version: 66.12
glider: 203
mission: 8
dive: 27
start: 7 15 115 3 40 52
data:
$ID,203
$MISSION,8
$DIVE,27
$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,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,-2
$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,101
$R_STBD_OVSHOOT,53
$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
$GPS1,150715,033534,5843.3569,-14653.9336,41,0.7,41,18.1,0.6,9.9,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.8
$GPS2,150715,034041,5843.4014,-14653.9756,5,0.7,8,18.1,0.5,322.6,11,9.9
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,124.8,41043,-18.0,-11.000,-19.55,2718
$D_GRID,2658
$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,-0.92,-194.6,203,2720,783,648,0.0,0.0,0,156,0.00,0.00,-56.50,0.000,16386,0.000,0.000,203,2721,2220,2257,2183,0,0,0,0,0,0,26.70,28.83,26.77
$GC,158,-0.92,-194.6,203,2721,2257,2183,3.2,-4.7,8,213,8.25,2.10,-30.42,0.000,18948,0.237,0.041,2336,1332,3636,3701,3571,0,0,0,0,0,0,26.34,25.72,26.46
$GC,285,-0.86,-194.6,2336,1332,3701,3575,33.0,-21.7,29,296,0.12,2.03,0.00,0.000,3078,0.177,0.028,2360,2700,3637,3701,3573,0,0,0,0,0,0,26.48,26.62,26.60
$GC,597,-0.84,-194.6,2360,2701,3701,3578,94.9,-18.7,67,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2700,3639,3701,3577,0,0,0,0,0,0,26.91,26.98,26.97
$GC,899,-0.84,-194.6,2360,2700,3702,3578,145.2,-16.2,97,908,0.00,1.73,0.00,0.000,260,0.000,0.041,2354,3838,3639,3701,3578,0,0,0,0,0,0,26.99,26.82,27.06
$GC,967,-0.84,-194.6,2354,3840,3702,3579,155.7,-16.6,103,977,0.00,1.55,0.00,0.000,1030,0.000,0.024,2354,2717,3639,3701,3578,0,0,0,0,0,0,26.93,26.89,26.94
$GC,1272,-0.84,-194.6,2354,2716,3702,3578,201.0,-13.9,134,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2716,3639,3700,3578,0,0,0,0,0,0,27.07,27.15,27.13
$GC,1573,-0.84,-194.6,2353,2717,3701,3579,242.6,-13.7,164,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2717,3639,3701,3577,0,0,0,0,0,0,27.12,27.19,27.18
$GC,1894,-0.84,-194.6,2354,2717,3700,3579,287.7,-14.2,178,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2717,3639,3700,3578,0,0,0,0,0,0,27.15,27.23,27.22
$GC,2195,-0.86,-194.6,2354,2716,3699,3582,330.4,-14.3,188,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2717,3638,3698,3578,0,0,0,0,0,0,27.19,27.27,27.25
$GC,2495,-0.87,-194.6,2354,2717,3698,3578,371.9,-13.7,198,2502,0.00,1.67,0.00,0.000,260,0.000,0.041,2348,3845,3637,3697,3578,0,0,0,0,0,0,27.22,27.03,27.28
$GC,2531,-0.89,-194.6,2348,3846,3697,3580,376.5,-13.9,199,2538,0.00,1.60,0.00,0.000,1030,0.000,0.024,2349,2695,3637,3696,3578,0,0,0,0,0,0,27.13,27.10,27.15
$GC,2858,-0.91,-194.6,2349,2696,3695,3579,423.7,-14.0,210,2866,0.00,1.75,0.00,0.000,260,0.000,0.041,2341,3863,3636,3694,3578,0,0,0,0,0,0,27.24,27.06,27.30
$GC,2891,-0.93,-194.6,2342,3864,3695,3579,428.4,-14.1,211,2899,0.00,1.62,0.00,0.000,1030,0.000,0.025,2342,2702,3636,3694,3578,0,0,0,0,0,0,27.15,27.12,27.16
$GC,3223,-0.93,-194.6,2342,2702,3695,3578,475.6,-14.3,222,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2702,3635,3692,3579,0,0,0,0,0,0,27.26,27.33,27.32
$GC,3523,-0.95,-194.6,2342,2702,3693,3578,518.2,-14.0,232,3530,0.00,1.70,0.00,0.000,260,0.000,0.041,2335,3850,3634,3691,3578,0,0,0,0,0,0,27.27,27.09,27.34
$GC,3584,-0.96,-194.6,2335,3850,3691,3577,527.0,-14.1,234,3592,0.00,1.65,0.00,0.000,1030,0.000,0.025,2335,2695,3634,3690,3578,0,0,0,0,0,0,27.17,27.16,27.18
