version: 66.12
glider: 203
mission: 8
dive: 58
start: 7 21 115 0 7 53
data:
$ID,203
$MISSION,8
$DIVE,58
$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,-3
$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,100
$R_STBD_OVSHOOT,44
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,210715,000229,5759.8110,-14740.3662,39,1.0,40,17.8,0.0,97.2,8,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-58.0
$GPS2,210715,000742,5759.7983,-14740.3379,7,0.7,9,17.8,0.5,272.0,11,9.2
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP4
$TGT_LATLONG,5747.318,-14728.255
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,130.3,26010,-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,-194.6,198,2802,555,423,0.0,0.0,0,160,0.00,0.00,-60.80,0.000,16386,0.000,0.000,197,2803,2087,2131,2044,0,0,0,0,0,0,25.91,28.83,25.98
$GC,162,-0.92,-194.6,198,2802,2132,2045,3.0,-3.5,8,216,8.77,1.62,-39.10,0.000,18692,0.244,0.057,2330,3849,3632,3700,3564,0,0,0,0,0,0,25.75,25.41,25.94
$GC,439,-0.86,-194.6,2329,3850,3702,3572,61.5,-21.4,50,445,0.08,1.67,0.00,0.000,3078,0.139,0.021,2353,2694,3636,3701,3571,0,0,0,0,0,0,25.93,26.04,26.01
$GC,749,-0.86,-194.6,2352,2694,3701,3575,117.5,-16.7,81,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2692,3637,3701,3573,0,0,0,0,0,0,26.10,26.17,26.15
$GC,1050,-0.86,-194.6,2353,2695,3702,3575,162.8,-14.1,111,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2691,3637,3701,3574,0,0,0,0,0,0,26.14,26.21,26.20
$GC,1350,-0.86,-194.6,2353,2692,3702,3573,203.6,-13.0,141,1355,0.00,1.80,0.00,0.000,260,0.000,0.039,2347,3856,3637,3701,3574,0,0,0,0,0,0,26.16,26.18,26.22
$GC,1409,-0.86,-194.6,2347,3857,3702,3575,211.6,-13.7,147,1415,0.00,1.67,0.00,0.000,1030,0.000,0.021,2347,2696,3637,3700,3574,0,0,0,0,0,0,26.23,26.20,26.24
$GC,1719,-0.86,-194.6,2347,2696,3701,3574,254.7,-14.1,176,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2696,3637,3701,3574,0,0,0,0,0,0,26.17,26.24,26.23
$GC,2019,-0.86,-194.6,2347,2696,3700,3574,299.7,-14.9,186,2025,0.00,1.83,0.00,0.000,260,0.000,0.037,2339,3851,3636,3699,3574,0,0,0,0,0,0,26.17,26.20,26.23
$GC,2054,-0.86,-194.6,2339,3852,3694,3572,304.3,-14.9,187,2061,0.05,1.67,0.00,0.000,3078,0.140,0.021,2355,2706,3636,3698,3574,0,0,0,0,0,0,26.11,26.21,26.18
$GC,2381,-0.89,-194.6,2355,2707,3697,3575,350.6,-14.0,198,2386,0.00,2.10,0.00,0.000,516,0.000,0.023,2355,1323,3635,3697,3574,0,0,0,0,0,0,26.17,26.20,26.24
$GC,2406,-0.91,-194.6,2355,1323,3698,3572,350.6,-14.0,198,2416,0.00,2.12,0.00,0.000,1030,0.000,0.027,2349,2701,3635,3697,3574,0,0,0,0,0,0,26.24,26.20,26.24
$GC,2711,-0.93,-194.6,2349,2702,3696,3575,397.3,-13.7,209,2716,0.00,1.77,0.00,0.000,260,0.000,0.040,2347,3839,3634,3695,3574,0,0,0,0,0,0,26.17,26.20,26.24
$GC,2775,-0.95,-194.6,2348,3839,3696,3574,405.2,-13.4,211,2782,0.00,1.67,0.00,0.000,1030,0.000,0.022,2348,2707,3632,3690,3574,0,0,0,0,0,0,26.25,26.21,26.25
$GC,3101,-0.97,-194.6,2348,2708,3694,3575,448.3,-13.1,222,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2707,3634,3694,3574,0,0,0,0,0,0,26.17,26.25,26.24
$GC,3402,-0.99,-194.6,2348,2707,3691,3574,487.3,-12.9,232,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2707,3632,3692,3573,0,0,0,0,0,0,26.18,26.25,26.25
$GC,3701,-1.01,-194.6,2348,2707,3691,3573,525.6,-12.8,242,3707,0.00,1.80,0.00,0.000,260,0.000,0.039,2340,3846,3631,3690,3573,0,0,0,0,0,0,26.18,26.20,26.24
