version: 66.12
glider: 203
mission: 8
dive: 35
start: 7 16 115 15 58 17
data:
$ID,203
$MISSION,8
$DIVE,35
$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,80
$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
$GPS1,160715,155251,5826.9146,-14646.0127,39,0.8,39,18.1,0.6,109.3,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-55.4
$GPS2,160715,155806,5826.9453,-14645.9844,6,0.8,13,18.1,0.7,308.4,10,8.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,131.4,9645,-18.0,-11.000,-19.55,2718
$D_GRID,1000
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.92,-194.6,198,2709,780,647,0.0,0.0,0,158,0.00,0.00,-53.53,0.000,16386,0.000,0.000,197,2708,2116,2150,2083,0,0,0,0,0,0,26.70,28.83,26.78
$GC,160,-0.92,-194.6,197,2710,2153,2085,3.1,-4.6,8,212,8.27,2.08,-33.25,0.000,18948,0.238,0.042,2336,1307,3635,3701,3570,0,0,0,0,0,0,26.34,25.70,26.54
$GC,223,-0.73,-194.6,2336,1307,3702,3572,16.3,-19.6,16,231,0.25,2.08,0.00,0.000,3078,0.155,0.028,2399,2701,3640,3708,3572,0,0,0,0,0,0,26.42,26.58,26.57
$GC,542,-0.73,-194.6,2399,2701,3702,3581,68.9,-15.4,66,549,0.00,1.73,0.00,0.000,260,0.000,0.042,2398,3857,3643,3709,3577,0,0,0,0,0,0,26.89,26.70,26.94
$GC,608,-0.75,-194.6,2399,3858,3702,3579,78.8,-15.9,72,619,0.00,1.62,0.00,0.000,1030,0.000,0.021,2398,2676,3639,3701,3578,0,0,0,0,0,0,26.82,26.79,26.84
$GC,914,-0.80,-194.6,2399,2677,3702,3581,123.5,-12.2,103,922,0.00,1.77,0.00,0.000,260,0.000,0.042,2398,3852,3640,3701,3580,0,0,0,0,0,0,26.99,26.80,27.05
$GC,967,-0.85,-194.6,2399,3852,3702,3579,129.4,-11.3,108,974,0.00,1.62,0.00,0.000,1030,0.000,0.023,2399,2711,3640,3701,3580,0,0,0,0,0,0,26.90,26.89,26.92
$GC,1278,-0.91,-194.6,2399,2713,3702,3581,161.5,-10.1,139,1286,0.10,1.70,0.00,0.000,4356,0.097,0.038,2330,3847,3640,3701,3580,0,0,0,0,0,0,26.92,26.88,26.96
$GC,1325,-0.91,-194.6,2330,3850,3703,3579,167.2,-13.8,143,1336,0.00,1.60,0.00,0.000,1030,0.000,0.024,2326,2687,3640,3701,3580,0,0,0,0,0,0,26.98,26.94,26.99
$GC,1630,-0.91,-194.6,2331,2689,3702,3581,217.2,-15.9,174,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2687,3640,3701,3580,0,0,0,0,0,0,27.11,27.18,27.17
$GC,1930,-0.91,-194.6,2331,2688,3701,3581,264.3,-15.6,198,1937,0.00,1.95,0.00,0.000,516,0.000,0.024,2331,1324,3639,3700,3579,0,0,0,0,0,0,27.15,26.99,27.21
$GC,1961,-0.91,-194.6,2330,1324,3701,3579,268.5,-15.6,199,1969,0.10,2.03,0.00,0.000,3078,0.179,0.027,2344,2710,3639,3700,3579,0,0,0,0,0,0,26.86,26.99,26.99
$GC,2284,-0.91,-194.6,2344,2711,3700,3581,315.3,-14.2,210,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2710,3639,3698,3580,0,0,0,0,0,0,27.17,27.24,27.24
$GC,2584,-0.92,-194.6,2344,2711,3698,3581,355.6,-12.9,220,2591,0.00,1.67,0.00,0.000,260,0.000,0.041,2338,3847,3637,3696,3579,0,0,0,0,0,0,27.20,27.02,27.27
$GC,2625,-0.92,-194.6,2339,3847,3698,3579,359.7,-12.8,221,2632,0.00,1.58,0.00,0.000,1030,0.000,0.024,2339,2702,3637,3696,3579,0,0,0,0,0,0,27.12,27.09,27.13
$GC,2946,-0.92,-194.6,2339,2702,3695,3579,404.7,-13.9,232,2954,0.00,1.98,0.00,0.000,516,0.000,0.024,2339,1326,3636,3694,3579,0,0,0,0,0,0,27.22,27.07,27.29
$GC,2982,-0.92,-194.6,2339,1326,3694,3581,409.2,-14.0,233,2990,0.00,2.03,0.00,0.000,1030,0.000,0.028,2332,2707,3636,3694,3579,0,0,0,0,0,0,27.12,27.07,27.13
$GC,3309,-0.92,-194.6,2332,2707,3694,3579,457.4,-14.5,244,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2707,3636,3693,3579,0,0,0,0,0,0,27.24,27.32,27.34
