version: 66.12
glider: 203
mission: 8
dive: 154
start: 8 8 115 1 46 50
data:
$ID,203
$MISSION,8
$DIVE,154
$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,105
$R_STBD_OVSHOOT,50
$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
$GPS1,080815,013729,5645.3140,-15120.0244,36,0.9,38,16.4,0.3,178.2,9,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-62.7
$GPS2,080815,014639,5645.2280,-15119.9707,6,0.8,9,16.4,0.6,174.4,10,9.7
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,12.1,50142,-17.4,-10.556,-19.06,2832
$D_GRID,1416
$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,-0.89,-194.6,198,2710,1092,989,0.0,0.0,0,127,0.00,0.00,-34.28,0.000,16386,0.000,0.000,197,2709,1946,1981,1911,0,0,0,0,0,0,26.04,28.83,26.10
$GC,129,-0.89,-194.6,198,2710,1984,1912,3.1,-4.8,5,189,8.62,2.10,-43.22,0.000,18948,0.230,0.038,2344,1344,3639,3708,3571,0,0,0,0,0,0,25.52,24.28,25.84
$GC,392,-0.86,-194.6,2344,1346,3709,3570,52.8,-18.6,54,406,0.05,2.03,0.00,0.000,3078,0.148,0.024,2354,2697,3638,3708,3568,0,0,0,0,0,0,25.84,26.05,25.91
$GC,702,-0.86,-194.6,2353,2699,3709,3574,107.6,-17.2,85,710,0.00,2.05,0.00,0.000,516,0.000,0.022,2354,1331,3641,3708,3574,0,0,0,0,0,0,26.10,26.06,26.15
$GC,734,-0.86,-194.6,2354,1331,3710,3572,112.0,-16.9,87,745,0.00,2.08,0.00,0.000,1030,0.000,0.024,2348,2706,3640,3709,3572,0,0,0,0,0,0,26.11,26.06,26.13
$GC,1040,-0.86,-194.6,2348,2706,3710,3572,159.4,-14.9,118,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3640,3709,3572,0,0,0,0,0,0,26.10,26.17,26.17
$GC,1340,-0.88,-194.6,2348,2706,3709,3572,203.4,-14.1,148,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3640,3709,3572,0,0,0,0,0,0,26.11,26.18,26.17
$GC,1640,-0.88,-194.6,2348,2707,3709,3573,247.0,-14.4,178,1654,0.00,2.05,0.00,0.000,516,0.000,0.022,2348,1332,3640,3708,3572,0,0,0,0,0,0,26.10,26.06,26.16
$GC,1673,-0.89,-194.6,2348,1333,3713,3573,251.5,-13.6,181,1681,0.00,2.08,0.00,0.000,1030,0.000,0.024,2339,2706,3640,3709,3572,0,0,0,0,0,0,26.10,26.06,26.11
$GC,2000,-0.89,-194.6,2339,2702,3708,3573,296.1,-13.5,192,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2706,3640,3707,3573,0,0,0,0,0,0,26.10,26.17,26.16
$GC,2300,-0.89,-194.6,2339,2708,3705,3573,336.2,-13.4,202,2307,0.00,1.75,0.00,0.000,260,0.000,0.037,2330,3854,3638,3705,3572,0,0,0,0,0,0,26.10,26.01,26.16
$GC,2346,-0.89,-194.6,2330,3854,3706,3572,340.8,-13.8,203,2353,0.08,1.62,0.00,0.000,3078,0.174,0.021,2345,2706,3636,3705,3568,0,0,0,0,0,0,25.93,26.07,26.03
$GC,2663,-0.92,-194.6,2345,2705,3704,3572,386.1,-13.4,214,2671,0.00,2.05,0.00,0.000,516,0.000,0.022,2345,1327,3637,3703,3572,0,0,0,0,0,0,26.10,26.05,26.15
$GC,2695,-0.94,-194.6,2345,1327,3703,3572,390.5,-13.4,215,2703,0.00,2.10,0.00,0.000,1030,0.000,0.027,2345,2707,3637,3703,3572,0,0,0,0,0,0,26.09,26.03,26.10
$GC,3022,-0.97,-194.6,2345,2707,3702,3572,433.0,-13.1,226,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2707,3636,3701,3572,0,0,0,0,0,0,26.09,26.16,26.15
$GC,3322,-0.99,-194.6,2345,2709,3700,3573,473.0,-13.3,236,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2708,3635,3699,3572,0,0,0,0,0,0,26.08,26.14,26.13
$GC,3622,-1.02,-194.6,2344,2708,3698,3574,513.9,-13.4,246,3630,0.00,2.08,0.00,0.000,516,0.000,0.022,2345,1332,3634,3697,3572,0,0,0,0,0,0,26.10,26.03,26.17
$GC,3669,-1.04,-194.6,2345,1333,3698,3573,517.5,-13.4,247,3676,0.00,2.10,0.00,0.000,1030,0.000,0.025,2339,2710,3633,3697,3570,0,0,0,0,0,0,26.10,26.05,26.13
