version: 66.12
glider: 203
mission: 8
dive: 23
start: 7 14 115 9 25 43
data:
$ID,203
$MISSION,8
$DIVE,23
$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,-2
$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,95
$R_STBD_OVSHOOT,42
$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
$GPS1,140715,091957,5851.5776,-14700.1211,38,0.9,38,18.2,0.0,0.0,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-63.8
$GPS2,140715,092531,5851.6089,-14700.1875,42,0.9,42,18.2,0.7,351.2,10,3.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,117.0,57338,-18.0,-11.000,-19.55,2718
$D_GRID,2426
$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,-0.92,-194.6,194,2794,749,613,0.0,0.0,0,155,0.00,0.00,-55.62,0.000,16386,0.000,0.000,193,2793,2154,2188,2121,0,0,0,0,0,0,26.65,28.83,26.73
$GC,157,-0.92,-194.6,193,2793,2190,2120,3.3,-5.3,9,204,8.35,1.60,-33.62,0.000,18692,0.238,0.063,2328,3853,3634,3701,3568,0,0,0,0,0,0,26.30,25.67,26.49
$GC,316,-0.86,-194.6,2328,3854,3702,3575,40.6,-22.8,36,328,0.12,1.60,0.00,0.000,3078,0.168,0.023,2358,2693,3636,3701,3572,0,0,0,0,0,0,26.47,26.65,26.60
$GC,629,-0.86,-194.6,2358,2692,3702,3575,99.8,-15.8,70,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2692,3638,3701,3576,0,0,0,0,0,0,26.89,26.96,26.96
$GC,929,-0.86,-194.6,2358,2692,3701,3576,145.3,-14.4,100,937,0.00,1.95,0.00,0.000,516,0.000,0.024,2357,1338,3639,3702,3576,0,0,0,0,0,0,26.98,26.82,27.03
$GC,1046,-0.88,-194.6,2358,1338,3702,3578,161.3,-14.2,111,1056,0.00,2.00,0.00,0.000,1030,0.000,0.027,2352,2707,3639,3702,3576,0,0,0,0,0,0,26.90,26.86,26.92
$GC,1351,-0.88,-194.6,2352,2708,3703,3577,206.9,-14.9,142,1360,0.00,2.00,0.00,0.000,516,0.000,0.024,2352,1333,3638,3701,3576,0,0,0,0,0,0,27.07,26.91,27.13
$GC,1395,-0.88,-194.6,2351,1331,3703,3577,213.3,-14.3,146,1402,0.00,2.00,0.00,0.000,1030,0.000,0.028,2348,2700,3637,3699,3576,0,0,0,0,0,0,26.99,26.91,26.98
$GC,1710,-0.88,-194.6,2348,2701,3702,3577,260.1,-14.6,173,1717,0.00,1.70,0.00,0.000,260,0.000,0.041,2339,3856,3638,3701,3576,0,0,0,0,0,0,27.13,26.94,27.19
$GC,1751,-0.88,-194.6,2339,3857,3701,3577,264.7,-14.7,174,1758,0.00,1.58,0.00,0.000,1030,0.000,0.024,2339,2720,3638,3700,3576,0,0,0,0,0,0,27.04,27.01,27.05
$GC,2072,-0.88,-194.6,2339,2721,3700,3577,311.9,-14.4,185,2079,0.00,1.73,0.00,0.000,260,0.000,0.041,2331,3846,3637,3699,3576,0,0,0,0,0,0,27.16,26.99,27.23
$GC,2104,-0.88,-194.6,2330,3847,3700,3578,316.6,-14.3,186,2111,0.05,1.62,0.00,0.000,3078,0.149,0.024,2347,2716,3637,3699,3576,0,0,0,0,0,0,26.89,27.05,26.97
$GC,2436,-0.90,-194.6,2346,2718,3698,3577,360.9,-13.1,197,2446,0.00,2.00,0.00,0.000,516,0.000,0.024,2346,1310,3636,3697,3576,0,0,0,0,0,0,27.20,27.03,27.26
$GC,2480,-0.92,-194.6,2347,1310,3698,3576,364.9,-13.0,198,2488,0.00,2.03,0.00,0.000,1030,0.000,0.028,2347,2700,3634,3697,3571,0,0,0,0,0,0,27.09,27.04,27.10
$GC,2792,-0.93,-194.6,2347,2702,3695,3577,406.1,-12.5,209,2800,0.00,1.73,0.00,0.000,260,0.000,0.041,2340,3848,3635,3695,3576,0,0,0,0,0,0,27.22,27.05,27.29
$GC,2829,-0.95,-194.6,2340,3844,3695,3575,410.3,-12.5,210,2836,0.00,1.65,0.00,0.000,1030,0.000,0.025,2340,2703,3635,3695,3576,0,0,0,0,0,0,27.12,27.10,27.13
$GC,3155,-0.95,-194.6,2341,2704,3694,3575,454.1,-13.6,221,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2705,3635,3694,3576,0,0,0,0,0,0,27.24,27.32,27.31
$GC,3455,-0.96,-194.6,2340,2704,3693,3576,496.1,-14.3,231,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2704,3634,3692,3576,0,0,0,0,0,0,27.26,27.34,27.33
