version: 66.12
glider: 203
mission: 8
dive: 167
start: 8 10 115 7 22 30
data:
$ID,203
$MISSION,8
$DIVE,167
$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,99
$R_STBD_OVSHOOT,49
$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
$GPS1,100815,071701,5702.5137,-15053.5615,17,0.8,25,16.6,0.8,177.4,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-61.3
$GPS2,100815,072218,5702.4502,-15053.5869,7,1.0,10,16.6,1.0,65.4,9,9.0
$SPEED_LIMITS,0.111,0.311
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,27.3,8649,-18.1,-11.111,-19.67,2691
$D_GRID,1394
$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,-194.6,181,2700,1068,960,0.0,0.0,0,136,0.00,0.00,-37.42,0.000,16386,0.000,0.000,180,2699,1991,2037,1945,0,0,0,0,0,0,26.05,28.83,26.12
$GC,138,-0.93,-194.6,181,2700,2039,1948,3.1,-5.1,6,196,8.60,1.83,-39.97,0.000,19204,0.227,0.054,2327,3840,3635,3707,3564,0,0,0,0,0,0,25.54,24.25,25.84
$GC,211,-0.81,-194.6,2327,3842,3708,3568,17.2,-24.8,17,218,0.17,1.62,0.00,0.000,3078,0.155,0.020,2370,2687,3636,3707,3566,0,0,0,0,0,0,25.69,26.06,25.87
$GC,525,-0.81,-194.6,2371,2689,3708,3574,73.5,-16.3,65,536,0.00,2.03,0.00,0.000,516,0.000,0.022,2370,1342,3639,3707,3572,0,0,0,0,0,0,26.01,25.97,26.07
$GC,762,-0.84,-194.6,2370,1344,3709,3574,109.6,-14.1,88,775,0.00,2.08,0.00,0.000,1030,0.000,0.024,2363,2712,3640,3707,3573,0,0,0,0,0,0,26.08,26.03,26.10
$GC,1072,-0.87,-194.6,2364,2714,3709,3574,155.4,-14.5,119,1080,0.00,2.08,0.00,0.000,516,0.000,0.022,2364,1334,3640,3708,3573,0,0,0,0,0,0,26.11,26.03,26.17
$GC,1114,-0.90,-194.6,2365,1335,3709,3575,160.9,-14.8,122,1127,0.00,2.08,0.00,0.000,1030,0.000,0.025,2359,2698,3641,3709,3573,0,0,0,0,0,0,26.08,26.03,26.10
$GC,1422,-0.94,-194.6,2360,2698,3710,3573,204.6,-13.4,153,1429,0.00,1.77,0.00,0.000,260,0.000,0.038,2345,3850,3640,3708,3573,0,0,0,0,0,0,26.09,25.98,26.15
$GC,1503,-0.96,-194.6,2350,3851,3709,3573,216.2,-14.7,161,1510,0.00,1.62,0.00,0.000,1030,0.000,0.020,2350,2706,3640,3708,3573,0,0,0,0,0,0,26.10,26.08,26.14
$GC,1816,-0.99,-194.6,2350,2705,3709,3574,259.3,-14.1,188,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2704,3640,3708,3573,0,0,0,0,0,0,26.09,26.15,26.15
$GC,2115,-1.01,-194.6,2346,2704,3709,3573,301.2,-13.9,198,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2704,3640,3707,3573,0,0,0,0,0,0,26.09,26.15,26.15
$GC,2415,-1.05,-194.6,2350,2705,3707,3574,341.4,-13.1,208,2422,0.08,0.00,0.00,0.000,4102,0.117,0.000,2292,2704,3639,3705,3573,0,0,0,0,0,0,25.98,26.07,26.05
$GC,2714,-1.05,-194.6,2292,2704,3706,3573,388.4,-16.0,218,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2704,3638,3704,3573,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3014,-1.05,-194.6,2292,2703,3704,3573,436.1,-15.7,228,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2704,3638,3703,3573,0,0,0,0,0,0,26.10,26.16,26.15
$GC,3315,-1.05,-194.6,2292,2704,3702,3574,484.5,-15.9,238,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2704,3637,3701,3573,0,0,0,0,0,0,26.05,26.13,26.12
$GC,3615,-1.05,-194.6,2293,2705,3701,3574,533.6,-16.1,248,3622,0.00,1.80,0.00,0.000,260,0.000,0.040,2293,3849,3636,3700,3573,0,0,0,0,0,0,26.07,25.94,26.13
$GC,3671,-1.05,-194.6,2292,3852,3700,3573,538.9,-16.1,249,3681,0.00,1.65,0.00,0.000,1030,0.000,0.021,2292,2688,3636,3699,3573,0,0,0,0,0,0,26.12,26.10,26.13