$GC,3916,-0.96,-194.6,2335,2693,3691,3578,574.0,-14.3,245,3925,0.00,1.73,0.00,0.000,260,0.000,0.041,2327,3856,3633,3689,3578,0,0,0,0,0,0,27.29,27.11,27.35
$GC,3949,-0.96,-194.6,2328,3857,3690,3580,578.8,-14.5,246,3957,0.00,1.60,0.00,0.000,1030,0.000,0.025,2327,2694,3633,3689,3578,0,0,0,0,0,0,27.20,27.17,27.22
$GC,4281,-0.96,-194.6,2327,2694,3689,3578,627.5,-14.3,257,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2694,3632,3687,3578,0,0,0,0,0,0,27.30,27.38,27.36
$GC,4581,-0.96,-194.6,2327,2696,3688,3579,668.2,-13.3,267,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2694,3632,3687,3578,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4881,-0.96,-194.6,2327,2695,3687,3579,706.9,-12.8,277,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2693,3632,3686,3578,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5181,-0.96,-194.6,2327,2694,3687,3577,745.2,-12.6,287,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2694,3632,3686,3578,0,0,0,0,0,0,27.33,27.39,27.39
$GC,5481,-0.96,-194.6,2327,2696,3686,3579,781.4,-12.0,297,5489,0.00,1.73,0.00,0.000,260,0.000,0.043,2322,3853,3631,3685,3578,0,0,0,0,0,0,27.33,27.15,27.40
$GC,5532,-0.96,-194.6,2321,3853,3686,3578,785.3,-12.0,298,5540,0.00,1.65,0.00,0.000,1030,0.000,0.024,2321,2683,3631,3685,3578,0,0,0,0,0,0,27.24,27.23,27.25
$GC,5844,-0.96,-194.6,2321,2683,3685,3577,826.0,-12.3,309,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2683,3630,3683,3578,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6144,-0.96,-194.6,2322,2685,3684,3579,863.7,-12.7,319,6152,0.00,1.73,0.00,0.000,260,0.000,0.042,2319,3845,3629,3682,3577,0,0,0,0,0,0,27.34,27.16,27.41
$GC,6190,-0.96,-194.6,2319,3846,3683,3579,867.8,-12.7,320,6198,0.00,1.58,0.00,0.000,1030,0.000,0.025,2320,2710,3630,3682,3578,0,0,0,0,0,0,27.26,27.23,27.27
$GC,6507,-0.96,-194.6,2320,2712,3682,3579,910.6,-13.2,331,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2711,3630,3681,3580,0,0,0,0,0,0,27.35,27.42,27.41
$GC,6807,-0.96,-194.6,2320,2712,3682,3579,950.2,-13.4,341,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2711,3629,3681,3578,0,0,0,0,0,0,27.35,27.43,27.41
$GC,7107,-0.96,-194.6,2321,2712,3682,3579,988.9,-12.8,351,7114,0.00,1.70,0.00,0.000,260,0.000,0.043,2320,3851,3629,3680,3578,0,0,0,0,0,0,27.36,27.17,27.42
$STATE,7137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7137,begin apogee
$GC,7142,-0.25,0.0,2320,2783,3681,3577,992.8,-12.8,352,7327,0.73,0.00,172.55,1.568,10246,0.123,0.000,2557,2783,2838,2880,2797,0,0,0,0,1,0,27.08,24.49,23.62
$STATE,7327,end apogee,CONTROL_FINISHED_OK
$STATE,7327,begin climb
$GC,7329,0.92,194.6,2558,2783,2894,2798,1002.5,0.0,358,7508,1.08,1.75,168.50,1.078,10500,0.062,0.041,2934,3840,2037,2077,1998,0,0,0,0,0,0,24.77,24.56,23.94
$GC,7732,0.86,194.6,2934,3840,2066,1981,982.6,11.2,371,7739,0.00,1.50,0.00,0.000,1030,0.000,0.025,2942,2799,2023,2065,1981,0,0,0,0,0,0,25.91,25.89,25.94
$GC,8044,0.82,233.4,2942,2798,2065,1987,949.4,9.5,382,8085,0.00,1.70,32.58,1.030,8452,0.000,0.043,2942,3841,1879,1922,1837,0,0,0,0,0,0,26.44,25.56,24.94
$GC,8309,0.76,233.4,2943,3843,1910,1823,920.2,12.7,390,8322,0.15,1.50,0.00,0.000,5126,0.189,0.024,2910,2777,1865,1909,1822,0,0,0,0,0,0,26.03,26.21,26.18
