version: 66.12
glider: 203
mission: 8
dive: 12
start: 7 12 115 4 52 59
data:
$ID,203
$MISSION,8
$DIVE,12
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,42
$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,22.5
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120715,044533,5901.6880,-14722.0430,36,0.8,36,18.1,0.0,0.0,11,7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.1
$GPS2,120715,045248,5901.6406,-14722.0732,9,0.8,10,18.1,0.0,218.4,11,9.2
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,83.4,16704,-17.8,-10.000,-19.47,2615
$D_GRID,1217
$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,-0.70,-170.3,201,2814,663,495,0.0,0.0,0,160,0.00,0.00,-64.22,0.000,16386,0.000,0.000,200,2813,2291,2324,2258,0,0,0,0,0,0,26.77,28.83,26.84
$GC,161,-0.70,-170.3,201,2815,2325,2260,3.2,-6.1,10,203,8.48,2.05,-26.62,0.000,19204,0.241,0.040,2378,1421,3534,3602,3466,0,0,0,0,0,0,26.37,26.10,26.56
$GC,429,-0.70,-170.3,2378,1422,3603,3472,48.1,-15.7,62,441,0.00,2.08,0.00,0.000,1030,0.000,0.033,2375,2808,3536,3602,3471,0,0,0,0,0,0,26.77,26.72,26.79
$GC,745,-0.70,-170.3,2375,2809,3602,3474,98.6,-14.1,94,759,0.00,2.03,0.00,0.000,516,0.000,0.027,2375,1421,3537,3602,3472,0,0,0,0,0,0,26.99,26.84,27.06
$GC,869,-0.71,-170.3,2375,1422,3602,3473,115.6,-13.0,106,881,0.00,2.05,0.00,0.000,1030,0.000,0.031,2371,2805,3537,3602,3472,0,0,0,0,0,0,26.91,26.85,26.92
$GC,1178,-0.71,-170.3,2371,2805,3603,3472,155.6,-12.8,137,1185,0.00,2.03,0.00,0.000,516,0.000,0.027,2371,1428,3536,3602,3471,0,0,0,0,0,0,27.08,26.93,27.15
$GC,1210,-0.71,-170.3,2371,1421,3603,3471,159.5,-12.5,140,1217,0.00,2.05,0.00,0.000,1030,0.000,0.031,2363,2802,3537,3602,3472,0,0,0,0,0,0,26.97,26.91,26.98
$GC,1515,-0.72,-170.3,2363,2803,3603,3474,198.9,-13.4,170,1522,0.00,2.03,0.00,0.000,516,0.000,0.027,2363,1411,3540,3608,3472,0,0,0,0,0,0,27.14,26.96,27.20
$GC,1576,-0.72,-170.3,2362,1411,3603,3472,206.5,-13.8,175,1586,0.00,2.05,0.00,0.000,1030,0.000,0.032,2358,2799,3537,3602,3472,0,0,0,0,0,0,27.02,26.96,27.03
$GC,1881,-0.72,-170.3,2364,2799,3603,3471,249.9,-14.5,206,1889,0.00,2.00,0.00,0.000,516,0.000,0.027,2362,1424,3536,3601,3472,0,0,0,0,0,0,27.17,27.01,27.24
$GC,1938,-0.73,-170.3,2362,1423,3603,3471,258.3,-14.6,209,1946,0.00,2.05,0.00,0.000,1030,0.000,0.034,2362,2805,3536,3601,3471,0,0,0,0,0,0,27.05,27.00,27.08
$GC,2271,-0.73,-170.3,2361,2806,3601,3473,302.8,-13.0,220,2280,0.00,2.03,0.00,0.000,516,0.000,0.027,2362,1410,3536,3600,3472,0,0,0,0,0,0,27.21,27.05,27.28
$GC,2340,-0.73,-170.3,2362,1411,3600,3473,311.1,-12.8,222,2347,0.00,2.08,0.00,0.000,1030,0.000,0.034,2361,2810,3536,3600,3472,0,0,0,0,0,0,27.08,27.04,27.12
$GC,2662,-0.74,-170.3,2360,2810,3598,3471,351.9,-12.5,233,2669,0.00,2.03,0.00,0.000,516,0.000,0.027,2361,1414,3534,3597,3472,0,0,0,0,0,0,27.24,27.08,27.31
$GC,2708,-0.74,-170.3,2361,1415,3598,3474,355.2,-12.5,234,2716,0.08,2.05,0.00,0.000,3078,0.190,0.032,2365,2804,3534,3597,3472,0,0,0,0,0,0,26.95,27.07,27.08
$GC,3021,-0.75,-170.3,2366,2805,3597,3473,393.4,-10.7,245,3029,0.00,2.03,0.00,0.000,516,0.000,0.028,2366,1417,3533,3595,3472,0,0,0,0,0,0,27.26,27.09,27.33
