version: 66.12
glider: 203
mission: 8
dive: 123
start: 8 2 115 8 22 52
data:
$ID,203
$MISSION,8
$DIVE,123
$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,106
$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
$GPS1,020815,081732,5635.5269,-15007.4414,34,0.9,39,16.7,0.9,91.4,9,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-61.8
$GPS2,020815,082241,5635.5000,-15007.3291,7,0.8,9,16.7,0.0,141.7,11,9.6
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.3,89658,-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,-194.6,194,2799,889,773,0.0,0.0,0,142,0.00,0.00,-43.00,0.000,16386,0.000,0.000,192,2795,1945,1991,1900,0,0,0,0,0,0,26.03,28.83,26.10
$GC,144,-0.89,-194.6,191,2800,1992,1902,3.1,-3.5,6,207,8.60,2.25,-43.72,0.000,18948,0.233,0.034,2345,1335,3633,3705,3562,0,0,0,0,0,0,25.64,25.27,25.93
$GC,281,-0.81,-194.6,2345,1335,3706,3566,29.6,-24.1,25,296,0.15,2.08,0.00,0.000,3078,0.157,0.025,2375,2708,3636,3705,3567,0,0,0,0,0,0,25.89,26.09,26.03
$GC,606,-0.81,-194.6,2375,2708,3704,3571,88.5,-15.7,64,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2708,3635,3705,3566,0,0,0,0,0,0,26.06,26.12,26.11
$GC,910,-0.81,-194.6,2375,2713,3707,3573,135.6,-14.8,94,918,0.00,1.73,0.00,0.000,260,0.000,0.037,2369,3848,3638,3705,3572,0,0,0,0,0,0,26.15,26.10,26.20
$GC,957,-0.81,-194.6,2369,3847,3706,3573,141.6,-14.3,98,967,0.00,1.60,0.00,0.000,1030,0.000,0.021,2369,2712,3638,3705,3572,0,0,0,0,0,0,26.20,26.17,26.21
$GC,1263,-0.83,-194.6,2369,2713,3707,3573,184.3,-13.3,129,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2712,3638,3705,3572,0,0,0,0,0,0,26.15,26.22,26.22
$GC,1564,-0.85,-194.6,2370,2713,3706,3573,222.9,-12.4,159,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2712,3638,3705,3572,0,0,0,0,0,0,26.15,26.22,26.22
$GC,1875,-0.88,-194.6,2369,2712,3705,3572,262.6,-13.1,184,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2712,3638,3704,3572,0,0,0,0,0,0,26.15,26.22,26.21
$GC,2173,-0.91,-194.6,2369,2715,3705,3578,301.8,-12.7,194,2181,0.00,1.75,0.00,0.000,260,0.000,0.037,2367,3845,3638,3704,3572,0,0,0,0,0,0,26.14,26.10,26.20
$GC,2215,-0.93,-194.6,2363,3846,3705,3573,306.0,-12.8,195,2222,0.00,1.62,0.00,0.000,1030,0.000,0.022,2362,2701,3638,3704,3572,0,0,0,0,0,0,26.20,26.16,26.20
$GC,2536,-0.95,-194.6,2362,2700,3704,3572,348.3,-12.7,206,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2701,3637,3702,3572,0,0,0,0,0,0,26.15,26.21,26.20
$GC,2836,-0.98,-194.6,2362,2700,3702,3572,386.0,-12.3,216,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2700,3636,3701,3572,0,0,0,0,0,0,26.13,26.20,26.20
$GC,3136,-1.00,-194.6,2362,2700,3701,3572,422.6,-12.0,226,3142,0.08,0.00,0.00,0.000,4102,0.116,0.000,2304,2700,3635,3699,3572,0,0,0,0,0,0,26.06,26.16,26.15
$GC,3436,-0.98,-194.6,2304,2700,3699,3572,469.2,-15.8,236,3444,0.08,1.77,0.00,0.000,2308,0.186,0.037,2317,3845,3637,3703,3572,0,0,0,0,0,0,25.97,26.08,26.10
$GC,3483,-0.95,-194.6,2317,3846,3698,3573,473.3,-15.8,237,3490,0.00,1.62,0.00,0.000,1030,0.000,0.022,2317,2697,3634,3697,3572,0,0,0,0,0,0,26.20,26.17,26.20
$GC,3794,-0.95,-194.6,2318,2695,3697,3573,521.5,-14.7,248,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2693,3634,3696,3572,0,0,0,0,0,0,26.15,26.22,26.21
