version: 66.12
glider: 203
mission: 8
dive: 145
start: 8 6 115 10 17 59
data:
$ID,203
$MISSION,8
$DIVE,145
$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,-5
$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,44
$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
$GPS1,060815,101152,5636.1909,-15125.2051,40,1.0,41,16.3,0.0,0.0,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.6
$GPS2,060815,101747,5636.1836,-15125.2295,7,0.8,11,16.3,0.0,0.0,10,9.2
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,256.4,10549,-17.4,-10.556,-19.06,2832
$D_GRID,1910
$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,-194.6,190,2803,890,773,0.0,0.0,0,142,0.00,0.00,-42.80,0.000,16386,0.000,0.000,190,2802,1921,1965,1877,0,0,0,0,0,0,26.01,28.83,26.08
$GC,143,-0.89,-194.6,191,2802,1966,1877,3.1,-3.4,5,207,8.70,1.62,-45.60,0.000,18692,0.233,0.054,2336,3857,3630,3703,3557,0,0,0,0,0,0,25.51,25.20,25.84
$GC,356,-0.85,-194.6,2337,3859,3705,3568,44.6,-21.7,38,375,0.10,1.65,0.00,0.000,3078,0.161,0.021,2359,2680,3636,3705,3567,0,0,0,0,0,0,25.79,26.02,25.91
$GC,676,-0.83,-194.6,2359,2680,3706,3569,103.1,-17.7,70,685,0.00,2.00,0.00,0.000,516,0.000,0.023,2358,1346,3636,3703,3570,0,0,0,0,0,0,26.08,26.06,26.17
$GC,714,-0.83,-194.6,2358,1343,3705,3569,109.0,-17.1,73,725,0.00,2.08,0.00,0.000,1030,0.000,0.025,2352,2710,3636,3704,3569,0,0,0,0,0,0,26.10,26.06,26.11
$GC,1019,-0.83,-194.6,2352,2710,3705,3571,161.9,-15.8,104,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2710,3637,3704,3571,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1321,-0.83,-194.6,2351,2709,3705,3570,207.7,-15.0,134,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3637,3704,3571,0,0,0,0,0,0,26.13,26.18,26.18
$GC,1621,-0.83,-194.6,2352,2710,3704,3570,251.1,-14.6,164,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2710,3637,3704,3570,0,0,0,0,0,0,26.11,26.17,26.16
$GC,1920,-0.83,-194.6,2352,2712,3705,3571,293.6,-14.0,174,1928,0.08,2.08,0.00,0.000,2564,0.194,0.021,2366,1344,3637,3704,3570,0,0,0,0,0,0,25.91,26.08,26.04
$GC,1952,-0.83,-194.6,2366,1344,3705,3571,297.3,-13.9,175,1960,0.00,2.08,0.00,0.000,1030,0.000,0.026,2362,2699,3637,3704,3570,0,0,0,0,0,0,26.13,26.09,26.15
$GC,2274,-0.85,-194.6,2363,2701,3704,3572,340.3,-13.0,186,2281,0.00,1.75,0.00,0.000,260,0.000,0.039,2355,3846,3636,3703,3570,0,0,0,0,0,0,26.10,26.01,26.17
$GC,2370,-0.88,-194.6,2355,3846,3704,3570,352.4,-13.3,189,2378,0.00,1.60,0.00,0.000,1030,0.000,0.021,2356,2729,3636,3703,3570,0,0,0,0,0,0,26.15,26.12,26.16
$GC,2697,-0.90,-194.6,2355,2730,3704,3570,397.1,-13.3,200,2705,0.00,2.12,0.00,0.000,516,0.000,0.022,2354,1316,3636,3702,3570,0,0,0,0,0,0,26.10,26.06,26.16
$GC,2744,-0.92,-194.6,2354,1317,3702,3570,400.8,-13.3,201,2752,0.00,2.10,0.00,0.000,1030,0.000,0.026,2348,2700,3635,3701,3570,0,0,0,0,0,0,26.11,26.06,26.13
$GC,3056,-0.94,-194.6,2350,2701,3701,3572,446.6,-14.0,212,3065,0.00,1.77,0.00,0.000,260,0.000,0.041,2348,3847,3635,3700,3570,0,0,0,0,0,0,26.10,26.03,26.16
$GC,3089,-0.95,-194.6,2347,3848,3699,3570,451.2,-14.0,213,3096,0.00,1.65,0.00,0.000,1030,0.000,0.023,2348,2711,3634,3699,3570,0,0,0,0,0,0,26.15,26.11,26.15
