version: 66.12
glider: 203
mission: 8
dive: 136
start: 8 4 115 18 41 42
data:
$ID,203
$MISSION,8
$DIVE,136
$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,98
$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
$GPS1,040815,183602,5637.7148,-15048.9365,35,0.9,40,16.5,0.9,349.0,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-59.9
$GPS2,040815,184131,5637.7363,-15048.9189,6,0.7,11,16.5,0.0,296.3,10,9.7
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,257.1,47555,-17.4,-10.556,-19.06,2832
$D_GRID,3434
$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,-194.6,201,2797,837,729,0.0,0.0,0,150,0.00,0.00,-51.08,0.000,16386,0.000,0.000,200,2796,2112,2158,2067,0,0,0,0,0,0,26.02,28.83,26.09
$GC,152,-0.89,-194.6,202,2796,2159,2067,3.2,-3.1,7,211,8.73,2.25,-38.55,0.000,18948,0.234,0.038,2343,1335,3636,3707,3565,0,0,0,0,0,0,25.56,24.42,25.88
$GC,385,-0.85,-194.6,2343,1335,3708,3568,47.2,-17.3,44,401,0.10,2.08,0.00,0.000,3078,0.174,0.025,2355,2704,3638,3708,3568,0,0,0,0,0,0,25.79,25.99,25.95
$GC,706,-0.83,-194.6,2358,2706,3708,3574,108.1,-18.7,76,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2704,3639,3707,3572,0,0,0,0,0,0,26.11,26.17,26.16
$GC,1007,-0.83,-194.6,2359,2706,3708,3574,160.8,-17.2,106,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2704,3639,3707,3572,0,0,0,0,0,0,26.12,26.19,26.17
$GC,1317,-0.83,-194.6,2359,2706,3709,3574,209.3,-13.9,137,1325,0.00,1.75,0.00,0.000,260,0.000,0.037,2353,3857,3639,3707,3572,0,0,0,0,0,0,26.13,26.08,26.18
$GC,1353,-0.83,-194.6,2353,3857,3708,3572,214.0,-14.8,140,1361,0.08,1.65,0.00,0.000,3078,0.173,0.021,2367,2686,3639,3707,3572,0,0,0,0,0,0,25.96,26.15,26.07
$GC,1666,-0.85,-194.6,2367,2685,3709,3572,254.6,-12.4,169,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2685,3639,3707,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1965,-0.88,-194.6,2367,2687,3708,3573,291.4,-12.3,179,1972,0.00,1.80,0.00,0.000,260,0.000,0.038,2362,3845,3639,3707,3572,0,0,0,0,0,0,26.13,26.07,26.18
$GC,2016,-0.90,-194.6,2362,3847,3708,3573,295.4,-12.4,180,2024,0.00,1.67,0.00,0.000,1030,0.000,0.022,2362,2705,3639,3706,3572,0,0,0,0,0,0,26.18,26.15,26.19
$GC,2329,-0.92,-194.6,2362,2707,3706,3574,336.7,-12.2,191,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2705,3638,3705,3572,0,0,0,0,0,0,26.13,26.20,26.18
$GC,2629,-0.95,-194.6,2362,2707,3706,3573,373.4,-12.4,201,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2706,3638,3704,3572,0,0,0,0,0,0,26.12,26.18,26.17
$GC,2929,-0.97,-194.6,2362,2707,3704,3573,411.2,-12.8,211,2937,0.00,1.77,0.00,0.000,260,0.000,0.038,2353,3847,3637,3703,3572,0,0,0,0,0,0,26.13,26.05,26.18
$GC,2961,-1.00,-194.6,2353,3849,3703,3576,415.5,-12.9,212,2969,0.00,1.65,0.00,0.000,1030,0.000,0.024,2353,2699,3637,3702,3572,0,0,0,0,0,0,26.16,26.13,26.17
$GC,3293,-1.02,-194.6,2353,2700,3703,3572,460.8,-13.8,223,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2700,3636,3701,3572,0,0,0,0,0,0,26.12,26.18,26.17
$GC,3593,-1.04,-194.6,2353,2701,3701,3573,501.9,-13.5,233,3599,0.10,0.00,0.00,0.000,4102,0.093,0.000,2289,2699,3635,3699,3572,0,0,0,0,0,0,26.05,26.14,26.12
$GC,3893,-1.01,-194.6,2289,2699,3700,3572,551.5,-16.5,243,3901,0.10,1.80,0.00,0.000,2308,0.174,0.037,2306,3853,3635,3698,3572,0,0,0,0,0,0,25.89,26.03,26.03
