version: 66.12
glider: 203
mission: 8
dive: 81
start: 7 25 115 9 20 7
data:
$ID,203
$MISSION,8
$DIVE,81
$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,96
$R_STBD_OVSHOOT,44
$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,22.5
$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
$GPS1,250715,091533,5739.7651,-14842.4785,33,0.7,33,17.4,0.8,92.5,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.6
$GPS2,250715,091956,5739.7705,-14842.5059,6,0.8,8,17.4,0.0,259.9,11,9.9
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,122.8,59683,-18.0,-11.000,-19.55,2718
$D_GRID,2800
$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,-194.6,198,2805,993,883,0.0,0.0,0,154,0.00,0.00,-50.78,0.000,16386,0.000,0.000,197,2808,2269,2308,2231,0,0,0,0,0,0,25.95,28.83,26.03
$GC,156,-0.92,-194.6,198,2805,2312,2233,3.2,-4.0,5,205,8.68,1.65,-27.50,0.000,18692,0.238,0.056,2331,3846,3635,3704,3567,0,0,0,0,0,0,25.70,25.31,25.94
$GC,372,-0.86,-194.6,2331,3848,3703,3574,51.8,-21.1,37,390,0.12,1.62,0.00,0.000,3078,0.157,0.021,2361,2685,3638,3704,3572,0,0,0,0,0,0,25.90,26.05,26.03
$GC,685,-0.86,-194.6,2360,2685,3704,3576,106.4,-15.6,68,689,0.00,1.85,0.00,0.000,260,0.000,0.038,2355,3854,3640,3704,3576,0,0,0,0,0,0,26.09,26.10,26.15
$GC,714,-0.86,-194.6,2355,3856,3704,3577,111.4,-16.5,71,718,0.00,1.67,0.00,0.000,1030,0.000,0.021,2355,2704,3639,3704,3575,0,0,0,0,0,0,26.15,26.13,26.16
$GC,1024,-0.86,-194.6,2355,2705,3705,3577,159.6,-14.9,102,1028,0.00,2.08,0.00,0.000,516,0.000,0.022,2355,1337,3640,3704,3576,0,0,0,0,0,0,26.13,26.16,26.20
$GC,1059,-0.86,-194.6,2355,1338,3705,3584,164.3,-15.7,105,1066,0.00,2.12,0.00,0.000,1030,0.000,0.025,2348,2709,3638,3701,3576,0,0,0,0,0,0,26.18,26.15,26.20
$GC,1364,-0.86,-194.6,2348,2710,3705,3577,209.9,-13.5,136,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2709,3640,3704,3576,0,0,0,0,0,0,26.15,26.22,26.21
$GC,1665,-0.86,-194.6,2348,2710,3705,3577,250.5,-13.7,166,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2709,3639,3703,3576,0,0,0,0,0,0,26.16,26.23,26.22
$GC,1964,-0.86,-194.6,2348,2709,3705,3576,292.2,-13.8,176,1969,0.00,1.77,0.00,0.000,260,0.000,0.038,2340,3846,3639,3703,3576,0,0,0,0,0,0,26.16,26.17,26.22
$GC,1999,-0.86,-194.6,2340,3847,3703,3577,296.5,-13.8,177,2003,0.05,1.67,0.00,0.000,3078,0.139,0.021,2356,2713,3639,3702,3576,0,0,0,0,0,0,26.06,26.20,26.14
$GC,2324,-0.89,-194.6,2356,2714,3703,3577,341.4,-13.9,188,2328,0.00,2.10,0.00,0.000,516,0.000,0.022,2356,1324,3639,3702,3576,0,0,0,0,0,0,26.17,26.19,26.22
$GC,2359,-0.92,-194.6,2356,1324,3703,3575,345.8,-14.1,189,2363,0.00,2.15,0.00,0.000,1030,0.000,0.025,2349,2705,3639,3702,3576,0,0,0,0,0,0,26.21,26.19,26.22
$GC,2684,-0.94,-194.6,2349,2705,3700,3575,392.1,-13.5,200,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2706,3638,3700,3576,0,0,0,0,0,0,26.17,26.23,26.22
$GC,2984,-0.97,-194.6,2348,2705,3700,3576,432.0,-13.5,210,2988,0.00,1.80,0.00,0.000,260,0.000,0.040,2342,3849,3637,3698,3576,0,0,0,0,0,0,26.17,26.17,26.22
$GC,3049,-0.99,-194.6,2344,3849,3697,3576,440.5,-13.8,212,3053,0.00,1.70,0.00,0.000,1030,0.000,0.021,2342,2694,3636,3697,3576,0,0,0,0,0,0,26.22,26.20,26.23
$GC,3374,-1.01,-194.6,2342,2695,3698,3577,486.1,-13.6,223,3378,0.00,1.83,0.00,0.000,260,0.000,0.038,2335,3842,3636,3696,3576,0,0,0,0,0,0,26.16,26.17,26.22
