version: 66.12
glider: 203
mission: 8
dive: 125
start: 8 2 115 17 22 15
data:
$ID,203
$MISSION,8
$DIVE,125
$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,-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,93
$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
$GPS1,020815,171650,5635.8955,-15015.2783,22,0.8,39,16.7,0.6,62.1,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.1
$GPS2,020815,172204,5635.9023,-15015.1572,6,0.8,8,16.7,0.0,50.8,10,9.8
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,274.2,81690,-17.4,-10.556,-19.06,2832
$D_GRID,1000
$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,-194.6,192,2704,755,632,0.0,0.0,0,148,0.00,0.00,-49.00,0.000,16386,0.000,0.000,191,2705,1972,2017,1928,0,0,0,0,0,0,26.03,28.83,26.10
$GC,150,-0.89,-194.6,192,2706,2018,1929,3.1,-3.4,7,214,8.57,2.10,-41.08,0.000,18948,0.230,0.035,2343,1328,3633,3705,3561,0,0,0,0,0,0,25.65,25.27,25.92
$GC,301,-0.82,-194.6,2344,1328,3706,3565,31.4,-23.5,27,319,0.12,2.08,0.00,0.000,3078,0.164,0.024,2367,2704,3635,3704,3566,0,0,0,0,0,0,25.86,26.07,26.02
$GC,621,-0.80,-194.6,2367,2704,3706,3568,93.9,-18.0,65,629,0.00,1.73,0.00,0.000,260,0.000,0.037,2362,3845,3637,3705,3569,0,0,0,0,0,0,26.12,26.08,26.17
$GC,685,-0.78,-194.6,2362,3844,3706,3569,104.4,-16.7,71,693,0.05,1.67,0.00,0.000,3078,0.139,0.021,2377,2683,3637,3705,3569,0,0,0,0,0,0,25.96,26.17,26.11
$GC,997,-0.80,-194.6,2377,2684,3705,3572,149.9,-14.8,102,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2683,3637,3705,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1299,-0.82,-194.6,2378,2684,3705,3572,193.6,-14.4,132,1306,0.00,1.80,0.00,0.000,260,0.000,0.038,2375,3845,3638,3705,3571,0,0,0,0,0,0,26.13,26.10,26.19
$GC,1351,-0.85,-194.6,2375,3847,3706,3572,201.4,-14.5,137,1359,0.00,1.65,0.00,0.000,1030,0.000,0.021,2375,2724,3637,3705,3570,0,0,0,0,0,0,26.18,26.16,26.19
$GC,1663,-0.88,-194.6,2374,2724,3706,3570,244.3,-13.0,168,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2724,3637,3704,3570,0,0,0,0,0,0,26.14,26.20,26.19
$GC,1983,-0.91,-194.6,2375,2725,3706,3572,283.7,-12.3,182,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2724,3637,3704,3570,0,0,0,0,0,0,26.14,26.20,26.20
$GC,2283,-0.94,-194.6,2375,2725,3703,3572,321.7,-12.9,192,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2724,3636,3703,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2583,-0.98,-194.6,2375,2724,3702,3570,359.6,-12.7,202,2590,0.10,1.75,0.00,0.000,4356,0.093,0.037,2306,3849,3636,3702,3570,0,0,0,0,0,0,26.08,26.09,26.15
$GC,2620,-1.00,-194.6,2306,3849,3702,3570,363.7,-13.2,203,2627,0.00,1.65,0.00,0.000,1030,0.000,0.021,2306,2689,3635,3701,3570,0,0,0,0,0,0,26.20,26.16,26.21
$GC,2941,-0.97,-194.6,2306,2687,3701,3570,420.4,-17.1,214,2947,0.08,0.00,0.00,0.000,2054,0.187,0.000,2319,2687,3634,3699,3570,0,0,0,0,0,0,25.97,26.13,26.08
$GC,3241,-0.97,-194.6,2319,2687,3700,3570,467.1,-15.5,224,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2687,3634,3698,3570,0,0,0,0,0,0,26.15,26.22,26.20
$GC,3541,-0.97,-194.6,2319,2689,3698,3571,511.6,-14.4,234,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2687,3633,3696,3570,0,0,0,0,0,0,26.15,26.21,26.20
