version: 66.12
glider: 203
mission: 8
dive: 66
start: 7 22 115 12 36 33
data:
$ID,203
$MISSION,8
$DIVE,66
$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,-3
$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,92
$R_STBD_OVSHOOT,43
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,220715,123128,5747.6030,-14742.3691,40,0.8,40,17.7,0.9,50.1,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.6
$GPS2,220715,123622,5747.5869,-14742.2881,6,0.8,7,17.7,0.0,190.8,10,9.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,260.7,63440,-18.0,-11.000,-19.55,2718
$D_GRID,1000
$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,-194.6,197,2686,932,816,0.0,0.0,0,148,0.00,0.00,-49.25,0.000,16386,0.000,0.000,195,2687,2153,2199,2108,0,0,0,0,0,0,25.92,28.83,25.99
$GC,150,-0.92,-194.6,196,2688,2200,2110,3.2,-3.9,6,201,8.60,2.05,-35.80,0.000,18948,0.237,0.036,2330,1322,3634,3703,3566,0,0,0,0,0,0,25.72,25.41,25.86
$GC,266,-0.84,-194.6,2331,1324,3704,3571,27.1,-25.4,24,282,0.17,2.10,0.00,0.000,3078,0.155,0.025,2369,2707,3636,3703,3569,0,0,0,0,0,0,25.88,25.99,26.00
$GC,601,-0.84,-194.6,2369,2707,3704,3574,86.2,-16.1,65,607,0.00,1.77,0.00,0.000,260,0.000,0.037,2363,3846,3638,3703,3574,0,0,0,0,0,0,26.06,26.07,26.12
$GC,616,-0.84,-194.6,2363,3846,3704,3574,87.9,-16.1,66,625,0.00,1.67,0.00,0.000,1030,0.000,0.021,2363,2713,3638,3703,3574,0,0,0,0,0,0,26.12,26.09,26.14
$GC,921,-0.84,-194.6,2363,2713,3705,3575,139.0,-15.9,97,927,0.00,2.12,0.00,0.000,516,0.000,0.023,2363,1315,3639,3703,3576,0,0,0,0,0,0,26.12,26.14,26.17
$GC,1001,-0.84,-194.6,2363,1316,3704,3575,151.9,-15.6,105,1007,0.00,2.12,0.00,0.000,1030,0.000,0.026,2359,2695,3639,3703,3576,0,0,0,0,0,0,26.17,26.15,26.19
$GC,1311,-0.84,-194.6,2359,2695,3704,3577,196.7,-14.4,136,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2695,3639,3703,3576,0,0,0,0,0,0,26.14,26.22,26.21
$GC,1612,-0.86,-194.6,2359,2695,3705,3575,240.5,-13.8,166,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2695,3640,3704,3576,0,0,0,0,0,0,26.16,26.22,26.22
$GC,1922,-0.88,-194.6,2359,2693,3704,3576,282.0,-13.3,181,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2695,3639,3703,3575,0,0,0,0,0,0,26.17,26.24,26.22
$GC,2222,-0.91,-194.6,2359,2696,3703,3577,322.1,-13.1,191,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2695,3638,3702,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,2522,-0.93,-194.6,2359,2695,3702,3575,359.4,-12.3,201,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2695,3639,3703,3575,0,0,0,0,0,0,26.17,26.24,26.23
$GC,2822,-0.96,-194.6,2359,2695,3700,3575,396.7,-12.5,211,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2695,3637,3699,3575,0,0,0,0,0,0,26.17,26.24,26.23
$GC,3122,-0.99,-194.6,2359,2696,3698,3576,434.4,-12.6,221,3127,0.00,2.12,0.00,0.000,516,0.000,0.023,2359,1311,3635,3696,3575,0,0,0,0,0,0,26.17,26.22,26.23
$GC,3176,-1.03,-194.6,2359,1312,3698,3577,438.3,-12.6,222,3185,0.00,2.15,0.00,0.000,1030,0.000,0.027,2349,2690,3636,3697,3576,0,0,0,0,0,0,26.22,26.19,26.25
$GC,3482,-1.05,-194.6,2350,2691,3696,3576,480.2,-12.8,233,3485,0.08,0.00,0.00,0.000,4102,0.123,0.000,2295,2690,3635,3695,3575,0,0,0,0,0,0,26.14,26.27,26.24
$GC,3782,-1.02,-194.6,2294,2692,3695,3577,530.0,-16.8,243,3787,0.00,2.10,0.00,0.000,516,0.000,0.024,2294,1321,3634,3693,3576,0,0,0,0,0,0,26.17,26.20,26.22
