version: 66.12
glider: 203
mission: 8
dive: 118
start: 8 1 115 10 44 28
data:
$ID,203
$MISSION,8
$DIVE,118
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,98
$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,21
$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
$GPS1,010815,103858,5650.1680,-14959.8584,40,0.8,40,16.8,0.8,134.2,10,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.4
$GPS2,010815,104417,5650.0938,-14959.7510,5,0.8,11,16.8,0.6,140.8,10,9.0
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,188.2,30834,-17.4,-10.556,-19.06,2832
$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,-0.89,-194.6,190,2698,922,808,0.0,0.0,0,140,0.00,0.00,-41.28,0.000,16386,0.000,0.000,189,2698,1942,1985,1899,0,0,0,0,0,0,26.01,28.83,26.08
$GC,142,-0.89,-194.6,190,2699,1986,1900,3.1,-3.7,6,207,8.65,1.85,-43.40,0.000,18692,0.234,0.056,2338,3849,3635,3706,3565,0,0,0,0,0,0,25.65,24.55,25.94
$GC,281,-0.81,-194.6,2340,3851,3706,3569,30.2,-22.2,25,298,0.12,1.62,0.00,0.000,3078,0.155,0.019,2369,2684,3637,3706,3568,0,0,0,0,0,0,25.84,26.08,26.00
$GC,605,-0.81,-194.6,2369,2685,3708,3574,90.6,-15.9,64,613,0.00,1.80,0.00,0.000,260,0.000,0.037,2363,3847,3640,3706,3574,0,0,0,0,0,0,26.10,26.06,26.17
$GC,652,-0.80,-194.6,2363,3851,3707,3572,97.4,-15.9,68,663,0.00,1.60,0.00,0.000,1030,0.000,0.021,2363,2706,3639,3706,3572,0,0,0,0,0,0,26.17,26.14,26.17
$GC,958,-0.80,-194.6,2363,2705,3708,3573,148.8,-15.2,99,966,0.00,1.77,0.00,0.000,260,0.000,0.036,2354,3855,3639,3705,3573,0,0,0,0,0,0,26.14,26.08,26.20
$GC,990,-0.80,-194.6,2354,3856,3707,3573,153.7,-14.8,102,997,0.10,1.62,0.00,0.000,3078,0.158,0.021,2375,2710,3640,3707,3573,0,0,0,0,0,0,25.94,26.15,26.08
$GC,1302,-0.82,-194.6,2375,2704,3708,3573,195.1,-12.1,133,1310,0.00,2.05,0.00,0.000,516,0.000,0.023,2375,1324,3639,3706,3573,0,0,0,0,0,0,26.14,26.14,26.20
$GC,1329,-0.85,-194.6,2375,1324,3708,3573,198.1,-11.7,135,1337,0.00,2.10,0.00,0.000,1030,0.000,0.026,2375,2707,3639,3706,3573,0,0,0,0,0,0,26.16,26.10,26.17
$GC,1634,-0.88,-194.6,2376,2707,3707,3575,234.2,-11.7,165,1641,0.00,1.75,0.00,0.000,260,0.000,0.039,2374,3846,3639,3706,3573,0,0,0,0,0,0,26.13,26.09,26.19
$GC,1676,-0.91,-194.6,2375,3845,3707,3573,239.1,-11.9,169,1683,0.00,1.65,0.00,0.000,1030,0.000,0.022,2375,2708,3639,3705,3573,0,0,0,0,0,0,26.19,26.16,26.19
$GC,1987,-0.94,-194.6,2376,2709,3706,3575,274.6,-11.5,186,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2708,3638,3704,3573,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2287,-0.97,-194.6,2374,2709,3704,3574,308.9,-11.6,196,2293,0.10,0.00,0.00,0.000,4102,0.095,0.000,2307,2707,3638,3703,3573,0,0,0,0,0,0,26.10,26.18,26.17
$GC,2587,-0.94,-194.6,2307,2709,3702,3574,356.2,-15.8,206,2593,0.10,0.00,0.00,0.000,2054,0.168,0.000,2328,2708,3637,3701,3573,0,0,0,0,0,0,25.94,26.13,26.08
$GC,2887,-0.94,-194.6,2329,2709,3700,3574,399.6,-14.7,216,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2708,3636,3699,3573,0,0,0,0,0,0,26.14,26.21,26.20
$GC,3187,-0.94,-194.6,2328,2708,3707,3573,445.0,-15.2,226,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2707,3636,3699,3573,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3487,-0.94,-194.6,2328,2709,3697,3574,488.6,-14.2,236,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2707,3634,3696,3573,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3787,-0.94,-194.6,2328,2707,3696,3573,530.0,-13.8,246,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2708,3634,3695,3573,0,0,0,0,0,0,26.13,26.19,26.18
