version: 66.12
glider: 203
mission: 8
dive: 13
start: 7 12 115 10 2 38
data:
$ID,203
$MISSION,8
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,38
$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,22.5
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120715,095633,5900.7266,-14718.5615,24,0.9,24,18.1,0.7,244.7,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.5
$GPS2,120715,100227,5900.7236,-14718.6797,17,0.8,17,18.1,0.0,260.3,10,3.4
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,74.1,13098,-17.8,-10.000,-19.47,2615
$D_GRID,1316
$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,-0.70,-170.3,194,2802,603,427,0.0,0.0,0,163,0.00,0.00,-67.22,0.000,16386,0.000,0.000,193,2800,2295,2331,2259,0,0,0,0,0,0,26.71,28.83,26.79
$GC,165,-0.70,-170.3,194,2799,2332,2260,3.3,-5.2,10,206,8.85,1.62,-26.95,0.000,18692,0.254,0.061,2371,3862,3534,3604,3465,0,0,0,0,0,0,26.32,26.06,26.53
$GC,354,-0.70,-170.3,2371,3863,3605,3469,41.3,-17.5,46,365,0.00,1.50,0.00,0.000,1030,0.000,0.025,2371,2782,3536,3604,3468,0,0,0,0,0,0,26.73,26.70,26.74
$GC,664,-0.70,-170.3,2371,2781,3605,3470,94.4,-17.7,81,673,0.00,1.98,0.00,0.000,516,0.000,0.026,2371,1418,3537,3604,3471,0,0,0,0,0,0,26.94,26.78,27.01
$GC,717,-0.70,-170.3,2371,1419,3605,3473,103.4,-16.9,86,725,0.08,2.08,0.00,0.000,3078,0.200,0.031,2375,2807,3538,3604,3473,0,0,0,0,0,0,26.66,26.78,26.79
$GC,1022,-0.71,-170.3,2375,2807,3605,3471,145.3,-12.8,116,1036,0.00,2.00,0.00,0.000,516,0.000,0.025,2375,1418,3538,3604,3472,0,0,0,0,0,0,27.03,26.88,27.10
$GC,1066,-0.71,-170.3,2375,1419,3605,3473,151.0,-13.1,120,1073,0.00,2.05,0.00,0.000,1030,0.000,0.032,2375,2800,3538,3605,3472,0,0,0,0,0,0,26.92,26.86,26.94
$GC,1371,-0.71,-170.3,2375,2801,3605,3473,191.9,-13.0,150,1379,0.00,2.03,0.00,0.000,516,0.000,0.027,2375,1417,3538,3604,3472,0,0,0,0,0,0,27.10,26.94,27.17
$GC,1408,-0.71,-170.3,2375,1417,3605,3472,196.2,-13.5,153,1418,0.00,2.05,0.00,0.000,1030,0.000,0.033,2375,2799,3537,3604,3471,0,0,0,0,0,0,26.98,26.92,27.00
$GC,1713,-0.72,-170.3,2374,2799,3605,3472,236.0,-12.5,184,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2795,3538,3604,3472,0,0,0,0,0,0,27.15,27.22,27.22
$GC,2014,-0.72,-170.3,2375,2801,3603,3473,272.0,-11.9,202,2021,0.00,2.00,0.00,0.000,516,0.000,0.027,2374,1421,3537,3602,3472,0,0,0,0,0,0,27.18,27.02,27.24
$GC,2055,-0.73,-170.3,2375,1422,3603,3473,275.9,-12.1,203,2063,0.00,2.05,0.00,0.000,1030,0.000,0.034,2375,2801,3537,3602,3472,0,0,0,0,0,0,27.07,27.01,27.08
$GC,2377,-0.73,-170.3,2374,2800,3602,3472,316.5,-12.2,214,2385,0.00,2.00,0.00,0.000,516,0.000,0.027,2374,1431,3536,3601,3472,0,0,0,0,0,0,27.22,27.05,27.28
$GC,2414,-0.73,-170.3,2375,1431,3602,3477,320.4,-12.2,215,2421,0.00,2.05,0.00,0.000,1030,0.000,0.034,2375,2802,3536,3601,3472,0,0,0,0,0,0,27.10,27.04,27.11
$GC,2736,-0.74,-170.3,2375,2804,3601,3473,360.6,-12.5,226,2743,0.00,2.00,0.00,0.000,516,0.000,0.027,2375,1424,3535,3599,3472,0,0,0,0,0,0,27.24,27.08,27.31
$GC,2797,-0.74,-170.3,2375,1423,3601,3471,367.7,-12.5,228,2805,0.00,2.05,0.00,0.000,1030,0.000,0.034,2374,2801,3535,3599,3472,0,0,0,0,0,0,27.13,27.07,27.15
$GC,3119,-0.75,-170.3,2374,2801,3600,3472,405.0,-10.0,239,3127,0.00,2.00,0.00,0.000,516,0.000,0.027,2374,1424,3534,3597,3471,0,0,0,0,0,0,27.27,27.10,27.33
