version: 66.12
glider: 203
mission: 8
dive: 53
start: 7 20 115 2 9 7
data:
$ID,203
$MISSION,8
$DIVE,53
$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,-3
$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,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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,200715,020403,5813.0278,-14753.8916,38,1.0,38,17.7,1.0,216.2,8,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-66.7
$GPS2,200715,020856,5812.9814,-14754.0029,7,1.0,8,17.7,0.0,230.1,8,9.1
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP4
$TGT_LATLONG,5747.318,-14728.255
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,114.1,53899,-18.0,-11.000,-19.55,2718
$D_GRID,1000
$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,-194.6,195,2804,1210,1118,0.0,0.0,0,132,0.00,0.00,-32.92,0.000,16386,0.000,0.000,194,2804,2059,2095,2024,0,0,0,0,0,0,25.94,28.83,26.01
$GC,133,-0.92,-194.6,196,2805,2096,2026,3.4,-5.8,4,187,8.48,1.62,-36.80,0.000,18692,0.234,0.057,2328,3853,3634,3702,3566,0,0,0,0,0,0,25.79,25.44,25.97
$GC,438,-0.86,-194.6,2328,3853,3703,3572,69.5,-21.2,48,445,0.12,1.65,0.00,0.000,3078,0.161,0.021,2357,2680,3637,3702,3573,0,0,0,0,0,0,25.96,26.07,26.08
$GC,750,-0.86,-194.6,2358,2676,3703,3575,120.9,-16.0,79,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2676,3638,3702,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,1050,-0.86,-194.6,2357,2677,3703,3577,168.2,-15.3,109,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2676,3639,3702,3576,0,0,0,0,0,0,26.06,26.13,26.13
$GC,1351,-0.87,-194.6,2358,2677,3703,3577,211.4,-14.4,139,1358,0.00,1.83,0.00,0.000,260,0.000,0.038,2351,3851,3638,3701,3576,0,0,0,0,0,0,26.08,26.10,26.14
$GC,1416,-0.87,-194.6,2350,3853,3703,3576,220.3,-14.4,145,1427,0.00,1.62,0.00,0.000,1030,0.000,0.021,2351,2694,3638,3701,3575,0,0,0,0,0,0,26.15,26.11,26.15
$GC,1743,-0.87,-194.6,2351,2694,3703,3575,268.1,-14.5,170,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2694,3638,3702,3575,0,0,0,0,0,0,26.08,26.15,26.13
$GC,2042,-0.87,-194.6,2351,2695,3701,3577,312.4,-15.1,180,2049,0.00,1.80,0.00,0.000,260,0.000,0.040,2345,3856,3638,3700,3576,0,0,0,0,0,0,26.08,26.10,26.14
$GC,2078,-0.87,-194.6,2345,3853,3702,3575,317.1,-15.2,181,2085,0.00,1.62,0.00,0.000,1030,0.000,0.023,2345,2711,3637,3699,3575,0,0,0,0,0,0,26.15,26.11,26.15
$GC,2404,-0.87,-194.6,2344,2712,3700,3575,362.8,-12.9,192,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2710,3636,3698,3575,0,0,0,0,0,0,26.06,26.13,26.11
$GC,2704,-0.89,-194.6,2345,2712,3697,3576,403.0,-13.3,202,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2711,3636,3696,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3004,-0.91,-194.6,2345,2711,3696,3575,444.1,-14.0,212,3011,0.00,1.77,0.00,0.000,260,0.000,0.041,2337,3853,3635,3695,3575,0,0,0,0,0,0,26.08,26.09,26.15
$GC,3040,-0.92,-194.6,2337,3854,3695,3578,448.6,-14.1,213,3048,0.00,1.65,0.00,0.000,1030,0.000,0.022,2337,2698,3634,3694,3575,0,0,0,0,0,0,26.15,26.11,26.15
$GC,3367,-0.92,-194.6,2337,2700,3695,3577,495.2,-14.0,224,3375,0.00,1.80,0.00,0.000,260,0.000,0.039,2328,3855,3634,3693,3575,0,0,0,0,0,0,26.08,26.10,26.13
