version: 66.12
glider: 203
mission: 8
dive: 69
start: 7 23 115 2 30 44
data:
$ID,203
$MISSION,8
$DIVE,69
$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,98
$R_STBD_OVSHOOT,44
$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
$GPS1,230715,022503,5747.2563,-14758.6865,23,0.8,23,17.6,0.7,86.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.2
$GPS2,230715,023033,5747.2095,-14758.5645,7,0.8,9,17.6,0.6,96.8,11,9.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,280.6,47498,-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,-194.6,190,2802,1013,902,0.0,0.0,0,143,0.00,0.00,-43.65,0.000,16386,0.000,0.000,189,2802,2084,2124,2045,0,0,0,0,0,0,25.91,28.83,25.98
$GC,144,-0.92,-194.6,190,2804,2125,2048,3.1,-4.5,5,206,8.70,2.30,-38.33,0.000,18948,0.239,0.037,2333,1330,3635,3704,3567,0,0,0,0,0,0,25.70,24.91,25.91
$GC,293,-0.86,-194.6,2333,1330,3705,3571,31.2,-19.1,27,311,0.12,2.10,0.00,0.000,3078,0.168,0.026,2356,2707,3637,3704,3571,0,0,0,0,0,0,25.87,25.99,25.99
$GC,626,-0.84,-194.6,2357,2707,3706,3575,94.6,-18.2,65,638,0.00,2.08,0.00,0.000,516,0.000,0.022,2356,1328,3639,3704,3575,0,0,0,0,0,0,25.98,26.02,26.05
$GC,672,-0.84,-194.6,2355,1330,3705,3576,102.6,-17.0,69,681,0.08,2.08,0.00,0.000,3078,0.187,0.025,2363,2703,3639,3704,3575,0,0,0,0,0,0,25.93,26.06,26.06
$GC,985,-0.84,-194.6,2363,2704,3706,3575,146.5,-14.0,100,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2704,3640,3704,3576,0,0,0,0,0,0,26.04,26.11,26.10
$GC,1286,-0.86,-194.6,2362,2705,3704,3577,187.0,-13.3,130,1294,0.00,1.75,0.00,0.000,260,0.000,0.040,2360,3844,3639,3704,3575,0,0,0,0,0,0,26.06,26.06,26.11
$GC,1313,-0.87,-194.6,2360,3846,3704,3577,190.2,-13.6,132,1323,0.00,1.62,0.00,0.000,1030,0.000,0.022,2360,2708,3640,3704,3576,0,0,0,0,0,0,26.13,26.08,26.13
$GC,1618,-0.89,-194.6,2361,2708,3705,3575,233.8,-13.7,163,1626,0.00,1.77,0.00,0.000,260,0.000,0.038,2351,3852,3640,3704,3576,0,0,0,0,0,0,26.06,26.08,26.12
$GC,1680,-0.89,-194.6,2351,3853,3705,3578,242.2,-14.0,169,1687,0.00,1.65,0.00,0.000,1030,0.000,0.022,2351,2691,3639,3704,3575,0,0,0,0,0,0,26.13,26.10,26.14
$GC,2011,-0.89,-194.6,2351,2687,3705,3575,287.7,-13.5,184,2021,0.00,2.03,0.00,0.000,516,0.000,0.022,2351,1323,3639,3703,3575,0,0,0,0,0,0,26.06,26.09,26.12
$GC,2041,-0.89,-194.6,2351,1322,3704,3575,291.6,-13.4,185,2049,0.00,2.08,0.00,0.000,1030,0.000,0.026,2348,2698,3639,3703,3575,0,0,0,0,0,0,26.12,26.07,26.13
$GC,2373,-0.89,-194.6,2348,2699,3703,3577,336.3,-13.5,196,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3638,3702,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,2673,-0.89,-194.6,2349,2699,3702,3577,374.1,-12.5,206,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3637,3700,3575,0,0,0,0,0,0,26.07,26.14,26.11
$GC,2974,-0.91,-194.6,2348,2699,3700,3577,411.2,-12.7,216,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2697,3637,3699,3575,0,0,0,0,0,0,26.07,26.14,26.15
$GC,3274,-0.93,-194.6,2348,2699,3698,3577,451.2,-13.5,226,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2697,3637,3698,3576,0,0,0,0,0,0,26.03,26.13,26.12
