version: 66.12
glider: 203
mission: 8
dive: 25
start: 7 14 115 18 22 14
data:
$ID,203
$MISSION,8
$DIVE,25
$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,83
$R_STBD_OVSHOOT,48
$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
$GPS1,140715,181703,5847.1719,-14656.8154,32,0.8,32,18.2,0.0,0.0,12,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.2
$GPS2,140715,182156,5847.1611,-14656.8486,5,0.8,9,18.2,0.0,198.5,11,9.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,119.6,48510,-18.0,-11.000,-19.55,2718
$D_GRID,2450
$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,-194.6,189,2709,749,612,0.0,0.0,0,156,0.00,0.00,-56.55,0.000,16386,0.000,0.000,188,2709,2175,2214,2137,0,0,0,0,0,0,26.74,28.83,26.81
$GC,158,-0.92,-194.6,189,2708,2215,2137,3.2,-5.2,9,211,8.27,1.75,-32.97,0.000,18692,0.236,0.056,2326,3845,3633,3699,3567,0,0,0,0,0,0,26.38,26.15,26.50
$GC,293,-0.81,-194.6,2327,3842,3700,3572,39.2,-29.3,31,306,0.17,1.60,0.00,0.000,3078,0.159,0.022,2371,2685,3635,3699,3572,0,0,0,0,0,0,26.51,26.70,26.65
$GC,611,-0.81,-194.6,2371,2685,3700,3575,101.5,-18.9,66,618,0.00,1.95,0.00,0.000,516,0.000,0.024,2372,1331,3637,3699,3575,0,0,0,0,0,0,26.94,26.78,27.00
$GC,637,-0.81,-194.6,2371,1332,3699,3577,106.6,-19.3,68,645,0.00,2.03,0.00,0.000,1030,0.000,0.029,2371,2703,3636,3698,3575,0,0,0,0,0,0,26.83,26.78,26.85
$GC,943,-0.83,-194.6,2372,2703,3700,3575,155.8,-14.7,98,951,0.00,2.00,0.00,0.000,516,0.000,0.024,2371,1327,3637,3699,3576,0,0,0,0,0,0,27.02,26.86,27.08
$GC,970,-0.86,-194.6,2371,1328,3699,3577,159.9,-14.8,100,977,0.00,2.03,0.00,0.000,1030,0.000,0.028,2367,2706,3637,3698,3576,0,0,0,0,0,0,26.91,26.86,26.94
$GC,1275,-0.88,-194.6,2367,2706,3700,3576,202.9,-14.7,130,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2707,3637,3698,3576,0,0,0,0,0,0,27.08,27.16,27.15
$GC,1576,-0.91,-194.6,2363,2707,3700,3575,246.4,-14.5,160,1583,0.00,1.73,0.00,0.000,260,0.000,0.041,2359,3846,3637,3698,3576,0,0,0,0,0,0,27.13,26.95,27.20
$GC,1617,-0.93,-194.6,2359,3846,3699,3574,251.1,-14.8,163,1624,0.00,1.58,0.00,0.000,1030,0.000,0.024,2359,2718,3637,3699,3576,0,0,0,0,0,0,27.05,27.02,27.06
$GC,1939,-0.96,-194.6,2358,2718,3699,3575,298.8,-14.1,174,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2717,3636,3697,3576,0,0,0,0,0,0,27.17,27.24,27.24
$GC,2239,-0.98,-194.6,2359,2718,3697,3575,339.8,-13.3,184,2248,0.00,1.67,0.00,0.000,260,0.000,0.041,2349,3848,3636,3696,3576,0,0,0,0,0,0,27.20,27.02,27.27
$GC,2282,-1.01,-194.6,2350,3848,3697,3577,344.2,-13.3,185,2289,0.00,1.60,0.00,0.000,1030,0.000,0.024,2350,2700,3635,3695,3576,0,0,0,0,0,0,27.12,27.08,27.13
$GC,2603,-1.03,-194.6,2349,2700,3695,3577,387.9,-13.0,196,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2700,3634,3694,3575,0,0,0,0,0,0,27.23,27.30,27.29
$GC,2903,-1.05,-194.6,2350,2702,3694,3577,426.9,-13.2,206,2910,0.08,1.70,0.00,0.000,4356,0.125,0.040,2293,3845,3635,3694,3576,0,0,0,0,0,0,27.10,27.07,27.16
