version: 66.12
glider: 203
mission: 8
dive: 170
start: 8 10 115 17 39 3
data:
$ID,203
$MISSION,8
$DIVE,170
$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,-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,96
$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
$GPS1,100815,173003,5705.3315,-15051.8730,39,0.8,39,16.6,0.9,48.8,10,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.9
$GPS2,100815,173850,5705.3071,-15051.8877,17,0.8,17,16.6,0.5,204.5,9,3.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,59.3,4116,-19.2,-11.000,-20.70,2368
$D_GRID,1295
$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,-0.98,-169.5,179,2705,1032,933,0.0,0.0,0,135,0.00,0.00,-36.28,0.000,16386,0.000,0.000,180,2703,1927,1972,1883,0,0,0,0,0,0,26.03,28.83,26.10
$GC,137,-0.98,-169.5,181,2704,1974,1884,3.0,-4.4,6,193,8.62,1.77,-40.67,0.000,19204,0.230,0.050,2309,3849,3532,3605,3460,0,0,0,0,0,0,25.41,25.19,25.76
$GC,420,-0.95,-169.5,2309,3850,3606,3467,61.6,-19.3,53,430,0.10,1.65,0.00,0.000,3078,0.161,0.019,2330,2669,3535,3605,3466,0,0,0,0,0,0,25.83,26.10,25.95
$GC,725,-0.95,-169.5,2331,2669,3606,3470,114.1,-16.6,84,733,0.00,1.85,0.00,0.000,260,0.000,0.037,2325,3850,3536,3605,3468,0,0,0,0,0,0,26.09,25.97,26.14
$GC,837,-0.95,-169.5,2325,3850,3606,3468,133.0,-17.2,95,844,0.00,1.60,0.00,0.000,1030,0.000,0.020,2325,2707,3536,3604,3468,0,0,0,0,0,0,26.12,26.10,26.13
$GC,1148,-0.95,-169.5,2325,2703,3606,3469,183.7,-15.6,126,1156,0.00,2.03,0.00,0.000,516,0.000,0.023,2325,1351,3536,3605,3468,0,0,0,0,0,0,26.09,26.03,26.14
$GC,1190,-0.95,-169.5,2325,1344,3606,3468,190.3,-15.9,130,1198,0.00,2.05,0.00,0.000,1030,0.000,0.024,2319,2703,3536,3605,3468,0,0,0,0,0,0,26.08,26.03,26.10
$GC,1495,-0.95,-169.5,2319,2704,3600,3469,237.7,-15.2,160,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3536,3605,3468,0,0,0,0,0,0,26.08,26.15,26.14
$GC,1795,-0.97,-169.5,2319,2705,3604,3469,283.2,-15.0,176,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3535,3603,3468,0,0,0,0,0,0,26.08,26.15,26.14
$GC,2095,-0.99,-169.5,2320,2704,3603,3469,327.6,-14.9,186,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3535,3602,3468,0,0,0,0,0,0,26.08,26.15,26.13
$GC,2395,-1.00,-169.5,2320,2704,3601,3469,373.2,-15.2,196,2403,0.00,1.75,0.00,0.000,260,0.000,0.037,2310,3847,3534,3601,3468,0,0,0,0,0,0,26.08,25.96,26.13
$GC,2471,-1.00,-169.5,2311,3847,3602,3468,383.1,-15.8,198,2480,0.00,1.62,0.00,0.000,1030,0.000,0.021,2309,2703,3534,3601,3468,0,0,0,0,0,0,26.10,26.08,26.11
$GC,2789,-1.00,-169.5,2311,2697,3600,3468,434.5,-15.4,209,2797,0.00,2.05,0.00,0.000,516,0.000,0.024,2311,1333,3533,3599,3468,0,0,0,0,0,0,26.07,25.98,26.13
$GC,2835,-1.00,-169.5,2311,1333,3600,3468,438.8,-15.5,210,2844,0.00,2.10,0.00,0.000,1030,0.000,0.024,2306,2702,3533,3598,3468,0,0,0,0,0,0,26.04,25.98,26.06
$GC,3141,-1.00,-169.5,2306,2704,3597,3469,490.7,-16.0,220,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2702,3532,3597,3468,0,0,0,0,0,0,26.06,26.13,26.13
$GC,3441,-1.00,-169.5,2307,2703,3596,3468,537.1,-15.3,230,3449,0.00,1.75,0.00,0.000,260,0.000,0.040,2306,3843,3531,3594,3468,0,0,0,0,0,0,26.03,25.95,26.09
$GC,3528,-1.00,-169.5,2306,3843,3595,3468,546.7,-15.5,232,3538,0.00,1.62,0.00,0.000,1030,0.000,0.021,2306,2697,3531,3594,3468,0,0,0,0,0,0,26.11,26.08,26.12
$GC,3833,-1.00,-169.5,2306,2698,3594,3469,593.9,-13.9,243,3841,0.00,2.05,0.00,0.000,516,0.000,0.023,2306,1331,3530,3592,3468,0,0,0,0,0,0,26.06,25.98,26.11
