version: 66.12
glider: 203
mission: 8
dive: 33
start: 7 16 115 6 27 40
data:
$ID,203
$MISSION,8
$DIVE,33
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,-2
$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,100
$R_STBD_OVSHOOT,49
$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,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,-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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,160715,062235,5830.7861,-14645.8691,24,1.0,26,18.1,0.4,12.4,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.9
$GPS2,160715,062729,5830.7930,-14645.8906,6,1.0,11,18.1,0.5,16.2,9,9.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,136.6,16477,-18.0,-11.000,-19.55,2718
$D_GRID,4285
$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,-0.92,-194.6,182,2683,776,645,0.0,0.0,0,158,0.00,0.00,-59.15,0.000,16386,0.000,0.000,180,2683,2275,2309,2241,0,0,0,0,0,0,26.86,28.83,26.94
$GC,160,-0.92,-194.6,181,2683,2311,2241,3.3,-4.7,8,204,8.27,1.75,-29.83,0.000,18692,0.239,0.056,2329,3848,3634,3700,3568,0,0,0,0,0,0,26.48,26.22,26.68
$GC,229,-0.81,-194.6,2330,3849,3701,3573,18.8,-24.4,18,235,0.12,1.62,0.00,0.000,3078,0.142,0.022,2368,2713,3635,3699,3572,0,0,0,0,0,0,26.58,26.77,26.75
$GC,545,-0.81,-194.6,2368,2711,3701,3576,82.5,-19.2,64,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2713,3637,3700,3575,0,0,0,0,0,0,26.98,27.05,27.05
$GC,846,-0.81,-194.6,2368,2713,3700,3580,136.7,-16.6,94,853,0.00,2.00,0.00,0.000,516,0.000,0.024,2368,1325,3639,3701,3578,0,0,0,0,0,0,27.05,26.90,27.12
$GC,892,-0.83,-194.6,2365,1324,3701,3577,143.6,-16.2,98,903,0.00,2.03,0.00,0.000,1030,0.000,0.027,2363,2708,3639,3701,3578,0,0,0,0,0,0,26.96,26.91,26.97
$GC,1198,-0.85,-194.6,2363,2710,3702,3579,186.4,-12.9,129,1205,0.00,1.67,0.00,0.000,260,0.000,0.041,2356,3848,3639,3700,3578,0,0,0,0,0,0,27.11,26.94,27.17
$GC,1239,-0.85,-194.6,2357,3850,3702,3579,191.8,-13.1,133,1246,0.00,1.60,0.00,0.000,1030,0.000,0.024,2356,2698,3639,3701,3578,0,0,0,0,0,0,27.03,27.01,27.03
$GC,1551,-0.85,-194.6,2356,2699,3701,3579,234.1,-13.5,164,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2698,3639,3700,3578,0,0,0,0,0,0,27.16,27.23,27.22
$GC,1851,-0.86,-194.6,2356,2699,3700,3586,275.3,-13.6,182,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2702,3638,3699,3577,0,0,0,0,0,0,27.19,27.26,27.25
$GC,2151,-0.88,-194.6,2356,2698,3698,3577,316.2,-13.5,192,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2698,3637,3698,3577,0,0,0,0,0,0,27.22,27.29,27.28
$GC,2451,-0.90,-194.6,2356,2698,3705,3577,354.7,-12.6,202,2458,0.00,1.70,0.00,0.000,260,0.000,0.041,2349,3844,3637,3698,3577,0,0,0,0,0,0,27.24,27.05,27.30
$GC,2492,-0.92,-194.6,2349,3844,3696,3577,358.8,-12.5,203,2500,0.00,1.60,0.00,0.000,1030,0.000,0.024,2349,2690,3636,3695,3577,0,0,0,0,0,0,27.15,27.13,27.16
$GC,2814,-0.94,-194.6,2350,2691,3695,3579,400.7,-12.5,214,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2690,3635,3693,3578,0,0,0,0,0,0,27.26,27.33,27.32
$GC,3114,-0.95,-194.6,2349,2690,3694,3577,439.6,-13.1,224,3121,0.00,1.73,0.00,0.000,260,0.000,0.041,2341,3851,3634,3692,3577,0,0,0,0,0,0,27.27,27.09,27.34
