version: 66.12
glider: 203
mission: 8
dive: 110
start: 7 30 115 22 13 14
data:
$ID,203
$MISSION,8
$DIVE,110
$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,-4
$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,106
$R_STBD_OVSHOOT,52
$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
$GPS1,300715,220704,5714.7290,-15002.6191,35,1.0,35,16.9,0.6,264.4,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-67.1
$GPS2,300715,221302,5714.7124,-15002.8271,42,1.0,42,16.9,0.5,238.4,8,3.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,122.7,76259,-18.0,-11.000,-19.55,2718
$D_GRID,1706
$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,-194.6,204,2712,1005,902,0.0,0.0,0,140,0.00,0.00,-40.95,0.000,16386,0.000,0.000,203,2708,2045,2091,2000,0,0,0,0,0,0,26.02,28.83,26.10
$GC,142,-0.92,-194.6,203,2712,2093,2002,3.2,-4.5,6,193,8.60,1.75,-38.58,0.000,18692,0.234,0.054,2333,3846,3634,3707,3562,0,0,0,0,0,0,25.67,25.30,25.95
$GC,249,-0.87,-194.6,2333,3845,3708,3566,22.7,-21.6,21,267,0.10,1.62,0.00,0.000,3078,0.165,0.021,2355,2689,3637,3707,3567,0,0,0,0,0,0,25.89,26.08,26.03
$GC,571,-0.87,-194.6,2354,2688,3708,3570,86.6,-19.2,65,579,0.00,2.00,0.00,0.000,516,0.000,0.024,2355,1343,3640,3708,3573,0,0,0,0,0,0,26.10,26.11,26.19
$GC,618,-0.87,-194.6,2355,1343,3709,3571,95.2,-20.5,69,629,0.00,2.05,0.00,0.000,1030,0.000,0.026,2349,2696,3639,3708,3571,0,0,0,0,0,0,26.15,26.10,26.16
$GC,923,-0.87,-194.6,2348,2696,3709,3572,135.8,-16.0,100,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3639,3707,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1224,-0.89,-194.6,2349,2696,3709,3572,179.3,-12.5,130,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3640,3708,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1525,-0.91,-194.6,2349,2696,3709,3572,218.3,-14.1,160,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3639,3707,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1826,-0.93,-194.6,2349,2696,3708,3572,258.9,-13.1,186,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3639,3706,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2125,-0.96,-194.6,2349,2696,3707,3572,298.5,-13.3,196,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2696,3638,3705,3572,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2425,-0.98,-194.6,2349,2697,3705,3573,336.3,-12.1,206,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2697,3638,3704,3573,0,0,0,0,0,0,26.13,26.21,26.20
$GC,2726,-1.01,-194.6,2349,2697,3704,3573,372.5,-12.0,216,2734,0.00,2.03,0.00,0.000,516,0.000,0.024,2349,1349,3637,3702,3572,0,0,0,0,0,0,26.13,26.12,26.18
$GC,2763,-1.03,-194.6,2349,1349,3704,3572,376.8,-12.1,217,2771,0.00,2.05,0.00,0.000,1030,0.000,0.028,2348,2699,3637,3703,3572,0,0,0,0,0,0,26.16,26.12,26.17
$GC,3085,-1.06,-194.6,2350,2698,3702,3572,414.8,-11.5,228,3093,0.05,1.75,0.00,0.000,4356,0.163,0.039,2283,3844,3637,3702,3572,0,0,0,0,0,0,26.05,26.08,26.13
$GC,3107,-1.09,-194.6,2283,3846,3701,3573,414.8,-11.5,228,3114,0.00,1.62,0.00,0.000,1030,0.000,0.023,2282,2723,3636,3701,3572,0,0,0,0,0,0,26.17,26.15,26.19
$GC,3419,-1.06,-194.6,2282,2724,3699,3573,466.3,-15.9,239,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2723,3635,3699,3572,0,0,0,0,0,0,26.11,26.18,26.17
