version: 66.12
glider: 203
mission: 8
dive: 87
start: 7 26 115 12 25 51
data:
$ID,203
$MISSION,8
$DIVE,87
$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,101
$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
$GPS1,260715,122027,5721.7085,-14836.2695,39,0.8,39,17.3,0.0,0.0,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.3
$GPS2,260715,122533,5721.7183,-14836.2666,6,0.7,8,17.3,0.0,262.9,11,9.2
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,156.0,25753,-18.0,-11.000,-19.55,2718
$D_GRID,3756
$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,-194.6,181,2694,968,853,0.0,0.0,0,143,0.00,0.00,-47.58,0.000,16386,0.000,0.000,180,2693,2141,2184,2099,0,0,0,0,0,0,25.96,28.83,26.02
$GC,145,-0.92,-194.6,180,2694,2185,2100,3.3,-4.9,8,193,8.70,1.88,-35.70,0.000,18692,0.237,0.055,2329,3852,3635,3704,3566,0,0,0,0,0,0,25.67,24.75,25.93
$GC,323,-0.85,-194.6,2329,3853,3706,3573,45.0,-22.9,42,334,0.12,1.62,0.00,0.000,3078,0.160,0.021,2358,2691,3638,3705,3571,0,0,0,0,0,0,25.88,26.06,26.02
$GC,638,-0.83,-194.6,2358,2691,3706,3575,105.2,-16.4,75,651,0.00,2.00,0.00,0.000,516,0.000,0.023,2358,1344,3639,3704,3575,0,0,0,0,0,0,26.06,26.08,26.11
$GC,685,-0.83,-194.6,2358,1345,3705,3576,111.7,-15.2,79,696,0.08,2.05,0.00,0.000,3078,0.186,0.026,2366,2705,3640,3705,3575,0,0,0,0,0,0,25.94,26.08,26.07
$GC,991,-0.85,-194.6,2366,2704,3706,3576,154.7,-12.8,110,998,0.00,1.75,0.00,0.000,260,0.000,0.037,2360,3855,3640,3705,3576,0,0,0,0,0,0,26.08,26.06,26.15
$GC,1042,-0.85,-194.6,2360,3854,3705,3576,161.7,-14.0,115,1050,0.00,1.62,0.00,0.000,1030,0.000,0.021,2361,2698,3639,3704,3575,0,0,0,0,0,0,26.15,26.12,26.15
$GC,1355,-0.87,-194.6,2361,2698,3705,3575,202.0,-12.2,146,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2698,3640,3705,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,1655,-0.89,-194.6,2361,2699,3706,3577,241.7,-13.4,176,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2698,3640,3704,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,1965,-0.91,-194.6,2361,2699,3705,3576,283.7,-13.5,191,1972,0.00,1.77,0.00,0.000,260,0.000,0.039,2351,3844,3639,3703,3576,0,0,0,0,0,0,26.08,26.07,26.14
$GC,2011,-0.93,-194.6,2351,3844,3704,3576,288.1,-13.6,192,2019,0.00,1.62,0.00,0.000,1030,0.000,0.022,2351,2707,3639,3703,3576,0,0,0,0,0,0,26.15,26.12,26.16
$GC,2328,-0.93,-194.6,2352,2708,3702,3577,333.3,-13.6,203,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2707,3639,3702,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,2628,-0.95,-194.6,2351,2706,3701,3576,373.4,-13.2,213,2635,0.00,1.77,0.00,0.000,260,0.000,0.040,2347,3849,3638,3700,3576,0,0,0,0,0,0,26.09,26.08,26.15
$GC,2669,-0.97,-194.6,2346,3849,3700,3575,377.4,-13.1,214,2676,0.00,1.65,0.00,0.000,1030,0.000,0.023,2346,2695,3638,3700,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,2991,-0.97,-194.6,2345,2693,3698,3575,421.6,-13.5,225,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2693,3637,3698,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3291,-0.99,-194.6,2346,2693,3697,3575,463.1,-14.2,235,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2697,3636,3696,3576,0,0,0,0,0,0,26.09,26.15,26.15
