version: 66.12
glider: 203
mission: 8
dive: 29
start: 7 15 115 12 50 43
data:
$ID,203
$MISSION,8
$DIVE,29
$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,300
$T_MISSION,330
$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,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,100
$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,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
$GPS1,150715,124534,5839.3413,-14651.2676,33,0.8,33,18.1,0.5,320.8,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.0
$GPS2,150715,125032,5839.3574,-14651.3555,6,0.8,9,18.1,0.0,0.0,10,9.4
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,122.6,33146,-18.0,-11.000,-19.55,2718
$D_GRID,2466
$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,-0.92,-194.6,195,2802,823,689,0.0,0.0,0,167,0.00,0.00,-63.33,0.000,16386,0.000,0.000,194,2802,2453,2487,2419,0,0,0,0,0,0,26.70,28.83,26.77
$GC,169,-0.92,-194.6,195,2802,2488,2419,3.0,-3.1,9,218,8.40,1.62,-20.67,0.000,18692,0.241,0.062,2332,3847,3636,3701,3572,0,0,0,0,0,0,26.33,25.71,26.53
$GC,314,-0.85,-194.6,2331,3848,3702,3575,44.1,-22.2,31,324,0.12,1.60,0.00,0.000,3078,0.168,0.022,2361,2682,3637,3701,3574,0,0,0,0,0,0,26.50,26.67,26.63
$GC,623,-0.85,-194.6,2361,2681,3702,3576,101.0,-15.5,64,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2681,3639,3701,3577,0,0,0,0,0,0,26.91,26.98,26.97
$GC,926,-0.85,-194.6,2361,2681,3703,3578,147.3,-15.2,94,933,0.00,1.75,0.00,0.000,260,0.000,0.040,2355,3849,3639,3701,3578,0,0,0,0,0,0,27.00,26.82,27.06
$GC,982,-0.85,-194.6,2355,3849,3702,3578,155.4,-15.4,99,994,0.00,1.58,0.00,0.000,1030,0.000,0.024,2355,2715,3639,3701,3578,0,0,0,0,0,0,26.92,26.89,26.94
$GC,1289,-0.87,-194.6,2356,2715,3702,3578,201.6,-14.3,130,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2715,3639,3701,3577,0,0,0,0,0,0,27.06,27.14,27.13
$GC,1589,-0.88,-194.6,2355,2715,3703,3578,243.8,-14.0,160,1597,0.00,2.03,0.00,0.000,516,0.000,0.024,2356,1319,3639,3701,3578,0,0,0,0,0,0,27.11,26.96,27.17
$GC,1622,-0.90,-194.6,2356,1317,3702,3579,248.5,-13.9,163,1629,0.00,2.05,0.00,0.000,1030,0.000,0.028,2349,2707,3639,3701,3577,0,0,0,0,0,0,27.01,26.96,27.02
$GC,1937,-0.90,-194.6,2349,2707,3702,3578,292.4,-13.9,174,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2706,3639,3700,3578,0,0,0,0,0,0,27.15,27.23,27.22
$GC,2237,-0.92,-194.6,2349,2708,3699,3579,333.3,-13.6,184,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2707,3638,3698,3578,0,0,0,0,0,0,27.18,27.24,27.24
$GC,2537,-0.93,-194.6,2349,2708,3698,3579,374.4,-13.6,194,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2707,3637,3696,3578,0,0,0,0,0,0,27.20,27.29,27.27
$GC,2837,-0.95,-194.6,2349,2708,3697,3579,414.0,-13.0,204,2844,0.00,2.03,0.00,0.000,516,0.000,0.024,2349,1310,3637,3696,3578,0,0,0,0,0,0,27.23,27.08,27.29
$GC,2869,-0.97,-194.6,2349,1310,3697,3577,417.6,-13.1,205,2876,0.00,2.05,0.00,0.000,1030,0.000,0.028,2347,2701,3637,3696,3578,0,0,0,0,0,0,27.12,27.07,27.14
$GC,3191,-0.99,-194.6,2348,2700,3695,3577,460.4,-13.2,216,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2699,3636,3694,3578,0,0,0,0,0,0,27.24,27.32,27.32
$GC,3491,-1.02,-194.6,2348,2702,3695,3579,499.1,-12.7,226,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2701,3635,3693,3578,0,0,0,0,0,0,27.27,27.34,27.33