$GC,3574,-0.95,-194.6,2348,2699,3697,3576,492.0,-13.4,236,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2698,3635,3696,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,3874,-0.97,-194.6,2348,2699,3696,3577,530.9,-12.7,246,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2698,3635,3695,3575,0,0,0,0,0,0,26.07,26.13,26.13
$GC,4174,-0.99,-194.6,2347,2698,3694,3575,567.9,-12.4,256,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3634,3694,3575,0,0,0,0,0,0,26.09,26.13,26.13
$GC,4474,-1.02,-194.6,2348,2697,3694,3575,605.0,-12.3,266,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2697,3634,3693,3575,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4774,-1.05,-194.6,2348,2698,3693,3577,640.7,-11.7,276,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3634,3692,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,5074,-1.07,-194.6,2348,2699,3691,3578,676.7,-12.2,286,5081,0.10,2.05,0.00,0.000,4612,0.098,0.021,2288,1330,3632,3690,3575,0,0,0,0,0,0,26.06,26.08,26.10
$GC,5105,-1.09,-194.6,2288,1330,3691,3575,680.6,-12.6,287,5113,0.00,2.08,0.00,0.000,1030,0.000,0.026,2279,2699,3632,3690,3575,0,0,0,0,0,0,26.12,26.08,26.13
$GC,5432,-1.06,-194.6,2280,2699,3690,3577,735.0,-16.5,298,5443,0.00,2.08,0.00,0.000,516,0.000,0.024,2280,1324,3632,3689,3575,0,0,0,0,0,0,26.05,26.08,26.10
$GC,5472,-1.03,-194.6,2280,1324,3690,3575,740.2,-16.5,299,5480,0.10,2.10,0.00,0.000,3078,0.181,0.027,2301,2700,3632,3689,3575,0,0,0,0,0,0,25.95,26.08,26.08
$GC,5789,-1.03,-194.6,2301,2700,3689,3575,789.2,-14.8,310,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2700,3631,3688,3575,0,0,0,0,0,0,26.05,26.12,26.11
$GC,6089,-1.03,-194.6,2301,2700,3688,3575,833.5,-14.7,320,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2701,3631,3687,3575,0,0,0,0,0,0,26.05,26.12,26.11
$GC,6389,-1.03,-194.6,2301,2701,3688,3577,877.9,-14.7,330,6397,0.00,2.08,0.00,0.000,516,0.000,0.024,2301,1327,3630,3686,3575,0,0,0,0,0,0,26.06,26.07,26.11
$GC,6431,-1.03,-194.6,2301,1327,3688,3575,882.7,-14.6,331,6439,0.00,2.10,0.00,0.000,1030,0.000,0.026,2294,2708,3630,3686,3575,0,0,0,0,0,0,26.12,26.08,26.13
$GC,6753,-1.03,-194.6,2295,2709,3687,3576,931.9,-14.8,342,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2708,3631,3687,3575,0,0,0,0,0,0,26.04,26.10,26.10
$GC,7053,-1.03,-194.6,2295,2708,3686,3575,977.0,-15.1,352,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2707,3630,3686,3575,0,0,0,0,0,0,26.05,26.12,26.10
$STATE,7172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7175,-0.25,0.0,2295,2822,3687,3577,994.0,-14.1,356,7349,0.85,0.00,165.43,1.093,10246,0.125,0.000,2557,2821,2837,2874,2801,0,0,0,0,0,0,25.94,24.51,23.82
$STATE,7350,end apogee,CONTROL_FINISHED_OK
$STATE,7350,begin climb
$GC,7351,0.92,194.6,2558,2822,2867,2794,1001.9,0.0,361,7527,1.10,1.77,163.20,1.092,10500,0.062,0.039,2937,3828,2036,2074,1999,0,0,0,0,0,0,24.68,23.79,23.13
$GC,7591,0.85,295.2,2937,3830,2065,1988,999.3,7.2,370,7689,0.00,1.55,88.00,1.076,9222,0.000,0.023,2944,2800,1630,1671,1589,0,0,0,0,0,0,24.65,24.63,23.18
$GC,8013,0.82,295.2,2945,2802,1656,1567,944.9,13.1,384,8022,0.08,1.65,0.00,0.000,4356,0.200,0.037,2932,3838,1610,1655,1565,0,0,0,0,0,0,25.34,25.44,25.47
