version: 66.12
glider: 203
mission: 8
dive: 107
start: 7 30 115 9 3 26
data:
$ID,203
$MISSION,8
$DIVE,107
$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,94
$R_STBD_OVSHOOT,47
$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,21
$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
$GPS1,300715,085752,5712.6055,-14946.0898,41,0.8,41,17.0,0.0,0.0,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.5
$GPS2,300715,090315,5712.5742,-14946.1738,12,0.8,12,17.0,0.0,209.6,11,6.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,301.6,20275,-18.0,-11.000,-19.55,2718
$D_GRID,2063
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.92,-194.6,202,2701,563,437,0.0,0.0,0,168,0.00,0.00,-63.83,0.000,16386,0.000,0.000,201,2702,2201,2245,2158,0,0,0,0,0,0,26.01,28.83,26.06
$GC,170,-0.92,-194.6,202,2703,2248,2161,3.5,-4.3,9,218,8.65,1.83,-29.55,0.000,18692,0.237,0.054,2324,3850,3639,3710,3568,0,0,0,0,0,0,25.65,24.65,25.81
$GC,449,-0.85,-194.6,2323,3852,3711,3569,65.4,-22.1,52,461,0.15,1.65,0.00,0.000,3078,0.151,0.020,2360,2667,3638,3710,3567,0,0,0,0,0,0,25.90,26.10,26.05
$GC,755,-0.85,-194.6,2360,2667,3711,3570,124.5,-15.4,83,763,0.00,1.83,0.00,0.000,260,0.000,0.038,2355,3847,3640,3710,3571,0,0,0,0,0,0,26.10,26.08,26.15
$GC,817,-0.85,-194.6,2355,3846,3711,3571,133.5,-14.6,89,824,0.00,1.60,0.00,0.000,1030,0.000,0.021,2354,2710,3640,3710,3571,0,0,0,0,0,0,26.17,26.15,26.17
$GC,1128,-0.85,-194.6,2356,2711,3711,3573,178.9,-15.8,120,1136,0.00,1.75,0.00,0.000,260,0.000,0.037,2348,3846,3640,3710,3571,0,0,0,0,0,0,26.11,26.06,26.17
$GC,1180,-0.85,-194.6,2348,3847,3711,3572,187.3,-16.7,125,1188,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2696,3640,3710,3571,0,0,0,0,0,0,26.19,26.15,26.20
$GC,1492,-0.85,-194.6,2348,2696,3711,3571,236.4,-14.7,156,1501,0.08,1.77,0.00,0.000,2308,0.179,0.035,2356,3848,3640,3710,3571,0,0,0,0,0,0,25.97,26.11,26.10
$GC,1530,-0.86,-194.6,2356,3849,3710,3573,241.2,-14.0,159,1540,0.00,1.62,0.00,0.000,1030,0.000,0.021,2356,2711,3640,3709,3571,0,0,0,0,0,0,26.19,26.16,26.20
$GC,1835,-0.88,-194.6,2356,2713,3708,3572,279.9,-12.1,174,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2712,3639,3708,3571,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2135,-0.90,-194.6,2355,2713,3705,3573,317.4,-13.1,184,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2711,3638,3705,3571,0,0,0,0,0,0,26.12,26.19,26.17
$GC,2435,-0.92,-194.6,2356,2713,3706,3572,356.2,-13.2,194,2443,0.00,1.77,0.00,0.000,260,0.000,0.039,2348,3855,3637,3703,3571,0,0,0,0,0,0,26.13,26.10,26.20
$GC,2482,-0.94,-194.6,2348,3855,3704,3572,360.5,-13.4,195,2489,0.00,1.65,0.00,0.000,1030,0.000,0.021,2348,2693,3637,3703,3571,0,0,0,0,0,0,26.19,26.15,26.20
$GC,2798,-0.96,-194.6,2348,2689,3702,3572,407.5,-14.3,206,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2688,3635,3701,3570,0,0,0,0,0,0,26.12,26.18,26.17
$GC,3098,-0.98,-194.6,2348,2689,3699,3573,447.6,-12.9,216,3106,0.00,1.80,0.00,0.000,260,0.000,0.039,2345,3846,3634,3698,3571,0,0,0,0,0,0,26.13,26.10,26.19
$GC,3135,-1.00,-194.6,2345,3847,3700,3571,451.7,-12.9,217,3142,0.00,1.65,0.00,0.000,1030,0.000,0.022,2345,2696,3635,3699,3571,0,0,0,0,0,0,26.18,26.15,26.19
