version: 66.12
glider: 203
mission: 8
dive: 42
start: 7 18 115 0 20 25
data:
$ID,203
$MISSION,8
$DIVE,42
$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,93
$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
$GPS1,180715,001458,5820.8535,-14711.2383,40,0.7,40,18.0,1.1,170.6,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.1
$GPS2,180715,002014,5820.8105,-14711.2627,5,0.8,11,18.0,0.5,189.9,10,8.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,261.0,52567,-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,-194.6,193,2800,1066,953,0.0,0.0,0,140,0.00,0.00,-41.05,0.000,16386,0.000,0.000,191,2800,2100,2135,2066,0,0,0,0,0,0,26.70,28.83,26.77
$GC,142,-0.92,-194.6,193,2801,2137,2072,3.1,-3.9,6,199,8.23,2.20,-37.58,0.000,18948,0.236,0.038,2335,1332,3631,3696,3567,0,0,0,0,0,0,26.34,26.06,26.53
$GC,259,-0.84,-194.6,2335,1333,3700,3573,25.9,-24.5,23,278,0.15,2.03,0.00,0.000,3078,0.163,0.028,2367,2703,3635,3700,3571,0,0,0,0,0,0,26.47,26.60,26.60
$GC,588,-0.82,-194.6,2367,2703,3700,3574,88.6,-17.8,65,598,0.00,1.70,0.00,0.000,260,0.000,0.039,2361,3852,3637,3699,3575,0,0,0,0,0,0,26.90,26.72,26.96
$GC,622,-0.79,-194.6,2362,3854,3700,3576,94.8,-17.9,68,629,0.10,1.60,0.00,0.000,3078,0.168,0.022,2383,2683,3637,3699,3575,0,0,0,0,0,0,26.63,26.80,26.75
$GC,934,-0.82,-194.6,2384,2683,3700,3578,139.9,-13.9,99,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2682,3637,3699,3575,0,0,0,0,0,0,27.00,27.06,27.05
$GC,1234,-0.86,-194.6,2384,2682,3700,3576,177.9,-12.9,129,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2682,3637,3699,3576,0,0,0,0,0,0,27.05,27.13,27.12
$GC,1537,-0.91,-194.6,2383,2682,3700,3576,216.1,-11.8,159,1545,0.00,1.75,0.00,0.000,260,0.000,0.040,2377,3850,3637,3699,3576,0,0,0,0,0,0,27.10,26.92,27.17
$GC,1600,-0.95,-194.6,2377,3850,3700,3576,224.0,-12.5,165,1607,0.00,1.58,0.00,0.000,1030,0.000,0.024,2376,2701,3637,3699,3576,0,0,0,0,0,0,27.02,27.01,27.04
$GC,1932,-0.98,-194.6,2377,2702,3700,3578,264.7,-12.2,190,1938,0.10,0.00,0.00,0.000,4102,0.096,0.000,2310,2701,3637,3698,3576,0,0,0,0,0,0,27.02,27.07,27.05
$GC,2231,-0.96,-194.6,2309,2700,3698,3576,317.3,-17.1,200,2236,0.08,0.00,0.00,0.000,2054,0.189,0.000,2323,2701,3637,3698,3576,0,0,0,0,0,0,26.96,27.07,27.04
$GC,2531,-0.96,-194.6,2323,2700,3697,3575,364.4,-15.6,210,2539,0.00,1.70,0.00,0.000,260,0.000,0.041,2319,3845,3636,3696,3576,0,0,0,0,0,0,27.21,27.02,27.27
$GC,2573,-0.96,-194.6,2320,3845,3697,3576,369.5,-15.7,211,2580,0.00,1.58,0.00,0.000,1030,0.000,0.024,2319,2694,3636,3696,3576,0,0,0,0,0,0,27.13,27.10,27.14
$GC,2894,-0.96,-194.6,2320,2695,3695,3577,420.5,-14.8,222,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3635,3695,3576,0,0,0,0,0,0,27.23,27.30,27.29
$GC,3194,-0.96,-194.6,2319,2694,3695,3576,463.4,-14.2,232,3202,0.00,1.73,0.00,0.000,260,0.000,0.041,2311,3852,3634,3693,3576,0,0,0,0,0,0,27.24,27.07,27.31
$GC,3241,-0.96,-194.6,2310,3851,3694,3575,467.9,-14.0,233,3251,0.05,1.62,0.00,0.000,3078,0.151,0.024,2327,2695,3634,3693,3576,0,0,0,0,0,0,26.98,27.13,27.05
$GC,3560,-0.96,-194.6,2327,2695,3694,3575,511.6,-13.1,244,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2695,3634,3692,3576,0,0,0,0,0,0,27.26,27.36,27.32
