version: 66.12
glider: 203
mission: 8
dive: 133
start: 8 4 115 5 12 10
data:
$ID,203
$MISSION,8
$DIVE,133
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,-5
$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,104
$R_STBD_OVSHOOT,58
$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
$GPS1,040815,050634,5636.9810,-15038.4150,40,0.9,41,16.6,0.0,0.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-58.4
$GPS2,040815,051159,5637.0371,-15038.4258,7,0.8,12,16.6,0.0,345.2,11,8.2
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,267.6,58087,-17.4,-10.556,-19.06,2832
$D_GRID,4417
$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,-0.89,-194.6,181,2718,964,860,0.0,0.0,0,138,0.00,0.00,-38.85,0.000,16386,0.000,0.000,179,2717,1925,1971,1879,0,0,0,0,0,0,26.03,28.83,26.10
$GC,140,-0.89,-194.6,180,2718,1965,1881,3.1,-4.0,5,199,8.80,1.77,-43.97,0.000,19204,0.238,0.054,2336,3843,3635,3709,3562,0,0,0,0,0,0,25.60,24.45,25.91
$GC,447,-0.82,-194.6,2336,3844,3710,3569,67.2,-23.7,51,458,0.12,1.62,0.00,0.000,3078,0.159,0.021,2366,2685,3638,3708,3568,0,0,0,0,0,0,25.86,26.13,26.01
$GC,752,-0.81,-194.6,2366,2686,3710,3572,119.6,-15.3,82,760,0.00,1.80,0.00,0.000,260,0.000,0.037,2360,3845,3639,3709,3570,0,0,0,0,0,0,26.07,26.06,26.13
$GC,839,-0.81,-194.6,2360,3846,3710,3570,133.2,-17.3,90,852,0.08,1.62,0.00,0.000,3078,0.180,0.021,2372,2705,3640,3709,3571,0,0,0,0,0,0,25.91,26.10,26.03
$GC,1146,-0.81,-194.6,2373,2705,3710,3573,184.6,-15.2,121,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2706,3639,3709,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,1447,-0.83,-194.6,2373,2707,3710,3572,226.5,-13.2,151,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2706,3639,3709,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,1757,-0.85,-194.6,2373,2705,3710,3570,265.9,-12.7,174,1764,0.00,1.77,0.00,0.000,260,0.000,0.038,2367,3833,3640,3709,3571,0,0,0,0,0,0,26.12,26.07,26.19
$GC,1799,-0.88,-194.6,2368,3837,3710,3570,269.8,-12.8,175,1806,0.00,1.67,0.00,0.000,1030,0.000,0.022,2367,2691,3639,3709,3570,0,0,0,0,0,0,26.19,26.17,26.20
$GC,2120,-0.90,-194.6,2368,2692,3709,3572,313.4,-13.6,186,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2691,3639,3708,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2420,-0.92,-194.6,2368,2692,3707,3571,352.4,-12.7,196,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2691,3638,3706,3570,0,0,0,0,0,0,26.15,26.21,26.20
$GC,2720,-0.95,-194.6,2367,2692,3706,3572,389.1,-11.9,206,2727,0.00,1.77,0.00,0.000,260,0.000,0.038,2362,3834,3637,3705,3570,0,0,0,0,0,0,26.13,26.08,26.19
$GC,2807,-0.98,-194.6,2362,3836,3706,3572,396.8,-12.2,208,2819,0.00,1.62,0.00,0.000,1030,0.000,0.022,2362,2692,3637,3705,3570,0,0,0,0,0,0,26.15,26.09,26.17
$GC,3112,-1.00,-194.6,2362,2693,3704,3572,437.5,-12.2,219,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2692,3637,3704,3570,0,0,0,0,0,0,26.11,26.18,26.20
$GC,3412,-1.02,-194.6,2361,2693,3703,3572,472.0,-11.5,229,3420,0.10,1.80,0.00,0.000,4356,0.093,0.037,2293,3845,3636,3702,3570,0,0,0,0,0,0,26.06,26.06,26.13
$GC,3459,-1.02,-194.6,2293,3844,3702,3570,475.9,-11.9,230,3465,0.00,1.62,0.00,0.000,1030,0.000,0.021,2293,2699,3636,3702,3570,0,0,0,0,0,0,26.19,26.15,26.20
$GC,3770,-0.99,-194.6,2292,2696,3702,3572,528.7,-16.3,241,3777,0.10,1.77,0.00,0.000,2308,0.171,0.035,2308,3835,3638,3701,3575,0,0,0,0,0,0,25.91,26.06,26.03
$GC,3796,-0.95,-194.6,2308,3835,3701,3570,528.7,-16.3,241,3807,0.10,1.62,0.00,0.000,3078,0.163,0.022,2330,2696,3635,3700,3570,0,0,0,0,0,0,25.90,26.13,26.03
