version: 66.12
glider: 203
mission: 8
dive: 115
start: 7 31 115 21 3 5
data:
$ID,203
$MISSION,8
$DIVE,115
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,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
$GPS1,310715,205651,5701.1084,-15000.6133,38,0.8,38,16.9,0.5,117.8,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.4
$GPS2,310715,210253,5701.0615,-15000.4863,8,0.8,12,16.9,0.5,114.4,10,8.5
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,157.8,51038,-17.4,-10.556,-19.06,2832
$D_GRID,1000
$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,-0.89,-194.6,195,2691,1101,1004,0.0,0.0,0,133,0.00,0.00,-34.35,0.000,16386,0.000,0.000,194,2690,1954,1997,1912,0,0,0,0,0,0,26.05,28.83,26.15
$GC,135,-0.89,-194.6,195,2688,1997,1912,3.2,-5.0,5,199,8.55,1.85,-42.50,0.000,18692,0.231,0.055,2338,3852,3636,3706,3566,0,0,0,0,0,0,25.70,24.63,25.95
$GC,319,-0.84,-194.6,2339,3852,3707,3569,40.1,-19.0,34,330,0.10,1.62,0.00,0.000,3078,0.161,0.020,2360,2680,3637,3706,3569,0,0,0,0,0,0,25.96,26.15,26.10
$GC,629,-0.82,-194.6,2360,2680,3707,3573,99.9,-19.1,69,637,0.00,1.80,0.00,0.000,260,0.000,0.037,2354,3852,3641,3709,3573,0,0,0,0,0,0,26.15,26.12,26.21
$GC,671,-0.80,-194.6,2355,3853,3707,3575,107.9,-19.3,73,680,0.10,1.60,0.00,0.000,3078,0.160,0.021,2375,2702,3639,3706,3573,0,0,0,0,0,0,25.98,26.18,26.13
$GC,984,-0.82,-194.6,2375,2701,3708,3574,149.2,-12.7,104,993,0.00,1.77,0.00,0.000,260,0.000,0.037,2370,3859,3640,3706,3575,0,0,0,0,0,0,26.16,26.15,26.22
$GC,1033,-0.83,-194.6,2370,3860,3707,3576,155.2,-13.7,108,1043,0.00,1.62,0.00,0.000,1030,0.000,0.021,2370,2701,3641,3707,3575,0,0,0,0,0,0,26.24,26.21,26.24
$GC,1338,-0.86,-194.6,2370,2702,3707,3577,197.0,-12.8,139,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2702,3640,3706,3575,0,0,0,0,0,0,26.18,26.25,26.23
$GC,1639,-0.88,-194.6,2370,2701,3708,3574,236.3,-13.5,169,1646,0.00,1.77,0.00,0.000,260,0.000,0.037,2362,3853,3640,3706,3575,0,0,0,0,0,0,26.17,26.15,26.22
$GC,1675,-0.90,-194.6,2362,3854,3707,3576,240.9,-14.0,172,1685,0.00,1.62,0.00,0.000,1030,0.000,0.021,2362,2699,3639,3706,3573,0,0,0,0,0,0,26.23,26.20,26.23
$GC,1980,-0.93,-194.6,2363,2700,3707,3576,283.8,-14.1,187,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2699,3639,3705,3574,0,0,0,0,0,0,26.16,26.23,26.22
$GC,2280,-0.95,-194.6,2362,2699,3705,3574,325.3,-14.0,197,2287,0.00,1.77,0.00,0.000,260,0.000,0.038,2354,3849,3639,3704,3574,0,0,0,0,0,0,26.17,26.13,26.23
$GC,2306,-0.97,-194.6,2354,3850,3705,3576,325.3,-14.0,197,2316,0.00,1.62,0.00,0.000,1030,0.000,0.022,2354,2717,3638,3703,3574,0,0,0,0,0,0,26.20,26.16,26.21
$GC,2612,-0.99,-194.6,2354,2717,3703,3574,369.1,-12.7,208,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2717,3638,3702,3574,0,0,0,0,0,0,26.15,26.22,26.20
$GC,2912,-1.01,-194.6,2353,2717,3702,3574,408.3,-13.1,218,2919,0.00,2.08,0.00,0.000,516,0.000,0.023,2354,1318,3637,3700,3574,0,0,0,0,0,0,26.17,26.15,26.22
$GC,2953,-1.03,-194.6,2354,1319,3702,3574,412.6,-13.2,219,2961,0.00,2.10,0.00,0.000,1030,0.000,0.026,2348,2704,3637,3700,3574,0,0,0,0,0,0,26.21,26.16,26.22
$GC,3276,-1.05,-194.6,2348,2703,3700,3574,456.4,-12.8,230,3283,0.08,1.75,0.00,0.000,4356,0.122,0.038,2292,3846,3636,3698,3574,0,0,0,0,0,0,26.08,26.11,26.17