$GC,2939,-1.05,-194.6,2293,3849,3693,3577,431.6,-13.6,207,2946,0.00,1.60,0.00,0.000,1030,0.000,0.024,2293,2694,3634,3692,3576,0,0,0,0,0,0,27.17,27.13,27.18
$GC,3265,-1.01,-194.6,2295,2695,3692,3576,486.7,-16.6,218,3272,0.08,0.00,0.00,0.000,2054,0.199,0.000,2306,2694,3633,3691,3576,0,0,0,0,0,0,27.04,27.15,27.13
$GC,3568,-1.00,-194.6,2306,2695,3691,3577,532.6,-15.0,228,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2694,3633,3690,3576,0,0,0,0,0,0,27.28,27.36,27.34
$GC,3865,-1.00,-194.6,2306,2694,3691,3576,577.9,-15.2,238,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2694,3632,3688,3576,0,0,0,0,0,0,27.29,27.37,27.36
$GC,4165,-1.00,-194.6,2306,2694,3688,3575,625.1,-16.1,248,4173,0.00,1.75,0.00,0.000,260,0.000,0.043,2306,3864,3631,3687,3576,0,0,0,0,0,0,27.31,27.13,27.37
$GC,4227,-1.00,-194.6,2306,3864,3688,3575,635.4,-16.6,250,4234,0.00,1.62,0.00,0.000,1030,0.000,0.024,2306,2687,3631,3686,3576,0,0,0,0,0,0,27.22,27.20,27.23
$GC,4559,-1.00,-194.6,2306,2688,3686,3577,686.9,-15.3,261,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2686,3631,3686,3576,0,0,0,0,0,0,27.32,27.39,27.39
$GC,4859,-1.00,-194.6,2306,2688,3687,3577,731.0,-14.5,271,4866,0.00,1.73,0.00,0.000,260,0.000,0.043,2305,3849,3630,3686,3575,0,0,0,0,0,0,27.33,27.14,27.39
$GC,4894,-1.00,-194.6,2306,3850,3687,3577,735.5,-14.5,272,4902,0.00,1.60,0.00,0.000,1030,0.000,0.025,2306,2693,3630,3685,3575,0,0,0,0,0,0,27.22,27.21,27.25
$GC,5221,-1.00,-194.6,2306,2693,3685,3575,782.4,-14.2,283,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2693,3629,3684,3575,0,0,0,0,0,0,27.34,27.41,27.40
$GC,5521,-1.00,-194.6,2305,2695,3684,3576,824.5,-14.0,293,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2695,3629,3683,3576,0,0,0,0,0,0,27.34,27.41,27.41
$GC,5823,-1.00,-194.6,2306,2694,3682,3577,865.7,-13.6,303,5830,0.00,1.73,0.00,0.000,260,0.000,0.044,2306,3856,3629,3682,3576,0,0,0,0,0,0,27.35,27.17,27.41
$GC,5864,-1.00,-194.6,2306,3856,3682,3576,870.4,-13.8,304,5871,0.00,1.60,0.00,0.000,1030,0.000,0.025,2306,2697,3628,3681,3575,0,0,0,0,0,0,27.26,27.23,27.27
$GC,6185,-1.00,-194.6,2306,2696,3683,3575,918.6,-14.8,315,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2696,3628,3681,3575,0,0,0,0,0,0,27.35,27.43,27.41
$GC,6485,-1.00,-194.6,2306,2697,3681,3577,960.7,-13.9,325,6494,0.00,1.73,0.00,0.000,260,0.000,0.044,2306,3855,3627,3680,3575,0,0,0,0,0,0,27.36,27.17,27.42
$GC,6523,-1.00,-194.6,2306,3854,3682,3575,965.5,-14.1,326,6529,0.00,1.60,0.00,0.000,1030,0.000,0.025,2306,2695,3627,3680,3575,0,0,0,0,0,0,27.25,27.24,27.28
$STATE,6697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6697,begin apogee
$GC,6701,-0.25,0.0,2307,2811,3681,3577,991.3,-14.5,332,6886,0.77,0.00,171.12,1.548,10246,0.129,0.000,2558,2810,2839,2880,2798,0,0,0,0,1,0,27.08,24.50,23.63
$STATE,6886,end apogee,CONTROL_FINISHED_OK
$STATE,6886,begin climb
$GC,6888,0.92,194.6,2559,2810,2893,2799,1003.5,0.0,338,7067,1.08,2.22,167.45,1.082,11012,0.063,0.023,2939,1415,2035,2075,1996,0,0,0,0,0,0,24.81,24.41,23.96