$GC,3976,-1.05,-194.6,2293,2688,3699,3573,591.8,-16.8,260,3983,0.00,1.83,0.00,0.000,260,0.000,0.040,2292,3849,3635,3698,3573,0,0,0,0,0,0,26.06,25.94,26.13
$GC,4017,-1.05,-194.6,2292,3849,3699,3573,595.8,-15.8,261,4024,0.00,1.62,0.00,0.000,1030,0.000,0.021,2292,2710,3635,3698,3573,0,0,0,0,0,0,26.12,26.09,26.12
$GC,4333,-1.03,-194.6,2291,2708,3698,3573,647.9,-17.4,272,4341,0.00,1.80,0.00,0.000,260,0.000,0.040,2292,3853,3634,3696,3573,0,0,0,0,0,0,26.06,25.92,26.11
$GC,4410,-1.03,-194.6,2291,3853,3696,3572,657.3,-15.4,274,4417,0.00,1.65,0.00,0.000,1030,0.000,0.021,2292,2703,3634,3696,3573,0,0,0,0,0,0,26.11,26.08,26.12
$GC,4726,-1.03,-194.6,2292,2697,3695,3573,707.2,-15.2,285,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2697,3634,3695,3573,0,0,0,0,0,0,26.05,26.13,26.11
$STATE,5025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5025,begin apogee
$GC,5029,-0.25,0.0,2292,2810,3695,3573,751.8,-14.9,295,5217,0.85,0.00,175.38,1.445,10246,0.117,0.000,2556,2811,2840,2879,2801,0,0,0,0,1,0,25.65,23.75,22.82
$STATE,5217,end apogee,CONTROL_FINISHED_OK
$STATE,5217,begin climb
$GC,5219,0.93,194.6,2557,2812,2891,2803,762.1,0.0,301,5398,1.12,2.30,165.43,0.934,11012,0.063,0.021,2943,1424,2037,2076,1999,0,0,0,0,0,0,24.01,24.09,23.43
$GC,5498,0.90,337.9,2944,1425,2071,1993,761.5,5.6,310,5633,0.00,2.20,120.38,0.929,9222,0.000,0.024,2943,2796,1452,1501,1404,0,0,0,0,0,0,25.23,25.19,23.68
$GC,5928,0.90,337.9,2943,2796,1492,1390,707.7,13.1,325,5935,0.00,1.65,0.00,0.000,260,0.000,0.038,2943,3857,1440,1491,1390,0,0,0,0,0,0,25.90,25.87,25.96
$GC,6160,0.86,337.9,2944,3858,1490,1395,677.3,14.0,332,6167,0.00,1.50,0.00,0.000,1030,0.000,0.021,2945,2785,1439,1489,1390,0,0,0,0,0,0,26.13,26.10,26.14
$GC,6471,0.86,337.9,2946,2784,1490,1390,635.9,12.4,343,6478,0.00,1.67,0.00,0.000,260,0.000,0.038,2945,3859,1439,1489,1390,0,0,0,0,0,0,26.15,26.08,26.21
$GC,6652,0.86,337.9,2951,3860,1488,1391,612.4,12.9,349,6660,0.00,1.50,0.00,0.000,1030,0.000,0.021,2945,2789,1438,1488,1389,0,0,0,0,0,0,26.19,26.16,26.20
$GC,6984,0.89,363.3,2945,2791,1488,1390,581.1,10.1,360,7018,0.00,1.67,21.17,0.870,8452,0.000,0.039,2945,3850,1348,1397,1300,0,0,0,0,0,0,26.15,25.78,25.04
$GC,7242,0.85,363.3,2944,3850,1392,1292,546.2,14.7,368,7251,0.00,1.50,0.00,0.000,1030,0.000,0.021,2945,2782,1342,1392,1292,0,0,0,0,0,0,26.11,26.08,26.11
$GC,7560,0.83,363.3,2945,2783,1392,1293,503.9,12.7,379,7568,0.00,1.67,0.00,0.000,260,0.000,0.040,2945,3851,1341,1392,1290,0,0,0,0,0,0,26.11,26.04,26.17
$GC,7792,0.77,363.3,2941,3850,1391,1290,474.2,14.0,386,7799,0.12,1.50,0.00,0.000,5126,0.171,0.022,2916,2783,1340,1390,1291,0,0,0,0,0,0,25.86,26.15,26.03
$GC,8103,0.81,363.3,2915,2782,1392,1290,431.4,12.7,397,8111,0.00,1.67,0.00,0.000,260,0.000,0.039,2917,3853,1340,1390,1290,0,0,0,0,0,0,26.12,26.03,26.18
$GC,8185,0.85,363.3,2916,3854,1391,1289,424.0,11.8,399,8191,0.00,1.50,0.00,0.000,1030,0.000,0.022,2918,2780,1340,1390,1290,0,0,0,0,0,0,26.18,26.15,26.20
$GC,8496,0.85,367.9,2919,2780,1391,1291,387.8,10.9,410,8503,0.00,1.67,0.00,0.000,260,0.000,0.039,2919,3856,1339,1390,1289,0,0,0,0,0,0,26.11,26.04,26.17
$GC,8727,0.85,367.9,2919,3856,1390,1288,361.3,12.8,417,8734,0.00,1.50,0.00,0.000,1030,0.000,0.022,2918,2791,1339,1389,1289,0,0,0,0,0,0,26.15,26.12,26.16
