version: 66.12
glider: 203
mission: 8
dive: 142
start: 8 5 115 20 50 12
data:
$ID,203
$MISSION,8
$DIVE,142
$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,101
$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,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
$GPS1,050815,204404,5637.1455,-15112.0596,23,0.8,24,16.4,0.0,0.0,10,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.2
$GPS2,050815,205001,5637.1392,-15112.0430,6,0.8,9,16.4,0.0,58.1,10,10.0
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,260.3,24063,-17.4,-10.556,-19.06,2832
$D_GRID,2558
$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,-194.6,187,2792,896,776,0.0,0.0,0,149,0.00,0.00,-49.53,0.000,16386,0.000,0.000,186,2792,2116,2159,2074,0,0,0,0,0,0,26.02,28.83,26.09
$GC,150,-0.89,-194.6,187,2794,2162,2075,3.2,-3.7,6,202,8.73,2.20,-37.42,0.000,18948,0.234,0.037,2345,1335,3634,3706,3563,0,0,0,0,0,0,25.57,24.38,25.88
$GC,398,-0.86,-194.6,2346,1334,3708,3569,52.8,-18.6,45,418,0.10,2.10,0.00,0.000,3078,0.169,0.025,2361,2702,3637,3707,3568,0,0,0,0,0,0,25.79,26.00,25.92
$GC,712,-0.84,-194.6,2360,2702,3708,3572,108.5,-17.0,76,720,0.00,2.08,0.00,0.000,516,0.000,0.023,2361,1344,3639,3707,3571,0,0,0,0,0,0,26.10,26.08,26.17
$GC,738,-0.84,-194.6,2362,1335,3708,3571,112.1,-16.9,78,749,0.00,2.08,0.00,0.000,1030,0.000,0.025,2355,2704,3638,3707,3569,0,0,0,0,0,0,26.13,26.08,26.15
$GC,1044,-0.84,-194.6,2355,2704,3708,3572,164.3,-16.2,109,1051,0.00,1.77,0.00,0.000,260,0.000,0.039,2346,3849,3639,3707,3572,0,0,0,0,0,0,26.13,26.06,26.19
$GC,1080,-0.84,-194.6,2346,3848,3710,3572,169.4,-16.3,112,1091,0.03,1.62,0.00,0.000,3078,0.256,0.021,2359,2714,3640,3709,3572,0,0,0,0,0,0,25.95,26.14,26.06
$GC,1385,-0.84,-194.6,2359,2714,3708,3571,215.3,-15.2,143,1393,0.00,2.08,0.00,0.000,516,0.000,0.023,2359,1321,3639,3707,3572,0,0,0,0,0,0,26.12,26.11,26.17
$GC,1443,-0.86,-194.6,2358,1322,3709,3573,223.6,-14.3,148,1455,0.00,2.10,0.00,0.000,1030,0.000,0.025,2352,2704,3640,3707,3573,0,0,0,0,0,0,26.14,26.09,26.15
$GC,1752,-0.86,-194.6,2353,2705,3708,3573,268.4,-14.4,171,1760,0.00,1.77,0.00,0.000,260,0.000,0.039,2344,3846,3639,3707,3572,0,0,0,0,0,0,26.13,26.06,26.18
$GC,1833,-0.86,-194.6,2344,3846,3708,3572,277.7,-14.7,173,1841,0.00,1.65,0.00,0.000,1030,0.000,0.021,2344,2693,3639,3707,3572,0,0,0,0,0,0,26.17,26.15,26.17
$GC,2145,-0.86,-194.6,2343,2693,3706,3572,328.1,-14.9,184,2153,0.00,1.83,0.00,0.000,260,0.000,0.037,2336,3853,3639,3706,3572,0,0,0,0,0,0,26.12,26.06,26.17
$GC,2186,-0.86,-194.6,2336,3855,3714,3574,332.9,-14.7,185,2194,0.05,1.70,0.00,0.000,3078,0.135,0.021,2361,2688,3641,3706,3576,0,0,0,0,0,0,25.89,26.15,26.03
$GC,2508,-0.89,-194.6,2361,2689,3706,3573,375.9,-12.6,196,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2688,3638,3705,3572,0,0,0,0,0,0,26.12,26.19,26.18
$GC,2808,-0.92,-194.6,2362,2689,3704,3574,413.0,-12.2,206,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2688,3638,3704,3572,0,0,0,0,0,0,26.13,26.20,26.20
$GC,3108,-0.95,-194.6,2361,2689,3702,3573,449.0,-12.1,216,3116,0.00,1.83,0.00,0.000,260,0.000,0.041,2359,3854,3637,3702,3572,0,0,0,0,0,0,26.11,26.04,26.17
$GC,3135,-0.98,-194.6,2359,3855,3703,3572,449.0,-12.1,216,3146,0.00,1.65,0.00,0.000,1030,0.000,0.021,2359,2702,3639,3707,3572,0,0,0,0,0,0,26.17,26.14,26.18
