version: 66.12
glider: 203
mission: 8
dive: 102
start: 7 29 115 9 49 19
data:
$ID,203
$MISSION,8
$DIVE,102
$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,101
$R_STBD_OVSHOOT,46
$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,21
$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
$GPS1,290715,094403,5710.8696,-14919.4053,24,0.8,24,17.1,0.0,0.0,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-65.4
$GPS2,290715,094908,5710.8564,-14919.3691,8,0.8,8,17.1,0.0,37.7,10,9.8
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,280.7,47312,-18.0,-11.000,-19.55,2718
$D_GRID,2665
$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,-194.6,201,2782,1143,1038,0.0,0.0,0,137,0.00,0.00,-38.08,0.000,16386,0.000,0.000,201,2781,2099,2141,2057,0,0,0,0,0,0,26.01,28.83,26.07
$GC,139,-0.92,-194.6,203,2782,2141,2059,3.4,-5.1,6,191,8.62,2.20,-36.28,0.000,18948,0.236,0.034,2338,1341,3632,3704,3560,0,0,0,0,0,0,25.66,25.27,25.93
$GC,277,-0.85,-194.6,2338,1342,3706,3566,32.4,-22.3,29,288,0.12,2.08,0.00,0.000,3078,0.167,0.026,2361,2711,3634,3704,3565,0,0,0,0,0,0,25.88,26.03,26.03
$GC,593,-0.82,-194.6,2361,2711,3706,3569,93.2,-20.0,69,602,0.00,1.73,0.00,0.000,260,0.000,0.037,2355,3852,3636,3704,3569,0,0,0,0,0,0,26.08,26.06,26.14
$GC,641,-0.79,-194.6,2355,3853,3713,3570,101.9,-20.2,73,652,0.10,1.62,0.00,0.000,3078,0.163,0.020,2378,2688,3637,3705,3569,0,0,0,0,0,0,25.94,26.11,26.08
$GC,946,-0.81,-194.6,2377,2687,3706,3571,144.2,-12.8,104,954,0.00,2.00,0.00,0.000,516,0.000,0.022,2377,1334,3637,3703,3572,0,0,0,0,0,0,26.10,26.11,26.15
$GC,1013,-0.85,-194.6,2377,1334,3706,3571,152.0,-12.3,110,1023,0.00,2.08,0.00,0.000,1030,0.000,0.026,2374,2707,3638,3705,3571,0,0,0,0,0,0,26.16,26.12,26.17
$GC,1319,-0.88,-194.6,2375,2711,3705,3568,191.1,-13.1,141,1326,0.00,1.75,0.00,0.000,260,0.000,0.039,2374,3856,3638,3705,3572,0,0,0,0,0,0,26.10,26.08,26.17
$GC,1385,-0.92,-194.6,2375,3856,3706,3571,199.2,-12.9,147,1396,0.00,1.62,0.00,0.000,1030,0.000,0.021,2374,2703,3635,3705,3566,0,0,0,0,0,0,26.17,26.14,26.17
$GC,1691,-0.96,-194.6,2375,2702,3705,3571,238.2,-12.7,178,1699,0.00,1.77,0.00,0.000,260,0.000,0.038,2366,3852,3638,3704,3572,0,0,0,0,0,0,26.10,26.09,26.17
$GC,1734,-0.99,-194.6,2367,3852,3706,3571,243.5,-12.7,182,1742,0.08,1.62,0.00,0.000,5126,0.116,0.021,2309,2699,3637,3704,3571,0,0,0,0,0,0,26.06,26.15,26.15
$GC,2056,-0.96,-194.6,2309,2700,3704,3573,295.8,-16.4,196,2062,0.10,0.00,0.00,0.000,2054,0.168,0.000,2330,2699,3637,3703,3571,0,0,0,0,0,0,25.96,26.13,26.10
$GC,2356,-0.96,-194.6,2330,2699,3703,3571,340.1,-14.7,206,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2699,3636,3702,3571,0,0,0,0,0,0,26.11,26.17,26.17
$GC,2656,-0.96,-194.6,2331,2700,3701,3574,383.3,-14.3,216,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2699,3636,3701,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,2956,-0.96,-194.6,2330,2699,3700,3571,425.3,-14.1,226,2963,0.00,1.77,0.00,0.000,260,0.000,0.038,2324,3845,3635,3698,3572,0,0,0,0,0,0,26.10,26.12,26.17
$GC,2990,-0.96,-194.6,2324,3846,3699,3573,429.7,-14.2,227,2997,0.00,1.62,0.00,0.000,1030,0.000,0.022,2325,2702,3635,3698,3572,0,0,0,0,0,0,26.16,26.14,26.17
$GC,3321,-0.96,-194.6,2324,2701,3698,3571,477.5,-14.4,238,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2701,3634,3697,3571,0,0,0,0,0,0,26.12,26.17,26.17