$GC,3791,-1.04,-194.6,2348,2698,3694,3579,537.9,-12.9,236,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2701,3635,3692,3578,0,0,0,0,0,0,27.28,27.35,27.34
$GC,4091,-1.07,-194.6,2347,2701,3692,3577,576.0,-12.6,246,4097,0.10,0.00,0.00,0.000,4102,0.109,0.000,2292,2701,3634,3690,3578,0,0,0,0,0,0,27.13,27.20,27.18
$GC,4391,-1.04,-194.6,2291,2701,3690,3574,623.9,-16.2,256,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2701,3633,3689,3578,0,0,0,0,0,0,27.30,27.36,27.36
$GC,4691,-1.02,-194.6,2292,2700,3690,3579,671.2,-15.7,266,4697,0.08,0.00,0.00,0.000,2054,0.201,0.000,2305,2701,3633,3689,3578,0,0,0,0,0,0,27.08,27.20,27.17
$GC,4991,-1.02,-194.6,2306,2701,3689,3578,716.1,-15.1,276,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2701,3632,3687,3578,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5290,-1.02,-194.6,2306,2701,3688,3578,759.7,-14.4,286,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2701,3632,3686,3578,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5591,-1.02,-194.6,2305,2702,3687,3579,803.0,-14.1,296,5598,0.00,1.70,0.00,0.000,260,0.000,0.043,2305,3855,3632,3687,3578,0,0,0,0,0,0,27.33,27.15,27.39
$GC,5622,-1.02,-194.6,2305,3856,3687,3580,807.3,-14.0,297,5631,0.00,1.60,0.00,0.000,1030,0.000,0.024,2301,2681,3632,3686,3578,0,0,0,0,0,0,27.24,27.22,27.27
$GC,5955,-1.02,-194.6,2305,2681,3687,3578,853.1,-13.6,308,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2681,3632,3686,3578,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6255,-1.02,-194.6,2305,2680,3686,3578,893.8,-13.5,318,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2681,3631,3685,3578,0,0,0,0,0,0,27.34,27.41,27.41
$GC,6555,-1.02,-194.6,2305,2681,3685,3578,933.7,-13.0,328,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2680,3631,3684,3578,0,0,0,0,0,0,27.34,27.42,27.41
$GC,6855,-1.02,-194.6,2305,2681,3684,3578,973.2,-13.3,338,6863,0.00,1.92,0.00,0.000,516,0.000,0.025,2305,1332,3630,3683,3578,0,0,0,0,0,0,27.35,27.20,27.41
$GC,6882,-1.02,-194.6,2305,1332,3684,3578,976.9,-13.4,339,6889,0.00,2.00,0.00,0.000,1030,0.000,0.029,2305,2702,3630,3683,3578,0,0,0,0,0,0,27.24,27.19,27.25
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7001,-0.25,0.0,2306,2816,3683,3579,992.1,-13.1,343,7184,0.77,0.00,171.25,1.528,10246,0.129,0.000,2558,2815,2840,2881,2799,0,0,0,0,1,0,27.07,24.16,23.65
$STATE,7185,end apogee,CONTROL_FINISHED_OK
$STATE,7185,begin climb
$GC,7186,0.92,194.6,2559,2816,2895,2800,1001.6,0.0,349,7368,1.08,1.70,168.52,1.084,11012,0.059,0.041,2940,3826,2035,2076,1995,0,0,0,0,0,0,24.80,24.58,23.92
$GC,7372,0.84,483.1,2940,3825,2071,1989,1004.2,0.1,355,7648,0.00,1.52,263.90,1.036,9222,0.000,0.025,2945,2821,864,933,796,0,0,0,0,0,0,24.91,24.88,23.65
$GC,7963,0.83,483.1,2945,2821,908,764,904.5,18.1,375,7971,0.00,1.60,0.00,0.000,260,0.000,0.041,2945,3837,834,907,762,0,0,0,0,0,0,25.94,25.76,26.00
$GC,8160,0.81,483.1,2945,3836,907,760,870.6,18.7,381,8168,0.10,1.50,0.00,0.000,5126,0.197,0.024,2925,2765,837,913,761,0,0,0,0,0,0,25.96,26.13,26.10
$GC,8477,0.81,483.1,2924,2765,906,762,818.8,15.2,392,8484,0.00,1.98,0.00,0.000,516,0.000,0.028,2932,1440,833,906,760,0,0,0,0,0,0,26.52,26.39,26.60
$GC,8548,0.81,483.1,2932,1439,905,760,810.4,15.0,394,8556,0.00,2.03,0.00,0.000,1030,0.000,0.028,2932,2786,832,904,761,0,0,0,0,0,0,26.47,26.43,26.49
$GC,8860,0.81,483.1,2932,2786,905,760,758.2,16.1,405,8867,0.00,2.00,0.00,0.000,516,0.000,0.028,2932,1445,832,904,760,0,0,0,0,0,0,26.74,26.59,26.81
