version: 66.12
glider: 203
mission: 8
dive: 174
start: 8 11 115 6 2 3
data:
$ID,203
$MISSION,8
$DIVE,174
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,250
$T_MISSION,280
$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,96
$R_STBD_OVSHOOT,47
$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
$GPS1,110815,055631,5705.9731,-15048.5596,46,1.0,70,16.6,0.2,8.6,11,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.1
$GPS2,110815,060150,5705.9873,-15048.7002,8,1.1,35,16.6,0.4,314.1,9,7.4
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,59.5,705,-40.4,-10.667,-41.28,488
$D_GRID,1296
$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,-2.02,-33.8,182,2688,1225,1169,0.0,0.0,0,130,0.00,0.00,-30.50,0.000,16386,0.000,0.000,181,2687,2016,2051,1982,0,0,0,0,0,0,26.08,28.83,26.14
$GC,131,-2.02,-33.8,182,2688,2056,1984,3.2,-4.6,5,177,7.38,2.05,-24.40,0.000,18948,0.236,0.035,1977,1331,2980,3060,2900,0,0,0,0,0,0,25.44,24.21,25.62
$GC,406,-2.04,-33.8,1977,1331,3061,2907,95.3,-32.3,42,420,0.00,2.05,0.00,0.000,1030,0.000,0.024,1969,2704,2983,3060,2906,0,0,0,0,0,0,25.98,25.95,25.98
$GC,715,-2.07,-33.8,1969,2704,3061,2909,188.4,-30.5,73,722,0.00,2.08,0.00,0.000,516,0.000,0.022,1969,1322,2984,3060,2909,0,0,0,0,0,0,26.08,26.06,26.15
$GC,782,-2.10,-33.8,1969,1324,3061,2911,207.5,-27.7,79,789,0.00,2.08,0.00,0.000,1030,0.000,0.023,1960,2707,2985,3060,2910,0,0,0,0,0,0,26.09,26.05,26.11
$GC,1088,-2.13,-33.8,1961,2707,3061,2910,293.1,-27.8,99,1096,0.00,1.73,0.00,0.000,260,0.000,0.035,1952,3847,2985,3060,2910,0,0,0,0,0,0,26.09,25.99,26.14
$GC,1180,-2.13,-33.8,1952,3847,3061,2910,320.4,-28.8,102,1188,0.00,1.62,0.00,0.000,1030,0.000,0.019,1952,2686,2985,3060,2910,0,0,0,0,0,0,26.13,26.10,26.13
$GC,1512,-2.16,-33.8,1952,2674,3060,2910,414.1,-28.1,113,1521,0.00,1.80,0.00,0.000,260,0.000,0.034,1943,3835,2984,3059,2910,0,0,0,0,0,0,26.09,25.98,26.15
$GC,1745,-2.16,-33.8,1943,3842,3058,2910,476.9,-28.7,120,1753,0.00,1.60,0.00,0.000,1030,0.000,0.019,1943,2691,2983,3057,2910,0,0,0,0,0,0,26.14,26.11,26.15
$GC,2057,-2.16,-33.8,1943,2691,3057,2911,561.0,-25.7,131,2066,0.00,1.77,0.00,0.000,260,0.000,0.034,1931,3840,2983,3056,2910,0,0,0,0,0,0,26.10,25.97,26.16
$GC,2290,-2.18,-33.8,1934,3840,3055,2909,615.3,-25.6,138,2298,0.00,1.60,0.00,0.000,1030,0.000,0.020,1934,2702,2982,3054,2910,0,0,0,0,0,0,26.13,26.10,26.14
$GC,2603,-2.20,-33.8,1934,2698,3054,2909,707.3,-28.1,149,2610,0.00,2.03,0.00,0.000,516,0.000,0.023,1934,1345,2981,3053,2910,0,0,0,0,0,0,26.10,26.00,26.15