$GC,3860,-0.96,-194.6,2327,2697,3692,3577,553.5,-14.2,254,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2695,3633,3690,3576,0,0,0,0,0,0,27.27,27.35,27.34
$GC,4160,-0.96,-194.6,2327,2696,3691,3577,596.9,-14.0,264,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2695,3632,3689,3576,0,0,0,0,0,0,27.29,27.36,27.35
$GC,4460,-0.96,-194.6,2327,2695,3690,3576,637.5,-13.5,274,4468,0.00,1.73,0.00,0.000,260,0.000,0.041,2322,3850,3635,3694,3576,0,0,0,0,0,0,27.29,27.11,27.36
$GC,4487,-0.96,-194.6,2322,3850,3689,3576,637.5,-13.5,274,4497,0.00,1.58,0.00,0.000,1030,0.000,0.024,2323,2698,3631,3687,3575,0,0,0,0,0,0,27.21,27.18,27.22
$GC,4792,-0.96,-194.6,2322,2699,3688,3578,681.4,-12.9,285,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2698,3631,3687,3576,0,0,0,0,0,0,27.30,27.38,27.36
$GC,5092,-0.96,-194.6,2322,2697,3688,3576,719.1,-12.5,295,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2698,3631,3687,3576,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5392,-0.96,-194.6,2322,2698,3688,3576,758.2,-13.3,305,5402,0.00,1.73,0.00,0.000,260,0.000,0.042,2320,3851,3630,3685,3576,0,0,0,0,0,0,27.32,27.13,27.39
$GC,5431,-0.96,-194.6,2320,3849,3686,3578,762.8,-13.4,306,5438,0.00,1.58,0.00,0.000,1030,0.000,0.024,2319,2699,3631,3686,3576,0,0,0,0,0,0,27.24,27.21,27.24
$GC,5757,-0.96,-194.6,2320,2700,3686,3576,807.2,-13.5,317,5766,0.00,1.98,0.00,0.000,516,0.000,0.025,2320,1321,3630,3685,3576,0,0,0,0,0,0,27.32,27.17,27.39
$GC,5790,-0.96,-194.6,2320,1321,3686,3572,811.7,-13.5,318,5798,0.00,2.03,0.00,0.000,1030,0.000,0.029,2320,2699,3630,3684,3576,0,0,0,0,0,0,27.21,27.17,27.23
$GC,6122,-0.96,-194.6,2320,2699,3685,3576,856.4,-13.1,329,6131,0.00,1.70,0.00,0.000,260,0.000,0.042,2319,3856,3629,3683,3575,0,0,0,0,0,0,27.33,27.15,27.39
$GC,6174,-0.96,-194.6,2319,3856,3684,3576,860.5,-13.0,330,6182,0.00,1.62,0.00,0.000,1030,0.000,0.024,2318,2705,3630,3683,3577,0,0,0,0,0,0,27.23,27.24,27.24
$GC,6486,-0.96,-194.6,2319,2707,3683,3578,903.5,-12.7,341,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2705,3629,3682,3576,0,0,0,0,0,0,27.33,27.41,27.38
$GC,6786,-0.96,-194.6,2320,2705,3683,3575,942.3,-13.3,351,6794,0.00,1.98,0.00,0.000,516,0.000,0.025,2319,1322,3628,3681,3576,0,0,0,0,0,0,27.34,27.18,27.40
$GC,6818,-0.96,-194.6,2320,1324,3682,3577,946.6,-13.4,352,6825,0.00,2.00,0.00,0.000,1030,0.000,0.029,2319,2700,3628,3681,3576,0,0,0,0,0,0,27.23,27.17,27.24
$STATE,7143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7143,begin apogee
$GC,7147,-0.25,0.0,2320,2811,3682,3576,992.2,-14.1,363,7377,0.73,0.00,220.18,0.904,10246,0.125,0.000,2556,2811,2838,2880,2796,0,0,0,0,0,0,27.06,24.91,24.26
$STATE,7377,end apogee,CONTROL_FINISHED_OK
$STATE,7377,begin climb
$GC,7379,0.92,194.6,2556,2811,2879,2785,1007.0,0.0,370,7552,1.05,2.25,159.98,1.079,11012,0.055,0.024,2932,1434,2034,2076,1993,0,0,0,0,0,0,25.11,24.60,23.95
$GC,7657,0.89,311.2,2933,1436,2067,1984,1005.1,6.6,380,7767,0.00,2.12,99.47,1.070,9222,0.000,0.027,2932,2797,1566,1614,1518,0,0,0,0,0,0,25.60,25.56,23.96
$GC,8077,0.88,311.2,2933,2797,1598,1498,955.3,12.8,394,8084,0.00,1.67,0.00,0.000,260,0.000,0.041,2933,3850,1545,1596,1495,0,0,0,0,0,0,26.14,25.97,26.20
$GC,8113,0.85,311.2,2933,3851,1597,1497,951.0,13.0,395,8120,0.00,1.55,0.00,0.000,1030,0.000,0.024,2933,2788,1545,1596,1495,0,0,0,0,0,0,26.10,26.08,26.10
