version: 66.12
glider: 203
mission: 8
dive: 64
start: 7 22 115 3 43 2
data:
$ID,203
$MISSION,8
$DIVE,64
$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,-3
$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,45
$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
$GPS1,220715,033733,5746.7266,-14732.0918,28,0.7,28,17.7,0.7,200.0,12,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.3
$GPS2,220715,034244,5746.6904,-14732.1191,7,0.7,7,17.7,0.0,166.9,12,9.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,277.1,73560,-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,-194.6,198,2705,874,752,0.0,0.0,0,155,0.00,0.00,-55.45,0.000,16386,0.000,0.000,196,2705,2280,2323,2237,0,0,0,0,0,0,25.91,28.83,25.98
$GC,157,-0.92,-194.6,197,2704,2324,2238,3.5,-3.8,7,202,8.65,0.00,-30.20,0.000,18950,0.238,0.000,2333,2705,3634,3703,3566,0,0,0,0,0,0,25.72,25.02,25.92
$GC,522,-0.88,-194.6,2333,2706,3705,3576,80.9,-19.0,55,528,0.08,0.00,0.00,0.000,2054,0.196,0.000,2348,2705,3639,3704,3575,0,0,0,0,0,0,25.90,26.05,26.03
$GC,822,-0.88,-194.6,2349,2706,3705,3577,130.3,-14.6,85,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2705,3639,3701,3577,0,0,0,0,0,0,26.01,26.09,26.08
$GC,1123,-0.88,-194.6,2349,2703,3705,3576,175.4,-14.6,115,1130,0.00,2.05,0.00,0.000,516,0.000,0.024,2349,1342,3639,3703,3576,0,0,0,0,0,0,26.05,26.07,26.10
$GC,1159,-0.88,-194.6,2349,1336,3705,3577,180.0,-13.8,118,1169,0.00,2.08,0.00,0.000,1030,0.000,0.026,2345,2708,3640,3704,3576,0,0,0,0,0,0,26.11,26.08,26.11
$GC,1464,-0.88,-194.6,2344,2709,3705,3576,222.8,-13.7,149,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2709,3639,3703,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,1785,-0.90,-194.6,2345,2709,3705,3576,266.9,-13.7,173,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2709,3640,3704,3576,0,0,0,0,0,0,26.06,26.12,26.11
$GC,2085,-0.92,-194.6,2345,2710,3703,3576,306.8,-12.8,183,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2709,3639,3702,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,2385,-0.93,-194.6,2345,2708,3702,3576,344.8,-13.0,193,2392,0.00,2.08,0.00,0.000,516,0.000,0.024,2345,1328,3638,3701,3576,0,0,0,0,0,0,26.06,26.08,26.12
$GC,2422,-0.95,-194.6,2345,1329,3702,3577,349.1,-13.1,194,2429,0.00,2.10,0.00,0.000,1030,0.000,0.027,2337,2708,3638,3700,3576,0,0,0,0,0,0,26.12,26.08,26.12
$GC,2743,-0.95,-194.6,2336,2708,3708,3575,394.9,-14.3,205,2751,0.00,2.08,0.00,0.000,516,0.000,0.024,2336,1329,3637,3698,3576,0,0,0,0,0,0,26.06,26.09,26.12
$GC,2790,-0.95,-194.6,2336,1327,3700,3576,398.9,-14.4,206,2798,0.00,2.10,0.00,0.000,1030,0.000,0.027,2327,2709,3637,3698,3576,0,0,0,0,0,0,26.12,26.08,26.12
$GC,3095,-0.95,-194.6,2326,2710,3698,3577,446.8,-14.7,216,3103,0.00,2.08,0.00,0.000,516,0.000,0.024,2327,1331,3636,3697,3576,0,0,0,0,0,0,26.06,26.06,26.11
$GC,3131,-0.95,-194.6,2327,1332,3697,3577,450.8,-14.6,217,3139,0.00,2.10,0.00,0.000,1030,0.000,0.027,2322,2707,3636,3696,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,3453,-0.95,-194.6,2322,2708,3696,3577,499.9,-14.8,228,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2707,3635,3695,3576,0,0,0,0,0,0,26.06,26.13,26.11