$GC,3718,-1.04,-194.6,2283,2722,3704,3572,514.3,-16.1,249,3726,0.10,2.10,0.00,0.000,2564,0.173,0.022,2304,1318,3635,3698,3572,0,0,0,0,0,0,25.94,26.11,26.08
$GC,3750,-1.02,-194.6,2304,1320,3699,3573,518.6,-16.1,250,3758,0.00,2.10,0.00,0.000,1030,0.000,0.028,2304,2699,3635,3698,3572,0,0,0,0,0,0,26.16,26.11,26.17
$GC,4072,-1.02,-194.6,2305,2700,3697,3573,569.0,-15.5,261,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2699,3634,3697,3572,0,0,0,0,0,0,26.11,26.17,26.17
$GC,4372,-1.02,-194.6,2304,2699,3696,3572,614.2,-14.8,271,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2699,3633,3695,3572,0,0,0,0,0,0,26.12,26.19,26.18
$GC,4672,-1.02,-194.6,2304,2700,3695,3573,657.7,-14.3,281,4679,0.00,1.77,0.00,0.000,260,0.000,0.041,2304,3856,3633,3694,3572,0,0,0,0,0,0,26.11,26.09,26.17
$GC,4743,-1.02,-194.6,2304,3858,3694,3573,666.9,-14.7,283,4750,0.00,1.67,0.00,0.000,1030,0.000,0.022,2303,2685,3632,3693,3572,0,0,0,0,0,0,26.17,26.09,26.17
$GC,5064,-1.02,-194.6,2304,2681,3693,3574,715.0,-14.4,294,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2680,3632,3692,3572,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5364,-1.02,-194.6,2304,2681,3692,3573,758.1,-14.1,304,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2680,3631,3691,3572,0,0,0,0,0,0,26.12,26.20,26.18
$GC,5664,-1.02,-194.6,2304,2680,3691,3572,799.6,-13.8,314,5672,0.00,1.83,0.00,0.000,260,0.000,0.040,2304,3847,3631,3690,3572,0,0,0,0,0,0,26.10,26.08,26.17
$GC,5721,-1.02,-194.6,2304,3849,3691,3573,807.2,-13.4,316,5728,0.00,1.67,0.00,0.000,1030,0.000,0.022,2304,2704,3631,3690,3572,0,0,0,0,0,0,26.15,26.14,26.17
$GC,6052,-1.02,-194.6,2307,2705,3690,3573,851.0,-13.0,327,6060,0.00,1.77,0.00,0.000,260,0.000,0.040,2304,3850,3630,3689,3572,0,0,0,0,0,0,26.12,26.07,26.17
$GC,6089,-1.02,-194.6,2304,3854,3689,3572,855.2,-13.0,328,6096,0.00,1.65,0.00,0.000,1030,0.000,0.024,2304,2701,3630,3689,3572,0,0,0,0,0,0,26.16,26.13,26.17
$GC,6415,-1.02,-194.6,2304,2702,3689,3574,898.1,-13.2,339,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2700,3631,3688,3574,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6715,-1.02,-194.6,2304,2702,3687,3574,937.4,-12.7,349,6723,0.00,2.05,0.00,0.000,516,0.000,0.024,2304,1327,3629,3687,3572,0,0,0,0,0,0,26.11,26.10,26.17
$GC,6762,-1.02,-194.6,2304,1328,3688,3573,941.2,-13.1,350,6770,0.00,2.10,0.00,0.000,1030,0.000,0.028,2304,2705,3629,3687,3572,0,0,0,0,0,0,26.15,26.10,26.16
$GC,7068,-1.02,-194.6,2304,2703,3688,3572,987.0,-14.3,360,7079,0.00,2.05,0.00,0.000,516,0.000,0.024,2304,1331,3629,3686,3572,0,0,0,0,0,0,26.10,26.09,26.15
$STATE,7097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7097,begin apogee
$GC,7102,-0.25,0.0,2305,2798,3687,3573,991.4,-14.3,361,7273,0.80,0.00,163.77,1.089,10246,0.119,0.000,2556,2797,2838,2870,2807,0,0,0,0,0,0,25.89,24.41,23.73
$STATE,7274,end apogee,CONTROL_FINISHED_OK
$STATE,7274,begin climb
$GC,7275,0.92,194.6,2557,2799,2863,2799,1000.3,0.0,366,7451,1.10,2.28,164.38,1.084,11012,0.065,0.021,2932,1427,2039,2071,2007,0,0,0,0,0,0,24.53,23.72,23.08
$GC,7635,0.90,254.7,2932,1427,2060,1995,989.3,8.7,379,7700,0.00,2.17,51.83,1.073,9222,0.000,0.026,2932,2807,1788,1824,1753,0,0,0,0,0,0,25.35,25.30,23.92
$GC,7996,0.88,254.7,2932,2807,1816,1739,950.1,11.2,391,8003,0.00,1.62,0.00,0.000,260,0.000,0.041,2933,3848,1776,1814,1739,0,0,0,0,0,0,25.76,25.75,25.82
