version: 66.12
glider: 203
mission: 8
dive: 41
start: 7 17 115 19 49 37
data:
$ID,203
$MISSION,8
$DIVE,41
$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,84
$R_STBD_OVSHOOT,50
$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
$GPS1,170715,194424,5821.4424,-14705.0742,38,0.7,40,18.0,0.2,29.0,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.1
$GPS2,170715,194926,5821.4712,-14705.0117,5,0.7,11,18.0,0.0,31.7,10,9.1
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,252.9,58740,-18.0,-11.000,-19.55,2718
$D_GRID,1000
$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,-194.6,182,2713,862,739,0.0,0.0,0,145,0.00,0.00,-45.78,0.000,16386,0.000,0.000,180,2713,2007,2047,1967,0,0,0,0,0,0,26.77,28.83,26.84
$GC,147,-0.92,-194.6,181,2713,2047,1969,3.3,-4.1,7,202,8.35,2.12,-38.97,0.000,18948,0.240,0.040,2336,1310,3631,3695,3567,0,0,0,0,0,0,26.38,25.75,26.58
$GC,255,-0.83,-194.6,2336,1309,3701,3572,24.8,-24.3,23,274,0.15,2.05,0.00,0.000,3078,0.162,0.026,2367,2701,3636,3700,3572,0,0,0,0,0,0,26.52,26.65,26.65
$GC,578,-0.81,-194.6,2368,2704,3701,3577,88.6,-17.0,64,592,0.00,2.03,0.00,0.000,516,0.000,0.023,2368,1307,3638,3700,3576,0,0,0,0,0,0,26.94,26.77,26.99
$GC,671,-0.81,-194.6,2368,1306,3701,3576,103.9,-16.3,73,685,0.00,2.03,0.00,0.000,1030,0.000,0.025,2362,2702,3638,3700,3577,0,0,0,0,0,0,26.83,26.79,26.85
$GC,981,-0.81,-194.6,2362,2702,3701,3579,153.2,-14.8,104,988,0.00,1.67,0.00,0.000,260,0.000,0.039,2354,3845,3639,3700,3578,0,0,0,0,0,0,27.03,26.85,27.09
$GC,1062,-0.81,-194.6,2355,3846,3701,3579,165.4,-15.0,112,1070,0.08,1.60,0.00,0.000,3078,0.179,0.022,2370,2674,3639,3700,3578,0,0,0,0,0,0,26.78,26.94,26.89
$GC,1374,-0.84,-194.6,2370,2675,3701,3580,208.0,-13.3,143,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2674,3639,3700,3578,0,0,0,0,0,0,27.10,27.17,27.16
$GC,1676,-0.88,-194.6,2370,2673,3702,3578,248.6,-14.2,173,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2674,3639,3700,3578,0,0,0,0,0,0,27.14,27.21,27.20
$GC,1995,-0.91,-194.6,2370,2672,3700,3580,291.8,-13.2,185,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2674,3638,3698,3578,0,0,0,0,0,0,27.17,27.24,27.24
$GC,2295,-0.95,-194.6,2370,2675,3699,3579,331.5,-13.4,195,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2674,3638,3698,3578,0,0,0,0,0,0,27.20,27.27,27.26
$GC,2595,-0.99,-194.6,2370,2675,3698,3579,372.8,-13.9,205,2601,0.10,0.00,0.00,0.000,4102,0.099,0.000,2311,2676,3637,3696,3578,0,0,0,0,0,0,27.08,27.14,27.12
$GC,2895,-0.96,-194.6,2311,2675,3695,3579,425.1,-17.8,215,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2674,3636,3695,3578,0,0,0,0,0,0,27.24,27.32,27.30
$GC,3195,-0.95,-194.6,2311,2675,3694,3579,474.7,-16.2,225,3203,0.10,1.75,0.00,0.000,2308,0.171,0.038,2328,3850,3635,3693,3578,0,0,0,0,0,0,27.00,27.08,27.10
$GC,3252,-0.95,-194.6,2328,3851,3693,3579,483.4,-15.8,227,3260,0.00,1.60,0.00,0.000,1030,0.000,0.024,2328,2706,3635,3693,3578,0,0,0,0,0,0,27.15,27.15,27.18
$GC,3584,-0.95,-194.6,2328,2707,3693,3579,532.2,-14.4,238,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2706,3635,3692,3578,0,0,0,0,0,0,27.27,27.34,27.33
$GC,3884,-0.95,-194.6,2329,2708,3692,3579,573.5,-13.5,248,3892,0.00,1.67,0.00,0.000,260,0.000,0.041,2322,3843,3633,3689,3578,0,0,0,0,0,0,27.28,27.10,27.34
$GC,3926,-0.95,-194.6,2322,3845,3691,3579,578.0,-13.4,249,3933,0.00,1.58,0.00,0.000,1030,0.000,0.024,2322,2689,3634,3690,3578,0,0,0,0,0,0,27.20,27.17,27.21
