version: 66.12
glider: 203
mission: 6
dive: 179
start: 1 15 115 14 24 53
data:
$ID,203
$MISSION,6
$DIVE,179
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,4
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$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,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$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,-63.024231
$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
$GPS1,150115,141904,1954.6984,-15729.6934,35,0.9,35,9.5,0.5,228.6,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-66.0
$GPS2,150115,142442,1954.6748,-15729.7295,6,0.9,6,9.5,0.0,234.5,8,13.1
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H7
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,317.2,53582,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.90,-155.7,188,2792,1018,928,0.0,0.0,0,145,0.00,0.00,-43.45,0.000,16386,0.000,0.000,187,2791,2252,2276,2229,0,0,0,0,0,0,26.11,28.83,26.18
$GC,147,-0.90,-155.7,187,2792,2278,2231,3.4,-3.3,4,189,8.88,1.65,-23.50,0.000,18692,0.210,0.059,2503,3857,3243,3306,3181,0,0,0,0,0,0,25.65,25.32,25.94
$GC,445,-0.90,-155.7,2503,3857,3307,3182,67.0,-22.5,48,456,0.00,1.50,0.00,0.000,1030,0.000,0.023,2502,2795,3244,3306,3183,0,0,0,0,0,0,26.10,26.07,26.11
$GC,761,-0.90,-155.7,2503,2795,3309,3182,129.4,-15.5,79,769,0.00,1.67,0.00,0.000,260,0.000,0.044,2494,3854,3246,3309,3183,0,0,0,0,0,0,26.20,26.07,26.25
$GC,995,-0.90,-155.7,2490,3854,3310,3185,168.9,-17.7,102,1003,0.00,1.52,0.00,0.000,1030,0.000,0.022,2494,2802,3247,3309,3186,0,0,0,0,0,0,26.22,26.20,26.23
$GC,1307,-0.90,-155.7,2494,2803,3312,3187,218.0,-13.7,133,1314,0.00,1.62,0.00,0.000,260,0.000,0.043,2486,3859,3248,3311,3186,0,0,0,0,0,0,26.22,26.10,26.27
$GC,1499,-0.90,-155.7,2486,3859,3312,3187,250.0,-16.7,152,1506,0.10,1.52,0.00,0.000,3078,0.160,0.023,2509,2785,3249,3311,3187,0,0,0,0,0,0,25.97,26.22,26.08
$GC,1811,-0.90,-155.7,2508,2785,3312,3187,291.6,-13.0,163,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2785,3249,3311,3187,0,0,0,0,0,0,26.22,26.28,26.27
$GC,2110,-0.90,-155.7,2509,2786,3312,3188,330.4,-13.0,173,2118,0.00,1.65,0.00,0.000,260,0.000,0.044,2503,3853,3249,3311,3187,0,0,0,0,0,0,26.25,26.08,26.30
$GC,2342,-0.90,-155.7,2504,3854,3309,3188,359.5,-14.3,180,2350,0.00,1.50,0.00,0.000,1030,0.000,0.024,2503,2792,3248,3310,3187,0,0,0,0,0,0,26.25,26.22,26.26
$GC,2654,-0.90,-155.7,2503,2792,3307,3187,403.8,-12.1,191,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2792,3246,3306,3187,0,0,0,0,0,0,26.22,26.29,26.28
$GC,2954,-0.90,-155.7,2504,2792,3304,3187,444.6,-13.7,201,2961,0.00,1.65,0.00,0.000,260,0.000,0.046,2497,3850,3244,3302,3187,0,0,0,0,0,0,26.20,26.07,26.27
$GC,3015,-0.90,-155.7,2497,3850,3302,3187,453.0,-13.7,203,3022,0.00,1.50,0.00,0.000,1030,0.000,0.024,2497,2794,3244,3301,3187,0,0,0,0,0,0,26.23,26.20,26.25
$GC,3347,-0.90,-155.7,2497,2795,3297,3188,491.7,-12.0,214,3355,0.00,1.50,0.00,0.000,516,0.000,0.023,2497,1739,3241,3296,3187,0,0,0,0,0,0,26.21,26.16,26.27
$GC,3380,-0.90,-155.7,2497,1739,3296,3189,495.8,-12.3,215,3387,0.00,1.62,0.00,0.000,1030,0.000,0.035,2497,2808,3241,3295,3187,0,0,0,0,0,0,26.16,26.09,26.19
$GC,3712,-0.90,-155.7,2497,2810,3293,3188,533.3,-11.1,226,3720,0.00,1.62,0.00,0.000,260,0.000,0.046,2490,3854,3239,3292,3187,0,0,0,0,0,0,26.10,25.97,26.17