$GC,8896,0.81,483.1,2932,1445,904,762,754.1,16.1,406,8904,0.00,2.05,0.00,0.000,1030,0.000,0.028,2932,2802,832,904,760,0,0,0,0,0,0,26.65,26.60,26.67
$GC,9218,0.81,483.1,2932,2803,905,761,702.3,15.5,417,9225,0.00,2.03,0.00,0.000,516,0.000,0.028,2932,1444,831,903,760,0,0,0,0,0,0,26.87,26.70,26.94
$GC,9249,0.81,483.1,2932,1443,904,760,697.8,15.3,418,9258,0.00,2.03,0.00,0.000,1030,0.000,0.029,2931,2804,831,903,760,0,0,0,0,0,0,26.77,26.72,26.79
$GC,9584,0.81,483.1,2932,2798,903,760,649.0,14.4,429,9592,0.00,2.00,0.00,0.000,516,0.000,0.028,2932,1443,831,903,760,0,0,0,0,0,0,26.96,26.81,27.03
$GC,9631,0.81,483.1,2931,1443,905,760,643.7,14.7,430,9639,0.00,2.03,0.00,0.000,1030,0.000,0.028,2932,2808,831,903,760,0,0,0,0,0,0,26.86,26.81,26.88
$GC,9943,0.81,483.1,2932,2807,898,760,597.0,14.2,441,9951,0.00,2.03,0.00,0.000,516,0.000,0.028,2932,1438,831,903,760,0,0,0,0,0,0,27.03,26.88,27.10
$GC,9975,0.81,483.1,2932,1438,904,757,592.6,14.1,442,9982,0.00,2.03,0.00,0.000,1030,0.000,0.029,2932,2800,831,902,760,0,0,0,0,0,0,26.92,26.87,26.95
$GC,10306,0.81,483.1,2932,2802,903,762,542.9,15.4,453,10318,0.00,1.98,0.00,0.000,516,0.000,0.028,2932,1439,831,902,760,0,0,0,0,0,0,27.07,26.93,27.15
$GC,10347,0.82,483.1,2932,1438,905,760,538.6,15.1,454,10354,0.00,2.03,0.00,0.000,1030,0.000,0.029,2932,2810,831,903,760,0,0,0,0,0,0,26.97,26.92,26.99
$GC,10664,0.84,483.1,2932,2810,903,760,489.6,15.4,465,10672,0.00,2.03,0.00,0.000,516,0.000,0.028,2932,1441,831,903,760,0,0,0,0,0,0,27.12,26.98,27.19
$GC,10711,0.86,483.1,2931,1442,904,759,484.9,15.3,466,10719,0.00,2.00,0.00,0.000,1030,0.000,0.028,2932,2800,830,902,759,0,0,0,0,0,0,27.01,26.96,27.03
$GC,11024,0.88,483.1,2932,2800,903,759,433.8,15.7,477,11034,0.00,1.98,0.00,0.000,516,0.000,0.028,2932,1441,831,903,760,0,0,0,0,0,0,27.15,27.00,27.21
$GC,11073,0.90,483.1,2932,1441,904,760,428.9,15.7,478,11080,0.00,2.00,0.00,0.000,1030,0.000,0.028,2932,2802,831,902,760,0,0,0,0,0,0,27.04,27.00,27.07
$GC,11379,0.92,483.1,2932,2803,904,761,378.3,15.8,488,11386,0.00,2.00,0.00,0.000,516,0.000,0.028,2932,1438,831,903,760,0,0,0,0,0,0,27.18,27.03,27.24
$GC,11440,0.95,483.1,2932,1439,903,761,369.5,15.8,490,11448,0.00,2.00,0.00,0.000,1030,0.000,0.028,2932,2800,831,903,760,0,0,0,0,0,0,27.07,27.02,27.09
$GC,11762,0.98,483.1,2931,2800,904,759,317.9,15.6,501,11770,0.00,1.98,0.00,0.000,516,0.000,0.027,2932,1441,831,903,760,0,0,0,0,0,0,27.20,27.05,27.27
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$STATE,13968,end climb,SURFACE_DEPTH_REACHED
$STATE,13968,begin surface coast
$FINISH,0.5,1.010671
$STATE,13984,end surface coast,CONTROL_FINISHED_OK
$STATE,13984,begin surface
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$IRIDIUM_FIX,5817.21,-14647.29,110508,021326
$TT8_MAMPS,0.165529,0.165529
$HUMID,39.21
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.70
$XPDR_PINGS,3
$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,14014.21 6716.56
$PA_BOOTCOUNT,332
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$10V_AH,10.03,18.059
$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
$SENSOR_SECS,505.942,0.000,0.000,0.000,0.000,0.000,14366.280,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.888,0.000,0.000,0.000
$MEM,187156
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