version: 66.12
glider: 203
mission: 8
dive: 18
start: 7 13 115 10 0 31
data:
$ID,203
$MISSION,8
$DIVE,18
$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,102
$R_STBD_OVSHOOT,52
$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
$GPS1,130715,095427,5859.2231,-14709.9277,38,1.0,38,18.1,0.0,0.0,8,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-62.6
$GPS2,130715,100020,5859.2109,-14709.9160,16,0.9,16,18.1,0.0,0.0,9,4.7
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,118.0,5709,-18.6,-10.000,-20.21,2392
$D_GRID,1773
$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,-155.7,192,2808,873,733,0.0,0.0,0,164,0.00,0.00,-62.22,0.000,16386,0.000,0.000,191,2809,2506,2540,2472,0,0,0,0,0,0,26.63,28.83,26.71
$GC,166,-0.95,-155.7,192,2811,2541,2474,3.6,-5.4,9,202,8.38,1.65,-16.52,0.000,18692,0.239,0.063,2322,3850,3478,3548,3408,0,0,0,0,0,0,26.27,25.62,26.41
$GC,317,-0.95,-155.7,2322,3851,3549,3410,42.7,-20.0,37,331,0.00,1.48,0.00,0.000,1030,0.000,0.024,2322,2810,3479,3548,3410,0,0,0,0,0,0,26.67,26.63,26.68
$GC,635,-0.95,-155.7,2322,2810,3549,3414,104.6,-18.2,71,643,0.00,2.00,0.00,0.000,516,0.000,0.024,2322,1427,3481,3548,3415,0,0,0,0,0,0,26.89,26.74,26.96
$GC,722,-0.95,-155.7,2321,1428,3548,3416,120.2,-17.8,79,737,0.05,2.03,0.00,0.000,3078,0.156,0.028,2328,2796,3481,3548,3415,0,0,0,0,0,0,26.63,26.76,26.71
$GC,1032,-0.95,-155.7,2328,2796,3549,3415,170.4,-15.7,110,1046,0.00,2.00,0.00,0.000,516,0.000,0.024,2328,1418,3481,3548,3415,0,0,0,0,0,0,27.01,26.85,27.07
$GC,1060,-0.95,-155.7,2329,1420,3549,3423,173.9,-15.8,112,1071,0.00,2.05,0.00,0.000,1030,0.000,0.028,2321,2807,3481,3548,3415,0,0,0,0,0,0,26.89,26.84,26.91
$GC,1365,-0.95,-155.7,2322,2809,3549,3416,222.6,-15.4,143,1372,0.00,2.00,0.00,0.000,516,0.000,0.024,2323,1425,3481,3548,3415,0,0,0,0,0,0,27.07,26.91,27.13
$GC,1406,-0.95,-155.7,2322,1424,3548,3415,228.3,-15.4,146,1416,0.00,2.03,0.00,0.000,1030,0.000,0.028,2319,2804,3481,3548,3415,0,0,0,0,0,0,26.96,26.91,26.98
$GC,1722,-0.95,-155.7,2318,2805,3547,3416,276.3,-14.6,166,1729,0.00,2.00,0.00,0.000,516,0.000,0.024,2319,1417,3481,3547,3415,0,0,0,0,0,0,27.13,26.97,27.18
$GC,1758,-0.95,-155.7,2319,1418,3547,3416,280.3,-14.6,167,1766,0.10,2.03,0.00,0.000,3078,0.181,0.028,2332,2802,3481,3547,3415,0,0,0,0,0,0,26.84,26.96,26.98
$GC,2075,-0.95,-155.7,2332,2804,3547,3416,325.0,-13.8,178,2082,0.00,2.00,0.00,0.000,516,0.000,0.024,2332,1424,3480,3545,3415,0,0,0,0,0,0,27.17,27.01,27.23
$GC,2116,-0.95,-155.7,2332,1424,3545,3416,329.5,-13.8,179,2123,0.00,2.03,0.00,0.000,1030,0.000,0.029,2326,2800,3480,3545,3415,0,0,0,0,0,0,27.05,27.00,27.07
$GC,2438,-0.95,-155.7,2327,2799,3545,3414,377.1,-14.3,190,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2799,3477,3544,3411,0,0,0,0,0,0,27.20,27.27,27.26
$GC,2738,-0.95,-155.7,2326,2801,3543,3416,419.4,-14.0,200,2745,0.00,1.98,0.00,0.000,516,0.000,0.024,2326,1428,3478,3542,3415,0,0,0,0,0,0,27.22,27.07,27.29
$GC,2789,-0.95,-155.7,2326,1428,3543,3414,423.1,-14.1,201,2799,0.00,2.03,0.00,0.000,1030,0.000,0.029,2320,2809,3478,3542,3415,0,0,0,0,0,0,27.12,27.06,27.13
$GC,3095,-0.95,-155.7,2320,2811,3541,3416,466.8,-13.1,212,3103,0.00,2.00,0.00,0.000,516,0.000,0.024,2319,1418,3478,3541,3415,0,0,0,0,0,0,27.24,27.09,27.32
$GC,3131,-0.95,-155.7,2320,1418,3541,3414,471.0,-13.1,213,3139,0.00,2.03,0.00,0.000,1030,0.000,0.030,2319,2796,3477,3541,3414,0,0,0,0,0,0,27.13,27.08,27.15
