version: 66.12
glider: 203
mission: 8
dive: 96
start: 7 28 115 5 52 49
data:
$ID,203
$MISSION,8
$DIVE,96
$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,-4
$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,102
$R_STBD_OVSHOOT,44
$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
$GPS1,280715,054721,5709.2285,-14850.9785,35,0.9,35,17.2,0.5,198.7,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.9
$GPS2,280715,055237,5709.2559,-14850.9619,15,0.9,15,17.2,0.0,3.1,10,4.8
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.4,75923,-18.0,-11.000,-19.55,2718
$D_GRID,4568
$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,-194.6,202,2709,738,615,0.0,0.0,0,165,0.00,0.00,-61.88,0.000,16386,0.000,0.000,201,2709,2304,2344,2264,0,0,0,0,0,0,25.98,28.83,26.05
$GC,167,-0.92,-194.6,202,2709,2345,2267,3.5,-4.9,9,212,8.73,2.08,-26.08,0.000,18948,0.239,0.036,2337,1329,3635,3704,3567,0,0,0,0,0,0,25.66,25.32,25.94
$GC,312,-0.84,-194.6,2336,1328,3705,3570,40.1,-24.2,35,322,0.15,2.08,0.00,0.000,3078,0.160,0.026,2368,2705,3637,3704,3571,0,0,0,0,0,0,25.89,26.06,26.03
$GC,627,-0.84,-194.6,2368,2705,3704,3574,96.2,-16.0,71,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2705,3639,3704,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,928,-0.85,-194.6,2368,2706,3706,3577,139.9,-14.3,101,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2705,3640,3704,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,1229,-0.88,-194.6,2369,2706,3705,3577,183.4,-13.6,131,1236,0.00,2.05,0.00,0.000,516,0.000,0.022,2368,1344,3639,3704,3575,0,0,0,0,0,0,26.11,26.11,26.17
$GC,1275,-0.91,-194.6,2367,1336,3706,3577,189.4,-14.6,135,1287,0.00,2.08,0.00,0.000,1030,0.000,0.025,2363,2709,3644,3712,3576,0,0,0,0,0,0,26.14,26.12,26.17
$GC,1581,-0.93,-194.6,2363,2709,3705,3575,233.3,-14.1,166,1588,0.00,1.75,0.00,0.000,260,0.000,0.039,2362,3853,3640,3705,3576,0,0,0,0,0,0,26.11,26.09,26.17
$GC,1653,-0.95,-194.6,2362,3853,3705,3575,243.0,-13.6,173,1660,0.00,1.62,0.00,0.000,1030,0.000,0.021,2362,2697,3639,3704,3575,0,0,0,0,0,0,26.18,26.14,26.19
$GC,1975,-0.98,-194.6,2362,2698,3707,3575,286.1,-13.4,187,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2697,3639,3703,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,2275,-1.00,-194.6,2362,2697,3703,3575,327.0,-13.7,197,2280,0.08,0.00,0.00,0.000,4102,0.119,0.000,2305,2697,3638,3701,3576,0,0,0,0,0,0,26.06,26.16,26.15
$GC,2575,-0.98,-194.6,2306,2696,3700,3575,379.3,-17.8,207,2580,0.08,0.00,0.00,0.000,2054,0.182,0.000,2318,2697,3637,3699,3576,0,0,0,0,0,0,25.98,26.13,26.10
$GC,2875,-0.98,-194.6,2318,2699,3700,3577,428.2,-15.6,217,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2697,3637,3698,3576,0,0,0,0,0,0,26.10,26.17,26.17
$GC,3174,-0.98,-194.6,2318,2698,3697,3577,474.6,-15.0,227,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2697,3636,3696,3576,0,0,0,0,0,0,26.11,26.17,26.17
$GC,3475,-0.98,-194.6,2318,2699,3695,3577,519.2,-14.8,237,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2697,3635,3695,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3774,-0.98,-194.6,2318,2699,3694,3577,563.5,-14.6,247,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2697,3634,3694,3575,0,0,0,0,0,0,26.11,26.18,26.17
$GC,4075,-0.98,-194.6,2318,2697,3694,3570,607.6,-14.8,257,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2698,3634,3693,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4374,-0.98,-194.6,2319,2699,3692,3577,652.5,-14.9,267,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2697,3633,3691,3575,0,0,0,0,0,0,26.11,26.17,26.17
