version: 66.12
glider: 203
mission: 8
dive: 17
start: 7 13 115 5 8 21
data:
$ID,203
$MISSION,8
$DIVE,17
$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,160
$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
$PITCH_ADJ_DBAND,0
$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,95
$R_STBD_OVSHOOT,55
$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
$GPS1,130715,050005,5860.0000,-14711.7891,27,1.2,28,18.1,0.6,344.4,8,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.7
$GPS2,130715,050810,5900.0620,-14711.8760,14,0.9,14,18.1,0.0,2.2,10,6.4
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,111.8,7905,-18.6,-10.000,-20.21,2392
$D_GRID,1563
$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,-0.95,-155.7,194,2801,1234,1137,0.0,0.0,0,136,0.00,0.00,-39.22,0.000,16386,0.000,0.000,193,2800,2268,2300,2237,0,0,0,0,0,0,26.65,28.83,26.72
$GC,138,-0.95,-155.7,194,2800,2302,2236,3.1,-5.1,6,177,8.32,1.62,-26.17,0.000,18692,0.239,0.064,2324,3850,3477,3549,3405,0,0,0,0,0,0,26.26,25.62,26.47
$GC,252,-0.95,-155.7,2323,3850,3549,3407,28.0,-19.8,26,262,0.00,1.50,0.00,0.000,1030,0.000,0.024,2324,2755,3478,3548,3408,0,0,0,0,0,0,26.63,26.60,26.65
$GC,567,-0.95,-155.7,2324,2755,3549,3411,87.5,-17.4,68,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2755,3479,3548,3411,0,0,0,0,0,0,26.87,26.95,26.94
$GC,868,-0.95,-155.7,2324,2757,3549,3413,135.4,-15.6,98,880,0.00,1.90,0.00,0.000,516,0.000,0.025,2324,1434,3480,3548,3412,0,0,0,0,0,0,26.97,26.82,27.03
$GC,974,-0.95,-155.7,2324,1435,3549,3413,151.1,-15.1,108,985,0.00,2.00,0.00,0.000,1030,0.000,0.030,2319,2788,3480,3548,3412,0,0,0,0,0,0,26.88,26.83,26.90
$GC,1280,-0.95,-155.7,2320,2788,3549,3412,199.9,-15.7,139,1287,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1433,3480,3548,3412,0,0,0,0,0,0,27.06,26.91,27.13
$GC,1336,-0.95,-155.7,2318,1432,3547,3412,207.9,-15.4,144,1347,0.08,2.03,0.00,0.000,3078,0.203,0.029,2328,2806,3480,3548,3412,0,0,0,0,0,0,26.78,26.91,26.91
$GC,1651,-0.95,-155.7,2326,2808,3549,3413,254.7,-14.6,174,1659,0.00,1.98,0.00,0.000,516,0.000,0.024,2328,1438,3480,3548,3412,0,0,0,0,0,0,27.12,26.96,27.18
$GC,1683,-0.95,-155.7,2328,1439,3549,3413,258.5,-14.4,175,1691,0.00,2.00,0.00,0.000,1030,0.000,0.030,2321,2798,3479,3548,3411,0,0,0,0,0,0,27.01,26.96,27.03
$GC,2010,-0.95,-155.7,2321,2798,3549,3412,306.7,-14.5,186,2021,0.00,1.98,0.00,0.000,516,0.000,0.024,2322,1432,3479,3547,3412,0,0,0,0,0,0,27.16,27.01,27.23
$GC,2041,-0.95,-155.7,2322,1432,3548,3411,311.2,-14.6,187,2048,0.00,2.03,0.00,0.000,1030,0.000,0.031,2319,2802,3479,3547,3412,0,0,0,0,0,0,27.05,26.99,27.07