$GC,4094,-0.95,-194.6,2316,2693,3696,3572,563.8,-14.0,258,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2693,3633,3694,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,4394,-0.95,-194.6,2318,2693,3695,3572,607.0,-14.3,268,4403,0.00,1.80,0.00,0.000,260,0.000,0.037,2311,3849,3632,3693,3572,0,0,0,0,0,0,26.14,26.08,26.20
$GC,4431,-0.95,-194.6,2310,3852,3695,3573,611.7,-14.3,269,4439,0.08,1.65,0.00,0.000,3078,0.173,0.021,2325,2688,3630,3693,3567,0,0,0,0,0,0,25.97,26.16,26.08
$GC,4758,-0.95,-194.6,2325,2687,3693,3573,656.6,-13.3,280,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2685,3632,3692,3572,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5058,-0.95,-194.6,2325,2685,3692,3572,695.9,-13.2,290,5066,0.00,1.80,0.00,0.000,260,0.000,0.038,2322,3843,3630,3690,3571,0,0,0,0,0,0,26.13,26.08,26.18
$GC,5110,-0.95,-194.6,2322,3844,3692,3572,700.3,-13.4,291,5117,0.00,1.67,0.00,0.000,1030,0.000,0.022,2322,2702,3631,3690,3572,0,0,0,0,0,0,26.17,26.15,26.18
$GC,5421,-0.95,-194.6,2322,2703,3690,3573,744.4,-12.9,302,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2701,3630,3689,3572,0,0,0,0,0,0,26.11,26.19,26.18
$GC,5721,-0.95,-194.6,2322,2703,3690,3573,784.7,-13.6,312,5729,0.00,1.77,0.00,0.000,260,0.000,0.039,2319,3845,3630,3689,3572,0,0,0,0,0,0,26.13,26.05,26.19
$GC,5788,-0.95,-194.6,2320,3845,3689,3573,793.2,-13.7,314,5795,0.00,1.67,0.00,0.000,1030,0.000,0.022,2320,2697,3630,3688,3572,0,0,0,0,0,0,26.16,26.15,26.17
$GC,6115,-0.95,-194.6,2319,2697,3688,3572,838.9,-14.0,325,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2697,3629,3687,3572,0,0,0,0,0,0,26.13,26.20,26.18
$GC,6415,-0.95,-194.6,2320,2697,3688,3572,880.4,-13.9,335,6422,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3845,3629,3687,3572,0,0,0,0,0,0,26.11,26.06,26.17
$GC,6451,-0.95,-194.6,2319,3846,3688,3572,884.7,-13.9,336,6459,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2692,3629,3686,3572,0,0,0,0,0,0,26.15,26.15,26.17
$GC,6778,-0.95,-194.6,2319,2693,3687,3573,929.4,-13.4,347,6787,0.00,1.83,0.00,0.000,260,0.000,0.040,2319,3844,3628,3686,3571,0,0,0,0,0,0,26.10,26.06,26.16
$GC,6821,-0.95,-194.6,2320,3846,3687,3573,933.8,-13.4,348,6828,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2704,3629,3686,3572,0,0,0,0,0,0,26.16,26.14,26.16
$STATE,6960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6960,begin apogee
$GC,6964,-0.25,0.0,2320,2817,3687,3572,953.7,-13.1,353,7133,0.75,0.00,161.23,1.072,10246,0.117,0.000,2553,2817,2837,2871,2804,0,0,0,0,0,0,25.86,24.45,23.75
$STATE,7133,end apogee,CONTROL_FINISHED_OK
$STATE,7134,begin climb
$GC,7135,0.89,194.6,2553,2818,2866,2797,961.6,0.0,358,7311,1.08,2.30,163.98,1.059,10756,0.063,0.020,2931,1425,2040,2075,2005,0,0,0,0,0,0,24.60,23.69,23.18
$GC,7525,0.86,242.7,2931,1426,2065,1994,948.7,8.8,371,7577,0.00,2.12,41.35,1.053,9222,0.000,0.026,2931,2791,1841,1879,1804,0,0,0,0,0,0,25.53,25.50,24.16
$GC,7893,0.83,242.7,2932,2793,1870,1790,908.1,10.7,384,7900,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3854,1827,1868,1787,0,0,0,0,0,0,25.91,25.90,25.98
