version: 66.12
glider: 203
mission: 8
dive: 74
start: 7 24 115 1 40 33
data:
$ID,203
$MISSION,8
$DIVE,74
$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,-4
$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,43
$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
$GPS1,240715,013423,5748.5083,-14827.9082,66,1.3,68,17.5,0.3,142.4,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.7
$GPS2,240715,013941,5748.4414,-14827.9053,6,0.9,12,17.5,0.0,210.7,10,9.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,294.7,18493,-18.0,-11.000,-19.55,2718
$D_GRID,2413
$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,-194.6,182,2795,1244,1174,0.0,0.0,0,139,0.00,0.00,-40.47,0.000,16386,0.000,0.000,180,2794,2293,2332,2255,0,0,0,0,0,0,25.95,28.83,26.02
$GC,141,-0.92,-194.6,181,2794,2334,2255,3.4,-5.3,4,189,8.68,1.70,-29.27,0.000,18692,0.238,0.060,2332,3853,3636,3705,3567,0,0,0,0,0,0,25.70,24.86,25.94
$GC,259,-0.84,-194.6,2332,3855,3706,3573,29.6,-21.7,22,276,0.12,1.65,0.00,0.000,3078,0.165,0.021,2361,2676,3638,3705,3572,0,0,0,0,0,0,25.86,26.00,25.99
$GC,586,-0.82,-194.6,2361,2675,3706,3575,91.7,-17.8,61,594,0.00,1.98,0.00,0.000,516,0.000,0.023,2361,1346,3640,3705,3576,0,0,0,0,0,0,26.02,26.04,26.08
$GC,619,-0.80,-194.6,2360,1346,3706,3575,97.6,-18.3,64,627,0.10,2.08,0.00,0.000,3078,0.170,0.025,2376,2713,3643,3705,3581,0,0,0,0,0,0,25.92,26.05,26.03
$GC,924,-0.83,-194.6,2376,2716,3706,3578,139.8,-11.5,94,931,0.00,1.75,0.00,0.000,260,0.000,0.039,2366,3858,3641,3706,3576,0,0,0,0,0,0,26.04,26.05,26.10
$GC,1020,-0.85,-194.6,2370,3856,3706,3571,151.3,-12.0,103,1031,0.00,1.62,0.00,0.000,1030,0.000,0.021,2370,2702,3640,3705,3576,0,0,0,0,0,0,26.11,26.08,26.12
$GC,1325,-0.87,-194.6,2370,2703,3706,3578,194.3,-13.9,134,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2702,3640,3705,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,1626,-0.90,-194.6,2370,2703,3706,3578,233.2,-12.4,164,1639,0.00,2.03,0.00,0.000,516,0.000,0.023,2370,1341,3640,3705,3576,0,0,0,0,0,0,26.06,26.08,26.12
$GC,1668,-0.93,-194.6,2370,1342,3706,3577,238.3,-12.1,168,1676,0.00,2.08,0.00,0.000,1030,0.000,0.026,2363,2706,3640,3705,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,1973,-0.95,-194.6,2363,2707,3705,3576,277.0,-13.0,184,1980,0.00,1.75,0.00,0.000,260,0.000,0.039,2352,3849,3640,3705,3576,0,0,0,0,0,0,26.06,26.06,26.12
$GC,2010,-0.97,-194.6,2355,3849,3705,3576,281.3,-13.3,185,2016,0.00,1.62,0.00,0.000,1030,0.000,0.022,2355,2716,3640,3704,3576,0,0,0,0,0,0,26.13,26.08,26.13
$GC,2336,-0.99,-194.6,2355,2716,3701,3576,326.5,-13.3,196,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2717,3639,3703,3576,0,0,0,0,0,0,26.06,26.13,26.11
$GC,2636,-1.01,-194.6,2355,2716,3703,3576,367.5,-13.8,206,2643,0.00,1.75,0.00,0.000,260,0.000,0.038,2348,3847,3639,3702,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,2657,-1.03,-194.6,2349,3849,3702,3578,367.5,-13.8,206,2664,0.00,1.65,0.00,0.000,1030,0.000,0.022,2348,2701,3639,3702,3576,0,0,0,0,0,0,26.13,26.09,26.13
$GC,2969,-1.05,-194.6,2349,2702,3701,3577,416.4,-14.6,217,2975,0.08,0.00,0.00,0.000,4102,0.118,0.000,2295,2701,3638,3701,3576,0,0,0,0,0,0,26.01,26.10,26.09
