version: 66.12
glider: 203
mission: 8
dive: 89
start: 7 26 115 21 44 2
data:
$ID,203
$MISSION,8
$DIVE,89
$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,41
$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
$GPS1,260715,213833,5716.3511,-14835.1279,38,0.9,38,17.3,0.5,112.8,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-62.7
$GPS2,260715,214351,5716.3213,-14835.0654,7,0.9,10,17.3,0.0,0.0,9,9.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,165.3,15700,-18.0,-11.000,-19.55,2718
$D_GRID,4701
$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,-194.6,187,2702,1049,938,0.0,0.0,0,135,0.00,0.00,-39.62,0.000,16386,0.000,0.000,187,2701,2013,2054,1972,0,0,0,0,0,0,25.95,28.83,26.03
$GC,136,-0.92,-194.6,188,2701,2055,1972,3.0,-4.3,6,191,8.48,1.80,-41.78,0.000,18692,0.230,0.057,2328,3858,3635,3704,3567,0,0,0,0,0,0,25.69,24.75,25.94
$GC,276,-0.83,-194.6,2328,3860,3705,3573,32.8,-25.4,32,286,0.15,1.65,0.00,0.000,3078,0.154,0.021,2364,2686,3637,3704,3571,0,0,0,0,0,0,25.86,26.04,26.01
$GC,587,-0.81,-194.6,2365,2687,3705,3582,92.3,-17.4,70,600,0.00,1.83,0.00,0.000,260,0.000,0.038,2358,3863,3639,3704,3575,0,0,0,0,0,0,26.05,26.04,26.11
$GC,699,-0.81,-194.6,2359,3864,3705,3576,110.6,-15.8,81,708,0.00,1.62,0.00,0.000,1030,0.000,0.021,2359,2707,3640,3704,3576,0,0,0,0,0,0,26.14,26.10,26.15
$GC,1012,-0.81,-194.6,2359,2707,3705,3577,156.8,-13.8,112,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2707,3640,3704,3576,0,0,0,0,0,0,26.08,26.15,26.13
$GC,1313,-0.81,-194.6,2359,2707,3706,3576,199.4,-14.0,142,1322,0.00,2.03,0.00,0.000,516,0.000,0.023,2359,1340,3640,3704,3577,0,0,0,0,0,0,26.08,26.10,26.14
$GC,1341,-0.81,-194.6,2359,1338,3705,3578,202.7,-13.7,144,1352,0.10,2.08,0.00,0.000,3078,0.167,0.025,2371,2709,3640,3704,3576,0,0,0,0,0,0,25.96,26.10,26.09
$GC,1647,-0.85,-194.6,2371,2708,3706,3576,240.7,-11.9,175,1655,0.00,1.75,0.00,0.000,260,0.000,0.039,2366,3859,3640,3704,3576,0,0,0,0,0,0,26.09,26.08,26.15
$GC,1699,-0.88,-194.6,2366,3858,3705,3576,247.5,-13.1,180,1706,0.00,1.65,0.00,0.000,1030,0.000,0.021,2366,2700,3640,3704,3576,0,0,0,0,0,0,26.14,26.11,26.15
$GC,2021,-0.91,-194.6,2366,2700,3705,3576,290.4,-13.4,192,2029,0.00,1.77,0.00,0.000,260,0.000,0.039,2359,3846,3638,3701,3576,0,0,0,0,0,0,26.09,26.08,26.15
$GC,2093,-0.93,-194.6,2360,3847,3704,3578,299.1,-13.7,194,2100,0.00,1.65,0.00,0.000,1030,0.000,0.022,2359,2691,3638,3702,3575,0,0,0,0,0,0,26.16,26.13,26.17
$GC,2414,-0.96,-194.6,2365,2692,3702,3577,344.1,-13.5,205,2422,0.00,2.03,0.00,0.000,516,0.000,0.023,2359,1325,3638,3701,3576,0,0,0,0,0,0,26.09,26.10,26.15
$GC,2447,-0.99,-194.6,2359,1325,3702,3576,348.5,-13.3,206,2454,0.00,2.08,0.00,0.000,1030,0.000,0.027,2349,2702,3638,3701,3576,0,0,0,0,0,0,26.15,26.10,26.15
$GC,2774,-1.00,-194.6,2350,2703,3700,3577,394.1,-13.9,217,2782,0.00,1.75,0.00,0.000,260,0.000,0.040,2348,3846,3637,3698,3576,0,0,0,0,0,0,26.08,26.09,26.14
$GC,2851,-1.02,-194.6,2348,3846,3701,3576,402.9,-13.9,219,2859,0.00,1.65,0.00,0.000,1030,0.000,0.022,2347,2694,3637,3698,3576,0,0,0,0,0,0,26.15,26.12,26.16
$GC,3168,-1.04,-194.6,2347,2694,3699,3576,449.1,-14.0,230,3175,0.00,1.77,0.00,0.000,260,0.000,0.038,2339,3843,3636,3697,3576,0,0,0,0,0,0,26.09,26.08,26.15
$GC,3204,-1.06,-194.6,2339,3849,3698,3575,453.6,-14.1,231,3212,0.00,1.62,0.00,0.000,1030,0.000,0.022,2339,2707,3636,3697,3576,0,0,0,0,0,0,26.15,26.12,26.15