$GC,3154,-0.76,-170.3,2365,1414,3595,3473,405.0,-9.5,249,3161,0.00,2.05,0.00,0.000,1030,0.000,0.034,2363,2802,3533,3594,3472,0,0,0,0,0,0,27.15,27.09,27.17
$GC,3471,-0.76,-170.3,2362,2801,3593,3470,444.3,-11.9,260,3478,0.00,2.03,0.00,0.000,516,0.000,0.028,2362,1421,3531,3592,3471,0,0,0,0,0,0,27.28,27.12,27.35
$GC,3527,-0.76,-170.3,2364,1419,3593,3480,447.4,-11.4,261,3537,0.00,2.05,0.00,0.000,1030,0.000,0.034,2362,2801,3532,3592,3472,0,0,0,0,0,0,27.16,27.10,27.18
$GC,3832,-0.77,-170.3,2362,2801,3593,3472,479.5,-9.4,272,3840,0.00,2.00,0.00,0.000,516,0.000,0.027,2362,1421,3531,3591,3471,0,0,0,0,0,0,27.29,27.11,27.39
$GC,4064,-0.77,-170.3,2362,1421,3592,3472,499.7,-10.0,279,4075,0.00,2.05,0.00,0.000,1030,0.000,0.034,2362,2805,3531,3590,3472,0,0,0,0,0,0,27.19,27.13,27.20
$GC,4369,-0.78,-170.3,2362,2805,3590,3471,535.1,-10.9,290,4377,0.00,2.00,0.00,0.000,516,0.000,0.027,2362,1423,3530,3588,3472,0,0,0,0,0,0,27.32,27.15,27.39
$GC,4476,-0.78,-170.3,2362,1422,3588,3471,544.7,-11.0,293,4491,0.00,2.05,0.00,0.000,1030,0.000,0.034,2362,2800,3529,3587,3472,0,0,0,0,0,0,27.20,27.14,27.22
$GC,4786,-0.79,-170.3,2362,2799,3588,3471,580.4,-10.5,304,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2801,3529,3587,3471,0,0,0,0,0,0,27.32,27.40,27.42
$GC,5086,-0.79,-170.3,2362,2802,3587,3473,612.6,-10.6,314,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2801,3527,3586,3469,0,0,0,0,0,0,27.34,27.41,27.40
$GC,5387,-0.79,-170.3,2362,2802,3586,3473,646.8,-11.7,324,5394,0.00,2.00,0.00,0.000,516,0.000,0.027,2362,1422,3528,3585,3472,0,0,0,0,0,0,27.34,27.17,27.41
$GC,5509,-0.80,-170.3,2363,1424,3585,3473,661.0,-12.2,328,5521,0.00,2.05,0.00,0.000,1030,0.000,0.034,2362,2801,3528,3585,3472,0,0,0,0,0,0,27.23,27.16,27.24
$GC,5835,-0.80,-170.3,2362,2801,3584,3472,702.3,-12.6,339,5842,0.00,2.00,0.00,0.000,516,0.000,0.028,2362,1425,3531,3583,3479,0,0,0,0,0,0,27.35,27.19,27.42
$GC,5862,-0.81,-170.3,2362,1423,3585,3471,705.6,-12.6,340,5869,0.00,2.05,0.00,0.000,1030,0.000,0.034,2362,2809,3528,3584,3472,0,0,0,0,0,0,27.23,27.17,27.25
$GC,6188,-0.81,-170.3,2362,2810,3584,3471,744.5,-12.1,351,6195,0.00,1.60,0.00,0.000,260,0.000,0.050,2362,3857,3527,3583,3472,0,0,0,0,0,0,27.36,27.17,27.42
$GC,6270,-0.82,-170.3,2362,3858,3582,3473,751.9,-12.2,353,6277,0.00,1.50,0.00,0.000,1030,0.000,0.029,2362,2788,3526,3582,3471,0,0,0,0,0,0,27.27,27.23,27.27
$GC,6581,-0.82,-170.3,2362,2790,3582,3473,788.8,-11.3,364,6589,0.00,2.00,0.00,0.000,516,0.000,0.027,2362,1407,3526,3581,3472,0,0,0,0,0,0,27.36,27.20,27.43
$GC,6753,-0.82,-170.3,2361,1403,3582,3473,806.3,-11.5,369,6761,0.00,2.08,0.00,0.000,1030,0.000,0.035,2362,2801,3526,3580,3472,0,0,0,0,0,0,27.24,27.18,27.26
$GC,7065,-0.83,-170.3,2362,2802,3581,3472,842.9,-10.9,380,7074,0.00,2.03,0.00,0.000,516,0.000,0.028,2362,1405,3525,3579,3472,0,0,0,0,0,0,27.36,27.20,27.43
$GC,7183,-0.83,-170.3,2361,1406,3581,3473,853.5,-11.4,383,7193,0.00,2.08,0.00,0.000,1030,0.000,0.034,2364,2808,3526,3581,3471,0,0,0,0,0,0,27.24,27.18,27.27
$GC,7488,-0.84,-170.3,2362,2810,3580,3473,890.1,-11.3,394,7499,0.00,2.03,0.00,0.000,516,0.000,0.028,2362,1404,3524,3578,3471,0,0,0,0,0,0,27.37,27.21,27.44
