version: 66.12
glider: 203
mission: 6
dive: 159
start: 1 11 115 12 58 19
data:
$ID,203
$MISSION,6
$DIVE,159
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,4
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$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,-63.024231
$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
$GPS1,110115,125233,1919.7722,-15700.6963,32,0.8,32,9.5,0.0,0.0,10,21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-65.8
$GPS2,110115,125808,1919.7653,-15700.6543,6,0.8,6,9.5,0.0,0.0,10,12.0
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H7
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,304.8,135387,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.90,-155.7,200,2801,1018,919,0.0,0.0,0,135,0.00,0.00,-34.97,0.000,16386,0.000,0.000,199,2800,1992,2015,1969,0,0,0,0,0,0,26.12,28.83,26.20
$GC,136,-0.90,-155.7,200,2800,2018,1969,3.1,-3.1,4,188,8.73,1.55,-35.12,0.000,18948,0.208,0.044,2505,1769,3243,3306,3181,0,0,0,0,0,0,25.71,24.46,25.99
$GC,219,-0.90,-155.7,2504,1768,3308,3185,13.2,-21.4,16,230,0.00,1.60,0.00,0.000,1030,0.000,0.034,2497,2799,3245,3307,3183,0,0,0,0,0,0,26.10,26.08,26.13
$GC,538,-0.90,-155.7,2500,2798,3308,3185,92.6,-23.6,60,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2799,3245,3307,3184,0,0,0,0,0,0,26.20,26.27,26.26
$GC,839,-0.90,-155.7,2500,2798,3310,3187,150.1,-18.2,90,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2798,3248,3309,3187,0,0,0,0,0,0,26.22,26.29,26.28
$GC,1138,-0.90,-155.7,2501,2800,3313,3189,203.5,-16.0,120,1145,0.00,1.50,0.00,0.000,516,0.000,0.022,2501,1748,3249,3312,3187,0,0,0,0,0,0,26.23,26.23,26.29
$GC,1190,-0.90,-155.7,2501,1748,3313,3188,211.9,-16.0,125,1197,0.03,1.62,0.00,0.000,3078,0.178,0.033,2500,2806,3250,3312,3188,0,0,0,0,0,0,26.05,26.17,26.08
$GC,1502,-0.90,-155.7,2501,2808,3313,3192,259.7,-14.7,152,1509,0.00,1.62,0.00,0.000,260,0.000,0.044,2496,3847,3251,3312,3190,0,0,0,0,0,0,26.25,26.14,26.30
$GC,1538,-0.90,-155.7,2495,3847,3313,3190,264.5,-15.0,153,1548,0.00,1.50,0.00,0.000,1030,0.000,0.024,2495,2825,3251,3312,3190,0,0,0,0,0,0,26.27,26.25,26.27
$GC,1868,-0.90,-155.7,2495,2826,3313,3192,314.9,-14.8,164,1875,0.00,1.58,0.00,0.000,260,0.000,0.045,2487,3852,3251,3312,3190,0,0,0,0,0,0,26.25,26.15,26.31
$GC,1909,-0.90,-155.7,2487,3852,3313,3190,320.1,-15.1,165,1917,0.10,1.50,0.00,0.000,3078,0.160,0.024,2510,2800,3250,3312,3189,0,0,0,0,0,0,26.02,26.25,26.15
$GC,2232,-0.90,-155.7,2510,2806,3313,3190,366.5,-14.7,176,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2800,3251,3313,3190,0,0,0,0,0,0,26.25,26.32,26.30
$GC,2531,-0.90,-155.7,2510,2799,3312,3190,408.4,-13.3,186,2538,0.00,1.62,0.00,0.000,260,0.000,0.047,2504,3850,3250,3310,3190,0,0,0,0,0,0,26.25,26.13,26.31
$GC,2597,-0.90,-155.7,2505,3850,3311,3190,416.6,-13.4,188,2606,0.00,1.50,0.00,0.000,1030,0.000,0.024,2504,2825,3250,3310,3190,0,0,0,0,0,0,26.29,26.27,26.29
$GC,2925,-0.90,-155.7,2505,2825,3306,3190,455.6,-10.9,199,2932,0.00,1.60,0.00,0.000,260,0.000,0.047,2498,3853,3247,3305,3190,0,0,0,0,0,0,26.24,26.13,26.30
$GC,2986,-0.90,-155.7,2498,3853,3305,3190,462.5,-10.8,201,2994,0.00,1.50,0.00,0.000,1030,0.000,0.026,2498,2834,3246,3303,3190,0,0,0,0,0,0,26.26,26.25,26.27
$GC,3318,-0.90,-155.7,2498,2834,3301,3191,500.4,-11.8,212,3325,0.00,1.55,0.00,0.000,516,0.000,0.024,2498,1750,3245,3300,3190,0,0,0,0,0,0,26.25,26.22,26.32
