version: 66.12
glider: 203
mission: 8
dive: 83
start: 7 25 115 18 23 56
data:
$ID,203
$MISSION,8
$DIVE,83
$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
$GPS1,250715,181751,5733.6924,-14839.7686,35,0.8,35,17.4,0.5,221.0,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.8
$GPS2,250715,182345,5733.6587,-14839.8232,7,0.7,10,17.4,0.0,248.0,11,9.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,135.6,48112,-18.0,-11.000,-19.55,2718
$D_GRID,3333
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.92,-194.6,192,2803,837,722,0.0,0.0,0,140,0.00,0.00,-46.70,0.000,16386,0.000,0.000,191,2804,1981,2022,1941,0,0,0,0,0,0,25.92,28.83,25.98
$GC,142,-0.92,-194.6,192,2804,2024,1942,3.1,-3.5,7,201,8.57,1.67,-41.78,0.000,18692,0.233,0.060,2328,3850,3635,3704,3567,0,0,0,0,0,0,25.67,24.74,25.90
$GC,236,-0.80,-194.6,2328,3850,3705,3571,21.0,-28.5,24,242,0.17,1.67,0.00,0.000,3078,0.151,0.021,2372,2660,3637,3704,3571,0,0,0,0,0,0,25.82,26.00,25.97
$GC,541,-0.80,-194.6,2372,2659,3705,3574,78.1,-16.4,69,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2659,3639,3704,3575,0,0,0,0,0,0,26.00,26.06,26.06
$GC,843,-0.82,-194.6,2373,2660,3704,3577,124.3,-14.0,99,853,0.00,1.95,0.00,0.000,516,0.000,0.023,2372,1343,3637,3704,3570,0,0,0,0,0,0,26.03,26.08,26.10
$GC,877,-0.84,-194.6,2372,1343,3705,3576,129.2,-14.0,102,885,0.00,2.08,0.00,0.000,1030,0.000,0.025,2365,2710,3640,3704,3576,0,0,0,0,0,0,26.10,26.07,26.12
$GC,1190,-0.86,-194.6,2367,2711,3705,3577,172.1,-14.6,133,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2710,3640,3704,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,1490,-0.89,-194.6,2366,2711,3705,3577,211.8,-12.6,163,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2710,3640,3704,3577,0,0,0,0,0,0,26.08,26.15,26.13
$GC,1791,-0.92,-194.6,2366,2711,3705,3577,249.6,-12.2,193,1799,0.00,1.75,0.00,0.000,260,0.000,0.040,2362,3846,3639,3703,3576,0,0,0,0,0,0,26.06,26.07,26.12
$GC,1838,-0.94,-194.6,2361,3847,3703,3577,253.9,-12.8,195,1845,0.00,1.60,0.00,0.000,1030,0.000,0.023,2362,2728,3639,3703,3575,0,0,0,0,0,0,26.15,26.11,26.15
$GC,2154,-0.97,-194.6,2362,2729,3703,3577,297.9,-13.6,206,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2728,3639,3702,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2454,-1.00,-194.6,2362,2728,3701,3576,339.6,-13.6,216,2462,0.00,1.75,0.00,0.000,260,0.000,0.039,2353,3855,3638,3700,3576,0,0,0,0,0,0,26.08,26.07,26.14
$GC,2491,-1.02,-194.6,2353,3855,3700,3577,344.0,-13.6,217,2498,0.05,1.67,0.00,0.000,5126,0.161,0.022,2302,2680,3637,3699,3576,0,0,0,0,0,0,26.01,26.10,26.10
$GC,2817,-1.00,-194.6,2305,2678,3698,3576,400.1,-16.7,228,2827,0.00,1.83,0.00,0.000,260,0.000,0.038,2295,3850,3637,3698,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,2851,-0.97,-194.6,2295,3850,3698,3576,405.8,-16.6,229,2859,0.08,1.67,0.00,0.000,3078,0.141,0.021,2327,2701,3636,3697,3576,0,0,0,0,0,0,25.94,26.11,26.08
$GC,3183,-0.97,-194.6,2327,2701,3697,3575,455.4,-14.8,240,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2701,3635,3696,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3483,-0.97,-194.6,2328,2702,3695,3577,498.5,-14.0,250,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2700,3635,3694,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3783,-0.97,-194.6,2327,2702,3694,3577,539.0,-13.4,260,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2701,3634,3693,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,4083,-0.97,-194.6,2327,2702,3693,3577,579.0,-13.3,270,4090,0.00,1.80,0.00,0.000,260,0.000,0.039,2321,3854,3634,3692,3576,0,0,0,0,0,0,26.06,26.06,26.13
