version: 66.12
glider: 203
mission: 8
dive: 82
start: 7 25 115 13 48 22
data:
$ID,203
$MISSION,8
$DIVE,82
$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,-4
$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,88
$R_STBD_OVSHOOT,46
$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
$GPS1,250715,134257,5736.8569,-14840.7988,39,1.1,39,17.4,0.0,0.0,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.5
$GPS2,250715,134811,5736.8296,-14840.7744,6,1.0,9,17.4,0.0,68.2,9,9.4
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,130.4,54056,-18.0,-11.000,-19.55,2718
$D_GRID,2960
$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,88,end surface,CONTROL_FINISHED_OK
$STATE,88,begin dive
$GC,90,-0.92,-194.6,192,2710,908,789,0.0,0.0,0,137,0.00,0.00,-44.53,0.000,16386,0.000,0.000,191,2710,2002,2044,1960,0,0,0,0,0,0,25.95,28.83,26.02
$GC,139,-0.92,-194.6,192,2708,2045,1964,3.1,-4.0,7,198,8.60,1.83,-41.70,0.000,18692,0.234,0.057,2330,3846,3635,3704,3567,0,0,0,0,0,0,25.70,24.79,25.93
$GC,330,-0.87,-194.6,2330,3847,3706,3573,45.4,-22.2,43,343,0.10,1.65,0.00,0.000,3078,0.166,0.020,2352,2671,3638,3704,3572,0,0,0,0,0,0,25.89,26.01,26.02
$GC,647,-0.87,-194.6,2353,2673,3705,3576,103.4,-16.7,76,654,0.00,1.83,0.00,0.000,260,0.000,0.037,2346,3849,3639,3704,3575,0,0,0,0,0,0,26.05,26.05,26.11
$GC,748,-0.87,-194.6,2346,3849,3706,3575,119.0,-15.8,85,758,0.00,1.62,0.00,0.000,1030,0.000,0.020,2346,2694,3639,3704,3575,0,0,0,0,0,0,26.10,26.08,26.11
$GC,1053,-0.87,-194.6,2346,2694,3706,3576,167.2,-15.2,116,1061,0.00,2.00,0.00,0.000,516,0.000,0.022,2346,1343,3639,3704,3575,0,0,0,0,0,0,26.07,26.08,26.12
$GC,1075,-0.87,-194.6,2346,1344,3705,3576,170.8,-15.6,118,1083,0.10,2.08,0.00,0.000,3078,0.168,0.025,2355,2709,3640,3704,3576,0,0,0,0,0,0,25.94,26.08,26.08
$GC,1380,-0.88,-194.6,2359,2710,3705,3577,213.0,-13.7,148,1388,0.00,1.75,0.00,0.000,260,0.000,0.038,2353,3850,3640,3705,3576,0,0,0,0,0,0,26.08,26.06,26.13
$GC,1432,-0.90,-194.6,2354,3849,3705,3575,220.3,-14.7,153,1439,0.00,1.62,0.00,0.000,1030,0.000,0.021,2353,2706,3640,3704,3576,0,0,0,0,0,0,26.14,26.10,26.15
$GC,1744,-0.90,-194.6,2353,2707,3704,3577,264.1,-14.2,178,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2705,3640,3704,3576,0,0,0,0,0,0,26.07,26.13,26.13
$GC,2044,-0.92,-194.6,2354,2706,3704,3577,305.8,-13.5,188,2050,0.00,1.77,0.00,0.000,260,0.000,0.039,2346,3849,3639,3703,3576,0,0,0,0,0,0,26.07,26.07,26.13
$GC,2070,-0.93,-194.6,2347,3851,3703,3577,305.8,-13.5,188,2081,0.00,1.65,0.00,0.000,1030,0.000,0.021,2347,2685,3639,3702,3576,0,0,0,0,0,0,26.15,26.10,26.15
$GC,2375,-0.93,-194.6,2346,2684,3702,3575,352.0,-13.9,199,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2685,3638,3701,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2675,-0.95,-194.6,2347,2686,3699,3577,393.3,-13.5,209,2682,0.00,1.80,0.00,0.000,260,0.000,0.038,2337,3844,3637,3699,3576,0,0,0,0,0,0,26.08,26.07,26.13
$GC,2756,-0.95,-194.6,2338,3846,3698,3575,401.8,-13.6,211,2763,0.00,1.62,0.00,0.000,1030,0.000,0.023,2337,2705,3637,3699,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,3067,-0.95,-194.6,2338,2705,3698,3577,447.0,-13.6,222,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2704,3636,3697,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3367,-0.95,-194.6,2338,2704,3697,3575,488.7,-14.1,232,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2704,3636,3696,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3667,-0.95,-194.6,2338,2705,3695,3577,530.1,-13.7,242,3674,0.00,1.77,0.00,0.000,260,0.000,0.039,2331,3846,3635,3694,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,3713,-0.95,-194.6,2331,3846,3695,3575,534.4,-13.7,243,3721,0.00,1.67,0.00,0.000,1030,0.000,0.022,2330,2706,3634,3694,3575,0,0,0,0,0,0,26.13,26.11,26.14
