version: 66.12
glider: 203
mission: 8
dive: 159
start: 8 8 115 23 10 59
data:
$ID,203
$MISSION,8
$DIVE,159
$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,96
$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
$GPS1,080815,230034,5652.2056,-15109.6074,40,0.9,41,16.4,0.7,183.2,9,8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-62.3
$GPS2,080815,231047,5652.1206,-15109.4727,6,0.7,9,16.4,0.9,172.7,12,9.5
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,24.2,33576,-17.4,-10.556,-19.06,2832
$D_GRID,1024
$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,-194.6,182,2685,962,864,0.0,0.0,0,136,0.00,0.00,-40.65,0.000,16386,0.000,0.000,186,2682,1978,2021,1936,0,0,0,0,0,0,26.00,28.83,26.07
$GC,137,-0.89,-194.6,182,2684,2027,1936,3.1,-3.6,6,197,8.68,2.10,-41.05,0.000,18948,0.228,0.038,2341,1338,3637,3710,3565,0,0,0,0,0,0,25.46,24.16,25.79
$GC,421,-0.86,-194.6,2342,1335,3710,3573,58.0,-18.8,56,434,0.10,2.08,0.00,0.000,3078,0.172,0.024,2358,2706,3640,3710,3571,0,0,0,0,0,0,25.80,26.02,25.94
$GC,729,-0.86,-194.6,2358,2708,3710,3574,110.8,-16.3,87,736,0.00,2.08,0.00,0.000,516,0.000,0.024,2358,1331,3641,3709,3573,0,0,0,0,0,0,26.07,26.03,26.13
$GC,756,-0.86,-194.6,2358,1330,3710,3573,115.0,-16.2,89,763,0.00,2.08,0.00,0.000,1030,0.000,0.025,2350,2701,3641,3709,3573,0,0,0,0,0,0,26.08,26.03,26.10
$GC,1067,-0.86,-194.6,2351,2702,3710,3574,164.2,-15.2,120,1075,0.00,2.08,0.00,0.000,516,0.000,0.023,2351,1324,3641,3709,3573,0,0,0,0,0,0,26.09,26.04,26.15
$GC,1104,-0.86,-194.6,2351,1324,3710,3573,169.0,-14.9,123,1114,0.00,2.10,0.00,0.000,1030,0.000,0.026,2344,2703,3641,3709,3573,0,0,0,0,0,0,26.09,26.03,26.11
$GC,1409,-0.86,-194.6,2344,2703,3710,3573,215.7,-14.9,154,1417,0.00,1.77,0.00,0.000,260,0.000,0.038,2336,3846,3641,3709,3573,0,0,0,0,0,0,26.11,25.98,26.17
$GC,1466,-0.86,-194.6,2335,3846,3710,3573,223.4,-14.7,159,1476,0.10,1.65,0.00,0.000,3078,0.152,0.022,2357,2711,3641,3709,3573,0,0,0,0,0,0,25.86,26.10,25.96
$GC,1791,-0.89,-194.6,2358,2711,3705,3572,266.2,-12.7,184,1799,0.00,2.10,0.00,0.000,516,0.000,0.023,2358,1308,3640,3707,3573,0,0,0,0,0,0,26.09,26.02,26.15
$GC,1828,-0.91,-194.6,2359,1310,3709,3574,269.6,-12.6,185,1835,0.00,2.12,0.00,0.000,1030,0.000,0.026,2352,2703,3639,3706,3573,0,0,0,0,0,0,26.09,26.03,26.10
$GC,2144,-0.93,-194.6,2352,2705,3707,3575,311.2,-12.7,196,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2703,3638,3704,3573,0,0,0,0,0,0,26.09,26.16,26.15
$GC,2445,-0.95,-194.6,2352,2705,3704,3574,349.7,-13.0,206,2453,0.00,1.77,0.00,0.000,260,0.000,0.040,2343,3850,3637,3703,3572,0,0,0,0,0,0,26.09,25.97,26.15
$GC,2472,-0.97,-194.6,2344,3850,3704,3572,349.7,-13.0,206,2482,0.00,1.67,0.00,0.000,1030,0.000,0.022,2343,2688,3637,3702,3573,0,0,0,0,0,0,26.08,26.06,26.10
$GC,2777,-0.99,-194.6,2343,2687,3702,3573,395.7,-14.0,217,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2688,3636,3700,3573,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3077,-1.01,-194.6,2344,2689,3699,3574,435.5,-12.7,227,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2687,3635,3698,3573,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3377,-1.03,-194.6,2343,2688,3698,3572,472.3,-12.0,237,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2688,3635,3697,3573,0,0,0,0,0,0,26.10,26.16,26.15
