version: 66.12
glider: 203
mission: 8
dive: 26
start: 7 14 115 22 53 0
data:
$ID,203
$MISSION,8
$DIVE,26
$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,87
$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
$GPS1,140715,224734,5845.4370,-14656.0859,39,0.8,40,18.1,0.5,300.7,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.3
$GPS2,140715,225248,5845.4639,-14656.2139,5,0.9,12,18.1,0.5,261.5,9,8.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,114.7,45324,-18.0,-11.000,-19.55,2718
$D_GRID,2029
$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,-194.6,199,2705,762,626,0.0,0.0,0,154,0.00,0.00,-54.30,0.000,16386,0.000,0.000,194,2704,2134,2169,2100,0,0,0,0,0,0,26.73,28.83,26.81
$GC,156,-0.92,-194.6,194,2704,2171,2100,3.1,-5.0,9,209,8.30,1.75,-34.78,0.000,18692,0.237,0.056,2330,3856,3633,3699,3568,0,0,0,0,0,0,26.36,26.10,26.56
$GC,217,-0.58,-194.6,2331,3857,3700,3568,13.8,-16.8,15,224,0.40,1.62,0.00,0.000,3078,0.142,0.022,2449,2690,3634,3699,3569,0,0,0,0,0,0,26.47,26.65,26.59
$GC,529,-0.64,-194.6,2449,2689,3701,3573,51.4,-10.3,76,536,0.00,1.98,0.00,0.000,516,0.000,0.024,2450,1324,3636,3699,3574,0,0,0,0,0,0,26.90,26.74,26.96
$GC,610,-0.72,-194.6,2450,1324,3700,3574,59.5,-10.0,83,621,0.00,2.05,0.00,0.000,1030,0.000,0.028,2444,2710,3637,3700,3574,0,0,0,0,0,0,26.81,26.76,26.83
$GC,916,-0.80,-194.6,2444,2711,3700,3576,89.7,-9.3,114,924,0.12,1.70,0.00,0.000,4356,0.086,0.040,2361,3853,3637,3699,3575,0,0,0,0,0,0,26.87,26.82,26.89
$GC,949,-0.83,-194.6,2361,3853,3701,3575,93.5,-10.7,117,957,0.00,1.62,0.00,0.000,1030,0.000,0.024,2360,2719,3638,3699,3578,0,0,0,0,0,0,26.91,26.90,26.93
$GC,1261,-0.83,-194.6,2361,2719,3701,3575,138.6,-15.6,148,1269,0.00,2.03,0.00,0.000,516,0.000,0.024,2361,1311,3637,3700,3575,0,0,0,0,0,0,27.07,26.91,27.14
$GC,1303,-0.83,-194.6,2361,1310,3701,3575,145.1,-15.8,152,1312,0.08,2.05,0.00,0.000,3078,0.191,0.028,2367,2711,3637,3700,3575,0,0,0,0,0,0,26.81,26.92,26.92
$GC,1616,-0.86,-194.6,2367,2713,3700,3577,189.1,-13.2,183,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2711,3637,3699,3575,0,0,0,0,0,0,27.13,27.20,27.19
$GC,1917,-0.88,-194.6,2367,2712,3700,3577,227.3,-12.9,213,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2712,3637,3699,3575,0,0,0,0,0,0,27.16,27.23,27.22
$GC,2227,-0.91,-194.6,2366,2713,3699,3576,265.3,-12.0,236,2234,0.00,2.03,0.00,0.000,516,0.000,0.024,2367,1320,3636,3698,3575,0,0,0,0,0,0,27.19,27.03,27.25
$GC,2268,-0.94,-194.6,2367,1313,3699,3575,269.1,-12.0,237,2276,0.00,2.05,0.00,0.000,1030,0.000,0.029,2363,2704,3636,3698,3575,0,0,0,0,0,0,27.08,27.03,27.10
$GC,2585,-0.97,-194.6,2363,2705,3698,3576,308.6,-12.6,248,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2704,3635,3696,3575,0,0,0,0,0,0,27.22,27.29,27.28
$GC,2885,-0.99,-194.6,2363,2704,3697,3575,348.0,-13.3,258,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2704,3635,3695,3575,0,0,0,0,0,0,27.24,27.32,27.30
$GC,3185,-1.02,-194.6,2363,2705,3694,3577,386.1,-12.3,268,3190,0.10,0.00,0.00,0.000,4102,0.103,0.000,2302,2704,3634,3693,3576,0,0,0,0,0,0,27.11,27.17,27.15
$GC,3485,-1.00,-194.6,2302,2704,3693,3575,432.3,-15.4,278,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2704,3632,3690,3575,0,0,0,0,0,0,27.27,27.34,27.34
