version: 66.12
glider: 203
mission: 8
dive: 48
start: 7 19 115 3 26 52
data:
$ID,203
$MISSION,8
$DIVE,48
$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,92
$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,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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,190715,031734,5819.7065,-14745.3994,36,0.7,36,17.8,0.5,26.5,11,6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.7
$GPS2,190715,032641,5819.7549,-14745.5752,5,0.8,11,17.8,0.5,293.1,11,8.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,258.2,19173,-18.0,-11.000,-19.55,2718
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.92,-194.6,184,2707,977,873,0.0,0.0,0,143,0.00,0.00,-43.00,0.000,16386,0.000,0.000,185,2707,2079,2116,2043,0,0,0,0,0,0,25.92,28.83,25.99
$GC,145,-0.92,-194.6,184,2709,2118,2045,3.1,-3.6,6,201,8.48,1.83,-37.65,0.000,18692,0.233,0.055,2329,3852,3635,3703,3567,0,0,0,0,0,0,25.78,25.46,25.96
$GC,284,-0.82,-194.6,2330,3852,3704,3572,32.0,-24.4,26,300,0.15,1.65,0.00,0.000,3078,0.155,0.021,2366,2676,3637,3703,3572,0,0,0,0,0,0,25.94,26.01,26.04
$GC,607,-0.82,-194.6,2366,2676,3704,3575,89.8,-17.1,64,615,0.00,1.98,0.00,0.000,516,0.000,0.024,2366,1345,3639,3703,3575,0,0,0,0,0,0,26.06,26.08,26.10
$GC,729,-0.82,-194.6,2366,1346,3704,3577,108.4,-15.1,76,737,0.00,2.05,0.00,0.000,1030,0.000,0.026,2362,2703,3639,3702,3576,0,0,0,0,0,0,26.13,26.09,26.13
$GC,1034,-0.82,-194.6,2362,2704,3704,3577,154.4,-15.5,106,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2703,3639,3702,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,1336,-0.82,-194.6,2366,2703,3704,3575,198.1,-14.2,136,1344,0.00,2.03,0.00,0.000,516,0.000,0.023,2362,1347,3639,3703,3575,0,0,0,0,0,0,26.10,26.13,26.15
$GC,1393,-0.85,-194.6,2362,1346,3704,3575,205.7,-14.0,141,1403,0.00,2.05,0.00,0.000,1030,0.000,0.026,2352,2706,3639,3703,3576,0,0,0,0,0,0,26.16,26.13,26.17
$GC,1698,-0.85,-194.6,2353,2704,3704,3575,249.8,-14.2,172,1705,0.00,1.73,0.00,0.000,260,0.000,0.039,2344,3846,3642,3702,3583,0,0,0,0,0,0,26.09,26.11,26.15
$GC,1749,-0.85,-194.6,2344,3847,3703,3575,254.4,-14.4,174,1757,0.05,1.65,0.00,0.000,3078,0.141,0.022,2359,2722,3638,3702,3575,0,0,0,0,0,0,26.05,26.13,26.17
$GC,2062,-0.87,-194.6,2360,2722,3702,3575,297.2,-12.9,185,2070,0.00,2.08,0.00,0.000,516,0.000,0.023,2359,1324,3637,3700,3575,0,0,0,0,0,0,26.10,26.13,26.15
$GC,2094,-0.90,-194.6,2360,1325,3700,3577,301.4,-12.9,186,2102,0.00,2.08,0.00,0.000,1030,0.000,0.027,2359,2701,3637,3699,3576,0,0,0,0,0,0,26.17,26.13,26.17
$GC,2421,-0.92,-194.6,2360,2702,3699,3577,345.4,-13.3,197,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2701,3636,3698,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,2723,-0.95,-194.6,2360,2701,3697,3575,384.9,-13.0,207,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2701,3635,3696,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3021,-0.98,-194.6,2360,2702,3695,3577,423.9,-13.1,217,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2701,3635,3694,3576,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3321,-1.01,-194.6,2360,2701,3693,3575,463.5,-13.4,227,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2701,3634,3693,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3621,-1.04,-194.6,2360,2701,3692,3575,504.0,-13.6,237,3629,0.10,2.08,0.00,0.000,4612,0.096,0.021,2299,1315,3632,3690,3575,0,0,0,0,0,0,26.11,26.13,26.16
