version: 66.12
glider: 203
mission: 8
dive: 91
start: 7 27 115 6 58 48
data:
$ID,203
$MISSION,8
$DIVE,91
$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,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
$GPS1,270715,065326,5711.1978,-14834.9834,34,0.9,39,17.3,0.0,85.4,11,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-58.3
$GPS2,270715,065837,5711.2012,-14834.8711,6,0.9,12,17.3,1.2,66.8,10,8.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,165.9,6226,-18.0,-11.000,-19.55,2718
$D_GRID,4997
$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,-194.6,203,2698,646,512,0.0,0.0,0,158,0.00,0.00,-62.17,0.000,16386,0.000,0.000,199,2699,2195,2237,2153,0,0,0,0,0,0,25.94,28.83,26.01
$GC,160,-0.92,-194.6,204,2700,2238,2156,3.2,-3.9,9,209,8.55,1.88,-34.12,0.000,18692,0.235,0.055,2324,3860,3635,3704,3567,0,0,0,0,0,0,25.70,24.75,25.96
$GC,404,-0.86,-194.6,2325,3861,3705,3574,56.9,-20.8,52,419,0.12,1.65,0.00,0.000,3078,0.157,0.020,2354,2679,3639,3705,3573,0,0,0,0,0,0,25.87,26.01,26.00
$GC,713,-0.86,-194.6,2355,2680,3706,3577,110.5,-15.2,83,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2678,3640,3705,3575,0,0,0,0,0,0,26.08,26.14,26.13
$GC,1014,-0.86,-194.6,2355,2680,3706,3577,157.1,-15.1,113,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2679,3644,3705,3583,0,0,0,0,0,0,26.09,26.16,26.15
$GC,1315,-0.88,-194.6,2354,2675,3707,3572,199.4,-13.7,143,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2679,3640,3705,3576,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1615,-0.90,-194.6,2355,2680,3706,3577,240.4,-13.6,173,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2679,3640,3705,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,1926,-0.92,-194.6,2355,2680,3705,3577,284.6,-14.7,188,1933,0.00,1.83,0.00,0.000,260,0.000,0.037,2349,3854,3640,3704,3576,0,0,0,0,0,0,26.09,26.09,26.15
$GC,1967,-0.94,-194.6,2350,3859,3705,3582,289.3,-14.9,189,1974,0.00,1.62,0.00,0.000,1030,0.000,0.021,2349,2706,3639,3703,3576,0,0,0,0,0,0,26.17,26.13,26.17
$GC,2289,-0.96,-194.6,2349,2699,3704,3576,337.0,-13.9,200,2296,0.00,1.77,0.00,0.000,260,0.000,0.038,2341,3849,3639,3702,3576,0,0,0,0,0,0,26.10,26.09,26.15
$GC,2325,-0.98,-194.6,2341,3849,3703,3576,341.3,-13.6,201,2333,0.00,1.67,0.00,0.000,1030,0.000,0.022,2341,2712,3642,3703,3582,0,0,0,0,0,0,26.15,26.13,26.15
$GC,2652,-0.98,-194.6,2341,2711,3702,3576,387.8,-14.2,212,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2711,3638,3700,3576,0,0,0,0,0,0,26.08,26.16,26.15
$GC,2952,-0.99,-194.6,2341,2711,3700,3575,429.6,-13.3,222,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2711,3637,3698,3576,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3252,-1.01,-194.6,2341,2711,3699,3576,466.1,-11.8,232,3260,0.00,2.08,0.00,0.000,516,0.000,0.024,2340,1323,3636,3697,3576,0,0,0,0,0,0,26.10,26.10,26.15
$GC,3284,-1.03,-194.6,2341,1324,3698,3577,469.4,-11.9,233,3292,0.00,2.10,0.00,0.000,1030,0.000,0.026,2335,2703,3640,3697,3583,0,0,0,0,0,0,26.15,26.11,26.16
$GC,3606,-1.03,-194.6,2336,2704,3696,3577,509.5,-12.4,244,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2702,3635,3695,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,3906,-1.04,-194.6,2335,2705,3695,3578,546.8,-12.4,254,3913,0.00,1.75,0.00,0.000,260,0.000,0.039,2330,3845,3635,3694,3576,0,0,0,0,0,0,26.09,26.08,26.15
