version: 66.12
glider: 203
mission: 6
dive: 169
start: 1 13 115 14 42 6
data:
$ID,203
$MISSION,6
$DIVE,169
$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,-4
$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,4
$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,92
$R_STBD_OVSHOOT,36
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,130115,143558,1936.4406,-15713.7188,41,0.9,41,9.5,0.0,0.0,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-66.1
$GPS2,130115,144155,1936.4867,-15713.6768,8,1.0,8,9.5,0.0,0.0,7,15.4
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H7
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,303.0,97208,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.90,-155.7,190,2780,1020,931,0.0,0.0,0,138,0.00,0.00,-38.72,0.000,16386,0.000,0.000,190,2779,2113,2139,2087,0,0,0,0,0,0,26.10,28.83,26.17
$GC,139,-0.90,-155.7,190,2781,2139,2089,3.4,-3.8,4,191,8.93,1.73,-29.58,0.000,18692,0.212,0.060,2500,3857,3244,3307,3181,0,0,0,0,0,0,25.65,25.29,25.94
$GC,449,-0.90,-155.7,2500,3858,3308,3184,68.3,-23.7,48,467,0.00,1.50,0.00,0.000,1030,0.000,0.024,2499,2803,3245,3307,3183,0,0,0,0,0,0,26.10,26.08,26.12
$GC,761,-0.90,-155.7,2500,2802,3311,3183,131.2,-16.8,79,769,0.00,1.62,0.00,0.000,260,0.000,0.044,2491,3856,3246,3309,3183,0,0,0,0,0,0,26.19,26.08,26.25
$GC,834,-0.90,-155.7,2491,3858,3310,3185,144.6,-19.1,86,841,0.08,1.50,0.00,0.000,3078,0.178,0.024,2506,2798,3246,3309,3184,0,0,0,0,0,0,25.98,26.19,26.09
$GC,1145,-0.90,-155.7,2506,2798,3311,3189,198.1,-16.6,117,1152,0.00,1.50,0.00,0.000,516,0.000,0.022,2506,1737,3249,3310,3189,0,0,0,0,0,0,26.21,26.19,26.27
$GC,1271,-0.90,-155.7,2506,1738,3311,3189,217.2,-14.2,129,1283,0.00,1.60,0.00,0.000,1030,0.000,0.033,2501,2809,3248,3309,3187,0,0,0,0,0,0,26.19,26.13,26.22
$GC,1588,-0.90,-155.7,2501,2808,3313,3187,264.1,-14.2,155,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2809,3247,3311,3183,0,0,0,0,0,0,26.22,26.29,26.28
$GC,1888,-0.90,-155.7,2501,2810,3313,3189,305.9,-13.6,165,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2807,3249,3312,3187,0,0,0,0,0,0,26.20,26.27,26.27
$GC,2188,-0.90,-155.7,2500,2808,3313,3187,343.0,-12.6,175,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2808,3249,3312,3187,0,0,0,0,0,0,26.22,26.29,26.28
$GC,2488,-0.90,-155.7,2501,2810,3310,3188,380.8,-12.2,185,2496,0.00,1.60,0.00,0.000,260,0.000,0.047,2497,3851,3248,3309,3187,0,0,0,0,0,0,26.21,26.08,26.28
$GC,2660,-0.90,-155.7,2497,3852,3307,3188,400.3,-12.8,190,2667,0.00,1.52,0.00,0.000,1030,0.000,0.024,2497,2777,3246,3306,3187,0,0,0,0,0,0,26.25,26.22,26.26
$GC,2972,-0.90,-155.7,2497,2778,3304,3187,441.4,-12.6,201,2979,0.00,1.67,0.00,0.000,260,0.000,0.045,2489,3848,3244,3302,3187,0,0,0,0,0,0,26.22,26.08,26.29
$GC,3068,-0.90,-155.7,2489,3851,3303,3186,453.4,-12.9,204,3075,0.10,1.50,0.00,0.000,3078,0.158,0.025,2512,2799,3244,3301,3187,0,0,0,0,0,0,25.96,26.21,26.08
$GC,3395,-0.90,-155.7,2512,2798,3298,3186,489.9,-10.5,215,3404,0.00,1.65,0.00,0.000,260,0.000,0.047,2507,3852,3241,3296,3187,0,0,0,0,0,0,26.20,26.06,26.27
$GC,3443,-0.90,-155.7,2506,3852,3297,3187,493.5,-10.4,216,3450,0.00,1.52,0.00,0.000,1030,0.000,0.025,2507,2787,3240,3295,3186,0,0,0,0,0,0,26.23,26.20,26.25
$GC,3759,-0.90,-155.7,2507,2788,3293,3188,530.4,-10.9,227,3766,0.00,1.52,0.00,0.000,516,0.000,0.023,2506,1750,3239,3291,3187,0,0,0,0,0,0,26.20,26.17,26.25
