version: 66.12
glider: 203
mission: 8
dive: 54
start: 7 20 115 6 21 33
data:
$ID,203
$MISSION,8
$DIVE,54
$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,95
$R_STBD_OVSHOOT,47
$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
$GPS1,200715,061134,5809.6934,-14751.3848,27,0.9,28,17.7,0.0,0.0,10,7.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-63.3
$GPS2,200715,062122,5809.6284,-14751.3193,16,0.9,16,17.7,0.0,0.0,9,8.5
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP4
$TGT_LATLONG,5747.318,-14728.255
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,116.4,47177,-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,-194.6,197,2686,1049,929,0.0,0.0,0,137,0.00,0.00,-38.35,0.000,16386,0.000,0.000,196,2686,2048,2090,2006,0,0,0,0,0,0,25.94,28.83,26.01
$GC,139,-0.92,-194.6,197,2686,2091,2007,3.2,-4.8,5,200,8.48,1.83,-38.17,0.000,18692,0.233,0.054,2326,3858,3628,3695,3562,0,0,0,0,0,0,25.78,25.48,25.91
$GC,251,-0.82,-194.6,2326,3857,3696,3566,23.6,-22.8,21,261,0.17,1.65,0.00,0.000,3078,0.153,0.021,2370,2686,3630,3695,3566,0,0,0,0,0,0,25.91,26.01,26.01
$GC,581,-0.81,-194.6,2370,2687,3697,3572,85.1,-17.6,64,588,0.00,1.80,0.00,0.000,260,0.000,0.037,2365,3846,3633,3695,3571,0,0,0,0,0,0,26.03,26.06,26.09
$GC,813,-0.81,-194.6,2365,3851,3696,3573,122.3,-16.3,87,821,0.00,1.62,0.00,0.000,1030,0.000,0.021,2365,2698,3633,3695,3571,0,0,0,0,0,0,26.12,26.06,26.13
$GC,1125,-0.82,-194.6,2365,2694,3696,3572,167.9,-13.3,118,1133,0.00,2.03,0.00,0.000,516,0.000,0.023,2366,1337,3634,3696,3572,0,0,0,0,0,0,26.09,26.10,26.13
$GC,1162,-0.84,-194.6,2364,1333,3696,3571,172.2,-13.4,121,1173,0.00,2.08,0.00,0.000,1030,0.000,0.027,2362,2700,3633,3694,3572,0,0,0,0,0,0,26.13,26.10,26.14
$GC,1467,-0.86,-194.6,2362,2701,3696,3573,214.1,-13.7,152,1474,0.00,1.75,0.00,0.000,260,0.000,0.038,2353,3847,3631,3690,3572,0,0,0,0,0,0,26.09,26.10,26.14
$GC,1523,-0.86,-194.6,2353,3849,3696,3573,221.1,-14.1,157,1533,0.00,1.62,0.00,0.000,1030,0.000,0.021,2353,2710,3633,3695,3571,0,0,0,0,0,0,26.15,26.11,26.15
$GC,1849,-0.86,-194.6,2352,2712,3695,3573,267.1,-13.8,182,1856,0.00,1.77,0.00,0.000,260,0.000,0.040,2346,3855,3632,3693,3571,0,0,0,0,0,0,26.08,26.10,26.14
$GC,1881,-0.86,-194.6,2346,3854,3694,3571,271.7,-13.8,183,1888,0.00,1.70,0.00,0.000,1030,0.000,0.022,2345,2692,3632,3693,3571,0,0,0,0,0,0,26.15,26.12,26.16
$GC,2212,-0.86,-194.6,2346,2691,3692,3571,319.7,-14.7,194,2223,0.00,2.03,0.00,0.000,516,0.000,0.023,2346,1330,3631,3691,3571,0,0,0,0,0,0,26.08,26.12,26.15
$GC,2237,-0.86,-194.6,2346,1331,3692,3573,319.7,-14.7,194,2247,0.10,2.08,0.00,0.000,3078,0.171,0.026,2359,2703,3631,3691,3571,0,0,0,0,0,0,26.01,26.13,26.13
$GC,2542,-0.89,-194.6,2359,2703,3690,3571,363.7,-13.1,205,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2703,3630,3689,3571,0,0,0,0,0,0,26.09,26.17,26.16
$GC,2842,-0.92,-194.6,2359,2704,3687,3572,403.2,-13.2,215,2849,0.00,1.75,0.00,0.000,260,0.000,0.039,2354,3850,3629,3687,3571,0,0,0,0,0,0,26.08,26.10,26.15
$GC,2913,-0.95,-194.6,2354,3850,3688,3571,411.6,-13.4,217,2920,0.00,1.65,0.00,0.000,1030,0.000,0.023,2354,2695,3629,3687,3571,0,0,0,0,0,0,26.16,26.12,26.16