$GC,4145,-0.97,-194.6,2322,3856,3692,3577,587.4,-13.4,272,4152,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2698,3633,3691,3576,0,0,0,0,0,0,26.13,26.11,26.14
$GC,4477,-0.97,-194.6,2322,2697,3691,3572,634.1,-13.9,283,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2691,3632,3689,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,4776,-0.97,-194.6,2322,2692,3690,3577,675.4,-13.9,293,4784,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3849,3632,3689,3576,0,0,0,0,0,0,26.06,26.06,26.13
$GC,4833,-0.97,-194.6,2319,3850,3690,3577,680.2,-14.1,294,4843,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2689,3632,3689,3576,0,0,0,0,0,0,26.14,26.07,26.15
$GC,5138,-0.97,-194.6,2320,2689,3689,3575,725.1,-13.1,305,5145,0.00,1.80,0.00,0.000,260,0.000,0.039,2319,3845,3632,3688,3576,0,0,0,0,0,0,26.06,26.06,26.13
$GC,5179,-0.97,-194.6,2319,3847,3688,3577,729.5,-13.3,306,5186,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2700,3631,3687,3575,0,0,0,0,0,0,26.13,26.09,26.13
$GC,5501,-0.97,-194.6,2320,2701,3688,3577,772.4,-12.9,317,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2700,3631,3686,3576,0,0,0,0,0,0,26.06,26.13,26.11
$GC,5801,-0.97,-194.6,2319,2701,3693,3577,812.3,-13.5,327,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2700,3631,3686,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6101,-0.97,-194.6,2319,2700,3687,3575,851.4,-13.1,337,6110,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3849,3631,3686,3576,0,0,0,0,0,0,26.06,26.06,26.12
$GC,6129,-0.97,-194.6,2320,3849,3686,3576,851.4,-13.1,337,6140,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2695,3631,3686,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,6435,-0.97,-194.6,2320,2695,3687,3575,896.2,-13.5,348,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3630,3685,3576,0,0,0,0,0,0,26.06,26.13,26.13
$GC,6735,-0.97,-194.6,2316,2697,3685,3577,935.5,-13.0,358,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3630,3684,3576,0,0,0,0,0,0,26.05,26.12,26.11
$GC,7035,-0.97,-194.6,2320,2697,3684,3577,975.1,-13.2,368,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3630,3684,3576,0,0,0,0,0,0,26.05,26.12,26.11
$STATE,7153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7153,begin apogee
$GC,7157,-0.25,0.0,2320,2809,3683,3575,991.2,-13.4,372,7328,0.75,0.00,163.35,1.098,10246,0.119,0.000,2553,2809,2838,2876,2800,0,0,0,0,0,0,25.90,24.46,23.82
$STATE,7328,end apogee,CONTROL_FINISHED_OK
$STATE,7328,begin climb
$GC,7330,0.92,194.6,2554,2810,2869,2799,1000.2,0.0,377,7507,1.10,2.35,163.82,1.089,11012,0.067,0.022,2927,1430,2035,2074,1997,0,0,0,0,0,0,24.60,23.68,23.05
$GC,7686,0.90,263.4,2931,1428,2066,1987,991.2,8.4,389,7761,0.00,2.15,58.90,1.080,9222,0.000,0.026,2931,2792,1755,1797,1713,0,0,0,0,0,0,25.18,25.16,23.74
$GC,8057,0.88,263.4,2932,2793,1789,1699,947.7,11.7,402,8064,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3854,1743,1788,1698,0,0,0,0,0,0,25.55,25.56,25.61
$GC,8093,0.85,263.4,2931,3854,1789,1698,943.7,11.8,403,8101,0.00,1.52,0.00,0.000,1030,0.000,0.023,2931,2795,1741,1788,1694,0,0,0,0,0,0,25.67,25.63,25.67
