version: 66.12
glider: 203
mission: 8
dive: 137
start: 8 4 115 23 5 2
data:
$ID,203
$MISSION,8
$DIVE,137
$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,-5
$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,55
$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
$GPS1,040815,225937,5637.8413,-15052.0264,25,0.8,28,16.5,0.8,7.1,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-56.7
$GPS2,040815,230451,5637.8857,-15051.9619,7,0.8,10,16.5,0.0,54.5,10,9.3
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,251.6,44511,-17.4,-10.556,-19.06,2832
$D_GRID,3253
$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,-194.6,179,2715,830,717,0.0,0.0,0,151,0.00,0.00,-52.17,0.000,16386,0.000,0.000,175,2713,2123,2168,2078,0,0,0,0,0,0,26.03,28.83,26.10
$GC,153,-0.89,-194.6,176,2714,2170,2080,3.2,-3.4,7,206,8.82,2.10,-37.88,0.000,18948,0.234,0.038,2345,1331,3635,3709,3562,0,0,0,0,0,0,25.58,24.40,25.89
$GC,370,-0.85,-194.6,2346,1332,3711,3568,46.4,-19.8,41,386,0.10,2.08,0.00,0.000,3078,0.174,0.025,2360,2699,3638,3710,3567,0,0,0,0,0,0,25.79,25.99,25.94
$GC,690,-0.82,-194.6,2360,2700,3710,3571,110.7,-19.0,73,698,0.00,1.75,0.00,0.000,260,0.000,0.038,2355,3850,3640,3710,3571,0,0,0,0,0,0,26.10,26.05,26.17
$GC,743,-0.79,-194.6,2355,3850,3711,3571,120.6,-18.7,78,750,0.08,1.67,0.00,0.000,3078,0.132,0.021,2387,2693,3640,3710,3571,0,0,0,0,0,0,25.86,26.13,26.01
$GC,1055,-0.82,-194.6,2387,2693,3711,3571,165.8,-13.0,109,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2693,3640,3709,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1355,-0.85,-194.6,2387,2694,3711,3573,202.9,-12.6,139,1365,0.00,1.80,0.00,0.000,260,0.000,0.040,2386,3849,3640,3709,3571,0,0,0,0,0,0,26.10,26.06,26.17
$GC,1430,-0.89,-194.6,2387,3857,3711,3572,212.1,-12.2,146,1437,0.00,1.62,0.00,0.000,1030,0.000,0.021,2386,2700,3640,3709,3571,0,0,0,0,0,0,26.17,26.14,26.17
$GC,1741,-0.93,-194.6,2386,2699,3711,3571,250.2,-12.1,177,1749,0.08,1.77,0.00,0.000,4356,0.119,0.037,2319,3849,3640,3709,3571,0,0,0,0,0,0,26.05,26.06,26.13
$GC,1773,-0.96,-194.6,2318,3849,3710,3571,255.1,-13.8,178,1781,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2711,3640,3709,3571,0,0,0,0,0,0,26.17,26.15,26.18
$GC,2105,-0.93,-194.6,2319,2712,3709,3573,308.8,-15.6,189,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2711,3640,3709,3571,0,0,0,0,0,0,26.14,26.20,26.20
$GC,2405,-0.92,-194.6,2319,2711,3709,3571,354.8,-15.1,199,2411,0.10,0.00,0.00,0.000,2054,0.168,0.000,2341,2711,3639,3708,3571,0,0,0,0,0,0,25.91,26.09,26.04
$GC,2705,-0.92,-194.6,2342,2713,3707,3570,394.7,-13.3,209,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2711,3638,3705,3571,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3005,-0.92,-194.6,2342,2712,3705,3572,434.4,-13.4,219,3014,0.00,1.77,0.00,0.000,260,0.000,0.039,2335,3845,3638,3705,3571,0,0,0,0,0,0,26.13,26.04,26.18
$GC,3048,-0.92,-194.6,2336,3846,3704,3572,438.9,-13.5,220,3055,0.00,1.70,0.00,0.000,1030,0.000,0.022,2336,2686,3637,3704,3571,0,0,0,0,0,0,26.15,26.14,26.15
$GC,3369,-0.92,-194.6,2336,2687,3704,3573,485.1,-13.9,231,3377,0.00,1.80,0.00,0.000,260,0.000,0.038,2327,3845,3636,3702,3571,0,0,0,0,0,0,26.12,26.03,26.17
$GC,3420,-0.92,-194.6,2327,3844,3703,3572,489.7,-14.1,232,3427,0.00,1.65,0.00,0.000,1030,0.000,0.023,2327,2695,3636,3702,3571,0,0,0,0,0,0,26.15,26.13,26.18
$GC,3731,-0.92,-194.6,2327,2694,3702,3571,538.9,-14.8,243,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2694,3636,3701,3571,0,0,0,0,0,0,26.13,26.19,26.18