$GC,3753,-0.95,-194.6,2322,2707,3695,3576,542.1,-13.7,238,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2707,3635,3695,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4054,-0.95,-194.6,2322,2707,3694,3575,582.9,-13.7,248,4061,0.00,2.08,0.00,0.000,516,0.000,0.024,2322,1330,3634,3692,3576,0,0,0,0,0,0,26.05,26.08,26.11
$GC,4090,-0.95,-194.6,2322,1330,3694,3575,586.6,-13.8,249,4098,0.00,2.10,0.00,0.000,1030,0.000,0.027,2320,2709,3634,3693,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,4407,-0.95,-194.6,2320,2711,3692,3577,632.3,-13.9,260,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2710,3633,3691,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,4707,-0.95,-194.6,2321,2711,3691,3577,673.6,-13.4,270,4715,0.00,2.08,0.00,0.000,516,0.000,0.024,2320,1331,3632,3689,3576,0,0,0,0,0,0,26.06,26.08,26.10
$GC,4742,-0.95,-194.6,2319,1330,3691,3575,677.8,-13.4,271,4751,0.00,2.08,0.00,0.000,1030,0.000,0.028,2319,2699,3633,3691,3576,0,0,0,0,0,0,26.13,26.08,26.12
$GC,5070,-0.95,-194.6,2320,2700,3690,3577,721.6,-13.3,282,5078,0.00,2.08,0.00,0.000,516,0.000,0.024,2320,1333,3632,3689,3576,0,0,0,0,0,0,26.06,26.08,26.11
$GC,5106,-0.95,-194.6,2319,1333,3689,3576,725.2,-13.3,283,5114,0.00,2.10,0.00,0.000,1030,0.000,0.028,2319,2706,3632,3689,3576,0,0,0,0,0,0,26.11,26.07,26.13
$GC,5423,-0.95,-194.6,2320,2707,3688,3577,769.2,-13.6,294,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2706,3631,3687,3576,0,0,0,0,0,0,26.05,26.12,26.11
$GC,5723,-0.95,-194.6,2320,2706,3688,3576,811.5,-14.4,304,5731,0.00,2.08,0.00,0.000,516,0.000,0.024,2320,1329,3631,3687,3576,0,0,0,0,0,0,26.06,26.07,26.11
$GC,5760,-0.97,-194.6,2319,1329,3688,3575,816.1,-14.3,305,5768,0.00,2.10,0.00,0.000,1030,0.000,0.028,2320,2703,3630,3686,3575,0,0,0,0,0,0,26.11,26.07,26.12
$GC,6082,-0.98,-194.6,2319,2705,3688,3577,861.0,-13.3,316,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3631,3686,3576,0,0,0,0,0,0,26.05,26.11,26.10
$GC,6382,-1.00,-194.6,2320,2703,3688,3576,898.3,-12.1,326,6390,0.00,2.05,0.00,0.000,516,0.000,0.024,2320,1340,3631,3686,3576,0,0,0,0,0,0,26.04,26.08,26.10
$GC,6414,-1.02,-194.6,2320,1340,3687,3577,901.5,-12.2,327,6421,0.00,2.08,0.00,0.000,1030,0.000,0.028,2319,2702,3631,3686,3576,0,0,0,0,0,0,26.11,26.07,26.10
$GC,6736,-1.04,-194.6,2319,2701,3685,3576,940.4,-11.9,338,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2701,3630,3685,3575,0,0,0,0,0,0,26.04,26.11,26.10
$GC,7036,-1.06,-194.6,2320,2702,3685,3577,976.0,-11.6,348,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3629,3683,3576,0,0,0,0,0,0,26.04,26.11,26.10
$STATE,7184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7184,begin apogee
$GC,7188,-0.25,0.0,2320,2808,3685,3577,993.2,-11.4,353,7360,0.75,0.00,164.40,1.096,10246,0.119,0.000,2554,2807,2837,2873,2802,0,0,0,0,0,0,25.96,24.53,23.86
$STATE,7360,end apogee,CONTROL_FINISHED_OK
$STATE,7360,begin climb
$GC,7362,0.92,194.6,2554,2807,2867,2793,999.5,0.0,358,7537,1.10,2.30,163.00,1.091,10756,0.068,0.023,2932,1436,2036,2071,2001,0,0,0,0,0,0,24.70,23.88,23.21
$GC,7713,0.90,221.0,2932,1436,2063,1989,984.1,10.0,370,7744,0.00,2.15,22.45,1.069,9222,0.000,0.027,2932,2788,1936,1975,1898,0,0,0,0,0,0,25.18,25.15,24.03
$GC,8059,0.87,225.4,2932,2788,1962,1879,945.2,10.8,382,8067,0.00,1.70,0.00,0.000,260,0.000,0.041,2932,3847,1921,1962,1880,0,0,0,0,0,0,25.60,25.61,25.65
$GC,8141,0.83,225.4,2932,3848,1961,1881,937.9,11.1,384,8147,0.00,1.50,0.00,0.000,1030,0.000,0.024,2937,2809,1920,1961,1879,0,0,0,0,0,0,25.75,25.72,25.75
