version: 66.12
glider: 203
mission: 8
dive: 152
start: 8 7 115 16 50 18
data:
$ID,203
$MISSION,8
$DIVE,152
$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,104
$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,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
$GPS1,070815,164130,5641.9297,-15124.1699,41,0.8,42,16.3,0.5,82.1,11,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.8
$GPS2,070815,165006,5641.9429,-15124.2090,6,0.8,10,16.3,0.0,134.5,11,9.1
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,11.9,57548,-17.4,-10.556,-19.06,2832
$D_GRID,944
$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,-194.6,198,2784,935,812,0.0,0.0,0,147,0.00,0.00,-47.90,0.000,16386,0.000,0.000,197,2783,2136,2179,2094,0,0,0,0,0,0,26.01,28.83,26.08
$GC,149,-0.89,-194.6,198,2785,2181,2096,3.5,-4.2,5,199,8.62,2.20,-35.10,0.000,18948,0.230,0.034,2338,1346,3632,3705,3560,0,0,0,0,0,0,25.52,25.20,25.88
$GC,404,-0.87,-194.6,2338,1347,3706,3568,54.6,-18.6,45,421,0.10,2.08,0.00,0.000,3078,0.170,0.025,2354,2709,3636,3705,3567,0,0,0,0,0,0,25.77,25.96,25.91
$GC,719,-0.87,-194.6,2354,2710,3706,3570,108.9,-16.0,76,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2709,3636,3705,3568,0,0,0,0,0,0,26.07,26.15,26.14
$GC,1026,-0.87,-194.6,2354,2710,3707,3570,156.5,-15.6,107,1038,0.00,2.05,0.00,0.000,516,0.000,0.022,2354,1341,3636,3705,3568,0,0,0,0,0,0,26.13,26.07,26.18
$GC,1112,-0.87,-194.6,2354,1341,3706,3567,168.8,-14.3,115,1122,0.00,2.08,0.00,0.000,1030,0.000,0.024,2348,2708,3636,3705,3568,0,0,0,0,0,0,26.12,26.07,26.14
$GC,1418,-0.87,-194.6,2348,2708,3706,3569,212.2,-13.8,146,1425,0.00,1.77,0.00,0.000,260,0.000,0.037,2340,3853,3636,3705,3568,0,0,0,0,0,0,26.10,26.03,26.17
$GC,1479,-0.87,-194.6,2340,3854,3706,3570,220.9,-14.2,152,1486,0.08,1.62,0.00,0.000,3078,0.173,0.020,2354,2701,3635,3705,3565,0,0,0,0,0,0,25.93,26.13,26.03
$GC,1811,-0.89,-194.6,2354,2701,3705,3570,266.8,-13.9,177,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2700,3636,3704,3568,0,0,0,0,0,0,26.11,26.17,26.17
$GC,2111,-0.91,-194.6,2355,2701,3704,3570,306.9,-13.0,187,2118,0.00,2.03,0.00,0.000,516,0.000,0.021,2355,1340,3635,3702,3568,0,0,0,0,0,0,26.10,26.06,26.16
$GC,2177,-0.94,-194.6,2355,1337,3703,3568,314.4,-13.1,189,2185,0.00,2.10,0.00,0.000,1030,0.000,0.026,2349,2701,3635,3702,3568,0,0,0,0,0,0,26.11,26.06,26.13
$GC,2494,-0.95,-194.6,2349,2702,3702,3569,357.0,-12.8,200,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2700,3634,3701,3568,0,0,0,0,0,0,26.10,26.17,26.15
$GC,2794,-0.97,-194.6,2349,2700,3700,3568,396.5,-13.4,210,2802,0.00,1.77,0.00,0.000,260,0.000,0.039,2347,3848,3633,3698,3568,0,0,0,0,0,0,26.10,26.01,26.15
$GC,2826,-1.00,-194.6,2348,3847,3699,3568,400.8,-13.5,211,2833,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2714,3633,3698,3568,0,0,0,0,0,0,26.14,26.11,26.15
$GC,3158,-1.02,-194.6,2348,2715,3697,3569,446.2,-13.8,222,3169,0.00,2.08,0.00,0.000,516,0.000,0.022,2347,1324,3632,3697,3568,0,0,0,0,0,0,26.11,26.06,26.17
$GC,3193,-1.04,-194.6,2348,1324,3698,3568,450.3,-13.7,223,3200,0.00,2.10,0.00,0.000,1030,0.000,0.025,2348,2706,3632,3696,3568,0,0,0,0,0,0,26.11,26.06,26.14
$GC,3515,-1.07,-194.6,2347,2707,3695,3567,493.1,-13.2,234,3523,0.10,1.75,0.00,0.000,4356,0.097,0.037,2276,3853,3632,3694,3571,0,0,0,0,0,0,26.01,26.00,26.07