$GC,3394,-0.92,-194.6,2327,3856,3694,3575,495.2,-14.0,224,3405,0.00,1.65,0.00,0.000,1030,0.000,0.023,2328,2703,3634,3693,3575,0,0,0,0,0,0,26.16,26.11,26.16
$GC,3700,-0.92,-194.6,2328,2704,3693,3575,539.2,-13.5,235,3707,0.00,1.77,0.00,0.000,260,0.000,0.040,2322,3850,3634,3692,3576,0,0,0,0,0,0,26.08,26.09,26.13
$GC,3746,-0.92,-194.6,2321,3849,3692,3575,543.1,-13.3,236,3754,0.08,1.65,0.00,0.000,3078,0.176,0.022,2335,2700,3633,3691,3576,0,0,0,0,0,0,26.01,26.10,26.13
$GC,4063,-0.94,-194.6,2335,2700,3691,3575,585.2,-12.2,247,4070,0.00,1.80,0.00,0.000,260,0.000,0.041,2330,3853,3632,3690,3575,0,0,0,0,0,0,26.08,26.10,26.13
$GC,4125,-0.94,-194.6,2331,3854,3691,3577,593.6,-12.8,249,4133,0.00,1.65,0.00,0.000,1030,0.000,0.023,2331,2698,3633,3690,3576,0,0,0,0,0,0,26.15,26.10,26.15
$GC,4457,-0.94,-194.6,2331,2700,3690,3577,638.6,-13.9,260,4465,0.00,1.80,0.00,0.000,260,0.000,0.041,2323,3853,3632,3689,3575,0,0,0,0,0,0,26.08,26.10,26.14
$GC,4489,-0.94,-194.6,2323,3853,3690,3575,642.9,-14.0,261,4496,0.00,1.70,0.00,0.000,1030,0.000,0.023,2323,2701,3632,3689,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,4820,-0.94,-194.6,2323,2701,3689,3575,690.8,-14.2,272,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2701,3631,3688,3575,0,0,0,0,0,0,26.08,26.15,26.13
$GC,5120,-0.94,-194.6,2323,2702,3688,3577,731.9,-13.8,282,5127,0.00,1.80,0.00,0.000,260,0.000,0.041,2320,3855,3630,3686,3575,0,0,0,0,0,0,26.07,26.09,26.13
$GC,5161,-0.94,-194.6,2320,3857,3688,3577,736.4,-13.7,283,5168,0.00,1.67,0.00,0.000,1030,0.000,0.023,2320,2693,3631,3687,3575,0,0,0,0,0,0,26.15,26.11,26.15
$GC,5483,-0.94,-194.6,2320,2689,3687,3575,782.5,-13.9,294,5490,0.00,2.05,0.00,0.000,516,0.000,0.024,2319,1327,3631,3686,3577,0,0,0,0,0,0,26.06,26.10,26.13
$GC,5524,-0.94,-194.6,2320,1320,3687,3575,786.7,-13.9,295,5531,0.00,2.12,0.00,0.000,1030,0.000,0.028,2320,2709,3630,3686,3575,0,0,0,0,0,0,26.14,26.09,26.15
$GC,5840,-0.94,-194.6,2320,2709,3688,3576,829.2,-13.1,306,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2709,3630,3686,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6140,-0.94,-194.6,2319,2709,3686,3575,865.6,-11.6,316,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2709,3630,3685,3575,0,0,0,0,0,0,26.07,26.15,26.13
$GC,6440,-0.94,-194.6,2320,2710,3685,3577,904.6,-13.8,326,6448,0.00,2.10,0.00,0.000,516,0.000,0.024,2319,1321,3629,3684,3575,0,0,0,0,0,0,26.06,26.10,26.13
$GC,6467,-0.94,-194.6,2320,1322,3685,3577,904.6,-13.8,326,6478,0.00,2.10,0.00,0.000,1030,0.000,0.027,2320,2702,3629,3684,3575,0,0,0,0,0,0,26.14,26.09,26.14
$GC,6772,-0.94,-194.6,2316,2704,3684,3577,950.2,-13.7,337,6781,0.00,1.77,0.00,0.000,260,0.000,0.041,2320,3858,3629,3683,3576,0,0,0,0,0,0,26.06,26.08,26.13
$GC,6835,-0.94,-194.6,2320,3857,3683,3575,958.6,-13.4,339,6843,0.00,1.70,0.00,0.000,1030,0.000,0.024,2320,2706,3629,3683,3575,0,0,0,0,0,0,26.13,26.09,26.14
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7080,-0.25,0.0,2320,2813,3683,3575,992.8,-14.5,347,7322,0.75,0.00,235.45,0.881,10246,0.120,0.000,2554,2814,2838,2878,2799,0,0,0,0,0,0,26.00,24.65,24.11
$STATE,7323,end apogee,CONTROL_FINISHED_OK
$STATE,7323,begin climb
$GC,7325,0.92,194.6,2555,2816,2874,2795,1011.7,0.0,355,7502,1.08,2.30,163.70,1.089,11012,0.064,0.024,2930,1419,2034,2073,1995,0,0,0,0,0,0,24.78,24.06,23.39