$GC,2835,-2.22,-33.8,1934,1346,3053,2912,763.1,-26.6,156,2846,0.00,2.05,0.00,0.000,1030,0.000,0.024,1925,2698,2981,3052,2910,0,0,0,0,0,0,26.06,26.01,26.08
$STATE,2958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2958,begin apogee
$GC,2962,-0.25,0.0,1925,2815,3052,2911,803.4,-27.0,161,3001,2.28,0.00,30.75,1.021,10246,0.177,0.000,2551,2814,2838,2885,2791,0,0,0,0,0,0,25.44,25.53,24.72
$STATE,3002,end apogee,CONTROL_FINISHED_OK
$STATE,3002,begin climb
$GC,3003,2.02,33.8,2551,2814,2881,2785,807.9,0.0,162,3042,2.05,1.60,28.33,1.006,10500,0.066,0.034,3292,3832,2696,2733,2660,0,0,0,0,0,0,25.62,25.03,24.49
$GC,3091,2.02,33.8,3292,3832,2729,2656,811.5,-6.3,165,3098,0.00,1.52,0.00,0.000,1030,0.000,0.021,3300,2807,2693,2730,2656,0,0,0,0,0,0,25.65,25.64,25.67
$GC,3408,2.07,150.2,3300,2813,2728,2654,857.1,-13.9,176,3510,0.00,1.65,93.15,1.029,8964,0.000,0.034,3300,3830,2220,2245,2195,0,0,0,0,0,0,26.03,24.73,24.19
$GC,3735,2.05,150.2,3300,3830,2242,2182,840.9,13.4,187,3744,0.00,1.50,0.00,0.000,1030,0.000,0.022,3308,2778,2211,2241,2182,0,0,0,0,0,0,25.99,25.96,25.99
$GC,4070,2.05,150.2,3308,2778,2242,2181,798.2,13.1,198,4079,0.00,2.03,0.00,0.000,516,0.000,0.022,3318,1420,2211,2241,2181,0,0,0,0,0,0,26.10,26.07,26.17
$GC,4303,2.07,150.2,3318,1420,2240,2182,771.2,12.3,205,4311,0.00,2.10,0.00,0.000,1030,0.000,0.025,3317,2790,2211,2240,2182,0,0,0,0,0,0,26.14,26.09,26.16
$GC,4608,2.07,150.2,3322,2789,2239,2180,730.6,12.0,215,4616,0.00,2.08,0.00,0.000,516,0.000,0.023,3327,1424,2210,2239,2181,0,0,0,0,0,0,26.11,26.08,26.17
$GC,4840,2.09,150.2,3327,1415,2239,2181,706.5,11.1,222,4848,0.00,2.10,0.00,0.000,1030,0.000,0.026,3327,2798,2209,2238,2181,0,0,0,0,0,0,26.06,26.01,26.08
$GC,5145,2.09,150.2,3327,2798,2239,2180,669.6,11.4,232,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2798,2208,2237,2180,0,0,0,0,0,0,26.11,26.19,26.17
$GC,5446,2.09,150.5,3327,2798,2238,2179,637.0,10.6,242,5454,0.00,2.08,0.00,0.000,516,0.000,0.023,3336,1423,2208,2237,2180,0,0,0,0,0,0,26.09,26.06,26.15
$GC,5483,2.09,152.1,3337,1424,2245,2181,633.7,10.3,243,5490,0.00,2.10,0.00,0.000,1030,0.000,0.026,3337,2800,2208,2237,2179,0,0,0,0,0,0,26.08,26.06,26.10
$GC,5805,2.09,157.1,3336,2801,2237,2181,601.9,9.6,254,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2800,2207,2236,2179,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6105,2.09,163.6,3337,2801,2237,2181,573.4,9.3,264,6122,0.00,1.62,10.12,0.910,8452,0.000,0.035,3336,3850,2166,2194,2138,0,0,0,0,0,0,26.08,25.63,25.09