$GC,3552,-1.07,-194.6,2277,3854,3695,3570,498.3,-13.9,235,3559,0.08,1.65,0.00,0.000,3078,0.183,0.021,2288,2690,3630,3693,3568,0,0,0,0,0,0,25.91,26.13,26.01
$GC,3879,-1.05,-194.6,2289,2689,3694,3568,551.2,-15.8,246,3886,0.00,1.83,0.00,0.000,260,0.000,0.039,2291,3845,3631,3693,3569,0,0,0,0,0,0,26.08,25.97,26.15
$GC,3920,-1.03,-194.6,2289,3846,3693,3570,556.1,-15.8,247,3927,0.00,1.67,0.00,0.000,1030,0.000,0.021,2290,2697,3630,3692,3569,0,0,0,0,0,0,26.13,26.10,26.13
$GC,4241,-1.03,-194.6,2289,2698,3690,3569,608.5,-15.7,258,4249,0.00,2.05,0.00,0.000,516,0.000,0.023,2289,1328,3629,3690,3568,0,0,0,0,0,0,26.08,26.03,26.15
$GC,4288,-1.03,-194.6,2289,1329,3691,3567,613.5,-15.6,259,4295,0.00,2.08,0.00,0.000,1030,0.000,0.025,2289,2701,3629,3690,3568,0,0,0,0,0,0,26.10,26.05,26.13
$GC,4600,-1.01,-194.6,2290,2700,3690,3568,663.1,-14.9,270,4606,0.08,0.00,0.00,0.000,2054,0.203,0.000,2305,2701,3628,3689,3568,0,0,0,0,0,0,25.88,26.03,25.99
$GC,4900,-1.01,-194.6,2305,2703,3689,3570,703.2,-13.1,280,4907,0.00,2.08,0.00,0.000,516,0.000,0.023,2305,1344,3627,3687,3568,0,0,0,0,0,0,26.10,26.03,26.16
$GC,4931,-1.01,-194.6,2306,1337,3689,3568,707.4,-13.2,281,4939,0.00,2.08,0.00,0.000,1030,0.000,0.025,2306,2705,3627,3687,3568,0,0,0,0,0,0,26.08,26.03,26.10
$GC,5258,-1.01,-194.6,2306,2703,3688,3568,751.5,-13.4,292,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2703,3627,3686,3568,0,0,0,0,0,0,26.06,26.13,26.13
$GC,5558,-1.01,-194.6,2305,2703,3687,3567,792.0,-13.7,302,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2703,3627,3686,3568,0,0,0,0,0,0,26.08,26.14,26.13
$GC,5858,-1.01,-194.6,2306,2703,3687,3568,835.3,-14.3,312,5866,0.00,1.75,0.00,0.000,260,0.000,0.040,2305,3839,3627,3686,3568,0,0,0,0,0,0,26.10,25.94,26.15
$GC,5905,-1.01,-194.6,2306,3844,3686,3565,839.7,-14.1,313,5912,0.00,1.67,0.00,0.000,1030,0.000,0.022,2305,2698,3626,3685,3568,0,0,0,0,0,0,26.11,26.10,26.13
$GC,6221,-1.01,-194.6,2305,2699,3685,3568,886.2,-14.2,324,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2698,3625,3683,3568,0,0,0,0,0,0,26.06,26.13,26.13
$GC,6521,-1.01,-194.6,2305,2698,3684,3568,929.2,-14.6,334,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2699,3625,3683,3568,0,0,0,0,0,0,26.06,26.14,26.13
$STATE,6640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6640,begin apogee
$GC,6644,-0.25,0.0,2306,2813,3683,3569,946.6,-14.5,338,6813,0.80,0.00,162.12,1.060,10246,0.116,0.000,2555,2813,2837,2874,2801,0,0,0,0,0,0,25.70,24.41,23.70
$STATE,6813,end apogee,CONTROL_FINISHED_OK
$STATE,6814,begin climb
$GC,6815,0.89,194.6,2556,2813,2868,2793,955.7,0.0,343,6993,1.08,2.33,163.68,1.053,10756,0.063,0.021,2931,1436,2036,2074,1998,0,0,0,0,0,0,24.57,23.98,23.28
$GC,7158,0.87,281.6,2931,1436,2065,1987,949.6,7.4,355,7246,0.00,2.10,73.80,1.048,9222,0.000,0.024,2931,2788,1679,1723,1636,0,0,0,0,0,0,25.47,25.44,23.88
$GC,7542,0.85,281.6,2931,2788,1715,1622,905.0,12.5,368,7550,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3847,1668,1714,1622,0,0,0,0,0,0,25.90,25.85,25.97
$GC,7624,0.82,281.6,2932,3847,1715,1621,897.3,12.1,370,7631,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2787,1667,1713,1621,0,0,0,0,0,0,26.03,26.01,26.05
$GC,7935,0.80,281.6,2932,2788,1714,1622,856.0,12.2,381,7943,0.00,2.05,0.00,0.000,516,0.000,0.024,2931,1437,1666,1713,1620,0,0,0,0,0,0,26.09,26.09,26.16
