version: 66.12
glider: 203
mission: 8
dive: 16
start: 7 13 115 0 12 57
data:
$ID,203
$MISSION,8
$DIVE,16
$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,160
$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
$PITCH_ADJ_DBAND,0
$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,94
$R_STBD_OVSHOOT,36
$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
$GPS1,130715,000728,5859.7617,-14712.6641,41,1.3,47,18.1,0.0,273.7,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.6
$GPS2,130715,001246,5859.7632,-14712.7236,13,0.9,13,18.1,0.0,194.3,9,7.5
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,101.0,7856,-18.6,-10.000,-20.21,2392
$D_GRID,1315
$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,-0.95,-155.7,199,2805,1182,1071,0.0,0.0,0,143,0.00,0.00,-42.53,0.000,16386,0.000,0.000,200,2804,2288,2322,2255,0,0,0,0,0,0,26.82,28.83,26.89
$GC,145,-0.95,-155.7,200,2805,2323,2257,3.1,-5.3,6,185,8.35,1.62,-23.88,0.000,18692,0.244,0.065,2321,3853,3476,3547,3405,0,0,0,0,0,0,26.42,25.77,26.63
$GC,224,-0.95,-155.7,2321,3855,3547,3408,22.9,-22.7,20,231,0.00,1.50,0.00,0.000,1030,0.000,0.024,2321,2792,3477,3547,3407,0,0,0,0,0,0,26.74,26.73,26.76
$GC,536,-0.95,-155.7,2321,2792,3549,3410,82.0,-19.0,65,544,0.00,1.95,0.00,0.000,516,0.000,0.025,2320,1435,3477,3547,3408,0,0,0,0,0,0,26.96,26.81,27.03
$GC,628,-0.95,-155.7,2321,1434,3549,3411,99.7,-19.3,74,641,0.10,2.03,0.00,0.000,3078,0.181,0.030,2333,2810,3479,3547,3411,0,0,0,0,0,0,26.70,26.82,26.82
$GC,938,-0.95,-155.7,2332,2811,3548,3412,154.7,-16.3,105,945,0.00,1.58,0.00,0.000,260,0.000,0.043,2329,3850,3480,3548,3412,0,0,0,0,0,0,27.06,26.88,27.13
$GC,964,-0.95,-155.7,2328,3850,3549,3414,158.3,-16.3,107,974,0.00,1.48,0.00,0.000,1030,0.000,0.025,2328,2831,3479,3547,3412,0,0,0,0,0,0,26.98,26.94,27.00
$GC,1269,-0.95,-155.7,2329,2835,3549,3407,207.0,-15.0,138,1277,0.00,2.08,0.00,0.000,516,0.000,0.025,2328,1396,3479,3547,3412,0,0,0,0,0,0,27.12,26.96,27.18
$GC,1341,-0.95,-155.7,2329,1396,3548,3414,216.9,-14.6,144,1352,0.00,2.08,0.00,0.000,1030,0.000,0.030,2322,2805,3479,3547,3412,0,0,0,0,0,0,27.01,26.96,27.03
$GC,1657,-0.95,-155.7,2322,2804,3548,3411,264.6,-14.7,170,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2805,3479,3547,3412,0,0,0,0,0,0,27.17,27.24,27.23
$GC,1956,-0.95,-155.7,2322,2805,3548,3412,309.3,-14.8,180,1964,0.00,2.03,0.00,0.000,516,0.000,0.024,2322,1401,3479,3546,3412,0,0,0,0,0,0,27.20,27.04,27.26
$GC,2003,-0.95,-155.7,2322,1402,3547,3413,313.8,-14.7,181,2011,0.00,2.05,0.00,0.000,1030,0.000,0.031,2319,2800,3479,3547,3412,0,0,0,0,0,0,27.08,27.03,27.10
$GC,2315,-0.95,-155.7,2319,2801,3547,3412,360.6,-14.3,192,2322,0.00,2.03,0.00,0.000,516,0.000,0.025,2319,1407,3478,3545,3412,0,0,0,0,0,0,27.22,27.07,27.29
$GC,2371,-0.95,-155.7,2319,1403,3546,3412,365.3,-14.4,193,2382,0.00,2.08,0.00,0.000,1030,0.000,0.031,2319,2809,3478,3544,3412,0,0,0,0,0,0,27.11,27.05,27.13
$GC,2676,-0.95,-155.7,2319,2809,3545,3412,412.0,-14.1,204,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2809,3477,3543,3412,0,0,0,0,0,0,27.25,27.33,27.32
$GC,2977,-0.95,-155.7,2319,2809,3542,3412,453.0,-13.3,214,2984,0.00,2.03,0.00,0.000,516,0.000,0.025,2319,1401,3477,3542,3412,0,0,0,0,0,0,27.27,27.11,27.34
