version: 66.12
glider: 203
mission: 8
dive: 61
start: 7 21 115 13 52 23
data:
$ID,203
$MISSION,8
$DIVE,61
$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,99
$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
$GPS1,210715,134650,5752.3125,-14732.8760,24,0.9,39,17.8,1.4,238.2,9,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.9
$GPS2,210715,135212,5752.2656,-14732.8398,7,0.9,9,17.8,0.7,106.7,9,9.4
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP4
$TGT_LATLONG,5747.318,-14728.255
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,129.8,10220,-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,-194.6,185,2807,804,688,0.0,0.0,0,151,0.00,0.00,-52.05,0.000,16386,0.000,0.000,179,2805,2111,2150,2072,0,0,0,0,0,0,25.91,28.83,25.97
$GC,153,-0.92,-194.6,185,2805,2153,2073,3.3,-3.6,7,209,8.70,1.60,-36.22,0.000,18692,0.239,0.056,2330,3848,3634,3703,3566,0,0,0,0,0,0,25.73,25.42,25.86
$GC,405,-0.86,-194.6,2330,3850,3702,3575,58.9,-21.9,44,421,0.12,1.62,0.00,0.000,3078,0.163,0.021,2359,2690,3638,3703,3573,0,0,0,0,0,0,25.87,25.98,25.99
$GC,715,-0.86,-194.6,2358,2691,3703,3578,118.5,-16.7,75,723,0.00,2.00,0.00,0.000,516,0.000,0.024,2359,1347,3639,3703,3576,0,0,0,0,0,0,26.03,26.05,26.08
$GC,747,-0.86,-194.6,2359,1347,3704,3576,122.7,-16.1,77,758,0.00,2.08,0.00,0.000,1030,0.000,0.026,2352,2712,3639,3703,3576,0,0,0,0,0,0,26.10,26.06,26.10
$GC,1052,-0.86,-194.6,2352,2711,3704,3576,168.8,-14.8,108,1060,0.00,1.75,0.00,0.000,260,0.000,0.037,2344,3854,3640,3704,3576,0,0,0,0,0,0,26.05,26.06,26.11
$GC,1098,-0.86,-194.6,2344,3854,3704,3576,175.2,-15.1,112,1110,0.08,1.62,0.00,0.000,3078,0.177,0.021,2358,2701,3640,3703,3577,0,0,0,0,0,0,25.98,26.08,26.09
$GC,1404,-0.87,-194.6,2358,2701,3704,3576,218.3,-13.7,143,1411,0.00,1.77,0.00,0.000,260,0.000,0.039,2352,3845,3639,3703,3576,0,0,0,0,0,0,26.06,26.07,26.13
$GC,1440,-0.87,-194.6,2352,3844,3704,3576,222.7,-14.2,146,1450,0.00,1.62,0.00,0.000,1030,0.000,0.021,2352,2697,3640,3703,3577,0,0,0,0,0,0,26.14,26.10,26.14
$GC,1756,-0.87,-194.6,2352,2699,3704,3577,266.8,-13.8,170,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2697,3640,3703,3577,0,0,0,0,0,0,26.06,26.15,26.12
$GC,2055,-0.87,-194.6,2352,2698,3703,3577,307.4,-13.5,180,2063,0.00,1.80,0.00,0.000,260,0.000,0.040,2344,3853,3638,3701,3576,0,0,0,0,0,0,26.06,26.08,26.12
$GC,2097,-0.87,-194.6,2344,3853,3702,3576,311.9,-13.6,181,2105,0.00,1.65,0.00,0.000,1030,0.000,0.021,2344,2684,3638,3701,3576,0,0,0,0,0,0,26.14,26.10,26.14
$GC,2419,-0.87,-194.6,2344,2685,3700,3577,359.3,-14.6,192,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2684,3637,3699,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,2719,-0.87,-194.6,2344,2685,3699,3578,400.8,-13.4,202,2727,0.00,1.80,0.00,0.000,260,0.000,0.038,2336,3842,3637,3698,3576,0,0,0,0,0,0,26.06,26.08,26.12
$GC,2795,-0.87,-194.6,2336,3843,3699,3576,409.4,-13.6,204,2803,0.10,1.62,0.00,0.000,3078,0.158,0.022,2358,2703,3634,3692,3576,0,0,0,0,0,0,26.00,26.10,26.11
$GC,3112,-0.90,-194.6,2357,2703,3698,3576,450.0,-12.2,215,3120,0.00,1.77,0.00,0.000,260,0.000,0.040,2352,3843,3636,3696,3576,0,0,0,0,0,0,26.06,26.08,26.13
$GC,3144,-0.93,-194.6,2352,3844,3697,3577,454.1,-12.4,216,3151,0.00,1.62,0.00,0.000,1030,0.000,0.023,2352,2708,3635,3695,3576,0,0,0,0,0,0,26.13,26.10,26.14