$GC,3785,-0.98,-194.6,2302,2706,3691,3577,478.1,-15.2,288,3793,0.10,2.00,0.00,0.000,2564,0.177,0.023,2324,1315,3632,3690,3575,0,0,0,0,0,0,27.03,27.13,27.13
$GC,3827,-0.96,-194.6,2324,1316,3691,3575,481.9,-15.1,289,3834,0.00,2.03,0.00,0.000,1030,0.000,0.028,2322,2703,3632,3690,3575,0,0,0,0,0,0,27.17,27.13,27.20
$GC,4139,-0.96,-194.6,2321,2704,3689,3576,525.2,-12.9,300,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2703,3632,3689,3575,0,0,0,0,0,0,27.29,27.37,27.36
$GC,4438,-0.96,-194.6,2322,2704,3688,3577,564.1,-13.0,310,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2703,3631,3688,3575,0,0,0,0,0,0,27.31,27.38,27.37
$GC,4739,-0.96,-194.6,2322,2699,3687,3577,604.4,-13.6,320,4746,0.00,1.67,0.00,0.000,260,0.000,0.043,2320,3847,3633,3686,3581,0,0,0,0,0,0,27.32,27.13,27.38
$GC,4780,-0.96,-194.6,2320,3847,3688,3575,609.0,-13.8,321,4787,0.00,1.60,0.00,0.000,1030,0.000,0.024,2319,2690,3631,3687,3575,0,0,0,0,0,0,27.23,27.20,27.24
$GC,5101,-0.96,-194.6,2320,2689,3687,3575,654.7,-13.7,332,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2690,3630,3686,3575,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5401,-0.96,-194.6,2319,2691,3687,3576,694.7,-13.1,342,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2689,3634,3686,3582,0,0,0,0,0,0,27.33,27.41,27.39
$GC,5701,-0.96,-194.6,2320,2690,3685,3576,733.6,-13.0,352,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2689,3629,3684,3575,0,0,0,0,0,0,27.33,27.41,27.41
$GC,6001,-0.96,-194.6,2320,2691,3684,3576,772.4,-12.8,362,6008,0.00,1.77,0.00,0.000,260,0.000,0.044,2319,3869,3628,3682,3574,0,0,0,0,0,0,27.34,27.16,27.40
$GC,6037,-0.96,-194.6,2319,3870,3682,3577,776.5,-12.9,363,6044,0.00,1.67,0.00,0.000,1030,0.000,0.025,2320,2698,3629,3683,3575,0,0,0,0,0,0,27.24,27.23,27.25
$GC,6364,-0.96,-194.6,2320,2698,3682,3577,818.4,-12.7,374,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2697,3628,3681,3575,0,0,0,0,0,0,27.34,27.42,27.41
$GC,6664,-0.96,-194.6,2320,2698,3682,3576,856.7,-12.8,384,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2697,3627,3680,3575,0,0,0,0,0,0,27.35,27.43,27.41
$GC,6964,-0.96,-194.6,2319,2698,3681,3577,896.7,-13.2,394,6972,0.00,1.73,0.00,0.000,260,0.000,0.044,2320,3855,3627,3680,3575,0,0,0,0,0,0,27.36,27.17,27.42
$GC,7015,-0.96,-194.6,2320,3854,3682,3574,900.8,-13.0,395,7022,0.00,1.60,0.00,0.000,1030,0.000,0.024,2320,2689,3627,3680,3575,0,0,0,0,0,0,27.27,27.24,27.29
$GC,7326,-0.96,-194.6,2320,2690,3681,3577,941.6,-12.3,406,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2689,3627,3679,3575,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7626,-0.96,-194.6,2320,2690,3679,3577,979.9,-12.5,416,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2689,3626,3678,3575,0,0,0,0,0,0,27.36,27.43,27.43
$STATE,7715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7715,begin apogee
$GC,7719,-0.25,0.0,2320,2810,3679,3576,991.0,-12.4,419,7904,0.73,0.00,171.77,1.566,10246,0.128,0.000,2554,2809,2839,2880,2798,0,0,0,0,1,0,27.08,24.49,23.62
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7904,begin climb
$GC,7906,0.92,194.6,2555,2809,2892,2797,1000.0,0.0,425,8089,1.08,2.20,168.95,1.073,11012,0.063,0.023,2932,1423,2035,2075,1996,0,0,0,0,0,0,24.80,24.41,23.95
$GC,8229,0.90,241.8,2932,1424,2065,1985,988.8,9.2,436,8280,0.00,2.10,40.72,1.041,9222,0.000,0.029,2932,2785,1850,1893,1808,0,0,0,0,0,0,25.69,25.66,24.34