$GC,3420,-0.97,-194.6,2348,2713,3699,3572,497.8,-13.7,224,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2711,3634,3698,3570,0,0,0,0,0,0,26.10,26.17,26.15
$GC,3720,-0.97,-194.6,2348,2712,3697,3572,536.3,-13.0,234,3728,0.00,2.10,0.00,0.000,516,0.000,0.023,2348,1309,3633,3696,3571,0,0,0,0,0,0,26.10,26.08,26.16
$GC,3752,-0.97,-194.6,2348,1310,3697,3572,540.5,-13.0,235,3760,0.00,2.12,0.00,0.000,1030,0.000,0.027,2341,2700,3633,3696,3570,0,0,0,0,0,0,26.10,26.06,26.12
$GC,4079,-1.02,-194.6,2341,2701,3695,3571,574.4,-8.7,246,4088,0.00,1.80,0.00,0.000,260,0.000,0.041,2334,3846,3632,3694,3570,0,0,0,0,0,0,26.09,25.99,26.15
$GC,4312,-1.03,-194.6,2335,3847,3694,3572,600.7,-12.6,253,4319,0.00,1.67,0.00,0.000,1030,0.000,0.022,2336,2684,3631,3693,3570,0,0,0,0,0,0,26.12,26.10,26.13
$GC,4624,-1.03,-194.6,2335,2683,3693,3570,644.4,-13.5,264,4631,0.00,1.85,0.00,0.000,260,0.000,0.040,2327,3851,3631,3692,3570,0,0,0,0,0,0,26.11,25.98,26.17
$GC,4675,-1.03,-194.6,2328,3853,3692,3572,649.0,-13.8,265,4682,0.00,1.67,0.00,0.000,1030,0.000,0.021,2327,2683,3631,3692,3570,0,0,0,0,0,0,26.13,26.10,26.14
$GC,4987,-1.05,-194.6,2328,2678,3691,3572,695.1,-13.9,276,4994,0.00,1.83,0.00,0.000,260,0.000,0.039,2322,3843,3630,3690,3570,0,0,0,0,0,0,26.10,25.99,26.17
$GC,5033,-1.07,-194.6,2322,3847,3691,3572,699.5,-13.8,277,5040,0.00,1.65,0.00,0.000,1030,0.000,0.023,2322,2706,3630,3690,3570,0,0,0,0,0,0,26.15,26.12,26.15
$GC,5349,-1.07,-194.6,2322,2707,3690,3571,745.8,-13.7,288,5356,0.00,2.08,0.00,0.000,516,0.000,0.023,2322,1327,3629,3689,3570,0,0,0,0,0,0,26.08,26.04,26.14
$GC,5375,-1.07,-194.6,2321,1319,3689,3570,745.8,-13.7,288,5387,0.00,2.12,0.00,0.000,1030,0.000,0.027,2320,2706,3630,3689,3571,0,0,0,0,0,0,26.10,26.06,26.12
$GC,5680,-1.07,-194.6,2320,2707,3689,3570,789.0,-12.8,299,5687,0.00,1.77,0.00,0.000,260,0.000,0.041,2320,3850,3629,3688,3570,0,0,0,0,0,0,26.08,25.99,26.13
$GC,5716,-1.07,-194.6,2320,3850,3689,3570,793.0,-12.7,300,5723,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2694,3629,3688,3570,0,0,0,0,0,0,26.12,26.09,26.13
$GC,6042,-1.07,-194.6,2319,2693,3689,3570,835.0,-12.5,311,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3628,3687,3570,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6342,-1.07,-194.6,2320,2695,3687,3572,874.9,-13.4,321,6350,0.00,1.83,0.00,0.000,260,0.000,0.041,2319,3855,3628,3687,3570,0,0,0,0,0,0,26.07,25.98,26.13
$GC,6389,-1.07,-194.6,2320,3854,3686,3570,878.4,-13.3,322,6396,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2685,3627,3685,3570,0,0,0,0,0,0,26.12,26.09,26.13
$GC,6700,-1.07,-194.6,2320,2686,3687,3572,920.3,-12.6,333,6709,0.00,1.85,0.00,0.000,260,0.000,0.040,2319,3850,3628,3686,3570,0,0,0,0,0,0,26.07,25.98,26.13
$GC,6738,-1.07,-194.6,2320,3856,3687,3570,924.4,-12.6,334,6745,0.00,1.70,0.00,0.000,1030,0.000,0.022,2319,2706,3628,3686,3570,0,0,0,0,0,0,26.10,26.08,26.11
$STATE,6943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6943,begin apogee
$GC,6947,-0.25,0.0,2320,2815,3687,3572,950.2,-12.0,341,7139,0.75,0.00,177.60,1.536,10246,0.117,0.000,2552,2814,2839,2876,2803,0,0,0,0,1,0,25.68,23.57,22.63
$STATE,7139,end apogee,CONTROL_FINISHED_OK
$STATE,7139,begin climb