$GC,3453,-0.95,-155.7,2319,2796,3540,3414,514.6,-13.6,224,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2797,3476,3538,3415,0,0,0,0,0,0,27.27,27.34,27.33
$GC,3753,-0.95,-155.7,2319,2797,3539,3414,555.8,-13.8,234,3761,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1422,3476,3537,3415,0,0,0,0,0,0,27.28,27.13,27.34
$GC,3789,-0.95,-155.7,2319,1422,3539,3414,559.2,-13.6,235,3797,0.00,2.03,0.00,0.000,1030,0.000,0.030,2318,2801,3476,3537,3415,0,0,0,0,0,0,27.17,27.11,27.19
$GC,4106,-0.95,-155.7,2319,2802,3537,3416,603.1,-13.3,246,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2801,3475,3536,3414,0,0,0,0,0,0,27.29,27.37,27.36
$GC,4406,-0.95,-155.7,2320,2802,3535,3416,642.2,-13.3,256,4413,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1427,3474,3535,3414,0,0,0,0,0,0,27.31,27.15,27.37
$GC,4637,-0.95,-155.7,2320,1429,3534,3416,671.9,-14.1,263,4648,0.00,2.03,0.00,0.000,1030,0.000,0.030,2319,2815,3474,3534,3414,0,0,0,0,0,0,27.20,27.15,27.22
$GC,4943,-0.95,-155.7,2319,2822,3533,3415,716.1,-13.4,274,4954,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1428,3473,3532,3414,0,0,0,0,0,0,27.32,27.17,27.39
$GC,5157,-0.95,-155.7,2319,1429,3532,3416,743.8,-12.8,281,5167,0.00,2.03,0.00,0.000,1030,0.000,0.031,2319,2805,3473,3532,3415,0,0,0,0,0,0,27.22,27.16,27.23
$GC,5486,-0.95,-155.7,2319,2807,3532,3416,789.0,-13.6,292,5494,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1429,3474,3534,3415,0,0,0,0,0,0,27.34,27.18,27.40
$GC,5548,-0.95,-155.7,2319,1429,3531,3414,797.5,-13.7,294,5556,0.00,2.03,0.00,0.000,1030,0.000,0.031,2319,2801,3472,3529,3415,0,0,0,0,0,0,27.22,27.17,27.24
$GC,5880,-0.95,-155.7,2318,2801,3531,3414,843.2,-13.8,305,5889,0.00,1.55,0.00,0.000,260,0.000,0.047,2319,3853,3472,3530,3415,0,0,0,0,0,0,27.34,27.15,27.41
$GC,6113,-0.95,-155.7,2319,3854,3533,3416,874.1,-14.7,312,6120,0.00,1.48,0.00,0.000,1030,0.000,0.027,2319,2816,3472,3529,3415,0,0,0,0,0,0,27.27,27.22,27.28
$GC,6424,-0.95,-155.7,2319,2815,3530,3414,921.6,-13.8,323,6431,0.00,2.00,0.00,0.000,516,0.000,0.024,2319,1406,3472,3529,3415,0,0,0,0,0,0,27.35,27.20,27.41
$GC,6561,-0.95,-155.7,2320,1405,3530,3414,937.3,-13.4,327,6570,0.00,2.05,0.00,0.000,1030,0.000,0.032,2319,2798,3471,3528,3414,0,0,0,0,0,0,27.24,27.18,27.26
$GC,6865,-0.95,-155.7,2319,2798,3528,3414,978.7,-12.0,337,6875,0.00,2.00,0.00,0.000,516,0.000,0.024,2319,1397,3470,3527,3414,0,0,0,0,0,0,27.36,27.20,27.42
$STATE,6988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6988,begin apogee
$GC,6993,-0.25,0.0,2320,2609,3528,3416,992.6,-11.3,341,7145,0.73,0.00,139.40,1.534,10246,0.123,0.000,2557,2608,2838,2880,2797,0,0,0,0,1,0,27.08,24.54,23.64
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7147,0.95,155.7,2557,2609,2895,2799,999.2,0.0,346,7297,1.10,2.25,137.95,1.074,11012,0.068,0.026,2944,1212,2195,2230,2161,0,0,0,0,0,0,24.83,24.68,24.06
$GC,7496,0.95,173.0,2945,1212,2215,2145,984.7,9.3,358,7523,0.00,2.12,13.95,0.996,9222,0.000,0.027,2945,2604,2127,2164,2090,0,0,0,0,0,0,25.97,25.92,24.94
$GC,7827,0.95,173.0,2945,2605,2155,2077,951.8,10.1,369,7835,0.00,1.92,0.00,0.000,260,0.000,0.042,2945,3846,2115,2154,2076,0,0,0,0,0,0,26.42,26.25,26.48
$GC,7889,0.95,173.0,2945,3846,2155,2075,944.9,10.4,371,7897,0.00,1.80,0.00,0.000,1030,0.000,0.024,2945,2591,2114,2153,2075,0,0,0,0,0,0,26.39,26.36,26.41