$GC,3308,-1.05,-194.6,2292,3847,3699,3576,461.1,-13.3,231,3315,0.00,1.70,0.00,0.000,1030,0.000,0.022,2292,2692,3636,3698,3574,0,0,0,0,0,0,26.20,26.19,26.22
$GC,3640,-1.02,-194.6,2293,2692,3698,3575,516.1,-16.9,242,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2692,3635,3697,3574,0,0,0,0,0,0,26.17,26.23,26.22
$GC,3940,-0.99,-194.6,2293,2693,3696,3576,567.6,-17.2,252,3946,0.10,0.00,0.00,0.000,2054,0.172,0.000,2314,2692,3634,3694,3574,0,0,0,0,0,0,25.96,26.15,26.11
$GC,4240,-0.99,-194.6,2314,2693,3695,3576,614.8,-15.7,262,4248,0.00,1.80,0.00,0.000,260,0.000,0.038,2309,3852,3633,3693,3574,0,0,0,0,0,0,26.15,26.11,26.20
$GC,4297,-0.99,-194.6,2308,3853,3694,3573,619.8,-15.5,263,4308,0.00,1.65,0.00,0.000,1030,0.000,0.022,2308,2685,3633,3693,3574,0,0,0,0,0,0,26.22,26.20,26.20
$GC,4602,-0.99,-194.6,2308,2685,3693,3574,669.1,-14.7,274,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2685,3634,3693,3575,0,0,0,0,0,0,26.16,26.22,26.22
$GC,4902,-0.99,-194.6,2309,2685,3697,3574,713.6,-14.8,284,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2685,3632,3691,3574,0,0,0,0,0,0,26.15,26.23,26.22
$GC,5202,-0.99,-194.6,2309,2685,3690,3574,756.2,-14.5,294,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2685,3632,3690,3574,0,0,0,0,0,0,26.14,26.21,26.20
$GC,5502,-0.99,-194.6,2309,2686,3690,3576,800.4,-14.6,304,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2685,3631,3688,3574,0,0,0,0,0,0,26.15,26.22,26.21
$GC,5802,-0.99,-194.6,2308,2687,3689,3576,842.5,-13.6,314,5809,0.00,1.80,0.00,0.000,260,0.000,0.039,2306,3843,3631,3688,3574,0,0,0,0,0,0,26.15,26.09,26.21
$GC,5868,-0.99,-194.6,2307,3845,3688,3575,851.0,-13.8,316,5875,0.00,1.62,0.00,0.000,1030,0.000,0.022,2306,2704,3631,3687,3575,0,0,0,0,0,0,26.21,26.18,26.22
$GC,6195,-0.99,-194.6,2306,2704,3688,3575,897.4,-13.7,327,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2702,3630,3687,3574,0,0,0,0,0,0,26.13,26.20,26.19
$GC,6495,-0.99,-194.6,2306,2703,3688,3574,938.6,-13.8,337,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2703,3630,3686,3574,0,0,0,0,0,0,26.12,26.19,26.17
$STATE,6583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6583,begin apogee
$GC,6587,-0.25,0.0,2307,2818,3687,3575,951.6,-14.1,340,6755,0.80,0.00,160.73,1.077,10246,0.118,0.000,2558,2816,2840,2873,2807,0,0,0,0,0,0,25.91,24.50,23.82
$STATE,6756,end apogee,CONTROL_FINISHED_OK
$STATE,6756,begin climb
$GC,6757,0.89,194.6,2559,2818,2868,2801,960.6,0.0,345,6934,1.05,2.28,164.27,1.064,11012,0.062,0.020,2931,1431,2038,2071,2005,0,0,0,0,0,0,24.65,23.71,23.21
$GC,7118,0.87,271.4,2931,1431,2063,1992,953.9,7.8,357,7194,0.00,2.12,65.12,1.059,9222,0.000,0.026,2931,2787,1726,1763,1690,0,0,0,0,0,0,25.44,25.39,23.94
$GC,7513,0.84,271.4,2932,2786,1753,1673,911.0,10.7,371,7521,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3849,1711,1752,1671,0,0,0,0,0,0,25.84,25.83,25.91
$GC,7550,0.81,271.4,2932,3849,1753,1671,907.1,11.1,372,7558,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2796,1711,1752,1670,0,0,0,0,0,0,25.94,25.92,25.94
$GC,7877,0.79,271.4,2931,2798,1752,1672,868.9,11.6,383,7886,0.00,1.70,0.00,0.000,260,0.000,0.041,2932,3857,1710,1751,1670,0,0,0,0,0,0,26.07,26.06,26.14
$GC,7930,0.76,271.4,2932,3857,1752,1670,864.8,11.8,384,7937,0.10,1.50,0.00,0.000,5126,0.183,0.023,2910,2793,1710,1751,1670,0,0,0,0,0,0,25.94,26.13,26.09