$GC,3196,-0.76,-170.3,2381,1426,3597,3473,410.6,-9.8,241,3205,0.00,2.05,0.00,0.000,1030,0.000,0.033,2375,2807,3534,3596,3472,0,0,0,0,0,0,27.15,27.09,27.17
$GC,3509,-0.76,-170.3,2374,2807,3596,3471,441.0,-8.7,252,3517,0.00,2.00,0.00,0.000,516,0.000,0.027,2374,1423,3533,3595,3472,0,0,0,0,0,0,27.29,27.13,27.34
$GC,3681,-0.77,-170.3,2375,1425,3595,3472,454.7,-9.1,257,3695,0.00,2.03,0.00,0.000,1030,0.000,0.034,2374,2796,3532,3594,3471,0,0,0,0,0,0,27.15,27.12,27.17
$GC,3992,-0.78,-170.3,2373,2797,3593,3470,485.1,-9.2,268,3999,0.00,1.98,0.00,0.000,516,0.000,0.026,2375,1427,3531,3592,3471,0,0,0,0,0,0,27.30,27.14,27.37
$GC,4188,-0.78,-170.3,2375,1428,3593,3470,504.2,-11.2,274,4196,0.00,2.05,0.00,0.000,1030,0.000,0.034,2374,2811,3531,3591,3471,0,0,0,0,0,0,27.20,27.13,27.21
$GC,4494,-0.79,-170.3,2374,2810,3592,3471,539.0,-10.9,284,4502,0.00,2.00,0.00,0.000,516,0.000,0.027,2375,1428,3531,3591,3472,0,0,0,0,0,0,27.32,27.17,27.39
$GC,4536,-0.79,-170.3,2375,1428,3592,3472,542.5,-10.8,285,4544,0.00,2.05,0.00,0.000,1030,0.000,0.035,2373,2809,3531,3591,3472,0,0,0,0,0,0,27.20,27.14,27.22
$GC,4859,-0.80,-170.3,2374,2809,3590,3471,577.1,-10.7,296,4866,0.00,1.55,0.00,0.000,260,0.000,0.049,2375,3854,3530,3589,3472,0,0,0,0,0,0,27.33,27.14,27.40
$GC,4895,-0.80,-170.3,2375,3854,3590,3471,580.5,-10.7,297,4904,0.00,1.50,0.00,0.000,1030,0.000,0.029,2374,2786,3530,3589,3472,0,0,0,0,0,0,27.23,27.20,27.25
$GC,5223,-0.81,-170.3,2375,2786,3589,3472,616.8,-11.0,308,5231,0.00,2.00,0.00,0.000,516,0.000,0.027,2375,1402,3530,3588,3472,0,0,0,0,0,0,27.34,27.17,27.41
$GC,5295,-0.81,-170.3,2375,1403,3588,3473,623.8,-11.2,310,5303,0.00,2.08,0.00,0.000,1030,0.000,0.034,2374,2805,3530,3588,3472,0,0,0,0,0,0,27.22,27.16,27.24
$GC,5612,-0.82,-170.3,2374,2805,3588,3471,659.9,-11.2,321,5619,0.00,2.05,0.00,0.000,516,0.000,0.027,2375,1402,3529,3587,3471,0,0,0,0,0,0,27.34,27.18,27.41
$GC,5648,-0.82,-170.3,2375,1396,3588,3473,663.7,-11.4,322,5656,0.00,2.10,0.00,0.000,1030,0.000,0.034,2374,2806,3528,3586,3471,0,0,0,0,0,0,27.22,27.17,27.24
$GC,5970,-0.83,-170.3,2375,2808,3591,3473,699.3,-10.8,333,5978,0.00,2.03,0.00,0.000,516,0.000,0.027,2374,1402,3528,3585,3472,0,0,0,0,0,0,27.35,27.17,27.42
$GC,6052,-0.83,-170.3,2375,1404,3585,3481,706.0,-10.7,335,6059,0.00,2.08,0.00,0.000,1030,0.000,0.034,2374,2805,3528,3585,3472,0,0,0,0,0,0,27.23,27.17,27.25
$GC,6364,-0.84,-170.3,2375,2805,3585,3471,740.5,-10.4,346,6372,0.00,1.55,0.00,0.000,260,0.000,0.048,2374,3852,3527,3583,3471,0,0,0,0,0,0,27.36,27.17,27.43
$GC,6431,-0.84,-170.3,2374,3853,3584,3473,747.3,-10.7,348,6438,0.00,1.50,0.00,0.000,1030,0.000,0.029,2374,2783,3527,3583,3472,0,0,0,0,0,0,27.27,27.23,27.28
$GC,6757,-0.85,-170.3,2375,2784,3584,3473,780.7,-10.0,359,6765,0.00,1.98,0.00,0.000,516,0.000,0.027,2374,1405,3527,3583,3472,0,0,0,0,0,0,27.36,27.20,27.43
$GC,6814,-0.86,-170.3,2375,1407,3584,3473,783.9,-9.9,360,6824,0.00,2.08,0.00,0.000,1030,0.000,0.034,2374,2808,3527,3582,3472,0,0,0,0,0,0,27.24,27.18,27.26
$GC,7120,-0.86,-170.3,2374,2810,3583,3471,816.9,-10.1,371,7127,0.00,2.05,0.00,0.000,516,0.000,0.027,2374,1400,3527,3582,3472,0,0,0,0,0,0,27.37,27.20,27.43
