version: 66.12
glider: 203
mission: 8
dive: 111
start: 7 31 115 2 47 28
data:
$ID,203
$MISSION,8
$DIVE,111
$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,99
$R_STBD_OVSHOOT,46
$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
$GPS1,310715,024156,5711.9751,-15002.5742,43,0.7,43,16.9,0.4,286.0,12,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.7
$GPS2,310715,024717,5711.9790,-15002.6689,5,0.7,9,16.9,0.0,290.5,11,9.8
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,127.1,71198,-18.0,-11.000,-19.55,2718
$D_GRID,1745
$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,-194.6,204,2807,937,826,0.0,0.0,0,140,0.00,0.00,-40.90,0.000,16386,0.000,0.000,203,2806,1960,2005,1915,0,0,0,0,0,0,26.00,28.83,26.07
$GC,142,-0.92,-194.6,204,2806,2004,1915,3.1,-4.0,6,199,8.57,2.25,-42.58,0.000,18948,0.233,0.037,2338,1338,3635,3707,3563,0,0,0,0,0,0,25.63,24.57,25.91
$GC,304,-0.89,-194.6,2337,1339,3706,3570,32.7,-19.1,32,314,0.00,2.08,0.00,0.000,1030,0.000,0.025,2332,2709,3637,3707,3568,0,0,0,0,0,0,26.10,26.06,26.11
$GC,615,-0.88,-194.6,2333,2710,3708,3574,93.4,-17.8,71,623,0.10,1.73,0.00,0.000,2308,0.184,0.036,2348,3846,3639,3707,3572,0,0,0,0,0,0,25.91,26.06,26.05
$GC,657,-0.88,-194.6,2348,3845,3709,3572,99.5,-16.5,74,667,0.00,1.62,0.00,0.000,1030,0.000,0.021,2348,2707,3640,3707,3573,0,0,0,0,0,0,26.17,26.10,26.17
$GC,963,-0.88,-194.6,2348,2707,3708,3572,144.4,-13.8,105,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2707,3640,3707,3573,0,0,0,0,0,0,26.12,26.19,26.18
$GC,1263,-0.90,-194.6,2348,2707,3708,3572,186.6,-13.1,135,1271,0.00,1.75,0.00,0.000,260,0.000,0.037,2340,3848,3640,3707,3573,0,0,0,0,0,0,26.13,26.09,26.19
$GC,1295,-0.90,-194.6,2340,3847,3708,3572,191.1,-13.3,138,1302,0.00,1.67,0.00,0.000,1030,0.000,0.021,2340,2707,3640,3707,3573,0,0,0,0,0,0,26.18,26.15,26.18
$GC,1607,-0.91,-194.6,2340,2707,3708,3573,233.0,-13.2,169,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2707,3640,3707,3573,0,0,0,0,0,0,26.13,26.20,26.18
$GC,1917,-0.93,-194.6,2339,2707,3707,3573,273.5,-12.7,188,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2707,3639,3706,3572,0,0,0,0,0,0,26.11,26.18,26.17
$GC,2217,-0.95,-194.6,2340,2708,3706,3574,313.5,-13.7,198,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2707,3639,3705,3573,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2517,-0.98,-194.6,2340,2708,3704,3574,353.6,-13.3,208,2525,0.00,2.08,0.00,0.000,516,0.000,0.023,2340,1316,3638,3704,3573,0,0,0,0,0,0,26.10,26.11,26.17
$GC,2549,-1.00,-194.6,2340,1316,3705,3572,357.9,-13.3,209,2556,0.00,2.10,0.00,0.000,1030,0.000,0.026,2334,2699,3638,3704,3573,0,0,0,0,0,0,26.15,26.11,26.17
$GC,2876,-1.02,-194.6,2335,2699,3703,3572,401.1,-13.6,220,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2699,3637,3702,3573,0,0,0,0,0,0,26.11,26.18,26.17
$GC,3176,-1.04,-194.6,2335,2700,3702,3574,442.8,-13.6,230,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2700,3636,3701,3572,0,0,0,0,0,0,26.12,26.17,26.17
$GC,3476,-1.06,-194.6,2335,2700,3699,3574,482.6,-13.3,240,3483,0.00,2.08,0.00,0.000,516,0.000,0.023,2335,1319,3635,3699,3572,0,0,0,0,0,0,26.13,26.11,26.19