$GC,3461,-1.02,-194.6,2345,2696,3698,3573,493.4,-12.7,228,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2696,3634,3697,3571,0,0,0,0,0,0,26.10,26.18,26.17
$GC,3761,-1.04,-194.6,2346,2698,3697,3571,531.2,-12.8,238,3770,0.00,1.80,0.00,0.000,260,0.000,0.039,2337,3852,3633,3696,3571,0,0,0,0,0,0,26.13,26.08,26.19
$GC,3814,-1.06,-194.6,2336,3853,3696,3571,535.7,-13.0,239,3822,0.00,1.70,0.00,0.000,1030,0.000,0.022,2336,2692,3636,3695,3578,0,0,0,0,0,0,26.18,26.13,26.18
$GC,4126,-1.06,-194.6,2337,2693,3695,3572,579.7,-12.9,250,4134,0.00,1.80,0.00,0.000,260,0.000,0.039,2327,3849,3632,3694,3571,0,0,0,0,0,0,26.13,26.09,26.18
$GC,4183,-1.06,-194.6,2328,3850,3694,3572,584.1,-12.8,251,4193,0.00,1.65,0.00,0.000,1030,0.000,0.022,2328,2697,3632,3693,3571,0,0,0,0,0,0,26.17,26.15,26.18
$GC,4489,-1.06,-194.6,2327,2696,3694,3571,626.8,-13.0,262,4496,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3851,3631,3692,3571,0,0,0,0,0,0,26.13,26.08,26.18
$GC,4525,-1.06,-194.6,2322,3853,3693,3571,631.1,-13.1,263,4532,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2698,3631,3692,3570,0,0,0,0,0,0,26.17,26.14,26.17
$GC,4851,-1.06,-194.6,2322,2696,3691,3572,671.7,-11.9,274,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2694,3630,3690,3570,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5151,-1.06,-194.6,2322,2694,3691,3570,706.7,-11.4,284,5158,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3846,3629,3689,3570,0,0,0,0,0,0,26.10,26.07,26.16
$GC,5242,-1.06,-194.6,2319,3846,3690,3573,717.8,-12.0,287,5250,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2693,3630,3691,3570,0,0,0,0,0,0,26.17,26.13,26.19
$GC,5575,-1.06,-194.6,2319,2693,3689,3571,760.4,-13.4,298,5585,0.00,2.05,0.00,0.000,516,0.000,0.024,2319,1322,3629,3687,3571,0,0,0,0,0,0,26.12,26.10,26.18
$GC,5609,-1.06,-194.6,2320,1321,3689,3571,765.2,-13.6,299,5616,0.00,2.10,0.00,0.000,1030,0.000,0.027,2319,2703,3629,3687,3571,0,0,0,0,0,0,26.15,26.10,26.16
$GC,5936,-1.06,-194.6,2319,2703,3688,3571,809.1,-13.2,310,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2703,3628,3686,3571,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6236,-1.06,-194.6,2320,2705,3687,3572,847.9,-12.9,320,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2703,3628,3686,3571,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6536,-1.06,-194.6,2319,2703,3687,3571,887.4,-13.4,330,6543,0.00,1.75,0.00,0.000,260,0.000,0.040,2319,3845,3628,3686,3571,0,0,0,0,0,0,26.11,26.07,26.18
$GC,6567,-1.06,-194.6,2319,3844,3687,3571,891.8,-13.5,331,6574,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2691,3629,3686,3572,0,0,0,0,0,0,26.15,26.13,26.16
$GC,6898,-1.06,-194.6,2319,2690,3686,3570,937.5,-13.9,342,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3628,3685,3571,0,0,0,0,0,0,26.10,26.17,26.17
$GC,7198,-1.06,-194.6,2319,2691,3685,3572,977.8,-13.3,352,7205,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3845,3627,3683,3571,0,0,0,0,0,0,26.09,26.06,26.15
$GC,7244,-1.06,-194.6,2319,3846,3684,3571,981.9,-13.0,353,7251,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2701,3627,3683,3571,0,0,0,0,0,0,26.16,26.13,26.17
$STATE,7319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7319,begin apogee
