version: 66.12
glider: 203
mission: 8
dive: 56
start: 7 20 115 15 15 35
data:
$ID,203
$MISSION,8
$DIVE,56
$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,96
$R_STBD_OVSHOOT,46
$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
$GPS1,200715,151027,5804.4878,-14746.0410,38,0.8,38,17.7,0.0,0.0,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.8
$GPS2,200715,151524,5804.4468,-14746.0566,7,0.8,9,17.7,0.5,213.5,10,9.2
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP4
$TGT_LATLONG,5747.318,-14728.255
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,117.7,36265,-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,-194.6,194,2798,873,752,0.0,0.0,0,150,0.00,0.00,-51.05,0.000,16386,0.000,0.000,193,2797,2197,2242,2153,0,0,0,0,0,0,25.93,28.83,26.00
$GC,152,-0.92,-194.6,194,2799,2243,2155,3.2,-3.7,7,206,8.48,1.67,-33.12,0.000,18692,0.233,0.060,2332,3841,3637,3707,3567,0,0,0,0,0,0,25.77,25.07,25.95
$GC,446,-0.86,-194.6,2332,3841,3707,3572,65.6,-20.9,50,457,0.10,1.62,0.00,0.000,3078,0.167,0.021,2354,2684,3639,3706,3572,0,0,0,0,0,0,25.94,26.03,26.04
$GC,751,-0.86,-194.6,2354,2684,3707,3575,116.8,-14.6,81,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2685,3640,3706,3575,0,0,0,0,0,0,26.04,26.11,26.10
$GC,1052,-0.86,-194.6,2354,2684,3707,3575,159.9,-14.5,111,1059,0.00,2.00,0.00,0.000,516,0.000,0.024,2354,1340,3641,3706,3576,0,0,0,0,0,0,26.06,26.09,26.11
$GC,1103,-0.88,-194.6,2354,1339,3707,3576,166.6,-14.1,115,1115,0.00,2.08,0.00,0.000,1030,0.000,0.026,2348,2706,3641,3707,3576,0,0,0,0,0,0,26.13,26.10,26.13
$GC,1409,-0.88,-194.6,2348,2706,3707,3577,211.9,-13.8,146,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3641,3706,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,1730,-0.88,-194.6,2348,2707,3707,3577,254.6,-13.3,176,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2707,3641,3706,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,2029,-0.88,-194.6,2348,2707,3705,3576,295.5,-13.5,186,2036,0.00,1.75,0.00,0.000,260,0.000,0.038,2340,3849,3640,3705,3576,0,0,0,0,0,0,26.07,26.09,26.13
$GC,2075,-0.88,-194.6,2340,3850,3705,3577,299.9,-13.6,187,2082,0.00,1.62,0.00,0.000,1030,0.000,0.022,2339,2709,3639,3704,3575,0,0,0,0,0,0,26.15,26.10,26.15
$GC,2391,-0.88,-194.6,2340,2710,3704,3577,347.5,-14.4,198,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2709,3639,3703,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2691,-0.88,-194.6,2340,2711,3701,3577,389.0,-13.6,208,2699,0.00,2.08,0.00,0.000,516,0.000,0.024,2340,1320,3638,3701,3576,0,0,0,0,0,0,26.07,26.10,26.13
$GC,2718,-0.88,-194.6,2340,1321,3702,3577,392.7,-13.4,209,2727,0.10,2.10,0.00,0.000,3078,0.175,0.026,2357,2706,3637,3699,3576,0,0,0,0,0,0,26.00,26.10,26.11
$GC,3051,-0.91,-194.6,2358,2707,3700,3577,435.2,-13.1,220,3061,0.00,1.75,0.00,0.000,260,0.000,0.040,2351,3852,3637,3699,3575,0,0,0,0,0,0,26.07,26.09,26.13
$GC,3105,-0.94,-194.6,2352,3853,3699,3578,439.8,-13.3,221,3112,0.00,1.65,0.00,0.000,1030,0.000,0.023,2351,2697,3637,3698,3576,0,0,0,0,0,0,26.14,26.10,26.14