$GC,3591,-1.00,-194.6,2346,2695,3696,3577,506.3,-14.7,245,3598,0.00,1.80,0.00,0.000,260,0.000,0.038,2336,3848,3635,3695,3576,0,0,0,0,0,0,26.09,26.06,26.15
$GC,3642,-1.02,-194.6,2337,3850,3696,3575,511.2,-14.7,246,3649,0.00,1.65,0.00,0.000,1030,0.000,0.022,2337,2696,3635,3695,3575,0,0,0,0,0,0,26.15,26.12,26.16
$GC,3953,-1.02,-194.6,2337,2694,3695,3575,559.2,-14.1,257,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2694,3634,3694,3575,0,0,0,0,0,0,26.09,26.16,26.15
$GC,4253,-1.02,-194.6,2337,2694,3693,3576,599.6,-12.9,267,4260,0.00,1.80,0.00,0.000,260,0.000,0.039,2328,3849,3634,3692,3576,0,0,0,0,0,0,26.08,26.07,26.14
$GC,4293,-1.02,-194.6,2328,3851,3693,3575,603.6,-12.9,268,4300,0.00,1.65,0.00,0.000,1030,0.000,0.022,2328,2697,3634,3693,3575,0,0,0,0,0,0,26.18,26.12,26.16
$GC,4614,-1.02,-194.6,2329,2696,3693,3577,647.7,-13.4,279,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2694,3636,3691,3582,0,0,0,0,0,0,26.08,26.15,26.13
$GC,4914,-1.02,-194.6,2328,2694,3691,3575,687.7,-13.2,289,4923,0.00,1.80,0.00,0.000,260,0.000,0.040,2322,3849,3632,3690,3575,0,0,0,0,0,0,26.06,26.06,26.13
$GC,4952,-1.02,-194.6,2322,3849,3691,3575,692.1,-13.0,290,4959,0.00,1.70,0.00,0.000,1030,0.000,0.023,2322,2692,3632,3689,3576,0,0,0,0,0,0,26.13,26.10,26.15
$GC,5278,-1.02,-194.6,2322,2693,3690,3577,737.0,-13.7,301,5286,0.00,2.03,0.00,0.000,516,0.000,0.024,2322,1330,3632,3689,3576,0,0,0,0,0,0,26.07,26.08,26.13
$GC,5305,-1.02,-194.6,2322,1331,3689,3577,740.8,-13.8,302,5312,0.00,2.08,0.00,0.000,1030,0.000,0.028,2320,2697,3632,3688,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,5632,-1.02,-194.6,2320,2698,3690,3577,786.9,-14.2,313,5639,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3858,3632,3688,3576,0,0,0,0,0,0,26.10,26.06,26.13
$GC,5678,-1.02,-194.6,2319,3859,3689,3577,791.6,-14.3,314,5685,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2702,3631,3687,3575,0,0,0,0,0,0,26.15,26.09,26.15
$GC,5994,-1.02,-194.6,2319,2699,3687,3575,837.7,-13.9,325,6001,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3852,3631,3686,3576,0,0,0,0,0,0,26.08,26.06,26.14
$GC,6035,-1.02,-194.6,2320,3854,3688,3577,842.4,-14.1,326,6042,0.00,1.65,0.00,0.000,1030,0.000,0.023,2320,2700,3631,3686,3576,0,0,0,0,0,0,26.14,26.10,26.15
$GC,6356,-1.02,-194.6,2319,2699,3688,3575,888.7,-14.2,337,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2698,3631,3686,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6656,-1.02,-194.6,2318,2698,3687,3576,931.1,-14.0,347,6663,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3848,3631,3686,3576,0,0,0,0,0,0,26.06,26.06,26.13
$GC,6702,-1.02,-194.6,2320,3850,3687,3577,935.3,-14.0,348,6710,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2694,3630,3685,3576,0,0,0,0,0,0,26.14,26.08,26.15
$GC,7019,-1.02,-194.6,2320,2694,3687,3575,978.3,-12.7,359,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3631,3687,3576,0,0,0,0,0,0,26.06,26.13,26.12
$STATE,7138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7138,begin apogee
$GC,7141,-0.25,0.0,2320,2810,3687,3577,992.9,-12.2,363,7388,0.75,0.00,237.85,0.889,10246,0.120,0.000,2553,2808,2838,2877,2799,0,0,0,0,0,0,25.91,24.40,23.84