$GC,3663,-1.06,-194.6,2299,1315,3691,3575,508.2,-13.8,238,3671,0.00,2.10,0.00,0.000,1030,0.000,0.027,2292,2702,3633,3690,3576,0,0,0,0,0,0,26.16,26.13,26.17
$GC,3975,-1.03,-194.6,2293,2703,3690,3577,565.9,-18.0,249,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2703,3632,3689,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4275,-0.99,-194.6,2293,2704,3688,3577,618.1,-17.0,259,4283,0.10,1.75,0.00,0.000,2308,0.195,0.037,2308,3850,3631,3687,3576,0,0,0,0,0,0,26.01,26.12,26.13
$GC,4312,-0.96,-194.6,2308,3856,3688,3574,622.6,-17.0,260,4319,0.08,1.65,0.00,0.000,3078,0.179,0.023,2321,2690,3631,3687,3576,0,0,0,0,0,0,26.03,26.13,26.14
$GC,4633,-0.96,-194.6,2321,2690,3686,3577,671.8,-14.3,271,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2689,3631,3686,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,4933,-0.96,-194.6,2322,2689,3687,3577,712.1,-13.2,281,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2689,3630,3685,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,5233,-0.96,-194.6,2321,2688,3687,3575,752.3,-13.8,291,5241,0.00,2.03,0.00,0.000,516,0.000,0.024,2321,1325,3629,3684,3575,0,0,0,0,0,0,26.09,26.13,26.15
$GC,5270,-0.96,-194.6,2321,1325,3682,3575,756.7,-13.6,292,5278,0.00,2.10,0.00,0.000,1030,0.000,0.028,2321,2700,3630,3685,3575,0,0,0,0,0,0,26.15,26.12,26.15
$GC,5592,-0.96,-194.6,2321,2701,3685,3575,800.9,-13.5,303,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2701,3630,3684,3576,0,0,0,0,0,0,26.08,26.16,26.15
$GC,5892,-0.96,-194.6,2321,2701,3684,3575,840.9,-12.9,313,5900,0.00,2.05,0.00,0.000,516,0.000,0.024,2322,1332,3628,3682,3575,0,0,0,0,0,0,26.09,26.13,26.15
$GC,5933,-0.96,-194.6,2321,1331,3683,3576,844.3,-12.8,314,5941,0.00,2.10,0.00,0.000,1030,0.000,0.028,2319,2707,3629,3682,3576,0,0,0,0,0,0,26.15,26.12,26.16
$GC,6245,-0.96,-194.6,2319,2707,3682,3575,885.3,-12.7,325,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2708,3629,3681,3577,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6545,-0.96,-194.6,2320,2709,3682,3577,922.6,-12.6,335,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2708,3628,3681,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6845,-0.96,-194.6,2320,2707,3682,3575,961.6,-13.2,345,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2708,3627,3680,3575,0,0,0,0,0,0,26.09,26.16,26.15
$STATE,7084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7084,begin apogee
$GC,7087,-0.25,0.0,2320,2814,3681,3577,993.6,-13.6,353,7256,0.75,0.00,161.05,1.105,10246,0.119,0.000,2555,2812,2837,2876,2799,0,0,0,0,0,0,26.03,24.63,24.01
$STATE,7256,end apogee,CONTROL_FINISHED_OK
$STATE,7256,begin climb
$GC,7258,0.92,194.6,2555,2812,2870,2791,1002.6,0.0,358,7432,1.08,2.30,160.73,1.091,11012,0.067,0.024,2931,1429,2036,2074,1999,0,0,0,0,0,0,24.81,24.30,23.66
$GC,7527,0.88,318.4,2932,1433,2067,1991,1000.6,6.3,367,7643,0.00,2.15,106.62,1.077,9222,0.000,0.027,2931,2788,1539,1584,1495,0,0,0,0,0,0,25.18,25.13,23.56
$GC,7954,0.87,318.4,2931,2788,1565,1471,945.2,13.5,382,7961,0.00,1.73,0.00,0.000,260,0.000,0.040,2931,3853,1517,1564,1471,0,0,0,0,0,0,25.48,25.52,25.55
