version: 66.12
glider: 203
mission: 8
dive: 132
start: 8 4 115 0 52 56
data:
$ID,203
$MISSION,8
$DIVE,132
$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,-5
$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,47
$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
$GPS1,040815,004734,5636.9185,-15034.3369,36,0.9,37,16.6,0.5,109.6,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-58.7
$GPS2,040815,005245,5636.9043,-15034.3008,6,0.8,9,16.6,0.6,116.4,10,9.5
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,265.4,62266,-17.4,-10.556,-19.06,2832
$D_GRID,4210
$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,-194.6,179,2706,711,586,0.0,0.0,0,150,0.00,0.00,-50.80,0.000,16386,0.000,0.000,176,2705,1965,2010,1921,0,0,0,0,0,0,26.07,28.83,26.11
$GC,152,-0.89,-194.6,178,2706,2013,1923,3.1,-3.0,7,213,8.75,2.10,-46.38,0.000,18948,0.235,0.037,2346,1318,3634,3707,3561,0,0,0,0,0,0,25.67,24.51,25.94
$GC,396,-0.85,-194.6,2346,1319,3709,3568,54.8,-21.9,45,409,0.10,2.10,0.00,0.000,3078,0.174,0.024,2361,2715,3637,3707,3567,0,0,0,0,0,0,25.91,26.10,26.06
$GC,703,-0.82,-194.6,2361,2716,3708,3571,114.5,-17.1,76,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2714,3639,3707,3571,0,0,0,0,0,0,26.12,26.19,26.18
$GC,1004,-0.82,-194.6,2362,2715,3709,3571,166.4,-17.0,106,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2715,3639,3707,3571,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1305,-0.82,-194.6,2361,2715,3709,3570,211.2,-14.2,136,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2715,3639,3708,3571,0,0,0,0,0,0,26.15,26.20,26.20
$GC,1625,-0.82,-194.6,2361,2715,3707,3570,254.9,-14.1,166,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2715,3639,3707,3571,0,0,0,0,0,0,26.14,26.20,26.20
$GC,1925,-0.84,-194.6,2361,2716,3708,3572,297.6,-14.4,176,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2715,3638,3707,3570,0,0,0,0,0,0,26.13,26.20,26.20
$GC,2225,-0.86,-194.6,2361,2715,3707,3569,339.8,-13.7,186,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2714,3641,3706,3576,0,0,0,0,0,0,26.15,26.22,26.21
$GC,2525,-0.88,-194.6,2361,2715,3706,3570,378.2,-12.1,196,2532,0.00,1.73,0.00,0.000,260,0.000,0.037,2355,3853,3637,3704,3570,0,0,0,0,0,0,26.13,26.09,26.19
$GC,2566,-0.90,-194.6,2356,3854,3701,3572,382.0,-12.2,197,2573,0.00,1.65,0.00,0.000,1030,0.000,0.021,2356,2685,3637,3704,3570,0,0,0,0,0,0,26.20,26.18,26.21
$GC,2887,-0.92,-194.6,2356,2680,3704,3572,424.5,-12.7,208,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2679,3636,3703,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3187,-0.94,-194.6,2356,2679,3703,3570,462.1,-12.5,218,3195,0.00,1.80,0.00,0.000,260,0.000,0.038,2349,3840,3636,3702,3570,0,0,0,0,0,0,26.13,26.08,26.19
$GC,3224,-0.95,-194.6,2349,3844,3702,3572,466.0,-12.5,219,3231,0.00,1.62,0.00,0.000,1030,0.000,0.022,2349,2706,3635,3701,3570,0,0,0,0,0,0,26.20,26.17,26.21
$GC,3550,-0.95,-194.6,2353,2706,3701,3570,507.7,-12.8,230,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2706,3634,3699,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3850,-0.97,-194.6,2346,2707,3699,3572,547.0,-13.0,240,3857,0.00,1.77,0.00,0.000,260,0.000,0.038,2341,3849,3634,3698,3570,0,0,0,0,0,0,26.15,26.07,26.20