$GC,7556,0.88,444.8,2931,1419,2067,1987,1015.6,1.5,362,7798,0.00,2.22,228.20,1.049,9222,0.000,0.027,2931,2795,1020,1080,961,0,0,0,0,0,0,24.80,24.75,23.06
$GC,8102,0.88,444.8,2931,2792,1062,938,936.4,16.1,381,8109,0.00,2.15,0.00,0.000,516,0.000,0.026,2931,1424,999,1061,938,0,0,0,0,0,0,25.34,25.37,25.41
$GC,8168,0.88,444.8,2931,1424,1062,938,927.5,16.0,383,8176,0.00,2.17,0.00,0.000,1030,0.000,0.027,2931,2814,1000,1062,938,0,0,0,0,0,0,25.53,25.48,25.53
$GC,8485,0.88,444.8,2931,2815,1060,937,875.1,15.7,394,8493,0.00,2.15,0.00,0.000,516,0.000,0.026,2931,1421,998,1060,936,0,0,0,0,0,0,25.77,25.78,25.83
$GC,8562,0.88,444.8,2931,1422,1060,937,866.0,15.1,396,8571,0.00,2.12,0.00,0.000,1030,0.000,0.027,2930,2794,997,1059,936,0,0,0,0,0,0,25.89,25.84,25.89
$GC,8875,0.88,444.8,2931,2797,1060,936,814.9,16.0,407,8882,0.00,2.10,0.00,0.000,516,0.000,0.027,2931,1423,997,1059,936,0,0,0,0,0,0,25.94,25.97,26.00
$GC,8936,0.88,444.8,2931,1422,1060,935,806.1,16.0,409,8944,0.00,2.12,0.00,0.000,1030,0.000,0.028,2931,2803,996,1056,936,0,0,0,0,0,0,26.02,25.98,26.03
$GC,9258,0.88,444.8,2932,2803,1060,935,754.0,16.1,420,9266,0.00,2.12,0.00,0.000,516,0.000,0.027,2931,1415,997,1059,935,0,0,0,0,0,0,26.01,26.05,26.08
$GC,9365,0.89,444.8,2931,1416,1060,936,740.1,16.0,423,9373,0.00,2.12,0.00,0.000,1030,0.000,0.028,2931,2802,997,1059,935,0,0,0,0,0,0,26.08,26.05,26.09
$GC,9670,0.89,444.8,2932,2803,1060,936,688.8,16.0,433,9680,0.00,2.10,0.00,0.000,516,0.000,0.027,2931,1421,1000,1065,935,0,0,0,0,0,0,26.04,26.08,26.10
$GC,9745,0.91,444.8,2931,1421,1059,934,679.6,15.6,435,9752,0.00,2.12,0.00,0.000,1030,0.000,0.027,2931,2812,997,1060,935,0,0,0,0,0,0,26.12,26.07,26.13
$GC,10062,0.91,444.8,2932,2811,1059,935,627.4,15.3,446,10069,0.00,2.12,0.00,0.000,516,0.000,0.026,2931,1417,997,1059,935,0,0,0,0,0,0,26.06,26.09,26.13
$GC,10088,0.91,444.8,2932,1418,1060,936,623.6,14.9,447,10096,0.00,2.12,0.00,0.000,1030,0.000,0.027,2932,2811,997,1059,935,0,0,0,0,0,0,26.13,26.08,26.13
$GC,10416,0.92,444.8,2931,2810,1059,934,575.0,14.8,458,10427,0.00,2.12,0.00,0.000,516,0.000,0.026,2935,1418,996,1058,935,0,0,0,0,0,0,26.04,26.08,26.10
$GC,10481,0.95,444.8,2930,1418,1060,934,566.8,14.1,460,10489,0.00,2.10,0.00,0.000,1030,0.000,0.027,2931,2796,997,1059,935,0,0,0,0,0,0,26.13,26.09,26.14
$GC,10803,0.96,444.8,2931,2798,1060,943,523.2,13.3,471,10811,0.00,2.10,0.00,0.000,516,0.000,0.026,2931,1421,996,1058,935,0,0,0,0,0,0,26.06,26.09,26.13
$GC,10860,0.99,444.8,2932,1421,1059,935,519.0,13.2,472,10871,0.08,2.12,0.00,0.000,3078,0.128,0.028,2970,2811,996,1058,935,0,0,0,0,0,0,26.06,26.09,26.13
$GC,11168,0.97,444.8,2969,2810,1059,935,466.2,16.8,483,11176,0.00,2.12,0.00,0.000,516,0.000,0.027,2971,1432,996,1058,935,0,0,0,0,0,0,26.06,26.10,26.13
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$STATE,14407,end climb,SURFACE_DEPTH_REACHED
$STATE,14407,begin surface coast
$FINISH,0.7,1.010714
$STATE,14427,end surface coast,CONTROL_FINISHED_OK
$STATE,14427,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,14458.68 6871.49
$PA_BOOTCOUNT,356
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$10V_AH,10.25,29.816
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,213672
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