$GC,7141,0.89,194.6,2552,2816,2891,2805,959.7,0.0,347,7323,1.10,2.33,169.98,1.053,11012,0.059,0.020,2931,1411,2040,2077,2003,0,0,0,0,0,0,23.87,23.71,23.22
$GC,7547,0.87,239.8,2931,1412,2066,1994,943.8,8.9,361,7598,0.00,2.12,38.42,1.054,9222,0.000,0.026,2931,2790,1856,1897,1815,0,0,0,0,0,0,25.63,25.60,24.25
$GC,7903,0.84,239.8,2931,2792,1890,1798,906.3,10.6,373,7911,0.00,2.10,0.00,0.000,516,0.000,0.024,2931,1427,1844,1888,1801,0,0,0,0,0,0,25.98,25.97,26.04
$GC,7960,0.81,240.1,2931,1416,1889,1801,902.9,10.5,374,7970,0.00,2.12,0.00,0.000,1030,0.000,0.026,2931,2802,1844,1888,1800,0,0,0,0,0,0,26.06,26.01,26.08
$GC,8265,0.79,254.4,2931,2802,1888,1799,868.9,10.0,385,8286,0.00,1.67,12.10,1.029,8452,0.000,0.039,2931,3847,1795,1838,1753,0,0,0,0,0,0,26.11,25.82,24.98
$GC,8395,0.74,254.4,2932,3848,1833,1750,855.6,11.2,389,8403,0.12,1.52,0.00,0.000,5126,0.163,0.022,2902,2774,1790,1833,1748,0,0,0,0,0,0,25.82,26.04,25.97
$GC,8717,0.72,299.9,2902,2774,1833,1749,825.2,8.9,400,8767,0.00,2.15,40.20,0.997,8708,0.000,0.024,2906,1426,1608,1651,1566,0,0,0,0,0,0,26.10,25.40,24.65
$GC,8803,0.70,338.2,2906,1425,1645,1560,819.4,9.2,402,8847,0.00,2.15,34.53,0.987,9222,0.000,0.025,2906,2806,1454,1499,1410,0,0,0,0,0,0,25.71,25.66,24.47
$GC,9168,0.72,338.2,2907,2806,1489,1395,775.2,11.5,415,9178,0.00,2.10,0.00,0.000,516,0.000,0.024,2906,1431,1442,1489,1396,0,0,0,0,0,0,25.96,26.02,26.02
$GC,9202,0.74,338.2,2906,1433,1490,1397,771.2,11.5,416,9210,0.00,2.10,0.00,0.000,1030,0.000,0.026,2906,2801,1442,1489,1395,0,0,0,0,0,0,26.06,26.02,26.08
$GC,9529,0.76,338.2,2906,2800,1490,1394,732.6,12.2,427,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2800,1441,1488,1394,0,0,0,0,0,0,26.11,26.17,26.17
$GC,9829,0.78,338.2,2906,2802,1488,1393,697.4,11.6,437,9837,0.00,2.08,0.00,0.000,516,0.000,0.024,2902,1432,1440,1488,1393,0,0,0,0,0,0,26.13,26.13,26.19
$GC,9887,0.80,338.2,2906,1434,1489,1394,690.8,11.7,439,9894,0.00,2.12,0.00,0.000,1030,0.000,0.026,2906,2811,1440,1488,1392,0,0,0,0,0,0,26.15,26.11,26.18
$GC,10214,0.80,338.2,2906,2812,1488,1392,651.3,12.4,450,10222,0.00,1.60,0.00,0.000,260,0.000,0.040,2903,3847,1439,1487,1392,0,0,0,0,0,0,26.14,26.08,26.20
$GC,10446,0.77,338.2,2906,3847,1487,1392,622.5,13.6,457,10453,0.00,1.50,0.00,0.000,1030,0.000,0.023,2914,2791,1438,1486,1391,0,0,0,0,0,0,26.16,26.14,26.17
$GC,10757,0.77,358.0,2914,2792,1488,1393,585.1,9.8,468,10783,0.00,2.10,16.88,0.877,8708,0.000,0.024,2918,1424,1371,1417,1326,0,0,0,0,0,0,26.13,25.81,25.05
$GC,11003,0.74,358.0,2919,1425,1411,1323,557.3,12.8,476,11012,0.00,2.10,0.00,0.000,1030,0.000,0.026,2918,2798,1365,1410,1321,0,0,0,0,0,0,26.08,26.03,26.10
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$STATE,15646,end climb,SURFACE_DEPTH_REACHED
$STATE,15646,begin surface coast
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$STATE,15661,end surface coast,CONTROL_FINISHED_OK
$STATE,15661,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15690.71 7320.34
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$FG_AHR_10Vo,0.000
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$MEM,142864
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