$GC,2367,-0.95,-155.7,2319,2802,3547,3411,357.7,-14.2,198,2375,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1441,3478,3545,3412,0,0,0,0,0,0,27.20,27.04,27.27
$GC,2400,-0.95,-155.7,2319,1441,3546,3411,362.2,-14.1,199,2407,0.10,2.03,0.00,0.000,3078,0.181,0.031,2333,2809,3478,3545,3412,0,0,0,0,0,0,26.91,27.03,27.03
$GC,2727,-0.95,-155.7,2333,2810,3545,3411,404.5,-12.6,210,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2810,3477,3544,3411,0,0,0,0,0,0,27.22,27.30,27.29
$GC,3027,-0.95,-155.7,2333,2811,3544,3413,442.6,-12.8,220,3034,0.00,1.98,0.00,0.000,516,0.000,0.024,2332,1440,3477,3543,3411,0,0,0,0,0,0,27.24,27.10,27.31
$GC,3068,-0.95,-155.7,2333,1439,3544,3411,446.0,-12.8,221,3075,0.00,2.00,0.00,0.000,1030,0.000,0.031,2327,2798,3477,3543,3412,0,0,0,0,0,0,27.13,27.08,27.15
$GC,3380,-0.95,-155.7,2327,2798,3541,3412,489.3,-13.6,232,3387,0.00,1.98,0.00,0.000,516,0.000,0.025,2327,1438,3480,3548,3412,0,0,0,0,0,0,27.27,27.11,27.33
$GC,3411,-0.95,-155.7,2327,1437,3542,3411,493.5,-13.5,233,3419,0.00,2.00,0.00,0.000,1030,0.000,0.031,2322,2798,3476,3541,3412,0,0,0,0,0,0,27.15,27.10,27.17
$GC,3738,-0.95,-155.7,2322,2800,3541,3412,537.3,-13.4,244,3746,0.00,1.98,0.00,0.000,516,0.000,0.025,2321,1438,3475,3539,3412,0,0,0,0,0,0,27.28,27.13,27.34
$GC,3800,-0.95,-155.7,2322,1439,3540,3412,545.5,-13.4,246,3808,0.00,2.03,0.00,0.000,1030,0.000,0.031,2320,2814,3476,3540,3413,0,0,0,0,0,0,27.17,27.12,27.19
$GC,4132,-0.95,-155.7,2320,2814,3539,3412,589.6,-13.0,257,4141,0.00,1.98,0.00,0.000,516,0.000,0.025,2320,1440,3474,3537,3412,0,0,0,0,0,0,27.30,27.14,27.36
$GC,4335,-0.95,-155.7,2319,1439,3538,3412,614.4,-13.4,263,4343,0.00,2.00,0.00,0.000,1030,0.000,0.031,2319,2802,3474,3537,3412,0,0,0,0,0,0,27.19,27.14,27.21
$GC,4647,-0.95,-155.7,2319,2802,3538,3412,660.0,-13.5,274,4655,0.00,1.98,0.00,0.000,516,0.000,0.026,2319,1438,3474,3536,3412,0,0,0,0,0,0,27.32,27.16,27.38
$GC,4879,-0.95,-155.7,2318,1437,3536,3412,688.6,-13.4,281,4886,0.00,2.00,0.00,0.000,1030,0.000,0.031,2319,2801,3473,3535,3412,0,0,0,0,0,0,27.21,27.15,27.23
$GC,5184,-0.95,-155.7,2318,2801,3536,3412,732.5,-14.2,291,5195,0.00,1.98,0.00,0.000,516,0.000,0.025,2319,1436,3473,3534,3412,0,0,0,0,0,0,27.33,27.17,27.39
$GC,5325,-0.95,-155.7,2319,1433,3536,3406,749.1,-13.8,295,5332,0.00,2.03,0.00,0.000,1030,0.000,0.031,2319,2807,3472,3534,3411,0,0,0,0,0,0,27.22,27.16,27.24
$GC,5629,-0.95,-155.7,2319,2809,3533,3413,794.5,-14.1,305,5637,0.00,1.98,0.00,0.000,516,0.000,0.025,2319,1434,3472,3533,3411,0,0,0,0,0,0,27.34,27.18,27.41
