version: 66.12
glider: 203
mission: 8
dive: 31
start: 7 15 115 21 31 13
data:
$ID,203
$MISSION,8
$DIVE,31
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,-2
$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,87
$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,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,-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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,150715,212553,5834.8579,-14649.3740,39,0.9,39,18.1,0.0,0.0,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.8
$GPS2,150715,213102,5834.8779,-14649.4229,5,0.9,12,18.1,0.0,29.8,8,8.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,122.2,24651,-18.0,-11.000,-19.55,2718
$D_GRID,3363
$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,-0.92,-194.6,205,2695,1045,923,0.0,0.0,0,139,0.00,0.00,-40.12,0.000,16386,0.000,0.000,203,2694,2042,2078,2007,0,0,0,0,0,0,26.73,28.83,26.80
$GC,141,-0.92,-194.6,204,2695,2080,2008,3.0,-4.8,6,199,8.25,1.80,-39.10,0.000,18692,0.236,0.060,2331,3843,3635,3702,3569,0,0,0,0,0,0,26.36,25.74,26.55
$GC,311,-0.85,-194.6,2332,3844,3703,3575,37.7,-21.4,33,323,0.12,1.60,0.00,0.000,3078,0.169,0.022,2361,2685,3638,3702,3574,0,0,0,0,0,0,26.53,26.71,26.65
$GC,628,-0.83,-194.6,2361,2686,3702,3583,97.0,-17.0,70,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2685,3639,3702,3577,0,0,0,0,0,0,26.93,27.00,26.99
$GC,929,-0.83,-194.6,2361,2685,3703,3578,140.9,-13.3,100,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2685,3637,3702,3573,0,0,0,0,0,0,27.01,27.08,27.07
$GC,1230,-0.84,-194.6,2360,2685,3703,3578,183.6,-13.5,130,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2685,3639,3701,3578,0,0,0,0,0,0,27.06,27.14,27.13
$GC,1530,-0.87,-194.6,2362,2686,3702,3579,220.6,-11.2,160,1538,0.00,1.75,0.00,0.000,260,0.000,0.041,2355,3850,3640,3702,3578,0,0,0,0,0,0,27.12,26.94,27.17
$GC,1572,-0.88,-194.6,2355,3852,3702,3580,225.8,-12.3,164,1579,0.00,1.58,0.00,0.000,1030,0.000,0.023,2354,2698,3640,3702,3578,0,0,0,0,0,0,27.04,27.01,27.05
$GC,1884,-0.90,-194.6,2355,2695,3702,3579,267.1,-13.5,187,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2697,3639,3701,3578,0,0,0,0,0,0,27.16,27.22,27.22
$GC,2184,-0.92,-194.6,2355,2698,3700,3577,307.2,-13.4,197,2191,0.00,1.73,0.00,0.000,260,0.000,0.041,2348,3848,3639,3700,3578,0,0,0,0,0,0,27.19,27.00,27.25
$GC,2220,-0.93,-194.6,2348,3848,3700,3577,311.7,-13.5,198,2228,0.00,1.58,0.00,0.000,1030,0.000,0.024,2348,2721,3638,3699,3578,0,0,0,0,0,0,27.10,27.07,27.11
$GC,2547,-0.93,-194.6,2348,2722,3699,3579,356.1,-13.1,209,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2721,3638,3698,3578,0,0,0,0,0,0,27.22,27.29,27.28
$GC,2847,-0.95,-194.6,2348,2722,3697,3580,394.0,-12.4,219,2854,0.00,1.70,0.00,0.000,260,0.000,0.042,2342,3860,3637,3697,3577,0,0,0,0,0,0,27.23,27.05,27.29
$GC,2903,-0.95,-194.6,2342,3862,3697,3580,397.9,-12.5,220,2914,0.00,1.62,0.00,0.000,1030,0.000,0.024,2341,2685,3637,3696,3578,0,0,0,0,0,0,27.15,27.13,27.17
$GC,3209,-0.95,-194.6,2342,2686,3695,3579,440.0,-12.7,231,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2685,3636,3694,3578,0,0,0,0,0,0,27.25,27.33,27.32
$GC,3509,-0.95,-194.6,2341,2686,3694,3579,477.0,-12.5,241,3516,0.00,1.75,0.00,0.000,260,0.000,0.041,2335,3858,3635,3693,3578,0,0,0,0,0,0,27.27,27.09,27.33