$GC,3512,-1.09,-194.6,2335,1319,3701,3572,486.3,-13.3,241,3520,0.00,2.10,0.00,0.000,1030,0.000,0.026,2321,2703,3636,3699,3573,0,0,0,0,0,0,26.15,26.11,26.17
$GC,3834,-1.10,-194.6,2326,2703,3698,3572,531.6,-14.3,252,3842,0.00,1.75,0.00,0.000,260,0.000,0.039,2320,3849,3635,3697,3573,0,0,0,0,0,0,26.10,26.08,26.16
$GC,3876,-1.12,-194.6,2321,3850,3698,3574,536.3,-14.4,253,3883,0.00,1.70,0.00,0.000,1030,0.000,0.021,2320,2698,3635,3697,3573,0,0,0,0,0,0,26.17,26.16,26.18
$GC,4197,-1.12,-194.6,2320,2698,3697,3571,584.8,-14.6,264,4205,0.00,2.05,0.00,0.000,516,0.000,0.024,2320,1321,3633,3695,3572,0,0,0,0,0,0,26.10,26.10,26.17
$GC,4229,-1.14,-194.6,2320,1322,3696,3574,589.7,-14.7,265,4237,0.08,2.10,0.00,0.000,5126,0.122,0.027,2272,2703,3634,3695,3573,0,0,0,0,0,0,26.02,26.10,26.10
$GC,4557,-1.12,-194.6,2273,2704,3695,3569,642.4,-16.4,276,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2703,3632,3694,3571,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4856,-1.10,-194.6,2273,2703,3694,3572,692.7,-16.6,286,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2703,3632,3693,3572,0,0,0,0,0,0,26.10,26.17,26.17
$GC,5157,-1.08,-194.6,2272,2703,3692,3572,741.6,-15.9,296,5165,0.08,2.10,0.00,0.000,2564,0.197,0.022,2285,1313,3631,3690,3573,0,0,0,0,0,0,25.95,26.10,26.10
$GC,5184,-1.06,-194.6,2285,1312,3693,3572,745.8,-15.7,297,5192,0.00,2.10,0.00,0.000,1030,0.000,0.027,2280,2698,3632,3691,3573,0,0,0,0,0,0,26.15,26.09,26.15
$GC,5511,-1.06,-194.6,2280,2700,3691,3574,796.5,-15.6,308,5518,0.00,2.10,0.00,0.000,516,0.000,0.024,2280,1321,3631,3690,3572,0,0,0,0,0,0,26.10,26.09,26.16
$GC,5543,-1.06,-194.6,2280,1312,3691,3574,801.3,-15.5,309,5551,0.08,2.12,0.00,0.000,3078,0.198,0.027,2292,2702,3631,3690,3572,0,0,0,0,0,0,25.92,26.09,26.06
$GC,5870,-1.06,-194.6,2292,2704,3689,3574,848.6,-14.2,320,5877,0.00,2.08,0.00,0.000,516,0.000,0.023,2292,1320,3631,3689,3573,0,0,0,0,0,0,26.13,26.10,26.16
$GC,5931,-1.06,-194.6,2292,1320,3690,3572,856.9,-14.7,322,5939,0.00,2.10,0.00,0.000,1030,0.000,0.027,2292,2702,3630,3689,3571,0,0,0,0,0,0,26.15,26.10,26.16
$GC,6253,-1.06,-194.6,2292,2702,3689,3572,907.6,-16.1,333,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2703,3630,3688,3572,0,0,0,0,0,0,26.10,26.17,26.15
$GC,6553,-1.06,-194.6,2291,2704,3688,3574,955.4,-15.9,343,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2702,3629,3687,3572,0,0,0,0,0,0,26.09,26.16,26.15
$STATE,6792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6792,begin apogee
$GC,6796,-0.25,0.0,2293,2812,3688,3574,991.9,-15.1,351,6984,0.82,0.00,176.52,1.491,10246,0.119,0.000,2551,2810,2839,2873,2806,0,0,0,0,1,0,25.87,23.59,22.73
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6987,0.92,194.6,2551,2811,2886,2807,1003.4,0.0,357,7172,1.12,2.30,172.52,1.082,11012,0.059,0.021,2931,1422,2039,2072,2006,0,0,0,0,0,0,23.84,23.51,23.00
$GC,7331,0.90,254.0,2931,1422,2065,1995,993.0,8.8,369,7395,0.00,2.17,50.78,1.082,9222,0.000,0.026,2931,2785,1794,1830,1758,0,0,0,0,0,0,25.24,25.20,23.84
$GC,7692,0.88,254.0,2931,2787,1823,1748,952.6,11.5,381,7699,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3857,1785,1823,1747,0,0,0,0,0,0,25.73,25.75,25.79
