version: 66.12
glider: 203
mission: 8
dive: 122
start: 8 2 115 3 53 10
data:
$ID,203
$MISSION,8
$DIVE,122
$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
$GPS1,020815,034751,5635.5420,-15004.4883,37,1.0,37,16.8,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.7
$GPS2,020815,035259,5635.5098,-15004.3945,6,0.7,10,16.8,0.0,124.3,12,8.4
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.9,92651,-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,-194.6,184,2665,1068,959,0.0,0.0,0,134,0.00,0.00,-35.22,0.000,16386,0.000,0.000,183,2664,1932,1976,1888,0,0,0,0,0,0,26.03,28.83,26.10
$GC,136,-0.89,-194.6,184,2665,1978,1889,3.2,-4.4,5,200,8.62,2.05,-43.22,0.000,18948,0.231,0.039,2342,1330,3634,3706,3563,0,0,0,0,0,0,25.64,24.52,25.94
$GC,275,-0.82,-194.6,2340,1332,3707,3568,29.6,-22.3,24,293,0.15,2.08,0.00,0.000,3078,0.156,0.024,2372,2705,3636,3706,3567,0,0,0,0,0,0,25.84,26.06,26.00
$GC,602,-0.80,-194.6,2372,2702,3707,3578,91.3,-18.2,64,610,0.00,2.05,0.00,0.000,516,0.000,0.023,2372,1335,3638,3706,3571,0,0,0,0,0,0,26.11,26.10,26.20
$GC,639,-0.80,-194.6,2374,1336,3707,3573,97.8,-17.7,67,647,0.00,2.08,0.00,0.000,1030,0.000,0.025,2366,2710,3639,3706,3572,0,0,0,0,0,0,26.15,26.10,26.16
$GC,944,-0.80,-194.6,2366,2710,3707,3572,145.3,-16.8,97,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2710,3639,3706,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1246,-0.80,-194.6,2366,2711,3706,3572,189.8,-13.1,127,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2710,3639,3706,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1548,-0.82,-194.6,2366,2712,3707,3574,227.2,-12.9,157,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2710,3639,3706,3572,0,0,0,0,0,0,26.15,26.21,26.20
$GC,1848,-0.84,-194.6,2366,2710,3707,3572,266.8,-13.4,179,1855,0.00,1.73,0.00,0.000,260,0.000,0.039,2362,3843,3639,3706,3572,0,0,0,0,0,0,26.13,26.09,26.19
$GC,1874,-0.86,-194.6,2362,3844,3706,3574,266.8,-13.4,179,1885,0.00,1.62,0.00,0.000,1030,0.000,0.022,2362,2705,3638,3705,3572,0,0,0,0,0,0,26.20,26.17,26.21
$GC,2179,-0.88,-194.6,2361,2706,3705,3574,310.3,-13.3,190,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2704,3638,3705,3572,0,0,0,0,0,0,26.15,26.22,26.20
$GC,2479,-0.90,-194.6,2362,2706,3705,3574,348.7,-12.7,200,2487,0.00,1.77,0.00,0.000,260,0.000,0.038,2352,3850,3638,3704,3572,0,0,0,0,0,0,26.15,26.08,26.20
$GC,2531,-0.92,-194.6,2354,3850,3703,3572,352.7,-12.7,201,2538,0.00,1.65,0.00,0.000,1030,0.000,0.021,2353,2692,3639,3707,3572,0,0,0,0,0,0,26.20,26.17,26.21
$GC,2842,-0.94,-194.6,2353,2692,3703,3573,396.6,-13.5,212,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2691,3637,3702,3572,0,0,0,0,0,0,26.15,26.22,26.20
$GC,3142,-0.96,-194.6,2353,2692,3702,3573,436.8,-13.3,222,3149,0.00,1.80,0.00,0.000,260,0.000,0.039,2347,3846,3637,3702,3572,0,0,0,0,0,0,26.13,26.09,26.19
$GC,3204,-0.97,-194.6,2348,3848,3701,3573,445.0,-13.2,224,3211,0.00,1.65,0.00,0.000,1030,0.000,0.022,2348,2691,3636,3700,3572,0,0,0,0,0,0,26.18,26.15,26.19
$GC,3535,-0.99,-194.6,2347,2690,3699,3572,488.1,-12.9,235,3544,0.00,2.05,0.00,0.000,516,0.000,0.023,2348,1330,3635,3698,3572,0,0,0,0,0,0,26.14,26.11,26.19