$GC,8452,0.80,225.4,2937,2810,1963,1881,901.2,11.0,395,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2809,1918,1958,1879,0,0,0,0,0,0,25.87,25.94,25.94
$GC,8752,0.77,229.8,2937,2806,1957,1880,868.6,10.8,405,8760,0.10,1.62,0.00,0.000,4356,0.182,0.038,2916,3852,1918,1958,1878,0,0,0,0,0,0,25.87,25.98,25.99
$GC,8850,0.74,235.1,2916,3852,1958,1878,858.6,10.8,408,8871,0.10,1.50,12.07,1.022,13318,0.191,0.024,2897,2793,1877,1917,1837,0,0,0,0,0,0,25.89,26.01,24.96
$GC,9176,0.74,289.1,2898,2794,1906,1826,828.1,9.0,419,9232,0.00,1.70,48.17,0.995,8452,0.000,0.038,2898,3849,1653,1693,1614,0,0,0,0,0,0,25.94,24.93,24.41
$GC,9301,0.74,308.0,2898,3850,1682,1599,815.6,10.3,423,9331,0.00,1.52,16.60,0.982,9222,0.000,0.024,2903,2799,1574,1616,1532,0,0,0,0,0,0,25.58,25.54,24.53
$GC,9627,0.76,323.6,2903,2799,1608,1522,780.8,10.4,434,9649,0.00,2.12,13.68,0.978,8708,0.000,0.023,2906,1424,1514,1557,1471,0,0,0,0,0,0,25.82,25.34,24.84
$GC,9668,0.78,337.5,2907,1425,1551,1468,777.8,10.5,435,9691,0.00,2.15,13.85,0.969,9222,0.000,0.028,2906,2801,1460,1503,1418,0,0,0,0,0,0,25.67,25.64,24.68
$GC,10016,0.81,337.5,2906,2801,1492,1402,737.2,11.3,447,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2801,1445,1491,1400,0,0,0,0,0,0,25.85,25.93,25.92
$GC,10316,0.83,337.5,2906,2802,1492,1402,703.5,11.4,457,10322,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2801,1443,1485,1401,0,0,0,0,0,0,25.96,26.03,26.03
$GC,10615,0.85,337.5,2906,2801,1491,1400,666.4,12.9,467,10623,0.00,2.10,0.00,0.000,516,0.000,0.024,2908,1421,1445,1490,1400,0,0,0,0,0,0,26.00,26.03,26.06
$GC,10647,0.88,337.5,2913,1421,1491,1400,662.8,12.9,468,10655,0.00,2.12,0.00,0.000,1030,0.000,0.027,2913,2809,1444,1489,1400,0,0,0,0,0,0,26.06,26.03,26.07
$GC,10969,0.90,337.5,2913,2808,1491,1400,619.8,13.1,479,10976,0.00,1.65,0.00,0.000,260,0.000,0.041,2913,3844,1444,1489,1400,0,0,0,0,0,0,26.02,26.05,26.08
$GC,11016,0.92,337.5,2913,3846,1491,1401,615.3,13.4,480,11023,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2784,1444,1489,1400,0,0,0,0,0,0,26.09,26.06,26.10
$GC,11332,0.93,337.5,2919,2785,1490,1401,570.4,13.4,491,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2784,1444,1489,1400,0,0,0,0,0,0,26.02,26.10,26.09
$GC,11632,0.95,337.5,2919,2785,1491,1401,529.5,13.7,501,11638,0.08,0.00,0.00,0.000,2054,0.123,0.000,2956,2784,1444,1489,1400,0,0,0,0,0,0,26.00,26.10,26.08
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$STATE,15949,end climb,SURFACE_DEPTH_REACHED
$STATE,15950,begin surface coast
$FINISH,0.7,1.016140
$STATE,15964,end surface coast,CONTROL_FINISHED_OK
$STATE,15964,begin surface
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$IRIDIUM_FIX,5724.52,-14731.42,170508,170529
$TT8_MAMPS,0.05992,0.05992
$HUMID,38.30
$INTERNAL_PRESSURE,8.7743
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15996.24 7372.59
$PA_BOOTCOUNT,368
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$PA_DISK_BANK,1
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$10V_AH,10.20,30.564
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,213704
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$CAP_FILE_SIZE,139395,0
$CFSIZE,1024393216,990183424
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