$GC,3018,-0.95,-155.7,2320,1403,3543,3413,456.5,-13.1,215,3026,0.00,2.08,0.00,0.000,1030,0.000,0.032,2319,2809,3477,3542,3412,0,0,0,0,0,0,27.15,27.10,27.17
$GC,3330,-0.95,-155.7,2319,2815,3542,3412,499.1,-13.1,226,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2809,3476,3541,3412,0,0,0,0,0,0,27.29,27.36,27.35
$GC,3630,-0.95,-155.7,2319,2810,3540,3413,536.6,-12.9,236,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2809,3475,3538,3413,0,0,0,0,0,0,27.30,27.37,27.36
$GC,3930,-0.95,-155.7,2314,2811,3539,3413,575.6,-12.7,246,3937,0.00,2.03,0.00,0.000,516,0.000,0.026,2319,1403,3475,3538,3412,0,0,0,0,0,0,27.32,27.15,27.38
$GC,3961,-0.95,-155.7,2319,1404,3539,3413,579.1,-13.0,247,3969,0.00,2.08,0.00,0.000,1030,0.000,0.032,2319,2812,3475,3538,3412,0,0,0,0,0,0,27.20,27.14,27.22
$GC,4283,-0.95,-155.7,2319,2813,3538,3413,621.0,-13.2,258,4290,0.00,2.05,0.00,0.000,516,0.000,0.026,2319,1407,3474,3536,3412,0,0,0,0,0,0,27.32,27.16,27.39
$GC,4344,-0.95,-155.7,2319,1398,3538,3413,629.3,-13.4,260,4352,0.00,2.08,0.00,0.000,1030,0.000,0.032,2319,2809,3474,3537,3411,0,0,0,0,0,0,27.20,27.15,27.22
$GC,4671,-0.95,-155.7,2319,2811,3537,3413,670.7,-12.4,271,4681,0.00,2.05,0.00,0.000,516,0.000,0.026,2319,1395,3474,3536,3412,0,0,0,0,0,0,27.32,27.17,27.40
$GC,4736,-0.95,-155.7,2319,1395,3537,3411,678.8,-12.4,273,4743,0.00,2.08,0.00,0.000,1030,0.000,0.032,2319,2809,3473,3535,3412,0,0,0,0,0,0,27.22,27.16,27.24
$GC,5068,-0.95,-155.7,2319,2808,3536,3412,721.8,-13.1,284,5076,0.00,2.05,0.00,0.000,516,0.000,0.026,2319,1395,3473,3535,3412,0,0,0,0,0,0,27.34,27.18,27.41
$GC,5125,-0.95,-155.7,2319,1397,3534,3413,726.1,-13.2,285,5135,0.00,2.08,0.00,0.000,1030,0.000,0.033,2319,2805,3471,3530,3412,0,0,0,0,0,0,27.22,27.16,27.24
$GC,5430,-0.95,-155.7,2318,2806,3533,3413,769.2,-13.0,296,5438,0.00,2.03,0.00,0.000,516,0.000,0.026,2318,1400,3472,3533,3412,0,0,0,0,0,0,27.34,27.19,27.41
$GC,5487,-0.95,-155.7,2318,1400,3534,3412,776.8,-13.2,298,5495,0.00,2.08,0.00,0.000,1030,0.000,0.032,2319,2806,3472,3532,3412,0,0,0,0,0,0,27.23,27.17,27.24
$GC,5814,-0.95,-155.7,2319,2800,3532,3412,817.6,-12.4,309,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2801,3471,3531,3412,0,0,0,0,0,0,27.35,27.43,27.41
$GC,6114,-0.95,-155.7,2319,2802,3532,3412,855.4,-12.6,319,6121,0.00,2.03,0.00,0.000,516,0.000,0.026,2319,1396,3471,3530,3412,0,0,0,0,0,0,27.36,27.20,27.42
$GC,6225,-0.95,-155.7,2319,1397,3532,3414,866.1,-12.6,322,6237,0.00,2.08,0.00,0.000,1030,0.000,0.032,2319,2808,3471,3531,3412,0,0,0,0,0,0,27.24,27.19,27.24
$GC,6531,-0.95,-155.7,2319,2808,3531,3413,906.8,-12.2,333,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2808,3471,3530,3412,0,0,0,0,0,0,27.36,27.44,27.43
$GC,6831,-0.95,-155.7,2319,2809,3530,3413,944.1,-12.6,343,6838,0.00,2.03,0.00,0.000,516,0.000,0.026,2319,1399,3470,3529,3412,0,0,0,0,0,0,27.36,27.21,27.43
$GC,6862,-0.95,-155.7,2319,1400,3531,3412,947.5,-12.6,344,6870,0.00,2.05,0.00,0.000,1030,0.000,0.032,2319,2798,3470,3529,3412,0,0,0,0,0,0,27.25,27.20,27.27
$GC,7184,-0.95,-155.7,2320,2801,3530,3413,988.7,-12.4,355,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2799,3470,3529,3412,0,0,0,0,0,0,27.37,27.45,27.43
$STATE,7212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7212,begin apogee
$GC,7216,-0.25,0.0,2320,2577,3530,3413,992.2,-12.3,356,7368,0.73,0.00,138.45,1.508,10246,0.127,0.000,2555,2575,2845,2891,2799,0,0,0,0,1,0,27.08,24.56,23.66