$GC,3268,-1.02,-194.6,2295,2702,3700,3578,469.1,-17.4,227,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2700,3638,3699,3577,0,0,0,0,0,0,26.06,26.13,26.12
$GC,3568,-0.99,-194.6,2295,2702,3698,3578,520.5,-16.9,237,3574,0.10,0.00,0.00,0.000,2054,0.172,0.000,2315,2701,3637,3698,3576,0,0,0,0,0,0,25.94,26.11,26.08
$GC,3868,-0.99,-194.6,2316,2702,3698,3578,567.1,-15.5,247,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2701,3636,3697,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4168,-0.99,-194.6,2316,2701,3697,3576,611.9,-14.6,257,4176,0.00,1.77,0.00,0.000,260,0.000,0.038,2310,3850,3635,3695,3576,0,0,0,0,0,0,26.06,26.06,26.11
$GC,4205,-0.99,-194.6,2310,3848,3697,3578,616.5,-14.5,258,4212,0.00,1.65,0.00,0.000,1030,0.000,0.023,2310,2695,3635,3695,3576,0,0,0,0,0,0,26.13,26.08,26.13
$GC,4531,-0.99,-194.6,2310,2693,3695,3576,665.2,-14.6,269,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2693,3635,3694,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4831,-0.99,-194.6,2310,2694,3694,3578,707.1,-13.4,279,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2693,3634,3693,3576,0,0,0,0,0,0,26.06,26.12,26.10
$GC,5131,-0.99,-194.6,2310,2694,3694,3577,747.5,-13.5,289,5139,0.00,1.80,0.00,0.000,260,0.000,0.040,2306,3847,3634,3692,3576,0,0,0,0,0,0,26.05,26.05,26.10
$GC,5177,-0.99,-194.6,2306,3846,3693,3576,752.0,-13.7,290,5185,0.00,1.65,0.00,0.000,1030,0.000,0.023,2306,2698,3634,3692,3576,0,0,0,0,0,0,26.13,26.09,26.14
$GC,5494,-0.99,-194.6,2306,2696,3692,3576,797.9,-13.8,301,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2696,3633,3691,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,5794,-0.99,-194.6,2305,2697,3691,3577,841.4,-15.0,311,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2696,3633,3690,3576,0,0,0,0,0,0,26.04,26.12,26.11
$GC,6094,-0.99,-194.6,2306,2697,3691,3576,886.6,-15.1,321,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2696,3632,3689,3576,0,0,0,0,0,0,26.05,26.11,26.10
$GC,6394,-0.99,-194.6,2306,2697,3689,3574,931.7,-15.2,331,6402,0.00,1.80,0.00,0.000,260,0.000,0.041,2306,3847,3632,3689,3576,0,0,0,0,0,0,26.04,26.04,26.10
$GC,6426,-0.99,-194.6,2306,3846,3689,3576,936.5,-14.9,332,6433,0.00,1.65,0.00,0.000,1030,0.000,0.023,2306,2704,3631,3687,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,6757,-0.99,-194.6,2306,2704,3689,3576,984.8,-14.5,343,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2704,3631,3687,3576,0,0,0,0,0,0,26.04,26.11,26.10
$STATE,6816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6816,begin apogee
$GC,6820,-0.25,0.0,2307,2817,3687,3577,993.2,-14.2,345,7004,0.80,0.00,169.70,1.645,10246,0.122,0.000,2555,2817,2842,2880,2804,0,0,0,0,1,0,25.94,23.69,22.80
$STATE,7004,end apogee,CONTROL_FINISHED_OK
$STATE,7004,begin climb
$GC,7006,0.92,194.6,2555,2817,2892,2804,1004.6,0.0,351,7190,1.10,2.33,171.65,1.089,11012,0.047,0.021,2944,1420,2039,2078,2001,0,0,0,0,0,0,23.92,23.55,22.92
$GC,7339,0.88,265.8,2944,1422,2072,1995,997.8,8.3,362,7410,0.00,2.20,61.30,1.084,9222,0.000,0.026,2944,2797,1750,1792,1709,0,0,0,0,0,0,25.02,24.98,23.57