$STATE,7389,end apogee,CONTROL_FINISHED_OK
$STATE,7389,begin climb
$GC,7391,0.92,194.6,2552,2808,2871,2794,1005.1,0.0,371,7568,1.08,2.30,165.88,1.089,11012,0.052,0.021,2933,1431,2037,2076,1999,0,0,0,0,0,0,24.53,23.47,22.99
$GC,7632,0.86,292.8,2933,1430,2066,1986,999.4,7.3,379,7735,0.00,2.20,92.53,1.014,9222,0.000,0.026,2932,2787,1642,1686,1598,0,0,0,0,0,0,24.61,24.57,23.31
$GC,8039,0.84,292.8,2932,2788,1670,1580,941.4,14.8,393,8046,0.00,1.73,0.00,0.000,260,0.000,0.040,2932,3848,1625,1672,1578,0,0,0,0,0,0,25.47,25.48,25.53
$GC,8086,0.81,292.8,2933,3849,1672,1577,936.4,15.0,394,8093,0.00,1.52,0.00,0.000,1030,0.000,0.024,2938,2799,1624,1671,1578,0,0,0,0,0,0,25.61,25.59,25.62
$GC,8402,0.78,292.8,2939,2800,1671,1578,885.9,15.0,405,8408,0.10,0.00,0.00,0.000,4102,0.186,0.000,2918,2799,1623,1670,1577,0,0,0,0,0,0,25.75,25.92,25.90
$GC,8702,0.78,292.8,2917,2799,1671,1578,846.2,13.0,415,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2799,1622,1669,1576,0,0,0,0,0,0,26.00,26.06,26.06
$GC,9002,0.78,292.8,2918,2799,1670,1577,810.7,11.4,425,9009,0.00,1.65,0.00,0.000,260,0.000,0.040,2918,3861,1622,1669,1576,0,0,0,0,0,0,26.05,26.04,26.11
$GC,9068,0.78,292.8,2918,3862,1670,1577,802.0,12.6,427,9076,0.00,1.52,0.00,0.000,1030,0.000,0.024,2919,2782,1622,1669,1575,0,0,0,0,0,0,26.10,26.08,26.12
$GC,9395,0.78,292.8,2919,2780,1670,1575,762.9,11.6,438,9402,0.00,1.67,0.00,0.000,260,0.000,0.041,2919,3853,1622,1669,1575,0,0,0,0,0,0,26.06,26.06,26.13
$GC,9426,0.78,292.8,2919,3854,1669,1576,758.9,11.7,439,9433,0.00,1.50,0.00,0.000,1030,0.000,0.023,2923,2792,1621,1668,1575,0,0,0,0,0,0,26.12,26.08,26.12
$GC,9758,0.78,292.8,2924,2793,1669,1576,721.0,11.3,450,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2792,1621,1668,1575,0,0,0,0,0,0,26.08,26.15,26.15
$GC,10058,0.78,292.8,2924,2793,1669,1576,687.9,11.2,460,10065,0.00,1.65,0.00,0.000,260,0.000,0.041,2924,3851,1622,1669,1575,0,0,0,0,0,0,26.08,26.06,26.14
$GC,10129,0.76,292.8,2925,3853,1669,1576,680.3,11.6,462,10138,0.08,1.52,0.00,0.000,5126,0.146,0.024,2909,2804,1621,1667,1575,0,0,0,0,0,0,25.95,26.11,26.04
$GC,10452,0.76,304.2,2909,2802,1669,1574,644.4,10.6,473,10459,0.00,0.00,2.25,0.347,8198,0.000,0.000,2909,2802,1597,1643,1551,0,0,0,0,0,0,26.06,25.86,24.88
$GC,10752,0.76,311.4,2909,2804,1666,1565,612.7,10.7,483,10773,0.00,0.00,15.12,0.877,8198,0.000,0.000,2908,2803,1568,1615,1521,0,0,0,0,0,0,26.07,25.72,25.06
$GC,11052,0.76,311.4,2909,2802,1601,1507,579.5,11.0,493,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2802,1553,1600,1507,0,0,0,0,0,0,25.96,26.03,26.03
$GC,11352,0.76,311.4,2909,2802,1601,1507,545.9,11.4,503,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2803,1553,1600,1507,0,0,0,0,0,0,26.05,26.11,26.10
$GC,11652,0.78,315.3,2909,2804,1601,1508,512.6,10.9,513,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2803,1553,1600,1507,0,0,0,0,0,0,26.06,26.13,26.13
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$STATE,16245,end climb,SURFACE_DEPTH_REACHED
$STATE,16245,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16289.70 7827.64
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