version: 66.12
glider: 203
mission: 8
dive: 46
start: 7 18 115 18 45 1
data:
$ID,203
$MISSION,8
$DIVE,46
$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,83
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,180715,183934,5820.4482,-14734.5039,39,0.8,40,17.9,0.7,67.1,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.1
$GPS2,180715,184450,5820.4683,-14734.3867,8,0.7,9,17.9,0.6,108.6,11,10.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,249.7,30137,-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,-194.6,192,2708,921,797,0.0,0.0,0,142,0.00,0.00,-43.20,0.000,16386,0.000,0.000,192,2709,1991,2026,1956,0,0,0,0,0,0,26.27,28.83,26.35
$GC,144,-0.92,-194.6,193,2710,2028,1957,3.0,-3.5,6,209,8.52,2.10,-43.40,0.000,18948,0.242,0.041,2332,1305,3636,3704,3568,0,0,0,0,0,0,26.08,25.40,26.21
$GC,267,-0.83,-194.6,2332,1305,3705,3571,24.7,-23.6,24,281,0.17,2.10,0.00,0.000,3078,0.155,0.027,2370,2701,3637,3703,3572,0,0,0,0,0,0,26.13,26.24,26.24
$GC,592,-0.81,-194.6,2371,2701,3705,3575,86.5,-17.5,67,599,0.00,1.75,0.00,0.000,260,0.000,0.039,2365,3854,3639,3704,3575,0,0,0,0,0,0,26.15,26.17,26.21
$GC,623,-0.79,-194.6,2366,3856,3705,3577,92.3,-18.0,70,632,0.08,1.65,0.00,0.000,3078,0.181,0.021,2378,2677,3639,3703,3575,0,0,0,0,0,0,26.08,26.17,26.18
$GC,937,-0.81,-194.6,2378,2678,3705,3578,138.6,-12.7,101,945,0.00,1.98,0.00,0.000,516,0.000,0.023,2377,1340,3639,3703,3576,0,0,0,0,0,0,26.13,26.17,26.20
$GC,959,-0.83,-194.6,2378,1341,3705,3578,141.4,-12.7,103,967,0.00,2.08,0.00,0.000,1030,0.000,0.028,2375,2709,3639,3703,3576,0,0,0,0,0,0,26.20,26.17,26.21
$GC,1271,-0.86,-194.6,2374,2709,3704,3578,178.8,-11.5,134,1279,0.00,1.75,0.00,0.000,260,0.000,0.041,2374,3855,3639,3703,3576,0,0,0,0,0,0,26.13,26.15,26.19
$GC,1324,-0.89,-194.6,2374,3854,3704,3576,184.9,-12.1,139,1333,0.00,1.67,0.00,0.000,1030,0.000,0.022,2374,2708,3639,3703,3576,0,0,0,0,0,0,26.19,26.15,26.20
$GC,1637,-0.92,-194.6,2374,2709,3704,3577,224.8,-13.2,170,1645,0.00,2.05,0.00,0.000,516,0.000,0.024,2374,1325,3639,3703,3576,0,0,0,0,0,0,26.15,26.15,26.17
$GC,1684,-0.96,-194.6,2374,1326,3705,3578,231.0,-13.1,174,1692,0.00,2.10,0.00,0.000,1030,0.000,0.028,2374,2709,3640,3705,3576,0,0,0,0,0,0,26.19,26.15,26.19
$GC,2010,-0.99,-194.6,2375,2710,3704,3578,275.6,-13.9,194,2016,0.10,0.00,0.00,0.000,4102,0.096,0.000,2310,2709,3639,3703,3576,0,0,0,0,0,0,26.13,26.19,26.18
$GC,2309,-0.97,-194.6,2310,2709,3703,3576,328.4,-17.4,204,2318,0.00,1.75,0.00,0.000,260,0.000,0.040,2305,3855,3639,3702,3576,0,0,0,0,0,0,26.12,26.14,26.17
$GC,2352,-0.94,-194.6,2306,3855,3703,3576,334.2,-17.4,205,2359,0.12,1.65,0.00,0.000,3078,0.158,0.022,2335,2689,3638,3701,3576,0,0,0,0,0,0,26.07,26.15,26.17
$GC,2673,-0.94,-194.6,2335,2688,3701,3576,383.0,-14.3,216,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2688,3638,3700,3576,0,0,0,0,0,0,26.12,26.18,26.17
$GC,2973,-0.94,-194.6,2335,2689,3699,3577,424.5,-13.5,226,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2689,3637,3698,3576,0,0,0,0,0,0,26.11,26.17,26.17
$GC,3273,-0.94,-194.6,2335,2688,3698,3576,463.9,-12.9,236,3281,0.00,1.80,0.00,0.000,260,0.000,0.041,2329,3850,3635,3695,3576,0,0,0,0,0,0,26.11,26.13,26.17
$GC,3305,-0.94,-194.6,2330,3850,3698,3571,468.4,-13.1,237,3312,0.00,1.62,0.00,0.000,1030,0.000,0.023,2330,2707,3636,3696,3576,0,0,0,0,0,0,26.19,26.15,26.19