$GC,3950,-0.98,-194.6,2306,3853,3699,3572,560.9,-16.5,245,3957,0.00,1.70,0.00,0.000,1030,0.000,0.022,2306,2694,3635,3698,3573,0,0,0,0,0,0,26.15,26.13,26.16
$GC,4282,-0.96,-194.6,2306,2695,3698,3574,611.0,-14.9,256,4287,0.10,0.00,0.00,0.000,2054,0.165,0.000,2328,2694,3634,3697,3572,0,0,0,0,0,0,25.91,26.09,26.04
$GC,4581,-0.96,-194.6,2329,2695,3696,3574,651.7,-13.6,266,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2694,3633,3695,3572,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4881,-0.96,-194.6,2329,2695,3696,3573,694.5,-14.2,276,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2694,3633,3695,3572,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5181,-0.96,-194.6,2329,2694,3694,3573,738.7,-15.0,286,5188,0.00,1.80,0.00,0.000,260,0.000,0.040,2323,3844,3632,3693,3572,0,0,0,0,0,0,26.10,26.03,26.16
$GC,5227,-0.96,-194.6,2323,3847,3694,3573,743.4,-15.0,287,5235,0.00,1.70,0.00,0.000,1030,0.000,0.023,2322,2693,3632,3693,3572,0,0,0,0,0,0,26.14,26.13,26.17
$GC,5544,-0.96,-194.6,2323,2694,3693,3574,794.6,-15.3,298,5551,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3844,3632,3692,3572,0,0,0,0,0,0,26.10,26.02,26.16
$GC,5576,-0.96,-194.6,2324,3845,3693,3572,799.4,-15.4,299,5583,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2696,3632,3692,3572,0,0,0,0,0,0,26.14,26.12,26.15
$GC,5907,-0.96,-194.6,2319,2694,3691,3572,847.7,-14.1,310,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3631,3690,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,6207,-0.96,-194.6,2319,2694,3691,3572,887.8,-13.1,320,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3630,3689,3572,0,0,0,0,0,0,26.08,26.14,26.13
$GC,6507,-0.96,-194.6,2320,2695,3690,3573,927.4,-13.4,330,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3630,3689,3572,0,0,0,0,0,0,26.08,26.15,26.15
$STATE,6685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6685,begin apogee
$GC,6689,-0.25,0.0,2320,2807,3690,3572,951.2,-13.2,336,6933,0.75,0.00,234.80,0.863,10246,0.118,0.000,2552,2807,2838,2874,2803,0,0,0,0,0,0,25.79,24.44,23.84
$STATE,6933,end apogee,CONTROL_FINISHED_OK
$STATE,6934,begin climb
$GC,6935,0.89,194.6,2553,2807,2870,2796,964.8,0.0,344,7113,1.05,2.33,165.02,1.052,11012,0.052,0.022,2931,1417,2037,2073,2001,0,0,0,0,0,0,24.60,23.91,23.22
$GC,7182,0.83,311.0,2932,1418,2063,1990,960.9,6.3,352,7296,0.00,2.22,100.97,1.037,9222,0.000,0.026,2931,2797,1560,1603,1517,0,0,0,0,0,0,24.93,24.89,23.40
$GC,7592,0.83,311.0,2932,2798,1593,1501,906.8,13.4,366,7599,0.00,1.65,0.00,0.000,260,0.000,0.040,2931,3851,1546,1593,1500,0,0,0,0,0,0,25.78,25.75,25.84
$GC,7638,0.82,311.0,2932,3853,1593,1501,902.1,13.6,367,7645,0.00,1.52,0.00,0.000,1030,0.000,0.023,2932,2783,1546,1592,1500,0,0,0,0,0,0,25.91,25.89,25.92
$GC,7954,0.82,311.0,2931,2782,1592,1498,855.9,13.7,378,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2783,1544,1590,1498,0,0,0,0,0,0,26.08,26.13,26.13
$GC,8254,0.82,311.0,2932,2784,1591,1499,815.0,13.6,388,8261,0.00,1.67,0.00,0.000,260,0.000,0.040,2932,3854,1544,1590,1498,0,0,0,0,0,0,26.11,26.08,26.17
$GC,8290,0.80,311.0,2932,3856,1591,1499,810.6,13.6,389,8297,0.00,1.50,0.00,0.000,1030,0.000,0.023,2932,2790,1542,1590,1494,0,0,0,0,0,0,26.17,26.15,26.18
$GC,8617,0.80,311.0,2932,2792,1590,1499,766.5,12.9,400,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2790,1543,1589,1497,0,0,0,0,0,0,26.13,26.20,26.19