$GC,8107,0.85,254.7,2932,3850,1815,1740,938.7,12.2,394,8114,0.00,1.55,0.00,0.000,1030,0.000,0.023,2932,2792,1776,1814,1739,0,0,0,0,0,0,25.95,25.91,25.96
$GC,8419,0.83,254.7,2932,2792,1814,1738,902.2,11.1,405,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2792,1776,1814,1738,0,0,0,0,0,0,26.05,26.12,26.11
$GC,8719,0.81,275.2,2932,2793,1813,1739,870.4,10.2,415,8745,0.00,1.73,16.23,1.020,8452,0.000,0.039,2932,3857,1711,1749,1674,0,0,0,0,0,0,26.10,25.72,24.94
$GC,8809,0.78,275.2,2932,3857,1743,1665,860.1,11.0,418,8817,0.08,1.50,0.00,0.000,5126,0.192,0.023,2917,2798,1703,1742,1665,0,0,0,0,0,0,25.77,25.92,25.90
$GC,9141,0.78,318.8,2918,2798,1743,1663,827.8,9.3,429,9192,0.00,1.75,39.85,0.986,8452,0.000,0.038,2918,3850,1530,1569,1491,0,0,0,0,0,0,26.06,25.36,24.68
$GC,9416,0.77,318.8,2918,3851,1561,1478,798.0,11.2,438,9424,0.00,1.50,0.00,0.000,1030,0.000,0.022,2919,2791,1518,1560,1477,0,0,0,0,0,0,25.98,25.96,25.99
$GC,9743,0.77,318.8,2919,2792,1560,1477,761.5,11.2,449,9750,0.00,1.70,0.00,0.000,260,0.000,0.040,2919,3851,1517,1559,1475,0,0,0,0,0,0,26.06,26.06,26.13
$GC,9859,0.77,318.8,2919,3852,1560,1476,750.5,11.9,452,9869,0.00,1.50,0.00,0.000,1030,0.000,0.023,2918,2785,1516,1558,1475,0,0,0,0,0,0,26.15,26.11,26.16
$GC,10165,0.79,333.2,2919,2786,1559,1476,714.9,10.5,463,10185,0.00,2.10,11.77,0.933,8708,0.000,0.024,2919,1431,1474,1515,1434,0,0,0,0,0,0,26.10,25.84,25.10
$GC,10234,0.81,359.4,2918,1431,1509,1430,709.0,10.0,465,10268,0.00,2.10,25.08,0.920,9222,0.000,0.027,2919,2801,1373,1414,1333,0,0,0,0,0,0,26.01,25.97,24.81
$GC,10583,0.84,364.5,2919,2802,1398,1313,669.8,10.8,477,10590,0.00,2.08,0.00,0.000,516,0.000,0.025,2919,1446,1354,1397,1312,0,0,0,0,0,0,25.99,26.01,26.05
$GC,10619,0.87,367.8,2919,1433,1398,1311,666.3,10.9,478,10628,0.00,2.12,0.00,0.000,1030,0.000,0.027,2919,2808,1357,1397,1318,0,0,0,0,0,0,26.06,26.02,26.08
$GC,10947,0.87,367.8,2920,2810,1397,1312,628.3,12.2,489,10954,0.00,2.08,0.00,0.000,516,0.000,0.026,2926,1437,1353,1396,1311,0,0,0,0,0,0,26.08,26.08,26.14
$GC,10968,0.87,367.8,2927,1438,1397,1312,628.3,12.2,489,10979,0.00,2.08,0.00,0.000,1030,0.000,0.026,2927,2800,1353,1395,1311,0,0,0,0,0,0,26.13,26.09,26.15
$GC,11274,0.83,367.8,2927,2800,1396,1311,587.3,13.5,500,11281,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1436,1352,1394,1311,0,0,0,0,0,0,26.11,26.12,26.17
$GC,11505,0.78,367.8,2932,1435,1388,1311,558.6,14.2,507,11518,0.08,2.08,0.00,0.000,5126,0.168,0.027,2917,2803,1352,1393,1311,0,0,0,0,0,0,25.98,26.11,26.10
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$STATE,15966,end climb,SURFACE_DEPTH_REACHED
$STATE,15966,begin surface coast
$FINISH,0.8,1.016611
$STATE,15987,end surface coast,CONTROL_FINISHED_OK
$STATE,15987,begin surface
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$IRIDIUM_FIX,5652.72,-15002.96,260508,113459
$TT8_MAMPS,0.059171,0.059171
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16017.26 7532.91
$PA_BOOTCOUNT,416
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$PA_DISK_BANK,2
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$10V_AH,10.17,33.726
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,180072
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