$GC,3835,-0.90,-155.7,2490,3856,3289,3188,548.2,-12.1,230,3842,0.05,1.55,0.00,0.000,3078,0.137,0.025,2505,2805,3238,3289,3187,0,0,0,0,0,0,25.95,26.19,26.00
$GC,4167,-0.90,-155.7,2506,2806,3282,3188,586.4,-11.3,241,4176,0.00,1.65,0.00,0.000,260,0.000,0.047,2501,3850,3235,3284,3187,0,0,0,0,0,0,26.15,26.02,26.20
$GC,4231,-0.90,-155.7,2501,3852,3284,3188,593.9,-11.5,243,4238,0.00,1.50,0.00,0.000,1030,0.000,0.026,2500,2805,3234,3283,3186,0,0,0,0,0,0,26.20,26.16,26.22
$GC,4563,-0.90,-155.7,2500,2804,3281,3186,629.7,-10.4,254,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2805,3233,3281,3186,0,0,0,0,0,0,26.15,26.22,26.22
$GC,4862,-0.90,-155.7,2500,2805,3279,3182,660.1,-10.0,264,4871,0.00,1.67,0.00,0.000,260,0.000,0.049,2497,3859,3230,3278,3183,0,0,0,0,0,0,26.16,25.96,26.22
$GC,4935,-0.90,-155.7,2498,3860,3279,3184,666.8,-10.3,266,4942,0.00,1.52,0.00,0.000,1030,0.000,0.026,2497,2805,3230,3278,3183,0,0,0,0,0,0,26.17,26.14,26.19
$GC,5257,-0.90,-155.7,2497,2806,3276,3183,703.3,-11.0,277,5264,0.00,1.67,0.00,0.000,260,0.000,0.049,2497,3856,3228,3275,3182,0,0,0,0,0,0,26.08,25.96,26.15
$GC,5319,-0.90,-155.7,2497,3857,3275,3183,710.5,-11.4,279,5326,0.00,1.52,0.00,0.000,1030,0.000,0.027,2497,2802,3228,3275,3181,0,0,0,0,0,0,26.16,26.13,26.17
$GC,5651,-0.90,-155.7,2497,2802,3273,3180,747.1,-10.7,290,5659,0.00,1.67,0.00,0.000,260,0.000,0.050,2497,3850,3225,3271,3180,0,0,0,0,0,0,26.14,25.91,26.20
$GC,5733,-0.90,-155.7,2498,3851,3272,3181,753.9,-10.7,292,5740,0.00,1.50,0.00,0.000,1030,0.000,0.026,2497,2812,3225,3271,3180,0,0,0,0,0,0,26.15,26.12,26.17
$GC,6044,-0.90,-155.7,2497,2812,3271,3178,789.9,-10.8,303,6052,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3849,3223,3269,3178,0,0,0,0,0,0,26.13,25.92,26.20
$GC,6111,-0.90,-155.7,2497,3846,3270,3179,796.9,-11.0,305,6120,0.00,1.50,0.00,0.000,1030,0.000,0.027,2497,2813,3223,3269,3178,0,0,0,0,0,0,26.17,26.13,26.18
$GC,6440,-0.90,-155.7,2497,2813,3268,3176,830.8,-10.1,316,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2813,3221,3266,3176,0,0,0,0,0,0,26.12,26.20,26.18
$GC,6739,-0.90,-155.7,2497,2815,3266,3176,860.0,-9.7,326,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2813,3219,3265,3174,0,0,0,0,0,0,26.10,26.17,26.16
$GC,7039,-0.90,-155.7,2497,2813,3265,3174,890.0,-10.1,336,7046,0.00,1.67,0.00,0.000,260,0.000,0.050,2497,3857,3219,3264,3174,0,0,0,0,0,0,26.14,25.90,26.20
$GC,7111,-0.90,-155.7,2494,3859,3264,3175,896.4,-10.4,338,7118,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2828,3218,3263,3174,0,0,0,0,0,0,26.11,26.08,26.13
$GC,7432,-0.90,-155.7,2497,2828,3269,3173,930.1,-10.3,349,7439,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3855,3220,3262,3178,0,0,0,0,0,0,26.10,25.89,26.16
$GC,7493,-0.90,-155.7,2497,3857,3263,3174,936.7,-10.5,351,7500,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2831,3217,3262,3172,0,0,0,0,0,0,26.10,26.06,26.12
$GC,7825,-0.90,-155.7,2497,2830,3262,3172,969.6,-9.9,362,7833,0.00,1.58,0.00,0.000,516,0.000,0.024,2497,1748,3216,3261,3172,0,0,0,0,0,0,26.08,26.03,26.15
$GC,7898,-0.90,-155.7,2496,1748,3261,3172,975.8,-9.8,364,7905,0.00,1.67,0.00,0.000,1030,0.000,0.037,2497,2829,3216,3261,3172,0,0,0,0,0,0,26.01,25.94,26.05
$STATE,8038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8038,begin apogee
$GC,8041,-0.19,0.0,2498,2948,3261,3177,990.6,-9.8,369,8175,0.77,0.00,126.75,1.059,10244,0.116,0.000,2739,2948,2606,2647,2566,0,0,0,0,0,0,25.65,24.88,24.13
