version: 66.12
glider: 203
mission: 8
dive: 176
start: 8 11 115 11 56 3
data:
$ID,203
$MISSION,8
$DIVE,176
$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,92
$R_STBD_OVSHOOT,48
$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
$GPS1,110815,115103,5705.4648,-15048.8262,47,0.8,47,16.6,0.5,124.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-67.6
$GPS2,110815,115550,5705.4097,-15048.7939,17,0.8,17,16.6,0.7,163.5,10,4.2
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,11.3,1354,-25.1,-10.667,-26.44,1306
$D_GRID,1352
$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,-1.27,-90.6,198,2792,1228,1172,0.0,0.0,0,129,0.00,0.00,-30.23,0.000,16386,0.000,0.000,197,2792,2008,2043,1974,0,0,0,0,0,0,26.06,28.83,26.13
$GC,131,-1.27,-90.6,198,2793,2044,1976,3.1,-4.7,5,178,8.12,2.22,-30.27,0.000,18948,0.227,0.034,2216,1318,3211,3291,3131,0,0,0,0,0,0,25.42,25.21,25.60
$GC,407,-1.24,-90.6,2216,1317,3292,3137,68.5,-24.4,48,419,0.12,2.10,0.00,0.000,3078,0.179,0.025,2237,2705,3213,3291,3136,0,0,0,0,0,0,25.69,26.01,25.86
$GC,713,-1.24,-90.6,2237,2704,3292,3140,135.7,-20.4,79,723,0.00,1.75,0.00,0.000,260,0.000,0.037,2231,3856,3215,3291,3140,0,0,0,0,0,0,26.10,25.97,26.16
$GC,761,-1.24,-90.6,2231,3855,3292,3140,144.5,-19.8,83,771,0.00,1.65,0.00,0.000,1030,0.000,0.019,2231,2673,3216,3291,3141,0,0,0,0,0,0,26.14,26.10,26.15
$GC,1067,-1.24,-90.6,2231,2674,3292,3142,206.7,-18.9,114,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2673,3215,3290,3140,0,0,0,0,0,0,26.07,26.14,26.13
$GC,1378,-1.26,-90.6,2231,2675,3292,3142,267.8,-19.4,139,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2673,3216,3291,3141,0,0,0,0,0,0,26.08,26.15,26.14
$GC,1677,-1.28,-90.6,2232,2673,3292,3144,324.2,-18.3,149,1684,0.00,1.98,0.00,0.000,516,0.000,0.023,2231,1348,3215,3290,3140,0,0,0,0,0,0,26.08,26.01,26.13
$GC,1769,-1.30,-90.6,2232,1350,3291,3142,340.0,-18.3,152,1780,0.00,2.08,0.00,0.000,1030,0.000,0.025,2222,2706,3215,3290,3140,0,0,0,0,0,0,26.05,26.00,26.08
$GC,2094,-1.30,-90.6,2223,2707,3289,3142,402.6,-19.4,163,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2706,3215,3290,3140,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2394,-1.30,-90.6,2222,2707,3290,3142,460.5,-19.0,173,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2706,3213,3288,3139,0,0,0,0,0,0,26.08,26.14,26.13
$GC,2695,-1.31,-90.6,2223,2706,3288,3140,514.7,-17.6,183,2704,0.00,2.05,0.00,0.000,516,0.000,0.023,2223,1352,3213,3287,3140,0,0,0,0,0,0,26.09,25.97,26.14
$GC,2734,-1.33,-90.6,2223,1353,3288,3142,520.2,-17.6,184,2742,0.00,2.08,0.00,0.000,1030,0.000,0.026,2212,2706,3213,3287,3140,0,0,0,0,0,0,26.06,26.01,26.08
$GC,3051,-1.33,-90.6,2214,2708,3286,3142,576.0,-17.2,195,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2706,3212,3285,3140,0,0,0,0,0,0,26.08,26.14,26.13
$GC,3351,-1.33,-90.6,2213,2707,3284,3142,629.9,-17.8,205,3358,0.00,1.77,0.00,0.000,260,0.000,0.038,2206,3851,3211,3283,3139,0,0,0,0,0,0,26.06,25.96,26.11