$GC,4247,-0.95,-194.6,2322,2691,3690,3579,622.8,-13.4,260,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2689,3633,3689,3578,0,0,0,0,0,0,27.29,27.36,27.35
$GC,4547,-0.95,-194.6,2322,2690,3690,3579,663.6,-13.7,270,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2689,3633,3689,3578,0,0,0,0,0,0,27.30,27.38,27.36
$GC,4847,-0.95,-194.6,2322,2688,3688,3578,704.5,-13.5,280,4854,0.00,1.73,0.00,0.000,260,0.000,0.042,2319,3848,3632,3687,3578,0,0,0,0,0,0,27.31,27.12,27.37
$GC,4880,-0.95,-194.6,2319,3844,3687,3578,709.0,-13.7,281,4888,0.00,1.58,0.00,0.000,1030,0.000,0.024,2319,2694,3632,3687,3577,0,0,0,0,0,0,27.22,27.20,27.24
$GC,5212,-0.95,-194.6,2320,2694,3687,3578,754.4,-13.8,292,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3633,3688,3578,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5512,-0.95,-194.6,2319,2695,3687,3579,794.4,-13.2,302,5520,0.00,1.73,0.00,0.000,260,0.000,0.043,2319,3849,3632,3686,3578,0,0,0,0,0,0,27.32,27.13,27.39
$GC,5549,-0.95,-194.6,2319,3850,3686,3579,798.5,-13.1,303,5556,0.00,1.58,0.00,0.000,1030,0.000,0.024,2323,2697,3631,3686,3577,0,0,0,0,0,0,27.24,27.21,27.25
$GC,5875,-0.95,-194.6,2320,2698,3687,3579,840.2,-12.3,314,5883,0.00,1.98,0.00,0.000,516,0.000,0.024,2319,1316,3631,3685,3578,0,0,0,0,0,0,27.32,27.17,27.39
$GC,5902,-0.95,-194.6,2314,1317,3686,3579,840.2,-12.3,314,5912,0.00,2.03,0.00,0.000,1030,0.000,0.028,2319,2707,3631,3685,3578,0,0,0,0,0,0,27.22,27.17,27.23
$GC,6207,-0.95,-194.6,2315,2707,3685,3577,882.5,-12.6,325,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2707,3631,3684,3578,0,0,0,0,0,0,27.33,27.41,27.39
$GC,6507,-0.95,-194.6,2319,2706,3684,3578,920.3,-12.3,335,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2707,3630,3683,3578,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6807,-0.95,-194.6,2320,2707,3682,3577,957.4,-12.8,345,6815,0.00,1.67,0.00,0.000,260,0.000,0.042,2319,3849,3629,3681,3578,0,0,0,0,0,0,27.34,27.16,27.41
$GC,6854,-0.95,-194.6,2319,3850,3682,3577,961.4,-12.8,346,6861,0.00,1.58,0.00,0.000,1030,0.000,0.024,2319,2699,3629,3681,3578,0,0,0,0,0,0,27.25,27.22,27.27
$STATE,7078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7078,begin apogee
$GC,7082,-0.25,0.0,2319,2817,3683,3578,992.8,-12.9,354,7250,0.73,0.00,158.43,1.103,10246,0.124,0.000,2556,2817,2838,2880,2796,0,0,0,0,0,0,27.06,24.93,24.29
$STATE,7250,end apogee,CONTROL_FINISHED_OK
$STATE,7250,begin climb
$GC,7252,0.92,194.6,2556,2816,2873,2787,1001.3,0.0,359,7424,1.05,2.22,159.88,1.095,11012,0.066,0.022,2931,1418,2038,2079,1997,0,0,0,0,0,0,25.13,24.46,23.99
$GC,7513,0.87,317.2,2932,1419,2069,1987,999.3,6.4,368,7629,0.00,2.12,105.05,1.077,9222,0.000,0.028,2931,2786,1539,1587,1491,0,0,0,0,0,0,25.57,25.52,23.93
$GC,7948,0.85,317.2,2932,2788,1574,1472,943.3,13.4,383,7956,0.00,1.65,0.00,0.000,260,0.000,0.041,2931,3853,1521,1572,1471,0,0,0,0,0,0,26.15,25.98,26.22
$GC,8010,0.83,317.2,2932,3853,1572,1470,934.3,14.1,385,8017,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2787,1520,1571,1470,0,0,0,0,0,0,26.16,26.13,26.17
$GC,8341,0.81,317.2,2932,2789,1571,1471,888.0,14.0,396,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2787,1520,1571,1469,0,0,0,0,0,0,26.57,26.64,26.63
$GC,8641,0.79,317.2,2931,2787,1571,1469,847.1,13.3,406,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2788,1519,1570,1468,0,0,0,0,0,0,26.74,26.82,26.81
