version: 66.12
glider: 203
mission: 8
dive: 80
start: 7 25 115 4 39 26
data:
$ID,203
$MISSION,8
$DIVE,80
$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,-4
$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,97
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,250715,043422,5742.7476,-14843.7490,37,0.8,38,17.4,0.0,101.9,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.5
$GPS2,250715,043915,5742.7310,-14843.8301,7,0.7,11,17.4,0.7,11.8,11,9.4
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,115.1,65299,-18.0,-11.000,-19.55,2718
$D_GRID,2472
$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,-194.6,182,2689,805,688,0.0,0.0,0,153,0.00,0.00,-53.65,0.000,16386,0.000,0.000,181,2690,2142,2184,2101,0,0,0,0,0,0,25.94,28.83,26.01
$GC,154,-0.92,-194.6,183,2689,2186,2101,3.3,-3.6,6,210,8.62,1.80,-35.50,0.000,18692,0.235,0.052,2325,3849,3635,3704,3567,0,0,0,0,0,0,25.70,25.35,25.85
$GC,434,-0.87,-194.6,2327,3849,3705,3572,64.8,-19.5,46,445,0.08,1.67,0.00,0.000,3078,0.140,0.021,2359,2690,3638,3704,3573,0,0,0,0,0,0,25.91,26.06,26.05
$GC,749,-0.87,-194.6,2359,2691,3705,3577,119.0,-14.1,77,753,0.00,2.05,0.00,0.000,516,0.000,0.022,2359,1335,3640,3706,3575,0,0,0,0,0,0,26.11,26.13,26.17
$GC,784,-0.87,-194.6,2359,1335,3705,3575,123.2,-14.2,80,791,0.00,2.12,0.00,0.000,1030,0.000,0.024,2352,2706,3639,3704,3575,0,0,0,0,0,0,26.15,26.14,26.17
$GC,1089,-0.87,-194.6,2351,2706,3705,3575,166.6,-13.6,111,1093,0.00,1.77,0.00,0.000,260,0.000,0.037,2343,3844,3639,3703,3576,0,0,0,0,0,0,26.15,26.14,26.20
$GC,1139,-0.87,-194.6,2344,3845,3705,3577,173.8,-14.7,116,1143,0.00,1.65,0.00,0.000,1030,0.000,0.021,2344,2705,3640,3704,3576,0,0,0,0,0,0,26.20,26.17,26.22
$GC,1449,-0.87,-194.6,2343,2705,3705,3575,218.1,-13.9,147,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2704,3639,3704,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,1769,-0.87,-194.6,2343,2706,3705,3577,263.2,-14.0,173,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2705,3638,3702,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,2069,-0.87,-194.6,2344,2704,3703,3575,303.9,-14.1,183,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2705,3639,3702,3576,0,0,0,0,0,0,26.17,26.24,26.22
$GC,2369,-0.87,-194.6,2344,2706,3701,3577,346.8,-14.2,193,2373,0.00,1.80,0.00,0.000,260,0.000,0.038,2336,3843,3637,3700,3575,0,0,0,0,0,0,26.17,26.17,26.22
$GC,2414,-0.87,-194.6,2336,3843,3701,3575,351.1,-14.3,194,2418,0.05,1.67,0.00,0.000,3078,0.138,0.021,2352,2695,3638,3700,3576,0,0,0,0,0,0,26.07,26.19,26.14
$GC,2729,-0.89,-194.6,2352,2697,3699,3577,394.8,-12.8,205,2733,0.00,1.83,0.00,0.000,260,0.000,0.039,2348,3842,3636,3698,3575,0,0,0,0,0,0,26.15,26.16,26.23
$GC,2759,-0.92,-194.6,2349,3843,3699,3577,398.8,-12.9,206,2763,0.00,1.67,0.00,0.000,1030,0.000,0.022,2348,2701,3637,3698,3576,0,0,0,0,0,0,26.22,26.20,26.24
$GC,3089,-0.94,-194.6,2348,2702,3698,3577,441.7,-12.9,217,3093,0.00,1.83,0.00,0.000,260,0.000,0.038,2341,3850,3636,3696,3576,0,0,0,0,0,0,26.17,26.17,26.22
$GC,3124,-0.97,-194.6,2340,3852,3697,3576,445.7,-12.9,218,3129,0.00,1.70,0.00,0.000,1030,0.000,0.022,2340,2694,3639,3696,3583,0,0,0,0,0,0,26.22,26.20,26.24
$GC,3449,-0.98,-194.6,2340,2694,3696,3575,491.1,-14.0,229,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2694,3635,3694,3576,0,0,0,0,0,0,26.17,26.24,26.22