$GC,4675,-0.98,-194.6,2318,2698,3691,3577,696.3,-14.2,277,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2697,3632,3690,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4974,-0.98,-194.6,2317,2698,3689,3578,736.5,-13.2,287,4983,0.00,1.80,0.00,0.000,260,0.000,0.041,2318,3847,3631,3688,3575,0,0,0,0,0,0,26.08,26.08,26.15
$GC,5017,-0.98,-194.6,2318,3850,3690,3576,741.0,-13.3,288,5024,0.00,1.62,0.00,0.000,1030,0.000,0.022,2318,2708,3631,3688,3575,0,0,0,0,0,0,26.16,26.14,26.16
$GC,5338,-0.98,-194.6,2318,2705,3688,3574,784.6,-13.2,299,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2706,3631,3687,3576,0,0,0,0,0,0,26.09,26.17,26.15
$GC,5638,-0.98,-194.6,2318,2707,3687,3576,824.9,-13.3,309,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2706,3630,3686,3575,0,0,0,0,0,0,26.10,26.16,26.15
$GC,5938,-0.98,-194.6,2318,2705,3687,3570,863.1,-12.6,319,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2705,3631,3687,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6238,-0.98,-194.6,2318,2706,3687,3576,900.1,-12.2,329,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2706,3630,3686,3575,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6538,-0.98,-194.6,2318,2707,3686,3577,937.6,-12.7,339,6545,0.00,1.77,0.00,0.000,260,0.000,0.041,2318,3843,3630,3684,3576,0,0,0,0,0,0,26.08,26.06,26.14
$GC,6569,-0.98,-194.6,2322,3843,3686,3576,941.6,-12.8,340,6576,0.00,1.62,0.00,0.000,1030,0.000,0.023,2318,2704,3630,3685,3575,0,0,0,0,0,0,26.15,26.12,26.15
$GC,6901,-0.98,-194.6,2318,2704,3684,3575,982.2,-12.2,351,6909,0.00,2.05,0.00,0.000,516,0.000,0.023,2318,1328,3630,3684,3576,0,0,0,0,0,0,26.09,26.08,26.15
$GC,6933,-0.98,-194.6,2318,1330,3685,3577,985.6,-12.3,352,6941,0.00,2.10,0.00,0.000,1030,0.000,0.027,2318,2706,3629,3684,3575,0,0,0,0,0,0,26.14,26.10,26.15
$STATE,6984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6984,begin apogee
$GC,6987,-0.25,0.0,2319,2816,3684,3577,992.5,-12.1,354,7159,0.75,0.00,164.57,1.092,10246,0.122,0.000,2552,2814,2838,2877,2799,0,0,0,0,0,0,25.91,24.42,23.77
$STATE,7160,end apogee,CONTROL_FINISHED_OK
$STATE,7160,begin climb
$GC,7161,0.92,194.6,2553,2815,2870,2792,999.9,0.0,359,7337,1.10,2.33,165.25,1.089,10756,0.064,0.024,2931,1430,2037,2076,1998,0,0,0,0,0,0,24.56,23.68,23.03
$GC,7502,0.89,257.4,2932,1430,2066,1984,989.7,8.6,371,7567,0.00,2.15,53.92,1.076,9222,0.000,0.026,2931,2787,1782,1825,1740,0,0,0,0,0,0,25.18,25.15,23.77
$GC,7882,0.86,257.4,2932,2787,1812,1720,946.3,11.8,384,7889,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3854,1766,1811,1721,0,0,0,0,0,0,25.65,25.65,25.71
$GC,7948,0.82,257.4,2930,3854,1812,1720,938.4,12.3,386,7956,0.00,1.58,0.00,0.000,1030,0.000,0.022,2932,2786,1765,1810,1720,0,0,0,0,0,0,25.81,25.78,25.82
$GC,8275,0.79,257.4,2932,2787,1810,1721,899.4,11.8,397,8282,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3856,1764,1809,1719,0,0,0,0,0,0,25.97,25.97,26.03
$GC,8337,0.75,257.4,2931,3856,1809,1721,891.8,12.0,399,8344,0.08,1.52,0.00,0.000,5126,0.145,0.023,2909,2811,1763,1809,1718,0,0,0,0,0,0,25.86,26.03,25.96
$GC,8671,0.75,276.6,2909,2810,1809,1718,857.2,10.3,410,8696,0.00,1.65,15.05,1.011,8452,0.000,0.037,2909,3860,1708,1753,1664,0,0,0,0,0,0,26.04,25.50,24.96