$GC,3621,-0.96,-194.6,2324,2701,3697,3571,520.7,-14.6,248,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2701,3634,3697,3571,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3921,-0.96,-194.6,2324,2702,3695,3573,563.1,-13.8,258,3928,0.00,1.77,0.00,0.000,260,0.000,0.040,2319,3844,3633,3695,3571,0,0,0,0,0,0,26.11,26.08,26.17
$GC,3977,-0.96,-194.6,2319,3846,3695,3573,567.6,-13.7,259,3987,0.00,1.62,0.00,0.000,1030,0.000,0.022,2319,2696,3633,3694,3572,0,0,0,0,0,0,26.17,26.13,26.17
$GC,4283,-0.96,-194.6,2319,2696,3694,3573,614.1,-14.2,270,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3632,3694,3571,0,0,0,0,0,0,26.10,26.16,26.16
$GC,4583,-0.96,-194.6,2319,2696,3693,3573,653.7,-13.0,280,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3632,3693,3571,0,0,0,0,0,0,26.10,26.18,26.17
$GC,4883,-0.96,-194.6,2319,2695,3692,3571,693.1,-13.2,290,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3631,3691,3572,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5183,-0.96,-194.6,2319,2697,3690,3573,731.3,-12.5,300,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3630,3690,3571,0,0,0,0,0,0,26.10,26.16,26.15
$GC,5483,-0.96,-194.6,2319,2695,3691,3571,769.7,-13.1,310,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3630,3690,3571,0,0,0,0,0,0,26.10,26.17,26.17
$GC,5783,-0.96,-194.6,2318,2696,3689,3571,809.0,-13.2,320,5791,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3847,3630,3689,3571,0,0,0,0,0,0,26.10,26.08,26.15
$GC,5830,-0.96,-194.6,2319,3850,3690,3573,813.5,-13.3,321,5838,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2693,3630,3688,3572,0,0,0,0,0,0,26.17,26.13,26.17
$GC,6147,-0.96,-194.6,2320,2693,3687,3571,857.0,-13.4,332,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2693,3629,3687,3571,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6447,-0.96,-194.6,2319,2692,3687,3571,895.9,-13.1,342,6455,0.00,2.03,0.00,0.000,516,0.000,0.024,2319,1332,3629,3687,3571,0,0,0,0,0,0,26.09,26.09,26.15
$GC,6479,-0.96,-194.6,2319,1333,3687,3573,899.5,-13.3,343,6487,0.00,2.10,0.00,0.000,1030,0.000,0.027,2319,2707,3626,3681,3571,0,0,0,0,0,0,26.13,26.09,26.15
$GC,6801,-0.96,-194.6,2319,2707,3687,3571,941.8,-12.7,354,6808,0.00,1.75,0.00,0.000,260,0.000,0.040,2319,3846,3628,3686,3571,0,0,0,0,0,0,26.10,26.04,26.16
$GC,6846,-0.96,-194.6,2319,3846,3688,3571,946.0,-12.7,355,6854,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2699,3628,3686,3571,0,0,0,0,0,0,26.16,26.13,26.17
$GC,7163,-0.96,-194.6,2319,2700,3687,3573,988.4,-13.3,366,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2699,3628,3686,3571,0,0,0,0,0,0,26.08,26.16,26.15
$STATE,7192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7192,begin apogee
$GC,7196,-0.25,0.0,2321,2813,3688,3573,992.2,-13.2,367,7438,0.75,0.00,231.75,0.893,10246,0.120,0.000,2552,2811,2834,2869,2799,0,0,0,0,0,0,25.90,24.37,23.78
$STATE,7438,end apogee,CONTROL_FINISHED_OK
$STATE,7438,begin climb
$GC,7440,0.92,194.6,2553,2813,2868,2798,1006.3,0.0,375,7620,1.10,2.30,165.98,1.090,11012,0.059,0.021,2933,1426,2034,2069,2000,0,0,0,0,0,0,24.53,23.49,22.99
$GC,7710,0.88,291.6,2933,1428,2063,1992,1000.9,7.3,384,7805,0.00,2.20,84.68,1.074,9222,0.000,0.026,2933,2793,1644,1683,1605,0,0,0,0,0,0,24.85,24.81,23.29