$GC,3559,-0.95,-194.6,2335,3858,3694,3579,481.1,-12.6,242,3566,0.00,1.60,0.00,0.000,1030,0.000,0.025,2335,2701,3635,3693,3578,0,0,0,0,0,0,27.19,27.15,27.20
$GC,3871,-0.95,-194.6,2335,2702,3693,3579,525.2,-13.7,253,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2700,3635,3692,3578,0,0,0,0,0,0,27.26,27.36,27.34
$GC,4171,-0.95,-194.6,2335,2701,3692,3579,565.3,-13.0,263,4178,0.00,1.73,0.00,0.000,260,0.000,0.042,2326,3857,3634,3690,3578,0,0,0,0,0,0,27.29,27.11,27.35
$GC,4202,-0.95,-194.6,2326,3857,3692,3578,569.3,-12.9,264,4209,0.00,1.60,0.00,0.000,1030,0.000,0.024,2326,2698,3634,3691,3578,0,0,0,0,0,0,27.21,27.18,27.22
$GC,4534,-0.95,-194.6,2326,2701,3691,3580,610.9,-12.3,275,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2698,3634,3690,3578,0,0,0,0,0,0,27.30,27.37,27.36
$GC,4834,-0.95,-194.6,2326,2699,3690,3580,647.2,-12.3,285,4841,0.00,1.73,0.00,0.000,260,0.000,0.043,2321,3855,3633,3689,3578,0,0,0,0,0,0,27.31,27.13,27.37
$GC,4895,-0.95,-194.6,2322,3853,3690,3578,654.9,-12.3,287,4902,0.00,1.65,0.00,0.000,1030,0.000,0.024,2322,2684,3631,3688,3574,0,0,0,0,0,0,27.22,27.20,27.23
$GC,5226,-0.95,-194.6,2321,2684,3688,3578,695.8,-12.4,298,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2682,3632,3687,3578,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5526,-0.95,-194.6,2322,2684,3687,3578,734.9,-13.1,308,5533,0.00,1.75,0.00,0.000,260,0.000,0.043,2320,3855,3631,3687,3576,0,0,0,0,0,0,27.32,27.15,27.39
$GC,5597,-0.95,-194.6,2320,3856,3687,3579,743.1,-13.4,310,5604,0.00,1.60,0.00,0.000,1030,0.000,0.024,2319,2694,3632,3687,3577,0,0,0,0,0,0,27.24,27.22,27.25
$GC,5918,-0.95,-194.6,2320,2694,3688,3578,788.6,-13.8,321,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3632,3686,3579,0,0,0,0,0,0,27.33,27.41,27.39
$GC,6219,-0.95,-194.6,2321,2694,3683,3578,830.3,-13.9,331,6226,0.00,1.73,0.00,0.000,260,0.000,0.043,2320,3849,3632,3686,3578,0,0,0,0,0,0,27.34,27.16,27.40
$GC,6259,-0.95,-194.6,2320,3849,3687,3577,834.7,-14.0,332,6267,0.00,1.60,0.00,0.000,1030,0.000,0.025,2320,2696,3631,3685,3578,0,0,0,0,0,0,27.25,27.22,27.27
$GC,6581,-0.95,-194.6,2319,2698,3686,3579,879.3,-13.2,343,6588,0.00,1.75,0.00,0.000,260,0.000,0.044,2319,3864,3631,3684,3578,0,0,0,0,0,0,27.34,27.16,27.41
$GC,6617,-0.95,-194.6,2319,3860,3680,3578,883.6,-13.3,344,6624,0.00,1.65,0.00,0.000,1030,0.000,0.025,2319,2704,3631,3684,3578,0,0,0,0,0,0,27.24,27.23,27.26
$GC,6943,-0.95,-194.6,2320,2703,3685,3578,925.6,-12.4,355,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3630,3683,3578,0,0,0,0,0,0,27.34,27.42,27.41
$GC,7243,-0.95,-194.6,2320,2705,3683,3579,963.1,-12.7,365,7250,0.00,1.73,0.00,0.000,260,0.000,0.044,2320,3859,3629,3682,3577,0,0,0,0,0,0,27.35,27.17,27.43
$GC,7275,-0.95,-194.6,2319,3860,3683,3579,967.2,-12.8,366,7282,0.00,1.62,0.00,0.000,1030,0.000,0.025,2320,2684,3630,3682,3578,0,0,0,0,0,0,27.27,27.24,27.27
$STATE,7486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7486,begin apogee
$GC,7489,-0.25,0.0,2320,2812,3682,3579,993.6,-12.5,373,7730,0.73,0.00,230.18,0.875,10246,0.125,0.000,2556,2811,2833,2874,2793,0,0,0,0,0,0,27.08,24.97,24.47
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7732,0.92,194.6,2556,2811,2874,2789,1007.4,0.0,381,7912,1.05,1.73,167.02,1.047,10500,0.059,0.042,2938,3847,2038,2078,1998,0,0,0,0,0,0,25.18,24.69,24.13