$GC,3952,-1.04,-194.6,2330,3845,3695,3575,550.8,-12.4,255,3959,0.00,1.70,0.00,0.000,1030,0.000,0.022,2330,2690,3631,3687,3576,0,0,0,0,0,0,26.16,26.13,26.17
$GC,4268,-1.04,-194.6,2331,2690,3694,3575,593.4,-13.7,266,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2690,3634,3693,3576,0,0,0,0,0,0,26.09,26.15,26.15
$GC,4568,-1.04,-194.6,2330,2690,3692,3577,635.1,-14.0,276,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2690,3633,3691,3576,0,0,0,0,0,0,26.09,26.15,26.15
$GC,4868,-1.04,-194.6,2330,2690,3691,3576,675.4,-13.1,286,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2690,3633,3690,3576,0,0,0,0,0,0,26.08,26.15,26.15
$GC,5168,-1.04,-194.6,2330,2690,3691,3575,715.1,-13.4,296,5175,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3843,3633,3690,3576,0,0,0,0,0,0,26.10,26.06,26.15
$GC,5204,-1.04,-194.6,2323,3846,3690,3577,719.4,-13.5,297,5212,0.00,1.65,0.00,0.000,1030,0.000,0.022,2323,2693,3632,3689,3576,0,0,0,0,0,0,26.15,26.12,26.15
$GC,5531,-1.04,-194.6,2323,2693,3689,3577,766.5,-14.3,308,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2693,3631,3688,3575,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5831,-1.04,-194.6,2323,2692,3689,3576,809.3,-14.4,318,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2693,3631,3687,3576,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6131,-1.04,-194.6,2322,2692,3688,3576,852.4,-14.2,328,6138,0.00,1.80,0.00,0.000,260,0.000,0.040,2320,3846,3631,3687,3576,0,0,0,0,0,0,26.08,26.06,26.14
$GC,6182,-1.04,-194.6,2320,3847,3687,3575,856.9,-14.2,329,6189,0.00,1.70,0.00,0.000,1030,0.000,0.022,2319,2693,3632,3688,3576,0,0,0,0,0,0,26.15,26.12,26.16
$GC,6493,-1.04,-194.6,2319,2693,3687,3576,901.8,-13.5,340,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2693,3631,3686,3576,0,0,0,0,0,0,26.08,26.15,26.15
$GC,6793,-1.04,-194.6,2320,2690,3687,3577,941.6,-13.0,350,6801,0.00,2.05,0.00,0.000,516,0.000,0.024,2319,1323,3630,3686,3575,0,0,0,0,0,0,26.07,26.08,26.13
$GC,6830,-1.04,-194.6,2319,1323,3687,3576,945.2,-12.9,351,6837,0.00,2.10,0.00,0.000,1030,0.000,0.026,2319,2706,3631,3686,3576,0,0,0,0,0,0,26.13,26.08,26.13
$GC,7146,-1.04,-194.6,2320,2707,3685,3578,986.6,-12.7,362,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2706,3630,3684,3576,0,0,0,0,0,0,26.07,26.14,26.13
$STATE,7175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7175,begin apogee
$GC,7179,-0.25,0.0,2320,2816,3685,3575,990.4,-12.7,363,7349,0.75,0.00,163.12,1.096,10246,0.119,0.000,2553,2817,2838,2877,2800,0,0,0,0,0,0,25.91,24.45,23.81
$STATE,7350,end apogee,CONTROL_FINISHED_OK
$STATE,7350,begin climb
$GC,7351,0.92,194.6,2554,2816,2870,2791,997.4,0.0,368,7529,1.10,2.40,164.50,1.090,10756,0.064,0.023,2931,1424,2035,2074,1997,0,0,0,0,0,0,24.58,23.68,23.03
$GC,7694,0.90,236.9,2931,1424,2066,1986,983.9,9.4,380,7742,0.00,2.17,36.35,1.069,9222,0.000,0.026,2931,2794,1865,1907,1824,0,0,0,0,0,0,25.18,25.14,23.93
$GC,8052,0.87,241.4,2931,2793,1898,1808,945.1,10.8,392,8059,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3842,1853,1897,1809,0,0,0,0,0,0,25.65,25.67,25.71