$GC,3170,-0.97,-194.6,2341,3852,3693,3582,444.0,-13.3,225,3181,0.00,1.60,0.00,0.000,1030,0.000,0.024,2341,2687,3634,3691,3577,0,0,0,0,0,0,27.19,27.16,27.20
$GC,3476,-0.97,-194.6,2341,2688,3691,3579,490.5,-14.0,236,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2687,3633,3690,3577,0,0,0,0,0,0,27.29,27.36,27.35
$GC,3776,-0.97,-194.6,2341,2687,3690,3577,530.7,-13.3,246,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2687,3633,3689,3577,0,0,0,0,0,0,27.29,27.37,27.36
$GC,4076,-0.99,-194.6,2341,2688,3689,3578,571.5,-13.6,256,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2687,3632,3687,3577,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4376,-1.01,-194.6,2341,2686,3688,3577,612.5,-13.5,266,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2687,3632,3687,3577,0,0,0,0,0,0,27.32,27.39,27.39
$GC,4676,-1.03,-194.6,2341,2687,3687,3578,653.3,-13.6,276,4685,0.00,1.73,0.00,0.000,260,0.000,0.042,2335,3846,3631,3686,3577,0,0,0,0,0,0,27.32,27.15,27.39
$GC,4739,-1.05,-194.6,2335,3847,3687,3578,662.0,-13.6,278,4746,0.00,1.58,0.00,0.000,1030,0.000,0.025,2335,2710,3631,3686,3577,0,0,0,0,0,0,27.24,27.21,27.25
$GC,5071,-1.06,-194.6,2336,2710,3685,3577,707.5,-13.5,289,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2710,3631,3685,3577,0,0,0,0,0,0,27.33,27.38,27.39
$GC,5371,-1.08,-194.6,2335,2709,3685,3577,746.1,-12.5,299,5378,0.00,1.70,0.00,0.000,260,0.000,0.041,2328,3852,3630,3683,3577,0,0,0,0,0,0,27.34,27.15,27.40
$GC,5412,-1.10,-194.6,2328,3853,3684,3575,750.3,-12.6,300,5419,0.00,1.60,0.00,0.000,1030,0.000,0.025,2328,2686,3630,3683,3577,0,0,0,0,0,0,27.25,27.22,27.27
$GC,5733,-1.10,-194.6,2328,2687,3683,3579,792.2,-12.6,311,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2686,3629,3682,3577,0,0,0,0,0,0,27.34,27.41,27.41
$GC,6033,-1.10,-194.6,2328,2686,3682,3577,830.2,-12.4,321,6040,0.00,1.73,0.00,0.000,260,0.000,0.041,2322,3850,3629,3681,3577,0,0,0,0,0,0,27.35,27.17,27.41
$GC,6089,-1.10,-194.6,2322,3852,3682,3578,834.4,-12.4,322,6099,0.00,1.58,0.00,0.000,1030,0.000,0.024,2321,2704,3629,3681,3577,0,0,0,0,0,0,27.27,27.23,27.28
$GC,6394,-1.10,-194.6,2321,2703,3681,3577,880.1,-13.7,333,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2704,3628,3680,3577,0,0,0,0,0,0,27.35,27.42,27.41
$GC,6694,-1.10,-194.6,2322,2704,3682,3577,921.9,-13.9,343,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2704,3628,3680,3577,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6994,-1.10,-194.6,2322,2705,3681,3578,963.0,-13.3,353,7001,0.00,1.70,0.00,0.000,260,0.000,0.042,2320,3846,3628,3680,3577,0,0,0,0,0,0,27.36,27.16,27.42
$GC,7026,-1.10,-194.6,2320,3846,3680,3577,967.2,-13.3,354,7033,0.00,1.58,0.00,0.000,1030,0.000,0.025,2320,2711,3628,3679,3577,0,0,0,0,0,0,27.27,27.24,27.30
$STATE,7205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7206,begin apogee
$GC,7209,-0.25,0.0,2320,2811,3679,3578,991.3,-13.1,360,7392,0.73,0.00,169.73,1.509,10246,0.125,0.000,2556,2812,2841,2881,2802,0,0,0,0,1,0,27.08,24.56,23.70
$STATE,7393,end apogee,CONTROL_FINISHED_OK
$STATE,7393,begin climb
$GC,7394,0.92,194.6,2557,2814,2898,2801,1001.4,0.0,366,7574,1.05,2.25,166.98,1.081,11012,0.055,0.024,2932,1416,2035,2075,1995,0,0,0,0,0,0,24.82,24.53,23.91