$GC,3475,-0.96,-194.6,2352,2708,3695,3575,494.0,-11.9,227,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2708,3635,3694,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,3775,-0.98,-194.6,2352,2710,3694,3578,529.1,-11.7,237,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2708,3634,3693,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,4075,-1.01,-194.6,2352,2708,3693,3576,563.4,-11.3,247,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2704,3633,3691,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4375,-1.04,-194.6,2352,2708,3691,3576,597.8,-11.3,257,4381,0.08,0.00,0.00,0.000,4102,0.119,0.000,2297,2708,3633,3690,3576,0,0,0,0,0,0,26.03,26.12,26.10
$GC,4675,-1.01,-194.6,2297,2708,3690,3576,643.5,-15.3,267,4682,0.00,1.77,0.00,0.000,260,0.000,0.041,2292,3844,3632,3689,3576,0,0,0,0,0,0,26.06,26.07,26.13
$GC,4747,-0.99,-194.6,2293,3844,3690,3576,653.4,-15.7,269,4755,0.10,1.65,0.00,0.000,3078,0.169,0.023,2314,2694,3632,3689,3576,0,0,0,0,0,0,25.98,26.10,26.10
$GC,5069,-0.99,-194.6,2314,2694,3688,3576,701.1,-14.3,280,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2694,3632,3688,3576,0,0,0,0,0,0,26.06,26.13,26.11
$GC,5370,-0.99,-194.6,2314,2694,3687,3576,744.6,-14.6,290,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2694,3631,3687,3576,0,0,0,0,0,0,26.06,26.12,26.10
$GC,5669,-0.99,-194.6,2314,2694,3687,3576,787.9,-14.6,300,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2694,3631,3686,3576,0,0,0,0,0,0,26.06,26.13,26.11
$GC,5969,-0.99,-194.6,2313,2694,3688,3576,830.9,-14.3,310,5977,0.00,1.77,0.00,0.000,260,0.000,0.040,2308,3842,3631,3686,3576,0,0,0,0,0,0,26.06,26.06,26.12
$GC,6010,-0.99,-194.6,2309,3843,3687,3577,835.7,-14.4,311,6018,0.00,1.65,0.00,0.000,1030,0.000,0.023,2308,2694,3631,3686,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,6332,-0.99,-194.6,2309,2695,3686,3577,884.9,-14.9,322,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2694,3630,3685,3576,0,0,0,0,0,0,26.05,26.12,26.14
$GC,6632,-0.99,-194.6,2308,2696,3684,3577,928.8,-14.5,332,6641,0.00,1.80,0.00,0.000,260,0.000,0.041,2306,3842,3630,3684,3576,0,0,0,0,0,0,26.05,26.07,26.11
$GC,6680,-0.99,-194.6,2306,3843,3684,3577,933.5,-14.4,333,6687,0.00,1.65,0.00,0.000,1030,0.000,0.023,2306,2699,3629,3683,3576,0,0,0,0,0,0,26.13,26.08,26.13
$GC,6996,-0.99,-194.6,2305,2698,3683,3576,979.5,-13.7,344,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2698,3629,3682,3576,0,0,0,0,0,0,26.04,26.11,26.10
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7085,begin apogee
$GC,7089,-0.25,0.0,2306,2807,3683,3576,991.8,-13.7,347,7257,0.80,0.00,161.48,1.110,10246,0.123,0.000,2556,2807,2837,2872,2803,0,0,0,0,0,0,25.97,24.55,23.87
$STATE,7258,end apogee,CONTROL_FINISHED_OK
$STATE,7258,begin climb
$GC,7259,0.92,194.6,2557,2807,2868,2796,999.6,0.0,352,7434,1.08,2.30,162.07,1.092,11012,0.068,0.024,2931,1418,2038,2073,2003,0,0,0,0,0,0,24.72,23.94,23.27
$GC,7504,0.88,298.6,2931,1418,2066,1993,995.6,7.1,361,7604,0.00,2.22,89.40,1.082,9222,0.000,0.026,2931,2794,1618,1659,1577,0,0,0,0,0,0,24.78,24.73,23.24
$GC,7924,0.86,298.6,2931,2794,1645,1558,942.6,13.1,375,7931,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3851,1602,1646,1559,0,0,0,0,0,0,25.41,25.44,25.47