$GC,3531,-1.06,-194.6,2339,2708,3697,3578,502.2,-14.5,242,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2707,3636,3696,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3831,-1.06,-194.6,2339,2708,3695,3578,543.9,-13.8,252,3838,0.00,1.77,0.00,0.000,260,0.000,0.040,2331,3849,3635,3694,3576,0,0,0,0,0,0,26.08,26.08,26.15
$GC,3897,-1.06,-194.6,2331,3849,3695,3575,552.9,-14.3,254,3904,0.00,1.65,0.00,0.000,1030,0.000,0.023,2331,2695,3635,3694,3576,0,0,0,0,0,0,26.16,26.12,26.17
$GC,4224,-1.06,-194.6,2331,2692,3694,3576,597.6,-13.0,265,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2693,3634,3693,3576,0,0,0,0,0,0,26.10,26.17,26.15
$GC,4524,-1.06,-194.6,2331,2692,3693,3576,636.6,-13.1,275,4531,0.00,1.80,0.00,0.000,260,0.000,0.039,2323,3849,3634,3692,3576,0,0,0,0,0,0,26.08,26.08,26.14
$GC,4550,-1.06,-194.6,2322,3850,3691,3576,636.6,-13.1,275,4561,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2690,3631,3686,3576,0,0,0,0,0,0,26.15,26.10,26.16
$GC,4855,-1.06,-194.6,2323,2689,3691,3576,681.7,-13.5,286,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2693,3633,3690,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,5155,-1.06,-194.6,2323,2691,3690,3578,722.8,-13.6,296,5162,0.00,1.80,0.00,0.000,260,0.000,0.041,2320,3842,3632,3690,3575,0,0,0,0,0,0,26.08,26.06,26.14
$GC,5191,-1.06,-194.6,2319,3844,3691,3577,727.2,-13.7,297,5199,0.00,1.62,0.00,0.000,1030,0.000,0.023,2320,2707,3632,3689,3576,0,0,0,0,0,0,26.15,26.10,26.15
$GC,5518,-1.06,-194.6,2320,2708,3689,3578,772.7,-13.7,308,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2707,3632,3689,3576,0,0,0,0,0,0,26.08,26.15,26.13
$GC,5818,-1.06,-194.6,2320,2707,3689,3576,813.3,-13.5,318,5825,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3844,3631,3687,3576,0,0,0,0,0,0,26.08,26.07,26.14
$GC,5854,-1.06,-194.6,2320,3845,3687,3577,817.8,-13.8,319,5861,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2691,3631,3686,3576,0,0,0,0,0,0,26.14,26.10,26.15
$GC,6181,-1.06,-194.6,2319,2691,3688,3576,864.3,-13.9,330,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2691,3631,3686,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6481,-1.06,-194.6,2319,2692,3687,3578,905.0,-13.2,340,6489,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3840,3631,3686,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,6537,-1.06,-194.6,2319,3841,3687,3576,909.2,-13.0,341,6548,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2689,3631,3686,3576,0,0,0,0,0,0,26.12,26.10,26.13
$GC,6843,-1.06,-194.6,2319,2689,3687,3576,949.7,-12.0,352,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2688,3630,3685,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,7143,-1.06,-194.6,2319,2689,3686,3578,986.7,-12.6,362,7151,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3840,3630,3685,3576,0,0,0,0,0,0,26.08,26.05,26.14
$STATE,7174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7174,begin apogee
$GC,7179,-0.25,0.0,2321,2801,3685,3578,991.0,-12.7,363,7349,0.75,0.00,163.45,1.100,10246,0.117,0.000,2554,2799,2838,2876,2800,0,0,0,0,0,0,25.92,24.44,23.79
$STATE,7350,end apogee,CONTROL_FINISHED_OK
$STATE,7350,begin climb
$GC,7352,0.92,194.6,2555,2801,2870,2791,998.9,0.0,368,7528,1.10,2.28,163.80,1.089,11012,0.064,0.023,2932,1431,2036,2075,1998,0,0,0,0,0,0,24.58,23.68,23.03