$GC,6348,2.06,163.6,3336,3851,2192,2136,545.6,11.9,272,6356,0.10,1.50,0.00,0.000,5126,0.228,0.023,3328,2798,2162,2191,2134,0,0,0,0,0,0,25.67,26.07,25.86
$GC,6675,2.06,163.6,3328,2799,2192,2135,507.0,11.6,283,6682,0.00,1.67,0.00,0.000,260,0.000,0.038,3328,3844,2162,2191,2133,0,0,0,0,0,0,26.08,25.97,26.13
$GC,6907,2.01,163.6,3328,3845,2191,2133,481.6,12.5,290,6915,0.12,1.52,0.00,0.000,5126,0.248,0.022,3312,2790,2160,2188,2133,0,0,0,0,0,0,25.51,26.08,25.76
$GC,7219,2.01,172.0,3312,2790,2190,2132,455.5,8.9,301,7236,0.00,1.70,7.22,0.872,8452,0.000,0.037,3312,3853,2135,2164,2107,0,0,0,0,0,0,26.09,25.94,25.13
$GC,7461,1.99,172.0,3312,3854,2160,2107,428.2,11.2,309,7470,0.08,1.50,0.00,0.000,5126,0.231,0.023,3308,2795,2133,2159,2107,0,0,0,0,0,0,25.75,26.03,25.90
$GC,7795,2.01,173.8,3308,2795,2160,2106,394.7,10.3,320,7803,0.00,1.67,0.00,0.000,260,0.000,0.039,3307,3842,2132,2159,2106,0,0,0,0,0,0,26.07,25.96,26.13
$GC,8028,1.98,189.2,3306,3842,2160,2105,377.1,7.4,327,8053,0.00,1.50,15.93,0.780,9222,0.000,0.024,3311,2795,2062,2088,2037,0,0,0,0,0,0,26.11,26.08,25.13
$GC,8369,2.02,189.2,3312,2796,2084,2031,336.3,12.0,339,8377,0.00,1.67,0.00,0.000,260,0.000,0.037,3311,3848,2056,2083,2029,0,0,0,0,0,0,26.04,25.95,26.10
$GC,8396,2.05,189.2,3312,3850,2084,2030,336.3,12.0,339,8406,0.00,1.50,0.00,0.000,1030,0.000,0.023,3315,2802,2055,2082,2029,0,0,0,0,0,0,26.07,26.04,26.08
$GC,8701,2.12,195.4,3320,2802,2083,2029,304.0,9.4,350,8710,0.00,1.67,0.00,0.000,260,0.000,0.037,3320,3851,2059,2090,2029,0,0,0,0,0,0,26.10,25.96,26.15
$GC,8724,2.20,201.6,3320,3853,2084,2030,304.0,9.4,350,8742,0.00,1.52,11.02,0.764,9222,0.000,0.023,3328,2778,2017,2045,1989,0,0,0,0,0,0,26.09,26.06,25.18
$GC,9063,2.15,219.1,3335,2779,2033,1982,270.3,7.0,362,9086,0.00,0.00,15.90,0.719,8198,0.000,0.000,3328,2778,1944,1970,1918,0,0,0,0,0,0,25.98,25.78,25.15
$GC,9362,2.11,219.1,3328,2777,1963,1905,231.9,14.1,380,9369,0.00,2.03,0.00,0.000,516,0.000,0.025,3337,1431,1933,1961,1905,0,0,0,0,0,0,26.04,26.00,26.10
$GC,9563,2.09,219.1,3338,1431,1962,1905,207.7,13.0,399,9574,0.00,2.10,0.00,0.000,1030,0.000,0.028,3338,2797,1933,1961,1905,0,0,0,0,0,0,26.06,25.99,26.08
$GC,9869,2.11,228.0,3338,2798,1961,1906,178.4,8.8,430,9883,0.00,1.70,4.93,0.796,8452,0.000,0.038,3337,3856,1912,1942,1882,0,0,0,0,0,0,26.07,25.95,25.25
$GC,10108,2.16,228.0,3338,3857,1945,1884,145.7,12.3,453,10119,0.00,1.50,0.00,0.000,1030,0.000,0.023,3345,2798,1913,1945,1882,0,0,0,0,0,0,26.09,26.06,26.10