$GC,3805,-0.90,-155.7,2507,1752,3292,3188,533.9,-11.0,228,3812,0.00,1.60,0.00,0.000,1030,0.000,0.036,2500,2798,3238,3290,3186,0,0,0,0,0,0,26.15,26.09,26.19
$GC,4121,-0.90,-155.7,2500,2798,3288,3187,569.4,-10.3,239,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2799,3236,3286,3187,0,0,0,0,0,0,26.19,26.26,26.25
$GC,4421,-0.90,-155.7,2500,2800,3282,3188,599.8,-9.9,249,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2798,3234,3282,3186,0,0,0,0,0,0,26.18,26.25,26.25
$GC,4721,-0.90,-155.7,2499,2800,3280,3187,632.7,-11.6,259,4730,0.00,1.52,0.00,0.000,516,0.000,0.024,2498,1749,3232,3280,3185,0,0,0,0,0,0,26.17,26.13,26.24
$GC,4774,-0.90,-155.7,2500,1749,3281,3184,636.9,-12.0,260,4781,0.00,1.65,0.00,0.000,1030,0.000,0.036,2497,2791,3232,3280,3185,0,0,0,0,0,0,26.10,26.06,26.13
$GC,5085,-0.90,-155.7,2498,2791,3279,3182,677.9,-12.2,271,5092,0.00,1.67,0.00,0.000,260,0.000,0.049,2497,3857,3230,3278,3182,0,0,0,0,0,0,26.15,25.98,26.23
$GC,5191,-0.90,-155.7,2497,3857,3278,3182,689.3,-12.5,274,5197,0.00,1.60,0.00,0.000,1030,0.000,0.026,2497,2792,3229,3277,3182,0,0,0,0,0,0,26.16,26.13,26.17
$GC,5507,-0.90,-155.7,2497,2793,3275,3183,727.6,-11.4,285,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2791,3227,3274,3181,0,0,0,0,0,0,26.15,26.22,26.21
$GC,5806,-0.90,-155.7,2498,2793,3272,3182,762.9,-11.9,295,5814,0.00,1.70,0.00,0.000,260,0.000,0.050,2497,3856,3226,3271,3181,0,0,0,0,0,0,26.16,25.96,26.22
$GC,5898,-0.90,-155.7,2497,3857,3272,3181,774.0,-12.0,298,5907,0.00,1.55,0.00,0.000,1030,0.000,0.027,2497,2792,3224,3269,3180,0,0,0,0,0,0,26.12,26.09,26.13
$GC,6232,-0.90,-155.7,2498,2794,3271,3180,811.6,-11.1,309,6243,0.00,1.70,0.00,0.000,260,0.000,0.050,2497,3855,3224,3270,3178,0,0,0,0,0,0,26.13,25.92,26.20
$GC,6307,-0.90,-155.7,2497,3856,3269,3180,819.1,-11.3,311,6314,0.00,1.52,0.00,0.000,1030,0.000,0.028,2497,2807,3223,3268,3178,0,0,0,0,0,0,26.15,26.11,26.16
$GC,6629,-0.90,-155.7,2497,2806,3267,3175,855.4,-10.8,322,6637,0.00,1.52,0.00,0.000,516,0.000,0.024,2497,1756,3221,3266,3176,0,0,0,0,0,0,26.13,26.07,26.19
$GC,6676,-0.90,-155.7,2498,1755,3268,3176,858.9,-10.8,323,6683,0.00,1.62,0.00,0.000,1030,0.000,0.037,2496,2802,3221,3266,3176,0,0,0,0,0,0,26.00,25.93,26.03
$GC,6993,-0.90,-155.7,2497,2804,3266,3176,892.8,-10.0,334,7000,0.00,1.70,0.00,0.000,260,0.000,0.050,2497,3847,3219,3264,3175,0,0,0,0,0,0,26.11,25.93,26.17
$GC,7034,-0.90,-155.7,2496,3848,3264,3176,895.9,-9.9,335,7041,0.00,1.58,0.00,0.000,1030,0.000,0.027,2496,2802,3219,3264,3174,0,0,0,0,0,0,26.10,26.09,26.13
$GC,7355,-0.90,-155.7,2498,2804,3263,3175,926.9,-8.7,346,7364,0.00,1.52,0.00,0.000,516,0.000,0.024,2500,1749,3218,3263,3174,0,0,0,0,0,0,26.10,26.06,26.17
$GC,7393,-0.90,-155.7,2497,1749,3264,3174,930.0,-9.1,347,7400,0.00,1.65,0.00,0.000,1030,0.000,0.036,2497,2813,3218,3263,3174,0,0,0,0,0,0,26.07,26.00,26.10
$GC,7720,-0.90,-155.7,2497,2814,3263,3174,960.7,-9.3,358,7727,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3853,3217,3262,3173,0,0,0,0,0,0,26.12,25.90,26.18
$GC,7786,-0.90,-155.7,2497,3854,3262,3174,966.7,-9.6,360,7793,0.00,1.58,0.00,0.000,1030,0.000,0.028,2497,2809,3217,3261,3173,0,0,0,0,0,0,26.11,26.09,26.13
$STATE,8021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8021,begin apogee
$GC,8024,-0.19,0.0,2498,2949,3262,3173,990.3,-9.8,368,8167,0.77,0.00,130.52,1.602,10244,0.117,0.000,2738,2948,2607,2647,2567,0,0,0,0,1,0,25.67,24.07,23.07