$GC,9038,0.85,404.6,2919,2793,1390,1290,317.4,9.7,428,9084,0.00,1.70,38.03,0.690,8452,0.000,0.040,2919,3854,1185,1238,1132,0,0,0,0,0,0,26.10,25.65,25.01
$GC,9088,0.86,462.0,2919,3858,1234,1125,315.1,8.9,429,9151,0.00,1.52,54.28,0.666,9222,0.000,0.022,2919,2795,956,1019,894,0,0,0,0,0,0,25.82,25.79,24.72
$GC,9456,0.84,462.0,2920,2797,1000,873,262.3,15.2,442,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2795,935,998,872,0,0,0,0,0,0,26.01,26.08,26.07
$GC,9755,0.87,462.0,2919,2796,999,870,223.1,11.3,466,9763,0.00,1.65,0.00,0.000,260,0.000,0.038,2919,3850,933,998,869,0,0,0,0,0,0,26.09,26.03,26.15
$GC,9988,0.90,462.0,2920,3851,997,869,194.1,12.7,489,9996,0.00,1.50,0.00,0.000,1030,0.000,0.021,2924,2777,933,998,868,0,0,0,0,0,0,26.14,26.12,26.15
$GC,10300,0.97,462.0,2925,2777,1000,865,156.8,12.0,520,10308,0.08,1.67,0.00,0.000,2308,0.126,0.035,2972,3854,932,998,867,0,0,0,0,0,0,25.98,26.03,26.07
$GC,10333,1.00,462.0,2973,3855,999,868,152.1,13.7,523,10340,0.00,1.50,0.00,0.000,1030,0.000,0.022,2978,2789,932,998,867,0,0,0,0,0,0,26.16,26.13,26.17
$GC,10644,1.03,462.0,2978,2788,998,866,108.6,13.6,554,10658,0.00,2.03,0.00,0.000,516,0.000,0.024,2985,1434,931,997,866,0,0,0,0,0,0,26.13,26.08,26.18
$GC,10768,1.08,462.0,2985,1433,998,866,91.9,13.3,566,10781,0.00,2.10,0.00,0.000,1030,0.000,0.026,2986,2808,931,997,866,0,0,0,0,0,0,26.11,26.06,26.14
$GC,11077,1.13,462.0,2985,2808,997,866,53.6,12.4,597,11085,0.00,2.08,0.00,0.000,516,0.000,0.023,2995,1434,932,997,867,0,0,0,0,0,0,26.09,26.06,26.15
$GC,11165,1.18,462.0,2995,1433,998,866,43.4,11.4,610,11176,0.08,2.10,0.00,0.000,3078,0.120,0.025,3037,2808,931,997,866,0,0,0,0,0,0,25.96,26.04,26.06
$GC,11477,1.18,462.0,3038,2809,998,866,3.0,12.2,671,11484,0.00,1.65,0.00,0.000,260,0.000,0.037,3037,3855,930,996,864,0,0,0,0,0,0,26.13,26.03,26.19
$STATE,11487,end climb,SURFACE_DEPTH_REACHED
$STATE,11487,begin surface coast
$FINISH,0.6,1.023686
$STATE,11502,end surface coast,CONTROL_FINISHED_OK
$STATE,11502,begin surface
$SM_CCo,11578,0.00,0.000,0,0,928,468.52
$SM_GC,1.38,7.55,1.70,0.00,0.034,0.018,0.000,194,2699,928,-7.58,3.02,468.52,0,0,0,0,0,0,26.07,26.17,26.12
$IRIDIUM_FIX,5640.91,-15055.57,050608,172829
$TT8_MAMPS,0.057673,0.057673
$HUMID,39.44
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.60
$XPDR_PINGS,2
$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,11537.37 5559.70
$PA_BOOTCOUNT,475
$PA_DFQS,0/0
$PA_LOG,0.01/0.269/31.498/29.629
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.35/40.655/117.199/70.591
$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,22.82,60.606
$10V_AH,10.16,37.618
$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,18.650,70.325,574.650,0.000,0.000,0.000,0.000,230.550,0.500,11898.921,10.958,0.000,8580.576,586.307,2608.576,112.164,0.000,1914.937,0.000,1561.555,0.000,0.548,0.000
$DEVICE_MAMPS,227.205,72.675,1445.085,0.000,0.000,0.000,0.000,86.445,420.000,61.645,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,462.374,0.000,0.000,0.000,0.000,0.000,11898.881,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.371,0.000,0.000,0.000
$MEM,142864
$DATA_FILE_SIZE,30128,676
$CAP_FILE_SIZE,113010,0
$CFSIZE,1024393216,980172800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,11815.16,0x236db2,7,5
$CURRENT,0.104,228.20,1
$GPS,100815,103621,5703.221,-15053.371,36,0.8,36,16.6,0.0,0.0,10,9.9