version: 66.12
glider: 203
mission: 8
dive: 138
start: 8 5 115 3 3 27
data:
$ID,203
$MISSION,8
$DIVE,138
$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,81
$R_STBD_OVSHOOT,46
$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
$GPS1,050815,025804,5637.7271,-15056.5312,38,0.8,39,16.5,0.0,0.0,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-59.9
$GPS2,050815,030316,5637.7217,-15056.4727,7,0.8,10,16.5,0.6,347.5,11,9.9
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,258.4,39911,-17.4,-10.556,-19.06,2832
$D_GRID,3151
$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,-194.6,182,2703,937,814,0.0,0.0,0,146,0.00,0.00,-47.35,0.000,16386,0.000,0.000,180,2702,2104,2145,2063,0,0,0,0,0,0,26.03,28.83,26.10
$GC,148,-0.89,-194.6,181,2703,2147,2064,3.2,-3.9,6,202,8.73,2.10,-37.65,0.000,18948,0.233,0.039,2346,1314,3634,3707,3562,0,0,0,0,0,0,25.60,24.40,25.89
$GC,308,-0.85,-194.6,2346,1315,3709,3567,34.2,-20.1,30,327,0.10,2.10,0.00,0.000,3078,0.171,0.024,2361,2703,3637,3708,3567,0,0,0,0,0,0,25.79,25.98,25.94
$GC,641,-0.82,-194.6,2361,2705,3709,3572,98.9,-18.9,67,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2703,3639,3708,3571,0,0,0,0,0,0,26.11,26.17,26.17
$GC,941,-0.82,-194.6,2361,2705,3709,3573,149.3,-14.5,97,950,0.00,1.75,0.00,0.000,260,0.000,0.038,2354,3853,3639,3707,3571,0,0,0,0,0,0,26.13,26.06,26.19
$GC,989,-0.82,-194.6,2356,3855,3709,3573,155.5,-14.0,101,1000,0.00,1.65,0.00,0.000,1030,0.000,0.021,2355,2681,3639,3708,3571,0,0,0,0,0,0,26.18,26.15,26.19
$GC,1295,-0.82,-194.6,2355,2683,3708,3573,200.2,-14.1,132,1300,0.08,0.00,0.00,0.000,2054,0.187,0.000,2370,2682,3639,3708,3571,0,0,0,0,0,0,25.92,26.09,26.04
$GC,1595,-0.84,-194.6,2370,2683,3709,3573,238.7,-12.1,162,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2681,3639,3708,3571,0,0,0,0,0,0,26.12,26.19,26.17
$GC,1905,-0.87,-194.6,2370,2681,3709,3571,277.2,-12.5,179,1912,0.00,1.80,0.00,0.000,260,0.000,0.038,2364,3847,3639,3707,3571,0,0,0,0,0,0,26.13,26.06,26.22
$GC,1951,-0.90,-194.6,2364,3849,3708,3572,281.3,-12.6,180,1960,0.00,1.62,0.00,0.000,1030,0.000,0.022,2364,2712,3639,3707,3571,0,0,0,0,0,0,26.18,26.16,26.20
$GC,2269,-0.92,-194.6,2365,2712,3708,3571,323.8,-12.6,191,2277,0.00,1.77,0.00,0.000,260,0.000,0.039,2356,3852,3638,3706,3570,0,0,0,0,0,0,26.12,26.05,26.17
$GC,2306,-0.94,-194.6,2356,3853,3707,3572,328.1,-12.9,192,2314,0.00,1.65,0.00,0.000,1030,0.000,0.022,2356,2692,3638,3706,3571,0,0,0,0,0,0,26.15,26.12,26.16
$GC,2633,-0.96,-194.6,2357,2693,3705,3573,373.4,-13.9,203,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2691,3638,3705,3571,0,0,0,0,0,0,26.11,26.17,26.17
$GC,2933,-0.98,-194.6,2357,2691,3705,3571,414.2,-13.5,213,2941,0.00,1.80,0.00,0.000,260,0.000,0.039,2355,3843,3637,3704,3571,0,0,0,0,0,0,26.11,26.03,26.17
$GC,2980,-1.00,-194.6,2349,3845,3704,3571,418.4,-13.3,214,2987,0.00,1.65,0.00,0.000,1030,0.000,0.023,2349,2698,3636,3703,3570,0,0,0,0,0,0,26.17,26.15,26.18
$GC,3296,-1.00,-194.6,2351,2697,3703,3572,463.7,-13.4,225,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3636,3702,3571,0,0,0,0,0,0,26.11,26.18,26.17
$GC,3596,-1.01,-194.6,2349,2696,3702,3571,503.0,-13.0,235,3603,0.00,1.80,0.00,0.000,260,0.000,0.038,2340,3849,3636,3701,3571,0,0,0,0,0,0,26.13,26.03,26.19