$STATE,8168,end apogee,CONTROL_FINISHED_OK
$STATE,8168,begin climb
$GC,8169,0.90,155.7,2738,2948,2663,2567,994.7,0.0,372,8319,1.02,1.58,136.98,1.050,10500,0.071,0.050,3090,3840,1967,2007,1928,0,0,0,0,0,0,24.31,24.32,23.39
$GC,8328,1.05,256.5,3091,3841,2000,1921,989.9,5.2,378,8427,0.08,1.42,87.78,1.029,11270,0.054,0.026,3150,2953,1556,1600,1513,0,0,0,0,0,0,24.44,24.44,23.43
$GC,8746,1.05,256.5,3150,2952,1586,1494,922.5,16.8,392,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2953,1539,1585,1494,0,0,0,0,0,0,25.94,26.01,26.01
$GC,9046,1.05,256.5,3150,2953,1584,1492,870.5,17.5,402,9053,0.00,1.55,0.00,0.000,516,0.000,0.024,3151,1894,1537,1582,1493,0,0,0,0,0,0,26.13,26.14,26.20
$GC,9078,1.05,256.5,3151,1895,1584,1494,865.2,17.3,403,9084,0.00,1.65,0.00,0.000,1030,0.000,0.036,3151,2959,1537,1582,1493,0,0,0,0,0,0,26.15,26.09,26.18
$GC,9409,1.05,256.5,3146,2959,1583,1491,809.2,16.7,414,9417,0.00,1.58,0.00,0.000,516,0.000,0.024,3150,1896,1537,1582,1492,0,0,0,0,0,0,26.11,26.10,26.18
$GC,9487,1.05,256.5,3151,1897,1583,1493,799.1,16.5,416,9494,0.00,1.60,0.00,0.000,1030,0.000,0.034,3150,2951,1537,1582,1492,0,0,0,0,0,0,26.17,26.10,26.20
$GC,9803,1.05,256.5,3151,2952,1582,1493,748.4,14.9,427,9810,0.00,1.45,0.00,0.000,260,0.000,0.047,3151,3856,1536,1581,1491,0,0,0,0,0,0,26.16,26.07,26.23
$GC,9884,1.05,256.5,3151,3856,1582,1491,738.9,15.4,429,9891,0.00,1.35,0.00,0.000,1030,0.000,0.028,3156,2947,1535,1580,1491,0,0,0,0,0,0,26.20,26.18,26.22
$GC,10195,1.05,256.5,3156,2948,1581,1492,689.6,15.2,440,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2947,1535,1580,1490,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10496,1.05,256.5,3156,2948,1581,1491,642.3,15.7,450,10503,0.00,1.48,0.00,0.000,260,0.000,0.047,3156,3849,1535,1580,1490,0,0,0,0,0,0,26.16,26.01,26.23
$GC,10532,1.05,256.5,3155,3850,1580,1492,637.0,15.9,451,10540,0.00,1.33,0.00,0.000,1030,0.000,0.028,3163,2958,1534,1579,1490,0,0,0,0,0,0,26.13,26.11,26.15
$GC,10860,1.05,256.5,3163,2958,1582,1490,584.5,15.6,462,10867,0.00,1.55,0.00,0.000,516,0.000,0.024,3163,1902,1534,1579,1490,0,0,0,0,0,0,26.13,26.10,26.20
$GC,10976,1.05,256.5,3162,1901,1581,1490,571.3,14.5,465,10986,0.00,1.62,0.00,0.000,1030,0.000,0.034,3163,2956,1534,1579,1490,0,0,0,0,0,0,26.12,26.05,26.15
$GC,11282,1.05,256.5,3164,2955,1580,1488,520.0,16.1,476,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2957,1534,1579,1490,0,0,0,0,0,0,26.11,26.17,26.17
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$STATE,15493,end climb,SURFACE_DEPTH_REACHED
$STATE,15493,begin surface coast
$FINISH,1.4,0.997081
$STATE,15513,end surface coast,CONTROL_FINISHED_OK
$STATE,15513,begin surface
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$IRIDIUM_FIX,1925.22,-15710.31,130115,092126
$TT8_MAMPS,0.056924,0.056924
$HUMID,37.47
$INTERNAL_PRESSURE,9.137
$TCM_TEMP,25.00
$XPDR_PINGS,3
$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,15541.23 7530.23
$PA_BOOTCOUNT,249
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$PA_DISK_BANK,1
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$10V_AH,10.23,35.101
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,287648
$DATA_FILE_SIZE,36759,821
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$CFSIZE,1024393216,1001619456
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