$GC,7718,0.89,259.4,2933,1417,2066,1986,993.1,8.6,376,7787,0.00,2.12,55.03,1.057,9222,0.000,0.028,2931,2787,1770,1814,1727,0,0,0,0,0,0,25.67,25.63,24.18
$GC,8084,0.86,259.4,2932,2790,1805,1714,947.0,12.5,389,8091,0.00,1.65,0.00,0.000,260,0.000,0.041,2932,3856,1758,1804,1713,0,0,0,0,0,0,26.16,25.99,26.23
$GC,8140,0.83,259.4,2933,3857,1804,1714,942.7,12.7,390,8152,0.00,1.52,0.00,0.000,1030,0.000,0.024,2932,2773,1757,1803,1712,0,0,0,0,0,0,26.16,26.13,26.19
$GC,8446,0.80,259.4,2933,2772,1804,1718,900.4,12.5,401,8453,0.00,1.67,0.00,0.000,260,0.000,0.042,2932,3858,1757,1803,1712,0,0,0,0,0,0,26.54,26.37,26.61
$GC,8479,0.77,259.4,2931,3858,1803,1710,896.1,12.8,402,8486,0.10,1.50,0.00,0.000,5126,0.197,0.025,2913,2782,1756,1801,1711,0,0,0,0,0,0,26.27,26.45,26.46
$GC,8811,0.77,280.2,2913,2782,1804,1710,859.8,10.2,413,8835,0.00,0.00,17.20,1.004,8198,0.000,0.000,2912,2783,1695,1740,1651,0,0,0,0,0,0,26.74,26.13,25.55
$GC,9110,0.77,288.7,2913,2784,1726,1633,828.0,10.7,423,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2783,1678,1725,1631,0,0,0,0,0,0,26.65,26.72,26.71
$GC,9410,0.78,311.9,2913,2784,1727,1633,798.8,10.1,433,9447,0.00,1.70,28.23,0.961,8452,0.000,0.042,2912,3841,1559,1605,1513,0,0,0,0,0,0,26.80,26.02,25.44
$GC,9507,0.75,311.9,2913,3841,1598,1501,788.3,11.1,436,9515,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2778,1548,1596,1501,0,0,0,0,0,0,26.27,26.24,26.29
$GC,9834,0.75,311.9,2918,2777,1596,1497,749.3,11.9,447,9842,0.00,1.65,0.00,0.000,260,0.000,0.041,2918,3851,1547,1596,1498,0,0,0,0,0,0,26.67,26.49,26.74
$GC,9867,0.75,311.9,2918,3852,1596,1498,745.1,12.2,448,9874,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2768,1546,1595,1497,0,0,0,0,0,0,26.60,26.58,26.62
$GC,10202,0.75,311.9,2919,2767,1596,1497,704.3,12.3,459,10209,0.00,1.65,0.00,0.000,260,0.000,0.041,2918,3849,1548,1595,1501,0,0,0,0,0,0,26.84,26.66,26.91
$GC,10238,0.75,311.9,2919,3852,1596,1499,699.7,12.5,460,10246,0.08,1.50,0.00,0.000,5126,0.217,0.025,2911,2766,1546,1595,1497,0,0,0,0,0,0,26.57,26.74,26.71
$GC,10565,0.75,311.9,2911,2767,1597,1499,661.1,11.4,471,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2766,1546,1595,1497,0,0,0,0,0,0,26.94,27.02,27.01
$GC,10865,0.75,311.9,2911,2767,1596,1498,627.5,11.1,481,10872,0.00,1.65,0.00,0.000,260,0.000,0.042,2911,3855,1545,1594,1497,0,0,0,0,0,0,27.01,26.82,27.08
$GC,10886,0.75,311.9,2912,3856,1595,1499,627.5,11.1,481,10893,0.00,1.50,0.00,0.000,1030,0.000,0.025,2917,2767,1545,1594,1497,0,0,0,0,0,0,26.93,26.89,26.94
$GC,11198,0.75,311.9,2918,2768,1595,1498,590.4,11.0,492,11205,0.00,1.95,0.00,0.000,516,0.000,0.027,2919,1428,1545,1594,1496,0,0,0,0,0,0,27.05,26.91,27.13
$GC,11229,0.76,316.0,2919,1429,1595,1498,587.6,10.8,493,11236,0.00,2.05,0.00,0.000,1030,0.000,0.029,2919,2813,1545,1594,1497,0,0,0,0,0,0,26.96,26.91,26.97
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$STATE,16272,end climb,SURFACE_DEPTH_REACHED
$STATE,16272,begin surface coast
$FINISH,0.4,1.009091
$STATE,16292,end surface coast,CONTROL_FINISHED_OK
$STATE,16292,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16321.83 7651.52
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$10V_AH,9.94,20.821
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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