$GC,3416,-0.97,-194.6,2352,2695,3698,3577,484.0,-12.9,232,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2694,3636,3698,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3716,-0.99,-194.6,2351,2692,3698,3577,522.8,-12.5,242,3724,0.00,1.80,0.00,0.000,260,0.000,0.041,2345,3853,3636,3696,3576,0,0,0,0,0,0,26.06,26.08,26.13
$GC,3753,-1.02,-194.6,2346,3855,3697,3578,526.9,-12.4,243,3760,0.00,1.65,0.00,0.000,1030,0.000,0.023,2345,2697,3636,3696,3576,0,0,0,0,0,0,26.14,26.10,26.14
$GC,4080,-1.04,-194.6,2346,2698,3696,3575,566.7,-11.9,254,4087,0.00,2.05,0.00,0.000,516,0.000,0.023,2345,1333,3635,3694,3576,0,0,0,0,0,0,26.06,26.10,26.13
$GC,4106,-1.06,-194.6,2346,1325,3696,3575,566.7,-11.9,254,4116,0.00,2.10,0.00,0.000,1030,0.000,0.027,2336,2706,3634,3694,3575,0,0,0,0,0,0,26.14,26.10,26.15
$GC,4411,-1.08,-194.6,2337,2706,3695,3575,609.4,-12.8,265,4420,0.00,1.75,0.00,0.000,260,0.000,0.041,2333,3847,3634,3693,3575,0,0,0,0,0,0,26.08,26.08,26.13
$GC,4474,-1.10,-194.6,2333,3847,3694,3575,617.3,-12.5,267,4482,0.08,1.65,0.00,0.000,5126,0.119,0.024,2283,2705,3633,3690,3576,0,0,0,0,0,0,26.06,26.10,26.13
$GC,4806,-1.06,-194.6,2283,2707,3693,3577,671.1,-16.1,278,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2705,3634,3692,3576,0,0,0,0,0,0,26.06,26.13,26.13
$GC,5106,-1.03,-194.6,2282,2706,3692,3577,719.7,-15.9,288,5112,0.10,0.00,0.00,0.000,2054,0.174,0.000,2303,2705,3633,3691,3576,0,0,0,0,0,0,25.97,26.12,26.10
$GC,5406,-1.03,-194.6,2301,2706,3691,3575,763.5,-15.0,298,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2705,3637,3698,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,5706,-1.03,-194.6,2303,2705,3691,3576,805.5,-13.9,308,5714,0.00,1.80,0.00,0.000,260,0.000,0.041,2302,3856,3633,3690,3576,0,0,0,0,0,0,26.06,26.07,26.12
$GC,5738,-1.03,-194.6,2303,3855,3690,3574,809.9,-14.0,309,5745,0.00,1.67,0.00,0.000,1030,0.000,0.024,2303,2694,3632,3689,3576,0,0,0,0,0,0,26.13,26.10,26.13
$GC,6071,-1.03,-194.6,2302,2693,3690,3577,856.1,-14.1,320,6079,0.00,1.80,0.00,0.000,260,0.000,0.041,2303,3846,3632,3688,3576,0,0,0,0,0,0,26.06,26.07,26.12
$GC,6103,-1.03,-194.6,2303,3846,3689,3576,861.1,-14.3,321,6110,0.00,1.65,0.00,0.000,1030,0.000,0.024,2303,2698,3632,3688,3576,0,0,0,0,0,0,26.13,26.10,26.13
$GC,6435,-1.03,-194.6,2303,2700,3689,3577,911.1,-15.1,332,6444,0.00,1.80,0.00,0.000,260,0.000,0.043,2303,3846,3631,3687,3576,0,0,0,0,0,0,26.06,26.07,26.12
$GC,6468,-1.03,-194.6,2303,3847,3688,3577,916.2,-15.3,333,6475,0.00,1.70,0.00,0.000,1030,0.000,0.024,2303,2695,3631,3687,3575,0,0,0,0,0,0,26.13,26.09,26.14
$GC,6799,-1.03,-194.6,2303,2697,3688,3576,964.7,-14.4,344,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2696,3631,3687,3576,0,0,0,0,0,0,26.06,26.13,26.10
$STATE,6978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6978,begin apogee
$GC,6982,-0.25,0.0,2303,2804,3687,3575,990.9,-14.7,350,7164,0.80,0.00,171.52,1.068,10246,0.121,0.000,2556,2805,2831,2864,2799,0,0,0,0,0,0,25.99,24.40,23.89
$STATE,7164,end apogee,CONTROL_FINISHED_OK
$STATE,7164,begin climb
$GC,7166,0.92,194.6,2557,2805,2862,2796,1002.6,0.0,356,7345,1.08,2.33,162.38,1.092,11012,0.066,0.024,2931,1424,2034,2066,2003,0,0,0,0,0,0,24.78,24.04,23.39
$GC,7405,0.88,357.5,2931,1423,2060,1993,1002.3,4.8,364,7562,0.00,2.20,143.10,1.073,9222,0.000,0.027,2931,2793,1373,1415,1332,0,0,0,0,0,0,24.81,24.78,23.11