$GC,3508,-1.33,-90.6,2206,3853,3284,3140,659.2,-19.6,210,3516,0.00,1.67,0.00,0.000,1030,0.000,0.021,2206,2702,3211,3282,3140,0,0,0,0,0,0,26.08,26.07,26.10
$GC,3835,-1.33,-90.6,2206,2701,3282,3142,718.7,-18.3,221,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2701,3210,3281,3140,0,0,0,0,0,0,26.05,26.12,26.11
$GC,4135,-1.33,-90.6,2206,2701,3281,3140,768.5,-16.3,231,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2701,3210,3280,3140,0,0,0,0,0,0,26.05,26.11,26.10
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4347,-0.25,0.0,2206,2814,3281,3140,802.7,-16.4,238,4431,1.15,0.00,76.22,1.003,10246,0.138,0.000,2549,2814,2838,2880,2796,0,0,0,0,0,0,25.51,25.08,24.32
$STATE,4431,end apogee,CONTROL_FINISHED_OK
$STATE,4431,begin climb
$GC,4433,1.27,90.6,2550,2814,2876,2789,806.0,0.0,240,4516,1.42,1.73,73.60,0.989,10500,0.073,0.039,3039,3835,2463,2492,2434,0,0,0,0,0,0,25.18,24.68,23.95
$GC,4576,1.19,279.6,3040,3834,2488,2424,810.6,-4.2,245,4744,0.00,1.50,155.88,0.976,9222,0.000,0.022,3040,2811,1695,1732,1658,0,0,0,0,0,0,25.34,25.32,23.61
$GC,5068,1.19,279.6,3040,2812,1720,1640,744.2,17.4,262,5076,0.00,2.12,0.00,0.000,516,0.000,0.026,3039,1421,1678,1718,1638,0,0,0,0,0,0,25.94,25.92,26.01
$GC,5225,1.21,279.6,3040,1421,1719,1638,721.4,15.6,267,5232,0.00,2.10,0.00,0.000,1030,0.000,0.025,3040,2791,1677,1717,1638,0,0,0,0,0,0,26.08,26.03,26.10
$GC,5542,1.21,279.6,3040,2791,1718,1637,667.6,16.1,278,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2790,1676,1716,1637,0,0,0,0,0,0,26.10,26.18,26.17
$GC,5842,1.18,279.6,3040,2792,1714,1638,621.2,16.2,288,5850,0.00,2.08,0.00,0.000,516,0.000,0.024,3049,1426,1674,1713,1636,0,0,0,0,0,0,26.12,26.09,26.19
$GC,6049,1.18,279.6,3049,1425,1714,1636,589.6,15.8,295,6057,0.00,2.12,0.00,0.000,1030,0.000,0.027,3049,2809,1675,1714,1636,0,0,0,0,0,0,26.12,26.07,26.15
$GC,6376,1.10,279.6,3050,2812,1717,1636,542.5,14.2,306,6383,0.12,1.60,0.00,0.000,4356,0.192,0.037,3019,3851,1673,1711,1636,0,0,0,0,0,0,25.72,25.91,25.83
$GC,6607,1.02,279.6,3019,3851,1709,1636,509.0,17.0,313,6616,0.10,1.55,0.00,0.000,5126,0.177,0.022,3000,2789,1672,1709,1636,0,0,0,0,0,0,25.67,26.11,25.81
$GC,6920,1.02,279.6,2999,2788,1710,1636,463.0,13.1,324,6929,0.00,1.67,0.00,0.000,260,0.000,0.040,2999,3857,1672,1709,1636,0,0,0,0,0,0,26.09,25.99,26.16
$GC,7153,0.92,279.6,2998,3858,1710,1637,429.2,17.2,331,7161,0.15,1.55,0.00,0.000,5126,0.176,0.023,2964,2802,1672,1709,1636,0,0,0,0,0,0,25.59,26.08,25.72
$GC,7465,0.98,289.6,2965,2803,1708,1637,389.4,9.9,342,7472,0.00,1.65,0.00,0.000,260,0.000,0.040,2964,3856,1671,1707,1636,0,0,0,0,0,0,26.08,25.97,26.15
$GC,7696,0.98,289.6,2964,3855,1707,1635,360.9,11.4,349,7704,0.00,1.55,0.00,0.000,1030,0.000,0.022,2971,2796,1671,1707,1636,0,0,0,0,0,0,26.12,26.10,26.13
$GC,8008,1.07,289.6,2971,2796,1708,1635,320.7,12.2,360,8015,0.00,1.65,0.00,0.000,260,0.000,0.041,2966,3849,1671,1707,1636,0,0,0,0,0,0,26.08,25.97,26.14
