version: 66.12
glider: 203
mission: 6
dive: 44
start: 12 19 114 10 38 50
data:
$ID,203
$MISSION,6
$DIVE,44
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$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,-63.024231
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,191214,103334,1956.4102,-15805.1006,28,0.8,28,9.5,0.7,319.6,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-60.3
$GPS2,191214,103840,1956.4149,-15805.1416,17,0.8,17,9.5,0.7,172.6,10,3.6
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H3
$TGT_LATLONG,1846.710,-15903.280
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,208.8,164491,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,93,-0.90,-155.7,201,2785,1026,914,0.0,0.0,0,142,0.00,0.00,-41.20,0.000,16386,0.000,0.000,201,2786,2198,2218,2179,0,0,0,0,0,0,26.87,28.83,26.95
$GC,143,-0.90,-155.7,201,2785,2219,2182,3.3,-4.9,7,184,8.52,1.45,-26.73,0.000,18948,0.216,0.042,2505,1759,3243,3303,3183,0,0,0,0,0,0,26.48,26.21,26.67
$GC,408,-0.90,-155.7,2505,1757,3305,3184,54.4,-23.1,56,417,0.00,1.52,0.00,0.000,1030,0.000,0.035,2500,2811,3244,3304,3184,0,0,0,0,0,0,26.89,26.84,26.91
$GC,720,-0.90,-155.7,2500,2811,3306,3185,127.9,-20.8,87,729,0.00,1.50,0.00,0.000,516,0.000,0.024,2500,1730,3245,3304,3186,0,0,0,0,0,0,27.13,26.98,27.20
$GC,778,-0.90,-155.7,2500,1731,3305,3188,138.6,-20.7,92,788,0.08,1.55,0.00,0.000,3078,0.198,0.034,2506,2804,3245,3304,3186,0,0,0,0,0,0,26.84,26.96,26.96
$GC,1083,-0.90,-155.7,2506,2804,3307,3188,194.7,-16.0,123,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2804,3247,3306,3188,0,0,0,0,0,0,27.21,27.29,27.27
$GC,1383,-0.90,-155.7,2505,2804,3309,3190,239.5,-14.8,153,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2804,3249,3308,3190,0,0,0,0,0,0,27.26,27.34,27.32
$GC,1703,-0.90,-155.7,2505,2804,3309,3190,288.0,-14.5,169,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2804,3249,3308,3190,0,0,0,0,0,0,27.29,27.37,27.36
$GC,2003,-0.90,-155.7,2506,2801,3310,3190,327.8,-13.2,179,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2804,3249,3309,3190,0,0,0,0,0,0,27.32,27.39,27.38
$GC,2303,-0.90,-155.7,2506,2806,3309,3190,368.5,-13.5,189,2311,0.00,1.52,0.00,0.000,260,0.000,0.046,2502,3852,3248,3307,3190,0,0,0,0,0,0,27.33,27.14,27.40
$GC,2479,-0.90,-155.7,2501,3853,3306,3191,389.1,-13.5,194,2489,0.00,1.45,0.00,0.000,1030,0.000,0.026,2501,2815,3247,3305,3190,0,0,0,0,0,0,27.24,27.22,27.27
$GC,2784,-0.90,-155.7,2502,2815,3301,3190,432.7,-13.4,205,2792,0.00,1.52,0.00,0.000,260,0.000,0.047,2494,3849,3245,3301,3190,0,0,0,0,0,0,27.35,27.15,27.42
$GC,2866,-0.90,-155.7,2495,3850,3301,3190,441.6,-14.1,207,2873,0.00,1.45,0.00,0.000,1030,0.000,0.027,2494,2814,3245,3301,3189,0,0,0,0,0,0,27.24,27.23,27.28
$GC,3176,-0.90,-155.7,2494,2814,3296,3189,485.8,-12.6,218,3184,0.00,1.52,0.00,0.000,260,0.000,0.048,2487,3848,3242,3296,3189,0,0,0,0,0,0,27.36,27.18,27.43
$GC,3238,-0.90,-155.7,2487,3848,3296,3188,493.7,-12.5,220,3246,0.05,1.42,0.00,0.000,3078,0.159,0.027,2504,2842,3241,3295,3188,0,0,0,0,0,0,27.06,27.24,27.15
$GC,3569,-0.90,-155.7,2504,2842,3293,3186,531.8,-11.6,231,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2841,3239,3293,3185,0,0,0,0,0,0,27.36,27.45,27.43
$GC,3869,-0.90,-155.7,2503,2841,3291,3182,564.9,-11.2,241,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2841,3236,3290,3182,0,0,0,0,0,0,27.37,27.46,27.44
$GC,4169,-0.90,-155.7,2505,2843,3288,3183,596.9,-10.7,251,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2841,3234,3287,3181,0,0,0,0,0,0,27.38,27.46,27.45