$GC,4102,-0.95,-194.6,2331,2697,3700,3571,576.9,-14.6,252,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2696,3634,3699,3570,0,0,0,0,0,0,26.12,26.18,26.17
$GC,4402,-0.95,-194.6,2330,2697,3699,3571,620.7,-14.3,262,4409,0.00,1.77,0.00,0.000,260,0.000,0.038,2331,3835,3634,3698,3570,0,0,0,0,0,0,26.11,26.05,26.17
$GC,4443,-0.95,-194.6,2325,3837,3697,3572,625.4,-14.2,263,4452,0.00,1.62,0.00,0.000,1030,0.000,0.022,2325,2699,3633,3697,3570,0,0,0,0,0,0,26.17,26.15,26.19
$GC,4766,-0.95,-194.6,2325,2698,3698,3569,672.3,-14.0,274,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2699,3634,3698,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5066,-0.95,-194.6,2325,2699,3696,3571,714.3,-14.2,284,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2698,3632,3695,3570,0,0,0,0,0,0,26.13,26.19,26.18
$GC,5366,-0.95,-194.6,2325,2700,3695,3572,758.6,-14.8,294,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2698,3632,3694,3570,0,0,0,0,0,0,26.12,26.19,26.18
$GC,5666,-0.95,-194.6,2325,2700,3694,3571,803.6,-15.1,304,5674,0.00,1.77,0.00,0.000,260,0.000,0.040,2320,3833,3631,3693,3570,0,0,0,0,0,0,26.11,26.06,26.17
$GC,5703,-0.95,-194.6,2320,3835,3693,3571,808.4,-15.1,305,5710,0.00,1.62,0.00,0.000,1030,0.000,0.023,2319,2700,3628,3692,3565,0,0,0,0,0,0,26.15,26.13,26.16
$GC,6029,-0.95,-194.6,2320,2699,3694,3570,860.4,-16.1,316,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2699,3631,3692,3570,0,0,0,0,0,0,26.11,26.15,26.14
$GC,6329,-0.95,-194.6,2320,2700,3692,3571,906.6,-15.1,326,6338,0.00,1.77,0.00,0.000,260,0.000,0.040,2319,3833,3630,3691,3570,0,0,0,0,0,0,26.09,26.03,26.16
$GC,6387,-0.95,-194.6,2319,3833,3692,3570,911.7,-15.1,327,6397,0.00,1.62,0.00,0.000,1030,0.000,0.022,2319,2701,3630,3691,3570,0,0,0,0,0,0,26.17,26.14,26.17
$STATE,6631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6631,begin apogee
$GC,6634,-0.25,0.0,2320,2806,3691,3568,951.8,-14.9,336,6816,0.75,0.00,171.12,1.036,10246,0.117,0.000,2553,2805,2830,2864,2796,0,0,0,0,0,0,25.82,24.24,23.71
$STATE,6817,end apogee,CONTROL_FINISHED_OK
$STATE,6817,begin climb
$GC,6818,0.89,194.6,2554,2804,2862,2793,963.4,0.0,342,6998,1.08,2.30,164.15,1.056,11012,0.064,0.021,2931,1433,2034,2068,2000,0,0,0,0,0,0,24.59,23.91,23.22
$GC,7187,0.87,263.1,2932,1434,2061,1990,952.6,8.1,354,7253,0.00,2.10,58.08,1.050,9222,0.000,0.025,2931,2784,1767,1804,1730,0,0,0,0,0,0,25.51,25.47,24.01
$GC,7568,0.84,263.1,2931,2785,1785,1704,911.0,11.2,367,7575,0.00,1.65,0.00,0.000,260,0.000,0.039,2932,3850,1743,1784,1703,0,0,0,0,0,0,25.90,25.88,25.96
$GC,7644,0.80,263.1,2932,3851,1784,1699,903.6,11.5,369,7652,0.00,1.55,0.00,0.000,1030,0.000,0.022,2932,2785,1742,1783,1701,0,0,0,0,0,0,26.03,25.99,26.03
$GC,7962,0.77,263.1,2931,2785,1784,1701,865.4,11.6,380,7969,0.10,1.65,0.00,0.000,4356,0.188,0.035,2911,3853,1742,1783,1701,0,0,0,0,0,0,25.90,26.06,26.04
$GC,8018,0.74,263.1,2911,3855,1783,1702,862.0,11.5,381,8029,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2785,1741,1783,1700,0,0,0,0,0,0,26.17,26.15,26.17
$GC,8323,0.74,263.1,2916,2794,1783,1700,824.3,11.4,392,8330,0.00,1.65,0.00,0.000,260,0.000,0.039,2917,3849,1741,1782,1700,0,0,0,0,0,0,26.12,26.09,26.19
$GC,8409,0.72,263.1,2917,3849,1782,1700,816.6,12.0,394,8422,0.10,1.50,0.00,0.000,5126,0.182,0.023,2898,2782,1740,1781,1700,0,0,0,0,0,0,25.94,26.16,26.10
