version: 66.12
glider: 203
mission: 8
dive: 15
start: 7 12 115 19 35 9
data:
$ID,203
$MISSION,8
$DIVE,15
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,92
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120715,192952,5900.7583,-14714.2451,39,0.9,39,18.1,0.5,249.8,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.1
$GPS2,120715,193457,5900.7324,-14714.3262,6,0.8,17,18.1,0.4,226.0,9,5.9
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,97.4,10208,-18.6,-10.000,-20.21,2392
$D_GRID,1271
$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,-0.95,-155.7,194,2802,763,617,0.0,0.0,0,160,0.00,0.00,-63.67,0.000,16386,0.000,0.000,194,2800,2385,2422,2349,0,0,0,0,0,0,26.79,28.83,26.86
$GC,162,-0.95,-155.7,195,2802,2423,2354,3.8,-5.9,9,199,8.43,1.58,-22.42,0.000,18692,0.246,0.062,2320,3849,3476,3546,3407,0,0,0,0,0,0,26.40,26.17,26.53
$GC,253,-0.95,-155.7,2320,3849,3546,3411,27.6,-26.1,26,263,0.00,1.50,0.00,0.000,1030,0.000,0.024,2320,2757,3477,3546,3409,0,0,0,0,0,0,26.74,26.72,26.76
$GC,563,-0.95,-155.7,2321,2758,3547,3415,88.0,-17.4,67,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2757,3480,3547,3413,0,0,0,0,0,0,26.96,27.02,27.02
$GC,865,-0.95,-155.7,2319,2758,3548,3416,138.5,-15.6,97,873,0.00,1.90,0.00,0.000,516,0.000,0.024,2320,1432,3481,3547,3415,0,0,0,0,0,0,27.04,26.88,27.10
$GC,931,-0.95,-155.7,2320,1429,3547,3415,148.0,-14.8,103,942,0.10,2.03,0.00,0.000,3078,0.181,0.028,2333,2812,3478,3541,3415,0,0,0,0,0,0,26.76,26.89,26.89
$GC,1237,-0.95,-155.7,2332,2812,3547,3414,192.2,-14.8,134,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2812,3480,3546,3415,0,0,0,0,0,0,27.11,27.18,27.17
$GC,1537,-0.95,-155.7,2333,2813,3546,3414,237.4,-15.3,164,1545,0.00,2.00,0.00,0.000,516,0.000,0.024,2333,1435,3480,3546,3415,0,0,0,0,0,0,27.15,27.00,27.22
$GC,1604,-0.95,-155.7,2339,1430,3547,3415,247.0,-15.5,170,1614,0.00,2.00,0.00,0.000,1030,0.000,0.029,2327,2800,3480,3546,3415,0,0,0,0,0,0,27.05,26.99,27.06
$GC,1929,-0.95,-155.7,2327,2802,3545,3415,299.2,-15.8,183,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2800,3480,3545,3415,0,0,0,0,0,0,27.20,27.25,27.26
$GC,2229,-0.95,-155.7,2326,2801,3545,3414,345.5,-15.2,193,2236,0.00,1.98,0.00,0.000,516,0.000,0.024,2327,1429,3479,3543,3415,0,0,0,0,0,0,27.22,27.07,27.29
$GC,2275,-0.95,-155.7,2327,1430,3545,3416,349.6,-15.2,194,2283,0.00,2.03,0.00,0.000,1030,0.000,0.030,2320,2810,3479,3544,3414,0,0,0,0,0,0,27.11,27.05,27.13
$GC,2581,-0.95,-155.7,2320,2809,3543,3414,397.7,-14.4,204,2588,0.00,1.98,0.00,0.000,516,0.000,0.024,2320,1436,3478,3542,3415,0,0,0,0,0,0,27.25,27.10,27.32
$GC,2622,-0.95,-155.7,2319,1436,3543,3416,401.6,-14.2,205,2630,0.00,2.00,0.00,0.000,1030,0.000,0.031,2319,2799,3478,3541,3415,0,0,0,0,0,0,27.13,27.08,27.15
$GC,2934,-0.95,-155.7,2319,2801,3541,3416,446.7,-13.6,216,2941,0.00,1.95,0.00,0.000,516,0.000,0.023,2319,1431,3477,3540,3414,0,0,0,0,0,0,27.27,27.13,27.34
$GC,2970,-0.95,-155.7,2319,1429,3540,3414,450.3,-13.0,217,2979,0.00,2.03,0.00,0.000,1030,0.000,0.031,2318,2804,3476,3539,3414,0,0,0,0,0,0,27.16,27.10,27.17
$GC,3298,-0.95,-155.7,2319,2805,3540,3416,496.5,-14.0,228,3307,0.00,1.55,0.00,0.000,260,0.000,0.046,2312,3858,3476,3538,3415,0,0,0,0,0,0,27.29,27.10,27.35
$GC,3531,-0.95,-155.7,2315,3859,3537,3414,530.5,-15.9,235,3539,0.10,1.48,0.00,0.000,3078,0.187,0.027,2333,2823,3475,3536,3415,0,0,0,0,0,0,27.01,27.18,27.13