$GC,7715,0.84,265.8,2945,2798,1783,1696,955.1,11.1,375,7722,0.00,1.70,0.00,0.000,260,0.000,0.039,2945,3845,1738,1782,1694,0,0,0,0,0,0,25.46,25.49,25.53
$GC,7801,0.79,265.8,2951,3845,1782,1694,947.4,11.7,377,7814,0.12,1.52,0.00,0.000,5126,0.177,0.023,2917,2784,1737,1781,1693,0,0,0,0,0,0,25.52,25.61,25.65
$GC,8107,0.79,279.0,2917,2784,1781,1693,912.2,10.5,388,8123,0.00,0.00,10.77,1.069,8454,0.000,0.000,2917,2784,1700,1744,1657,0,0,0,0,0,0,25.86,25.57,24.87
$GC,8432,0.79,287.6,2917,2784,1736,1647,876.5,10.7,399,8444,0.00,1.67,3.85,0.989,8452,0.000,0.038,2917,3856,1669,1713,1625,0,0,0,0,0,0,25.92,25.72,24.68
$GC,8498,0.77,287.6,2918,3857,1726,1632,869.5,11.1,401,8505,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2800,1677,1725,1630,0,0,0,0,0,0,25.95,25.91,25.95
$GC,8824,0.77,287.6,2919,2801,1726,1631,832.7,11.2,412,8832,0.00,1.65,0.00,0.000,260,0.000,0.040,2919,3860,1677,1725,1630,0,0,0,0,0,0,25.98,26.00,26.05
$GC,8861,0.76,287.6,2917,3860,1727,1630,828.9,11.4,413,8868,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2800,1677,1725,1630,0,0,0,0,0,0,26.06,26.03,26.07
$GC,9187,0.76,289.6,2915,2802,1726,1631,790.8,10.9,424,9196,0.00,0.00,3.45,0.894,8198,0.000,0.000,2919,2800,1658,1703,1614,0,0,0,0,0,0,26.03,25.83,24.77
$GC,9487,0.76,290.3,2918,2801,1720,1618,758.1,11.0,434,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2800,1668,1718,1618,0,0,0,0,0,0,26.03,26.10,26.09
$GC,9787,0.76,309.5,2919,2800,1719,1618,726.0,10.3,444,9821,0.00,1.67,23.35,0.962,8452,0.000,0.041,2919,3854,1572,1617,1527,0,0,0,0,0,0,26.05,25.57,24.89
$GC,9916,0.73,309.5,2919,3857,1613,1524,711.0,12.1,448,9923,0.08,1.55,0.00,0.000,5126,0.152,0.023,2903,2802,1567,1612,1523,0,0,0,0,0,0,25.68,25.82,25.77
$GC,10243,0.73,309.5,2903,2801,1613,1521,674.8,11.4,459,10250,0.00,2.08,0.00,0.000,516,0.000,0.025,2906,1422,1566,1611,1522,0,0,0,0,0,0,25.96,26.00,26.03
$GC,10334,0.73,309.5,2906,1422,1612,1523,664.6,11.7,462,10343,0.00,2.12,0.00,0.000,1030,0.000,0.027,2906,2806,1566,1611,1521,0,0,0,0,0,0,26.05,26.01,26.06
$GC,10662,0.73,309.5,2907,2808,1612,1523,626.2,11.9,473,10670,0.00,2.08,0.00,0.000,516,0.000,0.024,2916,1425,1566,1611,1521,0,0,0,0,0,0,26.01,26.06,26.08
$GC,10759,0.73,309.5,2916,1426,1612,1522,616.4,11.4,476,10766,0.00,2.10,0.00,0.000,1030,0.000,0.027,2915,2799,1565,1611,1520,0,0,0,0,0,0,26.09,26.06,26.10
$GC,11076,0.73,309.5,2916,2802,1612,1522,581.0,11.6,487,11083,0.00,1.62,0.00,0.000,260,0.000,0.038,2916,3860,1565,1610,1521,0,0,0,0,0,0,26.04,26.05,26.10
$GC,11162,0.73,309.5,2916,3862,1612,1522,573.4,11.9,489,11175,0.10,1.50,0.00,0.000,5126,0.182,0.023,2897,2794,1565,1610,1520,0,0,0,0,0,0,25.93,26.05,26.06
$GC,11471,0.77,316.1,2898,2794,1612,1522,537.0,10.8,500,11478,0.00,1.65,0.00,0.000,260,0.000,0.040,2898,3857,1566,1611,1521,0,0,0,0,0,0,26.04,26.06,26.10
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$STATE,15797,begin surface coast
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$STATE,15812,end surface coast,CONTROL_FINISHED_OK
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15842.10 7337.16
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$FG_AHR_10Vo,0.000
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