$GC,8614,0.76,271.5,2910,2777,1912,1821,886.5,9.6,401,8655,0.00,1.73,33.00,0.997,8452,0.000,0.043,2910,3835,1724,1767,1681,0,0,0,0,0,0,26.60,25.72,25.13
$GC,8680,0.74,301.9,2910,3835,1758,1668,880.4,9.9,403,8716,0.00,1.50,27.33,0.978,9222,0.000,0.025,2915,2791,1603,1649,1558,0,0,0,0,0,0,25.96,25.93,24.79
$GC,9036,0.74,301.9,2915,2791,1633,1537,837.3,11.9,415,9044,0.00,1.62,0.00,0.000,260,0.000,0.042,2915,3844,1585,1632,1538,0,0,0,0,0,0,26.43,26.25,26.50
$GC,9078,0.74,301.9,2915,3845,1632,1538,833.0,12.1,416,9085,0.00,1.50,0.00,0.000,1030,0.000,0.025,2918,2776,1584,1631,1537,0,0,0,0,0,0,26.39,26.35,26.40
$GC,9399,0.74,301.9,2918,2777,1632,1538,794.4,11.3,427,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2776,1583,1630,1536,0,0,0,0,0,0,26.70,26.77,26.77
$GC,9700,0.74,301.9,2918,2777,1631,1534,759.6,11.0,437,9707,0.00,1.62,0.00,0.000,260,0.000,0.044,2918,3844,1582,1629,1535,0,0,0,0,0,0,26.83,26.65,26.90
$GC,9725,0.74,301.9,2918,3844,1630,1534,759.6,11.0,437,9736,0.00,1.50,0.00,0.000,1030,0.000,0.025,2918,2783,1582,1630,1534,0,0,0,0,0,0,26.75,26.72,26.77
$GC,10031,0.74,301.9,2917,2782,1630,1533,720.8,11.3,448,10038,0.00,1.98,0.00,0.000,516,0.000,0.028,2918,1435,1582,1630,1534,0,0,0,0,0,0,26.92,26.77,27.00
$GC,10062,0.74,301.9,2918,1435,1631,1533,717.9,11.2,449,10070,0.00,2.03,0.00,0.000,1030,0.000,0.029,2918,2801,1582,1630,1534,0,0,0,0,0,0,26.82,26.77,26.85
$GC,10384,0.74,301.9,2919,2803,1630,1535,681.3,11.2,460,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2807,1581,1629,1533,0,0,0,0,0,0,27.00,27.08,27.07
$GC,10684,0.74,301.9,2918,2803,1631,1534,647.4,11.6,470,10691,0.00,1.60,0.00,0.000,260,0.000,0.043,2918,3844,1581,1629,1533,0,0,0,0,0,0,27.05,26.88,27.13
$GC,10725,0.74,301.9,2919,3846,1630,1534,643.5,11.7,471,10733,0.05,1.48,0.00,0.000,5126,0.175,0.025,2908,2808,1581,1629,1533,0,0,0,0,0,0,26.77,26.94,26.86
$GC,11047,0.76,301.9,2908,2809,1630,1532,606.3,11.2,482,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2808,1580,1628,1533,0,0,0,0,0,0,27.12,27.17,27.17
$GC,11347,0.78,304.4,2908,2808,1630,1533,573.2,10.9,492,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2809,1580,1628,1533,0,0,0,0,0,0,27.13,27.21,27.20
$GC,11647,0.80,319.7,2908,2810,1629,1534,541.4,10.4,502,11667,0.00,0.00,13.98,0.797,8198,0.000,0.000,2909,2808,1535,1582,1488,0,0,0,0,0,0,27.16,26.67,26.18
$GC,11947,0.82,319.7,2908,2809,1568,1472,508.7,11.1,512,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2808,1519,1567,1471,0,0,0,0,0,0,27.00,27.08,27.08
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$STATE,16273,end climb,SURFACE_DEPTH_REACHED
$STATE,16273,begin surface coast
$FINISH,0.6,1.008790
$STATE,16291,end surface coast,CONTROL_FINISHED_OK
$STATE,16291,begin surface
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$IRIDIUM_FIX,5821.32,-14651.96,100508,170333
$TT8_MAMPS,0.163282,0.163282
$HUMID,38.22
$INTERNAL_PRESSURE,8.765
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$XPDR_PINGS,1
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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
$PA_UPTIME,16320.08 7778.13
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$PA_DISK_BANK,1
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$10V_AH,9.93,16.768
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,187176
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