version: 66.12
glider: 203
mission: 8
dive: 88
start: 7 26 115 17 4 20
data:
$ID,203
$MISSION,8
$DIVE,88
$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,45
$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
$GPS1,260715,165903,5719.1172,-14835.4014,40,0.8,40,17.3,0.0,0.0,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.3
$GPS2,260715,170402,5719.1235,-14835.3291,7,0.8,9,17.3,0.0,0.0,12,9.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,163.5,20896,-18.0,-11.000,-19.55,2718
$D_GRID,4230
$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,-194.6,201,2806,923,809,0.0,0.0,0,144,0.00,0.00,-48.90,0.000,16386,0.000,0.000,201,2807,2128,2170,2086,0,0,0,0,0,0,25.95,28.83,26.03
$GC,146,-0.92,-194.6,202,2807,2172,2087,3.2,-4.0,7,200,8.60,1.67,-37.05,0.000,18692,0.236,0.060,2329,3854,3635,3703,3567,0,0,0,0,0,0,25.69,24.75,25.93
$GC,401,-0.85,-194.6,2329,3854,3704,3572,57.3,-21.1,52,413,0.12,1.65,0.00,0.000,3078,0.158,0.021,2358,2678,3637,3703,3572,0,0,0,0,0,0,25.89,26.06,26.03
$GC,707,-0.85,-194.6,2358,2677,3704,3575,113.4,-17.3,83,715,0.00,1.98,0.00,0.000,516,0.000,0.024,2358,1348,3638,3702,3575,0,0,0,0,0,0,26.06,26.07,26.12
$GC,729,-0.85,-194.6,2358,1347,3704,3575,117.0,-16.8,85,736,0.00,2.05,0.00,0.000,1030,0.000,0.026,2351,2706,3639,3703,3575,0,0,0,0,0,0,26.11,26.08,26.13
$GC,1034,-0.85,-194.6,2351,2705,3705,3575,162.1,-14.3,115,1042,0.00,1.75,0.00,0.000,260,0.000,0.038,2344,3852,3639,3704,3575,0,0,0,0,0,0,26.08,26.07,26.15
$GC,1101,-0.85,-194.6,2344,3853,3704,3577,171.6,-15.5,121,1111,0.08,1.62,0.00,0.000,3078,0.172,0.021,2357,2691,3639,3703,3576,0,0,0,0,0,0,25.98,26.11,26.10
$GC,1406,-0.87,-194.6,2358,2691,3705,3575,215.5,-14.0,152,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2691,3639,3703,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,1718,-0.89,-194.6,2358,2692,3704,3576,258.9,-14.1,179,1727,0.00,1.80,0.00,0.000,260,0.000,0.039,2352,3853,3639,3703,3575,0,0,0,0,0,0,26.08,26.08,26.15
$GC,1776,-0.91,-194.6,2352,3854,3704,3572,263.9,-14.2,180,1786,0.00,1.62,0.00,0.000,1030,0.000,0.021,2351,2698,3639,3703,3575,0,0,0,0,0,0,26.16,26.13,26.17
$GC,2081,-0.92,-194.6,2351,2698,3703,3575,310.3,-14.0,191,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2698,3638,3702,3575,0,0,0,0,0,0,26.08,26.15,26.13
$GC,2381,-0.94,-194.6,2352,2698,3701,3577,350.7,-13.2,201,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2699,3638,3700,3576,0,0,0,0,0,0,26.10,26.17,26.15
$GC,2681,-0.96,-194.6,2352,2699,3700,3577,389.6,-13.1,211,2688,0.00,1.77,0.00,0.000,260,0.000,0.038,2345,3843,3636,3698,3575,0,0,0,0,0,0,26.09,26.08,26.15
$GC,2747,-0.98,-194.6,2346,3845,3699,3577,397.8,-13.3,213,2754,0.00,1.65,0.00,0.000,1030,0.000,0.022,2345,2717,3636,3698,3575,0,0,0,0,0,0,26.14,26.11,26.15
$GC,3073,-0.98,-194.6,2346,2720,3697,3577,441.6,-13.2,224,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2717,3636,3697,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3374,-0.99,-194.6,2344,2717,3697,3575,481.3,-13.2,234,3381,0.00,1.75,0.00,0.000,260,0.000,0.040,2336,3843,3635,3695,3575,0,0,0,0,0,0,26.09,26.08,26.15
