version: 66.12
glider: 203
mission: 8
dive: 121
start: 8 1 115 23 41 28
data:
$ID,203
$MISSION,8
$DIVE,121
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,101
$R_STBD_OVSHOOT,45
$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
$GPS1,010815,233603,5639.2524,-15003.3721,29,0.8,29,16.8,0.0,0.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-65.1
$GPS2,010815,234117,5639.2065,-15003.2988,7,0.8,9,16.8,0.0,0.0,11,8.9
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,177.2,10511,-17.4,-10.556,-19.06,2832
$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,-0.89,-194.6,186,2801,1165,1064,0.0,0.0,0,128,0.00,0.00,-28.98,0.000,16386,0.000,0.000,186,2801,1875,1912,1838,0,0,0,0,0,0,26.03,28.83,26.10
$GC,130,-0.89,-194.6,187,2802,1913,1839,3.1,-5.0,4,199,8.60,1.62,-45.92,0.000,18692,0.231,0.054,2341,3861,3635,3706,3564,0,0,0,0,0,0,25.64,25.27,25.94
$GC,254,-0.78,-194.6,2340,3861,3707,3567,26.2,-25.9,21,274,0.15,1.65,0.00,0.000,3078,0.157,0.021,2377,2685,3636,3705,3567,0,0,0,0,0,0,25.84,26.09,26.00
$GC,582,-0.78,-194.6,2377,2687,3707,3573,87.0,-18.0,61,590,0.00,2.00,0.00,0.000,516,0.000,0.023,2377,1335,3636,3706,3566,0,0,0,0,0,0,26.12,26.11,26.17
$GC,609,-0.78,-194.6,2377,1337,3707,3573,90.7,-17.6,63,619,0.00,2.08,0.00,0.000,1030,0.000,0.025,2374,2709,3639,3706,3572,0,0,0,0,0,0,26.15,26.11,26.17
$GC,914,-0.78,-194.6,2375,2709,3707,3572,135.7,-13.4,94,922,0.00,2.05,0.00,0.000,516,0.000,0.022,2375,1347,3639,3706,3572,0,0,0,0,0,0,26.13,26.14,26.19
$GC,966,-0.81,-194.6,2375,1348,3707,3574,142.8,-13.7,99,974,0.00,2.05,0.00,0.000,1030,0.000,0.026,2375,2704,3639,3706,3572,0,0,0,0,0,0,26.17,26.13,26.18
$GC,1271,-0.83,-194.6,2374,2704,3708,3572,183.2,-13.6,129,1279,0.00,1.75,0.00,0.000,260,0.000,0.037,2366,3850,3639,3707,3572,0,0,0,0,0,0,26.13,26.11,26.19
$GC,1348,-0.85,-194.6,2367,3851,3706,3574,193.0,-14.0,136,1359,0.00,1.60,0.00,0.000,1030,0.000,0.021,2367,2720,3639,3706,3572,0,0,0,0,0,0,26.20,26.18,26.21
$GC,1653,-0.87,-194.6,2367,2721,3707,3574,235.7,-14.0,167,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2720,3639,3706,3572,0,0,0,0,0,0,26.13,26.20,26.20
$GC,1973,-0.90,-194.6,2367,2721,3706,3574,278.9,-13.1,185,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2720,3638,3705,3572,0,0,0,0,0,0,26.14,26.20,26.20
$GC,2273,-0.92,-194.6,2367,2720,3706,3572,318.7,-13.1,195,2280,0.00,1.75,0.00,0.000,260,0.000,0.038,2361,3849,3638,3704,3572,0,0,0,0,0,0,26.13,26.09,26.18
$GC,2319,-0.95,-194.6,2361,3849,3705,3571,322.9,-13.0,196,2327,0.00,1.65,0.00,0.000,1030,0.000,0.021,2361,2693,3638,3704,3572,0,0,0,0,0,0,26.20,26.16,26.22
$GC,2637,-0.97,-194.6,2356,2694,3704,3574,364.2,-12.1,207,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2693,3637,3702,3572,0,0,0,0,0,0,26.13,26.20,26.20
$GC,2937,-1.00,-194.6,2361,2694,3702,3574,398.7,-11.4,217,2944,0.00,1.80,0.00,0.000,260,0.000,0.037,2352,3853,3636,3701,3572,0,0,0,0,0,0,26.15,26.10,26.20
$GC,2968,-1.02,-194.6,2352,3856,3702,3574,402.4,-11.5,218,2975,0.00,1.65,0.00,0.000,1030,0.000,0.021,2352,2696,3636,3701,3572,0,0,0,0,0,0,26.19,26.17,26.20
$GC,3300,-1.04,-194.6,2352,2694,3700,3574,442.7,-12.4,229,3311,0.08,1.80,0.00,0.000,4356,0.118,0.035,2283,3853,3638,3705,3572,0,0,0,0,0,0,26.06,26.09,26.15