$GC,3677,-1.03,-194.6,2344,2685,3695,3573,509.4,-12.8,247,3684,0.00,1.83,0.00,0.000,260,0.000,0.040,2336,3850,3633,3694,3573,0,0,0,0,0,0,26.07,25.96,26.13
$GC,3718,-1.04,-194.6,2336,3851,3695,3574,512.9,-12.9,248,3725,0.00,1.67,0.00,0.000,1030,0.000,0.022,2336,2690,3633,3694,3573,0,0,0,0,0,0,26.12,26.09,26.13
$GC,4035,-1.06,-194.6,2336,2686,3699,3573,556.5,-13.3,259,4042,0.00,2.05,0.00,0.000,516,0.000,0.024,2336,1323,3632,3693,3572,0,0,0,0,0,0,26.07,26.01,26.13
$GC,4106,-1.07,-194.6,2336,1322,3694,3572,564.1,-13.3,261,4114,0.00,2.12,0.00,0.000,1030,0.000,0.025,2327,2706,3632,3693,3572,0,0,0,0,0,0,26.06,26.00,26.08
$GC,4418,-1.07,-194.6,2327,2707,3692,3574,608.0,-13.3,272,4426,0.00,2.10,0.00,0.000,516,0.000,0.024,2327,1327,3632,3691,3573,0,0,0,0,0,0,26.09,25.98,26.15
$GC,4520,-1.07,-194.6,2333,1327,3691,3572,620.3,-13.9,275,4527,0.00,2.12,0.00,0.000,1030,0.000,0.026,2322,2710,3631,3690,3573,0,0,0,0,0,0,26.06,26.00,26.08
$GC,4832,-1.07,-194.6,2322,2710,3690,3572,664.2,-13.4,286,4840,0.00,2.10,0.00,0.000,516,0.000,0.024,2322,1328,3630,3688,3573,0,0,0,0,0,0,26.09,25.99,26.13
$GC,5054,-1.07,-194.6,2321,1329,3688,3574,691.0,-12.6,293,5062,0.00,2.12,0.00,0.000,1030,0.000,0.027,2320,2705,3630,3688,3573,0,0,0,0,0,0,26.04,25.98,26.06
$GC,5366,-1.07,-194.6,2320,2707,3688,3575,734.4,-13.6,304,5373,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3847,3629,3686,3573,0,0,0,0,0,0,26.06,25.95,26.12
$GC,5392,-1.07,-194.6,2318,3848,3688,3573,734.4,-13.6,304,5403,0.00,1.67,0.00,0.000,1030,0.000,0.023,2320,2708,3630,3687,3573,0,0,0,0,0,0,26.10,26.07,26.11
$GC,5697,-1.07,-194.6,2320,2703,3687,3571,779.0,-13.3,315,5705,0.00,2.12,0.00,0.000,516,0.000,0.024,2320,1300,3629,3686,3573,0,0,0,0,0,0,26.08,25.98,26.13
$GC,5744,-1.07,-194.6,2320,1301,3687,3574,782.7,-13.3,316,5751,0.00,2.17,0.00,0.000,1030,0.000,0.027,2319,2710,3629,3686,3573,0,0,0,0,0,0,26.06,26.00,26.08
$GC,6049,-1.07,-194.6,2319,2712,3686,3574,825.8,-13.1,326,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2711,3629,3686,3573,0,0,0,0,0,0,26.05,26.12,26.11
$GC,6349,-1.07,-194.6,2320,2710,3686,3573,865.4,-13.1,336,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2710,3628,3685,3572,0,0,0,0,0,0,26.07,26.14,26.10
$GC,6649,-1.07,-194.6,2319,2712,3684,3574,904.9,-13.4,346,6657,0.00,2.15,0.00,0.000,516,0.000,0.024,2319,1303,3628,3683,3573,0,0,0,0,0,0,26.04,25.98,26.10
$GC,6711,-1.07,-194.6,2326,1303,3683,3573,912.5,-13.3,348,6719,0.00,2.15,0.00,0.000,1030,0.000,0.027,2319,2702,3628,3683,3573,0,0,0,0,0,0,26.05,25.98,26.07
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7006,-0.25,0.0,2320,2810,3682,3574,950.1,-12.4,358,7174,0.75,0.00,161.05,1.078,10246,0.115,0.000,2553,2808,2837,2874,2801,0,0,0,0,0,0,25.65,24.38,23.63
$STATE,7175,end apogee,CONTROL_FINISHED_OK
$STATE,7175,begin climb
$GC,7176,0.89,194.6,2555,2807,2869,2794,957.1,0.0,363,7352,1.10,2.30,163.68,1.059,10756,0.067,0.021,2931,1408,2038,2076,2000,0,0,0,0,0,0,24.54,23.78,23.27