$GC,4469,-0.90,-155.7,2504,2843,3285,3180,630.3,-11.0,261,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2841,3231,3284,3179,0,0,0,0,0,0,27.38,27.46,27.45
$GC,4769,-0.90,-155.7,2504,2842,3282,3178,663.5,-11.2,271,4776,0.00,1.50,0.00,0.000,260,0.000,0.051,2499,3847,3229,3281,3177,0,0,0,0,0,0,27.38,27.17,27.45
$GC,4805,-0.90,-155.7,2499,3847,3282,3176,666.9,-11.3,272,4813,0.00,1.45,0.00,0.000,1030,0.000,0.028,2499,2828,3226,3276,3176,0,0,0,0,0,0,27.27,27.24,27.32
$GC,5132,-0.90,-155.7,2499,2830,3280,3176,704.4,-11.5,283,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2828,3226,3279,3174,0,0,0,0,0,0,27.39,27.46,27.45
$GC,5432,-0.90,-155.7,2499,2828,3278,3172,738.6,-11.3,293,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2827,3224,3277,3172,0,0,0,0,0,0,27.39,27.46,27.45
$GC,5732,-0.90,-155.7,2498,2829,3275,3172,770.2,-10.1,303,5740,0.00,1.52,0.00,0.000,260,0.000,0.052,2497,3846,3222,3274,3171,0,0,0,0,0,0,27.39,27.17,27.46
$GC,5854,-0.90,-155.7,2497,3847,3274,3171,783.4,-10.8,307,5861,0.00,1.45,0.00,0.000,1030,0.000,0.029,2497,2829,3222,3274,3170,0,0,0,0,0,0,27.27,27.28,27.32
$GC,6185,-0.90,-155.7,2497,2828,3272,3167,817.6,-10.4,318,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2828,3219,3271,3168,0,0,0,0,0,0,27.39,27.46,27.46
$GC,6485,-0.90,-155.7,2497,2828,3271,3167,849.1,-10.4,328,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2828,3218,3270,3167,0,0,0,0,0,0,27.39,27.47,27.45
$GC,6785,-0.90,-155.7,2497,2828,3268,3166,880.0,-10.3,338,6793,0.00,1.52,0.00,0.000,260,0.000,0.053,2497,3846,3216,3268,3165,0,0,0,0,0,0,27.39,27.17,27.46
$GC,6821,-0.90,-155.7,2497,3845,3268,3166,883.3,-10.3,339,6828,0.00,1.45,0.00,0.000,1030,0.000,0.030,2497,2837,3216,3267,3166,0,0,0,0,0,0,27.30,27.25,27.32
$GC,7147,-0.90,-155.7,2497,2837,3267,3165,917.5,-10.6,350,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2837,3215,3266,3165,0,0,0,0,0,0,27.39,27.46,27.45
$GC,7447,-0.90,-155.7,2496,2836,3264,3163,948.8,-10.5,360,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2837,3213,3264,3163,0,0,0,0,0,0,27.41,27.46,27.46
$GC,7747,-0.90,-155.7,2497,2836,3264,3163,981.2,-10.9,370,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2837,3213,3263,3163,0,0,0,0,0,0,27.39,27.46,27.46
$STATE,7836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7836,begin apogee
$GC,7839,-0.19,0.0,2498,2950,3264,3163,990.9,-10.9,373,7970,0.75,0.00,123.78,1.038,10244,0.129,0.000,2741,2949,2607,2657,2557,0,0,0,0,0,0,27.06,25.39,24.72
$STATE,7970,end apogee,CONTROL_FINISHED_OK
$STATE,7970,begin climb
$GC,7971,0.90,155.7,2741,2950,2649,2548,995.2,0.0,377,8106,1.00,0.00,125.80,1.040,11270,0.080,0.000,3093,2949,1972,2023,1921,0,0,0,0,0,0,25.56,25.77,24.52
$GC,8402,0.90,155.7,3093,2949,2000,1896,960.1,10.8,391,8410,0.00,1.52,0.00,0.000,516,0.000,0.025,3099,1890,1947,1999,1896,0,0,0,0,0,0,26.56,26.43,26.64
$GC,8428,0.90,155.7,3099,1891,1999,1897,960.1,10.8,391,8438,0.00,1.60,0.00,0.000,1030,0.000,0.037,3099,2952,1947,1999,1896,0,0,0,0,0,0,26.48,26.41,26.51
$GC,8734,0.90,155.7,3099,2952,1998,1894,922.8,11.4,402,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2952,1945,1997,1894,0,0,0,0,0,0,26.85,26.93,26.92
$GC,9033,0.90,155.7,3099,2953,1997,1894,889.4,11.1,412,9040,0.00,1.40,0.00,0.000,260,0.000,0.050,3099,3853,1944,1996,1893,0,0,0,0,0,0,26.98,26.77,27.05