$GC,3569,-1.01,-194.6,2348,1328,3699,3573,492.6,-13.0,236,3580,0.00,2.10,0.00,0.000,1030,0.000,0.027,2348,2705,3635,3699,3572,0,0,0,0,0,0,26.15,26.10,26.16
$GC,3899,-1.03,-194.6,2347,2706,3697,3573,533.8,-12.3,247,3907,0.00,1.77,0.00,0.000,260,0.000,0.039,2339,3857,3635,3697,3574,0,0,0,0,0,0,26.12,26.07,26.17
$GC,3941,-1.04,-194.6,2339,3858,3698,3572,538.0,-12.3,248,3948,0.00,1.65,0.00,0.000,1030,0.000,0.022,2339,2702,3634,3696,3572,0,0,0,0,0,0,26.19,26.15,26.20
$GC,4262,-1.04,-194.6,2339,2700,3696,3572,579.6,-12.7,259,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2700,3633,3695,3571,0,0,0,0,0,0,26.14,26.20,26.20
$GC,4562,-1.04,-194.6,2339,2703,3695,3573,617.2,-12.5,269,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3633,3694,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,4863,-1.04,-194.6,2339,2702,3695,3574,654.2,-12.5,279,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3632,3693,3572,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5162,-1.04,-194.6,2338,2702,3693,3573,693.6,-13.5,289,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2701,3632,3692,3572,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5462,-1.04,-194.6,2339,2701,3692,3573,734.1,-13.5,299,5469,0.00,1.77,0.00,0.000,260,0.000,0.039,2335,3846,3629,3691,3568,0,0,0,0,0,0,26.09,26.06,26.15
$GC,5513,-1.04,-194.6,2335,3847,3691,3573,738.3,-13.4,300,5520,0.00,1.70,0.00,0.000,1030,0.000,0.023,2335,2692,3631,3690,3572,0,0,0,0,0,0,26.17,26.15,26.18
$GC,5824,-1.06,-194.6,2334,2693,3690,3572,784.1,-13.9,311,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2693,3630,3689,3572,0,0,0,0,0,0,26.11,26.17,26.17
$GC,6125,-1.08,-194.6,2335,2693,3690,3573,823.6,-13.0,321,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2693,3630,3689,3572,0,0,0,0,0,0,26.13,26.19,26.18
$GC,6424,-1.09,-194.6,2335,2698,3689,3574,860.1,-12.1,331,6432,0.08,1.80,0.00,0.000,4356,0.122,0.038,2279,3846,3630,3688,3572,0,0,0,0,0,0,26.02,26.06,26.11
$GC,6481,-1.09,-194.6,2280,3847,3688,3573,868.7,-13.4,333,6489,0.00,1.67,0.00,0.000,1030,0.000,0.022,2279,2698,3630,3688,3572,0,0,0,0,0,0,26.17,26.15,26.17
$GC,6813,-1.06,-194.6,2279,2699,3687,3573,921.4,-16.1,344,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2698,3629,3687,3572,0,0,0,0,0,0,26.10,26.17,26.17
$STATE,6991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6991,begin apogee
$GC,6995,-0.25,0.0,2280,2810,3688,3572,951.1,-16.4,350,7177,0.90,0.00,167.27,1.564,10246,0.125,0.000,2556,2810,2845,2883,2808,0,0,0,0,1,0,25.80,23.61,22.72
$STATE,7178,end apogee,CONTROL_FINISHED_OK
$STATE,7178,begin climb
$GC,7179,0.89,194.6,2557,2810,2893,2808,962.4,0.0,356,7365,1.08,2.30,171.95,1.056,11012,0.058,0.020,2931,1433,2038,2073,2004,0,0,0,0,0,0,23.91,23.78,23.11
$GC,7544,0.86,263.6,2929,1433,2067,1993,953.4,8.1,368,7611,0.00,2.15,58.33,1.048,9222,0.000,0.026,2931,2798,1765,1803,1727,0,0,0,0,0,0,25.41,25.37,23.95
$GC,7921,0.84,263.6,2931,2799,1788,1708,911.9,11.2,381,7928,0.00,1.67,0.00,0.000,260,0.000,0.039,2930,3846,1746,1787,1706,0,0,0,0,0,0,25.84,25.84,25.91
$GC,7997,0.80,263.6,2931,3845,1789,1709,904.2,11.7,383,8004,0.00,1.50,0.00,0.000,1030,0.000,0.022,2932,2789,1747,1788,1706,0,0,0,0,0,0,25.99,25.96,26.00