$GC,5861,-0.95,-155.7,2319,1435,3533,3411,824.6,-14.2,312,5875,0.00,2.00,0.00,0.000,1030,0.000,0.030,2319,2802,3472,3532,3412,0,0,0,0,0,0,27.24,27.18,27.25
$GC,6171,-0.95,-155.7,2319,2803,3533,3413,869.3,-13.3,323,6179,0.00,1.55,0.00,0.000,260,0.000,0.044,2319,3857,3471,3531,3412,0,0,0,0,0,0,27.34,27.17,27.41
$GC,6223,-0.95,-155.7,2320,3858,3532,3412,873.6,-13.2,324,6231,0.00,1.45,0.00,0.000,1030,0.000,0.025,2319,2832,3471,3531,3411,0,0,0,0,0,0,27.26,27.24,27.27
$GC,6535,-0.95,-155.7,2318,2831,3530,3411,916.5,-13.0,335,6543,0.00,1.52,0.00,0.000,260,0.000,0.045,2319,3860,3471,3530,3412,0,0,0,0,0,0,27.36,27.17,27.42
$GC,6767,-0.95,-155.7,2319,3860,3531,3411,943.3,-13.0,342,6774,0.00,1.50,0.00,0.000,1030,0.000,0.026,2318,2796,3470,3529,3411,0,0,0,0,0,0,27.26,27.25,27.27
$GC,7078,-0.95,-155.7,2319,2796,3531,3411,985.8,-12.8,353,7086,0.00,1.98,0.00,0.000,516,0.000,0.025,2319,1412,3470,3529,3411,0,0,0,0,0,0,27.36,27.21,27.43
$GC,7110,-0.95,-155.7,2319,1411,3530,3411,989.3,-12.8,354,7117,0.00,2.05,0.00,0.000,1030,0.000,0.032,2319,2808,3470,3529,3412,0,0,0,0,0,0,27.25,27.20,27.27
$STATE,7135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7135,begin apogee
$GC,7139,-0.25,0.0,2319,2591,3531,3411,993.3,-12.8,355,7333,0.73,0.00,185.62,0.890,10246,0.125,0.000,2555,2590,2838,2880,2797,0,0,0,0,0,0,27.08,24.98,24.46
$STATE,7334,end apogee,CONTROL_FINISHED_OK
$STATE,7334,begin climb
$GC,7335,0.95,155.7,2556,2592,2882,2791,1003.6,0.0,361,7484,1.12,2.10,137.75,1.042,11012,0.070,0.040,2941,3856,2195,2231,2159,0,0,0,0,0,0,25.13,24.56,24.09
$GC,7709,0.95,203.1,2942,3856,2214,2135,993.5,8.0,374,7761,0.00,1.83,44.35,0.953,9222,0.000,0.024,2944,2602,2010,2048,1972,0,0,0,0,0,0,26.07,26.03,24.66
$GC,8066,0.95,216.8,2945,2602,2029,1950,961.2,9.4,386,8078,0.00,1.95,3.95,0.760,8452,0.000,0.040,2944,3852,1956,1998,1914,0,0,0,0,0,0,26.36,25.84,25.22
$GC,8303,0.95,216.8,2945,3854,2018,1928,935.6,11.0,394,8310,0.00,1.80,0.00,0.000,1030,0.000,0.024,2945,2595,1971,2017,1926,0,0,0,0,0,0,26.45,26.43,26.47
$GC,8629,0.95,216.8,2945,2594,2019,1927,902.7,10.0,405,8637,0.00,1.92,0.00,0.000,260,0.000,0.042,2945,3850,1971,2017,1925,0,0,0,0,0,0,26.74,26.56,26.81
$GC,8776,0.95,216.8,2946,3848,2018,1927,885.9,11.6,410,8785,0.00,1.77,0.00,0.000,1030,0.000,0.024,2945,2610,1971,2017,1926,0,0,0,0,0,0,26.72,26.70,26.74
$GC,9110,0.95,216.8,2945,2596,2014,1928,850.9,10.5,421,9120,0.00,1.92,0.00,0.000,260,0.000,0.042,2945,3859,1971,2017,1926,0,0,0,0,0,0,26.91,26.74,26.98
