version: 66.12
glider: 203
mission: 8
dive: 156
start: 8 8 115 9 42 47
data:
$ID,203
$MISSION,8
$DIVE,156
$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,92
$R_STBD_OVSHOOT,42
$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
$GPS1,080815,093634,5647.6416,-15116.0029,32,0.8,33,16.4,0.3,197.3,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-61.9
$GPS2,080815,094236,5647.6060,-15115.9580,6,0.9,9,16.4,0.0,230.0,9,9.9
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,15.3,44175,-17.4,-10.556,-19.06,2832
$D_GRID,1142
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,92,-0.89,-194.6,194,2699,927,806,0.0,0.0,0,137,0.00,0.00,-42.47,0.000,16386,0.000,0.000,193,2698,1971,2017,1926,0,0,0,0,0,0,26.03,28.83,26.10
$GC,138,-0.89,-194.6,194,2699,2020,1928,3.2,-4.4,7,198,8.60,2.10,-41.42,0.000,18948,0.229,0.038,2342,1326,3635,3708,3563,0,0,0,0,0,0,25.58,24.30,25.88
$GC,423,-0.87,-194.6,2343,1327,3709,3568,60.2,-19.8,56,436,0.08,2.10,0.00,0.000,3078,0.188,0.027,2350,2708,3638,3708,3569,0,0,0,0,0,0,25.86,26.03,25.98
$GC,730,-0.87,-194.6,2350,2709,3709,3573,119.6,-17.8,87,738,0.00,2.10,0.00,0.000,516,0.000,0.024,2351,1326,3640,3708,3573,0,0,0,0,0,0,26.12,26.05,26.17
$GC,773,-0.87,-194.6,2350,1328,3708,3574,126.9,-17.1,91,781,0.00,2.10,0.00,0.000,1030,0.000,0.026,2345,2712,3640,3708,3572,0,0,0,0,0,0,26.12,26.07,26.14
$GC,1085,-0.87,-194.6,2345,2712,3710,3572,173.0,-14.6,122,1092,0.00,1.73,0.00,0.000,260,0.000,0.038,2336,3846,3640,3708,3573,0,0,0,0,0,0,26.12,26.02,26.17
$GC,1147,-0.87,-194.6,2336,3846,3709,3572,182.3,-15.1,128,1154,0.08,1.65,0.00,0.000,3078,0.168,0.022,2351,2710,3639,3708,3571,0,0,0,0,0,0,25.93,26.12,26.03
$GC,1459,-0.89,-194.6,2351,2710,3709,3572,226.1,-14.5,159,1467,0.00,2.10,0.00,0.000,516,0.000,0.024,2352,1306,3643,3716,3571,0,0,0,0,0,0,26.11,26.05,26.17
$GC,1501,-0.91,-194.6,2351,1306,3709,3573,232.4,-14.9,163,1509,0.00,2.12,0.00,0.000,1030,0.000,0.028,2348,2698,3640,3708,3573,0,0,0,0,0,0,26.11,26.06,26.13
$GC,1813,-0.91,-194.6,2348,2699,3709,3574,276.1,-13.9,182,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3640,3708,3572,0,0,0,0,0,0,26.10,26.16,26.15
$GC,2113,-0.91,-194.6,2348,2698,3707,3572,317.3,-13.8,192,2121,0.00,2.10,0.00,0.000,516,0.000,0.024,2348,1310,3639,3706,3572,0,0,0,0,0,0,26.10,26.06,26.15
$GC,2140,-0.93,-194.6,2348,1310,3707,3572,321.1,-13.8,193,2148,0.00,2.12,0.00,0.000,1030,0.000,0.027,2339,2702,3639,3706,3572,0,0,0,0,0,0,26.10,26.05,26.12
$GC,2467,-0.93,-194.6,2339,2702,3706,3572,369.0,-14.7,204,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2702,3638,3704,3572,0,0,0,0,0,0,26.13,26.16,26.15
$GC,2767,-0.93,-194.6,2339,2702,3704,3567,413.3,-14.6,214,2775,0.00,2.12,0.00,0.000,516,0.000,0.025,2339,1302,3637,3703,3572,0,0,0,0,0,0,26.09,26.05,26.15
$GC,2803,-0.93,-194.6,2339,1303,3704,3572,417.9,-14.6,215,2811,0.00,2.15,0.00,0.000,1030,0.000,0.027,2333,2703,3637,3702,3572,0,0,0,0,0,0,26.08,26.03,26.10
$GC,3125,-0.93,-194.6,2334,2703,3702,3572,464.6,-14.0,226,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2703,3637,3701,3573,0,0,0,0,0,0,26.08,26.15,26.13
$GC,3425,-0.93,-194.6,2333,2703,3701,3572,506.6,-14.0,236,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2703,3636,3699,3573,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3725,-0.93,-194.6,2334,2705,3698,3574,546.9,-13.4,246,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2703,3635,3698,3572,0,0,0,0,0,0,26.08,26.14,26.13