$GC,8439,0.84,311.2,2932,2790,1597,1494,909.9,12.3,406,8453,0.00,1.98,0.00,0.000,516,0.000,0.028,2933,1436,1544,1594,1494,0,0,0,0,0,0,26.53,26.39,26.60
$GC,8502,0.84,311.2,2932,1438,1596,1495,902.5,12.0,408,8510,0.00,2.05,0.00,0.000,1030,0.000,0.028,2933,2801,1544,1594,1494,0,0,0,0,0,0,26.47,26.42,26.49
$GC,8829,0.82,311.2,2928,2801,1596,1493,860.4,13.0,419,8837,0.00,1.58,0.00,0.000,260,0.000,0.042,2933,3853,1543,1593,1493,0,0,0,0,0,0,26.75,26.58,26.82
$GC,8906,0.79,311.2,2933,3853,1595,1492,851.6,13.5,421,8913,0.00,1.50,0.00,0.000,1030,0.000,0.024,2933,2761,1543,1594,1492,0,0,0,0,0,0,26.70,26.67,26.72
$GC,9222,0.79,311.2,2933,2761,1595,1492,808.1,12.8,432,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2761,1543,1594,1492,0,0,0,0,0,0,26.89,26.97,26.96
$GC,9522,0.79,311.2,2933,2763,1595,1493,769.0,13.4,442,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2761,1542,1593,1492,0,0,0,0,0,0,26.97,27.04,27.04
$GC,9822,0.79,311.2,2933,2762,1593,1493,730.0,12.8,452,9832,0.00,1.70,0.00,0.000,260,0.000,0.042,2932,3851,1539,1587,1492,0,0,0,0,0,0,27.03,26.85,27.10
$GC,9861,0.78,311.2,2933,3853,1594,1494,725.4,12.8,453,9869,0.05,1.48,0.00,0.000,5126,0.166,0.025,2919,2811,1542,1592,1492,0,0,0,0,0,0,26.74,26.91,26.84
$GC,10188,0.78,311.2,2920,2812,1593,1493,683.8,12.8,464,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2811,1542,1592,1492,0,0,0,0,0,0,27.08,27.15,27.15
$GC,10488,0.78,311.2,2920,2811,1593,1492,647.3,12.2,474,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2811,1542,1593,1492,0,0,0,0,0,0,27.11,27.19,27.18
$GC,10788,0.78,311.2,2921,2811,1593,1492,611.4,11.9,484,10795,0.00,2.03,0.00,0.000,516,0.000,0.026,2926,1415,1542,1592,1492,0,0,0,0,0,0,27.14,26.99,27.21
$GC,10824,0.78,311.2,2926,1416,1593,1493,608.2,11.8,485,10832,0.00,2.05,0.00,0.000,1030,0.000,0.028,2926,2806,1542,1592,1492,0,0,0,0,0,0,27.03,26.98,27.06
$GC,11141,0.78,311.2,2926,2807,1593,1493,567.4,12.4,496,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2806,1542,1592,1492,0,0,0,0,0,0,27.17,27.24,27.23
$GC,11441,0.78,311.2,2926,2808,1593,1493,530.5,12.2,506,11450,0.00,1.55,0.00,0.000,260,0.000,0.043,2926,3850,1541,1592,1491,0,0,0,0,0,0,27.19,27.01,27.26
$GC,11483,0.78,311.2,2926,3851,1592,1493,526.5,12.2,507,11492,0.08,1.48,0.00,0.000,5126,0.209,0.025,2918,2795,1542,1593,1491,0,0,0,0,0,0,26.91,27.08,27.05
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$STATE,15748,end climb,SURFACE_DEPTH_REACHED
$STATE,15748,begin surface coast
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$STATE,15769,end surface coast,CONTROL_FINISHED_OK
$STATE,15769,begin surface
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$TT8_MAMPS,0.167027,0.167027
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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,15797.23 7423.05
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$10V_AH,9.94,27.150
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,138.258,0.000,0.000,0.000
$MEM,187164
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$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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