$GC,7561,0.87,232.3,2931,1409,2068,1990,941.2,9.2,376,7605,0.00,2.17,32.12,1.050,9222,0.000,0.026,2931,2799,1883,1924,1842,0,0,0,0,0,0,25.64,25.59,24.32
$GC,7902,0.84,232.3,2931,2799,1918,1830,903.1,11.0,388,7911,0.00,1.62,0.00,0.000,260,0.000,0.040,2931,3851,1873,1916,1830,0,0,0,0,0,0,25.98,25.94,26.04
$GC,7950,0.81,232.3,2931,3852,1917,1831,899.2,11.2,389,7958,0.00,1.58,0.00,0.000,1030,0.000,0.023,2931,2780,1873,1917,1830,0,0,0,0,0,0,26.04,26.03,26.06
$GC,8268,0.79,238.7,2932,2781,1916,1831,863.9,10.3,400,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2780,1873,1916,1830,0,0,0,0,0,0,26.09,26.20,26.15
$GC,8568,0.77,268.9,2930,2778,1916,1830,834.3,9.5,410,8609,0.10,1.75,31.30,1.004,12548,0.184,0.040,2911,3844,1732,1775,1690,0,0,0,0,0,0,25.87,25.53,24.76
$GC,8664,0.75,288.5,2911,3844,1778,1682,825.2,9.8,413,8693,0.00,1.50,17.40,1.003,9222,0.000,0.024,2917,2804,1655,1699,1612,0,0,0,0,0,0,25.84,25.80,24.63
$GC,8988,0.75,288.5,2917,2804,1693,1601,790.7,10.6,424,8997,0.00,1.65,0.00,0.000,260,0.000,0.040,2916,3853,1646,1692,1601,0,0,0,0,0,0,26.03,25.98,26.09
$GC,9046,0.75,288.5,2917,3853,1693,1600,787.1,10.7,425,9056,0.00,1.52,0.00,0.000,1030,0.000,0.023,2918,2780,1646,1692,1601,0,0,0,0,0,0,26.11,26.08,26.13
$GC,9351,0.75,288.5,2919,2780,1692,1599,750.2,11.6,436,9360,0.00,2.05,0.00,0.000,516,0.000,0.025,2918,1424,1645,1691,1599,0,0,0,0,0,0,26.09,26.08,26.15
$GC,9408,0.75,288.5,2919,1424,1692,1600,746.6,11.5,437,9419,0.00,2.12,0.00,0.000,1030,0.000,0.027,2918,2809,1645,1691,1599,0,0,0,0,0,0,26.13,26.08,26.15
$GC,9714,0.75,288.5,2919,2810,1692,1600,707.4,11.8,448,9722,0.00,1.62,0.00,0.000,260,0.000,0.041,2918,3857,1644,1691,1598,0,0,0,0,0,0,26.10,26.04,26.17
$GC,9766,0.75,288.5,2919,3857,1692,1598,703.2,12.2,449,9774,0.00,1.55,0.00,0.000,1030,0.000,0.023,2918,2800,1644,1690,1598,0,0,0,0,0,0,26.14,26.13,26.16
$GC,10078,0.75,288.5,2919,2801,1691,1599,662.9,11.8,460,10086,0.00,2.08,0.00,0.000,516,0.000,0.024,2919,1427,1645,1690,1600,0,0,0,0,0,0,26.11,26.07,26.15
$GC,10110,0.75,288.5,2919,1428,1691,1600,659.2,11.8,461,10118,0.00,2.12,0.00,0.000,1030,0.000,0.027,2918,2811,1644,1690,1598,0,0,0,0,0,0,26.11,26.06,26.14
$GC,10437,0.75,288.5,2918,2811,1691,1598,622.2,11.1,472,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2811,1644,1690,1598,0,0,0,0,0,0,26.10,26.17,26.16
$GC,10737,0.75,296.7,2919,2812,1691,1599,592.0,10.3,482,10745,0.00,2.10,0.00,0.000,516,0.000,0.024,2919,1425,1644,1690,1599,0,0,0,0,0,0,26.09,26.05,26.15
$GC,10969,0.75,306.3,2919,1425,1690,1599,571.1,10.2,489,10995,0.00,2.12,15.40,0.869,9222,0.000,0.027,2919,2808,1584,1629,1540,0,0,0,0,0,0,26.08,26.03,25.04
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$STATE,15905,end climb,SURFACE_DEPTH_REACHED
$STATE,15905,begin surface coast
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$STATE,15920,end surface coast,CONTROL_FINISHED_OK
$STATE,15920,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15949.60 7624.59
$PA_BOOTCOUNT,466
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$PA_DISK_BANK,3
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$10V_AH,10.16,37.103
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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