$GC,4087,-0.94,-194.6,2328,2709,3695,3574,571.0,-13.7,256,4094,0.00,1.77,0.00,0.000,260,0.000,0.039,2323,3850,3633,3694,3573,0,0,0,0,0,0,26.14,26.08,26.20
$GC,4123,-0.94,-194.6,2323,3851,3694,3574,575.5,-13.9,257,4131,0.00,1.67,0.00,0.000,1030,0.000,0.022,2323,2677,3633,3693,3573,0,0,0,0,0,0,26.18,26.15,26.18
$GC,4450,-0.94,-194.6,2323,2677,3693,3573,622.2,-13.8,268,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2677,3635,3698,3573,0,0,0,0,0,0,26.13,26.19,26.17
$GC,4750,-0.94,-194.6,2323,2679,3692,3574,662.3,-13.2,278,4757,0.00,1.80,0.00,0.000,260,0.000,0.038,2319,3845,3632,3691,3573,0,0,0,0,0,0,26.13,26.07,26.17
$GC,4826,-0.94,-194.6,2319,3847,3691,3575,670.5,-13.4,280,4834,0.00,1.62,0.00,0.000,1030,0.000,0.021,2319,2697,3631,3690,3573,0,0,0,0,0,0,26.17,26.15,26.18
$GC,5143,-0.94,-194.6,2320,2697,3691,3573,716.3,-14.0,291,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2697,3631,3690,3573,0,0,0,0,0,0,26.12,26.18,26.17
$GC,5443,-0.94,-194.6,2319,2698,3689,3574,757.8,-13.9,301,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3630,3688,3573,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5743,-0.94,-194.6,2319,2698,3688,3573,797.7,-12.9,311,5750,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3847,3630,3687,3573,0,0,0,0,0,0,26.12,26.06,26.17
$GC,5779,-0.94,-194.6,2320,3849,3687,3573,801.8,-12.9,312,5787,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2693,3630,3687,3573,0,0,0,0,0,0,26.17,26.14,26.17
$GC,6106,-0.94,-194.6,2319,2695,3688,3574,843.5,-12.5,323,6114,0.00,1.80,0.00,0.000,260,0.000,0.039,2319,3848,3629,3686,3573,0,0,0,0,0,0,26.11,26.07,26.17
$GC,6142,-0.94,-194.6,2319,3849,3687,3574,847.5,-12.5,324,6150,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2713,3629,3686,3573,0,0,0,0,0,0,26.15,26.13,26.15
$GC,6469,-0.94,-194.6,2319,2714,3687,3574,889.2,-12.8,335,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2713,3630,3686,3574,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6770,-0.94,-194.6,2319,2713,3687,3573,927.9,-13.1,345,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2713,3629,3686,3573,0,0,0,0,0,0,26.10,26.17,26.16
$STATE,6947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6948,begin apogee
$GC,6951,-0.25,0.0,2320,2814,3686,3573,950.9,-12.7,351,7187,0.75,0.00,228.27,0.881,10246,0.118,0.000,2553,2814,2839,2873,2806,0,0,0,0,0,0,25.88,24.43,23.84
$STATE,7188,end apogee,CONTROL_FINISHED_OK
$STATE,7188,begin climb
$GC,7189,0.89,194.6,2553,2815,2869,2800,961.7,0.0,358,7366,1.05,2.35,164.10,1.056,11012,0.060,0.022,2918,1428,2037,2071,2004,0,0,0,0,0,0,24.55,23.81,23.14
$GC,7510,0.87,260.1,2918,1429,2062,1993,953.7,8.2,369,7577,0.00,2.15,55.60,1.047,9222,0.000,0.026,2918,2784,1774,1811,1737,0,0,0,0,0,0,25.24,25.20,23.84
$GC,7882,0.85,260.1,2918,2784,1799,1716,911.6,11.1,382,7890,0.00,1.73,0.00,0.000,260,0.000,0.040,2918,3857,1758,1798,1718,0,0,0,0,0,0,25.78,25.79,25.84
$GC,7954,0.82,260.1,2918,3858,1799,1718,903.6,11.7,384,7961,0.00,1.52,0.00,0.000,1030,0.000,0.022,2923,2785,1757,1798,1716,0,0,0,0,0,0,25.94,25.90,25.96
$GC,8276,0.80,260.1,2923,2787,1798,1717,864.3,11.9,395,8283,0.00,1.67,0.00,0.000,260,0.000,0.039,2923,3858,1756,1796,1716,0,0,0,0,0,0,26.06,26.03,26.12
$GC,8332,0.77,260.1,2923,3858,1799,1715,860.4,11.9,396,8342,0.10,1.50,0.00,0.000,5126,0.174,0.023,2910,2797,1756,1797,1715,0,0,0,0,0,0,25.91,26.11,26.08
