version: 66.12
glider: 203
mission: 8
dive: 55
start: 7 20 115 10 57 23
data:
$ID,203
$MISSION,8
$DIVE,55
$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,-3
$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,93
$R_STBD_OVSHOOT,40
$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
$GPS1,200715,105204,5807.4185,-14748.1221,29,0.7,30,17.7,0.5,253.8,11,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-57.6
$GPS2,200715,105712,5807.3765,-14748.1143,6,0.8,7,17.7,0.0,111.2,10,10.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP4
$TGT_LATLONG,5747.318,-14728.255
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,128.0,42004,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.92,-194.6,200,2702,556,434,0.0,0.0,0,168,0.00,0.00,-65.35,0.000,16386,0.000,0.000,200,2701,2253,2295,2211,0,0,0,0,0,0,25.91,28.83,25.96
$GC,170,-0.92,-194.6,201,2701,2297,2212,3.2,-4.6,9,216,8.55,1.80,-29.00,0.000,18692,0.235,0.055,2328,3860,3633,3708,3559,0,0,0,0,0,0,25.76,25.42,25.95
$GC,430,-0.86,-194.6,2328,3862,3709,3568,59.5,-21.7,47,441,0.12,1.65,0.00,0.000,3078,0.158,0.022,2357,2692,3637,3708,3567,0,0,0,0,0,0,25.93,26.01,26.03
$GC,735,-0.86,-194.6,2357,2693,3709,3571,116.3,-16.6,78,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2693,3638,3708,3569,0,0,0,0,0,0,26.05,26.10,26.10
$GC,1037,-0.86,-194.6,2357,2692,3709,3570,165.2,-14.4,108,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2692,3637,3703,3571,0,0,0,0,0,0,26.06,26.13,26.12
$GC,1337,-0.88,-194.6,2358,2692,3709,3570,208.2,-13.9,138,1344,0.00,2.03,0.00,0.000,516,0.000,0.024,2358,1337,3639,3708,3570,0,0,0,0,0,0,26.08,26.10,26.14
$GC,1359,-0.90,-194.6,2358,1335,3709,3572,211.2,-13.5,140,1366,0.00,2.08,0.00,0.000,1030,0.000,0.028,2351,2706,3639,3708,3571,0,0,0,0,0,0,26.14,26.10,26.14
$GC,1674,-0.90,-194.6,2351,2706,3709,3570,255.5,-14.4,169,1681,0.00,1.75,0.00,0.000,260,0.000,0.041,2348,3846,3639,3707,3571,0,0,0,0,0,0,26.08,26.09,26.14
$GC,1710,-0.90,-194.6,2348,3847,3708,3572,260.2,-14.5,170,1717,0.00,1.62,0.00,0.000,1030,0.000,0.023,2348,2715,3638,3707,3570,0,0,0,0,0,0,26.16,26.12,26.15
$GC,2036,-0.90,-194.6,2347,2715,3706,3570,304.4,-13.2,181,2044,0.00,2.10,0.00,0.000,516,0.000,0.024,2348,1311,3638,3705,3571,0,0,0,0,0,0,26.08,26.12,26.13
$GC,2063,-0.91,-194.6,2348,1311,3706,3571,308.0,-13.1,182,2075,0.00,2.12,0.00,0.000,1030,0.000,0.027,2338,2710,3638,3705,3571,0,0,0,0,0,0,26.15,26.09,26.15
$GC,2394,-0.91,-194.6,2338,2710,3704,3570,351.6,-13.2,193,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2710,3636,3703,3570,0,0,0,0,0,0,26.05,26.12,26.12
$GC,2694,-0.91,-194.6,2339,2710,3703,3570,394.5,-14.5,203,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2710,3636,3702,3570,0,0,0,0,0,0,26.09,26.15,26.15
$GC,2994,-0.91,-194.6,2339,2710,3696,3570,437.1,-14.1,213,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2710,3635,3700,3570,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3294,-0.91,-194.6,2339,2711,3699,3571,477.0,-12.8,223,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3634,3698,3570,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3596,-0.91,-194.6,2338,2714,3698,3572,516.2,-13.5,233,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3633,3696,3571,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3894,-0.91,-194.6,2339,2711,3696,3572,559.0,-14.1,243,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3632,3695,3570,0,0,0,0,0,0,26.08,26.15,26.14