$GC,7975,0.83,298.6,2932,3852,1645,1560,938.0,13.3,376,7982,0.00,1.55,0.00,0.000,1030,0.000,0.024,2931,2779,1602,1646,1558,0,0,0,0,0,0,25.56,25.51,25.56
$GC,8287,0.81,298.6,2931,2780,1646,1559,894.5,12.9,387,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2779,1601,1645,1558,0,0,0,0,0,0,25.79,25.86,25.83
$GC,8587,0.79,298.6,2930,2784,1645,1558,854.5,13.4,397,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2778,1600,1644,1557,0,0,0,0,0,0,25.91,25.98,25.98
$GC,8887,0.77,298.6,2932,2780,1644,1559,815.5,12.9,407,8894,0.10,1.67,0.00,0.000,4356,0.189,0.038,2911,3850,1600,1644,1557,0,0,0,0,0,0,25.91,26.00,26.02
$GC,8918,0.76,298.6,2911,3853,1644,1558,811.3,13.0,408,8926,0.00,1.50,0.00,0.000,1030,0.000,0.024,2917,2792,1600,1644,1557,0,0,0,0,0,0,26.06,26.02,26.06
$GC,9250,0.76,298.6,2917,2791,1646,1556,770.7,12.1,419,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2792,1600,1644,1557,0,0,0,0,0,0,26.02,26.10,26.09
$GC,9550,0.76,298.6,2917,2793,1644,1558,734.7,11.8,429,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2792,1600,1644,1557,0,0,0,0,0,0,26.03,26.10,26.10
$GC,9850,0.76,298.6,2917,2792,1644,1556,699.1,12.0,439,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2792,1599,1643,1556,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10150,0.76,298.6,2917,2793,1644,1558,665.0,11.1,449,10157,0.00,1.67,0.00,0.000,260,0.000,0.041,2917,3861,1599,1642,1557,0,0,0,0,0,0,26.05,26.06,26.10
$GC,10212,0.76,298.6,2917,3861,1648,1556,657.5,11.6,451,10219,0.00,1.55,0.00,0.000,1030,0.000,0.024,2918,2801,1599,1642,1556,0,0,0,0,0,0,26.12,26.10,26.12
$GC,10543,0.76,304.8,2919,2801,1643,1556,621.8,10.8,462,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2801,1599,1643,1556,0,0,0,0,0,0,26.05,26.11,26.10
$GC,10843,0.76,320.7,2918,2803,1643,1556,590.4,10.4,472,10868,0.00,0.00,18.90,0.885,8198,0.000,0.000,2917,2801,1530,1573,1488,0,0,0,0,0,0,26.05,25.65,25.06
$GC,11143,0.76,320.7,2918,2801,1561,1471,556.9,11.5,482,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2801,1515,1559,1471,0,0,0,0,0,0,25.93,26.01,25.99
$GC,11443,0.76,320.7,2919,2801,1560,1471,520.9,12.0,492,11451,0.00,2.08,0.00,0.000,516,0.000,0.026,2919,1429,1515,1559,1471,0,0,0,0,0,0,26.00,26.04,26.06
$GC,11470,0.76,320.7,2919,1430,1561,1471,520.9,12.0,492,11480,0.00,2.12,0.00,0.000,1030,0.000,0.028,2920,2811,1515,1559,1471,0,0,0,0,0,0,26.07,26.03,26.08
$GC,11775,0.76,320.7,2919,2812,1560,1473,481.4,12.0,503,11784,0.00,2.12,0.00,0.000,516,0.000,0.026,2920,1423,1515,1559,1471,0,0,0,0,0,0,26.02,26.06,26.09
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$STATE,15949,end climb,SURFACE_DEPTH_REACHED
$STATE,15949,begin surface coast
$FINISH,0.7,1.012856
$STATE,15972,end surface coast,CONTROL_FINISHED_OK
$STATE,15972,begin surface
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$TT8_MAMPS,0.05992,0.05992
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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
$PA_UPTIME,16001.26 7435.19
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$PA_DISK_BANK,1
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$10V_AH,10.28,30.356
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,213692
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