$GC,3812,-1.00,-194.6,2294,1322,3695,3577,535.2,-16.8,244,3817,0.03,2.15,0.00,0.000,3078,0.192,0.028,2300,2701,3634,3693,3576,0,0,0,0,0,0,26.07,26.19,26.15
$GC,4142,-0.99,-194.6,2300,2701,3694,3575,587.9,-15.9,255,4145,0.08,0.00,0.00,0.000,2054,0.207,0.000,2317,2701,3634,3693,3575,0,0,0,0,0,0,26.06,26.22,26.18
$GC,4442,-0.99,-194.6,2316,2702,3692,3575,632.4,-14.6,265,4447,0.00,2.12,0.00,0.000,516,0.000,0.024,2317,1319,3632,3690,3575,0,0,0,0,0,0,26.16,26.19,26.22
$GC,4472,-0.99,-194.6,2318,1320,3693,3577,636.9,-14.5,266,4477,0.00,2.15,0.00,0.000,1030,0.000,0.027,2317,2702,3633,3691,3575,0,0,0,0,0,0,26.21,26.20,26.23
$GC,4802,-0.99,-194.6,2316,2702,3691,3575,684.5,-14.2,277,4808,0.00,1.80,0.00,0.000,260,0.000,0.041,2317,3843,3632,3690,3575,0,0,0,0,0,0,26.16,26.17,26.22
$GC,4832,-0.99,-194.6,2317,3844,3691,3576,688.6,-14.1,278,4838,0.00,1.70,0.00,0.000,1030,0.000,0.022,2317,2694,3632,3690,3575,0,0,0,0,0,0,26.22,26.19,26.22
$GC,5162,-0.99,-194.6,2317,2695,3689,3577,733.2,-13.7,289,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2694,3632,3689,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,5462,-0.99,-194.6,2319,2695,3688,3577,772.9,-13.2,299,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2694,3631,3687,3575,0,0,0,0,0,0,26.16,26.23,26.22
$GC,5762,-0.99,-194.6,2317,2694,3688,3575,811.5,-12.8,309,5768,0.00,2.08,0.00,0.000,516,0.000,0.024,2317,1330,3631,3687,3575,0,0,0,0,0,0,26.16,26.18,26.22
$GC,5792,-0.99,-194.6,2317,1330,3687,3577,815.3,-12.8,310,5798,0.00,2.12,0.00,0.000,1030,0.000,0.028,2317,2697,3631,3687,3576,0,0,0,0,0,0,26.21,26.19,26.22
$GC,6122,-0.99,-194.6,2317,2697,3687,3575,857.4,-12.8,321,6128,0.00,1.80,0.00,0.000,260,0.000,0.041,2317,3845,3631,3686,3576,0,0,0,0,0,0,26.16,26.16,26.22
$GC,6167,-0.99,-194.6,2317,3844,3687,3575,861.4,-12.9,322,6173,0.00,1.67,0.00,0.000,1030,0.000,0.023,2317,2706,3630,3686,3575,0,0,0,0,0,0,26.21,26.18,26.22
$GC,6482,-0.99,-194.6,2318,2708,3687,3577,905.4,-13.6,333,6488,0.00,2.12,0.00,0.000,516,0.000,0.024,2317,1313,3630,3685,3575,0,0,0,0,0,0,26.15,26.18,26.21
$GC,6512,-0.99,-194.6,2317,1313,3687,3577,909.5,-13.7,334,6518,0.00,2.15,0.00,0.000,1030,0.000,0.028,2317,2697,3630,3686,3575,0,0,0,0,0,0,26.20,26.18,26.22
$GC,6842,-0.99,-194.6,2317,2697,3686,3575,955.3,-14.0,345,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2697,3630,3684,3576,0,0,0,0,0,0,26.15,26.22,26.21
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7111,begin apogee
$GC,7114,-0.25,0.0,2317,2818,3684,3577,992.6,-13.7,354,7299,0.75,0.00,174.95,1.523,10246,0.119,0.000,2555,2817,2841,2877,2805,0,0,0,0,1,0,26.06,23.97,23.08
$STATE,7300,end apogee,CONTROL_FINISHED_OK
$STATE,7300,begin climb
$GC,7302,0.92,194.6,2556,2818,2893,2807,1003.3,0.0,360,7485,1.08,2.35,170.90,1.085,11012,0.050,0.024,2933,1422,2039,2075,2003,0,0,0,0,0,0,24.20,23.63,23.01
$GC,7639,0.89,242.4,2933,1423,2067,1994,993.5,9.2,371,7687,0.00,2.25,41.20,1.077,9222,0.000,0.027,2933,2797,1849,1888,1810,0,0,0,0,0,0,25.05,25.02,23.78
$GC,8012,0.87,242.4,2933,2798,1874,1791,948.0,11.9,384,8017,0.00,1.67,0.00,0.000,260,0.000,0.040,2933,3860,1831,1873,1789,0,0,0,0,0,0,25.58,25.60,25.63
$GC,8111,0.83,242.4,2933,3860,1873,1788,936.3,12.7,387,8117,0.00,1.60,0.00,0.000,1030,0.000,0.023,2938,2786,1830,1872,1788,0,0,0,0,0,0,25.77,25.73,25.78