$GC,3636,-0.94,-194.6,2330,2707,3696,3585,511.4,-12.7,248,3646,0.00,1.77,0.00,0.000,260,0.000,0.041,2322,3850,3635,3695,3576,0,0,0,0,0,0,26.10,26.13,26.17
$GC,3674,-0.94,-194.6,2322,3851,3695,3578,516.0,-12.9,249,3682,0.00,1.65,0.00,0.000,1030,0.000,0.023,2322,2696,3635,3694,3576,0,0,0,0,0,0,26.17,26.14,26.17
$GC,4001,-0.94,-194.6,2322,2695,3694,3576,562.5,-14.4,260,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2696,3634,3693,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4301,-0.94,-194.6,2322,2697,3692,3578,604.7,-13.8,270,4308,0.00,1.80,0.00,0.000,260,0.000,0.041,2322,3851,3634,3693,3576,0,0,0,0,0,0,26.10,26.13,26.16
$GC,4363,-0.94,-194.6,2319,3853,3692,3576,613.5,-14.2,272,4370,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2694,3634,3692,3576,0,0,0,0,0,0,26.18,26.15,26.18
$GC,4694,-0.94,-194.6,2319,2690,3692,3576,664.0,-15.2,283,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3634,3691,3577,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4994,-0.94,-194.6,2319,2691,3691,3577,708.1,-14.7,293,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3633,3690,3576,0,0,0,0,0,0,26.10,26.18,26.17
$GC,5294,-0.94,-194.6,2319,2690,3690,3576,751.4,-14.5,303,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3632,3689,3576,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5594,-0.94,-194.6,2320,2690,3689,3576,794.8,-14.5,313,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3632,3688,3576,0,0,0,0,0,0,26.10,26.17,26.17
$GC,5894,-0.94,-194.6,2319,2690,3688,3576,836.9,-13.5,323,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3631,3687,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6194,-0.94,-194.6,2319,2691,3688,3578,879.1,-13.9,333,6202,0.00,1.80,0.00,0.000,260,0.000,0.042,2319,3845,3631,3687,3576,0,0,0,0,0,0,26.10,26.11,26.16
$GC,6236,-0.94,-194.6,2319,3845,3688,3576,883.7,-13.8,334,6244,0.00,1.65,0.00,0.000,1030,0.000,0.024,2319,2698,3631,3686,3576,0,0,0,0,0,0,26.17,26.13,26.17
$GC,6558,-0.94,-194.6,2319,2699,3687,3577,929.4,-13.7,345,6565,0.00,1.80,0.00,0.000,260,0.000,0.042,2319,3845,3631,3686,3576,0,0,0,0,0,0,26.09,26.11,26.15
$GC,6589,-0.94,-194.6,2320,3848,3687,3582,933.7,-13.7,346,6597,0.00,1.70,0.00,0.000,1030,0.000,0.024,2319,2704,3630,3685,3576,0,0,0,0,0,0,26.16,26.11,26.17
$GC,6921,-0.94,-194.6,2319,2705,3687,3577,977.7,-13.1,357,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3631,3686,3576,0,0,0,0,0,0,26.09,26.16,26.15
$STATE,7040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7040,begin apogee
$GC,7044,-0.25,0.0,2323,2814,3687,3578,993.5,-13.2,361,7286,0.75,0.00,231.45,0.894,10246,0.123,0.000,2552,2813,2835,2873,2798,0,0,0,0,0,0,26.03,24.70,24.17
$STATE,7287,end apogee,CONTROL_FINISHED_OK
$STATE,7287,begin climb
$GC,7288,0.92,194.6,2553,2812,2872,2793,1008.4,0.0,369,7466,1.08,2.35,161.75,1.086,11012,0.055,0.024,2945,1410,2034,2071,1998,0,0,0,0,0,0,24.87,24.30,23.66
$GC,7485,0.87,462.0,2944,1410,2067,1992,1010.0,0.9,375,7781,0.00,2.22,280.92,0.952,9222,0.000,0.028,2945,2790,953,1014,892,0,0,0,0,0,0,24.81,24.75,23.44
$GC,8095,0.85,462.0,2944,2792,999,874,905.6,19.2,396,8104,0.00,2.17,0.00,0.000,516,0.000,0.027,2945,1412,935,998,873,0,0,0,0,0,0,25.39,25.43,25.46
$GC,8133,0.83,462.0,2945,1412,999,874,899.5,19.0,397,8140,0.00,2.17,0.00,0.000,1030,0.000,0.027,2945,2804,935,997,873,0,0,0,0,0,0,25.53,25.48,25.53
$GC,8455,0.82,462.0,2945,2803,998,871,837.1,19.2,408,8463,0.10,2.12,0.00,0.000,4612,0.175,0.024,2928,1416,934,997,872,0,0,0,0,0,0,25.71,25.82,25.81