$GC,7171,-0.87,-170.3,2375,1401,3583,3473,819.5,-10.0,372,7182,0.05,2.08,0.00,0.000,5126,0.178,0.034,2338,2801,3526,3581,3471,0,0,0,0,0,0,27.13,27.19,27.22
$GC,7477,-0.87,-170.3,2338,2802,3582,3473,855.6,-11.1,383,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2801,3526,3581,3472,0,0,0,0,0,0,27.37,27.45,27.43
$GC,7777,-0.87,-170.3,2338,2800,3582,3471,889.2,-11.1,393,7784,0.00,2.03,0.00,0.000,516,0.000,0.028,2338,1403,3526,3581,3471,0,0,0,0,0,0,27.38,27.22,27.44
$GC,7818,-0.88,-170.3,2338,1404,3581,3473,892.3,-11.0,394,7826,0.00,2.08,0.00,0.000,1030,0.000,0.034,2334,2804,3526,3580,3472,0,0,0,0,0,0,27.26,27.22,27.27
$GC,8130,-0.88,-170.3,2335,2803,3581,3472,929.9,-11.5,405,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2804,3525,3580,3471,0,0,0,0,0,0,27.38,27.46,27.44
$GC,8430,-0.88,-170.3,2335,2805,3579,3473,963.5,-11.1,415,8438,0.00,2.03,0.00,0.000,516,0.000,0.028,2335,1404,3525,3579,3471,0,0,0,0,0,0,27.39,27.22,27.45
$GC,8467,-0.89,-170.3,2335,1404,3580,3473,966.7,-11.2,416,8474,0.00,2.08,0.00,0.000,1030,0.000,0.034,2333,2805,3524,3578,3471,0,0,0,0,0,0,27.26,27.20,27.29
$STATE,8662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8662,begin apogee
$GC,8666,-0.19,0.0,2334,2578,3579,3472,990.1,-11.4,423,8828,0.65,0.00,149.90,1.535,10246,0.129,0.000,2543,2577,2838,2874,2803,0,0,0,0,1,0,27.09,24.51,23.61
$STATE,8828,end apogee,CONTROL_FINISHED_OK
$STATE,8828,begin climb
$GC,8830,0.70,170.3,2544,2577,2888,2803,997.9,0.0,428,8992,0.85,2.12,150.35,1.075,11012,0.083,0.042,2829,3851,2135,2168,2103,0,0,0,0,0,0,24.78,24.50,24.03
$GC,9216,0.72,283.7,2828,3851,2157,2083,990.5,5.5,440,9326,0.00,1.85,99.75,1.043,9222,0.000,0.026,2834,2594,1677,1716,1639,0,0,0,0,0,0,26.03,26.00,24.10
$GC,9621,0.73,333.0,2834,2593,1693,1606,959.3,8.1,454,9689,0.00,2.12,56.67,0.861,8452,0.000,0.045,2834,3852,1474,1516,1432,0,0,0,0,0,0,26.23,25.21,24.67
$GC,9913,0.74,361.9,2834,3853,1505,1417,935.7,8.9,463,9960,0.00,1.85,32.30,0.816,9222,0.000,0.025,2835,2585,1356,1401,1312,0,0,0,0,1,0,26.13,26.10,24.98
$GC,10285,0.75,411.5,2835,2584,1402,1311,903.7,8.1,476,10349,0.00,2.12,47.67,0.994,8708,0.000,0.030,2834,1225,1166,1222,1111,0,0,0,0,1,0,26.43,25.06,24.36
$GC,10443,0.77,451.8,2836,1224,1241,1112,890.6,8.4,481,10515,0.00,2.15,60.95,0.859,9222,0.000,0.031,2836,2607,993,1052,935,0,0,0,0,0,0,25.89,25.84,24.56
$GC,10829,0.78,487.5,2835,2608,1037,917,857.3,8.6,494,10876,0.08,1.98,38.85,0.896,11012,0.135,0.043,2872,3844,845,911,780,0,0,0,0,0,0,26.17,25.29,24.87
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$STATE,17964,end climb,SURFACE_DEPTH_REACHED
$STATE,17964,begin surface coast
$FINISH,0.4,1.023858
$STATE,17984,end surface coast,CONTROL_FINISHED_OK
$STATE,17984,begin surface
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$IRIDIUM_FIX,5837.82,-14709.61,070508,232443
$TT8_MAMPS,0.16478,0.16478
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$XPDR_PINGS,1
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,18011.42 8654.93
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$PA_DISK_BANK,1
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$10V_AH,10.05,7.124
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.086,0.000,0.000,0.000
$MEM,187104
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