$GC,3374,-0.90,-155.7,2498,1750,3300,3191,504.3,-11.9,213,3384,0.00,1.65,0.00,0.000,1030,0.000,0.037,2497,2833,3244,3299,3190,0,0,0,0,0,0,26.22,26.16,26.25
$GC,3680,-0.90,-155.7,2497,2834,3296,3190,544.2,-11.9,224,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2833,3242,3295,3190,0,0,0,0,0,0,26.22,26.29,26.29
$GC,3980,-0.90,-155.7,2497,2832,3291,3190,580.4,-12.1,234,3988,0.00,1.58,0.00,0.000,260,0.000,0.048,2497,3849,3240,3290,3190,0,0,0,0,0,0,26.22,26.08,26.28
$GC,4017,-0.90,-155.7,2497,3850,3290,3191,584.4,-12.3,235,4023,0.00,1.50,0.00,0.000,1030,0.000,0.027,2497,2807,3239,3289,3189,0,0,0,0,0,0,26.25,26.21,26.26
$GC,4343,-0.90,-155.7,2497,2809,3287,3190,622.8,-11.1,246,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2808,3238,3286,3190,0,0,0,0,0,0,26.20,26.28,26.27
$GC,4642,-0.90,-155.7,2497,2807,3283,3189,653.8,-10.3,256,4650,0.00,1.65,0.00,0.000,260,0.000,0.047,2489,3853,3235,3281,3189,0,0,0,0,0,0,26.20,26.06,26.27
$GC,4698,-0.90,-155.7,2489,3854,3282,3190,657.2,-10.5,257,4709,0.10,1.50,0.00,0.000,3078,0.161,0.028,2511,2820,3234,3281,3188,0,0,0,0,0,0,25.94,26.19,26.06
$GC,5005,-0.90,-155.7,2511,2817,3281,3185,692.8,-10.7,268,5013,0.00,1.62,0.00,0.000,260,0.000,0.049,2506,3849,3233,3280,3186,0,0,0,0,0,0,26.19,26.04,26.25
$GC,5107,-0.90,-155.7,2512,3849,3281,3184,703.0,-10.9,271,5114,0.00,1.50,0.00,0.000,1030,0.000,0.028,2506,2811,3232,3280,3185,0,0,0,0,0,0,26.21,26.18,26.22
$GC,5428,-0.90,-155.7,2506,2811,3279,3183,738.1,-10.0,282,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2811,3230,3278,3183,0,0,0,0,0,0,26.17,26.25,26.25
$GC,5728,-0.90,-155.7,2506,2811,3277,3182,767.7,-10.1,292,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2810,3229,3276,3182,0,0,0,0,0,0,26.17,26.25,26.24
$GC,6028,-0.90,-155.7,2506,2811,3275,3181,798.5,-10.6,302,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2811,3227,3273,3181,0,0,0,0,0,0,26.16,26.25,26.22
$GC,6328,-0.90,-155.7,2506,2811,3272,3180,831.7,-11.3,312,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2811,3226,3271,3181,0,0,0,0,0,0,26.15,26.23,26.22
$GC,6628,-0.90,-155.7,2506,2812,3271,3181,867.2,-11.9,322,6635,0.00,1.65,0.00,0.000,260,0.000,0.050,2499,3847,3224,3270,3179,0,0,0,0,0,0,26.17,25.98,26.23
$GC,6689,-0.90,-155.7,2499,3850,3270,3179,874.8,-12.1,324,6696,0.00,1.48,0.00,0.000,1030,0.000,0.028,2499,2870,3221,3264,3179,0,0,0,0,0,0,26.15,26.10,26.16
$GC,7020,-0.90,-155.7,2499,2870,3269,3178,913.3,-11.1,335,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2870,3222,3267,3178,0,0,0,0,0,0,26.12,26.20,26.19
$GC,7320,-0.90,-155.7,2498,2869,3267,3180,945.8,-10.6,345,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2870,3221,3266,3177,0,0,0,0,0,0,26.13,26.20,26.19
$GC,7620,-0.90,-155.7,2499,2871,3265,3177,978.0,-10.7,355,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2870,3220,3265,3176,0,0,0,0,0,0,26.12,26.20,26.18
$STATE,7738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7739,begin apogee
$GC,7742,-0.19,0.0,2499,2949,3265,3175,991.2,-11.0,359,7875,0.77,0.00,126.43,1.060,10244,0.116,0.000,2740,2950,2606,2647,2566,0,0,0,0,0,0,25.72,24.91,24.22
$STATE,7876,end apogee,CONTROL_FINISHED_OK
$STATE,7876,begin climb
$GC,7878,0.90,155.7,2740,2950,2642,2559,996.2,0.0,363,8019,0.98,1.52,129.70,1.055,10500,0.069,0.054,3095,3840,1969,2009,1929,0,0,0,0,0,0,25.06,25.07,23.58
$GC,8243,0.90,155.7,3095,3841,1993,1913,972.7,10.2,375,8254,0.00,1.35,0.00,0.000,1030,0.000,0.027,3102,2949,1952,1993,1911,0,0,0,0,0,0,25.82,25.80,25.83