$GC,4032,-0.92,-194.6,2327,2695,3700,3573,582.6,-14.6,253,4040,0.00,1.77,0.00,0.000,260,0.000,0.039,2321,3845,3635,3699,3571,0,0,0,0,0,0,26.10,26.03,26.16
$GC,4064,-0.92,-194.6,2321,3845,3700,3571,587.4,-14.6,254,4071,0.10,1.65,0.00,0.000,3078,0.158,0.022,2343,2687,3635,3699,3571,0,0,0,0,0,0,25.91,26.14,26.03
$GC,4396,-0.94,-194.6,2343,2689,3700,3574,630.6,-12.9,265,4403,0.00,1.80,0.00,0.000,260,0.000,0.039,2337,3842,3634,3698,3571,0,0,0,0,0,0,26.10,26.03,26.17
$GC,4433,-0.95,-194.6,2338,3845,3698,3573,634.8,-12.8,266,4440,0.00,1.65,0.00,0.000,1030,0.000,0.023,2337,2700,3634,3697,3571,0,0,0,0,0,0,26.15,26.11,26.16
$GC,4759,-0.97,-194.6,2338,2700,3697,3573,680.1,-13.6,277,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2699,3633,3696,3571,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5059,-0.99,-194.6,2338,2699,3696,3571,719.6,-12.9,287,5066,0.00,1.80,0.00,0.000,260,0.000,0.040,2333,3847,3633,3695,3571,0,0,0,0,0,0,26.10,26.02,26.15
$GC,5100,-1.00,-194.6,2333,3848,3696,3572,723.9,-13.1,288,5107,0.00,1.65,0.00,0.000,1030,0.000,0.023,2333,2698,3632,3694,3571,0,0,0,0,0,0,26.15,26.12,26.15
$GC,5421,-1.00,-194.6,2333,2697,3696,3572,765.1,-12.3,299,5429,0.00,1.80,0.00,0.000,260,0.000,0.040,2325,3847,3632,3694,3571,0,0,0,0,0,0,26.09,26.01,26.15
$GC,5463,-1.00,-194.6,2325,3848,3695,3572,769.2,-12.5,300,5471,0.00,1.70,0.00,0.000,1030,0.000,0.023,2324,2706,3632,3693,3571,0,0,0,0,0,0,26.15,26.13,26.15
$GC,5786,-1.00,-194.6,2325,2705,3694,3571,811.2,-12.7,311,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2706,3632,3693,3571,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6085,-1.00,-194.6,2325,2707,3692,3573,850.4,-13.1,321,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2705,3631,3691,3571,0,0,0,0,0,0,26.08,26.15,26.15
$GC,6386,-1.00,-194.6,2325,2707,3700,3573,890.2,-13.3,331,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2706,3630,3690,3570,0,0,0,0,0,0,26.10,26.17,26.17
$GC,6685,-1.00,-194.6,2325,2706,3691,3571,928.4,-12.7,341,6693,0.00,1.77,0.00,0.000,260,0.000,0.041,2322,3843,3630,3690,3571,0,0,0,0,0,0,26.08,25.99,26.13
$GC,6732,-1.00,-194.6,2322,3843,3691,3571,932.2,-12.6,342,6739,0.00,1.67,0.00,0.000,1030,0.000,0.023,2322,2685,3630,3690,3571,0,0,0,0,0,0,26.14,26.11,26.15
$STATE,6867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6867,begin apogee
$GC,6871,-0.25,0.0,2322,2808,3690,3572,951.3,-12.7,347,7113,0.75,0.00,235.23,0.865,10246,0.117,0.000,2554,2808,2838,2874,2802,0,0,0,0,0,0,25.77,24.43,23.82
$STATE,7114,end apogee,CONTROL_FINISHED_OK
$STATE,7114,begin climb
$GC,7116,0.89,194.6,2555,2807,2870,2796,964.4,0.0,355,7296,1.05,2.30,164.88,1.051,11012,0.054,0.023,2931,1424,2034,2070,1998,0,0,0,0,0,0,24.57,23.92,23.25
$GC,7315,0.82,472.8,2931,1426,2066,1994,966.3,0.5,361,7600,0.00,2.25,271.65,0.970,9222,0.000,0.025,2935,2794,906,966,847,0,0,0,0,0,0,24.51,24.46,23.28
$GC,7895,0.82,472.8,2931,2794,951,824,878.7,16.5,381,7907,0.00,2.10,0.00,0.000,516,0.000,0.026,2931,1427,887,951,824,0,0,0,0,0,0,25.75,25.74,25.81
$GC,7956,0.82,472.8,2932,1429,950,826,869.0,16.2,383,7964,0.00,2.12,0.00,0.000,1030,0.000,0.025,2932,2805,886,949,824,0,0,0,0,0,0,25.90,25.86,25.92
$GC,8283,0.82,472.8,2932,2806,950,824,815.2,16.4,394,8294,0.00,2.15,0.00,0.000,516,0.000,0.026,2931,1414,885,948,823,0,0,0,0,0,0,26.06,26.08,26.12