$GC,3235,-0.97,-194.6,2354,2694,3687,3570,457.5,-13.9,228,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2694,3628,3685,3571,0,0,0,0,0,0,26.08,26.15,26.15
$GC,3535,-1.00,-194.6,2354,2694,3686,3572,497.9,-13.2,238,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2694,3628,3685,3571,0,0,0,0,0,0,26.08,26.15,26.15
$GC,3835,-1.02,-194.6,2354,2694,3683,3567,535.0,-12.1,248,3842,0.00,1.80,0.00,0.000,260,0.000,0.040,2348,3849,3627,3683,3571,0,0,0,0,0,0,26.09,26.10,26.15
$GC,3886,-1.05,-194.6,2347,3850,3684,3572,539.0,-12.1,249,3894,0.03,1.70,0.00,0.000,5126,0.028,0.023,2285,2692,3626,3682,3571,0,0,0,0,0,0,26.10,26.12,26.15
$GC,4198,-1.02,-194.6,2286,2694,3682,3572,593.4,-16.7,260,4206,0.10,1.80,0.00,0.000,2308,0.174,0.038,2306,3848,3625,3680,3571,0,0,0,0,0,0,26.01,26.10,26.12
$GC,4230,-0.99,-194.6,2306,3848,3681,3572,598.0,-16.6,261,4237,0.00,1.65,0.00,0.000,1030,0.000,0.022,2306,2694,3625,3680,3571,0,0,0,0,0,0,26.15,26.11,26.15
$GC,4556,-0.99,-194.6,2306,2691,3681,3571,649.1,-15.0,272,4563,0.00,1.80,0.00,0.000,260,0.000,0.042,2306,3843,3625,3680,3571,0,0,0,0,0,0,26.09,26.09,26.13
$GC,4587,-0.99,-194.6,2307,3844,3681,3573,653.7,-15.1,273,4595,0.00,1.67,0.00,0.000,1030,0.000,0.023,2306,2704,3623,3675,3571,0,0,0,0,0,0,26.15,26.10,26.15
$GC,4921,-0.99,-194.6,2306,2705,3679,3573,701.3,-14.0,284,4929,0.00,1.77,0.00,0.000,260,0.000,0.041,2306,3843,3624,3678,3571,0,0,0,0,0,0,26.08,26.10,26.14
$GC,4955,-0.99,-194.6,2306,3843,3679,3571,706.0,-13.9,285,4962,0.00,1.65,0.00,0.000,1030,0.000,0.023,2306,2693,3624,3678,3571,0,0,0,0,0,0,26.15,26.10,26.15
$GC,5286,-0.99,-194.6,2306,2694,3678,3573,748.7,-12.7,296,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2693,3624,3677,3571,0,0,0,0,0,0,26.08,26.15,26.13
$GC,5587,-0.99,-194.6,2306,2694,3677,3572,788.0,-13.3,306,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2693,3623,3676,3571,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5886,-0.99,-194.6,2306,2692,3677,3571,831.6,-14.9,316,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2693,3623,3675,3571,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6187,-0.99,-194.6,2306,2694,3676,3572,875.1,-14.4,326,6195,0.00,1.80,0.00,0.000,260,0.000,0.042,2306,3843,3622,3674,3571,0,0,0,0,0,0,26.07,26.08,26.13
$GC,6219,-0.99,-194.6,2305,3843,3675,3570,879.6,-14.3,327,6226,0.00,1.65,0.00,0.000,1030,0.000,0.023,2305,2693,3622,3674,3571,0,0,0,0,0,0,26.15,26.11,26.15
$GC,6550,-0.99,-194.6,2306,2691,3675,3571,924.7,-13.7,338,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2692,3622,3674,3571,0,0,0,0,0,0,26.07,26.15,26.13
$GC,6850,-0.99,-194.6,2306,2693,3675,3572,965.1,-13.7,348,6858,0.00,1.80,0.00,0.000,260,0.000,0.041,2306,3843,3622,3673,3571,0,0,0,0,0,0,26.07,26.09,26.13
$GC,6877,-0.99,-194.6,2306,3844,3674,3573,965.1,-13.7,348,6887,0.00,1.65,0.00,0.000,1030,0.000,0.023,2306,2697,3622,3673,3571,0,0,0,0,0,0,26.15,26.10,26.15
$STATE,7061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7061,begin apogee
$GC,7065,-0.25,0.0,2306,2805,3673,3571,993.7,-13.0,355,7249,0.80,0.00,172.15,1.503,10246,0.122,0.000,2557,2806,2839,2880,2799,0,0,0,0,1,0,26.00,24.18,23.30