$GC,3860,-1.00,-169.5,2306,1331,3593,3467,593.9,-13.9,243,3870,0.00,2.10,0.00,0.000,1030,0.000,0.025,2306,2702,3530,3592,3468,0,0,0,0,0,0,26.06,26.01,26.08
$GC,4165,-1.00,-169.5,2306,2703,3593,3468,638.3,-13.4,254,4173,0.00,1.77,0.00,0.000,260,0.000,0.040,2305,3845,3529,3591,3468,0,0,0,0,0,0,26.07,25.93,26.13
$GC,4272,-1.00,-169.5,2306,3846,3592,3468,651.3,-13.9,257,4280,0.00,1.67,0.00,0.000,1030,0.000,0.021,2306,2701,3529,3591,3468,0,0,0,0,0,0,26.10,26.08,26.11
$GC,4589,-1.02,-169.5,2304,2701,3591,3468,696.0,-13.7,268,4596,0.00,1.80,0.00,0.000,260,0.000,0.039,2306,3846,3528,3589,3468,0,0,0,0,0,0,26.05,25.91,26.11
$GC,4660,-1.04,-169.5,2312,3849,3589,3469,704.5,-14.0,270,4668,0.00,1.67,0.00,0.000,1030,0.000,0.021,2306,2710,3528,3588,3468,0,0,0,0,0,0,26.06,26.06,26.09
$GC,4982,-1.04,-169.5,2306,2700,3589,3468,751.2,-13.8,281,4990,0.00,2.08,0.00,0.000,516,0.000,0.021,2305,1318,3527,3586,3468,0,0,0,0,0,0,26.04,25.98,26.10
$GC,5074,-1.06,-169.5,2306,1317,3589,3468,763.5,-14.2,284,5083,0.00,2.12,0.00,0.000,1030,0.000,0.026,2306,2703,3527,3587,3468,0,0,0,0,0,0,26.02,25.96,26.03
$GC,5402,-1.08,-169.5,2308,2704,3587,3468,811.3,-14.2,295,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2705,3527,3586,3468,0,0,0,0,0,0,26.04,26.11,26.10
$GC,5702,-1.08,-169.5,2305,2705,3586,3467,853.7,-13.8,305,5709,0.00,2.10,0.00,0.000,516,0.000,0.023,2306,1324,3526,3584,3468,0,0,0,0,0,0,26.03,25.97,26.10
$GC,5933,-1.08,-169.5,2306,1326,3585,3469,884.2,-14.9,312,5944,0.00,2.12,0.00,0.000,1030,0.000,0.025,2305,2710,3525,3583,3468,0,0,0,0,0,0,26.00,25.96,26.02
$GC,6239,-1.08,-169.5,2306,2711,3584,3469,929.0,-13.4,323,6246,0.00,1.77,0.00,0.000,260,0.000,0.040,2306,3853,3525,3583,3468,0,0,0,0,0,0,26.06,25.89,26.10
$GC,6380,-1.08,-169.5,2306,3854,3584,3469,944.7,-12.9,327,6387,0.00,1.67,0.00,0.000,1030,0.000,0.021,2306,2691,3525,3582,3468,0,0,0,0,0,0,26.06,26.03,26.07
$GC,6692,-1.11,-169.5,2306,2680,3583,3468,986.3,-12.4,338,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2680,3525,3582,3468,0,0,0,0,0,0,26.03,26.09,26.11
$STATE,6750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6750,begin apogee
$GC,6754,-0.25,0.0,2306,2802,3582,3468,993.4,-12.2,340,6966,0.80,0.00,203.07,0.902,10246,0.117,0.000,2553,2802,2835,2874,2797,0,0,0,0,0,0,25.58,24.49,23.82
$STATE,6967,end apogee,CONTROL_FINISHED_OK
$STATE,6967,begin climb
$GC,6968,0.98,169.5,2554,2803,2872,2794,1001.7,0.0,347,7124,1.20,2.30,144.12,1.089,10756,0.066,0.023,2958,1423,2140,2179,2101,0,0,0,0,0,0,24.64,24.01,23.26
$GC,7270,0.95,227.6,2958,1423,2168,2089,992.4,8.5,357,7330,0.00,2.17,49.28,1.080,9222,0.000,0.025,2958,2795,1903,1945,1861,0,0,0,0,0,0,25.43,25.39,23.97
$GC,7626,0.92,227.6,2958,2796,1935,1847,952.1,11.0,369,7633,0.00,1.65,0.00,0.000,260,0.000,0.040,2958,3851,1889,1934,1845,0,0,0,0,0,0,25.94,25.87,26.01
$GC,7753,0.88,227.6,2957,3853,1940,1846,937.0,12.4,373,7762,0.00,1.50,0.00,0.000,1030,0.000,0.022,2959,2792,1889,1933,1845,0,0,0,0,0,0,26.08,26.06,26.09
$GC,8081,0.86,231.8,2959,2791,1933,1846,900.0,10.8,384,8091,0.10,1.65,0.00,0.000,4356,0.187,0.037,2938,3853,1888,1933,1844,0,0,0,0,0,0,25.82,26.01,25.96
$GC,8170,0.83,239.3,2938,3853,1934,1844,893.4,10.7,386,8182,0.00,1.50,2.42,0.441,9222,0.000,0.023,2944,2797,1867,1914,1820,0,0,0,0,0,0,26.16,26.12,24.60