$GC,9139,0.95,216.8,2945,3860,2018,1927,847.6,10.5,422,9147,0.00,1.80,0.00,0.000,1030,0.000,0.025,2945,2589,1971,2017,1926,0,0,0,0,0,0,26.84,26.81,26.85
$GC,9472,0.95,219.4,2945,2589,2018,1928,815.2,9.9,433,9484,0.00,1.95,3.03,0.589,8452,0.000,0.042,2945,3861,1945,1988,1902,0,0,0,0,0,0,27.00,26.71,25.89
$GC,9673,0.95,219.4,2945,3861,2012,1916,796.6,10.6,439,9685,0.00,1.77,2.25,0.351,9222,0.000,0.024,2947,2595,1942,1986,1899,0,0,0,0,0,0,26.92,26.89,25.91
$GC,9979,0.96,248.1,2945,2593,2012,1912,766.7,8.8,450,10030,0.00,2.03,41.30,0.842,8452,0.000,0.042,2946,3849,1818,1858,1779,0,0,0,0,0,0,27.04,26.09,25.56
$GC,10034,0.96,271.5,2946,3850,1855,1777,763.7,9.0,451,10066,0.00,1.80,22.90,0.878,9222,0.000,0.025,2945,2610,1729,1769,1689,0,0,0,0,0,0,26.25,26.21,25.17
$GC,10370,0.96,271.5,2945,2609,1750,1667,725.7,11.1,463,10377,0.00,2.10,0.00,0.000,516,0.000,0.029,2946,1224,1708,1749,1667,0,0,0,0,0,0,26.53,26.38,26.60
$GC,10396,0.96,271.5,2946,1217,1750,1668,725.7,11.1,463,10407,0.00,2.08,0.00,0.000,1030,0.000,0.028,2946,2605,1708,1749,1668,0,0,0,0,0,0,26.45,26.39,26.47
$GC,10702,0.96,285.2,2946,2607,1749,1666,691.4,9.4,474,10714,0.00,2.10,3.65,0.666,8708,0.000,0.029,2945,1216,1677,1721,1634,0,0,0,0,0,0,26.75,26.46,25.67
$GC,10938,0.96,285.2,2945,1216,1745,1642,669.1,10.7,481,10948,0.00,2.08,0.00,0.000,1030,0.000,0.028,2946,2613,1692,1744,1640,0,0,0,0,0,0,26.71,26.66,26.73
$GC,11244,0.96,285.2,2946,2616,1745,1640,630.8,11.1,492,11251,0.00,2.08,0.00,0.000,516,0.000,0.030,2946,1213,1692,1744,1641,0,0,0,0,0,0,26.93,26.76,26.99
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$STATE,17015,end climb,SURFACE_DEPTH_REACHED
$STATE,17015,begin surface coast
$FINISH,0.5,1.023834
$STATE,17036,end surface coast,CONTROL_FINISHED_OK
$STATE,17036,begin surface
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$IRIDIUM_FIX,5837.82,-14709.61,080508,182811
$TT8_MAMPS,0.166278,0.166278
$HUMID,38.30
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$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,17065.31 8144.65
$PA_BOOTCOUNT,319
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$PA_DISK_BANK,1
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$10V_AH,10.02,10.002
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.606,0.000,0.000,0.000
$MEM,187104
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$CAP_FILE_SIZE,168509,0
$CFSIZE,1024393216,994770944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,4,0
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