$GC,4194,-0.93,-194.6,2339,2711,3695,3572,601.6,-14.2,253,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2710,3632,3694,3570,0,0,0,0,0,0,26.08,26.14,26.13
$GC,4494,-0.94,-194.6,2338,2710,3694,3570,645.5,-14.5,263,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2709,3631,3693,3570,0,0,0,0,0,0,26.08,26.15,26.14
$GC,4795,-0.96,-194.6,2338,2709,3693,3570,686.1,-12.8,273,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3631,3692,3570,0,0,0,0,0,0,26.07,26.14,26.13
$GC,5094,-0.98,-194.6,2339,2711,3691,3572,724.3,-12.8,283,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2710,3630,3690,3570,0,0,0,0,0,0,26.07,26.14,26.13
$GC,5395,-1.01,-194.6,2339,2710,3691,3570,763.3,-13.1,293,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2710,3630,3690,3570,0,0,0,0,0,0,26.07,26.14,26.13
$GC,5695,-1.03,-194.6,2338,2711,3690,3572,803.6,-13.5,303,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3629,3689,3570,0,0,0,0,0,0,26.06,26.13,26.13
$GC,5995,-1.06,-194.6,2338,2711,3689,3569,842.6,-12.6,313,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2710,3629,3687,3571,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6294,-1.09,-194.6,2338,2710,3690,3569,880.0,-12.1,323,6300,0.08,0.00,0.00,0.000,4102,0.125,0.000,2292,2710,3628,3687,3570,0,0,0,0,0,0,26.04,26.13,26.12
$GC,6595,-1.07,-194.6,2292,2711,3687,3571,923.0,-14.8,333,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2710,3628,3687,3570,0,0,0,0,0,0,26.06,26.13,26.13
$GC,6894,-1.07,-194.6,2292,2709,3687,3570,971.4,-16.0,343,6902,0.00,2.10,0.00,0.000,516,0.000,0.025,2292,1324,3628,3686,3570,0,0,0,0,0,0,26.06,26.09,26.12
$GC,6931,-1.07,-194.6,2292,1326,3686,3572,975.4,-15.7,344,6938,0.00,2.10,0.00,0.000,1030,0.000,0.027,2291,2702,3628,3686,3570,0,0,0,0,0,0,26.13,26.09,26.13
$STATE,7041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7041,begin apogee
$GC,7045,-0.25,0.0,2298,2810,3687,3569,994.6,-15.7,348,7214,0.85,0.00,161.77,1.104,10246,0.123,0.000,2558,2809,2839,2869,2810,0,0,0,0,0,0,25.99,24.58,23.92
$STATE,7215,end apogee,CONTROL_FINISHED_OK
$STATE,7215,begin climb
$GC,7216,0.92,194.6,2558,2811,2863,2801,1004.0,0.0,353,7391,1.08,2.28,161.95,1.095,11012,0.063,0.022,2932,1423,2038,2068,2008,0,0,0,0,0,0,24.77,23.94,23.44
$GC,7520,0.89,259.1,2932,1423,2058,1995,996.8,8.6,364,7585,0.00,2.17,54.92,1.077,9222,0.000,0.028,2932,2787,1781,1814,1749,0,0,0,0,0,0,25.13,25.08,23.72
$GC,7881,0.87,259.1,2933,2788,1800,1729,952.3,12.8,376,7889,0.00,1.70,0.00,0.000,260,0.000,0.041,2932,3860,1763,1799,1728,0,0,0,0,0,0,25.48,25.51,25.55
$GC,7978,0.83,259.1,2932,3861,1800,1728,939.4,13.6,379,7985,0.00,1.55,0.00,0.000,1030,0.000,0.024,2932,2785,1763,1799,1727,0,0,0,0,0,0,25.68,25.64,25.69
$GC,8304,0.80,259.1,2932,2784,1800,1725,899.2,11.4,390,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2785,1762,1799,1726,0,0,0,0,0,0,25.84,25.92,25.91
$GC,8604,0.78,259.1,2932,2785,1799,1725,866.0,11.1,400,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2784,1761,1798,1725,0,0,0,0,0,0,25.95,26.03,26.02