$GC,7973,0.80,281.6,2934,1435,1714,1622,852.2,12.2,382,7980,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2811,1666,1713,1620,0,0,0,0,0,0,26.15,26.09,26.16
$GC,8295,0.79,281.6,2932,2811,1714,1619,812.4,12.0,393,8303,0.00,1.60,0.00,0.000,260,0.000,0.040,2931,3847,1665,1712,1619,0,0,0,0,0,0,26.12,26.06,26.18
$GC,8362,0.76,281.6,2931,3847,1713,1618,804.1,12.6,395,8369,0.10,1.50,0.00,0.000,5126,0.178,0.022,2910,2783,1665,1712,1619,0,0,0,0,0,0,25.91,26.15,26.08
$GC,8688,0.76,281.6,2909,2783,1713,1619,767.7,10.8,406,8698,0.00,1.67,0.00,0.000,260,0.000,0.039,2910,3854,1665,1712,1619,0,0,0,0,0,0,26.10,26.06,26.17
$GC,8727,0.76,281.6,2910,3856,1713,1619,763.9,10.8,407,8734,0.00,1.50,0.00,0.000,1030,0.000,0.023,2915,2793,1665,1712,1618,0,0,0,0,0,0,26.14,26.13,26.14
$GC,9053,0.76,302.0,2915,2795,1712,1619,730.1,9.8,418,9078,0.00,0.00,16.60,0.937,8198,0.000,0.000,2916,2794,1608,1653,1563,0,0,0,0,0,0,26.07,25.75,25.02
$GC,9353,0.76,311.5,2916,2793,1638,1544,699.5,10.2,428,9365,0.00,1.70,2.35,0.404,8452,0.000,0.038,2916,3847,1571,1619,1523,0,0,0,0,0,0,26.07,25.86,24.70
$GC,9394,0.77,325.1,2916,3848,1631,1537,696.5,10.1,429,9422,0.00,1.50,20.88,0.920,9222,0.000,0.023,2918,2785,1514,1559,1469,0,0,0,0,0,0,26.10,26.07,24.89
$GC,9742,0.77,326.5,2919,2786,1543,1451,660.5,10.5,441,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2784,1495,1542,1449,0,0,0,0,0,0,26.03,26.10,26.09
$GC,10041,0.77,326.5,2919,2784,1543,1449,626.2,11.3,451,10051,0.00,2.03,0.00,0.000,516,0.000,0.024,2919,1432,1495,1542,1449,0,0,0,0,0,0,26.09,26.08,26.15
$GC,10081,0.77,326.5,2919,1434,1543,1450,623.0,11.2,452,10089,0.00,2.12,0.00,0.000,1030,0.000,0.027,2919,2806,1495,1542,1448,0,0,0,0,0,0,26.11,26.06,26.13
$GC,10398,0.74,326.5,2919,2808,1542,1449,587.7,10.7,463,10406,0.08,2.08,0.00,0.000,4612,0.184,0.021,2911,1428,1494,1540,1448,0,0,0,0,0,0,25.92,26.08,26.06
$GC,10535,0.74,326.5,2911,1427,1542,1448,575.0,10.8,467,10543,0.00,2.10,0.00,0.000,1030,0.000,0.027,2911,2800,1494,1540,1448,0,0,0,0,0,0,26.12,26.05,26.13
$GC,10840,0.74,326.5,2912,2801,1541,1449,539.3,11.1,477,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2800,1494,1540,1448,0,0,0,0,0,0,26.10,26.17,26.15
$GC,11141,0.74,326.5,2911,2799,1542,1447,506.7,10.6,487,11149,0.00,1.62,0.00,0.000,260,0.000,0.039,2911,3858,1493,1540,1447,0,0,0,0,0,0,26.10,26.01,26.16
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$STATE,15508,end climb,SURFACE_DEPTH_REACHED
$STATE,15508,begin surface coast
$FINISH,0.8,1.011379
$STATE,15529,end surface coast,CONTROL_FINISHED_OK
$STATE,15529,begin surface
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$IRIDIUM_FIX,5617.48,-15123.37,030608,061207
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.85
$INTERNAL_PRESSURE,8.8208
$TCM_TEMP,17.80
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$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,15558.79 7288.03
$PA_BOOTCOUNT,459
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$PA_HOME,0.01/0.213/27.046/25.459
$PA_DISK_BANK,2
$24V_AH,23.28,54.507
$10V_AH,10.18,36.611
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,142860
$DATA_FILE_SIZE,33423,822
$CAP_FILE_SIZE,146173,0
$CFSIZE,1024393216,981549056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,1,15533.89,0x236db2,7,5
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