$GC,3609,-0.92,-194.6,2332,2708,3692,3581,501.0,-14.4,254,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2707,3635,3691,3580,0,0,0,0,0,0,27.26,27.33,27.32
$GC,3909,-0.92,-194.6,2338,2707,3691,3579,544.1,-14.1,264,3916,0.00,1.67,0.00,0.000,260,0.000,0.041,2323,3849,3634,3690,3579,0,0,0,0,0,0,27.27,27.09,27.33
$GC,3940,-0.92,-194.6,2324,3850,3690,3581,548.5,-14.2,265,3948,0.08,1.58,0.00,0.000,3078,0.184,0.024,2337,2705,3636,3694,3579,0,0,0,0,0,0,27.01,27.16,27.12
$GC,4272,-0.94,-194.6,2337,2707,3689,3581,593.5,-13.6,276,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2705,3633,3688,3579,0,0,0,0,0,0,27.29,27.36,27.34
$GC,4572,-0.96,-194.6,2337,2705,3688,3579,634.9,-13.8,286,4579,0.00,1.70,0.00,0.000,260,0.000,0.043,2335,3845,3631,3687,3575,0,0,0,0,0,0,27.29,27.10,27.36
$GC,4603,-0.97,-194.6,2335,3844,3688,3579,639.4,-13.8,287,4610,0.00,1.58,0.00,0.000,1030,0.000,0.025,2335,2706,3632,3686,3579,0,0,0,0,0,0,27.20,27.17,27.22
$GC,4935,-0.99,-194.6,2335,2707,3687,3580,686.8,-14.2,298,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2706,3632,3686,3579,0,0,0,0,0,0,27.29,27.39,27.36
$GC,5235,-1.01,-194.6,2335,2708,3687,3581,727.5,-13.3,308,5242,0.00,1.70,0.00,0.000,260,0.000,0.042,2329,3846,3632,3686,3579,0,0,0,0,0,0,27.31,27.13,27.37
$GC,5266,-1.03,-194.6,2329,3846,3687,3579,731.7,-13.3,309,5273,0.00,1.60,0.00,0.000,1030,0.000,0.025,2329,2698,3632,3685,3579,0,0,0,0,0,0,27.22,27.19,27.23
$GC,5598,-1.03,-194.6,2329,2699,3686,3579,775.3,-13.0,320,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2698,3632,3685,3579,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5898,-1.05,-194.6,2329,2698,3685,3579,814.4,-12.9,330,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2698,3631,3684,3579,0,0,0,0,0,0,27.32,27.39,27.39
$GC,6198,-1.07,-194.6,2330,2698,3684,3579,852.8,-12.5,340,6205,0.00,1.98,0.00,0.000,516,0.000,0.025,2329,1314,3631,3683,3579,0,0,0,0,0,0,27.32,27.17,27.39
$GC,6225,-1.08,-194.6,2328,1314,3684,3579,856.2,-12.5,341,6233,0.00,2.03,0.00,0.000,1030,0.000,0.029,2322,2701,3634,3682,3586,0,0,0,0,0,0,27.22,27.17,27.23
$GC,6557,-1.08,-194.6,2323,2703,3682,3580,899.7,-13.2,352,6567,0.00,1.73,0.00,0.000,260,0.000,0.044,2321,3842,3630,3681,3579,0,0,0,0,0,0,27.33,27.16,27.39
$GC,6586,-1.08,-194.6,2322,3843,3682,3581,899.7,-13.2,352,6596,0.00,1.60,0.00,0.000,1030,0.000,0.026,2322,2695,3630,3681,3579,0,0,0,0,0,0,27.24,27.21,27.26
$GC,6891,-1.08,-194.6,2322,2696,3681,3580,942.7,-12.7,363,6899,0.00,1.73,0.00,0.000,260,0.000,0.043,2320,3851,3630,3681,3579,0,0,0,0,0,0,27.33,27.15,27.39
$GC,6928,-1.08,-194.6,2320,3851,3681,3579,946.8,-12.7,364,6935,0.00,1.60,0.00,0.000,1030,0.000,0.025,2320,2693,3629,3680,3578,0,0,0,0,0,0,27.24,27.22,27.26
$GC,7254,-1.08,-194.6,2320,2692,3681,3579,989.0,-12.6,375,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2693,3629,3680,3579,0,0,0,0,0,0,27.34,27.41,27.40
$STATE,7283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7283,begin apogee
$GC,7287,-0.25,0.0,2320,2809,3682,3579,992.6,-12.4,376,7521,0.73,0.00,226.32,0.885,10246,0.126,0.000,2556,2809,2839,2880,2798,0,0,0,0,0,0,27.05,24.93,24.37
$STATE,7521,end apogee,CONTROL_FINISHED_OK
$STATE,7521,begin climb
$GC,7523,0.92,194.6,2556,2809,2875,2792,1005.8,0.0,383,7697,1.05,1.73,161.57,1.075,10500,0.058,0.042,2933,3829,2035,2076,1995,0,0,0,0,0,0,25.11,24.61,23.96
