version: 66.12
glider: 203
mission: 8
dive: 40
start: 7 17 115 15 14 23
data:
$ID,203
$MISSION,8
$DIVE,40
$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,102
$R_STBD_OVSHOOT,47
$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
$GPS1,170715,150834,5821.2959,-14700.4834,37,0.8,38,18.0,0.8,357.9,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-57.9
$GPS2,170715,151412,5821.3159,-14700.5244,5,0.8,9,18.0,0.5,110.1,11,9.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,257.0,63058,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.92,-194.6,186,2786,844,722,0.0,0.0,0,151,0.00,0.00,-51.85,0.000,16386,0.000,0.000,184,2786,2149,2185,2114,0,0,0,0,0,0,26.72,28.83,26.79
$GC,153,-0.92,-194.6,185,2788,2186,2116,3.0,-3.7,8,203,8.27,2.15,-35.00,0.000,18948,0.236,0.037,2332,1329,3634,3699,3569,0,0,0,0,0,0,26.36,26.13,26.49
$GC,317,-0.86,-194.6,2332,1329,3699,3573,38.1,-21.3,33,328,0.12,2.03,0.00,0.000,3078,0.171,0.027,2359,2703,3636,3699,3573,0,0,0,0,0,0,26.52,26.65,26.65
$GC,634,-0.84,-194.6,2356,2703,3700,3578,98.4,-17.3,69,642,0.00,1.70,0.00,0.000,260,0.000,0.039,2350,3853,3638,3699,3578,0,0,0,0,0,0,26.93,26.75,26.99
$GC,671,-0.82,-194.6,2350,3853,3699,3578,104.1,-17.7,72,681,0.10,1.58,0.00,0.000,3078,0.168,0.022,2372,2700,3638,3699,3578,0,0,0,0,0,0,26.66,26.84,26.78
$GC,976,-0.84,-194.6,2372,2700,3700,3579,149.7,-13.9,103,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2700,3639,3699,3579,0,0,0,0,0,0,27.02,27.09,27.08
$GC,1277,-0.87,-194.6,2372,2699,3700,3578,192.6,-14.2,133,1285,0.00,1.98,0.00,0.000,516,0.000,0.024,2372,1327,3638,3698,3579,0,0,0,0,0,0,27.08,26.92,27.14
$GC,1320,-0.91,-194.6,2372,1327,3700,3579,198.7,-14.1,137,1328,0.00,2.03,0.00,0.000,1030,0.000,0.028,2372,2706,3639,3700,3579,0,0,0,0,0,0,26.97,26.92,26.98
$GC,1632,-0.94,-194.6,2373,2708,3700,3580,239.1,-12.6,168,1640,0.00,1.67,0.00,0.000,260,0.000,0.040,2367,3849,3639,3699,3579,0,0,0,0,0,0,27.13,26.94,27.19
$GC,1709,-0.97,-194.6,2368,3850,3700,3580,248.5,-13.3,175,1719,0.00,1.58,0.00,0.000,1030,0.000,0.024,2367,2706,3639,3699,3579,0,0,0,0,0,0,27.05,27.02,27.06
$GC,2024,-1.00,-194.6,2368,2706,3700,3580,290.6,-13.0,187,2030,0.10,0.00,0.00,0.000,4102,0.100,0.000,2306,2706,3638,3698,3579,0,0,0,0,0,0,27.03,27.08,27.07
$GC,2324,-0.97,-194.6,2306,2705,3698,3579,341.9,-17.2,197,2330,0.08,0.00,0.00,0.000,2054,0.188,0.000,2320,2705,3638,3697,3579,0,0,0,0,0,0,26.97,27.08,27.05
$GC,2624,-0.97,-194.6,2319,2705,3697,3578,387.1,-14.8,207,2631,0.00,1.70,0.00,0.000,260,0.000,0.041,2314,3850,3636,3695,3578,0,0,0,0,0,0,27.22,27.03,27.28
$GC,2665,-0.97,-194.6,2314,3851,3695,3580,392.0,-15.0,208,2673,0.00,1.60,0.00,0.000,1030,0.000,0.024,2314,2686,3636,3694,3579,0,0,0,0,0,0,27.13,27.10,27.15
$GC,2987,-0.96,-194.6,2314,2687,3695,3580,441.7,-15.0,219,2994,0.00,1.95,0.00,0.000,516,0.000,0.024,2314,1325,3636,3693,3579,0,0,0,0,0,0,27.24,27.08,27.30
$GC,3023,-0.94,-194.6,2313,1325,3695,3580,446.5,-14.9,220,3032,0.12,2.03,0.00,0.000,3078,0.171,0.028,2338,2708,3636,3693,3580,0,0,0,0,0,0,26.96,27.08,27.08
$GC,3351,-0.94,-194.6,2338,2710,3693,3580,487.2,-12.1,231,3359,0.00,1.67,0.00,0.000,260,0.000,0.040,2333,3852,3635,3692,3579,0,0,0,0,0,0,27.25,27.08,27.32