$GC,8374,0.82,472.8,2931,1413,950,822,800.8,16.0,397,8382,0.00,2.15,0.00,0.000,1030,0.000,0.026,2931,2807,885,948,823,0,0,0,0,0,0,26.14,26.10,26.16
$GC,8706,0.82,472.8,2932,2807,950,822,745.7,16.7,408,8715,0.00,2.12,0.00,0.000,516,0.000,0.026,2931,1414,885,948,822,0,0,0,0,0,0,26.15,26.13,26.20
$GC,8758,0.82,472.8,2932,1415,949,823,740.4,16.6,409,8767,0.00,2.15,0.00,0.000,1030,0.000,0.026,2931,2809,885,948,822,0,0,0,0,0,0,26.19,26.13,26.20
$GC,9064,0.82,472.8,2931,2811,949,823,689.7,15.3,419,9072,0.00,2.12,0.00,0.000,516,0.000,0.026,2931,1422,885,948,822,0,0,0,0,0,0,26.14,26.14,26.20
$GC,9131,0.82,472.8,2931,1421,949,821,681.4,15.2,421,9138,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2798,885,948,822,0,0,0,0,0,0,26.17,26.13,26.20
$GC,9448,0.82,472.8,2931,2798,949,822,632.6,15.2,432,9455,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1430,884,947,822,0,0,0,0,0,0,26.14,26.13,26.20
$GC,9514,0.84,472.8,2932,1419,949,822,623.7,14.9,434,9522,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2810,884,947,821,0,0,0,0,0,0,26.18,26.13,26.20
$GC,9841,0.84,472.8,2932,2812,948,825,574.0,15.2,445,9852,0.00,2.15,0.00,0.000,516,0.000,0.026,2931,1414,884,947,822,0,0,0,0,0,0,26.14,26.11,26.21
$GC,9902,0.86,472.8,2931,1413,947,821,564.8,15.5,447,9909,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2807,884,947,822,0,0,0,0,0,0,26.17,26.11,26.18
$GC,10228,0.86,472.8,2932,2808,947,823,512.7,15.6,458,10240,0.00,2.12,0.00,0.000,516,0.000,0.026,2932,1423,884,947,822,0,0,0,0,0,0,26.13,26.11,26.19
$GC,10309,0.88,472.8,2931,1424,947,822,504.1,15.0,460,10316,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2798,884,947,822,0,0,0,0,0,0,26.15,26.10,26.17
$GC,10614,0.90,472.8,2932,2798,948,821,455.2,15.0,470,10622,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1419,884,947,822,0,0,0,0,0,0,26.13,26.10,26.20
$GC,10661,0.92,472.8,2932,1420,948,823,451.1,15.1,471,10675,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2807,884,946,822,0,0,0,0,0,0,26.16,26.11,26.18
$GC,10971,0.94,472.8,2932,2806,948,821,403.7,14.0,482,10979,0.00,2.12,0.00,0.000,516,0.000,0.025,2932,1412,884,947,822,0,0,0,0,0,0,26.13,26.10,26.20
$GC,11038,0.97,472.8,2932,1412,948,821,396.4,13.4,484,11045,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2802,884,947,822,0,0,0,0,0,0,26.16,26.10,26.16
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$STATE,13836,end climb,SURFACE_DEPTH_REACHED
$STATE,13836,begin surface coast
$FINISH,0.8,1.012844
$STATE,13850,end surface coast,CONTROL_FINISHED_OK
$STATE,13851,begin surface
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$IRIDIUM_FIX,5613.59,-15055.58,310508,122729
$TT8_MAMPS,0.058422,0.058422
$HUMID,39.01
$INTERNAL_PRESSURE,8.8022
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,13882.15 6624.37
$PA_BOOTCOUNT,443
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$PA_DISK_BANK,2
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$10V_AH,10.20,35.569
$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
$DEVICE_SECS,18.625,107.100,674.125,0.000,0.000,0.000,0.000,224.350,0.000,14247.040,10.970,0.000,10581.783,685.832,2838.259,123.153,0.000,2143.229,0.000,1540.489,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,510.970,0.000,0.000,0.000,0.000,0.000,14247.150,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,143072
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$CFSIZE,1024393216,983072768
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