$GC,4030,-0.95,-194.6,2331,2706,3694,3575,580.6,-14.1,254,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2706,3634,3693,3575,0,0,0,0,0,0,26.06,26.13,26.13
$GC,4331,-0.95,-194.6,2330,2707,3693,3577,622.8,-14.4,264,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2706,3634,3692,3576,0,0,0,0,0,0,26.06,26.13,26.13
$GC,4630,-0.95,-194.6,2331,2713,3690,3577,665.2,-14.1,274,4638,0.00,1.77,0.00,0.000,260,0.000,0.038,2322,3854,3633,3691,3576,0,0,0,0,0,0,26.08,26.06,26.13
$GC,4666,-0.95,-194.6,2323,3855,3692,3575,669.9,-14.1,275,4673,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2698,3632,3690,3575,0,0,0,0,0,0,26.12,26.10,26.13
$GC,4993,-0.95,-194.6,2323,2696,3690,3577,717.4,-14.1,286,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2694,3632,3689,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,5293,-0.95,-194.6,2322,2695,3690,3577,757.6,-13.2,296,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2694,3632,3689,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,5593,-0.95,-194.6,2323,2694,3689,3575,797.2,-13.4,306,5600,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3846,3631,3687,3576,0,0,0,0,0,0,26.06,26.06,26.12
$GC,5638,-0.95,-194.6,2319,3847,3687,3575,801.6,-13.7,307,5645,0.00,1.65,0.00,0.000,1030,0.000,0.023,2320,2696,3631,3687,3575,0,0,0,0,0,0,26.11,26.09,26.11
$GC,5954,-0.95,-194.6,2320,2697,3687,3577,844.7,-12.7,318,5961,0.00,1.83,0.00,0.000,260,0.000,0.041,2320,3860,3631,3686,3576,0,0,0,0,0,0,26.06,26.05,26.12
$GC,5985,-0.95,-194.6,2320,3862,3688,3577,848.8,-12.8,319,5993,0.00,1.70,0.00,0.000,1030,0.000,0.023,2319,2705,3631,3686,3576,0,0,0,0,0,0,26.11,26.08,26.13
$GC,6317,-0.95,-194.6,2319,2706,3687,3577,892.1,-13.3,330,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2705,3630,3685,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,6620,-0.95,-194.6,2320,2705,3686,3576,933.1,-13.9,340,6628,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3854,3630,3686,3575,0,0,0,0,0,0,26.05,26.04,26.11
$GC,6672,-0.95,-194.6,2320,3856,3687,3577,938.0,-14.0,341,6679,0.00,1.67,0.00,0.000,1030,0.000,0.023,2320,2689,3631,3686,3576,0,0,0,0,0,0,26.13,26.09,26.13
$GC,6983,-0.96,-194.6,2319,2682,3687,3576,984.1,-13.7,352,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2681,3633,3691,3575,0,0,0,0,0,0,26.05,26.12,26.11
$STATE,7042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7042,begin apogee
$GC,7046,-0.25,0.0,2320,2810,3686,3575,992.0,-13.3,354,7288,0.75,0.00,233.43,0.893,10246,0.119,0.000,2553,2805,2836,2874,2798,0,0,0,0,0,0,25.91,24.44,23.88
$STATE,7288,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7290,0.92,194.6,2554,2807,2872,2795,1005.9,0.0,362,7469,1.08,2.30,165.70,1.090,11012,0.054,0.021,2933,1425,2035,2074,1996,0,0,0,0,0,0,24.58,23.49,22.99
$GC,7533,0.88,300.4,2933,1425,2065,1986,1000.9,7.0,370,7635,0.00,2.22,92.15,1.073,9222,0.000,0.026,2939,2790,1613,1658,1569,0,0,0,0,0,0,24.62,24.58,23.13
$GC,7949,0.88,300.4,2933,2792,1640,1545,945.9,13.7,384,7956,0.00,1.73,0.00,0.000,260,0.000,0.040,2932,3850,1591,1639,1544,0,0,0,0,0,0,25.44,25.46,25.51
