version: 66.12
glider: 203
mission: 8
dive: 44
start: 7 18 115 9 30 11
data:
$ID,203
$MISSION,8
$DIVE,44
$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,94
$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
$GPS1,180715,092421,5820.5083,-14722.1816,41,0.9,41,17.9,1.1,145.5,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.7
$GPS2,180715,093000,5820.4434,-14722.0713,8,0.8,12,17.9,0.9,166.1,11,9.1
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,261.2,42032,-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,-194.6,192,2700,745,626,0.0,0.0,0,151,0.00,0.00,-52.10,0.000,16386,0.000,0.000,185,2699,2056,2093,2019,0,0,0,0,0,0,26.77,28.83,26.85
$GC,153,-0.92,-194.6,186,2699,2094,2019,3.0,-4.4,8,212,8.35,2.03,-39.90,0.000,18948,0.239,0.041,2333,1327,3635,3705,3566,0,0,0,0,0,0,26.37,25.74,26.60
$GC,288,-0.83,-194.6,2333,1326,3706,3568,29.0,-25.3,27,307,0.15,2.03,0.00,0.000,3078,0.164,0.026,2365,2705,3636,3705,3568,0,0,0,0,0,0,26.54,26.67,26.67
$GC,609,-0.80,-194.6,2365,2706,3705,3573,91.6,-19.5,66,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2706,3638,3704,3573,0,0,0,0,0,0,26.95,27.02,27.01
$GC,910,-0.80,-194.6,2365,2707,3706,3577,139.7,-14.2,96,917,0.00,1.73,0.00,0.000,260,0.000,0.039,2360,3849,3639,3704,3575,0,0,0,0,0,0,27.03,26.85,27.08
$GC,1022,-0.80,-194.6,2359,3850,3706,3576,155.1,-14.0,107,1029,0.08,1.58,0.00,0.000,3078,0.184,0.022,2373,2687,3639,3704,3575,0,0,0,0,0,0,26.78,26.94,26.89
$GC,1334,-0.83,-194.6,2374,2687,3706,3576,193.1,-12.4,138,1341,0.00,1.92,0.00,0.000,516,0.000,0.023,2374,1338,3639,3704,3575,0,0,0,0,0,0,27.10,26.94,27.16
$GC,1386,-0.87,-194.6,2374,1338,3706,3575,198.9,-11.8,143,1393,0.00,2.00,0.00,0.000,1030,0.000,0.028,2373,2708,3640,3705,3575,0,0,0,0,0,0,26.99,26.95,27.01
$GC,1691,-0.90,-194.6,2374,2710,3705,3576,237.4,-12.9,173,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2707,3639,3704,3575,0,0,0,0,0,0,27.15,27.22,27.21
$GC,2001,-0.94,-194.6,2373,2708,3704,3575,276.5,-12.1,190,2008,0.00,1.67,0.00,0.000,260,0.000,0.041,2374,3849,3639,3704,3575,0,0,0,0,0,0,27.17,26.99,27.24
$GC,2067,-0.97,-194.6,2374,3849,3704,3575,283.8,-11.8,192,2076,0.05,1.60,0.00,0.000,5126,0.064,0.023,2316,2715,3639,3703,3575,0,0,0,0,0,0,26.98,27.07,27.03
$GC,2395,-0.95,-194.6,2316,2715,3702,3574,332.9,-15.1,203,2404,0.00,1.67,0.00,0.000,260,0.000,0.040,2307,3848,3638,3701,3575,0,0,0,0,0,0,27.21,27.03,27.27
$GC,2453,-0.93,-194.6,2307,3847,3701,3574,338.2,-15.4,204,2464,0.12,1.58,0.00,0.000,3078,0.157,0.023,2338,2694,3637,3700,3575,0,0,0,0,0,0,26.94,27.10,27.05
$GC,2758,-0.93,-194.6,2339,2693,3700,3574,385.1,-13.7,215,2767,0.00,1.73,0.00,0.000,260,0.000,0.041,2333,3853,3636,3698,3574,0,0,0,0,0,0,27.22,27.05,27.29
$GC,2791,-0.93,-194.6,2333,3853,3700,3574,389.9,-13.8,216,2798,0.00,1.58,0.00,0.000,1030,0.000,0.024,2333,2694,3636,3698,3575,0,0,0,0,0,0,27.15,27.12,27.16
$GC,3122,-0.93,-194.6,2333,2694,3698,3574,436.0,-13.7,227,3131,0.00,1.75,0.00,0.000,260,0.000,0.041,2324,3862,3635,3696,3574,0,0,0,0,0,0,27.24,27.07,27.31
$GC,3165,-0.93,-194.6,2325,3863,3697,3575,440.6,-13.7,228,3173,0.00,1.65,0.00,0.000,1030,0.000,0.024,2324,2710,3635,3696,3574,0,0,0,0,0,0,27.15,27.13,27.17
$GC,3487,-0.93,-194.6,2324,2711,3695,3576,489.9,-14.9,239,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2710,3635,3695,3575,0,0,0,0,0,0,27.25,27.34,27.32