$GC,3841,-0.97,-194.6,2319,2689,3696,3572,555.7,-14.8,244,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2687,3632,3695,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,4141,-0.97,-194.6,2318,2687,3694,3570,597.8,-13.5,254,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2687,3632,3694,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,4441,-0.97,-194.6,2319,2689,3694,3572,637.6,-13.1,264,4448,0.00,1.80,0.00,0.000,260,0.000,0.039,2319,3842,3631,3693,3570,0,0,0,0,0,0,26.13,26.08,26.18
$GC,4477,-0.97,-194.6,2320,3844,3693,3572,641.7,-13.2,265,4484,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2692,3630,3692,3568,0,0,0,0,0,0,26.17,26.15,26.17
$GC,4803,-0.97,-194.6,2325,2692,3692,3570,684.6,-12.8,276,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2692,3630,3691,3570,0,0,0,0,0,0,26.12,26.19,26.18
$GC,5104,-0.97,-194.6,2319,2694,3690,3572,725.0,-13.8,286,5111,0.00,1.80,0.00,0.000,260,0.000,0.040,2325,3845,3629,3689,3570,0,0,0,0,0,0,26.12,26.06,26.18
$GC,5139,-0.97,-194.6,2319,3847,3690,3571,729.4,-14.0,287,5147,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2699,3630,3690,3570,0,0,0,0,0,0,26.17,26.14,26.17
$GC,5466,-0.97,-194.6,2319,2699,3690,3570,774.0,-13.4,298,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2699,3629,3688,3570,0,0,0,0,0,0,26.11,26.19,26.16
$GC,5767,-0.97,-194.6,2319,2700,3688,3571,813.8,-13.6,308,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2699,3629,3688,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6066,-0.97,-194.6,2319,2698,3688,3570,853.2,-12.7,318,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2699,3628,3687,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6367,-0.97,-194.6,2319,2698,3688,3570,892.6,-13.2,328,6374,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3848,3628,3687,3570,0,0,0,0,0,0,26.11,26.06,26.17
$GC,6398,-0.97,-194.6,2318,3849,3688,3570,896.7,-13.1,329,6405,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2694,3628,3686,3570,0,0,0,0,0,0,26.16,26.14,26.17
$GC,6729,-0.97,-194.6,2319,2690,3687,3570,940.1,-13.4,340,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2690,3628,3686,3570,0,0,0,0,0,0,26.10,26.17,26.17
$STATE,6818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6818,begin apogee
$GC,6821,-0.25,0.0,2320,2804,3686,3570,952.4,-13.7,343,6991,0.75,0.00,162.77,1.065,10246,0.118,0.000,2552,2804,2838,2872,2804,0,0,0,0,0,0,25.84,24.44,23.75
$STATE,6992,end apogee,CONTROL_FINISHED_OK
$STATE,6992,begin climb
$GC,6993,0.89,194.6,2553,2805,2865,2796,961.7,0.0,348,7172,1.08,2.30,164.50,1.058,10756,0.065,0.021,2931,1428,2035,2070,2001,0,0,0,0,0,0,24.58,23.87,23.20
$GC,7396,0.87,244.5,2931,1425,2061,1988,947.1,8.7,362,7447,0.00,2.15,42.17,1.045,9222,0.000,0.025,2931,2801,1836,1877,1796,0,0,0,0,0,0,25.58,25.54,24.20
$GC,7752,0.84,244.5,2931,2801,1863,1774,908.0,11.2,374,7760,0.00,1.67,0.00,0.000,260,0.000,0.040,2930,3850,1820,1861,1779,0,0,0,0,0,0,25.91,25.89,25.97
$GC,7860,0.80,244.5,2931,3851,1862,1780,896.5,12.0,377,7868,0.00,1.50,0.00,0.000,1030,0.000,0.022,2931,2787,1819,1861,1778,0,0,0,0,0,0,26.07,26.03,26.08
$GC,8178,0.77,244.5,2930,2787,1861,1777,859.1,10.9,388,8185,0.10,1.65,0.00,0.000,4356,0.181,0.037,2910,3854,1819,1860,1779,0,0,0,0,0,0,25.94,26.07,26.06
$GC,8249,0.74,244.5,2910,3854,1861,1777,852.1,11.1,390,8256,0.00,1.50,0.00,0.000,1030,0.000,0.023,2916,2792,1819,1861,1778,0,0,0,0,0,0,26.17,26.15,26.17