$GC,8735,0.75,287.4,2909,3860,1746,1653,850.8,10.6,411,8746,0.00,1.52,3.67,0.821,9222,0.000,0.023,2913,2795,1667,1712,1622,0,0,0,0,0,0,25.91,25.86,24.62
$GC,9055,0.75,287.4,2913,2794,1734,1634,813.9,11.1,422,9063,0.00,2.05,0.00,0.000,516,0.000,0.024,2919,1437,1683,1733,1634,0,0,0,0,0,0,26.01,26.03,26.07
$GC,9081,0.75,287.4,2919,1429,1734,1635,813.9,11.1,422,9092,0.00,2.10,0.00,0.000,1030,0.000,0.027,2919,2801,1683,1733,1634,0,0,0,0,0,0,26.08,26.03,26.09
$GC,9387,0.75,287.4,2919,2802,1734,1636,775.7,11.7,433,9394,0.00,1.60,0.00,0.000,260,0.000,0.039,2919,3850,1683,1733,1634,0,0,0,0,0,0,26.06,26.07,26.13
$GC,9453,0.73,287.4,2918,3851,1734,1636,768.1,12.1,435,9461,0.10,1.50,0.00,0.000,5126,0.181,0.023,2903,2786,1683,1733,1634,0,0,0,0,0,0,25.94,26.11,26.08
$GC,9780,0.73,303.4,2903,2793,1735,1635,732.5,10.4,446,9814,0.00,0.00,22.77,0.946,8454,0.000,0.000,2903,2786,1593,1640,1547,0,0,0,0,0,0,26.07,25.41,24.91
$GC,10110,0.74,316.4,2903,2787,1633,1538,697.4,10.5,457,10122,0.00,1.67,4.12,0.861,8452,0.000,0.037,2903,3857,1555,1604,1506,0,0,0,0,0,0,25.98,25.62,25.05
$GC,10176,0.74,316.4,2903,3856,1617,1519,690.8,11.0,459,10188,0.00,1.50,2.17,0.335,9222,0.000,0.024,2908,2803,1551,1600,1502,0,0,0,0,0,0,26.02,25.99,24.75
$GC,10497,0.74,316.4,2908,2803,1618,1514,653.2,11.6,470,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2803,1565,1616,1514,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10797,0.74,316.4,2908,2803,1617,1514,618.3,11.5,480,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2803,1565,1616,1514,0,0,0,0,0,0,26.07,26.14,26.13
$GC,11097,0.74,327.0,2908,2802,1617,1514,585.7,10.6,490,11123,0.00,0.00,18.75,0.864,8198,0.000,0.000,2908,2803,1504,1551,1457,0,0,0,0,0,0,26.10,25.69,25.04
$GC,11397,0.74,332.9,2908,2804,1538,1442,553.3,10.8,500,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2803,1489,1538,1441,0,0,0,0,0,0,26.00,26.07,26.06
$GC,11697,0.75,346.5,2908,2803,1538,1440,521.6,10.5,510,11721,0.00,0.00,18.42,0.824,8198,0.000,0.000,2908,2803,1425,1474,1377,0,0,0,0,0,0,26.05,25.68,25.05
$GC,11997,0.78,352.2,2908,2803,1459,1359,489.3,10.8,520,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2803,1408,1458,1359,0,0,0,0,0,0,25.99,26.06,26.05
$GC,12297,0.80,360.0,2908,2804,1458,1360,456.8,10.7,530,12315,0.00,0.00,11.75,0.797,8198,0.000,0.000,2908,2803,1371,1420,1322,0,0,0,0,0,0,26.04,25.78,25.15
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$STATE,16252,end climb,SURFACE_DEPTH_REACHED
$STATE,16252,begin surface coast
$FINISH,0.6,1.023203
$STATE,16263,end surface coast,CONTROL_FINISHED_OK
$STATE,16263,begin surface
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$IRIDIUM_FIX,5644.84,-14852.65,230508,191514
$TT8_MAMPS,0.056175,0.056175
$HUMID,38.46
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16292.82 7683.84
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$PA_DISK_BANK,2
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$10V_AH,10.21,32.759
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$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.925,76.600,601.350,0.000,0.000,0.000,0.000,218.900,0.250,16667.811,16.302,0.000,13054.622,640.717,2820.918,126.259,0.000,2076.180,0.000,1574.422,0.000,0.550,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,180104
$DATA_FILE_SIZE,36768,857
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$CFSIZE,1024393216,987037696
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