$GC,7292,0.89,253.4,2940,1415,2065,1984,991.9,8.8,351,7353,0.00,2.12,49.95,1.063,9222,0.000,0.030,2939,2790,1796,1838,1754,0,0,0,0,0,0,25.92,25.86,24.36
$GC,7658,0.86,253.4,2939,2790,1828,1738,949.3,11.5,364,7665,0.00,1.67,0.00,0.000,260,0.000,0.043,2939,3847,1782,1826,1739,0,0,0,0,0,0,26.25,26.08,26.32
$GC,7785,0.81,253.4,2939,3847,1827,1738,933.7,12.9,368,7794,0.10,1.50,0.00,0.000,5126,0.200,0.025,2925,2785,1782,1826,1738,0,0,0,0,0,0,26.12,26.29,26.27
$GC,8113,0.80,253.4,2925,2782,1827,1737,894.7,11.8,379,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2782,1781,1825,1737,0,0,0,0,0,0,26.65,26.73,26.72
$GC,8413,0.80,253.4,2926,2784,1825,1739,857.0,12.7,389,8420,0.00,1.62,0.00,0.000,260,0.000,0.042,2924,3852,1780,1824,1737,0,0,0,0,0,0,26.79,26.62,26.86
$GC,8454,0.78,253.4,2925,3854,1825,1738,852.8,12.7,390,8462,0.08,1.50,0.00,0.000,5126,0.209,0.026,2918,2778,1780,1824,1736,0,0,0,0,0,0,26.53,26.70,26.67
$GC,8776,0.78,253.4,2918,2780,1825,1738,813.6,11.8,401,8783,0.00,1.67,0.00,0.000,260,0.000,0.044,2918,3850,1780,1824,1736,0,0,0,0,0,0,26.91,26.73,26.98
$GC,8862,0.76,253.4,2918,3850,1825,1735,805.8,12.1,403,8874,0.00,1.50,0.00,0.000,1030,0.000,0.025,2919,2763,1779,1824,1735,0,0,0,0,0,0,26.85,26.82,26.86
$GC,9168,0.76,253.4,2919,2764,1825,1736,766.8,11.6,414,9175,0.00,1.65,0.00,0.000,260,0.000,0.043,2919,3853,1779,1824,1735,0,0,0,0,0,0,27.00,26.82,27.07
$GC,9218,0.76,253.4,2919,3854,1824,1737,762.8,11.9,415,9226,0.00,1.48,0.00,0.000,1030,0.000,0.026,2918,2816,1779,1823,1735,0,0,0,0,0,0,26.94,26.89,26.95
$GC,9530,0.76,253.4,2919,2817,1824,1737,723.8,11.7,426,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2816,1779,1823,1735,0,0,0,0,0,0,27.06,27.14,27.13
$GC,9830,0.76,256.4,2919,2815,1824,1735,689.9,10.9,436,9837,0.00,1.55,0.00,0.000,260,0.000,0.043,2919,3858,1779,1823,1735,0,0,0,0,0,0,27.10,26.93,27.17
$GC,9881,0.76,256.4,2919,3856,1824,1736,686.2,11.1,437,9888,0.00,1.50,0.00,0.000,1030,0.000,0.025,2919,2790,1779,1823,1735,0,0,0,0,0,0,27.01,26.99,27.01
$GC,10192,0.76,273.6,2918,2791,1824,1736,651.0,10.3,448,10214,0.00,0.00,15.82,0.882,8198,0.000,0.000,2918,2789,1722,1765,1679,0,0,0,0,0,0,27.14,26.59,26.06
$GC,10492,0.77,294.6,2918,2790,1752,1664,619.5,10.2,458,10520,0.00,1.70,18.62,0.864,8452,0.000,0.042,2918,3851,1633,1677,1589,0,0,0,0,0,0,26.94,26.39,25.83
$GC,10544,0.77,315.5,2920,3851,1669,1577,619.5,10.2,458,10571,0.00,1.50,19.60,0.855,9222,0.000,0.025,2924,2782,1551,1597,1506,0,0,0,0,0,0,26.54,26.51,25.53
$GC,10875,0.77,315.5,2924,2783,1580,1485,574.5,12.1,470,10883,0.00,1.70,0.00,0.000,260,0.000,0.043,2924,3857,1531,1579,1484,0,0,0,0,0,0,26.65,26.47,26.72
$GC,10937,0.77,315.5,2923,3857,1580,1483,566.3,12.5,472,10946,0.10,1.50,0.00,0.000,5126,0.186,0.025,2911,2777,1531,1579,1483,0,0,0,0,0,0,26.41,26.58,26.55
$GC,11273,0.79,315.5,2911,2777,1580,1481,527.5,11.9,483,11285,0.00,1.98,0.00,0.000,516,0.000,0.026,2918,1418,1527,1573,1482,0,0,0,0,0,0,26.86,26.72,26.92
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
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