$GC,3441,-1.01,-194.6,2359,2701,3702,3571,489.0,-12.2,227,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2702,3636,3701,3572,0,0,0,0,0,0,26.12,26.20,26.18
$GC,3741,-1.04,-194.6,2359,2703,3699,3573,526.8,-12.9,237,3746,0.10,0.00,0.00,0.000,4102,0.093,0.000,2296,2705,3635,3699,3572,0,0,0,0,0,0,26.04,26.13,26.10
$GC,4041,-1.01,-194.6,2296,2703,3699,3573,576.3,-16.4,247,4049,0.00,1.77,0.00,0.000,260,0.000,0.039,2292,3845,3635,3698,3572,0,0,0,0,0,0,26.12,26.02,26.17
$GC,4088,-0.98,-194.6,2293,3844,3698,3572,581.7,-16.3,248,4095,0.10,1.65,0.00,0.000,3078,0.165,0.021,2314,2688,3634,3697,3572,0,0,0,0,0,0,25.85,26.10,25.98
$GC,4404,-0.98,-194.6,2314,2688,3698,3572,629.6,-14.0,259,4412,0.00,1.83,0.00,0.000,260,0.000,0.037,2308,3844,3634,3696,3572,0,0,0,0,0,0,26.10,26.02,26.17
$GC,4446,-0.98,-194.6,2309,3844,3697,3572,634.1,-13.9,260,4453,0.00,1.67,0.00,0.000,1030,0.000,0.022,2307,2708,3633,3695,3572,0,0,0,0,0,0,26.12,26.09,26.13
$GC,4767,-0.98,-194.6,2308,2708,3695,3572,680.5,-13.9,271,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2708,3633,3694,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,5067,-0.98,-194.6,2309,2709,3695,3573,723.5,-14.7,281,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2708,3633,3694,3572,0,0,0,0,0,0,26.12,26.18,26.17
$GC,5367,-0.98,-194.6,2308,2708,3694,3572,767.8,-14.8,291,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2708,3632,3693,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,5667,-0.98,-194.6,2309,2708,3693,3571,810.9,-14.3,301,5674,0.00,1.77,0.00,0.000,260,0.000,0.039,2306,3848,3632,3692,3572,0,0,0,0,0,0,26.11,26.00,26.17
$GC,5703,-0.98,-194.6,2306,3847,3693,3571,815.4,-14.3,302,5710,0.00,1.65,0.00,0.000,1030,0.000,0.022,2306,2698,3629,3688,3571,0,0,0,0,0,0,26.14,26.10,26.14
$GC,6029,-0.98,-194.6,2307,2697,3691,3573,862.5,-14.1,313,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2695,3630,3690,3571,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6329,-0.98,-194.6,2307,2695,3691,3572,906.1,-14.6,323,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2695,3631,3690,3572,0,0,0,0,0,0,26.08,26.15,26.15
$GC,6629,-0.98,-194.6,2306,2697,3689,3573,949.5,-14.8,333,6637,0.00,2.05,0.00,0.000,516,0.000,0.024,2306,1327,3630,3689,3572,0,0,0,0,0,0,26.10,26.03,26.16
$STATE,6662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6662,begin apogee
$GC,6667,-0.25,0.0,2307,2802,3690,3572,954.3,-15.0,334,6836,0.80,0.00,161.40,1.084,10246,0.118,0.000,2556,2802,2837,2874,2800,0,0,0,0,0,0,25.75,24.39,23.68
$STATE,6836,end apogee,CONTROL_FINISHED_OK
$STATE,6836,begin climb
$GC,6838,0.89,194.6,2556,2802,2869,2795,964.6,0.0,339,7014,1.08,2.28,163.75,1.066,11012,0.064,0.023,2931,1427,2038,2075,2002,0,0,0,0,0,0,24.52,23.93,23.23
$GC,7204,0.87,273.2,2931,1428,2067,1992,955.9,7.7,352,7279,0.00,2.17,66.40,1.065,9222,0.000,0.025,2931,2814,1722,1763,1682,0,0,0,0,0,0,25.54,25.50,23.94
$GC,7594,0.84,273.2,2931,2814,1750,1660,913.8,11.5,365,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2813,1704,1749,1660,0,0,0,0,0,0,25.91,25.98,25.97
$GC,7894,0.82,273.2,2931,2813,1749,1658,878.4,11.9,375,7901,0.00,1.60,0.00,0.000,260,0.000,0.040,2931,3847,1704,1749,1659,0,0,0,0,0,0,26.08,26.05,26.14
$GC,7945,0.79,273.2,2931,3847,1749,1658,874.3,12.2,376,7952,0.00,1.50,0.00,0.000,1030,0.000,0.022,2931,2782,1703,1748,1658,0,0,0,0,0,0,26.15,26.13,26.17