$GC,3325,-1.06,-194.6,2283,3853,3700,3572,442.7,-12.4,229,3335,0.00,1.65,0.00,0.000,1030,0.000,0.021,2283,2694,3635,3698,3573,0,0,0,0,0,0,26.19,26.17,26.20
$GC,3630,-1.01,-194.6,2284,2690,3698,3574,498.7,-17.5,240,3636,0.12,0.00,0.00,0.000,2054,0.169,0.000,2312,2688,3634,3698,3571,0,0,0,0,0,0,25.91,26.12,26.07
$GC,3930,-0.99,-194.6,2312,2690,3698,3574,544.5,-14.9,250,3937,0.00,1.80,0.00,0.000,260,0.000,0.037,2306,3846,3634,3696,3572,0,0,0,0,0,0,26.13,26.10,26.18
$GC,3966,-0.98,-194.6,2307,3847,3698,3573,549.3,-14.9,251,3973,0.00,1.65,0.00,0.000,1030,0.000,0.022,2306,2696,3634,3696,3572,0,0,0,0,0,0,26.18,26.16,26.19
$GC,4293,-0.96,-194.6,2306,2695,3695,3572,599.1,-14.7,262,4299,0.10,0.00,0.00,0.000,2054,0.169,0.000,2328,2695,3633,3695,3572,0,0,0,0,0,0,25.89,26.08,26.03
$GC,4592,-0.96,-194.6,2329,2696,3694,3573,637.5,-13.0,272,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2695,3632,3693,3572,0,0,0,0,0,0,26.12,26.19,26.18
$GC,4892,-0.96,-194.6,2328,2695,3693,3572,677.4,-13.4,282,4899,0.00,1.77,0.00,0.000,260,0.000,0.038,2323,3845,3632,3692,3572,0,0,0,0,0,0,26.13,26.07,26.19
$GC,4924,-0.96,-194.6,2323,3847,3693,3573,681.8,-13.6,283,4931,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2694,3632,3692,3573,0,0,0,0,0,0,26.17,26.15,26.18
$GC,5255,-0.96,-194.6,2323,2694,3692,3574,729.1,-14.4,294,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2693,3631,3691,3572,0,0,0,0,0,0,26.13,26.19,26.18
$GC,5555,-0.96,-194.6,2323,2692,3691,3572,773.8,-15.2,304,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2693,3630,3690,3571,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5855,-0.96,-194.6,2323,2692,3690,3572,816.0,-13.9,314,5862,0.00,1.80,0.00,0.000,260,0.000,0.040,2320,3844,3630,3689,3572,0,0,0,0,0,0,26.11,26.06,26.17
$GC,5906,-0.96,-194.6,2320,3845,3690,3572,820.3,-13.8,315,5913,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2694,3630,3688,3572,0,0,0,0,0,0,26.17,26.14,26.19
$GC,6217,-0.96,-194.6,2320,2693,3689,3574,865.5,-13.2,326,6224,0.00,1.80,0.00,0.000,260,0.000,0.040,2320,3845,3630,3688,3572,0,0,0,0,0,0,26.11,26.06,26.17
$GC,6248,-0.96,-194.6,2319,3846,3688,3574,869.6,-13.2,327,6255,0.00,1.67,0.00,0.000,1030,0.000,0.023,2320,2705,3630,3688,3572,0,0,0,0,0,0,26.15,26.14,26.17
$GC,6580,-0.96,-194.6,2319,2704,3688,3572,914.8,-13.8,338,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3629,3686,3573,0,0,0,0,0,0,26.09,26.16,26.15
$STATE,6848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6848,begin apogee
$GC,6852,-0.25,0.0,2320,2812,3688,3574,951.6,-13.4,347,7095,0.75,0.00,234.43,0.857,10246,0.119,0.000,2553,2810,2839,2873,2805,0,0,0,0,0,0,25.86,24.46,23.86
$STATE,7096,end apogee,CONTROL_FINISHED_OK
$STATE,7096,begin climb
$GC,7097,0.89,194.6,2554,2810,2869,2798,967.1,0.0,355,7275,1.05,2.30,165.52,1.047,11012,0.052,0.021,2931,1417,2033,2066,2001,0,0,0,0,0,0,24.58,23.85,23.18
$GC,7330,0.83,399.5,2931,1417,2061,1990,967.7,3.1,362,7526,0.00,2.22,183.70,1.015,9222,0.000,0.025,2931,2792,1205,1251,1159,0,0,0,0,0,0,24.76,24.72,23.22
$GC,7846,0.83,399.5,2932,2793,1237,1138,894.2,15.2,380,7854,0.00,2.12,0.00,0.000,516,0.000,0.024,2931,1428,1186,1236,1137,0,0,0,0,0,0,25.72,25.75,25.79
$GC,7878,0.83,399.5,2932,1429,1237,1138,889.3,15.3,381,7886,0.00,2.15,0.00,0.000,1030,0.000,0.025,2931,2805,1186,1236,1137,0,0,0,0,0,0,25.83,25.79,25.84