$GC,3974,-1.07,-194.6,2339,2710,3697,3572,563.7,-14.4,257,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3633,3695,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,4274,-1.09,-194.6,2339,2710,3696,3572,605.9,-13.9,267,4283,0.10,2.10,0.00,0.000,4612,0.096,0.021,2277,1331,3630,3694,3567,0,0,0,0,0,0,26.01,26.02,26.07
$GC,4316,-1.09,-194.6,2277,1330,3695,3572,610.4,-14.3,268,4324,0.10,2.10,0.00,0.000,3078,0.174,0.024,2288,2710,3633,3694,3572,0,0,0,0,0,0,25.81,26.05,25.95
$GC,4628,-1.09,-194.6,2288,2710,3694,3572,663.9,-16.1,279,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2711,3632,3692,3572,0,0,0,0,0,0,26.08,26.14,26.14
$GC,4929,-1.09,-194.6,2289,2712,3687,3573,710.2,-15.3,289,4936,0.00,1.75,0.00,0.000,260,0.000,0.039,2288,3845,3631,3691,3572,0,0,0,0,0,0,26.07,25.96,26.13
$GC,4970,-1.09,-194.6,2289,3844,3691,3572,715.0,-15.2,290,4977,0.00,1.62,0.00,0.000,1030,0.000,0.021,2289,2705,3631,3690,3572,0,0,0,0,0,0,26.13,26.10,26.14
$GC,5291,-1.09,-194.6,2288,2701,3691,3572,764.4,-14.9,301,5298,0.00,2.05,0.00,0.000,516,0.000,0.023,2289,1340,3630,3689,3572,0,0,0,0,0,0,26.07,26.01,26.13
$GC,5337,-1.09,-194.6,2289,1332,3690,3571,769.3,-15.0,302,5345,0.00,2.08,0.00,0.000,1030,0.000,0.026,2289,2701,3631,3690,3572,0,0,0,0,0,0,26.08,26.03,26.13
$GC,5654,-1.09,-194.6,2289,2700,3689,3574,820.1,-15.3,313,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2700,3630,3689,3572,0,0,0,0,0,0,26.07,26.13,26.12
$GC,5954,-1.09,-194.6,2289,2700,3688,3572,865.7,-15.5,323,5961,0.00,2.08,0.00,0.000,516,0.000,0.023,2289,1323,3630,3687,3573,0,0,0,0,0,0,26.08,26.00,26.15
$GC,5985,-1.09,-194.6,2289,1324,3688,3574,870.0,-15.6,324,5993,0.00,2.10,0.00,0.000,1030,0.000,0.025,2289,2706,3629,3687,3572,0,0,0,0,0,0,26.07,26.01,26.08
$GC,6307,-1.09,-194.6,2289,2704,3687,3572,920.6,-15.5,335,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2708,3629,3686,3572,0,0,0,0,0,0,26.07,26.13,26.12
$STATE,6515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6515,begin apogee
$GC,6519,-0.25,0.0,2290,2816,3687,3574,953.2,-15.4,342,6688,0.85,0.00,161.50,1.080,10246,0.116,0.000,2558,2814,2837,2874,2801,0,0,0,0,0,0,25.67,24.39,23.68
$STATE,6689,end apogee,CONTROL_FINISHED_OK
$STATE,6689,begin climb
$GC,6690,0.89,194.6,2558,2814,2868,2793,962.4,0.0,347,6865,1.05,2.28,163.60,1.062,11012,0.061,0.020,2931,1421,2037,2075,1999,0,0,0,0,0,0,24.54,23.80,23.27
$GC,7020,0.87,270.3,2931,1423,2067,1989,956.8,7.8,358,7098,0.00,2.12,64.38,1.055,9222,0.000,0.025,2928,2785,1728,1770,1687,0,0,0,0,0,0,25.46,25.41,23.91
$GC,7417,0.84,270.3,2932,2787,1762,1672,911.5,11.7,372,7426,0.00,1.65,0.00,0.000,260,0.000,0.040,2931,3848,1715,1762,1669,0,0,0,0,0,0,25.93,25.91,25.98
$GC,7505,0.82,270.3,2931,3850,1761,1671,903.4,12.3,374,7517,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2787,1715,1760,1670,0,0,0,0,0,0,26.08,26.03,26.08
$GC,7811,0.79,270.3,2931,2787,1760,1669,864.2,11.0,385,7818,0.00,2.05,0.00,0.000,516,0.000,0.024,2931,1429,1713,1758,1669,0,0,0,0,0,0,26.10,26.10,26.16
$GC,7868,0.78,270.3,2932,1430,1759,1671,857.9,10.8,387,7878,0.08,2.10,0.00,0.000,5126,0.168,0.027,2917,2809,1713,1758,1669,0,0,0,0,0,0,25.94,26.08,26.08
$GC,8198,0.78,270.3,2918,2811,1759,1670,821.8,10.9,398,8207,0.00,1.60,0.00,0.000,260,0.000,0.039,2919,3845,1713,1757,1669,0,0,0,0,0,0,26.12,26.04,26.18