$GC,7723,-0.84,-170.3,2358,1405,3580,3473,914.2,-11.4,401,7733,0.00,2.08,0.00,0.000,1030,0.000,0.034,2361,2810,3525,3578,3472,0,0,0,0,0,0,27.25,27.20,27.27
$GC,8029,-0.84,-170.3,2362,2810,3579,3472,952.2,-11.7,412,8037,0.00,2.05,0.00,0.000,516,0.000,0.028,2361,1392,3524,3577,3471,0,0,0,0,0,0,27.37,27.21,27.45
$GC,8152,-0.85,-170.3,2361,1396,3579,3471,966.5,-11.7,416,8161,0.00,2.08,0.00,0.000,1030,0.000,0.034,2362,2798,3525,3578,3472,0,0,0,0,0,0,27.26,27.20,27.28
$STATE,8364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8364,begin apogee
$GC,8368,-0.19,0.0,2362,2588,3578,3471,991.1,-11.3,423,8550,0.55,0.00,170.65,0.973,10246,0.123,0.000,2539,2588,2827,2868,2787,0,0,0,0,0,0,27.09,24.70,24.22
$STATE,8550,end apogee,CONTROL_FINISHED_OK
$STATE,8550,begin climb
$GC,8552,0.70,170.3,2539,2589,2865,2786,1002.2,0.0,429,8714,0.85,2.17,150.25,1.040,11012,0.083,0.028,2828,1222,2134,2170,2099,0,0,0,0,0,0,25.09,24.55,24.08
$GC,8873,0.73,335.6,2829,1224,2151,2079,1002.1,3.5,440,9093,0.00,2.15,205.68,0.844,9222,0.000,0.030,2828,2612,1468,1513,1423,0,0,0,0,0,0,25.91,25.86,24.22
$GC,9414,0.74,404.7,2829,2611,1493,1398,967.7,7.3,458,9482,0.00,0.00,54.80,1.360,8198,0.000,0.000,2828,2612,1189,1242,1137,0,0,0,0,1,0,26.26,24.73,23.82
$GC,9773,0.76,464.4,2829,2611,1267,1143,939.3,7.7,470,9855,0.08,2.00,72.32,0.960,10500,0.138,0.043,2864,3841,940,1005,876,0,0,0,0,0,0,26.09,24.98,24.41
$GC,9884,0.77,494.6,2864,3843,992,862,931.3,8.8,473,9925,0.00,1.88,32.03,0.949,9222,0.000,0.026,2864,2603,819,889,749,0,0,0,0,0,0,25.44,25.41,24.36
$GC,10220,0.78,494.6,2865,2603,868,722,894.4,10.3,485,10231,0.00,2.10,0.00,0.000,516,0.000,0.033,2864,1217,794,867,721,0,0,0,0,0,0,26.26,26.09,26.32
$GC,10245,0.78,494.6,2865,1217,868,721,894.4,10.3,485,10256,0.00,2.10,0.00,0.000,1030,0.000,0.030,2864,2597,791,866,717,0,0,0,0,0,0,26.17,26.13,26.20
$GC,10551,0.79,494.6,2864,2600,866,722,861.3,10.3,496,10558,0.00,1.92,0.00,0.000,260,0.000,0.044,2864,3853,792,865,720,0,0,0,0,0,0,26.58,26.39,26.65
$GC,10577,0.80,494.6,2864,3853,866,722,858.4,10.5,497,10585,0.00,1.83,0.00,0.000,1030,0.000,0.027,2864,2592,792,865,720,0,0,0,0,0,0,26.51,26.47,26.53
$GC,10910,0.81,494.6,2864,2592,866,721,823.5,10.5,508,10920,0.00,2.05,0.00,0.000,516,0.000,0.032,2864,1216,792,865,720,0,0,0,0,0,0,26.77,26.60,26.84
$GC,10939,0.82,494.6,2865,1217,865,721,823.5,10.5,508,10949,0.00,2.08,0.00,0.000,1030,0.000,0.030,2864,2604,792,864,720,0,0,0,0,0,0,26.67,26.62,26.70
$GC,11244,0.83,494.6,2863,2603,864,719,787.4,10.6,519,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2604,792,864,720,0,0,0,0,0,0,26.89,26.96,26.96
$GC,11544,0.84,494.6,2864,2605,865,721,754.3,10.8,529,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2603,791,864,719,0,0,0,0,0,0,26.96,27.04,27.03
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$STATE,18078,end climb,SURFACE_DEPTH_REACHED
$STATE,18078,begin surface coast
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$STATE,18097,end surface coast,CONTROL_FINISHED_OK
$STATE,18097,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,18126.44 8811.75
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$MEM,187120
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