$GC,8313,0.77,263.6,2932,2788,1787,1704,865.1,11.9,394,8321,0.12,1.67,0.00,0.000,4356,0.171,0.037,2897,3858,1746,1787,1705,0,0,0,0,0,0,25.92,26.07,26.01
$GC,8380,0.74,263.6,2897,3857,1788,1705,858.0,11.7,396,8389,0.00,1.50,0.00,0.000,1030,0.000,0.023,2902,2798,1745,1787,1704,0,0,0,0,0,0,26.15,26.13,26.17
$GC,8708,0.74,263.6,2903,2798,1789,1703,822.3,10.6,407,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2798,1744,1785,1704,0,0,0,0,0,0,26.13,26.20,26.19
$GC,9008,0.75,278.8,2902,2800,1785,1705,791.6,10.0,417,9030,0.00,1.70,12.50,0.998,8452,0.000,0.040,2902,3852,1695,1736,1655,0,0,0,0,0,0,26.14,25.85,25.08
$GC,9089,0.75,281.9,2902,3852,1734,1650,784.9,10.4,419,9096,0.00,1.50,0.00,0.000,1030,0.000,0.024,2908,2798,1691,1732,1651,0,0,0,0,0,0,26.05,26.01,26.06
$GC,9400,0.75,295.8,2908,2798,1733,1650,750.6,10.0,430,9422,0.00,0.00,16.20,0.974,8198,0.000,0.000,2908,2798,1634,1678,1591,0,0,0,0,0,0,26.10,25.72,25.01
$GC,9700,0.75,315.1,2909,2799,1662,1579,720.7,9.9,440,9728,0.00,1.67,17.60,0.949,8452,0.000,0.037,2908,3851,1549,1589,1509,0,0,0,0,0,0,26.02,25.48,24.96
$GC,9766,0.75,331.4,2908,3853,1586,1500,715.0,10.0,441,9791,0.00,1.50,15.93,0.943,9222,0.000,0.023,2915,2802,1482,1523,1441,0,0,0,0,0,0,25.91,25.88,24.84
$GC,10087,0.75,331.4,2915,2801,1516,1431,679.4,10.7,452,10094,0.00,2.08,0.00,0.000,516,0.000,0.024,2919,1420,1473,1515,1431,0,0,0,0,0,0,26.03,26.03,26.10
$GC,10133,0.75,331.4,2918,1421,1515,1433,676.8,10.6,453,10141,0.00,2.12,0.00,0.000,1030,0.000,0.027,2919,2810,1473,1515,1431,0,0,0,0,0,0,26.06,26.02,26.08
$GC,10439,0.75,331.4,2919,2811,1516,1431,640.2,11.5,463,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2810,1472,1514,1430,0,0,0,0,0,0,26.12,26.20,26.18
$GC,10738,0.75,331.4,2919,2811,1516,1431,605.6,11.4,473,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2810,1471,1514,1429,0,0,0,0,0,0,26.14,26.20,26.20
$GC,11039,0.75,331.4,2918,2810,1514,1428,569.4,12.4,483,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2809,1471,1514,1428,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11342,0.75,331.4,2919,2810,1516,1427,531.4,12.6,493,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2809,1471,1514,1428,0,0,0,0,0,0,26.13,26.21,26.20
$GC,11639,0.75,331.4,2919,2809,1515,1428,493.7,12.6,503,11646,0.00,2.10,0.00,0.000,516,0.000,0.024,2919,1424,1471,1514,1428,0,0,0,0,0,0,26.14,26.13,26.21
$GC,11675,0.75,331.4,2919,1424,1515,1428,490.4,12.6,504,11683,0.00,2.10,0.00,0.000,1030,0.000,0.026,2919,2800,1471,1514,1428,0,0,0,0,0,0,26.17,26.13,26.19
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$STATE,15712,end climb,SURFACE_DEPTH_REACHED
$STATE,15712,begin surface coast
$FINISH,0.8,1.023811
$STATE,15731,end surface coast,CONTROL_FINISHED_OK
$STATE,15731,begin surface
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$TT8_MAMPS,0.05992,0.05992
$HUMID,38.77
$INTERNAL_PRESSURE,8.7929
$TCM_TEMP,17.90
$XPDR_PINGS,3
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15760.18 7433.36
$PA_BOOTCOUNT,428
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$10V_AH,10.17,34.563
$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
$DATA_FILE_SIZE,33386,826
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$GPS,020815,081732,5635.527,-15007.441,34,0.9,39,16.7,0.9,91.4,9,3.7