$GC,7996,0.85,318.7,2933,3846,2069,1985,1004.4,6.3,389,8128,0.00,1.55,120.47,0.968,9222,0.000,0.025,2937,2789,1537,1584,1491,0,0,0,0,0,0,25.58,25.56,24.12
$GC,8453,0.82,318.7,2937,2788,1565,1467,943.2,13.3,405,8461,0.00,1.65,0.00,0.000,260,0.000,0.041,2937,3843,1516,1564,1468,0,0,0,0,0,0,26.16,25.99,26.24
$GC,8490,0.79,318.7,2938,3844,1565,1469,938.6,13.5,406,8498,0.12,1.50,0.00,0.000,5126,0.185,0.025,2917,2794,1515,1564,1467,0,0,0,0,0,0,25.91,26.10,26.08
$GC,8817,0.79,318.7,2918,2795,1564,1466,899.5,11.7,417,8824,0.00,2.05,0.00,0.000,516,0.000,0.027,2919,1430,1514,1564,1465,0,0,0,0,0,0,26.54,26.39,26.61
$GC,8858,0.79,318.7,2918,1427,1564,1465,895.7,11.8,418,8866,0.00,2.08,0.00,0.000,1030,0.000,0.030,2918,2794,1514,1563,1465,0,0,0,0,0,0,26.46,26.41,26.48
$GC,9175,0.79,318.7,2919,2793,1563,1464,858.2,11.3,429,9182,0.00,1.60,0.00,0.000,260,0.000,0.042,2918,3851,1514,1563,1465,0,0,0,0,0,0,26.74,26.57,26.82
$GC,9251,0.79,318.7,2918,3851,1564,1464,850.8,11.7,431,9258,0.00,1.50,0.00,0.000,1030,0.000,0.024,2923,2805,1513,1562,1464,0,0,0,0,0,0,26.67,26.67,26.70
$GC,9567,0.79,318.7,2923,2805,1564,1465,813.7,11.1,442,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2805,1513,1562,1464,0,0,0,0,0,0,26.89,26.99,26.96
$GC,9867,0.79,318.7,2923,2805,1563,1463,779.5,11.6,452,9876,0.00,2.03,0.00,0.000,516,0.000,0.027,2931,1415,1513,1562,1464,0,0,0,0,0,0,26.96,26.81,27.03
$GC,9884,0.79,318.7,2931,1416,1563,1465,779.5,11.6,452,9892,0.00,2.10,0.00,0.000,1030,0.000,0.030,2931,2813,1512,1561,1464,0,0,0,0,0,0,26.85,26.80,26.88
$GC,10197,0.79,318.7,2932,2814,1563,1465,739.7,12.4,463,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2812,1513,1562,1464,0,0,0,0,0,0,27.02,27.10,27.09
$GC,10496,0.79,318.7,2931,2812,1563,1464,702.0,12.7,473,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2813,1513,1562,1464,0,0,0,0,0,0,27.07,27.14,27.14
$GC,10798,0.79,318.7,2931,2813,1563,1464,664.0,12.6,483,10808,0.00,2.05,0.00,0.000,516,0.000,0.028,2931,1418,1512,1561,1464,0,0,0,0,0,0,27.10,26.96,27.20
$GC,10827,0.79,318.7,2932,1419,1563,1465,660.3,12.4,484,10834,0.00,2.05,0.00,0.000,1030,0.000,0.030,2932,2805,1513,1562,1464,0,0,0,0,0,0,27.00,26.95,27.02
$GC,11153,0.79,318.7,2931,2804,1563,1464,619.2,12.8,495,11163,0.00,1.60,0.00,0.000,260,0.000,0.043,2932,3849,1513,1562,1464,0,0,0,0,0,0,27.14,26.96,27.21
$GC,11181,0.79,318.7,2932,3849,1562,1464,619.2,12.8,495,11192,0.00,1.50,0.00,0.000,1030,0.000,0.025,2932,2753,1511,1561,1462,0,0,0,0,0,0,27.06,27.03,27.08
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$STATE,16481,end climb,SURFACE_DEPTH_REACHED
$STATE,16481,begin surface coast
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$STATE,16496,end surface coast,CONTROL_FINISHED_OK
$STATE,16496,begin surface
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$IRIDIUM_FIX,5813.11,-14653.02,110508,105347
$TT8_MAMPS,0.158788,0.158788
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16524.67 7811.14
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$PA_DISK_BANK,1
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$10V_AH,9.96,19.477
$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,23.970,0.000,0.000,0.000,0.000,0.000,138.158,0.000,0.000,0.000
$MEM,187176
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