$GC,8221,0.95,190.6,2945,2590,2154,2074,913.8,9.2,382,8248,0.00,2.00,15.18,1.011,8452,0.000,0.042,2945,3841,2051,2089,2014,0,0,0,0,0,0,26.71,26.16,25.52
$GC,8297,0.95,201.8,2945,3842,2087,2008,907.6,9.5,384,8309,0.00,1.80,3.55,0.698,9222,0.000,0.024,2945,2598,2015,2054,1977,0,0,0,0,0,0,26.37,26.34,25.34
$GC,8613,0.95,225.3,2945,2597,2077,1983,876.6,9.0,395,8651,0.00,1.98,28.85,1.001,8452,0.000,0.040,2945,3848,1913,1952,1874,0,0,0,0,0,0,26.69,25.79,25.25
$GC,8794,0.95,225.3,2945,3849,1943,1859,857.5,11.3,401,8804,0.00,1.80,0.00,0.000,1030,0.000,0.024,2945,2596,1897,1938,1857,0,0,0,0,0,0,26.31,26.27,26.32
$GC,9123,0.95,225.3,2945,2596,1939,1857,824.4,10.1,412,9131,0.00,1.95,0.00,0.000,260,0.000,0.042,2945,3851,1896,1937,1856,0,0,0,0,0,0,26.68,26.51,26.76
$GC,9230,0.95,225.3,2945,3851,1938,1855,814.5,10.6,415,9239,0.00,1.77,0.00,0.000,1030,0.000,0.024,2945,2598,1896,1937,1856,0,0,0,0,0,0,26.67,26.67,26.67
$GC,9548,0.95,225.3,2945,2596,1937,1855,780.8,10.1,426,9556,0.00,1.92,0.00,0.000,260,0.000,0.042,2945,3845,1896,1937,1856,0,0,0,0,0,0,26.88,26.70,26.95
$GC,9615,0.95,225.3,2945,3846,1936,1857,774.0,10.6,428,9622,0.00,1.75,0.00,0.000,1030,0.000,0.024,2945,2610,1894,1934,1855,0,0,0,0,0,0,26.82,26.78,26.83
$GC,9941,0.95,225.3,2945,2604,1937,1857,739.9,10.3,439,9948,0.00,1.90,0.00,0.000,260,0.000,0.041,2945,3843,1895,1935,1855,0,0,0,0,0,0,26.98,26.80,27.05
$GC,10107,0.95,225.3,2945,3844,1936,1856,722.3,11.6,444,10117,0.00,1.77,0.00,0.000,1030,0.000,0.024,2945,2587,1894,1935,1854,0,0,0,0,0,0,26.93,26.90,26.94
$GC,10426,0.95,225.3,2945,2575,1937,1856,686.7,10.5,455,10433,0.00,1.95,0.00,0.000,260,0.000,0.042,2945,3846,1895,1935,1855,0,0,0,0,0,0,27.07,26.89,27.14
$GC,10657,0.95,225.3,2945,3845,1936,1854,661.1,12.5,462,10664,0.00,1.75,0.00,0.000,1030,0.000,0.024,2946,2598,1894,1934,1855,0,0,0,0,0,0,27.02,26.98,27.03
$GC,10969,0.95,231.7,2946,2589,1936,1854,626.2,9.7,473,10976,0.00,1.90,0.00,0.000,260,0.000,0.041,2946,3845,1894,1935,1854,0,0,0,0,0,0,27.13,26.96,27.20
$GC,11050,0.95,231.7,2946,3844,1935,1854,618.8,10.4,475,11057,0.00,1.75,0.00,0.000,1030,0.000,0.024,2946,2600,1894,1934,1854,0,0,0,0,0,0,27.05,27.03,27.07
$GC,11361,0.96,260.5,2946,2588,1936,1854,587.5,8.8,486,11402,0.00,1.95,30.23,0.835,8452,0.000,0.039,2946,3852,1764,1804,1725,0,0,0,0,0,0,27.17,26.25,25.86
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$STATE,17109,end climb,SURFACE_DEPTH_REACHED
$STATE,17110,begin surface coast
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$STATE,17134,end surface coast,CONTROL_FINISHED_OK
$STATE,17134,begin surface
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$IRIDIUM_FIX,5837.82,-14703.83,080508,183043
$TT8_MAMPS,0.166278,0.166278
$HUMID,38.77
$INTERNAL_PRESSURE,8.8022
$TCM_TEMP,18.00
$XPDR_PINGS,1
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17162.34 8135.93
$PA_BOOTCOUNT,320
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$PA_DISK_BANK,1
$24V_AH,23.64,3.147
$10V_AH,10.01,10.750
$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,23.970,0.000,0.000,0.000,0.000,0.000,137.817,0.000,0.000,0.000
$MEM,187172
$DATA_FILE_SIZE,39973,894
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$CFSIZE,1024393216,994672640
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