$GC,8257,0.76,273.2,2931,2782,1748,1658,834.4,11.9,387,8264,0.10,1.67,0.00,0.000,4356,0.179,0.037,2910,3850,1702,1747,1658,0,0,0,0,0,0,25.94,26.08,26.07
$GC,8313,0.74,273.2,2910,3851,1748,1659,830.4,11.9,388,8324,0.00,1.50,0.00,0.000,1030,0.000,0.023,2915,2786,1702,1747,1658,0,0,0,0,0,0,26.19,26.16,26.20
$GC,8619,0.74,273.2,2916,2785,1748,1657,794.3,10.9,399,8626,0.00,1.67,0.00,0.000,260,0.000,0.040,2916,3857,1702,1747,1657,0,0,0,0,0,0,26.14,26.09,26.21
$GC,8650,0.72,273.2,2916,3858,1748,1658,790.7,11.2,400,8657,0.10,1.50,0.00,0.000,5126,0.178,0.023,2897,2793,1701,1746,1657,0,0,0,0,0,0,25.91,26.15,26.08
$GC,8982,0.72,301.9,2897,2794,1747,1658,758.6,9.5,411,9016,0.00,2.10,24.15,0.968,8708,0.000,0.024,2903,1428,1601,1645,1558,0,0,0,0,0,0,26.11,25.67,24.91
$GC,9025,0.73,328.9,2903,1430,1641,1555,755.7,9.6,412,9058,0.00,2.12,24.90,0.959,9222,0.000,0.027,2903,2797,1498,1542,1454,0,0,0,0,0,0,25.82,25.77,24.65
$GC,9374,0.73,328.9,2903,2797,1528,1436,718.0,10.9,424,9381,0.00,1.67,0.00,0.000,260,0.000,0.040,2903,3847,1480,1527,1434,0,0,0,0,0,0,26.01,25.97,26.08
$GC,9430,0.73,328.9,2904,3848,1527,1435,714.3,11.0,425,9441,0.00,1.50,0.00,0.000,1030,0.000,0.023,2906,2782,1480,1526,1434,0,0,0,0,0,0,26.10,26.08,26.11
$GC,9735,0.73,328.9,2907,2784,1527,1435,678.3,10.7,436,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2783,1479,1526,1433,0,0,0,0,0,0,26.10,26.18,26.17
$GC,10036,0.73,328.9,2906,2782,1527,1433,644.6,11.3,446,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2783,1479,1525,1433,0,0,0,0,0,0,26.12,26.19,26.18
$GC,10335,0.73,328.9,2906,2782,1527,1432,609.3,12.0,456,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2783,1479,1525,1433,0,0,0,0,0,0,26.07,26.14,26.13
$GC,10636,0.74,328.9,2907,2779,1527,1432,574.1,11.5,466,10643,0.00,1.67,0.00,0.000,260,0.000,0.041,2906,3850,1478,1525,1432,0,0,0,0,0,0,26.13,26.06,26.20
$GC,10668,0.74,328.9,2906,3850,1526,1432,570.2,11.7,467,10675,0.00,1.50,0.00,0.000,1030,0.000,0.023,2906,2783,1478,1525,1432,0,0,0,0,0,0,26.16,26.13,26.17
$GC,11000,0.76,328.9,2907,2785,1526,1433,532.3,11.6,478,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2783,1478,1525,1432,0,0,0,0,0,0,26.11,26.18,26.18
$GC,11299,0.78,328.9,2906,2784,1526,1433,498.6,11.1,488,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2783,1479,1526,1432,0,0,0,0,0,0,26.10,26.17,26.17
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$STATE,15576,end climb,SURFACE_DEPTH_REACHED
$STATE,15576,begin surface coast
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$STATE,15592,end surface coast,CONTROL_FINISHED_OK
$STATE,15592,begin surface
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$IRIDIUM_FIX,5613.59,-15116.50,010608,101202
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.73
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15621.65 7280.19
$PA_BOOTCOUNT,448
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$PA_DISK_BANK,2
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$10V_AH,10.23,35.910
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,142976
$DATA_FILE_SIZE,33451,817
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$INTR,1,15596.53,0x236db2,7,5
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$GPS,060815,011204,5636.870,-15116.162,28,1.0,29,16.4,0.7,356.4,8,7.4