$GC,3749,-1.00,-194.6,2340,2696,3694,3577,533.3,-14.0,239,3753,0.00,1.83,0.00,0.000,260,0.000,0.039,2333,3845,3635,3694,3576,0,0,0,0,0,0,26.17,26.17,26.22
$GC,3794,-1.02,-194.6,2334,3844,3694,3575,537.6,-14.1,240,3798,0.00,1.67,0.00,0.000,1030,0.000,0.022,2334,2703,3634,3693,3575,0,0,0,0,0,0,26.23,26.20,26.23
$GC,4109,-1.04,-194.6,2333,2703,3693,3575,583.7,-13.9,251,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2703,3633,3692,3575,0,0,0,0,0,0,26.17,26.23,26.22
$GC,4409,-1.06,-194.6,2334,2704,3691,3577,626.4,-13.9,261,4413,0.00,1.83,0.00,0.000,260,0.000,0.038,2325,3849,3632,3690,3575,0,0,0,0,0,0,26.17,26.17,26.22
$GC,4439,-1.07,-194.6,2325,3848,3691,3575,630.5,-13.9,262,4443,0.00,1.70,0.00,0.000,1030,0.000,0.022,2325,2693,3632,3689,3575,0,0,0,0,0,0,26.22,26.20,26.22
$GC,4769,-1.07,-194.6,2325,2694,3690,3577,675.6,-13.2,273,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2693,3632,3689,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,5069,-1.07,-194.6,2325,2692,3690,3575,715.3,-13.3,283,5073,0.00,1.83,0.00,0.000,260,0.000,0.040,2316,3838,3632,3688,3576,0,0,0,0,0,0,26.16,26.15,26.21
$GC,5094,-1.07,-194.6,2320,3839,3688,3576,715.3,-13.3,283,5101,0.00,1.67,0.00,0.000,1030,0.000,0.022,2320,2701,3631,3688,3575,0,0,0,0,0,0,26.22,26.20,26.23
$GC,5399,-1.07,-194.6,2319,2702,3688,3577,762.5,-14.2,294,5403,0.00,2.08,0.00,0.000,516,0.000,0.023,2319,1333,3631,3687,3576,0,0,0,0,0,0,26.16,26.18,26.22
$GC,5429,-1.07,-194.6,2320,1332,3688,3576,766.9,-14.3,295,5433,0.00,2.12,0.00,0.000,1030,0.000,0.027,2320,2702,3631,3687,3575,0,0,0,0,0,0,26.20,26.17,26.22
$GC,5759,-1.07,-194.6,2320,2704,3688,3577,814.3,-14.3,306,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3631,3687,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,6059,-1.07,-194.6,2320,2704,3687,3577,856.5,-13.9,316,6063,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3849,3630,3686,3575,0,0,0,0,0,0,26.16,26.15,26.22
$GC,6094,-1.07,-194.6,2320,3850,3687,3576,860.6,-13.8,317,6099,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2707,3630,3686,3575,0,0,0,0,0,0,26.22,26.19,26.22
$GC,6419,-1.07,-194.6,2320,2709,3686,3577,904.2,-12.9,328,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3630,3685,3575,0,0,0,0,0,0,26.15,26.22,26.22
$GC,6719,-1.09,-194.6,2319,2709,3685,3577,943.8,-13.3,338,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2707,3629,3684,3575,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7019,-1.11,-194.6,2325,2708,3684,3577,983.5,-13.4,348,7023,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3840,3629,3683,3575,0,0,0,0,0,0,26.15,26.14,26.21
$GC,7049,-1.12,-194.6,2319,3840,3684,3575,987.5,-13.4,349,7053,0.00,1.67,0.00,0.000,1030,0.000,0.023,2319,2704,3628,3682,3575,0,0,0,0,0,0,26.22,26.19,26.22
$STATE,7078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7078,begin apogee
$GC,7082,-0.25,0.0,2320,2819,3684,3577,991.6,-13.3,350,7321,0.75,0.00,233.27,0.886,10246,0.118,0.000,2555,2818,2834,2873,2796,0,0,0,0,0,0,26.03,24.36,23.94
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7323,0.92,194.6,2556,2819,2872,2796,1007.1,0.0,358,7494,1.08,0.00,166.18,1.086,10502,0.054,0.000,2937,2818,2043,2081,2006,0,0,0,0,0,0,24.63,23.65,23.03