$GC,3388,-0.94,-194.6,2333,3850,3693,3580,491.3,-12.3,232,3397,0.00,1.58,0.00,0.000,1030,0.000,0.024,2333,2694,3635,3692,3579,0,0,0,0,0,0,27.17,27.15,27.18
$GC,3716,-0.94,-194.6,2333,2693,3691,3579,536.4,-13.6,243,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2694,3634,3690,3579,0,0,0,0,0,0,27.27,27.34,27.33
$GC,4016,-0.94,-194.6,2333,2695,3690,3580,576.4,-13.2,253,4023,0.00,1.75,0.00,0.000,260,0.000,0.041,2324,3865,3633,3688,3579,0,0,0,0,0,0,27.28,27.10,27.34
$GC,4047,-0.94,-194.6,2325,3866,3690,3580,580.7,-13.4,254,4055,0.00,1.62,0.00,0.000,1030,0.000,0.024,2324,2717,3634,3689,3579,0,0,0,0,0,0,27.19,27.17,27.20
$GC,4379,-0.94,-194.6,2324,2716,3688,3579,626.6,-13.6,265,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2716,3633,3688,3579,0,0,0,0,0,0,27.29,27.36,27.36
$GC,4679,-0.94,-194.6,2324,2716,3688,3578,665.5,-12.8,275,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2717,3632,3686,3579,0,0,0,0,0,0,27.30,27.37,27.36
$GC,4979,-0.94,-194.6,2324,2716,3687,3579,706.5,-14.0,285,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2717,3632,3686,3579,0,0,0,0,0,0,27.31,27.39,27.37
$GC,5279,-0.94,-194.6,2324,2717,3687,3579,748.8,-14.2,295,5286,0.00,1.67,0.00,0.000,260,0.000,0.042,2320,3846,3632,3686,3579,0,0,0,0,0,0,27.32,27.13,27.38
$GC,5311,-0.94,-194.6,2320,3846,3686,3578,753.3,-14.3,296,5318,0.00,1.58,0.00,0.000,1030,0.000,0.024,2320,2691,3632,3686,3579,0,0,0,0,0,0,27.23,27.20,27.24
$GC,5642,-0.94,-194.6,2320,2692,3685,3580,801.6,-14.6,307,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2691,3632,3685,3579,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5942,-0.94,-194.6,2320,2691,3684,3578,845.8,-14.8,317,5949,0.00,1.73,0.00,0.000,260,0.000,0.042,2319,3853,3631,3683,3579,0,0,0,0,0,0,27.33,27.15,27.39
$GC,6008,-0.94,-194.6,2320,3854,3683,3580,854.8,-14.7,319,6015,0.00,1.58,0.00,0.000,1030,0.000,0.024,2319,2697,3631,3683,3579,0,0,0,0,0,0,27.24,27.22,27.26
$GC,6335,-0.94,-194.6,2319,2696,3682,3579,900.3,-13.5,330,6344,0.00,1.75,0.00,0.000,260,0.000,0.042,2319,3842,3630,3681,3579,0,0,0,0,0,0,27.33,27.15,27.38
$GC,6393,-0.94,-194.6,2320,3841,3683,3578,904.9,-13.6,331,6403,0.00,1.58,0.00,0.000,1030,0.000,0.024,2319,2698,3629,3681,3578,0,0,0,0,0,0,27.24,27.22,27.26
$GC,6698,-0.94,-194.6,2320,2699,3682,3580,947.1,-12.3,342,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2698,3633,3681,3585,0,0,0,0,0,0,27.34,27.44,27.40
$GC,6998,-0.94,-194.6,2319,2698,3681,3578,983.9,-12.2,352,7005,0.00,1.73,0.00,0.000,260,0.000,0.043,2319,3855,3629,3680,3579,0,0,0,0,0,0,27.34,27.16,27.41
$GC,7044,-0.94,-194.6,2319,3855,3682,3579,987.8,-12.3,353,7052,0.00,1.60,0.00,0.000,1030,0.000,0.024,2319,2687,3629,3680,3579,0,0,0,0,0,0,27.26,27.22,27.27
$STATE,7059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7059,begin apogee
$GC,7063,-0.25,0.0,2319,2806,3681,3578,991.7,-12.3,354,7238,0.73,0.00,162.38,1.575,10246,0.123,0.000,2557,2806,2839,2882,2797,0,0,0,0,1,0,27.05,24.54,23.70
$STATE,7238,end apogee,CONTROL_FINISHED_OK
$STATE,7238,begin climb
$GC,7240,0.92,194.6,2558,2808,2892,2799,999.6,0.0,359,7418,1.05,2.25,164.05,1.091,11012,0.053,0.024,2932,1434,2039,2080,1998,0,0,0,0,0,0,24.84,24.53,23.88
$GC,7642,0.90,258.4,2933,1434,2073,1989,985.4,8.6,373,7705,0.00,2.10,53.58,1.079,9222,0.000,0.028,2933,2793,1786,1830,1742,0,0,0,0,0,0,25.85,25.81,24.27