$GC,8548,0.90,155.7,3102,2950,1993,1911,940.8,9.7,386,8557,0.00,1.52,0.00,0.000,516,0.000,0.024,3109,1898,1951,1992,1910,0,0,0,0,0,0,26.10,26.09,26.17
$GC,8676,0.90,155.7,3108,1897,1992,1910,928.8,9.7,390,8683,0.00,1.62,0.00,0.000,1030,0.000,0.037,3109,2952,1950,1991,1910,0,0,0,0,0,0,26.17,26.10,26.22
$GC,9002,0.90,155.7,3109,2953,1990,1910,894.8,10.4,401,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2953,1948,1989,1908,0,0,0,0,0,0,26.19,26.26,26.25
$GC,9302,0.90,155.7,3108,2953,1990,1909,862.9,10.8,411,9310,0.00,1.45,0.00,0.000,260,0.000,0.049,3108,3846,1948,1988,1908,0,0,0,0,0,0,26.17,26.06,26.24
$GC,9429,0.90,155.7,3109,3846,1989,1907,848.7,11.5,415,9436,0.00,1.33,0.00,0.000,1030,0.000,0.028,3115,2956,1947,1987,1907,0,0,0,0,0,0,26.18,26.17,26.20
$GC,9756,0.90,155.7,3116,2957,1984,1908,809.2,12.1,426,9766,0.00,1.58,0.00,0.000,516,0.000,0.024,3122,1892,1946,1987,1906,0,0,0,0,0,0,26.17,26.14,26.24
$GC,9790,0.90,155.7,3123,1893,1988,1908,805.0,12.1,427,9798,0.00,1.70,0.00,0.000,1030,0.000,0.036,3122,2955,1947,1987,1907,0,0,0,0,0,0,26.12,26.08,26.14
$GC,10123,0.90,155.7,3123,2956,1987,1915,765.4,11.7,438,10132,0.00,1.45,0.00,0.000,260,0.000,0.048,3122,3850,1946,1986,1907,0,0,0,0,0,0,26.15,26.03,26.21
$GC,10201,0.90,155.7,3122,3851,1986,1908,757.8,11.7,440,10208,0.00,1.35,0.00,0.000,1030,0.000,0.028,3128,2948,1945,1985,1906,0,0,0,0,0,0,26.19,26.14,26.17
$GC,10517,0.90,155.7,3129,2949,1986,1907,722.1,10.3,451,10528,0.00,1.55,0.00,0.000,516,0.000,0.024,3136,1886,1945,1985,1906,0,0,0,0,0,0,26.13,26.11,26.20
$GC,10582,0.90,155.7,3136,1887,1986,1907,715.7,10.2,453,10591,0.00,1.65,0.00,0.000,1030,0.000,0.037,3136,2946,1945,1985,1906,0,0,0,0,0,0,26.10,26.03,26.13
$GC,10916,0.90,155.7,3136,2946,1986,1906,680.8,10.1,464,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2946,1945,1984,1906,0,0,0,0,0,0,26.11,26.19,26.20
$GC,11215,0.90,155.7,3136,2946,1986,1906,651.4,10.1,474,11222,0.00,1.48,0.00,0.000,260,0.000,0.049,3136,3853,1945,1985,1906,0,0,0,0,0,0,26.12,25.98,26.19
$GC,11446,0.90,155.7,3136,3853,1986,1907,627.2,11.5,481,11456,0.05,1.35,0.00,0.000,5126,0.176,0.028,3125,2946,1945,1985,1905,0,0,0,0,0,0,25.82,26.06,25.88
$GC,11760,0.90,155.7,3126,2946,1986,1905,591.7,10.9,492,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2946,1945,1985,1905,0,0,0,0,0,0,26.09,26.17,26.16
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$GC,14790,1.01,155.7,3136,1893,1986,1905,316.6,8.1,592,14798,0.00,1.67,0.00,0.000,1030,0.000,0.037,3135,2947,1944,1983,1905,0,0,0,0,0,0,25.96,25.93,26.00
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$STATE,17825,end climb,SURFACE_DEPTH_REACHED
$STATE,17825,begin surface coast
$FINISH,1.4,0.998467
$STATE,17841,end surface coast,CONTROL_FINISHED_OK
$STATE,17841,begin surface
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$IRIDIUM_FIX,1909.23,-15659.79,110115,090353
$TT8_MAMPS,0.060669,0.060669
$HUMID,37.36
$INTERNAL_PRESSURE,9.1463
$TCM_TEMP,24.90
$XPDR_PINGS,2
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17863.66 8615.28
$PA_BOOTCOUNT,239
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$10V_AH,10.24,34.345
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,287756
$DATA_FILE_SIZE,36806,888
$CAP_FILE_SIZE,202579,0
$CFSIZE,1024393216,1002749952
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