$GC,8475,0.84,264.3,2944,2798,1930,1833,860.2,9.9,397,8511,0.00,0.00,30.27,1.021,8710,0.000,0.000,2943,2796,1760,1803,1717,0,0,0,0,0,0,26.09,25.49,24.72
$GC,8805,0.84,264.3,2944,2798,1787,1698,824.6,11.0,408,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2797,1741,1787,1696,0,0,0,0,0,0,26.02,26.09,26.08
$GC,9105,0.84,264.3,2944,2796,1788,1696,791.5,11.3,418,9112,0.00,1.65,0.00,0.000,260,0.000,0.040,2942,3849,1741,1786,1696,0,0,0,0,0,0,26.10,25.99,26.17
$GC,9176,0.84,264.3,2944,3849,1788,1695,783.6,12.0,420,9183,0.00,1.50,0.00,0.000,1030,0.000,0.022,2945,2788,1740,1786,1695,0,0,0,0,0,0,26.13,26.10,26.14
$GC,9497,0.84,264.3,2947,2789,1786,1696,744.0,11.9,431,9504,0.00,1.67,0.00,0.000,260,0.000,0.040,2945,3853,1740,1785,1695,0,0,0,0,0,0,26.10,25.99,26.15
$GC,9528,0.84,264.3,2946,3854,1786,1696,740.1,12.1,432,9535,0.00,1.50,0.00,0.000,1030,0.000,0.023,2945,2792,1739,1784,1694,0,0,0,0,0,0,26.13,26.10,26.14
$GC,9860,0.84,264.3,2946,2794,1786,1695,699.8,12.5,443,9871,0.00,2.05,0.00,0.000,516,0.000,0.024,2945,1429,1739,1785,1694,0,0,0,0,0,0,26.09,26.05,26.16
$GC,9940,0.84,264.3,2946,1428,1786,1694,692.4,12.4,445,9948,0.00,2.10,0.00,0.000,1030,0.000,0.026,2945,2800,1739,1785,1694,0,0,0,0,0,0,26.10,26.04,26.13
$GC,10246,0.84,264.3,2945,2800,1786,1693,653.3,11.7,455,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2801,1739,1785,1694,0,0,0,0,0,0,26.08,26.15,26.14
$GC,10546,0.84,281.8,2944,2802,1785,1696,621.0,10.2,465,10568,0.00,1.62,14.75,0.890,8452,0.000,0.037,2945,3850,1683,1725,1641,0,0,0,0,0,0,26.09,25.56,25.03
$GC,10597,0.84,296.6,2945,3846,1724,1632,618.1,10.4,466,10618,0.00,1.50,13.88,0.884,9222,0.000,0.022,2946,2802,1629,1674,1585,0,0,0,0,0,0,25.96,25.93,24.87
$GC,10934,0.82,296.6,2946,2803,1660,1570,578.1,11.3,478,10941,0.10,1.65,0.00,0.000,4356,0.184,0.037,2925,3856,1613,1659,1568,0,0,0,0,0,0,25.76,25.94,25.89
$GC,10990,0.78,296.6,2925,3857,1659,1568,573.7,11.7,479,11001,0.08,1.52,0.00,0.000,5126,0.206,0.023,2918,2787,1613,1658,1569,0,0,0,0,0,0,25.81,26.06,25.96
$GC,11296,0.75,300.4,2918,2786,1659,1568,535.8,10.8,490,11303,0.00,2.05,0.00,0.000,516,0.000,0.025,2919,1436,1613,1658,1568,0,0,0,0,0,0,26.09,26.04,26.15
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$STATE,15807,end climb,SURFACE_DEPTH_REACHED
$STATE,15807,begin surface coast
$FINISH,0.6,1.012924
$STATE,15825,end surface coast,CONTROL_FINISHED_OK
$STATE,15825,begin surface
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$IRIDIUM_FIX,5640.91,-15053.64,060608,065801
$TT8_MAMPS,0.058422,0.058422
$HUMID,39.13
$INTERNAL_PRESSURE,8.8208
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$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,15855.24 7595.23
$PA_BOOTCOUNT,478
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$PA_HOME,0.01/0.217/27.046/25.456
$PA_DISK_BANK,3
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$10V_AH,10.17,37.817
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,229.500,65.790,1088.595,0.000,0.000,0.000,0.000,90.270,420.000,61.780,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,142836
$DATA_FILE_SIZE,36725,826
$CAP_FILE_SIZE,151644,0
$CFSIZE,1024393216,979795968
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$INTR,1,15829.71,0x236db2,7,5
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$GPS,100815,220526,5705.438,-15048.865,61,1.1,66,16.6,0.0,111.6,8,5.9