$GC,7863,0.84,254.0,2931,3857,1824,1745,933.9,12.3,386,7871,0.00,1.52,0.00,0.000,1030,0.000,0.023,2931,2783,1783,1822,1745,0,0,0,0,0,0,26.00,25.96,26.01
$GC,8176,0.83,312.7,2931,2785,1824,1746,900.5,8.8,397,8234,0.00,1.80,49.65,1.038,8452,0.000,0.038,2931,3859,1558,1597,1520,0,0,0,0,0,0,26.06,25.21,24.50
$GC,8458,0.80,314.7,2932,3861,1588,1507,872.3,10.9,405,8466,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2800,1547,1588,1506,0,0,0,0,0,0,25.96,25.93,25.97
$GC,8775,0.80,321.1,2932,2800,1589,1504,838.9,10.8,416,8782,0.00,1.62,0.00,0.000,260,0.000,0.040,2932,3853,1543,1582,1504,0,0,0,0,0,0,26.06,26.05,26.12
$GC,9006,0.77,321.1,2931,3852,1588,1504,813.6,12.0,423,9015,0.10,1.50,0.00,0.000,5126,0.174,0.023,2910,2786,1545,1588,1503,0,0,0,0,0,0,25.96,26.13,26.10
$GC,9319,0.79,321.1,2910,2787,1588,1504,778.1,11.3,434,9326,0.00,1.65,0.00,0.000,260,0.000,0.040,2909,3853,1544,1587,1502,0,0,0,0,0,0,26.13,26.10,26.18
$GC,9340,0.81,321.1,2909,3853,1587,1501,778.1,11.3,434,9347,0.00,1.50,0.00,0.000,1030,0.000,0.024,2913,2794,1543,1586,1501,0,0,0,0,0,0,26.18,26.15,26.19
$GC,9651,0.81,321.1,2914,2794,1588,1503,738.2,11.6,445,9659,0.00,2.03,0.00,0.000,516,0.000,0.023,2919,1429,1543,1586,1501,0,0,0,0,0,0,26.13,26.14,26.19
$GC,9668,0.81,321.1,2918,1428,1587,1502,738.2,11.6,445,9675,0.00,2.10,0.00,0.000,1030,0.000,0.028,2918,2804,1544,1586,1502,0,0,0,0,0,0,26.17,26.13,26.18
$GC,9973,0.81,321.1,2920,2805,1586,1503,700.9,11.3,455,9981,0.00,2.08,0.00,0.000,516,0.000,0.023,2919,1419,1543,1585,1501,0,0,0,0,0,0,26.12,26.14,26.17
$GC,10125,0.81,334.2,2919,1420,1586,1503,685.6,10.5,460,10155,0.00,2.10,18.35,0.929,9222,0.000,0.027,2918,2805,1472,1513,1432,0,0,0,0,0,0,26.17,26.13,25.04
$GC,10451,0.79,334.2,2919,2806,1504,1423,646.1,12.6,471,10459,0.00,1.60,0.00,0.000,260,0.000,0.040,2920,3851,1462,1503,1422,0,0,0,0,0,0,26.03,26.03,26.10
$GC,10503,0.77,334.2,2919,3851,1505,1421,642.1,12.2,472,10511,0.00,1.52,0.00,0.000,1030,0.000,0.023,2925,2803,1462,1503,1421,0,0,0,0,0,0,26.12,26.08,26.13
$GC,10815,0.77,334.2,2925,2803,1504,1420,601.5,11.1,483,10823,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1427,1459,1498,1421,0,0,0,0,0,0,26.10,26.11,26.15
$GC,10852,0.77,335.7,2932,1426,1504,1420,598.2,10.9,484,10860,0.10,2.10,0.00,0.000,5126,0.147,0.028,2908,2807,1462,1503,1421,0,0,0,0,0,0,25.97,26.10,26.10
$GC,11175,0.79,390.7,2908,2807,1504,1421,568.2,8.9,495,11240,0.00,2.17,50.92,0.834,8708,0.000,0.023,2907,1434,1236,1279,1194,0,0,0,0,0,0,26.11,25.37,24.74
$GC,11319,0.83,430.2,2909,1435,1275,1190,556.3,9.5,499,11364,0.00,2.12,35.85,0.825,9222,0.000,0.026,2908,2808,1082,1130,1034,0,0,0,0,0,0,25.80,25.75,24.66
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$STATE,14972,end climb,SURFACE_DEPTH_REACHED
$STATE,14972,begin surface coast
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$STATE,14987,end surface coast,CONTROL_FINISHED_OK
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$HUMID,39.40
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15018.21 7089.25
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$FG_AHR_10Vo,0.000
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