$GC,3741,-1.04,-194.6,2340,3847,3692,3575,529.4,-12.6,243,3747,0.00,1.73,0.00,0.000,1030,0.000,0.022,2339,2682,3631,3688,3574,0,0,0,0,0,0,26.24,26.21,26.25
$GC,4062,-1.05,-194.6,2340,2681,3690,3573,570.3,-12.7,254,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2682,3631,3689,3573,0,0,0,0,0,0,26.17,26.25,26.23
$GC,4361,-1.07,-194.6,2340,2682,3688,3575,611.4,-13.6,264,4365,0.05,0.00,0.00,0.000,4102,0.164,0.000,2294,2681,3630,3687,3573,0,0,0,0,0,0,26.14,26.25,26.22
$GC,4662,-1.05,-194.6,2293,2683,3688,3575,661.8,-16.9,274,4667,0.00,1.85,0.00,0.000,260,0.000,0.041,2293,3846,3630,3686,3574,0,0,0,0,0,0,26.17,26.20,26.23
$GC,4716,-1.02,-194.6,2293,3847,3680,3575,666.8,-17.0,275,4726,0.00,1.70,0.00,0.000,1030,0.000,0.022,2293,2693,3627,3686,3568,0,0,0,0,0,0,26.25,26.20,26.24
$GC,5021,-1.00,-194.6,2293,2694,3687,3574,720.7,-16.1,286,5025,0.10,0.00,0.00,0.000,2054,0.174,0.000,2314,2693,3630,3686,3574,0,0,0,0,0,0,26.09,26.23,26.21
$GC,5321,-1.00,-194.6,2314,2694,3685,3575,762.9,-13.7,296,5327,0.00,2.08,0.00,0.000,516,0.000,0.024,2315,1326,3629,3684,3574,0,0,0,0,0,0,26.17,26.20,26.27
$GC,5356,-1.00,-194.6,2315,1326,3685,3573,767.1,-13.6,297,5363,0.00,2.15,0.00,0.000,1030,0.000,0.028,2308,2703,3629,3684,3574,0,0,0,0,0,0,26.22,26.20,26.23
$GC,5682,-1.00,-194.6,2308,2703,3684,3573,813.6,-14.0,308,5688,0.00,1.80,0.00,0.000,260,0.000,0.041,2306,3845,3628,3683,3574,0,0,0,0,0,0,26.17,26.19,26.23
$GC,5743,-1.00,-194.6,2306,3846,3684,3575,822.3,-14.1,310,5748,0.00,1.67,0.00,0.000,1030,0.000,0.022,2306,2710,3628,3682,3574,0,0,0,0,0,0,26.23,26.20,26.24
$GC,6073,-1.00,-194.6,2306,2710,3683,3573,867.9,-13.8,321,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2710,3628,3682,3574,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6373,-1.00,-194.6,2306,2711,3681,3575,907.2,-13.0,331,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2709,3627,3681,3574,0,0,0,0,0,0,26.16,26.23,26.22
$GC,6673,-1.00,-194.6,2306,2710,3682,3573,945.9,-12.8,341,6678,0.00,2.12,0.00,0.000,516,0.000,0.024,2306,1317,3627,3681,3574,0,0,0,0,0,0,26.17,26.20,26.22
$GC,6703,-1.00,-194.6,2306,1318,3677,3573,949.8,-12.9,342,6708,0.00,2.15,0.00,0.000,1030,0.000,0.028,2306,2703,3626,3680,3573,0,0,0,0,0,0,26.21,26.20,26.23
$STATE,7031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7031,begin apogee
$GC,7035,-0.25,0.0,2307,2814,3680,3575,991.6,-12.6,353,7201,0.80,0.00,160.82,1.108,10246,0.124,0.000,2557,2810,2838,2873,2803,0,0,0,0,0,0,26.09,24.59,23.93
$STATE,7202,end apogee,CONTROL_FINISHED_OK
$STATE,7202,begin climb
$GC,7203,0.92,194.6,2557,2812,2867,2795,997.9,0.0,358,7379,1.10,2.35,161.80,1.092,11012,0.066,0.022,2944,1421,2036,2070,2003,0,0,0,0,0,0,24.77,24.07,23.41
$GC,7528,0.88,234.0,2947,1422,2063,1993,985.5,9.5,369,7570,0.00,2.20,33.65,1.084,9222,0.000,0.027,2944,2778,1880,1917,1844,0,0,0,0,0,0,25.20,25.16,23.94
$GC,7875,0.84,234.0,2945,2778,1905,1827,945.0,11.3,381,7880,0.00,1.70,0.00,0.000,260,0.000,0.040,2944,3860,1865,1904,1827,0,0,0,0,0,0,25.60,25.63,25.67
$GC,8009,0.78,234.0,2944,3860,1905,1826,929.5,12.9,385,8016,0.10,1.60,0.00,0.000,5126,0.147,0.023,2915,2780,1865,1904,1826,0,0,0,0,0,0,25.69,25.79,25.77
$GC,8325,0.78,257.6,2915,2780,1905,1826,894.5,10.1,396,8349,0.00,0.00,20.40,1.053,8198,0.000,0.000,2915,2781,1787,1824,1750,0,0,0,0,0,0,25.96,25.48,24.84
$GC,8625,0.78,257.8,2916,2780,1810,1732,862.1,11.0,406,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2780,1770,1809,1732,0,0,0,0,0,0,25.91,25.98,25.98