$GC,7979,0.79,242.7,2931,3854,1870,1788,900.7,11.2,386,7991,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2791,1828,1868,1788,0,0,0,0,0,0,26.08,26.01,26.06
$GC,8284,0.76,242.7,2932,2793,1869,1789,864.6,10.8,397,8291,0.10,1.65,0.00,0.000,4356,0.179,0.036,2910,3856,1828,1868,1788,0,0,0,0,0,0,25.94,26.07,26.07
$GC,8351,0.72,242.7,2911,3859,1869,1789,857.7,11.1,399,8358,0.10,1.50,0.00,0.000,5126,0.172,0.023,2893,2796,1827,1868,1787,0,0,0,0,0,0,25.95,26.14,26.10
$GC,8677,0.73,283.8,2893,2796,1869,1786,827.0,9.1,410,8720,0.00,2.17,35.03,0.992,8708,0.000,0.024,2893,1426,1674,1714,1635,0,0,0,0,0,0,26.12,25.48,24.75
$GC,8724,0.73,318.7,2893,1426,1710,1631,824.0,9.3,411,8768,0.00,2.12,30.92,0.971,9222,0.000,0.026,2893,2800,1531,1573,1490,0,0,0,0,0,0,25.64,25.60,24.51
$GC,9065,0.75,318.7,2893,2800,1566,1478,784.4,11.6,423,9073,0.00,1.62,0.00,0.000,260,0.000,0.039,2893,3850,1521,1565,1478,0,0,0,0,0,0,25.98,25.96,26.05
$GC,9097,0.77,318.7,2893,3850,1566,1477,780.3,11.8,424,9104,0.00,1.50,0.00,0.000,1030,0.000,0.023,2893,2786,1521,1565,1477,0,0,0,0,0,0,26.07,26.04,26.08
$GC,9429,0.79,318.7,2893,2787,1565,1477,742.2,11.4,435,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2786,1520,1565,1476,0,0,0,0,0,0,26.10,26.17,26.16
$GC,9729,0.81,318.7,2893,2786,1565,1475,707.9,11.4,445,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2786,1520,1564,1477,0,0,0,0,0,0,26.14,26.23,26.20
$GC,10028,0.84,318.7,2893,2786,1564,1474,674.6,11.1,455,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2786,1519,1563,1475,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10328,0.86,318.7,2893,2786,1564,1474,641.1,11.0,465,10334,0.08,0.00,0.00,0.000,2054,0.122,0.000,2932,2786,1518,1563,1474,0,0,0,0,0,0,26.07,26.19,26.17
$GC,10628,0.86,318.7,2934,2786,1563,1476,603.7,12.5,475,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2786,1519,1563,1475,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10928,0.86,318.7,2933,2786,1564,1475,566.9,11.8,485,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2786,1518,1562,1474,0,0,0,0,0,0,26.14,26.21,26.20
$GC,11228,0.86,318.7,2933,2786,1564,1474,531.3,12.0,495,11235,0.00,1.67,0.00,0.000,260,0.000,0.040,2933,3860,1518,1562,1475,0,0,0,0,0,0,26.13,26.10,26.19
$GC,11284,0.86,318.7,2933,3859,1563,1472,527.4,12.1,496,11295,0.00,1.50,0.00,0.000,1030,0.000,0.023,2941,2797,1517,1562,1473,0,0,0,0,0,0,26.20,26.17,26.20
$GC,11590,0.86,318.7,2941,2797,1564,1472,487.6,11.5,507,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2797,1517,1562,1472,0,0,0,0,0,0,26.12,26.20,26.19
$GC,11890,0.86,318.7,2941,2797,1563,1472,454.1,10.8,517,11897,0.00,1.65,0.00,0.000,260,0.000,0.040,2941,3855,1517,1562,1473,0,0,0,0,0,0,26.13,26.08,26.20
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$STATE,15967,end climb,SURFACE_DEPTH_REACHED
$STATE,15967,begin surface coast
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$STATE,15982,end surface coast,CONTROL_FINISHED_OK
$STATE,15982,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16011.22 7514.15
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$10V_AH,10.17,34.631
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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