$GC,9089,0.90,155.7,3099,3853,1997,1893,886.0,11.1,413,9099,0.00,1.33,0.00,0.000,1030,0.000,0.030,3106,2938,1944,1995,1893,0,0,0,0,0,0,26.89,26.86,26.91
$GC,9394,0.90,155.7,3107,2939,1996,1893,850.2,10.7,424,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2937,1943,1995,1892,0,0,0,0,0,0,27.08,27.16,27.15
$GC,9694,0.90,155.7,3107,2937,1995,1891,820.0,10.0,434,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2938,1943,1994,1892,0,0,0,0,0,0,27.13,27.22,27.21
$GC,9994,0.90,155.7,3106,2936,1994,1891,791.3,9.3,444,10003,0.00,1.45,0.00,0.000,260,0.000,0.051,3106,3859,1942,1993,1891,0,0,0,0,0,0,27.19,26.98,27.25
$GC,10071,0.90,155.7,3106,3860,1994,1891,785.1,9.7,446,10078,0.00,1.30,0.00,0.000,1030,0.000,0.030,3111,2956,1942,1993,1891,0,0,0,0,0,0,27.08,27.05,27.09
$GC,10387,0.90,155.7,3112,2957,1993,1893,753.8,9.7,457,10392,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2956,1941,1992,1891,0,0,0,0,0,0,27.22,27.30,27.29
$GC,10687,0.90,155.7,3111,2956,1994,1890,724.1,10.0,467,10695,0.00,1.40,0.00,0.000,260,0.000,0.051,3112,3852,1941,1993,1890,0,0,0,0,0,0,27.24,27.04,27.32
$GC,10803,0.90,155.7,3112,3852,1993,1889,714.2,10.6,470,10814,0.00,1.27,0.00,0.000,1030,0.000,0.030,3119,2959,1940,1991,1890,0,0,0,0,0,0,27.15,27.12,27.16
$GC,11109,0.90,155.7,3119,2959,1993,1891,682.5,9.2,481,11117,0.00,1.40,0.00,0.000,260,0.000,0.052,3119,3854,1941,1992,1891,0,0,0,0,0,0,27.27,27.06,27.34
$GC,11165,0.90,155.7,3119,3856,1993,1892,679.3,9.4,482,11175,0.00,1.25,0.00,0.000,1030,0.000,0.031,3126,2981,1940,1991,1890,0,0,0,0,0,0,27.15,27.14,27.17
$GC,11470,0.90,155.7,3125,2983,1992,1892,648.7,9.3,493,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2982,1940,1991,1890,0,0,0,0,0,0,27.28,27.36,27.36
$GC,11770,0.90,155.7,3125,2981,1993,1890,620.1,9.7,503,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2982,1940,1991,1890,0,0,0,0,0,0,27.29,27.38,27.36
$GC,12070,0.90,155.7,3125,2982,1993,1889,588.9,10.8,513,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2982,1940,1992,1889,0,0,0,0,0,0,27.30,27.39,27.38
$GC,12370,0.90,155.7,3125,2982,1991,1885,555.7,11.1,523,12379,0.00,1.52,0.00,0.000,516,0.000,0.026,3134,1885,1940,1991,1889,0,0,0,0,0,0,27.31,27.20,27.39
$GC,12442,0.90,155.7,3134,1885,1993,1889,549.3,10.7,525,12449,0.00,1.60,0.00,0.000,1030,0.000,0.039,3134,2983,1940,1991,1889,0,0,0,0,0,0,27.19,27.13,27.22
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$GC,15411,1.02,155.7,3132,3858,1991,1890,282.9,7.4,623,15419,0.00,1.20,0.00,0.000,1030,0.000,0.030,3137,3010,1939,1990,1889,0,0,0,0,0,0,27.24,27.22,27.25
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$STATE,17792,end climb,SURFACE_DEPTH_REACHED
$STATE,17793,begin surface coast
$FINISH,1.2,1.014015
$STATE,17808,end surface coast,CONTROL_FINISHED_OK
$STATE,17808,begin surface
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$IRIDIUM_FIX,1948.12,-15808.51,191214,052619
$TT8_MAMPS,0.162533,0.162533
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$INTERNAL_PRESSURE,9.1463
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$XPDR_PINGS,4
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17821.85 8672.41
$PA_BOOTCOUNT,120
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$10V_AH,10.09,17.164
$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,23.970,0.000,0.000,0.000,0.000,0.000,136.278,0.000,0.000,0.000
$MEM,273208
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$CAP_FILE_SIZE,146531,0
$CFSIZE,1024393216,1016004608
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