$GC,3414,-1.02,-194.6,2335,3841,3698,3576,490.3,-13.6,224,3418,0.00,1.67,0.00,0.000,1030,0.000,0.022,2335,2706,3636,3696,3576,0,0,0,0,0,0,26.22,26.20,26.23
$GC,3734,-1.02,-194.6,2335,2705,3696,3575,536.4,-14.2,235,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2706,3635,3695,3576,0,0,0,0,0,0,26.16,26.23,26.22
$GC,4034,-1.02,-194.6,2335,2707,3695,3577,578.9,-13.9,245,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2706,3635,3694,3576,0,0,0,0,0,0,26.16,26.23,26.22
$GC,4334,-1.04,-194.6,2335,2705,3694,3576,619.4,-13.4,255,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2706,3634,3693,3576,0,0,0,0,0,0,26.16,26.27,26.22
$GC,4634,-1.06,-194.6,2335,2707,3694,3577,660.0,-13.8,265,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2706,3634,3692,3576,0,0,0,0,0,0,26.16,26.23,26.22
$GC,4934,-1.08,-194.6,2335,2707,3692,3577,701.1,-13.6,275,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2706,3633,3691,3576,0,0,0,0,0,0,26.16,26.23,26.22
$GC,5234,-1.10,-194.6,2335,2705,3691,3576,739.3,-12.2,285,5238,0.10,1.80,0.00,0.000,4356,0.097,0.039,2265,3842,3633,3690,3576,0,0,0,0,0,0,26.15,26.16,26.20
$GC,5269,-1.10,-194.6,2266,3848,3691,3575,743.8,-12.6,286,5273,0.00,1.67,0.00,0.000,1030,0.000,0.022,2266,2701,3632,3690,3575,0,0,0,0,0,0,26.22,26.19,26.23
$GC,5594,-1.06,-194.6,2266,2702,3690,3577,797.4,-16.4,297,5596,0.12,0.00,0.00,0.000,2054,0.168,0.000,2295,2701,3635,3688,3582,0,0,0,0,0,0,26.01,26.21,26.15
$GC,5894,-1.06,-194.6,2294,2702,3690,3577,839.7,-14.0,307,5898,0.00,1.83,0.00,0.000,260,0.000,0.040,2293,3847,3632,3689,3576,0,0,0,0,0,0,26.15,26.15,26.22
$GC,5934,-1.06,-194.6,2294,3848,3690,3576,844.0,-14.2,308,5938,0.00,1.70,0.00,0.000,1030,0.000,0.022,2293,2697,3632,3688,3576,0,0,0,0,0,0,26.22,26.18,26.22
$GC,6254,-1.06,-194.6,2293,2698,3696,3577,892.0,-14.3,319,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2697,3631,3687,3576,0,0,0,0,0,0,26.15,26.22,26.22
$GC,6554,-1.06,-194.6,2293,2697,3687,3583,935.8,-15.1,329,6558,0.00,1.83,0.00,0.000,260,0.000,0.041,2293,3836,3631,3687,3575,0,0,0,0,0,0,26.15,26.13,26.21
$GC,6589,-1.06,-194.6,2293,3837,3687,3576,940.5,-15.1,330,6593,0.00,1.70,0.00,0.000,1030,0.000,0.022,2293,2686,3631,3687,3576,0,0,0,0,0,0,26.21,26.18,26.22
$STATE,6913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6913,begin apogee
$GC,6917,-0.25,0.0,2293,2814,3687,3583,990.2,-14.6,341,7157,0.82,0.00,235.80,0.886,10246,0.123,0.000,2550,2814,2836,2875,2798,0,0,0,0,0,0,26.01,24.48,23.91
$STATE,7157,end apogee,CONTROL_FINISHED_OK
$STATE,7157,begin climb
$GC,7159,0.92,194.6,2550,2815,2873,2796,1003.5,0.0,349,7338,1.10,2.38,165.12,1.084,11012,0.064,0.021,2930,1428,2032,2070,1994,0,0,0,0,0,0,24.57,23.66,23.02
$GC,7402,0.88,314.5,2931,1428,2067,1987,999.4,6.5,357,7512,0.00,2.25,104.70,1.070,9222,0.000,0.026,2931,2780,1557,1601,1513,0,0,0,0,0,0,24.63,24.58,23.08
$GC,7812,0.88,314.5,2931,2780,1583,1485,945.7,13.8,370,7816,0.00,1.75,0.00,0.000,260,0.000,0.039,2931,3857,1534,1582,1486,0,0,0,0,0,0,25.43,25.46,25.49
$GC,7882,0.86,314.5,2931,3856,1582,1485,936.9,14.2,372,7887,0.00,1.58,0.00,0.000,1030,0.000,0.021,2930,2798,1532,1579,1485,0,0,0,0,0,0,25.64,25.60,25.65
$GC,8202,0.86,314.5,2931,2798,1582,1484,890.7,13.7,383,8206,0.00,1.70,0.00,0.000,260,0.000,0.039,2932,3856,1532,1581,1484,0,0,0,0,0,0,25.90,25.92,25.97