$GC,8570,0.72,250.5,2916,2792,1861,1778,817.5,10.3,401,8578,0.10,1.65,0.00,0.000,4356,0.164,0.037,2893,3858,1819,1860,1778,0,0,0,0,0,0,25.96,26.10,26.10
$GC,8612,0.71,258.6,2893,3858,1861,1778,814.2,10.3,402,8623,0.00,1.50,4.12,0.919,9222,0.000,0.023,2893,2795,1784,1824,1745,0,0,0,0,0,0,26.20,26.17,25.04
$GC,8932,0.71,291.5,2893,2796,1850,1757,783.9,9.4,413,8976,0.00,0.00,38.25,0.959,8198,0.000,0.000,2893,2795,1649,1690,1608,0,0,0,0,0,0,26.11,25.41,24.72
$GC,9263,0.73,305.2,2892,2796,1672,1588,750.4,10.1,424,9280,0.00,0.00,11.55,0.946,8198,0.000,0.000,2893,2795,1593,1636,1550,0,0,0,0,0,0,26.01,25.70,24.97
$GC,9564,0.75,319.4,2893,2795,1625,1539,719.9,10.0,434,9583,0.00,0.00,14.00,0.935,8198,0.000,0.000,2893,2795,1535,1579,1492,0,0,0,0,0,0,26.05,25.71,25.01
$GC,9862,0.78,319.4,2893,2796,1565,1477,688.0,10.7,444,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2795,1520,1564,1476,0,0,0,0,0,0,26.01,26.08,26.08
$GC,10163,0.80,319.4,2893,2794,1565,1475,655.6,10.9,454,10172,0.00,2.05,0.00,0.000,516,0.000,0.025,2892,1432,1519,1564,1474,0,0,0,0,0,0,26.10,26.13,26.17
$GC,10206,0.83,319.4,2893,1431,1565,1476,651.9,10.7,455,10215,0.00,2.10,0.00,0.000,1030,0.000,0.027,2893,2806,1519,1564,1475,0,0,0,0,0,0,26.15,26.11,26.17
$GC,10530,0.86,330.7,2893,2806,1564,1474,617.7,10.1,466,10539,0.00,0.00,3.42,0.737,8198,0.000,0.000,2893,2806,1490,1534,1447,0,0,0,0,0,0,26.13,25.87,24.73
$GC,10830,0.89,347.0,2893,2807,1556,1457,587.0,10.0,476,10865,0.10,0.00,24.17,0.851,10246,0.100,0.000,2943,2805,1411,1452,1371,0,0,0,0,0,0,26.08,25.65,25.01
$GC,11159,0.89,347.0,2943,2808,1449,1361,546.2,12.3,487,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2806,1407,1449,1366,0,0,0,0,0,0,26.05,26.13,26.12
$GC,11459,0.89,347.0,2943,2806,1451,1359,510.5,11.8,497,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2806,1404,1449,1359,0,0,0,0,0,0,26.10,26.20,26.16
$GC,11759,0.89,347.0,2943,2806,1450,1359,474.6,11.9,507,11767,0.00,2.10,0.00,0.000,516,0.000,0.024,2945,1424,1404,1449,1359,0,0,0,0,0,0,26.13,26.11,26.19
$GC,11806,0.89,347.0,2945,1425,1449,1361,471.4,12.0,508,11814,0.00,2.10,0.00,0.000,1030,0.000,0.026,2945,2801,1404,1449,1359,0,0,0,0,0,0,26.17,26.13,26.18
$GC,12118,0.89,347.0,2945,2801,1450,1359,430.5,12.3,519,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2801,1403,1448,1359,0,0,0,0,0,0,26.12,26.18,26.18
$GC,12418,0.89,347.0,2945,2802,1449,1360,393.3,12.5,529,12425,0.00,1.67,0.00,0.000,260,0.000,0.039,2944,3856,1403,1448,1359,0,0,0,0,0,0,26.13,26.09,26.20
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$STATE,15858,end climb,SURFACE_DEPTH_REACHED
$STATE,15858,begin surface coast
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$STATE,15870,begin surface
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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
$PA_UPTIME,15899.47 7444.40
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$PA_DISK_BANK,2
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$10V_AH,10.17,34.764
$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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$MEM,180152
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$GPS,020815,214856,5636.223,-15017.329,34,1.3,39,16.7,0.8,111.5,7,6.7