$GC,3843,-0.95,-155.7,2334,2822,3537,3414,573.6,-12.2,246,3850,0.00,1.52,0.00,0.000,260,0.000,0.044,2329,3852,3475,3536,3414,0,0,0,0,0,0,27.31,27.13,27.38
$GC,4074,-0.95,-155.7,2329,3852,3536,3410,601.3,-13.0,253,4082,0.00,1.50,0.00,0.000,1030,0.000,0.026,2329,2758,3474,3534,3414,0,0,0,0,0,0,27.24,27.21,27.25
$GC,4386,-0.95,-155.7,2328,2758,3534,3414,644.2,-12.9,264,4394,0.00,1.62,0.00,0.000,260,0.000,0.044,2322,3849,3473,3533,3414,0,0,0,0,0,0,27.32,27.14,27.40
$GC,4568,-0.95,-155.7,2322,3850,3533,3416,669.8,-14.2,270,4576,0.00,1.48,0.00,0.000,1030,0.000,0.026,2322,2804,3473,3532,3414,0,0,0,0,0,0,27.26,27.22,27.27
$GC,4900,-0.95,-155.7,2322,2804,3532,3414,716.2,-13.5,281,4910,0.00,2.00,0.00,0.000,516,0.000,0.025,2322,1411,3473,3531,3415,0,0,0,0,0,0,27.34,27.19,27.41
$GC,4979,-0.95,-155.7,2322,1413,3532,3416,724.7,-13.4,283,4986,0.00,2.05,0.00,0.000,1030,0.000,0.032,2322,2809,3472,3531,3414,0,0,0,0,0,0,27.22,27.17,27.24
$GC,5291,-0.95,-155.7,2321,2809,3530,3415,769.5,-13.9,294,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2809,3472,3530,3415,0,0,0,0,0,0,27.35,27.43,27.42
$GC,5590,-0.95,-155.7,2322,2810,3530,3415,810.8,-13.5,304,5598,0.00,2.00,0.00,0.000,516,0.000,0.026,2321,1417,3472,3529,3415,0,0,0,0,0,0,27.36,27.20,27.42
$GC,5658,-0.95,-155.7,2322,1418,3531,3415,818.2,-13.1,306,5666,0.00,2.03,0.00,0.000,1030,0.000,0.032,2321,2799,3472,3530,3415,0,0,0,0,0,0,27.24,27.19,27.26
$GC,5975,-0.95,-155.7,2322,2799,3530,3414,861.1,-13.3,317,5982,0.00,2.00,0.00,0.000,516,0.000,0.025,2322,1408,3471,3529,3414,0,0,0,0,0,0,27.36,27.21,27.43
$GC,6046,-0.95,-155.7,2321,1409,3535,3416,869.1,-13.9,319,6053,0.00,2.05,0.00,0.000,1030,0.000,0.031,2319,2806,3471,3529,3414,0,0,0,0,0,0,27.24,27.19,27.27
$GC,6358,-0.95,-155.7,2320,2807,3529,3416,915.2,-14.0,330,6365,0.00,2.00,0.00,0.000,516,0.000,0.025,2320,1416,3470,3526,3415,0,0,0,0,0,0,27.36,27.21,27.43
$GC,6429,-0.95,-155.7,2320,1413,3529,3414,923.4,-14.1,332,6437,0.00,2.05,0.00,0.000,1030,0.000,0.032,2320,2809,3471,3528,3414,0,0,0,0,0,0,27.25,27.19,27.27
$GC,6741,-0.95,-155.7,2320,2810,3527,3414,968.8,-13.9,343,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2809,3470,3526,3414,0,0,0,0,0,0,27.37,27.45,27.43
$STATE,6920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6920,begin apogee
$GC,6923,-0.25,0.0,2320,2591,3527,3415,993.6,-14.0,349,7075,0.73,0.00,137.23,1.497,10246,0.130,0.000,2554,2591,2843,2888,2799,0,0,0,0,1,0,27.08,24.57,23.67
$STATE,7076,end apogee,CONTROL_FINISHED_OK
$STATE,7076,begin climb
$GC,7078,0.95,155.7,2554,2591,2897,2799,1003.9,0.0,354,7227,1.12,2.08,137.05,1.083,11012,0.073,0.041,2939,3847,2196,2230,2162,0,0,0,0,0,0,24.90,24.69,24.05
$GC,7451,0.95,238.0,2940,3848,2219,2145,1000.1,6.5,366,7531,0.00,1.83,70.80,1.053,9222,0.000,0.025,2945,2597,1865,1902,1829,0,0,0,0,0,0,26.06,26.02,24.25
$GC,7827,0.95,238.6,2945,2599,1882,1803,964.4,10.0,379,7837,0.00,1.95,0.00,0.000,260,0.000,0.043,2945,3847,1840,1880,1801,0,0,0,0,0,0,26.27,26.13,26.34
$GC,8061,0.95,238.6,2945,3847,1881,1800,940.2,11.6,386,8072,0.00,1.80,0.00,0.000,1030,0.000,0.025,2945,2597,1840,1880,1800,0,0,0,0,0,0,26.44,26.41,26.46
$GC,8367,0.95,238.6,2945,2595,1881,1800,902.7,11.0,397,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2595,1840,1880,1800,0,0,0,0,0,0,26.72,26.79,26.79