$GC,7702,0.90,262.8,2933,1431,2067,1986,988.5,8.4,380,7769,0.00,2.17,58.40,1.076,9222,0.000,0.026,2932,2808,1767,1809,1725,0,0,0,0,0,0,25.19,25.15,23.74
$GC,8080,0.86,262.8,2932,2804,1791,1702,945.9,11.3,393,8087,0.00,1.67,0.00,0.000,260,0.000,0.040,2932,3840,1745,1790,1701,0,0,0,0,0,0,25.59,25.60,25.65
$GC,8136,0.83,262.8,2933,3839,1792,1700,942.1,11.3,394,8147,0.00,1.50,0.00,0.000,1030,0.000,0.023,2933,2796,1744,1789,1700,0,0,0,0,0,0,25.75,25.70,25.76
$GC,8442,0.80,269.3,2932,2796,1790,1699,905.8,10.8,405,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2796,1744,1789,1699,0,0,0,0,0,0,25.89,25.97,25.96
$GC,8741,0.77,269.3,2933,2797,1789,1699,871.8,11.5,415,8749,0.10,1.62,0.00,0.000,4356,0.180,0.037,2912,3844,1743,1788,1699,0,0,0,0,0,0,25.89,26.01,26.02
$GC,8773,0.74,269.3,2912,3845,1789,1697,868.4,11.3,416,8782,0.00,1.50,0.00,0.000,1030,0.000,0.024,2917,2785,1743,1788,1698,0,0,0,0,0,0,26.08,26.05,26.09
$GC,9106,0.74,288.8,2917,2787,1789,1699,833.3,10.3,427,9140,0.00,0.00,22.55,1.008,8198,0.000,0.000,2916,2785,1651,1695,1607,0,0,0,0,0,0,26.05,25.37,24.84
$GC,9436,0.74,288.8,2917,2787,1688,1597,795.2,11.9,438,9443,0.00,1.67,0.00,0.000,260,0.000,0.040,2917,3851,1641,1687,1596,0,0,0,0,0,0,25.96,25.96,26.03
$GC,9462,0.74,288.8,2916,3851,1688,1595,795.2,11.9,438,9475,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2794,1641,1687,1595,0,0,0,0,0,0,26.04,26.00,26.04
$GC,9768,0.74,288.8,2919,2794,1688,1595,755.7,11.8,449,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2795,1641,1687,1595,0,0,0,0,0,0,26.03,26.10,26.10
$GC,10068,0.74,288.8,2919,2792,1687,1596,718.0,12.5,459,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2794,1641,1687,1595,0,0,0,0,0,0,26.06,26.13,26.12
$GC,10368,0.74,288.8,2919,2794,1687,1595,683.5,11.1,469,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2794,1640,1686,1595,0,0,0,0,0,0,26.08,26.15,26.14
$GC,10668,0.74,291.1,2919,2794,1686,1594,650.2,10.9,479,10676,0.00,2.05,0.00,0.000,516,0.000,0.024,2929,1418,1640,1685,1595,0,0,0,0,0,0,26.08,26.10,26.14
$GC,10700,0.74,292.2,2928,1418,1686,1594,646.6,11.0,480,10708,0.10,2.10,0.00,0.000,5126,0.157,0.027,2906,2795,1640,1685,1595,0,0,0,0,0,0,25.95,26.08,26.08
$GC,11028,0.74,319.2,2906,2795,1687,1594,613.9,10.0,491,11062,0.00,0.00,26.90,0.877,8198,0.000,0.000,2906,2795,1537,1583,1492,0,0,0,0,0,0,26.07,25.55,24.92
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$STATE,16137,end climb,SURFACE_DEPTH_REACHED
$STATE,16137,begin surface coast
$FINISH,0.8,1.023964
$STATE,16140,end surface coast,CONTROL_FINISHED_OK
$STATE,16140,begin surface
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$IRIDIUM_FIX,5656.67,-14836.87,220508,062710
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.46
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.80
$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,16169.17 7736.52
$PA_BOOTCOUNT,395
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$PA_HOME,0.01/0.200/27.046/25.472
$PA_DISK_BANK,2
$24V_AH,23.03,26.806
$10V_AH,10.21,32.276
$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,180088
$DATA_FILE_SIZE,36740,856
$CAP_FILE_SIZE,145576,0
$CFSIZE,1024393216,987725824
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$INTR,1,16144.69,0x236db2,7,5
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$GPS,270715,021503,5713.716,-14835.173,29,0.9,29,17.3,1.3,60.1,10,8.6