$GC,3788,-0.93,-194.6,2325,2711,3695,3576,533.2,-14.1,249,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2710,3634,3693,3575,0,0,0,0,0,0,27.27,27.35,27.34
$GC,4088,-0.93,-194.6,2324,2709,3693,3575,575.5,-14.0,259,4095,0.00,1.70,0.00,0.000,260,0.000,0.041,2319,3850,3631,3692,3570,0,0,0,0,0,0,27.29,27.10,27.35
$GC,4144,-0.93,-194.6,2323,3850,3692,3574,579.9,-13.9,260,4155,0.08,1.60,0.00,0.000,3078,0.183,0.024,2334,2678,3633,3691,3575,0,0,0,0,0,0,27.02,27.18,27.13
$GC,4449,-0.94,-194.6,2335,2678,3691,3574,622.6,-12.9,271,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2678,3633,3691,3575,0,0,0,0,0,0,27.29,27.37,27.36
$GC,4749,-0.94,-194.6,2334,2679,3691,3575,659.8,-11.9,281,4756,0.00,1.75,0.00,0.000,260,0.000,0.041,2327,3853,3631,3689,3574,0,0,0,0,0,0,27.30,27.12,27.37
$GC,4790,-0.94,-194.6,2329,3855,3690,3576,663.8,-12.2,282,4797,0.00,1.58,0.00,0.000,1030,0.000,0.024,2328,2699,3632,3689,3575,0,0,0,0,0,0,27.22,27.19,27.23
$GC,5111,-0.94,-194.6,2328,2699,3688,3574,704.7,-12.3,293,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2699,3630,3686,3575,0,0,0,0,0,0,27.32,27.39,27.37
$GC,5411,-0.94,-194.6,2327,2700,3689,3575,742.2,-12.4,303,5418,0.00,1.70,0.00,0.000,260,0.000,0.041,2321,3846,3631,3687,3575,0,0,0,0,0,0,27.32,27.13,27.39
$GC,5462,-0.94,-194.6,2321,3845,3687,3574,746.2,-12.4,304,5469,0.00,1.60,0.00,0.000,1030,0.000,0.024,2321,2715,3630,3686,3575,0,0,0,0,0,0,27.22,27.21,27.24
$GC,5773,-0.94,-194.6,2321,2715,3685,3574,788.1,-12.8,315,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2715,3630,3686,3575,0,0,0,0,0,0,27.32,27.40,27.39
$GC,6073,-0.94,-194.6,2322,2716,3687,3576,829.6,-14.4,325,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2715,3629,3686,3573,0,0,0,0,0,0,27.32,27.40,27.37
$GC,6373,-0.94,-194.6,2322,2716,3686,3576,872.5,-14.0,335,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2715,3629,3685,3574,0,0,0,0,0,0,27.33,27.41,27.40
$GC,6673,-0.94,-194.6,2322,2717,3685,3576,913.1,-13.3,345,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2715,3629,3684,3575,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6973,-0.94,-194.6,2322,2715,3684,3574,951.7,-13.0,355,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2715,3628,3682,3574,0,0,0,0,0,0,27.34,27.42,27.41
$STATE,7272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7272,begin apogee
$GC,7276,-0.25,0.0,2322,2818,3683,3575,990.8,-13.0,365,7458,0.73,0.00,169.75,1.047,10246,0.123,0.000,2558,2819,2832,2868,2797,0,0,0,0,0,0,27.06,24.93,24.29
$STATE,7458,end apogee,CONTROL_FINISHED_OK
$STATE,7458,begin climb
$GC,7460,0.92,194.6,2560,2819,2866,2794,1001.4,0.0,371,7630,1.05,0.00,160.23,1.070,11014,0.065,0.000,2932,2820,2040,2075,2005,0,0,0,0,0,0,25.17,24.47,24.00
$GC,7935,0.89,250.7,2932,2819,2063,1985,978.3,8.9,387,7989,0.00,0.00,47.30,1.062,8454,0.000,0.000,2932,2819,1816,1854,1778,0,0,0,0,0,0,26.20,25.10,24.48
$GC,8265,0.86,250.7,2932,2820,1834,1754,942.2,11.6,398,8272,0.00,1.58,0.00,0.000,260,0.000,0.042,2931,3840,1793,1834,1752,0,0,0,0,0,0,26.28,26.10,26.34
$GC,8331,0.83,250.7,2933,3842,1834,1753,934.1,12.4,400,8338,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2773,1792,1833,1752,0,0,0,0,0,0,26.28,26.25,26.29
$GC,8657,0.80,250.7,2932,2772,1833,1751,893.2,12.2,411,8666,0.00,1.62,0.00,0.000,260,0.000,0.041,2932,3831,1792,1832,1752,0,0,0,0,0,0,26.64,26.46,26.71