$GC,8637,0.77,260.1,2910,2796,1797,1714,822.4,11.3,407,8644,0.00,1.65,0.00,0.000,260,0.000,0.040,2910,3854,1755,1796,1715,0,0,0,0,0,0,26.10,26.09,26.17
$GC,8693,0.77,260.1,2910,3854,1797,1714,818.6,11.5,408,8704,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2790,1754,1795,1714,0,0,0,0,0,0,26.19,26.15,26.20
$GC,8999,0.77,260.1,2916,2792,1796,1716,782.5,10.8,419,9006,0.00,1.65,0.00,0.000,260,0.000,0.039,2916,3851,1753,1795,1712,0,0,0,0,0,0,26.13,26.11,26.20
$GC,9065,0.75,260.1,2915,3853,1797,1716,775.2,11.2,421,9073,0.00,1.52,0.00,0.000,1030,0.000,0.023,2919,2802,1754,1794,1714,0,0,0,0,0,0,26.19,26.16,26.19
$GC,9392,0.73,273.4,2919,2802,1797,1713,740.6,10.1,432,9404,0.10,2.08,3.17,0.675,12804,0.178,0.024,2901,1418,1729,1774,1685,0,0,0,0,0,0,25.94,25.95,24.72
$GC,9424,0.73,291.3,2902,1419,1789,1695,737.5,9.9,433,9458,0.00,2.12,25.55,0.942,9222,0.000,0.028,2901,2810,1648,1687,1609,0,0,0,0,0,0,26.13,26.08,24.88
$GC,9754,0.73,300.8,2902,2811,1672,1591,704.5,10.2,444,9765,0.00,1.67,1.75,0.210,8452,0.000,0.039,2901,3851,1614,1658,1570,0,0,0,0,0,0,26.03,25.98,25.72
$GC,9804,0.73,307.0,2901,3853,1671,1580,701.2,10.3,445,9825,0.00,1.50,12.80,0.925,9222,0.000,0.023,2906,2786,1585,1626,1544,0,0,0,0,0,0,26.10,26.08,25.04
$GC,10144,0.73,307.0,2906,2786,1618,1532,660.5,11.4,457,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2786,1574,1617,1532,0,0,0,0,0,0,26.06,26.12,26.11
$GC,10444,0.73,307.0,2907,2788,1618,1532,627.1,11.0,467,10452,0.00,1.65,0.00,0.000,260,0.000,0.038,2907,3851,1573,1616,1531,0,0,0,0,0,0,26.10,26.08,26.16
$GC,10506,0.73,307.0,2906,3851,1617,1529,620.0,11.2,469,10513,0.00,1.52,0.00,0.000,1030,0.000,0.023,2913,2802,1573,1616,1530,0,0,0,0,0,0,26.17,26.15,26.18
$GC,10838,0.73,307.3,2913,2803,1618,1532,584.5,10.5,480,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2802,1573,1616,1530,0,0,0,0,0,0,26.13,26.20,26.19
$GC,11138,0.73,307.3,2913,2799,1616,1532,552.3,10.7,490,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2802,1573,1615,1531,0,0,0,0,0,0,26.12,26.19,26.17
$GC,11437,0.73,307.3,2913,2802,1616,1532,519.6,11.0,500,11445,0.00,1.62,0.00,0.000,260,0.000,0.039,2913,3849,1573,1615,1531,0,0,0,0,0,0,26.13,26.09,26.19
$GC,11479,0.73,307.3,2913,3850,1616,1530,515.8,11.2,501,11486,0.10,1.50,0.00,0.000,5126,0.174,0.024,2898,2783,1572,1615,1530,0,0,0,0,0,0,25.94,26.15,26.08
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$STATE,16120,end climb,SURFACE_DEPTH_REACHED
$STATE,16120,begin surface coast
$FINISH,0.7,1.013570
$STATE,16135,end surface coast,CONTROL_FINISHED_OK
$STATE,16135,begin surface
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$IRIDIUM_FIX,5625.26,-15005.55,280508,000656
$TT8_MAMPS,0.059171,0.059171
$HUMID,38.85
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.40
$XPDR_PINGS,1
$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,16163.83 7616.61
$PA_BOOTCOUNT,424
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$PA_HOME,0.01/0.206/27.046/25.466
$PA_DISK_BANK,2
$24V_AH,23.14,39.884
$10V_AH,10.20,34.300
$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,585.792,0.000,0.000,0.000,0.000,0.000,16546.121,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,180088
$DATA_FILE_SIZE,36690,855
$CAP_FILE_SIZE,142507,0
$CFSIZE,1024393216,984891392
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,2,16139.46,0x236db2,7,5
$CURRENT,0.160,159.99,1
$GPS,010815,151533,5646.177,-15001.267,38,0.8,38,16.8,0.5,284.3,10,9.1