$GC,3642,-1.03,-194.6,2341,3850,3702,3571,507.1,-13.1,236,3652,0.00,1.70,0.00,0.000,1030,0.000,0.021,2340,2697,3635,3700,3571,0,0,0,0,0,0,26.16,26.08,26.17
$GC,3961,-1.03,-194.6,2340,2697,3700,3571,550.2,-13.0,247,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2697,3635,3699,3571,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4261,-1.03,-194.6,2340,2698,3698,3572,588.9,-13.0,257,4268,0.00,1.80,0.00,0.000,260,0.000,0.039,2333,3847,3634,3698,3571,0,0,0,0,0,0,26.10,26.04,26.15
$GC,4307,-1.03,-194.6,2333,3849,3698,3571,593.1,-13.2,258,4314,0.00,1.65,0.00,0.000,1030,0.000,0.022,2333,2701,3631,3691,3571,0,0,0,0,0,0,26.17,26.14,26.17
$GC,4623,-1.03,-194.6,2333,2700,3697,3571,636.8,-13.2,269,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2700,3633,3696,3571,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4923,-1.03,-194.6,2333,2701,3696,3572,676.3,-13.5,279,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2700,3633,3695,3571,0,0,0,0,0,0,26.13,26.17,26.16
$GC,5223,-1.03,-194.6,2333,2699,3695,3571,717.7,-13.7,289,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2699,3633,3694,3572,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5523,-1.03,-194.6,2333,2698,3694,3570,756.8,-12.8,299,5530,0.00,1.80,0.00,0.000,260,0.000,0.040,2325,3847,3632,3693,3571,0,0,0,0,0,0,26.11,26.01,26.17
$GC,5574,-1.03,-194.6,2325,3851,3694,3573,761.1,-13.0,300,5581,0.00,1.70,0.00,0.000,1030,0.000,0.022,2324,2696,3631,3692,3571,0,0,0,0,0,0,26.15,26.13,26.16
$GC,5885,-1.03,-194.6,2325,2696,3693,3571,805.2,-13.2,311,5892,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3844,3631,3691,3571,0,0,0,0,0,0,26.11,26.01,26.17
$GC,5920,-1.03,-194.6,2322,3846,3691,3573,809.5,-13.4,312,5927,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2703,3631,3691,3571,0,0,0,0,0,0,26.13,26.11,26.15
$GC,6251,-1.03,-194.6,2322,2703,3691,3571,855.6,-13.9,323,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2704,3631,3691,3571,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6551,-1.03,-194.6,2322,2705,3691,3572,898.2,-14.6,333,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2704,3630,3690,3570,0,0,0,0,0,0,26.08,26.15,26.15
$GC,6851,-1.03,-194.6,2323,2704,3691,3573,940.8,-14.2,343,6858,0.00,1.77,0.00,0.000,260,0.000,0.040,2319,3843,3630,3689,3571,0,0,0,0,0,0,26.08,26.01,26.14
$GC,6887,-1.03,-194.6,2319,3844,3690,3573,945.3,-14.2,344,6895,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2695,3630,3689,3571,0,0,0,0,0,0,26.13,26.10,26.14
$STATE,6942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6942,begin apogee
$GC,6946,-0.25,0.0,2320,2801,3690,3571,954.1,-14.2,346,7192,0.75,0.00,238.45,0.858,10246,0.117,0.000,2553,2805,2839,2875,2803,0,0,0,0,0,0,25.76,24.43,23.82
$STATE,7193,end apogee,CONTROL_FINISHED_OK
$STATE,7193,begin climb
$GC,7194,0.89,194.6,2554,2805,2870,2797,970.6,0.0,354,7372,1.05,2.28,166.45,1.047,11012,0.047,0.024,2932,1427,2037,2074,2001,0,0,0,0,0,0,24.58,23.93,23.25
$GC,7397,0.83,421.0,2932,1428,2065,1993,972.5,2.3,361,7618,0.00,2.22,209.93,1.004,9222,0.000,0.026,2932,2788,1122,1174,1070,0,0,0,0,0,0,24.56,24.51,23.28
$GC,7932,0.83,421.0,2932,2789,1154,1044,899.7,15.1,379,7940,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1426,1097,1152,1042,0,0,0,0,0,0,25.79,25.80,25.86