$GC,7886,0.88,357.5,2931,2794,1406,1314,940.5,14.5,380,7894,0.00,1.70,0.00,0.000,260,0.000,0.040,2931,3861,1356,1401,1312,0,0,0,0,0,0,25.39,25.41,25.46
$GC,7918,0.88,357.5,2932,3863,1402,1313,935.5,14.9,381,7925,0.00,1.55,0.00,0.000,1030,0.000,0.024,2931,2792,1356,1401,1312,0,0,0,0,0,0,25.52,25.48,25.52
$GC,8250,0.88,357.5,2931,2793,1400,1313,886.6,14.7,392,8261,0.00,2.08,0.00,0.000,516,0.000,0.025,2932,1426,1355,1400,1311,0,0,0,0,0,0,25.78,25.80,25.84
$GC,8314,0.88,357.5,2932,1427,1400,1313,878.0,14.3,394,8322,0.00,2.15,0.00,0.000,1030,0.000,0.028,2932,2815,1355,1399,1311,0,0,0,0,0,0,25.89,25.86,25.90
$GC,8636,0.88,357.5,2931,2816,1399,1312,831.7,14.4,405,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2815,1355,1399,1311,0,0,0,0,0,0,25.94,26.01,25.98
$GC,8936,0.88,357.5,2932,2816,1399,1312,789.9,13.8,415,8944,0.00,2.12,0.00,0.000,516,0.000,0.026,2931,1423,1354,1398,1311,0,0,0,0,0,0,26.01,26.03,26.07
$GC,8973,0.88,357.5,2931,1423,1399,1309,786.0,13.2,416,8982,0.00,2.12,0.00,0.000,1030,0.000,0.028,2931,2807,1354,1398,1311,0,0,0,0,0,0,26.07,26.01,26.08
$GC,9291,0.88,357.5,2931,2807,1398,1310,741.1,14.4,427,9298,0.00,2.10,0.00,0.000,516,0.000,0.025,2931,1441,1354,1397,1312,0,0,0,0,0,0,26.03,26.06,26.10
$GC,9342,0.88,357.5,2932,1429,1398,1312,736.9,14.3,428,9350,0.00,2.10,0.00,0.000,1030,0.000,0.028,2931,2798,1354,1397,1311,0,0,0,0,0,0,26.10,26.06,26.11
$GC,9654,0.88,357.5,2931,2799,1398,1312,689.9,14.2,439,9662,0.00,1.62,0.00,0.000,260,0.000,0.041,2931,3850,1353,1397,1310,0,0,0,0,0,0,26.06,26.07,26.12
$GC,9686,0.88,357.5,2931,3847,1398,1309,684.9,14.4,440,9693,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2788,1353,1397,1310,0,0,0,0,0,0,26.12,26.08,26.13
$GC,10017,0.88,357.5,2932,2789,1398,1311,633.2,15.9,451,10027,0.00,2.05,0.00,0.000,516,0.000,0.026,2931,1432,1353,1396,1310,0,0,0,0,0,0,26.06,26.08,26.13
$GC,10051,0.88,357.5,2931,1431,1399,1311,628.2,15.5,452,10059,0.00,2.10,0.00,0.000,1030,0.000,0.028,2932,2801,1353,1397,1309,0,0,0,0,0,0,26.12,26.08,26.13
$GC,10383,0.88,357.5,2932,2802,1398,1311,581.1,13.4,463,10393,0.00,2.08,0.00,0.000,516,0.000,0.025,2932,1434,1353,1397,1309,0,0,0,0,0,0,26.04,26.09,26.10
$GC,10412,0.88,357.5,2932,1434,1398,1311,581.1,13.4,463,10424,0.00,2.10,0.00,0.000,1030,0.000,0.028,2932,2804,1353,1397,1310,0,0,0,0,0,0,26.12,26.09,26.13
$GC,10717,0.88,357.5,2932,2805,1398,1311,537.1,13.1,474,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2804,1353,1397,1310,0,0,0,0,0,0,26.06,26.13,26.12
$GC,11017,0.88,357.5,2932,2805,1398,1311,496.7,13.6,484,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2803,1353,1397,1309,0,0,0,0,0,0,26.06,26.13,26.13
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$STATE,15202,end climb,SURFACE_DEPTH_REACHED
$STATE,15202,begin surface coast
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$STATE,15215,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,15246.01 7185.62
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$10V_AH,10.23,30.020
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$FG_AHR_10Vo,0.000
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