.10,0.00,0.000,516,0.000,0.024,2971,1424,1094,1152,1036,0,0,0,0,0,0,26.00,26.01,26.06
$GC,11060,1.14,449.3,2972,1425,1153,1037,34.5,10.1,610,11082,0.10,2.10,9.57,0.218,11270,0.094,0.025,3027,2810,1007,1067,947,0,0,0,0,0,0,25.96,26.01,25.51
$STATE,11350,end climb,SURFACE_DEPTH_REACHED
$STATE,11351,begin surface coast
$FINISH,0.7,1.023615
$STATE,11370,end surface coast,CONTROL_FINISHED_OK
$STATE,11370,begin surface
$SM_CCo,11444,0.00,0.000,0,0,1017,446.94
$SM_GC,1.73,7.47,0.08,0.00,0.029,0.104,0.000,192,2699,1017,-7.58,2.94,446.94,0,0,0,0,0,0,26.09,26.06,26.13
$IRIDIUM_FIX,5640.91,-15141.69,050608,143607
$TT8_MAMPS,0.059171,0.059171
$HUMID,39.25
$INTERNAL_PRESSURE,8.8022
$TCM_TEMP,17.70
$XPDR_PINGS,1
$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,11403.37 5597.42
$PA_BOOTCOUNT,474
$PA_DFQS,0/0
$PA_LOG,0.01/0.268/31.498/29.629
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.33/38.427/117.199/72.818
$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,23.51,60.231
$10V_AH,10.16,37.559
$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,18.375,82.875,599.450,0.000,0.000,0.000,0.000,206.475,0.250,11749.381,11.826,0.000,8467.558,616.495,2533.991,111.908,0.000,1927.255,0.000,1496.672,0.000,0.548,0.000
$DEVICE_MAMPS,233.325,104.040,939.420,0.000,0.000,0.000,0.000,87.210,420.000,61.367,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,458.763,0.000,0.000,0.000,0.000,0.000,11749.410,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,142872
$DATA_FILE_SIZE,30103,671
$CAP_FILE_SIZE,112589,0
$CFSIZE,1024393216,980271104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10317.53,0x236db2,7,5
$CURRENT,0.045,244.79,1
$GPS,100815,071701,5702.514,-15053.562,17,0.8,25,16.6,0.8,177.4,11,9.8