$GC,3755,-0.98,-194.6,2346,2704,3692,3576,539.4,-14.4,241,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2704,3633,3690,3576,0,0,0,0,0,0,27.28,27.36,27.34
$GC,4055,-1.00,-194.6,2340,2704,3691,3576,581.9,-14.2,251,4062,0.00,1.70,0.00,0.000,260,0.000,0.043,2337,3846,3632,3689,3576,0,0,0,0,0,0,27.29,27.10,27.36
$GC,4117,-1.02,-194.6,2335,3847,3690,3577,590.7,-14.2,253,4124,0.00,1.62,0.00,0.000,1030,0.000,0.025,2335,2680,3632,3689,3576,0,0,0,0,0,0,27.20,27.17,27.22
$GC,4448,-1.04,-194.6,2335,2679,3689,3575,637.5,-14.1,264,4457,0.00,1.75,0.00,0.000,260,0.000,0.042,2327,3853,3631,3687,3576,0,0,0,0,0,0,27.30,27.12,27.36
$GC,4481,-1.05,-194.6,2327,3853,3688,3576,642.2,-14.2,265,4489,0.00,1.60,0.00,0.000,1030,0.000,0.025,2326,2699,3631,3687,3576,0,0,0,0,0,0,27.22,27.18,27.23
$GC,4813,-1.05,-194.6,2322,2699,3688,3576,689.6,-14.0,276,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2699,3631,3687,3576,0,0,0,0,0,0,27.31,27.39,27.37
$GC,5113,-1.05,-194.6,2327,2699,3687,3576,730.5,-13.5,286,5120,0.00,1.70,0.00,0.000,260,0.000,0.043,2322,3842,3630,3685,3576,0,0,0,0,0,0,27.32,27.14,27.39
$GC,5139,-1.05,-194.6,2321,3841,3686,3576,730.5,-13.5,286,5149,0.00,1.60,0.00,0.000,1030,0.000,0.026,2322,2701,3631,3686,3576,0,0,0,0,0,0,27.23,27.20,27.24
$GC,5445,-1.05,-194.6,2322,2702,3685,3578,773.0,-12.6,297,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2700,3630,3685,3576,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5744,-1.05,-194.6,2321,2700,3685,3576,810.2,-12.4,307,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2700,3630,3683,3577,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6045,-1.05,-194.6,2322,2701,3683,3577,848.1,-12.7,317,6052,0.00,1.70,0.00,0.000,260,0.000,0.044,2319,3844,3629,3682,3576,0,0,0,0,0,0,27.34,27.16,27.41
$GC,6081,-1.05,-194.6,2320,3844,3682,3575,852.1,-12.8,318,6089,0.00,1.62,0.00,0.000,1030,0.000,0.025,2320,2683,3629,3682,3576,0,0,0,0,0,0,27.25,27.22,27.27
$GC,6408,-1.05,-194.6,2320,2682,3682,3575,896.3,-13.3,329,6416,0.00,1.75,0.00,0.000,260,0.000,0.044,2319,3849,3628,3681,3576,0,0,0,0,0,0,27.34,27.16,27.41
$GC,6441,-1.05,-194.6,2320,3849,3683,3576,900.7,-13.4,330,6448,0.00,1.65,0.00,0.000,1030,0.000,0.026,2320,2702,3628,3681,3576,0,0,0,0,0,0,27.24,27.22,27.26
$GC,6772,-1.05,-194.6,2320,2702,3682,3576,945.2,-13.4,341,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2702,3628,3680,3576,0,0,0,0,0,0,27.35,27.42,27.41
$GC,7073,-1.05,-194.6,2319,2700,3680,3577,985.9,-13.6,351,7080,0.00,1.70,0.00,0.000,260,0.000,0.043,2319,3845,3628,3680,3576,0,0,0,0,0,0,27.35,27.17,27.42
$STATE,7103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7103,begin apogee
$GC,7108,-0.25,0.0,2320,2797,3681,3578,990.6,-13.8,352,7291,0.73,0.00,170.57,1.540,10246,0.123,0.000,2556,2796,2839,2879,2799,0,0,0,0,1,0,27.08,24.51,23.63
$STATE,7292,end apogee,CONTROL_FINISHED_OK
$STATE,7292,begin climb
$GC,7293,0.92,194.6,2557,2797,2891,2801,1002.7,0.0,358,7476,1.08,2.20,169.02,1.081,11012,0.060,0.022,2944,1403,2035,2074,1997,0,0,0,0,0,0,24.80,24.44,23.97
$GC,7646,0.89,258.7,2944,1405,2064,1985,993.3,8.6,370,7711,0.00,2.15,55.25,1.048,9222,0.000,0.028,2944,2798,1780,1822,1738,0,0,0,0,0,0,25.82,25.77,24.27
$GC,8006,0.86,258.7,2944,2799,1803,1714,952.7,11.7,382,8013,0.00,1.62,0.00,0.000,260,0.000,0.042,2943,3851,1757,1802,1713,0,0,0,0,0,0,26.22,26.04,26.28