$GC,8100,0.86,291.6,2933,2794,1670,1584,954.1,13.3,397,8107,0.00,1.67,0.00,0.000,260,0.000,0.039,2933,3857,1625,1668,1583,0,0,0,0,0,0,25.54,25.53,25.60
$GC,8191,0.82,291.6,2933,3857,1669,1582,941.0,14.0,400,8200,0.00,1.52,0.00,0.000,1030,0.000,0.022,2933,2783,1625,1668,1583,0,0,0,0,0,0,25.77,25.73,25.77
$GC,8524,0.79,291.6,2932,2784,1668,1583,898.3,12.6,411,8532,0.00,1.67,0.00,0.000,260,0.000,0.040,2933,3853,1624,1667,1582,0,0,0,0,0,0,25.98,25.96,26.04
$GC,8566,0.76,291.6,2933,3852,1669,1581,893.8,12.8,412,8573,0.10,1.50,0.00,0.000,5126,0.179,0.023,2912,2792,1624,1667,1581,0,0,0,0,0,0,25.86,26.02,26.01
$GC,8887,0.76,291.6,2912,2793,1667,1582,854.6,11.7,423,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2792,1623,1666,1581,0,0,0,0,0,0,26.06,26.13,26.12
$GC,9187,0.76,291.6,2912,2792,1667,1582,820.0,11.3,433,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2792,1623,1666,1581,0,0,0,0,0,0,26.08,26.15,26.15
$GC,9487,0.76,291.9,2912,2793,1666,1582,786.3,11.0,443,9495,0.00,1.65,0.00,0.000,260,0.000,0.040,2912,3851,1623,1665,1581,0,0,0,0,0,0,26.10,26.08,26.15
$GC,9549,0.76,291.9,2912,3850,1666,1579,779.1,11.3,445,9556,0.00,1.50,0.00,0.000,1030,0.000,0.023,2918,2787,1622,1665,1580,0,0,0,0,0,0,26.15,26.13,26.16
$GC,9880,0.76,291.9,2918,2788,1667,1582,742.0,11.2,456,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2787,1622,1665,1580,0,0,0,0,0,0,26.10,26.17,26.17
$GC,10181,0.76,316.5,2918,2787,1666,1580,710.4,10.1,466,10207,0.00,0.00,21.10,0.927,8198,0.000,0.000,2918,2787,1547,1589,1506,0,0,0,0,0,0,26.09,25.65,24.98
$GC,10481,0.76,316.5,2918,2788,1574,1487,675.8,11.4,476,10490,0.00,1.70,0.00,0.000,260,0.000,0.040,2918,3855,1528,1572,1485,0,0,0,0,0,0,25.99,25.98,26.06
$GC,10539,0.76,316.5,2918,3858,1573,1486,671.7,11.7,477,10549,0.00,1.50,0.00,0.000,1030,0.000,0.023,2922,2798,1528,1572,1485,0,0,0,0,0,0,26.08,26.06,26.10
$GC,10845,0.76,316.5,2922,2798,1573,1485,632.8,11.8,488,10852,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1432,1528,1572,1485,0,0,0,0,0,0,26.06,26.08,26.13
$GC,10881,0.76,316.5,2932,1432,1573,1484,629.8,11.7,489,10889,0.10,2.10,0.00,0.000,5126,0.155,0.027,2910,2807,1528,1572,1485,0,0,0,0,0,0,25.94,26.08,26.08
$GC,11203,0.76,316.5,2910,2807,1573,1484,591.7,11.4,500,11211,0.00,2.10,0.00,0.000,516,0.000,0.024,2917,1418,1528,1572,1484,0,0,0,0,0,0,26.08,26.10,26.15
$GC,11250,0.76,316.5,2917,1419,1567,1486,588.8,11.5,501,11258,0.00,2.10,0.00,0.000,1030,0.000,0.026,2917,2796,1528,1572,1484,0,0,0,0,0,0,26.13,26.09,26.15
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$STATE,16449,end climb,SURFACE_DEPTH_REACHED
$STATE,16449,begin surface coast
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$STATE,16464,begin surface
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$IRIDIUM_FIX,5644.84,-14919.19,240508,231156
$TT8_MAMPS,0.057673,0.057673
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16493.87 7775.14
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$PA_DISK_BANK,2
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$10V_AH,10.18,33.166
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$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,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,180084
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