$GC,4025,-0.93,-194.6,2333,2705,3698,3573,586.4,-12.9,256,4033,0.00,2.12,0.00,0.000,516,0.000,0.024,2333,1306,3634,3696,3572,0,0,0,0,0,0,26.09,26.03,26.15
$GC,4107,-0.93,-194.6,2333,1307,3697,3574,593.8,-13.0,258,4117,0.00,2.15,0.00,0.000,1030,0.000,0.027,2324,2703,3634,3696,3572,0,0,0,0,0,0,26.07,26.01,26.09
$GC,4412,-0.93,-194.6,2324,2703,3696,3572,639.6,-14.1,269,4419,0.00,1.77,0.00,0.000,260,0.000,0.041,2321,3846,3633,3694,3572,0,0,0,0,0,0,26.09,25.96,26.15
$GC,4453,-0.93,-194.6,2323,3848,3695,3574,644.1,-14.1,270,4460,0.00,1.70,0.00,0.000,1030,0.000,0.023,2321,2685,3633,3694,3572,0,0,0,0,0,0,26.10,26.07,26.11
$GC,4775,-0.93,-194.6,2322,2685,3694,3574,689.5,-13.8,281,4783,0.08,2.08,0.00,0.000,2564,0.184,0.022,2335,1306,3632,3693,3572,0,0,0,0,0,0,25.87,26.01,25.98
$GC,4807,-0.93,-194.6,2335,1306,3695,3572,693.6,-13.5,282,4815,0.00,2.15,0.00,0.000,1030,0.000,0.028,2335,2703,3632,3693,3572,0,0,0,0,0,0,26.05,26.00,26.07
$GC,5134,-0.94,-194.6,2335,2704,3693,3574,737.5,-13.4,293,5142,0.00,2.12,0.00,0.000,516,0.000,0.024,2335,1307,3631,3691,3572,0,0,0,0,0,0,26.07,26.00,26.13
$GC,5171,-0.96,-194.6,2335,1306,3693,3572,741.1,-13.3,294,5179,0.00,2.15,0.00,0.000,1030,0.000,0.028,2335,2705,3631,3691,3572,0,0,0,0,0,0,26.06,26.00,26.07
$GC,5493,-0.98,-194.6,2336,2707,3691,3574,781.2,-11.8,305,5500,0.00,1.80,0.00,0.000,260,0.000,0.042,2333,3855,3631,3690,3572,0,0,0,0,0,0,26.08,25.94,26.14
$GC,5545,-1.00,-194.6,2333,3856,3691,3572,785.0,-12.0,306,5552,0.00,1.70,0.00,0.000,1030,0.000,0.023,2333,2683,3631,3690,3573,0,0,0,0,0,0,26.11,26.08,26.11
$GC,5857,-1.01,-194.6,2331,2685,3690,3573,824.6,-11.6,317,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2683,3630,3689,3572,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6157,-1.03,-194.6,2333,2683,3691,3572,858.0,-11.2,327,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2683,3630,3689,3572,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6457,-1.05,-194.6,2333,2685,3687,3573,895.2,-12.8,337,6465,0.00,2.05,0.00,0.000,516,0.000,0.024,2333,1323,3629,3687,3572,0,0,0,0,0,0,26.06,25.98,26.13
$GC,6489,-1.07,-194.6,2333,1323,3688,3572,899.1,-12.9,338,6497,0.00,2.12,0.00,0.000,1030,0.000,0.028,2333,2704,3629,3687,3572,0,0,0,0,0,0,26.04,25.98,26.06
$GC,6816,-1.09,-194.6,2333,2705,3688,3574,941.3,-13.1,349,6824,0.00,1.77,0.00,0.000,260,0.000,0.041,2325,3847,3629,3687,3572,0,0,0,0,0,0,26.05,25.91,26.11
$GC,6858,-1.11,-194.6,2325,3847,3688,3572,945.6,-13.2,350,6865,0.00,1.70,0.00,0.000,1030,0.000,0.024,2325,2720,3629,3686,3572,0,0,0,0,0,0,26.06,26.05,26.09
$STATE,6908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6908,begin apogee
$GC,6912,-0.25,0.0,2324,2812,3688,3572,953.4,-12.9,352,7093,0.73,0.00,168.52,1.043,10246,0.112,0.000,2551,2816,2833,2870,2797,0,0,0,0,0,0,25.70,24.25,23.78
$STATE,7094,end apogee,CONTROL_FINISHED_OK
$STATE,7094,begin climb
$GC,7095,0.89,194.6,2551,2815,2871,2794,962.8,0.0,358,7276,1.10,2.33,163.85,1.061,10756,0.066,0.024,2931,1408,2034,2072,1996,0,0,0,0,0,0,24.60,23.98,23.27
$GC,7500,0.87,215.2,2931,1408,2065,1986,944.4,9.8,371,7527,0.00,2.15,17.52,1.047,9222,0.000,0.026,2931,2790,1959,1999,1920,0,0,0,0,0,0,25.72,25.67,24.50
$GC,7847,0.83,215.2,2931,2790,1986,1901,906.4,10.8,383,7856,0.00,1.67,0.00,0.000,260,0.000,0.041,2931,3843,1942,1985,1900,0,0,0,0,0,0,26.02,25.98,26.08