$STATE,7369,end apogee,CONTROL_FINISHED_OK
$STATE,7369,begin climb
$GC,7370,0.95,155.7,2555,2575,2900,2799,999.9,0.0,361,7520,1.10,2.10,137.65,1.074,11012,0.067,0.040,2938,3853,2194,2229,2159,0,0,0,0,0,0,24.87,24.68,24.06
$GC,7744,0.95,218.7,2938,3853,2219,2142,991.4,7.3,373,7806,0.00,1.83,53.72,1.043,9222,0.000,0.024,2944,2597,1947,1984,1910,0,0,0,0,0,0,26.05,26.01,24.41
$GC,8116,0.95,231.6,2944,2598,1964,1884,956.6,9.4,386,8135,0.00,2.03,9.75,0.946,8452,0.000,0.041,2945,3852,1889,1928,1850,0,0,0,0,0,0,26.32,25.90,25.23
$GC,8360,0.95,231.6,2944,3851,1923,1840,928.9,11.7,394,8367,0.00,1.80,0.00,0.000,1030,0.000,0.024,2945,2598,1881,1921,1841,0,0,0,0,0,0,26.38,26.34,26.39
$GC,8681,0.95,231.6,2945,2597,1923,1841,894.5,10.4,405,8688,0.00,1.92,0.00,0.000,260,0.000,0.043,2944,3851,1880,1921,1840,0,0,0,0,0,0,26.70,26.51,26.76
$GC,8913,0.95,231.6,2945,3853,1921,1841,871.2,11.5,412,8923,0.00,1.77,0.00,0.000,1030,0.000,0.024,2945,2597,1880,1921,1839,0,0,0,0,0,0,26.72,26.69,26.73
$GC,9218,0.95,231.6,2945,2594,1921,1839,835.2,10.9,423,9228,0.00,1.92,0.00,0.000,260,0.000,0.043,2945,3859,1879,1920,1839,0,0,0,0,0,0,26.91,26.72,26.97
$GC,9451,0.95,231.6,2945,3865,1920,1838,811.2,11.0,430,9465,0.00,1.77,0.00,0.000,1030,0.000,0.024,2945,2594,1878,1918,1839,0,0,0,0,0,0,26.88,26.85,26.89
$GC,9762,0.95,231.6,2945,2594,1920,1839,776.0,10.7,441,9773,0.00,1.92,0.00,0.000,260,0.000,0.043,2944,3869,1880,1922,1839,0,0,0,0,0,0,27.03,26.86,27.09
$GC,9997,0.95,231.6,2946,3869,1921,1840,750.4,12.2,448,10007,0.00,1.77,0.00,0.000,1030,0.000,0.024,2945,2601,1878,1918,1838,0,0,0,0,0,0,26.98,26.95,27.00
$GC,10302,0.95,239.4,2945,2598,1920,1838,717.2,9.7,459,10310,0.00,1.90,0.00,0.000,260,0.000,0.043,2941,3854,1882,1927,1838,0,0,0,0,0,0,27.10,26.93,27.17
$GC,10399,0.95,239.4,2945,3854,1919,1838,707.4,10.4,462,10406,0.00,1.75,0.00,0.000,1030,0.000,0.024,2946,2611,1877,1918,1837,0,0,0,0,0,0,27.03,27.00,27.05
$GC,10725,0.95,239.4,2945,2596,1920,1838,674.2,10.1,473,10734,0.00,1.90,0.00,0.000,260,0.000,0.043,2946,3854,1879,1919,1839,0,0,0,0,0,0,27.15,26.97,27.22
$GC,10958,0.95,239.4,2946,3855,1917,1840,650.9,10.9,480,10966,0.00,1.77,0.00,0.000,1030,0.000,0.026,2951,2587,1877,1916,1838,0,0,0,0,0,0,27.08,27.05,27.10
$GC,11271,0.95,239.4,2951,2587,1918,1838,620.0,10.1,491,11279,0.00,1.92,0.00,0.000,260,0.000,0.044,2951,3856,1877,1916,1838,0,0,0,0,0,0,27.20,27.01,27.26
$GC,11343,0.95,239.4,2951,3857,1918,1840,613.5,10.4,493,11350,0.00,1.77,0.00,0.000,1030,0.000,0.025,2958,2598,1877,1916,1838,0,0,0,0,0,0,27.11,27.08,27.13
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$STATE,17088,end climb,SURFACE_DEPTH_REACHED
$STATE,17088,begin surface coast
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$STATE,17107,end surface coast,CONTROL_FINISHED_OK
$STATE,17108,begin surface
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$IRIDIUM_FIX,5833.68,-14711.87,080508,133524
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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,17137.06 8002.12
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$10V_AH,10.02,9.252
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$MEM,187124
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