$GC,7921,0.86,220.0,2933,3830,2065,1979,989.7,10.0,397,7951,0.00,1.50,21.05,1.056,9222,0.000,0.024,2933,2774,1941,1983,1899,0,0,0,0,0,0,25.96,25.93,24.74
$GC,8247,0.83,260.9,2933,2774,1967,1878,958.3,9.5,408,8293,0.00,1.75,35.58,1.046,8452,0.000,0.041,2933,3833,1765,1809,1722,0,0,0,0,0,0,26.32,25.41,24.75
$GC,8518,0.78,260.9,2933,3834,1799,1708,926.4,12.3,417,8527,0.10,1.50,0.00,0.000,5126,0.191,0.025,2913,2767,1752,1798,1707,0,0,0,0,0,0,26.00,26.17,26.14
$GC,8852,0.78,283.2,2913,2768,1798,1707,892.1,10.2,428,8880,0.00,1.75,19.00,1.024,8452,0.000,0.041,2913,3840,1677,1723,1631,0,0,0,0,0,0,26.60,25.97,25.32
$GC,8970,0.76,283.2,2912,3842,1712,1619,878.8,11.1,431,8977,0.00,1.50,0.00,0.000,1030,0.000,0.025,2918,2776,1664,1712,1617,0,0,0,0,0,0,26.28,26.25,26.29
$GC,9301,0.76,292.5,2918,2776,1713,1615,843.4,10.7,442,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2776,1663,1711,1616,0,0,0,0,0,0,26.65,26.73,26.72
$GC,9601,0.76,309.2,2918,2775,1712,1615,812.5,10.4,452,9635,0.00,0.00,22.65,0.981,8710,0.000,0.000,2917,2776,1568,1615,1521,0,0,0,0,0,0,26.80,26.07,25.47
$GC,9931,0.76,309.2,2918,2777,1607,1512,775.1,11.5,463,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2776,1558,1606,1510,0,0,0,0,0,0,26.65,26.72,26.72
$GC,10231,0.76,309.2,2918,2775,1607,1509,740.0,12.0,473,10238,0.00,1.62,0.00,0.000,260,0.000,0.043,2918,3838,1558,1606,1510,0,0,0,0,0,0,26.80,26.63,26.87
$GC,10312,0.76,309.2,2918,3843,1608,1510,732.1,12.5,475,10319,0.00,1.48,0.00,0.000,1030,0.000,0.025,2919,2804,1557,1607,1508,0,0,0,0,0,0,26.76,26.72,26.77
$GC,10624,0.76,309.2,2919,2803,1606,1508,692.2,12.1,486,10631,0.00,1.58,0.00,0.000,260,0.000,0.042,2919,3840,1557,1606,1509,0,0,0,0,0,0,26.93,26.75,27.00
$GC,10660,0.76,309.2,2919,3839,1606,1508,687.9,12.4,487,10667,0.00,1.48,0.00,0.000,1030,0.000,0.025,2918,2802,1556,1605,1508,0,0,0,0,0,0,26.86,26.82,26.88
$GC,10986,0.76,309.2,2919,2798,1606,1510,646.8,12.8,498,10995,0.00,2.03,0.00,0.000,516,0.000,0.026,2928,1414,1557,1605,1509,0,0,0,0,0,0,27.01,26.86,27.07
$GC,11019,0.76,309.2,2928,1415,1606,1517,642.7,13.0,499,11027,0.08,2.05,0.00,0.000,5126,0.185,0.029,2913,2792,1556,1605,1508,0,0,0,0,0,0,26.74,26.85,26.86
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$STATE,16344,end climb,SURFACE_DEPTH_REACHED
$STATE,16344,begin surface coast
$FINISH,0.4,1.006866
$STATE,16360,end surface coast,CONTROL_FINISHED_OK
$STATE,16360,begin surface
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$IRIDIUM_FIX,5804.94,-14643.72,120508,052048
$TT8_MAMPS,0.165529,0.165529
$HUMID,39.80
$INTERNAL_PRESSURE,8.7836
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$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,16390.41 7695.01
$PA_BOOTCOUNT,338
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$PA_HOME,0.01/0.189/27.046/25.483
$PA_DISK_BANK,1
$24V_AH,23.96,6.146
$10V_AH,9.94,22.273
$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
$DEVICE_SECS,18.350,106.075,617.475,0.000,0.000,0.000,0.000,218.450,0.250,0.000,13.576,0.000,12889.099,653.474,3067.108,127.350,0.000,2234.238,0.000,1728.171,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,576.911,0.000,0.000,0.000,0.000,0.000,16763.680,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,138.211,0.000,0.000,0.000
$MEM,187168
$DATA_FILE_SIZE,36693,839
$CAP_FILE_SIZE,148028,0
$CFSIZE,1024393216,993017856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,294.95,1
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