$GC,7323,-0.25,0.0,2320,2813,3684,3572,993.5,-12.8,356,7493,0.75,0.00,163.10,1.099,10246,0.119,0.000,2553,2812,2837,2867,2808,0,0,0,0,0,0,25.89,24.40,23.71
$STATE,7494,end apogee,CONTROL_FINISHED_OK
$STATE,7494,begin climb
$GC,7495,0.92,194.6,2554,2812,2861,2799,1002.0,0.0,361,7673,1.10,2.33,164.18,1.092,11012,0.064,0.022,2931,1428,2037,2067,2008,0,0,0,0,0,0,24.55,23.72,23.06
$GC,7897,0.89,225.6,2932,1429,2057,1995,983.5,9.8,375,7934,0.00,2.15,26.65,1.067,9222,0.000,0.026,2931,2795,1912,1944,1880,0,0,0,0,0,0,25.45,25.41,24.23
$GC,8255,0.85,229.4,2932,2796,1935,1866,944.6,10.9,387,8267,0.00,2.08,0.00,0.000,516,0.000,0.024,2931,1423,1899,1934,1864,0,0,0,0,0,0,25.81,25.89,25.87
$GC,8331,0.83,233.4,2931,1424,1935,1865,937.9,10.8,389,8339,0.00,2.12,0.00,0.000,1030,0.000,0.026,2931,2806,1901,1934,1868,0,0,0,0,0,0,25.96,25.92,25.98
$GC,8643,0.79,239.8,2931,2807,1934,1865,902.7,10.8,400,8664,0.00,1.70,11.68,1.030,8452,0.000,0.040,2931,3854,1853,1889,1817,0,0,0,0,0,0,26.05,25.76,24.96
$GC,8733,0.75,239.8,2932,3855,1883,1816,892.0,11.6,403,8742,0.12,1.52,0.00,0.000,5126,0.164,0.023,2903,2780,1848,1882,1814,0,0,0,0,0,0,25.79,25.94,25.91
$GC,9066,0.75,249.0,2903,2783,1883,1815,857.4,10.7,414,9075,0.00,0.00,2.33,0.410,8198,0.000,0.000,2902,2782,1822,1856,1789,0,0,0,0,0,0,26.05,25.83,24.72
$GC,9366,0.72,289.0,2903,2782,1889,1795,828.1,9.5,424,9418,0.00,2.08,42.95,0.994,8708,0.000,0.023,2906,1436,1655,1690,1621,0,0,0,0,0,0,26.08,25.13,24.60
$GC,9637,0.72,289.0,2905,1436,1677,1607,797.5,11.6,433,9647,0.00,2.10,0.00,0.000,1030,0.000,0.027,2906,2800,1641,1676,1607,0,0,0,0,0,0,25.95,25.91,25.96
$GC,9966,0.72,289.0,2906,2800,1677,1604,759.6,11.3,444,9973,0.00,1.65,0.00,0.000,260,0.000,0.039,2907,3847,1640,1676,1604,0,0,0,0,0,0,26.04,26.03,26.10
$GC,10057,0.69,289.0,2906,3849,1676,1604,748.0,12.1,447,10067,0.08,1.52,0.00,0.000,5126,0.151,0.023,2891,2802,1639,1675,1604,0,0,0,0,0,0,25.90,26.10,26.00
$GC,10391,0.70,340.9,2891,2804,1676,1605,716.3,9.0,458,10447,0.00,1.73,45.60,0.921,8452,0.000,0.040,2891,3845,1443,1481,1406,0,0,0,0,0,0,26.09,25.35,24.68
$GC,10492,0.67,380.7,2892,3848,1470,1391,707.4,9.5,461,10537,0.00,1.55,36.47,0.904,9222,0.000,0.023,2891,2799,1282,1320,1244,0,0,0,0,0,0,25.69,25.66,24.51
$GC,10843,0.66,406.7,2890,2800,1306,1221,670.6,10.0,473,10876,0.00,2.10,23.08,0.892,8964,0.000,0.023,2891,1429,1170,1214,1127,0,0,0,0,0,0,25.92,25.29,24.84
$GC,11026,0.75,501.8,2892,1431,1206,1117,654.6,7.4,479,11132,0.00,2.12,94.95,0.822,9222,0.000,0.025,2891,2809,789,849,730,0,0,0,0,0,0,25.92,25.87,24.45
$GC,11446,0.81,506.7,2891,2810,835,710,611.5,10.8,493,11454,0.00,2.10,0.00,0.000,516,0.000,0.024,2891,1432,772,834,710,0,0,0,0,0,0,25.88,25.90,25.94
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$STATE,15241,end climb,SURFACE_DEPTH_REACHED
$STATE,15241,begin surface coast
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$STATE,15258,end surface coast,CONTROL_FINISHED_OK
$STATE,15258,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15287.46 7229.89
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$10V_AH,10.17,33.511
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$MEM,180096
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