$STATE,8176,end apogee,CONTROL_FINISHED_OK
$STATE,8176,begin climb
$GC,8177,0.90,155.7,2740,2947,2640,2558,994.4,0.0,373,8316,1.00,0.00,129.15,1.051,11270,0.070,0.000,3089,2947,1974,2014,1934,0,0,0,0,0,0,25.00,25.07,23.57
$GC,8640,0.90,155.7,3089,2947,1994,1909,955.7,10.7,389,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2948,1950,1992,1909,0,0,0,0,0,0,25.97,26.04,26.04
$GC,8941,0.90,155.7,3089,2949,1992,1909,924.2,10.5,399,8948,0.00,1.55,0.00,0.000,516,0.000,0.024,3097,1889,1949,1990,1908,0,0,0,0,0,0,26.13,26.14,26.20
$GC,8982,0.90,155.7,3097,1889,1992,1908,920.9,10.5,400,8988,0.00,1.62,0.00,0.000,1030,0.000,0.037,3097,2943,1949,1991,1908,0,0,0,0,0,0,26.15,26.08,26.17
$GC,9303,0.90,155.7,3097,2943,1991,1906,886.2,10.4,411,9310,0.00,1.48,0.00,0.000,260,0.000,0.048,3097,3858,1948,1989,1907,0,0,0,0,0,0,26.15,26.03,26.22
$GC,9399,0.90,155.7,3097,3858,1989,1906,876.1,11.0,414,9406,0.00,1.35,0.00,0.000,1030,0.000,0.028,3104,2952,1947,1988,1907,0,0,0,0,0,0,26.17,26.15,26.17
$GC,9726,0.90,155.7,3104,2954,1989,1907,843.7,9.4,425,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2952,1947,1988,1906,0,0,0,0,0,0,26.13,26.21,26.20
$GC,10025,0.90,155.7,3103,2952,1988,1905,816.5,9.1,435,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2951,1946,1987,1905,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10325,0.90,155.7,3104,2953,1988,1910,788.0,9.9,445,10333,0.00,1.55,0.00,0.000,516,0.000,0.024,3113,1887,1945,1986,1905,0,0,0,0,0,0,26.13,26.08,26.20
$GC,10376,0.90,155.7,3112,1886,1988,1905,784.8,9.9,446,10384,0.00,1.70,0.00,0.000,1030,0.000,0.035,3113,2953,1945,1986,1904,0,0,0,0,0,0,26.03,26.00,26.07
$GC,10688,0.90,155.7,3112,2953,1987,1905,749.5,10.7,457,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2953,1945,1986,1905,0,0,0,0,0,0,26.10,26.17,26.17
$GC,10988,0.90,155.7,3112,2955,1986,1906,716.1,11.2,467,10996,0.00,1.48,0.00,0.000,260,0.000,0.047,3112,3857,1944,1985,1904,0,0,0,0,0,0,26.09,25.95,26.16
$GC,11140,0.90,155.7,3113,3858,1986,1906,698.3,11.7,472,11148,0.00,1.35,0.00,0.000,1030,0.000,0.028,3119,2959,1944,1985,1904,0,0,0,0,0,0,26.09,26.08,26.12
$GC,11472,0.90,155.7,3120,2959,1981,1905,662.9,10.7,483,11481,0.00,1.48,0.00,0.000,260,0.000,0.047,3120,3853,1944,1985,1904,0,0,0,0,0,0,26.06,25.92,26.13
$GC,11546,0.90,155.7,3119,3852,1986,1904,655.7,11.2,485,11553,0.00,1.30,0.00,0.000,1030,0.000,0.028,3125,2982,1944,1985,1904,0,0,0,0,0,0,26.08,26.07,26.10
$GC,11867,0.90,155.7,3125,2982,1986,1904,621.0,10.1,496,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2982,1944,1985,1904,0,0,0,0,0,0,26.06,26.14,26.13
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$STATE,18490,end climb,SURFACE_DEPTH_REACHED
$STATE,18490,begin surface coast
$FINISH,1.4,1.012829
$STATE,18500,end surface coast,CONTROL_FINISHED_OK
$STATE,18500,begin surface
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$TCM_TEMP,25.30
$XPDR_PINGS,2
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,18499.51 8812.71
$PA_BOOTCOUNT,259
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$10V_AH,10.21,35.852
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.380,0.000,0.000,0.000
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$CFSIZE,1024393216,1000439808
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