$GC,8011,0.85,300.4,2932,3851,1639,1544,937.1,14.0,386,8018,0.00,1.52,0.00,0.000,1030,0.000,0.023,2933,2793,1590,1638,1543,0,0,0,0,0,0,25.63,25.59,25.63
$GC,8342,0.84,300.4,2933,2793,1639,1541,895.7,12.1,397,8351,0.00,1.73,0.00,0.000,260,0.000,0.040,2933,3858,1589,1637,1542,0,0,0,0,0,0,25.86,25.87,25.94
$GC,8375,0.81,300.4,2933,3858,1639,1541,891.4,12.2,398,8383,0.00,1.55,0.00,0.000,1030,0.000,0.023,2933,2804,1589,1637,1541,0,0,0,0,0,0,25.95,25.91,25.96
$GC,8707,0.81,300.4,2933,2805,1638,1543,852.3,11.8,409,8717,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3857,1589,1637,1541,0,0,0,0,0,0,26.00,26.00,26.06
$GC,8751,0.79,300.4,2939,3858,1638,1542,848.1,12.0,410,8758,0.00,1.52,0.00,0.000,1030,0.000,0.023,2933,2781,1588,1637,1540,0,0,0,0,0,0,26.07,26.03,26.07
$GC,9073,0.79,300.4,2933,2782,1638,1542,807.8,12.1,421,9080,0.00,1.73,0.00,0.000,260,0.000,0.040,2934,3854,1589,1637,1541,0,0,0,0,0,0,26.03,26.04,26.10
$GC,9104,0.78,300.4,2933,3855,1637,1542,803.4,12.9,422,9112,0.08,1.52,0.00,0.000,5126,0.149,0.023,2915,2809,1588,1636,1541,0,0,0,0,0,0,25.92,26.07,26.01
$GC,9440,0.78,300.4,2915,2809,1637,1539,762.3,12.4,433,9448,0.00,2.08,0.00,0.000,516,0.000,0.024,2919,1429,1588,1636,1540,0,0,0,0,0,0,26.05,26.08,26.11
$GC,9472,0.78,300.4,2919,1431,1637,1542,758.0,12.4,434,9480,0.00,2.10,0.00,0.000,1030,0.000,0.027,2920,2804,1588,1635,1541,0,0,0,0,0,0,26.11,26.07,26.13
$GC,9799,0.78,300.4,2919,2806,1637,1542,716.2,12.7,445,9806,0.00,1.65,0.00,0.000,260,0.000,0.040,2918,3844,1587,1635,1540,0,0,0,0,0,0,26.06,26.06,26.12
$GC,9865,0.78,300.4,2920,3844,1636,1539,707.7,13.4,447,9872,0.00,1.50,0.00,0.000,1030,0.000,0.024,2926,2784,1587,1634,1540,0,0,0,0,0,0,26.14,26.09,26.14
$GC,10191,0.78,300.4,2926,2784,1637,1539,666.3,12.2,458,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2784,1587,1635,1540,0,0,0,0,0,0,26.06,26.13,26.12
$GC,10491,0.78,300.4,2926,2784,1637,1539,629.5,12.4,468,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2784,1587,1635,1540,0,0,0,0,0,0,26.07,26.14,26.13
$GC,10791,0.78,300.4,2925,2785,1637,1540,593.8,11.6,478,10798,0.00,1.67,0.00,0.000,260,0.000,0.040,2926,3854,1587,1635,1540,0,0,0,0,0,0,26.06,26.06,26.13
$GC,10862,0.78,300.4,2926,3854,1636,1539,586.2,12.0,480,10869,0.08,1.50,0.00,0.000,5126,0.207,0.024,2917,2789,1587,1635,1540,0,0,0,0,0,0,25.94,26.10,26.09
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$STATE,16034,end climb,SURFACE_DEPTH_REACHED
$STATE,16034,begin surface coast
$FINISH,0.6,1.014783
$STATE,16042,end surface coast,CONTROL_FINISHED_OK
$STATE,16042,begin surface
$SM_CCo,16116,0.00,0.000,0,0,782,504.58
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$IRIDIUM_FIX,5716.53,-14838.04,200508,224325
$TT8_MAMPS,0.05992,0.05992
$HUMID,38.30
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.60
$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,16071.33 7747.96
$PA_BOOTCOUNT,388
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$PA_HOME,0.01/0.199/27.046/25.473
$PA_DISK_BANK,2
$24V_AH,22.99,23.715
$10V_AH,10.17,31.798
$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
$DEVICE_SECS,18.500,102.450,606.425,0.000,0.000,0.000,0.000,237.200,0.000,16445.900,10.945,0.000,12759.230,673.730,2852.006,134.547,0.000,2152.518,0.000,1601.196,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,180480
$DATA_FILE_SIZE,36757,841
$CAP_FILE_SIZE,139914,0
$CFSIZE,1024393216,988413952
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,250715,181751,5733.692,-14839.769,35,0.8,35,17.4,0.5,221.0,10,8.5