version: 66.12
glider: 203
mission: 8
dive: 101
start: 7 29 115 5 8 15
data:
$ID,203
$MISSION,8
$DIVE,101
$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,104
$R_STBD_OVSHOOT,48
$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
$GPS1,290715,050303,5710.4849,-14914.0674,39,0.7,39,17.1,0.0,0.0,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-62.8
$GPS2,290715,050804,5710.4810,-14914.0977,8,0.9,8,17.1,0.0,277.2,11,10.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.8,52640,-18.0,-11.000,-19.55,2718
$D_GRID,3043
$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,-194.6,195,2781,893,776,0.0,0.0,0,152,0.00,0.00,-52.38,0.000,16386,0.000,0.000,194,2782,2223,2265,2182,0,0,0,0,0,0,25.99,28.83,26.06
$GC,154,-0.92,-194.6,195,2783,2272,2184,3.6,-4.7,8,209,8.70,2.22,-31.27,0.000,18948,0.237,0.038,2337,1341,3636,3707,3566,0,0,0,0,0,0,25.67,24.66,25.93
$GC,314,-0.86,-194.6,2337,1342,3708,3571,40.1,-22.1,35,324,0.12,2.05,0.00,0.000,3078,0.163,0.025,2360,2705,3638,3707,3570,0,0,0,0,0,0,25.89,26.05,26.03
$GC,629,-0.84,-194.6,2361,2705,3708,3574,99.5,-17.5,71,637,0.00,1.73,0.00,0.000,260,0.000,0.037,2355,3847,3640,3707,3574,0,0,0,0,0,0,26.09,26.06,26.15
$GC,701,-0.84,-194.6,2355,3845,3708,3575,111.4,-16.4,78,709,0.00,1.60,0.00,0.000,1030,0.000,0.021,2355,2700,3641,3708,3575,0,0,0,0,0,0,26.14,26.12,26.15
$GC,1013,-0.84,-194.6,2355,2701,3709,3575,160.4,-14.6,109,1021,0.00,1.75,0.00,0.000,260,0.000,0.037,2347,3843,3641,3707,3575,0,0,0,0,0,0,26.10,26.08,26.17
$GC,1045,-0.84,-194.6,2347,3843,3709,3575,165.3,-15.4,112,1052,0.05,1.65,0.00,0.000,3078,0.138,0.021,2362,2713,3641,3707,3575,0,0,0,0,0,0,25.98,26.15,26.06
$GC,1357,-0.86,-194.6,2362,2713,3709,3575,207.6,-13.3,143,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2713,3642,3707,3577,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1659,-0.89,-194.6,2363,2715,3708,3576,245.4,-12.5,173,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2713,3641,3707,3575,0,0,0,0,0,0,26.12,26.19,26.17
$GC,1968,-0.91,-194.6,2362,2713,3707,3575,283.0,-12.1,186,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2713,3644,3713,3575,0,0,0,0,0,0,26.12,26.19,26.18
$GC,2268,-0.94,-194.6,2363,2715,3705,3576,320.4,-12.7,196,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2713,3639,3704,3575,0,0,0,0,0,0,26.13,26.19,26.18
$GC,2568,-0.98,-194.6,2362,2714,3698,3576,359.0,-12.8,206,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2713,3638,3702,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,2868,-1.01,-194.6,2362,2714,3702,3577,397.0,-12.6,216,2874,0.10,0.00,0.00,0.000,4102,0.094,0.000,2300,2713,3637,3701,3574,0,0,0,0,0,0,26.08,26.17,26.15
$GC,3168,-0.98,-194.6,2300,2715,3700,3577,446.7,-16.8,226,3176,0.10,1.75,0.00,0.000,2308,0.171,0.037,2315,3840,3637,3699,3575,0,0,0,0,0,0,25.94,26.08,26.08
$GC,3210,-0.95,-194.6,2320,3842,3699,3576,451.0,-16.6,227,3217,0.00,1.62,0.00,0.000,1030,0.000,0.022,2320,2694,3636,3699,3574,0,0,0,0,0,0,26.17,26.15,26.17
$GC,3526,-0.95,-194.6,2320,2693,3698,3576,501.1,-14.9,238,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2691,3637,3699,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,3826,-0.95,-194.6,2321,2692,3696,3576,545.4,-14.9,248,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2691,3635,3696,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4126,-0.95,-194.6,2320,2692,3696,3575,590.4,-15.2,258,4134,0.00,1.80,0.00,0.000,260,0.000,0.038,2310,3847,3634,3694,3575,0,0,0,0,0,0,26.11,26.07,26.17