$GC,7769,0.89,247.7,2936,2819,2066,1984,986.4,9.0,373,7818,0.00,1.67,45.15,1.074,8452,0.000,0.041,2936,3840,1822,1864,1780,0,0,0,0,0,0,25.38,24.70,24.05
$GC,7860,0.84,278.8,2937,3841,1852,1769,977.2,9.8,376,7892,0.00,1.55,27.70,1.053,9222,0.000,0.023,2944,2792,1700,1744,1657,0,0,0,0,0,0,25.13,25.10,24.01
$GC,8189,0.81,278.8,2941,2794,1728,1637,936.6,12.7,387,8193,0.10,1.70,0.00,0.000,4356,0.181,0.040,2924,3841,1680,1726,1635,0,0,0,0,0,0,25.56,25.67,25.70
$GC,8285,0.79,278.8,2925,3843,1728,1636,924.9,12.8,390,8288,0.00,1.55,0.00,0.000,1030,0.000,0.024,2930,2802,1683,1726,1641,0,0,0,0,0,0,25.83,25.81,25.85
$GC,8609,0.79,278.8,2930,2804,1726,1635,885.2,12.3,401,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2801,1679,1725,1633,0,0,0,0,0,0,25.99,26.06,26.06
$GC,8909,0.79,278.8,2930,2803,1726,1634,849.4,11.8,411,8913,0.00,1.65,0.00,0.000,260,0.000,0.040,2930,3831,1679,1725,1633,0,0,0,0,0,0,26.08,26.08,26.14
$GC,8944,0.77,278.8,2931,3833,1726,1634,845.8,11.9,412,8948,0.05,1.52,0.00,0.000,5126,0.168,0.023,2917,2790,1678,1725,1632,0,0,0,0,0,0,25.96,26.11,26.06
$GC,9269,0.77,285.9,2917,2789,1727,1631,810.0,10.7,423,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2790,1678,1725,1632,0,0,0,0,0,0,26.12,26.19,26.17
$GC,9569,0.77,285.9,2917,2790,1725,1632,777.1,11.0,433,9573,0.00,1.65,0.00,0.000,260,0.000,0.040,2917,3832,1678,1725,1632,0,0,0,0,0,0,26.14,26.14,26.20
$GC,9599,0.77,285.9,2917,3833,1727,1633,773.6,11.1,434,9604,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2800,1678,1724,1632,0,0,0,0,0,0,26.20,26.17,26.22
$GC,9929,0.77,291.0,2919,2802,1725,1633,736.6,10.8,445,9935,0.00,2.12,2.45,0.446,8708,0.000,0.024,2919,1428,1653,1700,1607,0,0,0,0,0,0,26.13,26.00,24.89
$GC,9964,0.77,298.3,2918,1429,1717,1616,734.1,10.7,446,9987,0.00,2.12,15.57,0.960,9222,0.000,0.027,2918,2789,1614,1659,1570,0,0,0,0,0,0,26.17,26.14,25.08
$GC,10285,0.77,304.0,2919,2790,1652,1561,698.1,10.8,457,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2789,1605,1651,1559,0,0,0,0,0,0,26.03,26.10,26.09
$GC,10585,0.77,316.0,2919,2788,1652,1559,666.2,10.5,467,10604,0.00,1.65,16.33,0.910,8452,0.000,0.037,2918,3854,1544,1589,1499,0,0,0,0,0,0,26.10,25.56,25.07
$GC,10644,0.77,316.0,2919,3854,1582,1488,659.9,11.0,469,10648,0.00,1.55,0.00,0.000,1030,0.000,0.022,2923,2807,1534,1580,1488,0,0,0,0,0,0,25.91,25.89,25.91
$GC,10970,0.77,316.8,2923,2807,1581,1486,624.0,11.0,480,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2807,1532,1580,1485,0,0,0,0,0,0,26.04,26.12,26.10
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$STATE,16426,end climb,SURFACE_DEPTH_REACHED
$STATE,16426,begin surface coast
$FINISH,0.6,1.010761
$STATE,16441,end surface coast,CONTROL_FINISHED_OK
$STATE,16441,begin surface
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$IRIDIUM_FIX,5720.52,-14849.72,200508,133504
$TT8_MAMPS,0.059171,0.059171
$HUMID,40.39
$INTERNAL_PRESSURE,8.7743
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$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,16470.83 15877.30
$PA_BOOTCOUNT,386
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$PA_DISK_BANK,1
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$10V_AH,10.19,31.668
$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
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$MEM,180076
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