$GC,3406,-1.01,-194.6,2343,3844,3695,3577,485.6,-13.1,235,3412,0.00,1.62,0.00,0.000,1030,0.000,0.023,2336,2704,3635,3695,3575,0,0,0,0,0,0,26.15,26.12,26.15
$GC,3736,-1.01,-194.6,2335,2705,3694,3575,529.3,-13.1,246,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2709,3634,3694,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,4036,-1.01,-194.6,2337,2706,3694,3577,568.3,-12.9,256,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2705,3634,3693,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,4336,-1.01,-194.6,2337,2705,3693,3575,608.3,-13.3,266,4343,0.00,1.77,0.00,0.000,260,0.000,0.039,2328,3848,3633,3691,3575,0,0,0,0,0,0,26.08,26.07,26.13
$GC,4372,-1.01,-194.6,2327,3849,3692,3575,612.7,-13.4,267,4379,0.00,1.65,0.00,0.000,1030,0.000,0.023,2328,2697,3633,3691,3575,0,0,0,0,0,0,26.15,26.12,26.16
$GC,4698,-1.01,-194.6,2328,2695,3691,3575,659.1,-14.1,278,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2694,3632,3689,3575,0,0,0,0,0,0,26.09,26.15,26.15
$GC,4998,-1.01,-194.6,2328,2696,3690,3577,699.4,-13.1,288,5005,0.00,1.80,0.00,0.000,260,0.000,0.040,2322,3847,3632,3689,3575,0,0,0,0,0,0,26.09,26.06,26.15
$GC,5044,-1.01,-194.6,2322,3850,3690,3577,703.7,-13.0,289,5051,0.00,1.65,0.00,0.000,1030,0.000,0.022,2321,2696,3631,3688,3575,0,0,0,0,0,0,26.15,26.10,26.16
$GC,5360,-1.01,-194.6,2322,2691,3688,3575,747.0,-12.7,300,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2691,3631,3687,3575,0,0,0,0,0,0,26.08,26.14,26.13
$GC,5660,-1.01,-194.6,2322,2691,3688,3575,786.6,-13.3,310,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2691,3631,3687,3576,0,0,0,0,0,0,26.08,26.14,26.13
$GC,5960,-1.01,-194.6,2322,2691,3688,3575,827.1,-13.7,320,5969,0.00,1.80,0.00,0.000,260,0.000,0.041,2320,3843,3630,3686,3575,0,0,0,0,0,0,26.07,26.06,26.13
$GC,6018,-1.01,-194.6,2320,3844,3686,3577,831.7,-13.7,321,6028,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2689,3630,3686,3575,0,0,0,0,0,0,26.15,26.10,26.15
$GC,6323,-1.01,-194.6,2320,2690,3687,3578,877.1,-13.9,332,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2689,3630,3686,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6624,-1.01,-194.6,2319,2690,3686,3577,919.4,-14.0,342,6632,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3840,3630,3685,3576,0,0,0,0,0,0,26.07,26.05,26.13
$GC,6680,-1.01,-194.6,2320,3842,3686,3576,924.0,-13.9,343,6690,0.00,1.62,0.00,0.000,1030,0.000,0.023,2319,2704,3630,3685,3575,0,0,0,0,0,0,26.14,26.11,26.15
$GC,6986,-1.01,-194.6,2320,2705,3684,3577,968.3,-13.0,354,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3630,3684,3576,0,0,0,0,0,0,26.08,26.15,26.14
$STATE,7164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7165,begin apogee
$GC,7168,-0.25,0.0,2320,2807,3685,3575,991.3,-12.8,360,7341,0.75,0.00,164.00,1.094,10246,0.120,0.000,2552,2808,2837,2875,2800,0,0,0,0,0,0,25.91,24.44,23.80
$STATE,7342,end apogee,CONTROL_FINISHED_OK
$STATE,7342,begin climb
$GC,7344,0.92,194.6,2554,2809,2869,2793,998.8,0.0,365,7523,1.10,2.30,163.48,1.090,11012,0.063,0.021,2932,1425,2033,2072,1995,0,0,0,0,0,0,24.60,23.52,23.03
$GC,7667,0.89,253.9,2932,1427,2065,1987,989.2,8.8,376,7728,0.00,2.17,50.78,1.078,9222,0.000,0.026,2932,2796,1797,1839,1756,0,0,0,0,0,0,25.09,25.03,23.70