$GC,4178,-0.95,-194.6,2310,3851,3694,3576,595.3,-15.2,259,4186,0.05,1.67,0.00,0.000,3078,0.145,0.022,2326,2700,3634,3694,3575,0,0,0,0,0,0,25.96,26.15,26.11
$GC,4491,-0.95,-194.6,2324,2699,3694,3575,643.4,-14.2,270,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2700,3634,3693,3575,0,0,0,0,0,0,26.11,26.18,26.17
$GC,4791,-0.95,-194.6,2326,2701,3693,3576,686.3,-14.5,280,4798,0.00,1.77,0.00,0.000,260,0.000,0.039,2322,3839,3634,3693,3575,0,0,0,0,0,0,26.10,26.08,26.16
$GC,4836,-0.95,-194.6,2322,3841,3693,3577,690.9,-14.5,281,4844,0.00,1.62,0.00,0.000,1030,0.000,0.022,2322,2702,3633,3692,3575,0,0,0,0,0,0,26.20,26.14,26.18
$GC,5153,-0.95,-194.6,2322,2701,3692,3576,740.0,-14.8,292,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2701,3632,3690,3575,0,0,0,0,0,0,26.10,26.16,26.15
$GC,5453,-0.95,-194.6,2322,2702,3691,3576,782.7,-14.0,302,5460,0.00,1.77,0.00,0.000,260,0.000,0.040,2319,3840,3632,3690,3575,0,0,0,0,0,0,26.09,26.07,26.15
$GC,5509,-0.95,-194.6,2320,3840,3691,3574,787.3,-14.1,303,5519,0.00,1.62,0.00,0.000,1030,0.000,0.023,2319,2699,3632,3689,3575,0,0,0,0,0,0,26.15,26.14,26.17
$GC,5815,-0.95,-194.6,2320,2699,3690,3575,833.5,-13.7,314,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2699,3632,3689,3575,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6115,-0.95,-194.6,2320,2700,3689,3576,872.7,-12.8,324,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2699,3631,3687,3575,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6415,-0.95,-194.6,2320,2700,3688,3577,911.8,-13.1,334,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2699,3631,3687,3575,0,0,0,0,0,0,26.10,26.16,26.15
$GC,6715,-0.95,-194.6,2320,2700,3688,3576,952.4,-13.6,344,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2699,3631,3687,3575,0,0,0,0,0,0,26.10,26.17,26.16
$STATE,7013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7013,begin apogee
$GC,7017,-0.25,0.0,2320,2811,3687,3574,993.3,-13.7,354,7189,0.75,0.00,164.38,1.094,10246,0.120,0.000,2552,2811,2839,2873,2806,0,0,0,0,0,0,25.91,24.40,23.73
$STATE,7189,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7191,0.92,194.6,2554,2813,2866,2798,1001.5,0.0,359,7368,1.12,2.30,164.88,1.092,10756,0.065,0.020,2944,1426,2038,2072,2004,0,0,0,0,0,0,24.54,23.51,23.01
$GC,7592,0.88,227.1,2945,1425,2061,1989,984.5,9.8,373,7631,0.00,2.10,27.92,1.071,9222,0.000,0.026,2944,2781,1912,1949,1875,0,0,0,0,0,0,25.39,25.34,24.18
$GC,7941,0.83,247.2,2946,2782,1933,1856,946.5,10.2,385,7966,0.00,1.70,17.25,1.060,8452,0.000,0.040,2944,3858,1825,1863,1788,0,0,0,0,0,0,25.79,25.41,24.64
$GC,8041,0.77,247.2,2945,3859,1855,1776,935.4,11.8,388,8048,0.15,1.52,0.00,0.000,5126,0.168,0.023,2910,2792,1815,1854,1776,0,0,0,0,0,0,25.58,25.72,25.71
$GC,8363,0.77,265.8,2910,2793,1855,1774,901.4,10.3,399,8385,0.00,0.00,16.88,1.037,8198,0.000,0.000,2910,2792,1754,1793,1716,0,0,0,0,0,0,25.98,25.56,24.82
$GC,8663,0.77,276.3,2910,2793,1780,1699,870.1,10.6,409,8671,0.00,0.00,2.62,0.552,8198,0.000,0.000,2909,2792,1712,1752,1672,0,0,0,0,0,0,25.96,25.77,24.63
$GC,8963,0.77,276.3,2910,2792,1777,1680,837.0,11.3,419,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2792,1728,1776,1681,0,0,0,0,0,0,26.05,26.12,26.11