$GC,8077,0.81,258.7,2944,3852,1800,1713,944.7,12.4,384,8085,0.10,1.52,0.00,0.000,5126,0.207,0.024,2926,2778,1756,1801,1712,0,0,0,0,0,0,26.02,26.19,26.17
$GC,8399,0.80,258.7,2926,2779,1801,1711,907.3,11.6,395,8406,0.00,1.65,0.00,0.000,260,0.000,0.042,2925,3850,1755,1800,1711,0,0,0,0,0,0,26.59,26.42,26.67
$GC,8466,0.77,258.7,2925,3851,1800,1712,899.3,12.4,397,8474,0.08,1.50,0.00,0.000,5126,0.213,0.026,2918,2783,1755,1800,1710,0,0,0,0,0,0,26.36,26.52,26.50
$GC,8793,0.77,258.7,2918,2782,1801,1710,860.8,11.3,408,8802,0.00,1.62,0.00,0.000,260,0.000,0.043,2918,3851,1754,1799,1710,0,0,0,0,0,0,26.79,26.62,26.87
$GC,8846,0.77,258.7,2918,3852,1800,1710,856.8,11.5,409,8853,0.00,1.52,0.00,0.000,1030,0.000,0.026,2919,2784,1755,1800,1710,0,0,0,0,0,0,26.71,26.70,26.73
$GC,9157,0.78,276.9,2920,2784,1800,1710,821.2,10.3,420,9179,0.00,1.65,13.43,0.942,8452,0.000,0.044,2918,3854,1704,1749,1660,0,0,0,0,0,0,26.91,26.42,25.84
$GC,9234,0.76,289.6,2919,3855,1742,1652,814.5,10.5,422,9245,0.00,1.50,4.32,0.789,9222,0.000,0.025,2918,2772,1661,1706,1616,0,0,0,0,0,0,26.60,26.57,25.70
$GC,9544,0.76,297.0,2919,2773,1728,1627,779.3,10.7,432,9567,0.00,1.75,15.35,0.954,8452,0.000,0.042,2919,3859,1626,1675,1577,0,0,0,0,0,0,26.79,26.27,25.67
$GC,9646,0.76,297.0,2919,3859,1660,1564,768.9,11.7,435,9655,0.00,1.50,0.00,0.000,1030,0.000,0.025,2919,2784,1611,1659,1564,0,0,0,0,0,0,26.48,26.46,26.51
$GC,9964,0.76,297.6,2919,2785,1659,1565,732.1,11.0,446,9971,0.00,1.65,0.00,0.000,260,0.000,0.042,2919,3845,1610,1657,1564,0,0,0,0,0,0,26.78,26.61,26.84
$GC,10040,0.76,297.6,2919,3844,1658,1563,724.7,11.6,448,10048,0.00,1.48,0.00,0.000,1030,0.000,0.026,2919,2817,1610,1657,1563,0,0,0,0,0,0,26.74,26.70,26.75
$GC,10357,0.76,303.4,2918,2818,1658,1564,687.9,10.8,459,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2817,1609,1657,1562,0,0,0,0,0,0,26.92,27.00,26.98
$GC,10657,0.76,323.5,2919,2817,1657,1562,657.1,10.2,469,10691,0.00,0.00,25.17,0.869,8198,0.000,0.000,2919,2817,1511,1558,1464,0,0,0,0,0,0,27.00,26.16,25.78
$GC,10987,0.77,332.8,2918,2818,1548,1453,622.2,10.6,480,10994,0.00,0.00,2.12,0.289,8198,0.000,0.000,2919,2817,1479,1527,1432,0,0,0,0,0,0,26.77,26.47,25.74
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$STATE,16210,end climb,SURFACE_DEPTH_REACHED
$STATE,16210,begin surface coast
$FINISH,0.4,1.010657
$STATE,16231,end surface coast,CONTROL_FINISHED_OK
$STATE,16231,begin surface
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$IRIDIUM_FIX,5825.43,-14700.14,090508,224748
$TT8_MAMPS,0.166278,0.166278
$HUMID,38.62
$INTERNAL_PRESSURE,8.7557
$TCM_TEMP,17.80
$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,16260.25 7739.05
$PA_BOOTCOUNT,326
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$PA_HOME,0.01/0.187/27.046/25.485
$PA_DISK_BANK,1
$24V_AH,23.63,4.054
$10V_AH,10.00,14.004
$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
$DEVICE_SECS,18.075,101.625,578.050,0.000,0.000,0.000,0.000,210.025,0.250,0.000,43.320,0.000,12835.270,612.832,3050.456,129.481,0.000,2156.225,0.000,1724.124,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.962,0.000,0.000,0.000
$MEM,187108
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$CAP_FILE_SIZE,148325,0
$CFSIZE,1024393216,994197504
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,13,0
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