$GC,8501,0.82,462.0,2930,1416,998,872,832.1,19.0,409,8509,0.00,2.15,0.00,0.000,1030,0.000,0.027,2929,2810,934,997,872,0,0,0,0,0,0,25.88,25.83,25.89
$GC,8807,0.82,462.0,2929,2810,998,871,774.3,17.9,419,8815,0.00,2.15,0.00,0.000,516,0.000,0.027,2932,1409,934,997,871,0,0,0,0,0,0,25.94,25.97,26.00
$GC,8869,0.82,462.0,2932,1409,997,871,764.7,17.3,421,8876,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2798,934,997,871,0,0,0,0,0,0,26.02,25.99,26.03
$GC,9190,0.82,462.0,2931,2800,997,873,711.1,15.9,432,9198,0.00,2.12,0.00,0.000,516,0.000,0.027,2931,1410,933,997,870,0,0,0,0,0,0,26.02,26.06,26.08
$GC,9237,0.82,462.0,2932,1409,998,871,706.9,15.9,433,9245,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2801,933,996,871,0,0,0,0,0,0,26.10,26.06,26.10
$GC,9549,0.82,462.0,2931,2800,998,871,657.2,14.2,444,9557,0.00,2.12,0.00,0.000,516,0.000,0.026,2932,1412,933,996,871,0,0,0,0,0,0,26.06,26.09,26.12
$GC,9596,0.82,462.0,2932,1417,997,867,652.5,14.6,445,9604,0.00,2.12,0.00,0.000,1030,0.000,0.028,2931,2807,933,995,871,0,0,0,0,0,0,26.13,26.10,26.14
$GC,9908,0.82,462.0,2930,2808,998,872,605.3,14.7,456,9916,0.00,2.12,0.00,0.000,516,0.000,0.026,2931,1412,933,996,871,0,0,0,0,0,0,26.07,26.10,26.14
$GC,9949,0.82,462.0,2932,1413,997,872,602.1,14.6,457,9957,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2801,935,996,874,0,0,0,0,0,0,26.15,26.10,26.16
$GC,10262,0.83,462.0,2932,2802,996,872,552.8,15.2,468,10269,0.00,2.12,0.00,0.000,516,0.000,0.027,2931,1423,933,996,871,0,0,0,0,0,0,26.08,26.13,26.15
$GC,10303,0.85,462.0,2932,1416,997,871,547.3,16.1,469,10311,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2799,933,996,871,0,0,0,0,0,0,26.16,26.13,26.16
$GC,10620,0.86,462.0,2932,2799,997,877,498.6,14.7,480,10628,0.00,2.10,0.00,0.000,516,0.000,0.027,2931,1421,933,996,870,0,0,0,0,0,0,26.09,26.13,26.15
$GC,10662,0.89,462.0,2932,1418,996,872,494.4,14.7,481,10670,0.00,2.12,0.00,0.000,1030,0.000,0.028,2932,2808,933,995,871,0,0,0,0,0,0,26.16,26.12,26.17
$GC,10974,0.91,462.0,2932,2808,997,870,446.4,15.0,492,10982,0.00,2.12,0.00,0.000,516,0.000,0.027,2932,1412,933,997,870,0,0,0,0,0,0,26.10,26.13,26.16
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$STATE,13964,end climb,SURFACE_DEPTH_REACHED
$STATE,13964,begin surface coast
$FINISH,0.6,1.023847
$STATE,13974,end surface coast,CONTROL_FINISHED_OK
$STATE,13974,begin surface
$SM_CCo,14049,0.00,0.000,0,0,715,520.77
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$IRIDIUM_FIX,5756.79,-14733.61,140508,080727
$TT8_MAMPS,0.058422,0.058422
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$INTERNAL_PRESSURE,8.7743
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$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,14005.83 6693.46
$PA_BOOTCOUNT,349
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$PA_DISK_BANK,1
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$10V_AH,10.17,29.332
$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
$DEVICE_SECS,18.650,106.625,697.175,0.000,0.000,0.000,0.000,225.975,0.000,13913.311,10.606,0.000,10781.439,700.507,2754.883,117.678,0.000,2136.322,0.000,1505.336,0.000,0.547,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,107.824,0.000,0.000,0.000
$MEM,187148
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
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