$GC,9263,0.77,276.3,2910,2793,1777,1682,802.6,11.4,429,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2792,1728,1776,1680,0,0,0,0,0,0,26.08,26.15,26.15
$GC,9563,0.77,279.0,2910,2793,1778,1682,769.0,10.9,439,9574,0.00,0.00,3.53,0.803,8198,0.000,0.000,2910,2792,1701,1744,1659,0,0,0,0,0,0,26.05,25.86,24.75
$GC,9865,0.77,280.2,2916,2793,1770,1670,736.7,11.0,449,9878,0.00,1.65,2.78,0.614,8452,0.000,0.037,2909,3855,1700,1746,1654,0,0,0,0,0,0,26.07,25.55,24.71
$GC,9923,0.77,280.2,2909,3857,1763,1667,729.7,11.3,451,9934,0.00,1.52,2.17,0.341,9222,0.000,0.023,2915,2809,1697,1743,1652,0,0,0,0,0,0,26.12,26.09,24.68
$GC,10253,0.77,288.6,2915,2810,1764,1665,693.9,10.7,462,10279,0.00,1.67,16.20,0.937,8452,0.000,0.041,2915,3841,1656,1697,1615,0,0,0,0,0,0,26.06,25.73,25.01
$GC,10329,0.76,291.7,2915,3841,1690,1605,687.1,10.9,464,10337,0.00,1.52,0.00,0.000,1030,0.000,0.024,2919,2804,1647,1688,1606,0,0,0,0,0,0,25.93,25.90,25.91
$GC,10646,0.76,318.2,2919,2804,1689,1605,652.2,10.0,475,10680,0.00,0.00,27.38,0.896,8198,0.000,0.000,2919,2804,1536,1578,1495,0,0,0,0,0,0,26.03,25.51,24.87
$GC,10976,0.76,318.2,2919,2804,1567,1479,614.8,11.7,486,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2804,1522,1565,1479,0,0,0,0,0,0,25.96,26.04,26.03
$GC,11276,0.76,318.2,2919,2805,1565,1479,578.1,12.5,496,11284,0.00,2.08,0.00,0.000,516,0.000,0.024,2928,1420,1521,1565,1478,0,0,0,0,0,0,26.05,26.07,26.11
$GC,11317,0.76,318.2,2928,1420,1566,1477,574.9,12.4,497,11327,0.10,2.12,0.00,0.000,5126,0.158,0.027,2906,2815,1521,1564,1478,0,0,0,0,0,0,25.93,26.06,26.08
$GC,11632,0.78,318.2,2906,2814,1566,1477,537.5,11.2,508,11640,0.00,1.62,0.00,0.000,260,0.000,0.040,2906,3840,1520,1564,1477,0,0,0,0,0,0,26.08,26.07,26.15
$GC,11684,0.78,318.2,2906,3841,1565,1477,533.5,11.3,509,11691,0.00,1.50,0.00,0.000,1030,0.000,0.023,2906,2774,1520,1564,1476,0,0,0,0,0,0,26.15,26.11,26.16
$GC,11996,0.79,324.4,2907,2774,1565,1477,497.6,10.8,520,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2774,1520,1564,1476,0,0,0,0,0,0,26.09,26.17,26.15
$GC,12296,0.81,324.4,2907,2774,1565,1476,464.9,11.4,530,12303,0.00,1.67,0.00,0.000,260,0.000,0.040,2907,3854,1520,1564,1476,0,0,0,0,0,0,26.09,26.08,26.15
$GC,12362,0.81,324.4,2907,3854,1565,1476,457.9,12.0,532,12369,0.00,1.52,0.00,0.000,1030,0.000,0.023,2912,2806,1520,1565,1476,0,0,0,0,0,0,26.15,26.13,26.16
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$STATE,16406,end climb,SURFACE_DEPTH_REACHED
$STATE,16406,begin surface coast
$FINISH,0.6,1.005213
$STATE,16431,end surface coast,CONTROL_FINISHED_OK
$STATE,16431,begin surface
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$IRIDIUM_FIX,5644.84,-14913.75,240508,183058
$TT8_MAMPS,0.059171,0.059171
$HUMID,38.73
$INTERNAL_PRESSURE,8.8022
$TCM_TEMP,17.70
$XPDR_PINGS,0
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16460.96 7675.44
$PA_BOOTCOUNT,407
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$PA_DISK_BANK,2
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$10V_AH,10.17,33.097
$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
$SENSOR_SECS,591.954,0.000,0.000,0.000,0.000,0.000,16821.631,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,180096
$DATA_FILE_SIZE,36705,861
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