$GC,8925,0.78,279.2,2915,2781,1810,1731,830.7,10.2,416,8947,0.00,0.00,19.15,1.018,8198,0.000,0.000,2915,2781,1700,1739,1661,0,0,0,0,0,0,26.05,25.60,24.96
$GC,9225,0.78,279.2,2916,2782,1726,1645,798.2,11.2,426,9230,0.00,1.73,0.00,0.000,260,0.000,0.041,2915,3856,1684,1725,1644,0,0,0,0,0,0,25.97,26.00,26.03
$GC,9274,0.78,279.2,2916,3855,1727,1642,794.7,11.3,427,9281,0.00,1.55,0.00,0.000,1030,0.000,0.024,2918,2802,1684,1725,1643,0,0,0,0,0,0,26.08,26.02,26.07
$GC,9585,0.78,279.2,2918,2803,1726,1644,756.9,11.4,438,9590,0.00,1.67,0.00,0.000,260,0.000,0.041,2918,3844,1683,1725,1642,0,0,0,0,0,0,26.08,26.10,26.15
$GC,9624,0.78,279.2,2918,3844,1726,1641,753.1,11.7,439,9631,0.00,1.52,0.00,0.000,1030,0.000,0.023,2919,2806,1683,1725,1641,0,0,0,0,0,0,26.16,26.11,26.16
$GC,9945,0.78,279.2,2919,2805,1726,1641,714.9,11.7,450,9951,0.00,2.12,0.00,0.000,516,0.000,0.026,2919,1424,1683,1725,1641,0,0,0,0,0,0,26.12,26.15,26.18
$GC,9984,0.78,279.2,2919,1424,1726,1641,711.3,11.8,451,9991,0.00,2.15,0.00,0.000,1030,0.000,0.028,2919,2806,1683,1725,1641,0,0,0,0,0,0,26.17,26.15,26.20
$GC,10305,0.78,279.2,2919,2805,1725,1642,670.7,12.4,462,10311,0.00,1.62,0.00,0.000,260,0.000,0.041,2921,3840,1686,1732,1641,0,0,0,0,0,0,26.14,26.16,26.20
$GC,10365,0.78,279.2,2920,3841,1725,1642,662.9,12.7,464,10371,0.00,1.52,0.00,0.000,1030,0.000,0.023,2918,2796,1682,1723,1641,0,0,0,0,0,0,26.20,26.17,26.21
$GC,10695,0.78,284.9,2919,2797,1725,1642,626.0,10.8,475,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2796,1682,1724,1641,0,0,0,0,0,0,26.15,26.21,26.20
$GC,10995,0.78,292.3,2919,2797,1725,1642,594.0,10.7,485,11009,0.00,0.00,10.95,0.905,8198,0.000,0.000,2919,2792,1647,1688,1607,0,0,0,0,0,0,26.15,25.89,25.27
$GC,11295,0.78,293.7,2919,2797,1677,1596,561.5,10.9,495,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2796,1635,1676,1594,0,0,0,0,0,0,26.07,26.14,26.13
$GC,11595,0.78,299.0,2919,2797,1677,1595,528.7,10.8,505,11601,0.00,1.67,0.00,0.000,260,0.000,0.041,2918,3847,1635,1676,1594,0,0,0,0,0,0,26.11,26.13,26.17
$GC,11620,0.79,304.4,2919,3848,1677,1595,528.7,10.8,505,11637,0.00,1.52,11.32,0.860,9222,0.000,0.024,2922,2807,1598,1639,1557,0,0,0,0,0,0,26.17,26.14,25.27
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$STATE,16215,end climb,SURFACE_DEPTH_REACHED
$STATE,16215,begin surface coast
$FINISH,0.5,1.015240
$STATE,16230,end surface coast,CONTROL_FINISHED_OK
$STATE,16230,begin surface
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$IRIDIUM_FIX,5736.57,-14744.18,160508,133023
$TT8_MAMPS,0.057673,0.057673
$HUMID,40.11
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.40
$XPDR_PINGS,2
$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,15910.13 15669.72
$PA_BOOTCOUNT,362
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$PA_HOME,0.01/0.194/27.046/25.478
$PA_DISK_BANK,1
$24V_AH,23.41,13.417
$10V_AH,10.23,30.155
$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
$DEVICE_SECS,18.600,85.000,546.750,0.000,0.000,0.000,0.000,222.075,0.500,16284.939,9.996,0.000,13135.857,621.234,2722.881,125.653,0.000,1940.557,0.000,1644.852,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,213764
$DATA_FILE_SIZE,36762,846
$CAP_FILE_SIZE,139194,0
$CFSIZE,1024393216,990773248
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,1,16234.34,0x236db2,7,5
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$GPS,210715,044034,5756.812,-14739.169,35,0.8,36,17.7,0.0,0.0,11,9.3