$GC,8239,1.07,289.6,2971,3849,1708,1637,289.7,14.4,367,8246,0.00,1.52,0.00,0.000,1030,0.000,0.021,2975,2806,1671,1707,1636,0,0,0,0,0,0,26.12,26.10,26.12
$GC,8551,1.12,289.6,2977,2806,1707,1635,245.6,11.9,380,8558,0.00,1.62,0.00,0.000,260,0.000,0.039,2977,3850,1671,1707,1635,0,0,0,0,0,0,26.07,25.95,26.13
$GC,8657,1.18,300.1,2977,3847,1708,1635,235.3,9.8,390,8687,0.10,1.50,15.70,0.688,11270,0.104,0.023,3025,2796,1606,1644,1569,0,0,0,0,0,0,25.91,26.03,25.17
$GC,8982,1.21,300.1,3025,2797,1640,1562,191.0,13.4,423,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2796,1600,1639,1561,0,0,0,0,0,0,26.05,26.11,26.10
$GC,9284,1.23,300.1,3025,2798,1640,1562,153.0,12.1,453,9291,0.00,1.70,0.00,0.000,260,0.000,0.040,3025,3853,1599,1639,1560,0,0,0,0,0,0,26.09,25.96,26.15
$GC,9517,1.23,300.1,3025,3852,1640,1559,121.7,12.7,476,9525,0.00,1.55,0.00,0.000,1030,0.000,0.022,3032,2794,1599,1639,1560,0,0,0,0,0,0,26.09,26.07,26.10
$GC,9829,1.27,311.5,3032,2794,1641,1559,88.4,9.8,507,9844,0.00,1.65,3.47,0.581,8452,0.000,0.041,3032,3848,1574,1617,1531,0,0,0,0,0,0,26.07,25.87,24.87
$GC,9898,1.27,311.5,3033,3848,1622,1536,81.4,10.9,513,9909,0.00,1.50,0.00,0.000,1030,0.000,0.023,3038,2799,1579,1622,1536,0,0,0,0,0,0,26.09,26.06,26.10
$GC,10204,1.31,328.8,3038,2794,1622,1537,49.6,9.3,544,10221,0.05,0.00,9.07,0.246,10246,0.165,0.000,3072,2794,1498,1539,1458,0,0,0,0,0,0,25.98,25.77,25.40
$GC,10523,1.36,390.5,3073,2795,1552,1460,17.1,5.8,606,10558,0.00,1.70,26.88,0.181,8452,0.000,0.039,3073,3847,1246,1290,1202,0,0,0,0,0,0,26.08,25.86,25.55
$STATE,10687,end climb,SURFACE_DEPTH_REACHED
$STATE,10687,begin surface coast
$FINISH,0.6,1.002485
$STATE,10701,end surface coast,CONTROL_FINISHED_OK
$STATE,10701,begin surface
$SM_CCo,10717,3.90,0.164,0,0,1206,400.08
$SM_GC,2.65,7.78,1.73,3.90,0.041,0.019,0.164,197,2685,1206,-7.58,2.52,400.08,0,0,0,0,0,0,25.97,26.09,25.60
$IRIDIUM_FIX,5636.99,-14953.72,060608,224904
$TT8_MAMPS,0.058422,0.058422
$HUMID,39.25
$INTERNAL_PRESSURE,8.8301
$TCM_TEMP,17.80
$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,10683.32 5109.21
$PA_BOOTCOUNT,484
$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_DATA0,0.51/59.498/117.199/51.748
$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,23.61,63.431
$10V_AH,10.18,38.136
$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,19.125,56.850,360.825,3.900,0.000,0.000,0.000,195.900,0.250,11072.211,18.288,0.000,8054.111,382.125,2463.264,106.536,0.000,1576.584,0.000,1483.410,0.000,0.549,0.000
$DEVICE_MAMPS,227.205,71.145,1002.915,163.710,0.000,0.000,0.000,87.210,420.000,61.715,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,438.722,0.000,0.000,0.000,0.000,0.000,11072.360,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.370,0.000,0.000,0.000
$MEM,142828
$DATA_FILE_SIZE,26799,641
$CAP_FILE_SIZE,104171,0
$CFSIZE,1024393216,979337216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$INTR,0,8974.10,0x236db2,7,5
$CURRENT,0.126,210.12,1
$GPS,110815,145611,5705.884,-15048.863,56,1.0,68,16.6,0.4,178.9,9,9.9