version: 66.12
glider: 203
mission: 8
dive: 160
start: 8 9 115 3 48 33
data:
$ID,203
$MISSION,8
$DIVE,160
$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,101
$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
$GPS1,090815,033833,5653.5947,-15107.7803,35,0.8,41,16.5,0.4,252.2,11,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-61.0
$GPS2,090815,034820,5653.6382,-15107.8604,7,0.9,17,16.5,0.0,336.3,9,9.7
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,28.5,30386,-17.4,-10.556,-19.06,2832
$D_GRID,1001
$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,-194.6,193,2799,761,642,0.0,0.0,0,143,0.00,0.00,-48.15,0.000,16386,0.000,0.000,192,2800,1954,1994,1915,0,0,0,0,0,0,26.03,28.83,26.10
$GC,145,-0.89,-194.6,193,2800,1995,1913,3.2,-3.2,7,205,8.57,1.70,-42.70,0.000,18692,0.226,0.058,2340,3853,3635,3707,3564,0,0,0,0,0,0,25.51,24.25,25.83
$GC,430,-0.87,-194.6,2340,3852,3708,3574,58.1,-18.6,57,441,0.00,1.62,0.00,0.000,1030,0.000,0.020,2340,2689,3638,3707,3569,0,0,0,0,0,0,26.12,26.10,26.13
$GC,736,-0.87,-194.6,2338,2688,3709,3572,112.2,-16.3,88,744,0.08,1.83,0.00,0.000,2308,0.185,0.035,2348,3850,3639,3707,3572,0,0,0,0,0,0,25.90,26.00,26.02
$GC,803,-0.87,-194.6,2348,3849,3708,3572,122.1,-15.4,94,813,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2705,3639,3707,3572,0,0,0,0,0,0,26.15,26.13,26.16
$GC,1109,-0.87,-194.6,2348,2706,3709,3572,169.2,-14.8,125,1117,0.00,2.05,0.00,0.000,516,0.000,0.023,2348,1331,3639,3707,3572,0,0,0,0,0,0,26.10,26.05,26.15
$GC,1156,-0.87,-194.6,2348,1332,3708,3574,175.3,-14.7,129,1166,0.08,2.08,0.00,0.000,3078,0.179,0.025,2353,2703,3639,3707,3572,0,0,0,0,0,0,25.90,26.07,26.01
$GC,1461,-0.89,-194.6,2352,2703,3707,3572,218.6,-13.5,160,1469,0.00,2.08,0.00,0.000,516,0.000,0.023,2353,1327,3639,3706,3572,0,0,0,0,0,0,26.10,26.04,26.16
$GC,1498,-0.91,-194.6,2354,1328,3707,3573,223.1,-13.8,163,1508,0.00,2.10,0.00,0.000,1030,0.000,0.026,2348,2703,3639,3707,3572,0,0,0,0,0,0,26.07,26.03,26.09
$GC,1815,-0.93,-194.6,2348,2704,3705,3572,266.3,-13.0,187,1825,0.00,2.05,0.00,0.000,516,0.000,0.022,2348,1338,3638,3704,3572,0,0,0,0,0,0,26.10,26.04,26.15
$GC,1854,-0.95,-194.6,2348,1338,3705,3573,270.1,-12.8,188,1862,0.00,2.08,0.00,0.000,1030,0.000,0.026,2339,2703,3638,3704,3572,0,0,0,0,0,0,26.09,26.04,26.11
$GC,2171,-0.95,-194.6,2340,2703,3704,3572,311.7,-12.8,199,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2703,3637,3703,3572,0,0,0,0,0,0,26.12,26.18,26.17
$GC,2471,-0.95,-194.6,2339,2702,3701,3571,351.2,-13.4,209,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2703,3636,3700,3572,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2771,-0.95,-194.6,2340,2704,3699,3573,393.2,-14.3,219,2779,0.00,2.08,0.00,0.000,516,0.000,0.024,2339,1340,3635,3698,3572,0,0,0,0,0,0,26.08,26.01,26.14
$GC,2848,-0.95,-194.6,2339,1341,3698,3573,401.6,-13.8,221,2856,0.00,2.08,0.00,0.000,1030,0.000,0.026,2335,2698,3634,3697,3572,0,0,0,0,0,0,26.08,26.02,26.10
$GC,3160,-0.95,-194.6,2335,2699,3696,3574,448.0,-14.5,232,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2698,3633,3695,3572,0,0,0,0,0,0,26.10,26.17,26.17
$GC,3460,-0.93,-194.6,2335,2698,3694,3572,492.0,-14.5,242,3467,0.00,1.77,0.00,0.000,260,0.000,0.037,2326,3849,3632,3693,3572,0,0,0,0,0,0,26.08,25.98,26.14
$GC,3691,-0.93,-194.6,2327,3848,3692,3572,522.2,-14.2,249,3699,0.00,1.65,0.00,0.000,1030,0.000,0.021,2326,2698,3632,3691,3573,0,0,0,0,0,0,26.13,26.10,26.14
