version: 66.12
glider: 203
mission: 8
dive: 30
start: 7 15 115 16 52 51
data:
$ID,203
$MISSION,8
$DIVE,30
$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,106
$R_STBD_OVSHOOT,50
$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
$GPS1,150715,164558,5837.2510,-14649.4893,40,1.1,41,18.1,0.0,0.0,8,8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.1
$GPS2,150715,165239,5837.2900,-14649.4717,6,1.0,10,18.1,0.0,122.9,9,9.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,136.6,28982,-18.0,-11.000,-19.55,2718
$D_GRID,3562
$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,-194.6,199,2809,692,547,0.0,0.0,0,167,0.00,0.00,-63.17,0.000,16386,0.000,0.000,197,2809,2307,2338,2276,0,0,0,0,0,0,26.89,28.83,26.96
$GC,169,-0.92,-194.6,198,2809,2340,2276,3.2,-4.7,9,224,8.23,1.60,-25.27,0.000,18692,0.238,0.063,2330,3845,3639,3701,3577,0,0,0,0,0,0,26.52,25.89,26.74
$GC,324,-0.85,-194.6,2330,3845,3702,3573,41.4,-20.9,34,335,0.12,1.58,0.00,0.000,3078,0.168,0.023,2361,2692,3638,3702,3574,0,0,0,0,0,0,26.65,26.83,26.77
$GC,640,-0.84,-194.6,2361,2693,3702,3578,98.2,-14.4,69,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2692,3639,3701,3577,0,0,0,0,0,0,27.02,27.09,27.09
$GC,940,-0.84,-194.6,2360,2693,3702,3581,141.1,-15.0,99,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2692,3639,3702,3577,0,0,0,0,0,0,27.08,27.16,27.15
$GC,1242,-0.85,-194.6,2361,2692,3703,3577,186.8,-13.4,129,1250,0.00,1.75,0.00,0.000,260,0.000,0.041,2355,3858,3640,3702,3578,0,0,0,0,0,0,27.13,26.96,27.20
$GC,1274,-0.85,-194.6,2355,3860,3702,3579,191.5,-13.4,132,1282,0.00,1.62,0.00,0.000,1030,0.000,0.022,2355,2705,3639,3701,3578,0,0,0,0,0,0,27.05,27.03,27.06
$GC,1586,-0.85,-194.6,2355,2706,3702,3579,234.3,-13.4,163,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2705,3639,3701,3577,0,0,0,0,0,0,27.20,27.24,27.23
$GC,1886,-0.85,-194.6,2355,2706,3700,3579,273.5,-13.0,181,1894,0.00,1.70,0.00,0.000,260,0.000,0.041,2348,3845,3638,3699,3578,0,0,0,0,0,0,27.20,27.02,27.27
$GC,1918,-0.85,-194.6,2348,3846,3700,3578,277.8,-13.1,182,1925,0.00,1.58,0.00,0.000,1030,0.000,0.024,2348,2707,3634,3693,3576,0,0,0,0,0,0,27.12,27.09,27.13
$GC,2249,-0.85,-194.6,2347,2706,3699,3577,321.7,-13.3,193,2257,0.00,1.75,0.00,0.000,260,0.000,0.041,2340,3874,3637,3697,3577,0,0,0,0,0,0,27.23,27.05,27.29
$GC,2306,-0.85,-194.6,2340,3875,3697,3579,326.1,-13.3,194,2316,0.10,1.62,0.00,0.000,3078,0.166,0.024,2363,2693,3637,3698,3577,0,0,0,0,0,0,26.97,27.13,27.08
$GC,2611,-0.88,-194.6,2363,2692,3697,3576,364.0,-11.0,205,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2693,3636,3695,3577,0,0,0,0,0,0,27.25,27.32,27.32
$GC,2911,-0.92,-194.6,2363,2694,3694,3578,396.8,-11.0,215,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2693,3635,3693,3577,0,0,0,0,0,0,27.27,27.34,27.33
$GC,3211,-0.95,-194.6,2363,2693,3693,3571,430.4,-11.2,225,3220,0.00,1.73,0.00,0.000,260,0.000,0.041,2362,3849,3634,3692,3577,0,0,0,0,0,0,27.28,27.10,27.34
$GC,3249,-0.98,-194.6,2362,3850,3692,3579,434.4,-11.4,226,3256,0.00,1.58,0.00,0.000,1030,0.000,0.024,2362,2711,3634,3691,3577,0,0,0,0,0,0,27.20,27.17,27.21
$GC,3576,-1.02,-194.6,2362,2710,3691,3576,474.2,-12.0,237,3581,0.08,0.00,0.00,0.000,4102,0.130,0.000,2312,2711,3636,3689,3584,0,0,0,0,0,0,27.15,27.21,27.20