$GC,8242,0.77,291.8,2913,2793,1751,1670,831.0,9.8,395,8268,0.00,1.70,16.98,1.015,8452,0.000,0.040,2910,3844,1646,1689,1603,0,0,0,0,0,0,26.14,25.76,25.01
$GC,8327,0.77,312.8,2913,3846,1676,1596,825.1,9.8,397,8354,0.00,1.50,19.33,0.999,9222,0.000,0.024,2916,2794,1561,1601,1522,0,0,0,0,0,0,25.98,25.94,24.81
$GC,8658,0.77,312.8,2917,2793,1588,1504,786.7,11.1,409,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2793,1546,1588,1504,0,0,0,0,0,0,26.04,26.11,26.10
$GC,8958,0.77,312.8,2916,2795,1588,1504,752.3,11.9,419,8966,0.00,1.65,0.00,0.000,260,0.000,0.039,2916,3853,1545,1587,1503,0,0,0,0,0,0,26.11,26.10,26.17
$GC,9050,0.77,312.8,2916,3853,1588,1502,739.9,13.2,422,9057,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2781,1544,1587,1502,0,0,0,0,0,0,26.20,26.17,26.20
$GC,9382,0.77,312.8,2918,2783,1587,1504,699.1,12.2,433,9393,0.00,2.00,0.00,0.000,516,0.000,0.026,2918,1435,1543,1585,1502,0,0,0,0,0,0,26.14,26.15,26.20
$GC,9432,0.77,312.8,2919,1436,1587,1503,695.6,12.3,434,9440,0.00,2.10,0.00,0.000,1030,0.000,0.027,2925,2814,1544,1586,1502,0,0,0,0,0,0,26.19,26.15,26.20
$GC,9745,0.77,312.8,2919,2814,1586,1502,655.3,12.1,445,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2814,1543,1586,1501,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10044,0.77,312.8,2919,2814,1586,1502,619.0,12.2,455,10051,0.00,1.62,0.00,0.000,260,0.000,0.041,2919,3840,1543,1585,1502,0,0,0,0,0,0,26.14,26.13,26.20
$GC,10110,0.77,312.8,2919,3840,1586,1501,611.2,12.5,457,10117,0.00,1.50,0.00,0.000,1030,0.000,0.023,2918,2773,1542,1584,1501,0,0,0,0,0,0,26.20,26.17,26.22
$GC,10436,0.77,312.8,2919,2772,1586,1501,574.1,11.1,468,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2772,1543,1585,1501,0,0,0,0,0,0,26.10,26.17,26.16
$GC,10736,0.77,312.8,2919,2774,1586,1503,539.3,11.7,478,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2772,1543,1585,1501,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11036,0.77,312.8,2919,2771,1585,1501,504.0,11.7,488,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2773,1543,1585,1501,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11336,0.77,312.8,2919,2773,1587,1502,468.4,12.1,498,11344,0.00,1.67,0.00,0.000,260,0.000,0.040,2918,3847,1543,1586,1501,0,0,0,0,0,0,26.14,26.10,26.21
$GC,11393,0.77,312.8,2919,3848,1586,1502,464.2,12.2,499,11403,0.00,1.50,0.00,0.000,1030,0.000,0.024,2925,2783,1542,1585,1500,0,0,0,0,0,0,26.20,26.17,26.22
$GC,11698,0.77,312.8,2924,2783,1586,1500,423.7,12.0,510,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2783,1543,1586,1500,0,0,0,0,0,0,26.14,26.21,26.20
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$STATE,15550,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
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$STATE,15570,end surface coast,CONTROL_FINISHED_OK
$STATE,15570,begin surface
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$INTERNAL_PRESSURE,8.8022
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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
$PA_UPTIME,15599.55 7315.11
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$FG_AHR_10Vo,0.000
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