$GC,8431,0.80,242.4,2938,2791,1872,1789,897.5,11.4,398,8437,0.08,1.70,0.00,0.000,4356,0.211,0.040,2925,3850,1829,1871,1788,0,0,0,0,0,0,25.84,25.96,25.98
$GC,8471,0.77,242.4,2925,3851,1872,1790,894.1,11.3,399,8477,0.05,1.55,0.00,0.000,5126,0.156,0.023,2915,2795,1829,1870,1788,0,0,0,0,0,0,25.88,25.99,25.96
$GC,8791,0.77,278.7,2916,2796,1870,1788,861.9,9.6,410,8826,0.00,0.00,30.48,1.024,8454,0.000,0.000,2915,2795,1699,1740,1659,0,0,0,0,0,0,26.06,25.39,24.75
$GC,9121,0.77,285.0,2916,2797,1730,1646,827.0,10.8,421,9127,0.00,1.70,0.00,0.000,260,0.000,0.041,2915,3855,1687,1728,1646,0,0,0,0,0,0,25.94,25.96,25.99
$GC,9201,0.77,285.0,2915,3855,1730,1643,819.3,11.9,423,9207,0.00,1.55,0.00,0.000,1030,0.000,0.023,2919,2798,1685,1728,1643,0,0,0,0,0,0,26.03,26.01,26.04
$GC,9511,0.77,285.0,2919,2799,1728,1644,780.7,12.0,434,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2798,1685,1727,1643,0,0,0,0,0,0,26.07,26.15,26.13
$GC,9811,0.77,285.0,2919,2799,1728,1642,744.7,11.9,444,9817,0.00,1.67,0.00,0.000,260,0.000,0.041,2919,3850,1684,1727,1642,0,0,0,0,0,0,26.11,26.12,26.17
$GC,9851,0.77,285.0,2919,3851,1728,1643,740.9,12.0,445,9857,0.00,1.52,0.00,0.000,1030,0.000,0.023,2919,2804,1684,1727,1642,0,0,0,0,0,0,26.17,26.15,26.17
$GC,10171,0.77,287.9,2919,2806,1728,1642,702.8,10.9,456,10177,0.00,0.00,2.42,0.546,8198,0.000,0.000,2919,2805,1666,1708,1624,0,0,0,0,0,0,26.13,25.98,24.93
$GC,10471,0.77,303.2,2918,2805,1726,1627,670.9,10.4,466,10497,0.00,1.70,20.02,0.931,8452,0.000,0.041,2919,3847,1597,1639,1555,0,0,0,0,0,0,26.13,25.72,25.06
$GC,10562,0.77,303.2,2919,3848,1635,1548,660.2,11.4,469,10567,0.00,1.55,0.00,0.000,1030,0.000,0.023,2923,2802,1590,1634,1546,0,0,0,0,0,0,25.91,25.88,25.91
$GC,10892,0.77,308.6,2923,2803,1633,1546,624.3,10.8,480,10897,0.00,1.67,0.00,0.000,260,0.000,0.041,2923,3851,1589,1633,1545,0,0,0,0,0,0,26.04,26.06,26.10
$GC,10936,0.77,309.8,2922,3851,1634,1545,620.8,11.0,481,10943,0.05,1.55,0.00,0.000,5126,0.160,0.023,2915,2791,1588,1632,1545,0,0,0,0,0,0,25.96,26.09,26.06
$GC,11252,0.77,316.4,2915,2793,1634,1546,584.9,10.8,492,11268,0.00,0.00,12.02,0.901,8454,0.000,0.000,2915,2791,1547,1589,1505,0,0,0,0,0,0,26.10,25.64,25.20
$GC,11582,0.79,325.3,2916,2792,1582,1494,549.2,10.7,503,11589,0.00,0.00,3.92,0.881,8198,0.000,0.000,2916,2791,1513,1556,1470,0,0,0,0,0,0,26.05,25.87,24.91
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$STATE,16349,end climb,SURFACE_DEPTH_REACHED
$STATE,16349,begin surface coast
$FINISH,0.4,1.007816
$STATE,16364,end surface coast,CONTROL_FINISHED_OK
$STATE,16364,begin surface
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$IRIDIUM_FIX,5724.52,-14745.98,180508,015920
$TT8_MAMPS,0.056175,0.056175
$HUMID,38.85
$INTERNAL_PRESSURE,8.7743
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$XPDR_PINGS,2
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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
$PA_UPTIME,16025.55 15772.31
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$PA_DISK_BANK,1
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$10V_AH,10.20,30.698
$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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$MEM,213752
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