$GC,8917,0.80,311.0,2932,2791,1587,1497,729.6,12.3,410,8924,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3851,1543,1589,1497,0,0,0,0,0,0,26.13,26.08,26.19
$GC,8968,0.78,311.0,2932,3852,1590,1499,725.6,12.3,411,8976,0.05,1.52,0.00,0.000,5126,0.156,0.024,2917,2810,1543,1589,1497,0,0,0,0,0,0,25.94,26.15,26.03
$GC,9280,0.78,311.0,2917,2810,1590,1497,685.8,11.9,422,9288,0.00,2.10,0.00,0.000,516,0.000,0.025,2919,1416,1543,1589,1497,0,0,0,0,0,0,26.16,26.11,26.20
$GC,9312,0.78,311.0,2918,1417,1589,1498,682.2,11.8,423,9320,0.00,2.12,0.00,0.000,1030,0.000,0.027,2918,2806,1542,1588,1497,0,0,0,0,0,0,26.17,26.10,26.17
$GC,9639,0.78,311.0,2918,2806,1589,1497,642.8,12.1,434,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2806,1542,1588,1497,0,0,0,0,0,0,26.12,26.19,26.18
$GC,9939,0.78,311.0,2919,2807,1589,1498,609.4,10.8,444,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2806,1542,1588,1497,0,0,0,0,0,0,26.12,26.20,26.17
$GC,10239,0.78,319.2,2919,2807,1589,1498,578.4,10.3,454,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2806,1543,1589,1497,0,0,0,0,0,0,26.13,26.20,26.19
$GC,10539,0.78,322.3,2919,2807,1589,1499,547.5,10.4,464,10547,0.00,0.00,1.73,0.208,8198,0.000,0.000,2919,2806,1522,1568,1477,0,0,0,0,0,0,26.13,25.96,25.71
$GC,10839,0.78,322.3,2919,2807,1587,1488,515.6,10.9,474,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2806,1536,1586,1487,0,0,0,0,0,0,26.10,26.17,26.16
$GC,11139,0.78,322.3,2924,2808,1587,1487,480.9,11.7,484,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2806,1536,1585,1487,0,0,0,0,0,0,26.10,26.17,26.16
$GC,11439,0.78,322.3,2919,2807,1586,1488,445.5,11.7,494,11446,0.00,1.60,0.00,0.000,260,0.000,0.041,2918,3847,1536,1585,1487,0,0,0,0,0,0,26.12,26.03,26.16
$GC,11475,0.78,322.3,2919,3848,1586,1488,441.5,12.0,495,11483,0.00,1.50,0.00,0.000,1030,0.000,0.024,2923,2792,1536,1586,1487,0,0,0,0,0,0,26.16,26.14,26.17
$GC,11802,0.78,322.3,2923,2791,1587,1486,401.4,11.7,506,11809,0.00,1.67,0.00,0.000,260,0.000,0.040,2923,3840,1536,1586,1487,0,0,0,0,0,0,26.10,26.03,26.16
$GC,11858,0.78,322.3,2923,3841,1587,1486,397.6,11.8,507,11868,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2781,1536,1586,1486,0,0,0,0,0,0,26.16,26.13,26.17
$GC,12163,0.78,322.3,2931,2781,1587,1487,357.3,12.0,518,12171,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3857,1536,1586,1487,0,0,0,0,0,0,26.10,26.03,26.15
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$STATE,15338,end climb,SURFACE_DEPTH_REACHED
$STATE,15338,begin surface coast
$FINISH,0.8,1.023762
$STATE,15353,end surface coast,CONTROL_FINISHED_OK
$STATE,15353,begin surface
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$IRIDIUM_FIX,5617.48,-15053.68,310508,080357
$TT8_MAMPS,0.056175,0.056175
$HUMID,38.42
$INTERNAL_PRESSURE,8.7929
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15385.56 7239.48
$PA_BOOTCOUNT,442
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$PA_HOME,0.01/0.210/27.046/25.462
$PA_DISK_BANK,2
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$10V_AH,10.21,35.504
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,143092
$DATA_FILE_SIZE,33445,810
$CAP_FILE_SIZE,128794,0
$CFSIZE,1024393216,983154688
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$GPS,040815,225937,5637.841,-15052.026,25,0.8,28,16.5,0.8,7.1,10,8.3