$GC,8590,0.87,241.8,2932,2785,1875,1784,949.1,11.0,448,8598,0.00,1.65,0.00,0.000,260,0.000,0.042,2932,3854,1829,1874,1784,0,0,0,0,0,0,26.23,26.06,26.29
$GC,8642,0.84,241.8,2931,3854,1874,1783,945.3,11.1,449,8649,0.00,1.50,0.00,0.000,1030,0.000,0.025,2932,2795,1828,1873,1783,0,0,0,0,0,0,26.21,26.18,26.22
$GC,8954,0.82,246.7,2932,2795,1873,1782,909.6,10.8,460,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2796,1827,1872,1783,0,0,0,0,0,0,26.58,26.65,26.65
$GC,9254,0.79,263.4,2932,2796,1872,1781,878.0,10.4,470,9279,0.00,1.70,17.10,0.995,8452,0.000,0.043,2932,3857,1757,1801,1714,0,0,0,0,0,0,26.74,26.15,25.54
$GC,9389,0.75,263.4,2932,3859,1793,1705,864.3,11.5,474,9398,0.12,1.50,0.00,0.000,5126,0.187,0.025,2905,2785,1748,1793,1704,0,0,0,0,0,0,26.23,26.40,26.38
$GC,9707,0.75,297.7,2904,2784,1793,1701,831.3,9.7,485,9747,0.00,1.75,31.08,0.959,8452,0.000,0.043,2905,3858,1617,1663,1572,0,0,0,0,0,0,26.73,25.91,25.32
$GC,9751,0.75,328.3,2904,3858,1659,1565,828.2,9.8,486,9788,0.00,1.50,28.58,0.939,9222,0.000,0.026,2906,2814,1500,1547,1454,0,0,0,0,0,0,26.07,26.03,24.90
$GC,10098,0.77,328.3,2906,2813,1524,1428,786.6,12.0,498,10106,0.00,2.10,0.00,0.000,516,0.000,0.028,2906,1420,1477,1526,1428,0,0,0,0,0,0,26.45,26.30,26.52
$GC,10140,0.79,328.3,2907,1421,1527,1430,782.8,11.9,499,10148,0.00,2.10,0.00,0.000,1030,0.000,0.029,2906,2804,1477,1526,1428,0,0,0,0,0,0,26.39,26.34,26.41
$GC,10463,0.81,328.3,2906,2804,1526,1426,745.1,11.3,510,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2804,1475,1524,1426,0,0,0,0,0,0,26.72,26.80,26.79
$GC,10763,0.83,330.4,2907,2805,1526,1426,711.9,10.9,520,10772,0.00,2.05,0.00,0.000,516,0.000,0.028,2907,1415,1474,1524,1425,0,0,0,0,0,0,26.85,26.70,26.92
$GC,10796,0.86,337.5,2907,1416,1525,1427,708.5,10.7,521,10804,0.00,2.08,0.00,0.000,1030,0.000,0.029,2907,2810,1474,1524,1425,0,0,0,0,0,0,26.75,26.70,26.77
$GC,11123,0.88,337.5,2908,2811,1525,1426,672.1,11.0,532,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2811,1474,1523,1425,0,0,0,0,0,0,26.95,27.03,27.01
$GC,11423,0.91,339.0,2907,2812,1524,1426,639.3,10.9,542,11435,0.05,2.10,2.47,0.390,10756,0.175,0.027,2945,1418,1453,1503,1404,0,0,0,0,0,0,26.88,26.75,26.02
$GC,11469,0.93,339.0,2945,1418,1518,1408,635.5,11.0,543,11477,0.00,2.05,0.00,0.000,1030,0.000,0.030,2945,2802,1463,1517,1409,0,0,0,0,0,0,26.89,26.84,26.91
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$STATE,16806,end climb,SURFACE_DEPTH_REACHED
$STATE,16806,begin surface coast
$FINISH,0.5,1.014042
$STATE,16820,end surface coast,CONTROL_FINISHED_OK
$STATE,16820,begin surface
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$IRIDIUM_FIX,5821.32,-14655.44,100508,121527
$TT8_MAMPS,0.165529,0.165529
$HUMID,38.62
$INTERNAL_PRESSURE,8.7743
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$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,16850.36 7945.31
$PA_BOOTCOUNT,329
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$PA_DISK_BANK,1
$24V_AH,23.62,4.573
$10V_AH,9.97,16.065
$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,23.970,0.000,0.000,0.000,0.000,0.000,138.318,0.000,0.000,0.000
$MEM,187168
$DATA_FILE_SIZE,40098,923
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$CFSIZE,1024393216,993918976
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