$GC,7971,0.78,215.2,2931,3842,1985,1899,891.8,11.8,387,7978,0.00,1.52,0.00,0.000,1030,0.000,0.024,2931,2778,1942,1985,1899,0,0,0,0,0,0,26.13,26.10,26.14
$GC,8303,0.75,215.2,2932,2779,1985,1900,854.9,11.0,398,8312,0.12,1.67,0.00,0.000,4356,0.171,0.037,2897,3847,1941,1985,1898,0,0,0,0,0,0,25.85,26.03,25.95
$GC,8376,0.72,215.2,2897,3851,1985,1899,847.9,11.0,400,8383,0.00,1.55,0.00,0.000,1030,0.000,0.024,2901,2803,1941,1984,1898,0,0,0,0,0,0,26.15,26.13,26.17
$GC,8697,0.73,263.7,2901,2804,1985,1900,815.9,8.8,411,8744,0.00,0.00,41.75,0.990,8198,0.000,0.000,2901,2803,1763,1804,1722,0,0,0,0,0,0,26.12,25.37,24.65
$GC,9027,0.74,325.0,2901,2803,1788,1705,786.8,8.3,422,9092,0.00,2.15,53.30,0.964,8708,0.000,0.024,2904,1422,1504,1548,1460,0,0,0,0,0,0,26.02,25.02,24.51
$GC,9147,0.74,374.1,2904,1422,1540,1452,778.5,8.8,425,9201,0.00,2.15,44.42,0.948,9222,0.000,0.027,2903,2799,1306,1352,1260,0,0,0,0,0,0,25.67,25.63,24.38
$GC,9512,0.78,394.5,2904,2800,1339,1243,739.2,9.8,438,9538,0.00,2.15,17.52,0.931,8708,0.000,0.027,2903,1416,1223,1273,1174,0,0,0,0,0,0,25.99,25.65,24.85
$GC,9633,0.82,399.2,2903,1417,1264,1165,727.1,10.4,441,9643,0.00,2.15,0.00,0.000,1030,0.000,0.027,2903,2805,1213,1262,1164,0,0,0,0,0,0,25.95,25.90,25.96
$GC,9957,0.86,399.2,2903,2805,1264,1159,689.1,12.2,452,9965,0.00,2.10,0.00,0.000,516,0.000,0.025,2903,1423,1210,1262,1159,0,0,0,0,0,0,26.08,26.05,26.15
$GC,10014,0.90,399.2,2903,1424,1263,1161,681.9,12.3,454,10023,0.08,2.12,0.00,0.000,3078,0.122,0.028,2945,2810,1210,1262,1159,0,0,0,0,0,0,25.99,26.07,26.08
$GC,10347,0.90,399.2,2946,2811,1262,1160,631.3,15.6,465,10357,0.00,1.60,0.00,0.000,260,0.000,0.041,2945,3847,1210,1262,1159,0,0,0,0,0,0,26.12,26.05,26.17
$GC,10401,0.90,399.2,2945,3847,1263,1158,625.7,15.8,466,10408,0.00,1.55,0.00,0.000,1030,0.000,0.024,2946,2792,1209,1261,1158,0,0,0,0,0,0,26.11,26.10,26.11
$GC,10712,0.90,399.2,2946,2792,1262,1158,576.1,14.7,477,10720,0.00,2.05,0.00,0.000,516,0.000,0.026,2946,1431,1209,1261,1158,0,0,0,0,0,0,26.13,26.08,26.20
$GC,10754,0.90,399.2,2946,1430,1262,1159,572.3,14.7,478,10761,0.00,2.10,0.00,0.000,1030,0.000,0.027,2946,2798,1209,1261,1158,0,0,0,0,0,0,26.15,26.09,26.16
$GC,11066,0.90,399.2,2950,2799,1262,1160,525.6,14.0,489,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2798,1209,1261,1158,0,0,0,0,0,0,26.13,26.20,26.18
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$STATE,15154,end climb,SURFACE_DEPTH_REACHED
$STATE,15154,begin surface coast
$FINISH,0.9,1.021191
$STATE,15174,end surface coast,CONTROL_FINISHED_OK
$STATE,15174,begin surface
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$IRIDIUM_FIX,5625.26,-15114.28,030608,194032
$TT8_MAMPS,0.060669,0.060669
$HUMID,39.01
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.90
$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,15205.58 7353.70
$PA_BOOTCOUNT,463
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$PA_HOME,0.01/0.214/27.046/25.458
$PA_DISK_BANK,3
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$10V_AH,10.20,36.884
$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
$SENSOR_SECS,551.725,0.000,0.000,0.000,0.000,0.000,15618.900,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,143292
$DATA_FILE_SIZE,33378,806
$CAP_FILE_SIZE,142735,0
$CFSIZE,1024393216,981172224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7089.96,0x212970,2,24
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