$GC,8205,0.83,399.5,2931,2807,1235,1137,840.3,14.5,392,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2806,1185,1235,1135,0,0,0,0,0,0,26.04,26.11,26.11
$GC,8506,0.83,399.5,2931,2805,1235,1135,798.4,13.6,402,8516,0.00,2.10,0.00,0.000,516,0.000,0.024,2931,1424,1184,1234,1135,0,0,0,0,0,0,26.11,26.12,26.18
$GC,8525,0.83,399.5,2932,1426,1234,1136,798.4,13.6,402,8532,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2801,1183,1232,1135,0,0,0,0,0,0,26.15,26.11,26.17
$GC,8830,0.83,399.5,2931,2802,1233,1137,752.1,14.3,412,8841,0.00,2.08,0.00,0.000,516,0.000,0.025,2931,1426,1184,1233,1135,0,0,0,0,0,0,26.13,26.15,26.19
$GC,8865,0.83,399.5,2932,1426,1234,1136,747.8,14.4,413,8873,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2804,1184,1233,1135,0,0,0,0,0,0,26.17,26.13,26.18
$GC,9187,0.83,399.5,2931,2803,1233,1135,699.8,15.1,424,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2804,1183,1232,1135,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9487,0.83,399.5,2932,2804,1232,1134,655.5,15.0,434,9495,0.00,2.10,0.00,0.000,516,0.000,0.024,2931,1420,1183,1232,1134,0,0,0,0,0,0,26.13,26.14,26.20
$GC,9529,0.83,399.5,2931,1419,1233,1134,651.6,14.9,435,9536,0.00,2.10,0.00,0.000,1030,0.000,0.026,2937,2798,1183,1232,1134,0,0,0,0,0,0,26.17,26.13,26.20
$GC,9841,0.83,399.5,2932,2800,1233,1135,604.4,14.5,446,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2798,1183,1232,1134,0,0,0,0,0,0,26.10,26.16,26.16
$GC,10140,0.83,399.5,2932,2800,1233,1136,561.6,13.9,456,10148,0.00,2.10,0.00,0.000,516,0.000,0.024,2931,1427,1183,1232,1134,0,0,0,0,0,0,26.13,26.14,26.20
$GC,10172,0.83,399.5,2932,1415,1233,1136,557.2,13.8,457,10180,0.00,2.12,0.00,0.000,1030,0.000,0.026,2932,2810,1183,1232,1134,0,0,0,0,0,0,26.16,26.11,26.17
$GC,10499,0.83,399.5,2932,2809,1233,1134,511.7,14.0,468,10507,0.00,2.12,0.00,0.000,516,0.000,0.024,2932,1425,1183,1232,1134,0,0,0,0,0,0,26.13,26.13,26.19
$GC,10546,0.83,399.5,2933,1427,1233,1136,507.4,13.9,469,10554,0.00,2.10,0.00,0.000,1030,0.000,0.026,2930,2800,1183,1232,1134,0,0,0,0,0,0,26.17,26.12,26.19
$GC,10858,0.83,399.5,2932,2800,1233,1134,463.0,13.5,480,10866,0.00,2.08,0.00,0.000,516,0.000,0.025,2932,1426,1183,1232,1134,0,0,0,0,0,0,26.12,26.12,26.19
$GC,10875,0.83,399.5,2931,1426,1233,1136,463.0,13.5,480,10882,0.00,2.10,0.00,0.000,1030,0.000,0.026,2931,2800,1183,1232,1134,0,0,0,0,0,0,26.16,26.11,26.18
$GC,11186,0.83,399.5,2932,2802,1233,1136,419.4,13.2,491,11194,0.00,2.08,0.00,0.000,516,0.000,0.024,2932,1425,1183,1232,1134,0,0,0,0,0,0,26.13,26.12,26.20
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$STATE,14638,end climb,SURFACE_DEPTH_REACHED
$STATE,14638,begin surface coast
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$STATE,14653,end surface coast,CONTROL_FINISHED_OK
$STATE,14653,begin surface
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$IRIDIUM_FIX,5617.48,-15016.77,280508,130358
$TT8_MAMPS,0.058422,0.058422
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,14685.47 6954.64
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$10V_AH,10.18,34.496
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.376,0.000,0.000,0.000
$MEM,180128
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