$GC,8019,0.87,272.8,2933,2795,1815,1722,945.9,10.5,386,8040,0.00,2.12,12.12,1.057,8708,0.000,0.027,2933,1436,1720,1766,1674,0,0,0,0,0,0,26.22,25.75,25.10
$GC,8105,0.85,287.0,2933,1436,1762,1669,939.7,10.5,388,8127,0.00,2.10,13.60,1.056,9222,0.000,0.028,2933,2806,1666,1713,1620,0,0,0,0,0,0,26.03,25.98,24.99
$GC,8442,0.83,287.0,2933,2807,1702,1607,897.8,11.8,400,8449,0.00,1.62,0.00,0.000,260,0.000,0.041,2933,3846,1652,1700,1605,0,0,0,0,0,0,26.43,26.27,26.50
$GC,8523,0.80,287.0,2934,3847,1702,1602,889.6,12.6,402,8530,0.08,1.50,0.00,0.000,5126,0.209,0.024,2924,2775,1653,1701,1605,0,0,0,0,0,0,26.22,26.39,26.34
$GC,8834,0.80,287.0,2924,2776,1702,1604,851.5,11.5,413,8842,0.00,1.67,0.00,0.000,260,0.000,0.041,2924,3841,1653,1701,1605,0,0,0,0,0,0,26.70,26.53,26.77
$GC,8901,0.78,287.0,2924,3840,1701,1605,843.5,12.2,415,8908,0.00,1.50,0.00,0.000,1030,0.000,0.024,2930,2765,1652,1700,1604,0,0,0,0,0,0,26.65,26.63,26.67
$GC,9227,0.76,287.0,2930,2765,1701,1603,802.0,12.8,426,9235,0.10,1.65,0.00,0.000,4356,0.181,0.039,2908,3853,1651,1700,1603,0,0,0,0,0,0,26.60,26.68,26.71
$GC,9259,0.75,287.0,2908,3853,1701,1603,798.0,12.7,427,9267,0.00,1.50,0.00,0.000,1030,0.000,0.025,2910,2802,1652,1700,1604,0,0,0,0,0,0,26.77,26.76,26.79
$GC,9593,0.75,294.7,2911,2802,1700,1602,760.6,10.7,438,9601,0.00,1.58,0.00,0.000,260,0.000,0.041,2911,3850,1651,1699,1603,0,0,0,0,0,0,26.96,26.78,27.02
$GC,9628,0.75,302.3,2911,3849,1701,1603,756.7,10.7,439,9649,0.00,1.50,13.18,0.982,9222,0.000,0.024,2918,2756,1605,1654,1557,0,0,0,0,0,0,26.88,26.86,25.84
$GC,9953,0.75,302.3,2919,2756,1643,1543,719.6,11.7,450,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2756,1593,1642,1544,0,0,0,0,0,0,26.84,26.91,26.90
$GC,10253,0.75,302.3,2918,2756,1643,1542,685.6,11.3,460,10260,0.00,1.65,0.00,0.000,260,0.000,0.041,2918,3851,1592,1642,1543,0,0,0,0,0,0,26.94,26.76,27.00
$GC,10299,0.75,302.3,2917,3852,1643,1542,682.0,11.5,461,10307,0.10,1.48,0.00,0.000,5126,0.190,0.024,2902,2811,1592,1642,1542,0,0,0,0,0,0,26.67,26.84,26.79
$GC,10616,0.76,302.3,2903,2817,1642,1543,645.6,11.0,472,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2812,1592,1642,1542,0,0,0,0,0,0,27.01,27.09,27.08
$GC,10916,0.78,302.3,2903,2813,1643,1543,610.1,12.1,482,10924,0.00,2.00,0.00,0.000,516,0.000,0.025,2910,1424,1591,1641,1542,0,0,0,0,0,0,27.06,26.91,27.13
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$STATE,16058,end climb,SURFACE_DEPTH_REACHED
$STATE,16058,begin surface coast
$FINISH,0.7,1.023871
$STATE,16068,end surface coast,CONTROL_FINISHED_OK
$STATE,16068,begin surface
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$IRIDIUM_FIX,5756.79,-14658.40,130508,043626
$TT8_MAMPS,0.164031,0.164031
$HUMID,38.46
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.60
$XPDR_PINGS,4
$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,16098.20 7564.61
$PA_BOOTCOUNT,343
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$PA_DISK_BANK,1
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$10V_AH,9.97,25.784
$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
$SENSOR_SECS,563.770,0.000,0.000,0.000,0.000,0.000,16493.980,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,138.396,0.000,0.000,0.000
$MEM,187168
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