$GC,7984,0.83,421.0,2932,1426,1153,1042,895.8,15.0,380,7994,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2804,1097,1152,1043,0,0,0,0,0,0,25.94,25.89,25.94
$GC,8289,0.83,421.0,2932,2806,1152,1042,847.4,14.9,391,8297,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1424,1096,1152,1041,0,0,0,0,0,0,26.07,26.08,26.13
$GC,8316,0.83,421.0,2932,1426,1156,1042,847.4,14.9,391,8326,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2799,1097,1153,1041,0,0,0,0,0,0,26.14,26.09,26.15
$GC,8621,0.83,421.0,2932,2801,1151,1042,799.3,14.8,402,8629,0.00,2.08,0.00,0.000,516,0.000,0.025,2932,1424,1095,1150,1041,0,0,0,0,0,0,26.13,26.13,26.19
$GC,8668,0.83,421.0,2932,1426,1152,1042,794.6,14.9,403,8676,0.00,2.10,0.00,0.000,1030,0.000,0.026,2932,2801,1093,1151,1036,0,0,0,0,0,0,26.17,26.12,26.19
$GC,8980,0.83,421.0,2932,2802,1151,1042,743.7,15.9,414,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2801,1095,1151,1040,0,0,0,0,0,0,26.15,26.22,26.22
$GC,9280,0.83,421.0,2932,2801,1152,1039,697.7,15.4,424,9287,0.00,2.10,0.00,0.000,516,0.000,0.025,2932,1421,1095,1150,1040,0,0,0,0,0,0,26.14,26.13,26.21
$GC,9331,0.83,421.0,2932,1420,1152,1040,693.8,15.2,425,9342,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2812,1095,1151,1039,0,0,0,0,0,0,26.17,26.13,26.20
$GC,9637,0.83,421.0,2932,2813,1152,1041,644.1,15.3,436,9646,0.00,2.12,0.00,0.000,516,0.000,0.025,2932,1416,1095,1150,1040,0,0,0,0,0,0,26.15,26.13,26.21
$GC,9675,0.83,421.0,2932,1416,1151,1040,639.0,15.3,437,9682,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2807,1095,1150,1040,0,0,0,0,0,0,26.17,26.13,26.20
$GC,9996,0.83,421.0,2932,2808,1155,1042,590.0,14.9,448,10004,0.00,2.12,0.00,0.000,516,0.000,0.025,2932,1430,1095,1150,1040,0,0,0,0,0,0,26.13,26.11,26.20
$GC,10023,0.83,421.0,2932,1422,1151,1041,590.0,14.9,448,10033,0.00,2.10,0.00,0.000,1030,0.000,0.026,2932,2798,1095,1150,1040,0,0,0,0,0,0,26.16,26.11,26.18
$GC,10328,0.83,421.0,2932,2798,1146,1040,544.1,13.9,459,10336,0.00,2.10,0.00,0.000,516,0.000,0.024,2932,1418,1093,1147,1040,0,0,0,0,0,0,26.13,26.11,26.20
$GC,10369,0.83,421.0,2933,1419,1150,1041,540.7,13.7,460,10377,0.00,2.12,0.00,0.000,1030,0.000,0.027,2932,2806,1095,1150,1040,0,0,0,0,0,0,26.15,26.10,26.17
$GC,10681,0.83,421.0,2932,2806,1151,1040,497.3,13.5,471,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2806,1095,1150,1040,0,0,0,0,0,0,26.14,26.20,26.20
$GC,10981,0.83,421.0,2932,2807,1151,1042,458.5,12.7,481,10989,0.00,2.10,0.00,0.000,516,0.000,0.025,2940,1421,1095,1150,1040,0,0,0,0,0,0,26.12,26.10,26.18
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$STATE,14646,end climb,SURFACE_DEPTH_REACHED
$STATE,14646,begin surface coast
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$STATE,14656,end surface coast,CONTROL_FINISHED_OK
$STATE,14656,begin surface
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$TT8_MAMPS,0.059171,0.059171
$HUMID,38.42
$INTERNAL_PRESSURE,8.7743
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,14687.49 6867.05
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$10V_AH,10.22,35.634
$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
$SENSOR_SECS,532.201,0.000,0.000,0.000,0.000,0.000,15063.630,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,143076
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