$GC,8232,0.85,314.5,2932,3856,1581,1484,886.5,13.6,384,8237,0.00,1.55,0.00,0.000,1030,0.000,0.023,2931,2801,1532,1580,1484,0,0,0,0,0,0,25.98,25.96,26.00
$GC,8562,0.85,314.5,2932,2802,1581,1485,844.6,12.3,395,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2801,1535,1587,1484,0,0,0,0,0,0,26.06,26.13,26.12
$GC,8862,0.85,314.5,2931,2801,1580,1483,806.5,12.8,405,8866,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3847,1531,1579,1483,0,0,0,0,0,0,26.11,26.12,26.17
$GC,8907,0.83,314.5,2932,3848,1580,1484,802.2,13.1,406,8911,0.00,1.52,0.00,0.000,1030,0.000,0.022,2931,2802,1531,1579,1483,0,0,0,0,0,0,26.16,26.14,26.17
$GC,9222,0.83,314.5,2932,2802,1580,1483,758.7,13.3,417,9227,0.00,1.67,0.00,0.000,260,0.000,0.040,2932,3851,1530,1579,1482,0,0,0,0,0,0,26.13,26.13,26.20
$GC,9262,0.81,314.5,2932,3852,1580,1483,754.2,13.7,418,9267,0.00,1.52,0.00,0.000,1030,0.000,0.023,2932,2801,1531,1580,1482,0,0,0,0,0,0,26.19,26.17,26.24
$GC,9582,0.81,314.5,2932,2803,1579,1484,709.8,13.2,429,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2801,1530,1579,1482,0,0,0,0,0,0,26.15,26.22,26.21
$GC,9882,0.81,314.5,2932,2803,1580,1483,672.0,12.4,439,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2801,1530,1578,1482,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10182,0.81,314.5,2932,2803,1580,1483,635.9,11.8,449,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2802,1530,1578,1482,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10482,0.81,314.5,2932,2802,1579,1484,599.1,12.4,459,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2801,1530,1578,1482,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10782,0.81,314.5,2931,2805,1580,1484,562.9,12.2,469,10786,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1430,1530,1578,1482,0,0,0,0,0,0,26.15,26.18,26.22
$GC,10802,0.81,314.5,2932,1431,1580,1482,562.9,12.2,469,10806,0.00,2.15,0.00,0.000,1030,0.000,0.027,2932,2807,1530,1578,1482,0,0,0,0,0,0,26.20,26.17,26.21
$GC,11112,0.81,314.5,2932,2806,1579,1481,522.8,12.4,480,11116,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3851,1530,1579,1481,0,0,0,0,0,0,26.15,26.14,26.22
$GC,11147,0.81,314.5,2932,3852,1579,1481,518.7,12.8,481,11151,0.00,1.55,0.00,0.000,1030,0.000,0.022,2937,2792,1529,1578,1481,0,0,0,0,0,0,26.22,26.18,26.22
$GC,11472,0.81,314.5,2937,2793,1579,1482,477.7,12.6,492,11477,0.00,1.67,0.00,0.000,260,0.000,0.039,2937,3841,1529,1578,1481,0,0,0,0,0,0,26.15,26.15,26.22
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$STATE,15624,end climb,SURFACE_DEPTH_REACHED
$STATE,15624,begin surface coast
$FINISH,0.7,1.012136
$STATE,15639,end surface coast,CONTROL_FINISHED_OK
$STATE,15639,begin surface
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$IRIDIUM_FIX,5716.53,-14838.04,200508,224311
$TT8_MAMPS,0.05992,0.05992
$HUMID,40.11
$INTERNAL_PRESSURE,8.765
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$XPDR_PINGS,2
$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,15669.65 14949.84
$PA_BOOTCOUNT,387
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$PA_DISK_BANK,1
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$10V_AH,10.18,31.730
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,180108
$DATA_FILE_SIZE,33399,820
$CAP_FILE_SIZE,139145,0
$CFSIZE,1024393216,988512256
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