$GC,3911,-0.97,-194.6,2340,3851,3699,3573,555.1,-13.2,242,3918,0.00,1.65,0.00,0.000,1030,0.000,0.022,2342,2696,3634,3698,3570,0,0,0,0,0,0,26.19,26.17,26.20
$GC,4243,-0.97,-194.6,2340,2694,3698,3565,597.6,-13.0,253,4250,0.00,1.80,0.00,0.000,260,0.000,0.039,2334,3841,3633,3697,3570,0,0,0,0,0,0,26.14,26.06,26.20
$GC,4274,-0.97,-194.6,2336,3841,3697,3570,602.0,-13.1,254,4282,0.00,1.67,0.00,0.000,1030,0.000,0.023,2335,2708,3633,3696,3570,0,0,0,0,0,0,26.18,26.16,26.18
$GC,4606,-0.97,-194.6,2335,2708,3696,3570,647.1,-13.6,265,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2709,3632,3695,3570,0,0,0,0,0,0,26.13,26.20,26.20
$GC,4907,-0.97,-194.6,2335,2708,3694,3570,686.6,-13.0,275,4914,0.00,1.77,0.00,0.000,260,0.000,0.037,2326,3850,3632,3694,3570,0,0,0,0,0,0,26.11,26.08,26.17
$GC,4953,-0.97,-194.6,2327,3852,3694,3572,690.8,-13.1,276,4960,0.00,1.67,0.00,0.000,1030,0.000,0.022,2326,2680,3631,3693,3570,0,0,0,0,0,0,26.18,26.15,26.19
$GC,5269,-0.97,-194.6,2327,2677,3693,3571,734.1,-12.9,287,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2676,3631,3693,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5569,-0.97,-194.6,2326,2675,3692,3569,772.9,-13.1,297,5576,0.00,1.83,0.00,0.000,260,0.000,0.039,2322,3840,3630,3691,3570,0,0,0,0,0,0,26.13,26.05,26.19
$GC,5600,-0.97,-194.6,2322,3844,3692,3570,777.1,-13.1,298,5608,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2689,3630,3691,3570,0,0,0,0,0,0,26.14,26.13,26.17
$GC,5932,-0.97,-194.6,2322,2690,3691,3571,821.8,-13.4,309,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2689,3630,3690,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,6232,-0.97,-194.6,2322,2689,3690,3570,862.0,-13.3,319,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2689,3629,3689,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,6532,-0.97,-194.6,2322,2690,3689,3571,903.0,-13.7,329,6540,0.00,1.80,0.00,0.000,260,0.000,0.038,2319,3840,3629,3688,3570,0,0,0,0,0,0,26.12,26.05,26.17
$GC,6604,-0.97,-194.6,2320,3842,3689,3571,911.6,-13.7,331,6611,0.00,1.67,0.00,0.000,1030,0.000,0.023,2319,2706,3629,3687,3572,0,0,0,0,0,0,26.14,26.13,26.15
$STATE,6894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6894,begin apogee
$GC,6898,-0.25,0.0,2320,2808,3688,3571,952.4,-13.9,341,7069,0.75,0.00,163.20,1.063,10246,0.118,0.000,2554,2807,2837,2870,2805,0,0,0,0,0,0,25.84,24.42,23.72
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7071,0.89,194.6,2555,2807,2864,2795,961.9,0.0,346,7248,1.08,2.28,163.68,1.058,11012,0.063,0.022,2931,1425,2038,2072,2004,0,0,0,0,0,0,24.58,23.91,23.22
$GC,7392,0.86,273.5,2932,1427,2061,1992,956.6,7.7,357,7469,0.00,2.15,67.00,1.049,9222,0.000,0.025,2931,2791,1720,1758,1683,0,0,0,0,0,0,25.32,25.27,23.82
$GC,7793,0.84,273.5,2931,2789,1744,1660,907.9,12.8,371,7801,0.00,1.65,0.00,0.000,260,0.000,0.038,2931,3851,1702,1745,1659,0,0,0,0,0,0,25.86,25.85,25.93
$GC,7851,0.81,273.5,2931,3851,1743,1658,903.2,13.1,372,7861,0.00,1.52,0.00,0.000,1030,0.000,0.023,2932,2772,1701,1743,1659,0,0,0,0,0,0,26.00,25.97,26.01
$GC,8156,0.78,273.5,2932,2771,1743,1658,859.6,13.5,383,8164,0.08,1.70,0.00,0.000,4356,0.205,0.037,2918,3857,1700,1742,1658,0,0,0,0,0,0,25.92,26.06,26.08
$GC,8218,0.75,273.5,2918,3858,1743,1660,850.9,13.9,385,8225,0.00,1.50,0.00,0.000,1030,0.000,0.022,2918,2788,1699,1742,1657,0,0,0,0,0,0,26.15,26.13,26.16