$GC,8721,0.77,250.7,2932,3831,1832,1751,885.0,12.6,413,8728,0.10,1.48,0.00,0.000,5126,0.190,0.025,2911,2806,1791,1831,1751,0,0,0,0,0,0,26.40,26.57,26.53
$GC,9053,0.77,250.7,2911,2806,1833,1751,847.7,11.3,424,9061,0.00,1.62,0.00,0.000,260,0.000,0.042,2911,3842,1790,1830,1751,0,0,0,0,0,0,26.82,26.65,26.89
$GC,9095,0.77,250.7,2911,3843,1832,1752,843.8,11.4,425,9102,0.00,1.50,0.00,0.000,1030,0.000,0.025,2914,2797,1790,1831,1750,0,0,0,0,0,0,26.73,26.72,26.75
$GC,9416,0.77,250.7,2914,2796,1832,1749,806.6,11.1,436,9424,0.00,1.58,0.00,0.000,260,0.000,0.042,2914,3835,1791,1831,1751,0,0,0,0,0,0,26.94,26.75,27.00
$GC,9473,0.77,250.7,2914,3836,1832,1752,802.8,11.2,437,9483,0.00,1.48,0.00,0.000,1030,0.000,0.025,2919,2793,1790,1830,1750,0,0,0,0,0,0,26.87,26.83,26.88
$GC,9778,0.77,251.1,2919,2794,1832,1752,765.5,11.0,448,9785,0.00,1.58,0.00,0.000,260,0.000,0.043,2919,3832,1790,1831,1750,0,0,0,0,0,0,27.01,26.83,27.08
$GC,9874,0.74,251.1,2919,3834,1831,1751,754.6,11.8,451,9882,0.05,1.45,0.00,0.000,5126,0.165,0.025,2900,2809,1790,1831,1750,0,0,0,0,0,0,26.73,26.91,26.88
$GC,10201,0.75,291.2,2900,2810,1831,1751,721.6,9.5,462,10243,0.00,2.05,33.90,0.923,8708,0.000,0.024,2903,1426,1645,1685,1605,0,0,0,0,0,0,27.07,26.02,25.58
$GC,10252,0.75,324.3,2903,1427,1678,1599,718.5,9.7,463,10292,0.00,2.08,29.60,0.909,9222,0.000,0.029,2903,2791,1509,1552,1467,0,0,0,0,0,0,26.32,26.27,25.10
$GC,10588,0.77,337.0,2905,2792,1539,1451,680.1,10.5,475,10599,0.00,0.00,3.33,0.717,8198,0.000,0.000,2903,2791,1464,1508,1421,0,0,0,0,0,0,26.52,26.17,25.27
$GC,10887,0.80,348.1,2903,2792,1531,1432,648.6,10.6,485,10914,0.00,0.00,18.23,0.894,8454,0.000,0.000,2903,2791,1417,1462,1372,0,0,0,0,0,0,26.71,26.00,25.55
$GC,11219,0.82,354.7,2904,2791,1449,1357,613.2,10.7,496,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2791,1402,1448,1357,0,0,0,0,0,0,26.67,26.74,26.74
$GC,11518,0.85,360.7,2903,2792,1449,1358,580.8,10.8,506,11530,0.00,2.03,4.03,0.854,8708,0.000,0.024,2907,1424,1371,1418,1324,0,0,0,0,0,0,26.82,26.32,25.74
$GC,11559,0.88,364.2,2907,1425,1436,1329,577.9,10.9,507,11580,0.00,2.05,11.27,0.889,9222,0.000,0.028,2907,2801,1350,1396,1304,0,0,0,0,0,0,26.65,26.60,25.74
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$STATE,16154,end climb,SURFACE_DEPTH_REACHED
$STATE,16154,begin surface coast
$FINISH,0.8,1.023956
$STATE,16164,end surface coast,CONTROL_FINISHED_OK
$STATE,16164,begin surface
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$IRIDIUM_FIX,5756.79,-14806.63,130508,225229
$TT8_MAMPS,0.168525,0.168525
$HUMID,38.30
$INTERNAL_PRESSURE,8.7371
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$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,16193.95 7624.84
$PA_BOOTCOUNT,347
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$PA_HOME,0.01/0.191/27.046/25.481
$PA_DISK_BANK,1
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$10V_AH,9.93,28.553
$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,576.897,0.000,0.000,0.000,0.000,0.000,16597.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,138.163,0.000,0.000,0.000
$MEM,187164
$DATA_FILE_SIZE,36802,842
$CAP_FILE_SIZE,138781,0
$CFSIZE,1024393216,992149504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
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