$GC,8106,0.78,295.2,2933,3840,1656,1566,931.7,13.8,387,8115,0.00,1.52,0.00,0.000,1030,0.000,0.024,2932,2788,1609,1654,1564,0,0,0,0,0,0,25.62,25.57,25.64
$GC,8440,0.76,295.2,2928,2789,1654,1566,889.7,12.5,398,8448,0.10,1.62,0.00,0.000,4356,0.184,0.038,2911,3829,1608,1653,1564,0,0,0,0,0,0,25.75,25.86,25.88
$GC,8488,0.75,295.2,2910,3829,1655,1564,885.3,12.6,399,8495,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2779,1608,1653,1564,0,0,0,0,0,0,25.91,25.89,25.91
$GC,8804,0.75,295.2,2916,2779,1654,1563,846.4,11.8,410,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2779,1610,1656,1564,0,0,0,0,0,0,25.96,26.04,26.03
$GC,9105,0.75,295.2,2917,2779,1654,1563,809.7,12.3,420,9112,0.00,1.65,0.00,0.000,260,0.000,0.041,2916,3831,1608,1652,1564,0,0,0,0,0,0,26.01,26.02,26.08
$GC,9181,0.75,295.2,2916,3831,1653,1563,801.6,12.9,422,9188,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2767,1607,1652,1562,0,0,0,0,0,0,26.08,26.03,26.09
$GC,9497,0.75,295.2,2919,2767,1652,1562,760.7,12.2,433,9504,0.00,1.70,0.00,0.000,260,0.000,0.041,2918,3823,1607,1652,1563,0,0,0,0,0,0,26.03,26.05,26.10
$GC,9548,0.75,295.2,2918,3823,1653,1562,756.5,12.5,434,9556,0.00,1.48,0.00,0.000,1030,0.000,0.024,2918,2814,1607,1652,1563,0,0,0,0,0,0,26.12,26.08,26.12
$GC,9860,0.75,295.2,2919,2815,1653,1564,714.2,12.6,445,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2815,1607,1653,1562,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10160,0.75,295.2,2919,2814,1653,1562,677.9,11.8,455,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2814,1607,1652,1562,0,0,0,0,0,0,26.03,26.11,26.10
$GC,10460,0.75,295.2,2918,2815,1653,1562,644.1,11.1,465,10468,0.00,1.60,0.00,0.000,260,0.000,0.042,2918,3834,1607,1652,1562,0,0,0,0,0,0,26.05,26.08,26.12
$GC,10523,0.75,295.2,2919,3835,1653,1562,636.9,11.1,467,10532,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2770,1607,1652,1562,0,0,0,0,0,0,26.13,26.08,26.13
$GC,10856,0.75,299.1,2919,2770,1653,1562,601.3,10.9,478,10866,0.00,1.70,0.00,0.000,260,0.000,0.041,2919,3832,1607,1652,1562,0,0,0,0,0,0,26.05,26.06,26.11
$GC,10925,0.75,299.1,2919,3831,1654,1562,593.9,11.1,480,10932,0.10,1.50,0.00,0.000,5126,0.182,0.024,2906,2772,1607,1652,1562,0,0,0,0,0,0,25.94,26.08,26.08
$GC,11253,0.77,339.3,2905,2773,1652,1564,561.4,9.5,491,11299,0.00,0.00,38.62,0.832,8198,0.000,0.000,2906,2772,1453,1498,1409,0,0,0,0,0,0,26.01,25.39,24.81
$GC,11582,0.80,355.6,2906,2772,1489,1390,527.4,10.4,502,11603,0.00,0.00,13.73,0.831,8198,0.000,0.000,2906,2772,1390,1435,1345,0,0,0,0,0,0,25.89,25.59,25.00
$GC,11882,0.83,355.6,2906,2773,1421,1331,494.7,11.1,512,11891,0.00,1.65,0.00,0.000,260,0.000,0.040,2906,3829,1375,1421,1329,0,0,0,0,0,0,25.91,25.91,25.98
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$STATE,15948,end climb,SURFACE_DEPTH_REACHED
$STATE,15948,begin surface coast
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$STATE,15973,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,16002.44 7374.35
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$10V_AH,10.19,30.902
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