$GC,8050,0.83,318.4,2931,3853,1564,1470,931.6,14.5,385,8057,0.00,1.55,0.00,0.000,1030,0.000,0.024,2930,2809,1517,1563,1471,0,0,0,0,0,0,25.68,25.64,25.67
$GC,8376,0.82,318.4,2932,2810,1564,1470,886.3,13.5,396,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2808,1516,1563,1469,0,0,0,0,0,0,25.85,25.93,25.92
$GC,8676,0.80,318.4,2931,2810,1563,1469,847.0,13.0,406,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2809,1517,1565,1469,0,0,0,0,0,0,25.97,26.03,26.03
$GC,8976,0.80,318.4,2931,2808,1563,1467,807.8,13.1,416,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2809,1515,1563,1468,0,0,0,0,0,0,26.02,26.09,26.08
$GC,9276,0.80,318.4,2932,2810,1563,1469,768.7,13.4,426,9283,0.00,1.62,0.00,0.000,260,0.000,0.041,2931,3853,1515,1562,1468,0,0,0,0,0,0,26.05,26.08,26.12
$GC,9317,0.79,318.4,2931,3854,1562,1468,764.3,13.7,427,9324,0.00,1.50,0.00,0.000,1030,0.000,0.024,2931,2792,1514,1562,1467,0,0,0,0,0,0,26.13,26.08,26.13
$GC,9639,0.79,318.4,2931,2787,1563,1466,719.2,13.5,438,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2791,1514,1561,1467,0,0,0,0,0,0,26.07,26.14,26.14
$GC,9939,0.79,318.4,2932,2793,1563,1468,678.0,13.4,448,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2791,1514,1562,1467,0,0,0,0,0,0,26.08,26.16,26.15
$GC,10239,0.79,318.4,2931,2791,1563,1467,638.7,13.3,458,10247,0.00,1.70,0.00,0.000,260,0.000,0.041,2931,3851,1514,1561,1467,0,0,0,0,0,0,26.08,26.11,26.15
$GC,10316,0.77,318.4,2931,3853,1562,1467,629.9,13.8,460,10323,0.10,1.50,0.00,0.000,5126,0.190,0.024,2911,2787,1513,1561,1466,0,0,0,0,0,0,26.02,26.11,26.14
$GC,10632,0.79,318.8,2910,2786,1562,1466,592.0,11.0,471,10641,0.00,1.70,0.00,0.000,260,0.000,0.041,2911,3848,1513,1561,1466,0,0,0,0,0,0,26.09,26.11,26.16
$GC,10675,0.80,318.8,2911,3848,1562,1466,587.6,11.4,472,10683,0.00,1.52,0.00,0.000,1030,0.000,0.024,2916,2807,1513,1561,1466,0,0,0,0,0,0,26.15,26.12,26.19
$GC,10997,0.80,318.8,2917,2810,1562,1467,549.6,11.8,483,11005,0.00,2.08,0.00,0.000,516,0.000,0.025,2919,1425,1513,1561,1466,0,0,0,0,0,0,26.08,26.13,26.15
$GC,11034,0.82,318.8,2919,1425,1562,1465,546.3,12.1,484,11042,0.00,2.10,0.00,0.000,1030,0.000,0.028,2919,2807,1513,1561,1466,0,0,0,0,0,0,26.15,26.11,26.15
$GC,11351,0.82,318.8,2919,2808,1562,1467,508.3,12.1,495,11358,0.00,1.65,0.00,0.000,260,0.000,0.041,2919,3847,1513,1561,1466,0,0,0,0,0,0,26.08,26.10,26.15
$GC,11422,0.82,318.8,2919,3850,1562,1466,500.3,12.4,497,11430,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2783,1513,1561,1466,0,0,0,0,0,0,26.16,26.12,26.17
$GC,11744,0.82,318.8,2919,2782,1562,1466,460.8,12.3,508,11751,0.00,2.03,0.00,0.000,516,0.000,0.025,2919,1436,1513,1561,1466,0,0,0,0,0,0,26.09,26.13,26.15
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$STATE,15707,end climb,SURFACE_DEPTH_REACHED
$STATE,15707,begin surface coast
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$STATE,15723,end surface coast,CONTROL_FINISHED_OK
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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,15752.98 7356.15
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$10V_AH,10.36,29.473
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$FG_AHR_10Vo,0.000
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$MEM,187204
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