$GC,8714,0.72,263.1,2898,2782,1782,1699,779.0,11.5,405,8722,0.00,1.67,0.00,0.000,260,0.000,0.040,2897,3857,1740,1781,1700,0,0,0,0,0,0,26.15,26.10,26.21
$GC,8785,0.72,263.1,2898,3858,1782,1700,771.4,12.0,407,8792,0.00,1.50,0.00,0.000,1030,0.000,0.023,2903,2791,1740,1781,1699,0,0,0,0,0,0,26.18,26.16,26.20
$GC,9106,0.72,263.1,2903,2790,1782,1699,733.6,11.3,418,9114,0.00,2.05,0.00,0.000,516,0.000,0.024,2906,1427,1740,1781,1699,0,0,0,0,0,0,26.13,26.13,26.20
$GC,9168,0.72,263.1,2906,1427,1784,1698,727.4,11.2,420,9176,0.00,2.10,0.00,0.000,1030,0.000,0.027,2906,2802,1739,1780,1699,0,0,0,0,0,0,26.15,26.11,26.18
$GC,9490,0.72,266.0,2906,2802,1782,1698,692.2,10.5,431,9497,0.00,1.60,0.00,0.000,260,0.000,0.039,2906,3850,1739,1780,1699,0,0,0,0,0,0,26.12,26.08,26.18
$GC,9566,0.72,266.0,2906,3851,1781,1700,685.4,10.7,433,9574,0.10,1.50,0.00,0.000,5126,0.174,0.023,2892,2784,1739,1780,1699,0,0,0,0,0,0,25.91,26.14,26.08
$GC,9883,0.74,309.7,2893,2785,1781,1700,654.8,9.0,444,9933,0.00,2.15,39.88,0.883,8708,0.000,0.024,2892,1429,1566,1605,1527,0,0,0,0,0,0,26.12,25.48,24.78
$GC,9979,0.76,366.2,2892,1430,1598,1519,647.3,8.5,447,10040,0.00,2.15,51.17,0.861,9222,0.000,0.027,2892,2800,1341,1384,1298,0,0,0,0,0,0,25.78,25.73,24.52
$GC,10364,0.80,386.6,2892,2800,1368,1277,608.5,9.8,460,10389,0.00,0.00,18.15,0.859,8198,0.000,0.000,2892,2801,1261,1305,1217,0,0,0,0,0,0,25.98,25.60,24.98
$GC,10664,0.85,392.7,2893,2801,1292,1197,577.5,10.3,470,10674,0.00,2.08,0.00,0.000,516,0.000,0.024,2898,1431,1243,1290,1196,0,0,0,0,0,0,26.03,26.03,26.08
$GC,10698,0.89,397.8,2892,1432,1291,1197,574.6,10.4,471,10710,0.10,2.10,2.75,0.514,11270,0.099,0.026,2945,2804,1217,1264,1170,0,0,0,0,0,0,26.01,26.04,24.74
$GC,11024,0.89,397.8,2945,2806,1283,1182,529.4,14.4,482,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2805,1231,1282,1180,0,0,0,0,0,0,26.10,26.17,26.15
$GC,11324,0.89,397.8,2945,2806,1283,1182,485.9,14.8,492,11332,0.00,2.08,0.00,0.000,516,0.000,0.024,2945,1429,1231,1282,1180,0,0,0,0,0,0,26.13,26.10,26.19
$GC,11356,0.89,397.8,2945,1431,1283,1181,481.4,14.7,493,11364,0.00,2.10,0.00,0.000,1030,0.000,0.027,2945,2808,1230,1281,1180,0,0,0,0,0,0,26.15,26.10,26.16
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$STATE,15181,end climb,SURFACE_DEPTH_REACHED
$STATE,15181,begin surface coast
$FINISH,0.8,1.009131
$STATE,15200,end surface coast,CONTROL_FINISHED_OK
$STATE,15200,begin surface
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$IRIDIUM_FIX,5613.59,-15041.52,300508,183426
$TT8_MAMPS,0.05992,0.05992
$HUMID,38.38
$INTERNAL_PRESSURE,8.7371
$TCM_TEMP,17.80
$XPDR_PINGS,0
$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,15231.69 7162.81
$PA_BOOTCOUNT,439
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$PA_HOME,0.01/0.209/27.046/25.463
$PA_DISK_BANK,2
$24V_AH,23.22,46.376
$10V_AH,10.21,35.299
$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
$DEVICE_SECS,19.125,90.725,588.700,0.000,0.000,0.000,0.000,232.800,0.000,15618.810,13.119,0.000,11891.079,641.397,2931.526,126.464,0.000,2108.450,0.000,1618.143,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,555.714,0.000,0.000,0.000,0.000,0.000,15618.860,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,143088
$DATA_FILE_SIZE,33467,812
$CAP_FILE_SIZE,135848,0
$CFSIZE,1024393216,983416832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,15553.55,0x236db2,7,5
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$GPS,040815,092734,5637.746,-15040.969,30,0.9,31,16.6,0.8,64.0,9,7.7