$GC,8549,0.75,273.5,2919,2789,1742,1657,809.4,12.2,396,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2789,1699,1741,1657,0,0,0,0,0,0,26.14,26.20,26.20
$GC,8849,0.75,273.5,2918,2789,1742,1657,773.1,11.8,406,8857,0.00,1.67,0.00,0.000,260,0.000,0.037,2918,3867,1698,1740,1657,0,0,0,0,0,0,26.13,26.10,26.19
$GC,8956,0.72,273.5,2919,3861,1742,1656,761.4,12.5,409,8964,0.12,1.50,0.00,0.000,5126,0.168,0.024,2894,2798,1698,1740,1656,0,0,0,0,0,0,25.93,26.17,26.11
$GC,9273,0.72,273.7,2899,2798,1742,1656,725.7,10.5,420,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2798,1698,1740,1656,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9573,0.72,294.6,2894,2798,1742,1656,695.2,9.8,430,9600,0.00,2.12,17.40,0.926,8708,0.000,0.024,2898,1432,1630,1671,1590,0,0,0,0,0,0,26.12,25.79,25.02
$GC,9654,0.74,313.0,2899,1434,1664,1584,689.2,9.9,432,9680,0.00,2.12,17.27,0.906,9222,0.000,0.027,2898,2813,1559,1600,1519,0,0,0,0,0,0,25.97,25.93,24.85
$GC,9995,0.76,351.6,2898,2815,1588,1502,655.5,9.2,444,10037,0.00,0.00,35.55,0.881,8198,0.000,0.000,2898,2814,1404,1447,1362,0,0,0,0,0,0,26.04,25.44,24.77
$GC,10325,0.79,390.0,2898,2814,1430,1340,625.3,9.2,455,10370,0.00,2.20,34.78,0.856,8708,0.000,0.024,2905,1432,1240,1286,1195,0,0,0,0,0,0,26.02,25.47,24.78
$GC,10389,0.82,421.3,2905,1432,1279,1188,619.7,9.4,457,10427,0.00,2.15,29.30,0.849,9222,0.000,0.026,2904,2812,1120,1170,1071,0,0,0,0,0,0,25.70,25.65,24.63
$GC,10743,0.85,421.3,2905,2812,1152,1045,581.4,11.0,469,10751,0.00,2.10,0.00,0.000,516,0.000,0.024,2907,1436,1098,1151,1045,0,0,0,0,0,0,26.00,26.00,26.06
$GC,10785,0.88,421.3,2907,1437,1152,1047,577.7,11.0,470,10793,0.00,2.10,0.00,0.000,1030,0.000,0.025,2906,2806,1098,1151,1046,0,0,0,0,0,0,26.06,26.01,26.08
$GC,11107,0.91,421.3,2906,2812,1150,1041,539.9,11.3,481,11115,0.08,2.08,0.00,0.000,2564,0.119,0.021,2958,1430,1097,1150,1044,0,0,0,0,0,0,26.03,26.10,26.13
$GC,11159,0.94,421.3,2958,1431,1151,1045,536.4,11.6,482,11170,0.00,2.10,0.00,0.000,1030,0.000,0.026,2958,2805,1097,1150,1044,0,0,0,0,0,0,26.15,26.10,26.16
$GC,11464,0.92,421.3,2958,2801,1149,1043,487.8,14.9,493,11472,0.00,2.10,0.00,0.000,516,0.000,0.025,2958,1424,1096,1148,1044,0,0,0,0,0,0,26.14,26.12,26.20
$GC,11491,0.90,421.3,2959,1425,1149,1043,483.8,15.0,494,11499,0.00,2.10,0.00,0.000,1030,0.000,0.026,2958,2802,1095,1148,1043,0,0,0,0,0,0,26.16,26.11,26.17
$GC,11824,0.88,421.3,2958,2804,1149,1044,432.9,15.5,505,11833,0.00,2.08,0.00,0.000,516,0.000,0.024,2958,1436,1094,1147,1042,0,0,0,0,0,0,26.14,26.12,26.20
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$STATE,15063,end climb,SURFACE_DEPTH_REACHED
$STATE,15063,begin surface coast
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$STATE,15084,end surface coast,CONTROL_FINISHED_OK
$STATE,15084,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15116.05 7068.57
$PA_BOOTCOUNT,438
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$PA_HOME,0.01/0.209/27.046/25.463
$PA_DISK_BANK,2
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$10V_AH,10.18,35.232
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.375,0.000,0.000,0.000
$MEM,143088
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