$GC,8904,0.76,265.5,2932,2785,1798,1725,833.6,10.8,410,8912,0.10,1.67,0.00,0.000,4356,0.185,0.038,2912,3860,1761,1797,1725,0,0,0,0,0,0,25.94,26.03,26.04
$GC,8981,0.73,265.5,2912,3863,1798,1724,826.3,11.3,412,8988,0.00,1.52,0.00,0.000,1030,0.000,0.024,2916,2793,1760,1797,1724,0,0,0,0,0,0,26.08,26.05,26.08
$GC,9297,0.73,265.5,2916,2793,1798,1723,789.5,11.3,423,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2797,1760,1797,1724,0,0,0,0,0,0,26.03,26.10,26.10
$GC,9598,0.73,265.5,2916,2793,1798,1722,755.3,11.6,433,9605,0.00,1.65,0.00,0.000,260,0.000,0.041,2917,3856,1759,1796,1723,0,0,0,0,0,0,26.06,26.08,26.11
$GC,9649,0.73,265.5,2917,3851,1797,1724,751.2,11.8,434,9657,0.05,1.55,0.00,0.000,5126,0.160,0.024,2901,2799,1759,1795,1723,0,0,0,0,0,0,25.97,26.08,26.06
$GC,9961,0.73,265.5,2904,2799,1797,1723,712.8,11.3,445,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2799,1759,1796,1723,0,0,0,0,0,0,26.06,26.13,26.13
$GC,10261,0.74,290.5,2904,2799,1797,1722,682.0,10.1,455,10298,0.00,1.73,26.77,0.920,8452,0.000,0.041,2904,3850,1645,1681,1610,0,0,0,0,0,0,26.06,25.55,24.94
$GC,10362,0.74,290.9,2905,3851,1669,1601,671.7,11.0,458,10370,0.00,1.52,0.00,0.000,1030,0.000,0.024,2909,2791,1636,1673,1600,0,0,0,0,0,0,25.80,25.77,25.80
$GC,10685,0.79,345.2,2909,2791,1673,1597,637.5,8.9,469,10742,0.00,2.12,49.08,0.870,8708,0.000,0.023,2918,1418,1425,1463,1387,0,0,0,0,0,0,25.96,25.05,24.63
$GC,10773,0.86,404.2,2918,1419,1454,1378,629.8,8.8,471,10836,0.00,2.17,54.05,0.853,9222,0.000,0.028,2918,2805,1187,1232,1142,0,0,0,0,0,0,25.50,25.46,24.34
$GC,11133,0.98,420.1,2918,2805,1216,1120,593.9,10.4,483,11154,0.10,2.12,12.65,0.876,10756,0.099,0.024,2971,1432,1121,1170,1073,0,0,0,0,0,0,25.78,25.39,24.96
$GC,11168,1.08,432.2,2972,1433,1163,1070,590.4,10.5,484,11189,0.00,2.12,12.32,0.871,9222,0.000,0.027,2971,2800,1072,1121,1023,0,0,0,0,0,0,25.68,25.63,24.80
$GC,11494,1.17,432.2,2972,2800,1111,1008,552.4,11.4,495,11502,0.12,2.10,0.00,0.000,2564,0.087,0.024,3039,1425,1057,1111,1004,0,0,0,0,0,0,25.88,25.89,25.91
$GC,11526,1.24,432.2,3040,1426,1111,1015,549.0,11.6,496,11533,0.00,2.12,0.00,0.000,1030,0.000,0.026,3039,2806,1059,1110,1009,0,0,0,0,0,0,25.93,25.90,25.94
$GC,11848,1.14,432.2,3039,2808,1110,1010,481.0,21.7,507,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2807,1058,1109,1008,0,0,0,0,0,0,25.98,26.04,26.04
$GC,12148,1.05,432.2,3039,2808,1109,1009,414.0,22.7,517,12156,0.12,2.10,0.00,0.000,4612,0.177,0.024,3015,1420,1057,1108,1007,0,0,0,0,0,0,25.91,26.04,26.01
$GC,12185,0.97,432.2,3015,1420,1109,1007,408.1,22.2,518,12193,0.15,2.12,0.00,0.000,5126,0.163,0.028,2979,2806,1057,1108,1007,0,0,0,0,0,0,25.93,26.04,26.06
$GC,12508,0.94,432.2,2980,2805,1109,1006,350.3,17.2,529,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2806,1057,1108,1006,0,0,0,0,0,0,26.03,26.10,26.09
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$STATE,15044,end climb,SURFACE_DEPTH_REACHED
$STATE,15044,begin surface coast
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$STATE,15054,end surface coast,CONTROL_FINISHED_OK
$STATE,15054,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15085.11 7015.61
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