$GC,10413,2.16,228.0,3346,2797,1947,1882,118.1,11.4,484,10421,0.00,1.67,0.00,0.000,260,0.000,0.037,3345,3848,1916,1946,1887,0,0,0,0,0,0,26.07,25.96,26.13
$GC,10646,2.15,244.0,3346,3848,1947,1882,93.0,7.3,507,10670,0.00,1.52,15.52,0.581,9222,0.000,0.022,3354,2803,1841,1870,1813,0,0,0,0,0,0,26.09,26.08,25.26
$GC,10966,2.17,251.8,3354,2807,1863,1806,59.5,9.0,539,10980,0.00,2.12,2.35,0.402,8708,0.000,0.023,3363,1415,1814,1848,1781,0,0,0,0,0,0,26.05,25.84,24.87
$GC,11024,2.21,258.9,3363,1417,1855,1783,54.5,9.2,544,11038,0.00,2.12,4.03,0.588,9222,0.000,0.025,3364,2804,1783,1814,1752,0,0,0,0,0,0,26.05,25.99,25.05
$GC,11341,2.22,275.0,3364,2806,1824,1753,24.7,7.3,602,11353,0.00,1.67,7.45,0.207,8452,0.000,0.037,3364,3850,1716,1749,1684,0,0,0,0,0,0,26.08,25.83,25.48
$GC,11578,2.25,320.6,3364,3850,1752,1684,15.4,1.1,649,11603,0.00,1.55,18.70,0.178,9222,0.000,0.021,3373,2799,1530,1564,1496,0,0,0,0,0,0,26.11,26.10,25.55
$STATE,11776,end climb,SURFACE_DEPTH_REACHED
$STATE,11776,begin surface coast
$FINISH,0.7,1.023585
$STATE,11791,end surface coast,CONTROL_FINISHED_OK
$STATE,11791,begin surface
$SM_CCo,11807,32.10,0.147,0,0,1205,400.08
$SM_GC,4.65,8.80,0.00,32.10,0.057,0.000,0.147,203,2798,1205,-7.56,2.80,400.08,0,0,0,0,0,0,26.02,26.19,25.59
$IRIDIUM_FIX,5640.91,-15050.18,060608,165150
$TT8_MAMPS,0.059171,0.059171
$HUMID,39.64
$INTERNAL_PRESSURE,8.8301
$TCM_TEMP,17.80
$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,11799.76 5605.68
$PA_BOOTCOUNT,482
$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_DATA0,0.48/55.801/117.199/55.445
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.217/27.046/25.455
$PA_DISK_BANK,3
$24V_AH,24.19,62.923
$10V_AH,10.18,38.030
$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,20.800,78.400,265.400,32.100,0.000,0.000,0.000,209.375,0.000,12213.951,37.219,0.000,8744.976,355.633,2934.843,120.962,0.000,1738.970,0.000,1825.605,0.000,0.548,0.000
$DEVICE_MAMPS,247.860,83.385,1028.925,146.880,0.000,0.000,0.000,86.445,420.000,61.554,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,473.756,0.000,0.000,0.000,0.000,0.000,12213.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,142812
$DATA_FILE_SIZE,30085,691
$CAP_FILE_SIZE,126211,0
$CFSIZE,1024393216,979501056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,9160.68,0x236db2,7,5
$INTR,1,11795.43,0x236db2,7,5
$CURRENT,0.056,228.38,1
$GPS,110815,092046,5705.934,-15048.875,52,0.7,65,16.6,0.5,25.7,11,9.6