$GC,8291,0.78,270.3,2917,3847,1759,1669,810.5,11.8,401,8299,0.00,1.50,0.00,0.000,1030,0.000,0.023,2918,2778,1712,1756,1668,0,0,0,0,0,0,26.17,26.14,26.17
$GC,8623,0.78,270.3,2919,2778,1758,1668,774.5,10.8,412,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2778,1712,1757,1668,0,0,0,0,0,0,26.11,26.19,26.18
$GC,8923,0.78,270.3,2918,2778,1757,1668,742.0,10.8,422,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2778,1712,1757,1668,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9223,0.78,270.3,2917,2778,1758,1668,708.6,11.1,432,9231,0.00,1.67,0.00,0.000,260,0.000,0.039,2919,3849,1712,1756,1668,0,0,0,0,0,0,26.10,26.05,26.17
$GC,9300,0.76,270.3,2919,3848,1758,1667,700.9,11.8,434,9307,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2783,1715,1763,1667,0,0,0,0,0,0,26.15,26.13,26.16
$GC,9617,0.76,270.3,2918,2782,1757,1667,663.6,11.2,445,9624,0.00,1.67,0.00,0.000,260,0.000,0.039,2919,3854,1712,1757,1668,0,0,0,0,0,0,26.11,26.02,26.16
$GC,9668,0.76,270.3,2919,3853,1758,1670,659.9,11.3,446,9675,0.00,1.52,0.00,0.000,1030,0.000,0.022,2924,2808,1712,1757,1667,0,0,0,0,0,0,26.13,26.12,26.15
$GC,9980,0.76,270.3,2924,2809,1757,1669,622.2,11.1,457,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2807,1711,1756,1667,0,0,0,0,0,0,26.11,26.18,26.17
$GC,10279,0.76,270.3,2924,2809,1758,1669,589.8,10.9,467,10287,0.00,1.62,0.00,0.000,260,0.000,0.040,2924,3847,1712,1757,1667,0,0,0,0,0,0,26.09,26.00,26.15
$GC,10402,0.74,270.3,2924,3848,1757,1668,575.5,11.8,471,10411,0.12,1.50,0.00,0.000,5126,0.158,0.023,2902,2786,1710,1754,1667,0,0,0,0,0,0,25.81,26.10,25.98
$GC,10737,0.76,290.2,2901,2785,1757,1667,542.4,9.8,482,10762,0.00,2.08,16.20,0.848,8708,0.000,0.024,2906,1422,1648,1692,1605,0,0,0,0,0,0,26.08,25.81,25.06
$GC,10812,0.78,314.2,2906,1422,1683,1597,536.6,9.7,484,10844,0.00,2.12,21.60,0.828,9222,0.000,0.026,2906,2802,1552,1596,1509,0,0,0,0,0,0,25.94,25.89,24.89
$GC,11159,0.80,316.5,2907,2804,1589,1498,498.4,10.5,496,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2803,1542,1587,1497,0,0,0,0,0,0,26.02,26.08,26.08
$GC,11459,0.82,322.0,2907,2804,1588,1497,467.5,10.4,506,11466,0.00,1.62,0.00,0.000,260,0.000,0.039,2906,3859,1541,1587,1496,0,0,0,0,0,0,26.09,26.01,26.15
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$STATE,15622,end climb,SURFACE_DEPTH_REACHED
$STATE,15622,begin surface coast
$FINISH,0.8,1.012614
$STATE,15647,end surface coast,CONTROL_FINISHED_OK
$STATE,15647,begin surface
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$IRIDIUM_FIX,5621.37,-15116.17,030608,150531
$TT8_MAMPS,0.051681,0.051681
$HUMID,39.09
$INTERNAL_PRESSURE,8.8301
$TCM_TEMP,18.10
$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,15678.57 7549.65
$PA_BOOTCOUNT,461
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$PA_HOME,0.01/0.214/27.046/25.459
$PA_DISK_BANK,3
$24V_AH,23.27,55.389
$10V_AH,10.17,36.757
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,229.500,85.680,1080.180,0.000,0.000,0.000,0.000,81.090,420.000,61.606,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,585.716,0.000,0.000,0.000,0.000,0.000,16288.121,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.373,0.000,0.000,0.000
$MEM,143332
$DATA_FILE_SIZE,36711,855
$CAP_FILE_SIZE,147038,0
$CFSIZE,1024393216,981352448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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