$GC,8038,0.86,253.9,2932,2797,1827,1739,945.9,11.4,389,8046,0.00,1.70,0.00,0.000,260,0.000,0.040,2932,3848,1782,1826,1738,0,0,0,0,0,0,25.58,25.59,25.64
$GC,8105,0.82,253.9,2932,3848,1826,1737,938.2,11.7,391,8113,0.00,1.52,0.00,0.000,1030,0.000,0.023,2932,2783,1781,1825,1737,0,0,0,0,0,0,25.71,25.71,25.74
$GC,8433,0.79,253.9,2932,2783,1826,1736,900.4,11.2,402,8440,0.00,1.73,0.00,0.000,260,0.000,0.040,2932,3853,1781,1825,1737,0,0,0,0,0,0,25.92,25.94,25.98
$GC,8509,0.75,253.9,2932,3853,1824,1737,893.1,11.5,404,8516,0.12,1.50,0.00,0.000,5126,0.168,0.023,2905,2794,1780,1825,1736,0,0,0,0,0,0,25.84,25.98,25.98
$GC,8825,0.75,272.8,2904,2794,1825,1735,859.4,10.3,415,8849,0.00,1.75,15.75,1.020,8452,0.000,0.040,2904,3857,1719,1763,1676,0,0,0,0,0,0,26.03,25.67,24.94
$GC,8878,0.75,283.0,2904,3858,1757,1672,856.8,10.6,416,8889,0.00,1.52,2.78,0.577,9222,0.000,0.024,2906,2789,1686,1732,1640,0,0,0,0,0,0,25.84,25.80,24.55
$GC,9183,0.75,283.0,2907,2790,1751,1652,819.6,11.2,427,9191,0.00,1.65,0.00,0.000,260,0.000,0.041,2906,3851,1700,1750,1651,0,0,0,0,0,0,25.97,25.98,26.03
$GC,9219,0.75,283.0,2907,3851,1751,1651,815.8,11.3,428,9226,0.00,1.50,0.00,0.000,1030,0.000,0.024,2913,2794,1700,1750,1651,0,0,0,0,0,0,26.06,26.01,26.06
$GC,9545,0.75,283.0,2913,2795,1751,1652,778.2,11.1,439,9553,0.00,1.67,0.00,0.000,260,0.000,0.040,2912,3845,1700,1750,1651,0,0,0,0,0,0,26.03,26.03,26.10
$GC,9597,0.75,283.0,2913,3845,1751,1651,774.5,11.4,440,9605,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2781,1702,1753,1651,0,0,0,0,0,0,26.12,26.06,26.13
$GC,9909,0.75,283.0,2918,2780,1750,1651,736.3,11.5,451,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2780,1700,1750,1651,0,0,0,0,0,0,26.06,26.13,26.12
$GC,10209,0.75,283.0,2919,2780,1751,1651,701.9,11.5,461,10217,0.00,1.67,0.00,0.000,260,0.000,0.040,2918,3859,1699,1748,1651,0,0,0,0,0,0,26.08,26.06,26.13
$GC,10251,0.75,283.0,2919,3861,1751,1652,698.0,11.6,462,10259,0.08,1.50,0.00,0.000,5126,0.204,0.024,2909,2803,1701,1751,1651,0,0,0,0,0,0,25.93,26.10,26.07
$GC,10573,0.75,298.0,2910,2802,1751,1651,662.6,10.4,473,10600,0.00,0.00,21.73,0.906,8198,0.000,0.000,2910,2803,1623,1668,1578,0,0,0,0,0,0,26.07,25.60,24.95
$GC,10874,0.75,298.0,2910,2804,1653,1560,628.2,11.5,483,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2803,1606,1652,1560,0,0,0,0,0,0,25.96,26.03,26.02
$GC,11175,0.75,298.0,2910,2804,1653,1567,595.0,11.0,493,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2803,1605,1652,1559,0,0,0,0,0,0,26.03,26.10,26.09
$GC,11474,0.75,298.0,2910,2804,1650,1560,562.0,11.0,503,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2803,1603,1648,1559,0,0,0,0,0,0,26.06,26.13,26.12
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$STATE,16312,end climb,SURFACE_DEPTH_REACHED
$STATE,16312,begin surface coast
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$STATE,16322,end surface coast,CONTROL_FINISHED_OK
$STATE,16322,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16352.97 7805.64
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$10V_AH,10.17,32.206
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$FG_AHR_10Vo,0.000
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