$GC,8667,0.95,238.6,2945,2594,1880,1799,870.6,10.9,407,8674,0.00,1.92,0.00,0.000,260,0.000,0.044,2945,3851,1839,1879,1799,0,0,0,0,0,0,26.85,26.66,26.91
$GC,8794,0.95,238.6,2945,3851,1879,1798,856.8,11.8,411,8801,0.00,1.77,0.00,0.000,1030,0.000,0.025,2945,2602,1838,1878,1798,0,0,0,0,0,0,26.80,26.77,26.82
$GC,9110,0.95,238.6,2945,2593,1879,1798,822.3,10.6,422,9118,0.00,1.92,0.00,0.000,260,0.000,0.044,2945,3849,1838,1878,1798,0,0,0,0,0,0,26.97,26.78,27.04
$GC,9243,0.95,238.6,2945,3851,1878,1799,808.5,11.9,426,9250,0.00,1.77,0.00,0.000,1030,0.000,0.025,2945,2600,1837,1877,1798,0,0,0,0,0,0,26.91,26.88,26.93
$GC,9559,0.96,256.9,2945,2589,1879,1798,776.2,9.2,437,9582,0.00,2.03,14.85,0.910,8708,0.000,0.028,2945,1215,1787,1822,1752,0,0,0,0,0,0,27.05,26.36,25.90
$GC,9806,0.96,256.9,2946,1216,1809,1736,751.1,10.5,445,9813,0.00,2.08,0.00,0.000,1030,0.000,0.028,2945,2615,1770,1806,1735,0,0,0,0,0,0,26.76,26.71,26.79
$GC,10123,0.96,256.9,2945,2615,1809,1732,714.3,11.4,456,10131,0.00,1.88,0.00,0.000,260,0.000,0.043,2945,3854,1770,1808,1732,0,0,0,0,0,0,26.97,26.79,27.03
$GC,10199,0.96,256.9,2945,3854,1808,1732,708.3,10.7,458,10207,0.00,1.80,0.00,0.000,1030,0.000,0.025,2945,2578,1769,1807,1732,0,0,0,0,0,0,26.90,26.87,26.91
$GC,10511,0.96,256.9,2945,2575,1808,1731,674.3,11.2,469,10518,0.00,1.95,0.00,0.000,260,0.000,0.044,2945,3851,1769,1807,1731,0,0,0,0,0,0,27.05,26.86,27.12
$GC,10653,0.96,256.9,2945,3851,1808,1730,659.5,12.6,473,10663,0.00,1.77,0.00,0.000,1030,0.000,0.025,2945,2587,1769,1807,1731,0,0,0,0,0,0,27.01,26.96,27.01
$GC,10958,0.96,256.9,2945,2585,1807,1732,621.6,12.1,484,10965,0.00,2.03,0.00,0.000,516,0.000,0.034,2945,1230,1768,1806,1731,0,0,0,0,0,0,27.11,26.94,27.18
$GC,11034,0.96,256.9,2945,1228,1807,1732,615.3,10.9,486,11041,0.00,2.03,0.00,0.000,1030,0.000,0.029,2945,2613,1768,1806,1731,0,0,0,0,0,0,27.01,26.96,27.03
$GC,11346,0.96,256.9,2945,2613,1806,1731,581.1,10.6,497,11353,0.00,1.88,0.00,0.000,260,0.000,0.044,2945,3851,1768,1805,1731,0,0,0,0,0,0,27.15,26.97,27.22
$GC,11517,0.96,256.9,2945,3851,1806,1730,563.4,12.4,502,11524,0.00,1.75,0.00,0.000,1030,0.000,0.025,2947,2604,1768,1805,1731,0,0,0,0,0,0,27.08,27.05,27.10
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$STATE,16178,end climb,SURFACE_DEPTH_REACHED
$STATE,16178,begin surface coast
$FINISH,0.3,1.010633
$STATE,16198,end surface coast,CONTROL_FINISHED_OK
$STATE,16198,begin surface
$SM_CCo,16275,0.00,0.000,0,0,1129,419.46
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$IRIDIUM_FIX,5837.82,-14715.38,080508,085746
$TT8_MAMPS,0.164031,0.164031
$HUMID,38.62
$INTERNAL_PRESSURE,8.8115
$TCM_TEMP,17.90
$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,16229.87 7707.70
$PA_BOOTCOUNT,317
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$PA_HOME,0.01/0.185/27.046/25.487
$PA_DISK_BANK,1
$24V_AH,23.67,2.704
$10V_AH,10.03,8.506
$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,23.970,0.000,0.000,0.000,0.000,0.000,137.750,0.000,0.000,0.000
$MEM,187148
$DATA_FILE_SIZE,36810,862
$CAP_FILE_SIZE,154411,0
$CFSIZE,1024393216,994983936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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$CURRENT,0.120,242.77,1
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