$GC,3876,-1.00,-194.6,2313,2710,3689,3577,517.8,-14.8,247,3883,0.00,1.70,0.00,0.000,260,0.000,0.041,2306,3854,3633,3689,3577,0,0,0,0,0,0,27.30,27.13,27.37
$GC,3917,-0.98,-194.6,2306,3856,3689,3579,522.6,-14.7,248,3925,0.00,1.60,0.00,0.000,1030,0.000,0.024,2306,2685,3632,3687,3578,0,0,0,0,0,0,27.22,27.20,27.23
$GC,4239,-0.96,-194.6,2306,2686,3687,3578,571.2,-14.4,259,4247,0.10,1.75,0.00,0.000,2308,0.177,0.039,2323,3857,3632,3687,3577,0,0,0,0,0,0,27.05,27.14,27.19
$GC,4306,-0.96,-194.6,2323,3859,3688,3578,580.1,-14.3,261,4313,0.00,1.58,0.00,0.000,1030,0.000,0.024,2323,2701,3631,3686,3577,0,0,0,0,0,0,27.23,27.20,27.24
$GC,4632,-0.96,-194.6,2322,2700,3687,3577,627.9,-14.8,272,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2701,3631,3686,3577,0,0,0,0,0,0,27.32,27.40,27.39
$GC,4932,-0.96,-194.6,2323,2700,3686,3577,672.7,-14.8,282,4940,0.00,1.70,0.00,0.000,260,0.000,0.042,2319,3845,3631,3686,3577,0,0,0,0,0,0,27.33,27.15,27.39
$GC,4973,-0.96,-194.6,2319,3844,3686,3577,677.6,-14.9,283,4982,0.00,1.58,0.00,0.000,1030,0.000,0.024,2320,2710,3631,3685,3577,0,0,0,0,0,0,27.24,27.22,27.26
$GC,5296,-0.96,-194.6,2320,2711,3684,3578,727.4,-14.8,294,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2711,3630,3683,3577,0,0,0,0,0,0,27.34,27.41,27.40
$GC,5596,-0.96,-194.6,2320,2710,3683,3577,770.3,-14.1,304,5604,0.00,1.70,0.00,0.000,260,0.000,0.043,2320,3848,3629,3682,3577,0,0,0,0,0,0,27.34,27.16,27.41
$GC,5643,-0.96,-194.6,2319,3847,3683,3577,774.7,-14.0,305,5650,0.00,1.60,0.00,0.000,1030,0.000,0.024,2319,2692,3631,3681,3582,0,0,0,0,0,0,27.26,27.23,27.27
$GC,5959,-0.96,-194.6,2319,2692,3682,3577,819.2,-13.4,316,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2692,3629,3681,3577,0,0,0,0,0,0,27.34,27.43,27.41
$GC,6259,-0.96,-194.6,2320,2693,3681,3578,859.0,-13.5,326,6267,0.00,1.73,0.00,0.000,260,0.000,0.042,2318,3848,3628,3680,3577,0,0,0,0,0,0,27.35,27.17,27.41
$GC,6286,-0.96,-194.6,2320,3850,3681,3579,859.0,-13.5,326,6296,0.00,1.60,0.00,0.000,1030,0.000,0.025,2319,2701,3628,3680,3577,0,0,0,0,0,0,27.26,27.23,27.27
$GC,6591,-0.96,-194.6,2319,2702,3681,3578,903.9,-13.5,337,6599,0.00,2.00,0.00,0.000,516,0.000,0.025,2319,1306,3629,3680,3578,0,0,0,0,0,0,27.35,27.20,27.42
$GC,6623,-0.96,-194.6,2319,1307,3680,3579,908.3,-13.5,338,6631,0.00,2.03,0.00,0.000,1030,0.000,0.029,2319,2698,3628,3679,3577,0,0,0,0,0,0,27.24,27.20,27.26
$GC,6950,-0.96,-194.6,2320,2698,3679,3577,953.1,-13.9,349,6957,0.00,1.73,0.00,0.000,260,0.000,0.043,2319,3843,3627,3678,3577,0,0,0,0,0,0,27.36,27.17,27.42
$GC,6986,-0.96,-194.6,2319,3843,3679,3577,957.3,-13.8,350,6994,0.00,1.62,0.00,0.000,1030,0.000,0.025,2319,2709,3627,3677,3577,0,0,0,0,0,0,27.24,27.24,27.27
$STATE,7222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7222,begin apogee
$GC,7225,-0.25,0.0,2320,2812,3678,3576,990.4,-13.8,358,7407,0.73,0.00,167.57,1.500,10246,0.127,0.000,2554,2813,2843,2887,2799,0,0,0,0,1,0,27.08,24.56,23.70
$STATE,7408,end apogee,CONTROL_FINISHED_OK
$STATE,7408,begin climb
$GC,7410,0.92,194.6,2555,2813,2893,2801,1002.2,0.0,364,7589,1.08,2.25,165.90,1.087,11012,0.060,0.022,2942,1405,2036,2074,1998,0,0,0,0,0,0,24.87,24.41,23.94