$GC,4003,-0.93,-194.6,2326,2693,3691,3572,565.6,-12.8,260,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2693,3631,3690,3572,0,0,0,0,0,0,26.08,26.15,26.13
$GC,4303,-0.93,-194.6,2326,2693,3690,3572,603.8,-12.6,270,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2693,3630,3688,3572,0,0,0,0,0,0,26.13,26.16,26.15
$GC,4603,-0.93,-194.6,2326,2694,3688,3571,641.8,-12.6,280,4614,0.00,2.05,0.00,0.000,516,0.000,0.023,2326,1330,3629,3687,3572,0,0,0,0,0,0,26.07,26.02,26.13
$GC,4648,-0.93,-194.6,2326,1331,3688,3573,645.6,-12.4,281,4656,0.00,2.12,0.00,0.000,1030,0.000,0.027,2322,2702,3629,3687,3572,0,0,0,0,0,0,26.06,26.00,26.08
$GC,4966,-0.93,-194.6,2322,2702,3687,3572,687.7,-12.6,292,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2702,3629,3686,3572,0,0,0,0,0,0,25.99,26.06,26.06
$GC,5266,-0.93,-194.6,2322,2701,3686,3571,726.7,-13.2,302,5277,0.00,2.05,0.00,0.000,516,0.000,0.024,2322,1339,3628,3685,3572,0,0,0,0,0,0,26.06,25.98,26.12
$GC,5331,-0.95,-194.6,2323,1340,3686,3573,735.0,-13.5,304,5339,0.00,2.10,0.00,0.000,1030,0.000,0.027,2321,2705,3628,3685,3572,0,0,0,0,0,0,26.04,25.99,26.06
$GC,5659,-0.95,-194.6,2322,2705,3684,3572,780.6,-13.9,315,5666,0.00,1.80,0.00,0.000,260,0.000,0.041,2315,3848,3627,3682,3572,0,0,0,0,0,0,26.06,25.93,26.12
$GC,5695,-0.95,-194.6,2320,3847,3683,3572,785.0,-14.1,316,5703,0.00,1.70,0.00,0.000,1030,0.000,0.022,2320,2713,3627,3682,3572,0,0,0,0,0,0,26.08,26.05,26.09
$GC,6022,-0.95,-194.6,2320,2715,3682,3573,830.8,-13.8,327,6029,0.00,2.10,0.00,0.000,516,0.000,0.024,2319,1317,3626,3681,3572,0,0,0,0,0,0,26.06,25.98,26.09
$GC,6054,-0.96,-194.6,2320,1318,3682,3573,834.6,-13.9,328,6064,0.00,2.12,0.00,0.000,1030,0.000,0.027,2320,2705,3626,3681,3572,0,0,0,0,0,0,26.06,26.00,26.08
$GC,6379,-0.98,-194.6,2320,2706,3682,3572,881.3,-14.0,339,6387,0.00,2.10,0.00,0.000,516,0.000,0.023,2319,1316,3626,3680,3572,0,0,0,0,0,0,26.06,25.98,26.11
$GC,6420,-0.99,-194.6,2320,1316,3681,3570,884.9,-13.9,340,6429,0.00,2.12,0.00,0.000,1030,0.000,0.027,2319,2705,3626,3680,3572,0,0,0,0,0,0,26.03,25.97,26.05
$GC,6733,-1.01,-194.6,2320,2704,3681,3571,929.1,-13.0,351,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2705,3626,3680,3572,0,0,0,0,0,0,26.06,26.13,26.12
$STATE,6912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6912,begin apogee
$GC,6915,-0.25,0.0,2320,2814,3680,3571,953.0,-13.9,357,7158,0.75,0.00,232.25,0.879,10246,0.114,0.000,2553,2814,2835,2873,2798,0,0,0,0,0,0,25.65,24.42,23.77
$STATE,7158,end apogee,CONTROL_FINISHED_OK
$STATE,7158,begin climb
$GC,7160,0.89,194.6,2554,2814,2872,2795,966.6,0.0,365,7340,1.05,2.30,164.70,1.059,11012,0.053,0.021,2931,1412,2034,2072,1997,0,0,0,0,0,0,24.58,23.80,23.27
$GC,7564,0.88,284.4,2931,1412,2065,1986,952.8,7.3,378,7650,0.00,2.15,75.47,1.051,9222,0.000,0.026,2931,2795,1675,1718,1632,0,0,0,0,0,0,25.70,25.65,24.01
$GC,7970,0.88,284.4,2931,2796,1704,1611,910.1,10.8,392,7977,0.00,2.15,0.00,0.000,516,0.000,0.024,2931,1406,1656,1703,1609,0,0,0,0,0,0,25.96,25.95,26.02
$GC,8061,0.88,284.4,2932,1408,1703,1611,900.5,11.2,395,8072,0.00,2.15,0.00,0.000,1030,0.000,0.026,2931,2809,1655,1701,1610,0,0,0,0,0,0,26.06,25.99,26.07
$GC,8387,0.88,284.4,2931,2809,1702,1607,862.0,12.0,406,8394,0.00,2.12,0.00,0.000,516,0.000,0.024,2931,1414,1654,1701,1608,0,0,0,0,0,0,26.10,26.08,26.17