$GC,8941,0.79,317.2,2932,2788,1571,1470,810.9,11.5,416,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2788,1518,1570,1467,0,0,0,0,0,0,26.84,26.93,26.92
$GC,9241,0.79,317.2,2932,2787,1571,1468,773.8,12.7,426,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2787,1518,1569,1468,0,0,0,0,0,0,26.94,27.01,27.01
$GC,9541,0.79,317.2,2932,2788,1570,1468,736.5,12.3,436,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2787,1519,1570,1468,0,0,0,0,0,0,27.01,27.08,27.07
$GC,9841,0.79,326.7,2932,2787,1569,1468,703.6,10.6,446,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2788,1516,1568,1465,0,0,0,0,0,0,27.05,27.13,27.12
$GC,10141,0.79,326.7,2931,2787,1570,1468,669.9,11.5,456,10148,0.00,1.60,0.00,0.000,260,0.000,0.041,2932,3856,1518,1568,1468,0,0,0,0,0,0,27.09,26.92,27.15
$GC,10197,0.77,326.7,2932,3858,1569,1468,666.0,11.6,457,10209,0.10,1.50,0.00,0.000,5126,0.193,0.024,2910,2758,1517,1568,1467,0,0,0,0,0,0,26.82,26.98,26.94
$GC,10503,0.77,330.0,2910,2758,1569,1466,630.9,10.9,468,10511,0.00,0.00,2.55,0.476,8198,0.000,0.000,2910,2758,1492,1542,1443,0,0,0,0,0,0,27.13,26.81,25.96
$GC,10803,0.79,330.0,2910,2757,1564,1456,595.2,12.0,478,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2758,1509,1562,1456,0,0,0,0,0,0,27.14,27.21,27.20
$GC,11103,0.81,330.0,2910,2758,1563,1456,559.4,12.1,488,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2758,1509,1562,1456,0,0,0,0,0,0,27.16,27.24,27.23
$GC,11403,0.83,330.0,2910,2758,1564,1455,524.1,11.8,498,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2758,1509,1562,1456,0,0,0,0,0,0,27.19,27.26,27.25
$GC,11703,0.85,330.0,2910,2757,1563,1456,488.0,12.1,508,11710,0.00,1.62,0.00,0.000,260,0.000,0.041,2910,3853,1509,1562,1456,0,0,0,0,0,0,27.21,27.03,27.27
$GC,11769,0.85,330.0,2910,3852,1563,1456,480.0,12.4,510,11778,0.00,1.48,0.00,0.000,1030,0.000,0.024,2916,2803,1509,1562,1456,0,0,0,0,0,0,27.13,27.10,27.15
$GC,12097,0.87,330.0,2916,2803,1563,1456,441.8,11.0,521,12105,0.00,1.58,0.00,0.000,260,0.000,0.042,2916,3861,1506,1557,1456,0,0,0,0,0,0,27.22,27.05,27.29
$GC,12134,0.87,330.0,2916,3861,1564,1456,438.1,11.1,522,12141,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2759,1508,1562,1455,0,0,0,0,0,0,27.14,27.11,27.15
$GC,12460,0.89,357.1,2919,2758,1561,1457,402.9,10.0,533,12499,0.00,0.00,33.38,0.738,8198,0.000,0.000,2918,2757,1382,1433,1332,0,0,0,0,0,0,27.24,26.47,26.00
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$STATE,15775,end climb,SURFACE_DEPTH_REACHED
$STATE,15775,begin surface coast
$FINISH,0.6,1.023834
$STATE,15790,end surface coast,CONTROL_FINISHED_OK
$STATE,15790,begin surface
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$IRIDIUM_FIX,5756.79,-14707.51,130508,091218
$TT8_MAMPS,0.16478,0.16478
$HUMID,38.89
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.50
$XPDR_PINGS,0
$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,15819.26 7371.57
$PA_BOOTCOUNT,344
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$PA_HOME,0.01/0.190/27.046/25.482
$PA_DISK_BANK,1
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$10V_AH,9.95,26.467
$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,23.970,0.000,0.000,0.000,0.000,0.000,138.673,0.000,0.000,0.000
$MEM,187152
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$CAP_FILE_SIZE,128862,0
$CFSIZE,1024393216,992460800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,180715,001458,5820.854,-14711.238,40,0.7,40,18.0,1.1,170.6,11,9.2