$GC,8108,0.83,243.6,2931,3842,1898,1807,941.5,10.9,393,8119,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2798,1852,1897,1807,0,0,0,0,0,0,25.79,25.76,25.80
$GC,8414,0.80,267.6,2932,2799,1897,1808,907.3,10.1,404,8449,0.00,2.12,26.40,1.038,8708,0.000,0.024,2927,1427,1739,1782,1697,0,0,0,0,0,0,25.95,25.40,24.69
$GC,8510,0.77,284.8,2932,1429,1773,1690,897.3,10.3,407,8535,0.10,2.15,15.98,1.030,13318,0.151,0.026,2910,2811,1672,1717,1628,0,0,0,0,0,0,25.57,25.68,24.62
$GC,8840,0.77,288.4,2910,2812,1706,1613,862.1,10.9,418,8849,0.00,1.65,0.00,0.000,260,0.000,0.040,2910,3851,1658,1705,1612,0,0,0,0,0,0,25.91,25.91,25.96
$GC,8952,0.77,288.4,2911,3849,1705,1612,851.0,11.5,421,8960,0.00,1.50,0.00,0.000,1030,0.000,0.023,2914,2795,1657,1704,1611,0,0,0,0,0,0,26.03,25.99,26.03
$GC,9264,0.77,288.4,2911,2794,1705,1610,814.1,11.1,432,9271,0.00,1.65,0.00,0.000,260,0.000,0.040,2914,3858,1657,1704,1610,0,0,0,0,0,0,26.03,26.04,26.10
$GC,9320,0.77,288.4,2914,3860,1705,1610,810.4,11.2,433,9330,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2797,1656,1704,1609,0,0,0,0,0,0,26.10,26.08,26.11
$GC,9625,0.77,288.4,2919,2796,1705,1609,773.1,11.5,444,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2797,1656,1704,1609,0,0,0,0,0,0,26.06,26.13,26.12
$GC,9925,0.77,288.4,2919,2798,1704,1610,737.9,11.7,454,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2797,1656,1703,1609,0,0,0,0,0,0,26.07,26.14,26.13
$GC,10225,0.77,288.4,2919,2797,1703,1609,701.8,12.3,464,10233,0.00,2.05,0.00,0.000,516,0.000,0.024,2925,1426,1655,1702,1609,0,0,0,0,0,0,26.08,26.10,26.13
$GC,10257,0.77,288.4,2926,1428,1704,1610,698.3,12.4,465,10265,0.00,2.10,0.00,0.000,1030,0.000,0.027,2925,2798,1654,1701,1608,0,0,0,0,0,0,26.14,26.10,26.15
$GC,10579,0.77,288.4,2925,2799,1703,1610,656.7,13.0,476,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2798,1655,1702,1608,0,0,0,0,0,0,26.08,26.15,26.14
$GC,10879,0.77,288.4,2921,2797,1703,1608,619.1,12.2,486,10886,0.00,1.62,0.00,0.000,260,0.000,0.040,2925,3859,1655,1702,1609,0,0,0,0,0,0,26.08,26.07,26.15
$GC,10955,0.75,288.4,2926,3859,1702,1608,611.0,12.9,488,10962,0.10,1.50,0.00,0.000,5126,0.181,0.024,2910,2799,1655,1702,1608,0,0,0,0,0,0,25.94,26.10,26.08
$GC,11272,0.75,296.0,2910,2799,1703,1608,574.6,10.7,499,11279,0.00,0.00,2.38,0.415,8198,0.000,0.000,2909,2799,1631,1678,1585,0,0,0,0,0,0,26.07,25.84,24.79
$GC,11572,0.76,324.0,2909,2798,1698,1597,543.8,9.9,509,11612,0.00,0.00,33.88,0.826,8198,0.000,0.000,2910,2799,1517,1564,1471,0,0,0,0,0,0,26.06,25.48,24.89
$GC,11902,0.78,324.0,2910,2800,1548,1452,508.4,11.0,520,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2798,1498,1547,1450,0,0,0,0,0,0,25.95,26.02,26.01
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$STATE,16358,end climb,SURFACE_DEPTH_REACHED
$STATE,16359,begin surface coast
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$STATE,16374,end surface coast,CONTROL_FINISHED_OK
$STATE,16374,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16402.77 7776.41
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$10V_AH,10.22,32.411
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$FG_AHR_10Vo,0.000
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$MEM,180080
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