$GC,8423,0.88,284.4,2932,1415,1704,1609,858.7,12.0,407,8431,0.00,2.12,0.00,0.000,1030,0.000,0.027,2931,2802,1654,1701,1608,0,0,0,0,0,0,26.13,26.08,26.15
$GC,8740,0.88,284.4,2931,2802,1701,1607,819.6,12.2,418,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2802,1654,1700,1608,0,0,0,0,0,0,26.12,26.19,26.18
$GC,9040,0.88,284.4,2932,2804,1701,1609,784.4,11.4,428,9048,0.00,1.62,0.00,0.000,260,0.000,0.040,2927,3852,1653,1699,1608,0,0,0,0,0,0,26.12,26.05,26.17
$GC,9168,0.85,284.4,2932,3853,1700,1607,769.5,12.2,432,9175,0.00,1.52,0.00,0.000,1030,0.000,0.023,2932,2776,1653,1699,1608,0,0,0,0,0,0,26.15,26.13,26.17
$GC,9494,0.85,284.4,2932,2776,1700,1607,731.9,11.4,443,9502,0.00,1.73,0.00,0.000,260,0.000,0.039,2932,3847,1653,1699,1607,0,0,0,0,0,0,26.11,26.04,26.17
$GC,9561,0.83,284.4,2932,3848,1700,1609,724.3,11.8,445,9568,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2787,1653,1699,1607,0,0,0,0,0,0,26.16,26.13,26.17
$GC,9887,0.83,284.4,2932,2788,1700,1609,686.7,11.2,456,9895,0.00,2.08,0.00,0.000,516,0.000,0.024,2932,1425,1653,1699,1607,0,0,0,0,0,0,26.07,26.06,26.14
$GC,9929,0.83,284.4,2932,1424,1700,1607,683.1,11.2,457,9938,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2804,1653,1699,1607,0,0,0,0,0,0,26.12,26.07,26.15
$GC,10252,0.83,284.4,2932,2803,1700,1607,645.9,11.2,468,10259,0.00,1.62,0.00,0.000,260,0.000,0.040,2931,3850,1653,1698,1608,0,0,0,0,0,0,26.08,26.00,26.14
$GC,10293,0.83,284.4,2932,3851,1699,1608,642.2,11.3,469,10300,0.00,1.50,0.00,0.000,1030,0.000,0.023,2933,2792,1653,1698,1608,0,0,0,0,0,0,26.13,26.10,26.15
$GC,10614,0.83,284.4,2932,2792,1700,1607,604.6,11.5,480,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2792,1652,1698,1607,0,0,0,0,0,0,26.08,26.15,26.15
$GC,10914,0.83,289.0,2932,2792,1699,1607,572.0,10.4,490,10921,0.00,1.65,0.00,0.000,260,0.000,0.039,2932,3851,1652,1698,1607,0,0,0,0,0,0,26.10,25.98,26.16
$GC,10970,0.83,295.0,2932,3851,1699,1607,568.6,10.3,491,10980,0.00,1.50,0.00,0.000,1030,0.000,0.023,2937,2797,1652,1698,1606,0,0,0,0,0,0,26.13,26.10,26.15
$GC,11275,0.84,303.1,2938,2799,1699,1608,534.3,10.3,502,11296,0.00,0.00,14.98,0.826,8198,0.000,0.000,2937,2797,1602,1648,1557,0,0,0,0,0,0,26.07,25.77,25.06
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$STATE,16277,end climb,SURFACE_DEPTH_REACHED
$STATE,16278,begin surface coast
$FINISH,0.8,1.018717
$STATE,16298,end surface coast,CONTROL_FINISHED_OK
$STATE,16298,begin surface
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$IRIDIUM_FIX,5629.16,-15105.14,040608,170641
$TT8_MAMPS,0.057673,0.057673
$HUMID,39.28
$INTERNAL_PRESSURE,8.8115
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$XPDR_PINGS,0
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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,11657.95 5640.81
$PA_BOOTCOUNT,468
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$PA_DISK_BANK,3
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$10V_AH,10.17,37.179
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.200,105.500,666.450,0.000,0.000,0.000,0.000,423.325,0.000,12308.160,18.473,0.000,12700.322,699.985,3400.541,146.730,0.000,2521.009,0.000,1922.881,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,142912
$DATA_FILE_SIZE,36743,881
$CAP_FILE_SIZE,149117,0
$CFSIZE,1024393216,980762624
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