$GC,7729,0.89,286.5,2943,1406,2068,1990,997.3,7.5,374,7820,0.00,2.12,78.82,1.064,9222,0.000,0.028,2943,2789,1668,1712,1625,0,0,0,0,0,0,25.69,25.66,24.06
$GC,8129,0.86,286.5,2942,2790,1694,1602,949.7,12.2,388,8136,0.00,1.67,0.00,0.000,260,0.000,0.041,2943,3845,1647,1693,1601,0,0,0,0,0,0,26.17,26.00,26.23
$GC,8185,0.83,286.5,2942,3844,1695,1600,945.7,12.3,389,8195,0.00,1.52,0.00,0.000,1030,0.000,0.024,2945,2769,1646,1693,1600,0,0,0,0,0,0,26.16,26.13,26.18
$GC,8490,0.79,286.5,2944,2768,1692,1599,904.7,12.3,400,8498,0.12,1.65,0.00,0.000,4356,0.196,0.039,2918,3850,1646,1693,1599,0,0,0,0,0,0,26.27,26.36,26.34
$GC,8522,0.76,286.5,2913,3852,1693,1598,900.8,12.3,401,8529,0.00,1.50,0.00,0.000,1030,0.000,0.024,2917,2781,1645,1692,1598,0,0,0,0,0,0,26.48,26.43,26.50
$GC,8853,0.76,286.5,2917,2780,1693,1598,863.9,11.3,412,8864,0.00,2.00,0.00,0.000,516,0.000,0.028,2918,1425,1645,1692,1598,0,0,0,0,0,0,26.75,26.60,26.82
$GC,8893,0.76,286.5,2918,1425,1693,1598,860.6,11.2,413,8900,0.00,2.05,0.00,0.000,1030,0.000,0.029,2918,2800,1645,1692,1598,0,0,0,0,0,0,26.66,26.61,26.68
$GC,9209,0.76,286.5,2918,2802,1693,1599,823.7,11.2,424,9218,0.00,1.62,0.00,0.000,260,0.000,0.043,2918,3853,1644,1691,1598,0,0,0,0,0,0,26.88,26.70,26.95
$GC,9237,0.76,286.5,2918,3852,1695,1597,823.7,11.2,424,9247,0.00,1.50,0.00,0.000,1030,0.000,0.025,2925,2769,1644,1691,1597,0,0,0,0,0,0,26.80,26.77,26.82
$GC,9543,0.76,286.5,2925,2769,1692,1600,784.4,12.3,435,9551,0.00,1.65,0.00,0.000,260,0.000,0.043,2925,3857,1644,1691,1597,0,0,0,0,0,0,26.96,26.79,27.03
$GC,9620,0.74,286.5,2925,3857,1692,1597,776.2,11.9,437,9627,0.12,1.50,0.00,0.000,5126,0.187,0.024,2903,2765,1644,1691,1597,0,0,0,0,0,0,26.70,26.87,26.84
$GC,9936,0.74,303.4,2903,2766,1691,1598,740.6,10.4,448,9957,0.00,1.70,12.85,0.902,8452,0.000,0.042,2903,3845,1595,1642,1548,0,0,0,0,0,0,27.03,26.56,25.97
$GC,9981,0.75,318.5,2903,3847,1636,1542,737.3,10.4,449,10004,0.00,1.48,14.00,0.940,9222,0.000,0.026,2906,2822,1535,1581,1489,0,0,0,0,0,0,26.73,26.69,25.70
$GC,10329,0.75,318.5,2906,2821,1573,1473,695.9,11.6,461,10338,0.00,2.08,0.00,0.000,516,0.000,0.026,2914,1410,1522,1571,1474,0,0,0,0,0,0,26.77,26.63,26.84
$GC,10362,0.75,318.5,2915,1411,1572,1475,692.0,11.5,462,10370,0.00,2.08,0.00,0.000,1030,0.000,0.029,2915,2802,1522,1571,1474,0,0,0,0,0,0,26.67,26.63,26.70
$GC,10689,0.75,318.5,2916,2802,1572,1472,652.6,12.0,473,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2801,1521,1571,1472,0,0,0,0,0,0,26.91,26.98,26.98
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$STATE,16232,end climb,SURFACE_DEPTH_REACHED
$STATE,16232,begin surface coast
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$STATE,16252,end surface coast,CONTROL_FINISHED_OK
$STATE,16252,begin surface
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$IRIDIUM_FIX,5813.11,-14643.83,110508,061535
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16281.20 7690.47
$PA_BOOTCOUNT,333
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$PA_DISK_BANK,1
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$10V_AH,9.97,18.764
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$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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$MEM,187164
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