$STATE,7250,end apogee,CONTROL_FINISHED_OK
$STATE,7250,begin climb
$GC,7251,0.92,194.6,2557,2807,2895,2801,1002.5,0.0,361,7434,1.08,2.28,169.00,1.079,11012,0.054,0.022,2933,1426,2037,2076,1999,0,0,0,0,0,0,24.41,23.68,23.22
$GC,7569,0.88,261.2,2933,1427,2071,1991,994.2,8.5,371,7638,0.00,2.20,57.10,1.076,9222,0.000,0.028,2933,2797,1766,1809,1723,0,0,0,0,0,0,25.03,24.98,23.65
$GC,7934,0.86,261.2,2933,2798,1800,1710,947.1,12.9,384,7942,0.00,1.70,0.00,0.000,260,0.000,0.041,2932,3844,1754,1800,1709,0,0,0,0,0,0,25.45,25.46,25.51
$GC,8031,0.82,261.2,2933,3844,1800,1709,934.6,13.2,387,8040,0.00,1.58,0.00,0.000,1030,0.000,0.023,2933,2785,1754,1799,1709,0,0,0,0,0,0,25.64,25.60,25.65
$GC,8359,0.79,261.2,2933,2784,1799,1707,895.2,11.7,398,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2784,1753,1797,1709,0,0,0,0,0,0,25.84,25.91,25.90
$GC,8659,0.77,261.2,2933,2786,1800,1709,860.3,11.6,408,8666,0.10,1.67,0.00,0.000,4356,0.181,0.038,2912,3858,1752,1798,1707,0,0,0,0,0,0,25.88,25.95,25.99
$GC,8700,0.74,261.2,2912,3861,1799,1708,856.3,11.7,409,8707,0.00,1.52,0.00,0.000,1030,0.000,0.024,2917,2789,1752,1798,1707,0,0,0,0,0,0,26.03,25.99,26.03
$GC,9021,0.74,261.2,2917,2789,1799,1707,819.2,11.5,420,9029,0.00,2.08,0.00,0.000,516,0.000,0.026,2918,1433,1752,1797,1707,0,0,0,0,0,0,26.01,26.06,26.08
$GC,9057,0.74,261.2,2919,1429,1798,1706,815.5,11.5,421,9065,0.00,2.12,0.00,0.000,1030,0.000,0.028,2918,2813,1753,1799,1707,0,0,0,0,0,0,26.08,26.04,26.09
$GC,9379,0.74,262.5,2919,2814,1797,1708,779.2,11.0,432,9387,0.00,1.60,0.00,0.000,260,0.000,0.041,2918,3848,1751,1796,1707,0,0,0,0,0,0,26.05,26.06,26.11
$GC,9416,0.74,262.5,2918,3848,1797,1707,775.2,11.5,433,9423,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2790,1751,1796,1706,0,0,0,0,0,0,26.09,26.07,26.10
$GC,9742,0.75,273.3,2918,2789,1797,1706,738.5,10.6,444,9753,0.00,1.67,3.80,0.900,8452,0.000,0.041,2918,3858,1727,1775,1680,0,0,0,0,0,0,26.06,25.94,24.96
$GC,9822,0.73,278.2,2918,3859,1785,1691,731.8,10.8,446,9843,0.10,1.50,11.07,0.968,13318,0.183,0.024,2903,2800,1700,1745,1655,0,0,0,0,0,0,25.94,26.03,25.14
$GC,10163,0.73,321.4,2903,2802,1740,1649,697.5,9.4,458,10210,0.00,0.00,39.47,0.922,8198,0.000,0.000,2903,2800,1527,1573,1481,0,0,0,0,0,0,25.99,25.29,24.71
$GC,10493,0.76,334.2,2903,2800,1561,1465,663.6,10.5,469,10514,0.00,2.12,11.65,0.924,8708,0.000,0.025,2911,1422,1470,1516,1424,0,0,0,0,0,0,25.88,25.64,25.03
$GC,10533,0.79,346.0,2910,1421,1512,1419,660.3,10.6,470,10557,0.00,2.15,11.43,0.919,9222,0.000,0.028,2910,2806,1421,1469,1374,0,0,0,0,0,0,25.77,25.73,24.88
$GC,10853,0.81,346.0,2911,2808,1465,1368,622.7,11.3,481,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2806,1415,1464,1367,0,0,0,0,0,0,25.89,25.96,25.96
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$STATE,16098,begin surface coast
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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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$10V_AH,10.25,29.890
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