$GC,8420,0.82,263.4,2932,2795,1789,1698,903.9,11.8,414,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2795,1742,1787,1698,0,0,0,0,0,0,25.89,25.96,25.95
$GC,8720,0.80,263.4,2931,2796,1788,1698,867.8,12.5,424,8727,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3861,1742,1787,1697,0,0,0,0,0,0,25.98,26.00,26.05
$GC,8786,0.77,263.4,2932,3862,1788,1698,859.6,13.0,426,8794,0.10,1.52,0.00,0.000,5126,0.186,0.024,2911,2789,1741,1787,1696,0,0,0,0,0,0,25.88,26.03,26.03
$GC,9113,0.77,263.4,2911,2788,1788,1697,820.8,11.6,437,9122,0.00,1.70,0.00,0.000,260,0.000,0.041,2912,3844,1741,1787,1696,0,0,0,0,0,0,26.00,26.04,26.06
$GC,9161,0.77,263.4,2911,3845,1788,1697,816.8,11.7,438,9169,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2792,1741,1787,1696,0,0,0,0,0,0,26.10,26.08,26.12
$GC,9479,0.77,266.1,2917,2792,1787,1696,780.2,10.9,449,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2790,1740,1786,1695,0,0,0,0,0,0,26.05,26.12,26.11
$GC,9779,0.77,271.9,2917,2791,1786,1697,747.7,10.8,459,9786,0.00,1.65,0.00,0.000,260,0.000,0.041,2917,3851,1740,1785,1695,0,0,0,0,0,0,26.06,26.06,26.11
$GC,9845,0.75,271.9,2917,3851,1786,1695,740.6,11.1,461,9852,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2789,1740,1785,1696,0,0,0,0,0,0,26.13,26.09,26.14
$GC,10171,0.75,271.9,2919,2791,1786,1697,704.2,11.1,472,10178,0.00,1.65,0.00,0.000,260,0.000,0.040,2919,3853,1740,1785,1696,0,0,0,0,0,0,26.05,26.05,26.10
$GC,10283,0.73,271.9,2918,3853,1785,1695,693.2,11.8,475,10291,0.05,1.52,0.00,0.000,5126,0.164,0.024,2906,2808,1739,1784,1695,0,0,0,0,0,0,25.93,26.09,26.02
$GC,10595,0.73,314.5,2906,2807,1786,1695,660.4,9.4,486,10646,0.00,0.00,44.08,0.898,8454,0.000,0.000,2906,2808,1553,1597,1509,0,0,0,0,0,0,26.06,25.14,24.70
$GC,10955,0.75,314.5,2906,2807,1583,1489,621.8,11.1,498,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2807,1535,1582,1489,0,0,0,0,0,0,25.89,25.96,25.96
$GC,11255,0.77,314.5,2906,2806,1583,1489,588.1,11.3,508,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2807,1535,1582,1488,0,0,0,0,0,0,26.00,26.06,26.05
$GC,11555,0.79,314.5,2906,2807,1583,1487,554.7,11.3,518,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2807,1534,1581,1488,0,0,0,0,0,0,26.03,26.10,26.09
$GC,11855,0.82,328.7,2905,2807,1582,1487,522.8,10.5,528,11872,0.00,0.00,10.85,0.854,8198,0.000,0.000,2906,2808,1500,1547,1454,0,0,0,0,0,0,26.05,25.78,25.14
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$STATE,16029,end climb,SURFACE_DEPTH_REACHED
$STATE,16029,begin surface coast
$FINISH,0.6,1.022320
$STATE,16047,end surface coast,CONTROL_FINISHED_OK
$STATE,16047,begin surface
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$IRIDIUM_FIX,5712.54,-14836.70,210508,074554
$TT8_MAMPS,0.05992,0.05992
$HUMID,38.69
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.70
$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,16077.27 7675.84
$PA_BOOTCOUNT,389
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$PA_HOME,0.01/0.199/27.046/25.473
$PA_DISK_BANK,2
$24V_AH,23.05,24.152
$10V_AH,10.17,31.865
$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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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,180444
$DATA_FILE_SIZE,36796,859
$CAP_FILE_SIZE,136414,0
$CFSIZE,1024393216,988315648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,250715,225335,5730.608,-14838.710,38,1.2,39,17.4,0.0,0.0,8,7.4