version: 66.12
glider: 203
mission: 8
dive: 95
start: 7 28 115 1 10 15
data:
$ID,203
$MISSION,8
$DIVE,95
$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,102
$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
$GPS1,280715,010457,5708.6284,-14846.7480,36,0.9,36,17.2,0.0,0.0,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.9
$GPS2,280715,011004,5708.6011,-14846.7451,3,1.0,11,17.2,0.0,0.0,8,9.3
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,275.8,80271,-18.0,-11.000,-19.55,2718
$D_GRID,4875
$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,-194.6,199,2806,982,860,0.0,0.0,0,149,0.00,0.00,-46.62,0.000,16386,0.000,0.000,198,2807,2136,2178,2094,0,0,0,0,0,0,25.98,28.83,26.05
$GC,151,-0.92,-194.6,199,2808,2178,2097,3.1,-4.1,7,204,8.70,1.60,-32.88,0.000,19204,0.239,0.056,2326,3845,3634,3702,3566,0,0,0,0,0,0,25.67,25.35,25.84
$GC,234,-0.80,-194.6,2326,3850,3703,3569,20.8,-25.8,20,240,0.20,1.65,0.00,0.000,3078,0.158,0.020,2377,2670,3635,3702,3568,0,0,0,0,0,0,25.83,26.04,25.99
$GC,543,-0.80,-194.6,2375,2669,3703,3572,82.1,-17.1,63,550,0.00,1.83,0.00,0.000,260,0.000,0.037,2371,3848,3637,3702,3573,0,0,0,0,0,0,26.06,26.06,26.13
$GC,624,-0.80,-194.6,2371,3850,3703,3575,95.1,-16.2,70,635,0.00,1.60,0.00,0.000,1030,0.000,0.021,2371,2705,3638,3702,3574,0,0,0,0,0,0,26.13,26.10,26.13
$GC,929,-0.82,-194.6,2370,2707,3702,3577,140.8,-14.2,101,937,0.00,2.05,0.00,0.000,516,0.000,0.022,2371,1340,3639,3703,3575,0,0,0,0,0,0,26.09,26.10,26.15
$GC,1016,-0.84,-194.6,2371,1336,3703,3577,152.1,-13.7,109,1028,0.00,2.08,0.00,0.000,1030,0.000,0.025,2362,2708,3638,3702,3574,0,0,0,0,0,0,26.15,26.10,26.16
$GC,1323,-0.86,-194.6,2362,2710,3703,3576,196.1,-14.4,140,1330,0.00,1.75,0.00,0.000,260,0.000,0.039,2356,3855,3638,3702,3575,0,0,0,0,0,0,26.11,26.13,26.17
$GC,1385,-0.88,-194.6,2358,3854,3703,3575,205.1,-14.8,146,1392,0.00,1.62,0.00,0.000,1030,0.000,0.021,2356,2704,3638,3702,3575,0,0,0,0,0,0,26.17,26.15,26.17
$GC,1696,-0.89,-194.6,2355,2703,3703,3577,249.7,-14.4,177,1703,0.00,2.03,0.00,0.000,516,0.000,0.022,2356,1334,3638,3702,3575,0,0,0,0,0,0,26.11,26.12,26.17
$GC,1742,-0.91,-194.6,2356,1336,3703,3576,253.6,-14.2,179,1750,0.00,2.08,0.00,0.000,1030,0.000,0.026,2349,2705,3638,3702,3575,0,0,0,0,0,0,26.17,26.13,26.17
$GC,2048,-0.91,-194.6,2349,2708,3701,3576,300.8,-14.2,189,2055,0.00,1.75,0.00,0.000,260,0.000,0.039,2348,3853,3642,3709,3575,0,0,0,0,0,0,26.10,26.10,26.17
$GC,2089,-0.91,-194.6,2348,3854,3702,3576,305.3,-14.1,190,2096,0.00,1.62,0.00,0.000,1030,0.000,0.021,2347,2702,3638,3701,3575,0,0,0,0,0,0,26.18,26.14,26.19
$GC,2410,-0.91,-194.6,2348,2700,3701,3575,351.9,-14.0,201,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2700,3637,3699,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,2710,-0.93,-194.6,2348,2701,3699,3576,394.2,-14.3,211,2717,0.00,1.77,0.00,0.000,260,0.000,0.038,2340,3849,3636,3698,3575,0,0,0,0,0,0,26.10,26.10,26.16
$GC,2746,-0.94,-194.6,2340,3850,3698,3576,398.8,-14.4,212,2754,0.00,1.62,0.00,0.000,1030,0.000,0.022,2339,2704,3636,3697,3575,0,0,0,0,0,0,26.18,26.14,26.19
$GC,3073,-0.94,-194.6,2339,2704,3697,3575,446.2,-14.0,223,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2704,3635,3696,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,3374,-0.94,-194.6,2340,2705,3695,3577,486.8,-13.4,233,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2704,3635,3696,3575,0,0,0,0,0,0,26.12,26.18,26.17
$GC,3674,-0.94,-194.6,2339,2711,3694,3572,528.8,-14.3,243,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2704,3634,3694,3575,0,0,0,0,0,0,26.10,26.17,26.15
$GC,3973,-0.94,-194.6,2339,2704,3694,3575,569.3,-13.1,253,3981,0.00,1.77,0.00,0.000,260,0.000,0.039,2333,3847,3633,3692,3575,0,0,0,0,0,0,26.10,26.09,26.16
$GC,4014,-0.94,-194.6,2332,3848,3693,3576,573.4,-12.9,254,4021,0.00,1.65,0.00,0.000,1030,0.000,0.022,2332,2692,3633,3691,3575,0,0,0,0,0,0,26.17,26.15,26.17
$GC,4336,-0.94,-194.6,2332,2690,3691,3575,615.7,-12.6,265,4343,0.00,1.80,0.00,0.000,260,0.000,0.038,2324,3847,3632,3690,3575,0,0,0,0,0,0,26.10,26.08,26.16
$GC,4367,-0.94,-194.6,2324,3847,3690,3575,619.7,-12.5,266,4374,0.00,1.65,0.00,0.000,1030,0.000,0.022,2324,2696,3632,3690,3575,0,0,0,0,0,0,26.17,26.12,26.17
$GC,4698,-0.94,-194.6,2324,2695,3690,3575,663.3,-13.3,277,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2695,3632,3689,3575,0,0,0,0,0,0,26.10,26.17,26.15
$GC,4998,-0.94,-194.6,2323,2696,3689,3576,706.2,-14.4,287,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2695,3631,3688,3574,0,0,0,0,0,0,26.10,26.17,26.15
$GC,5298,-0.94,-194.6,2323,2697,3689,3576,748.7,-14.1,297,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2695,3631,3687,3575,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5599,-0.94,-194.6,2324,2695,3688,3575,790.6,-14.0,307,5609,0.00,2.05,0.00,0.000,516,0.000,0.024,2323,1321,3630,3687,3574,0,0,0,0,0,0,26.09,26.10,26.15
$GC,5628,-0.94,-194.6,2324,1322,3687,3576,794.6,-13.9,308,5636,0.00,2.10,0.00,0.000,1030,0.000,0.027,2322,2703,3631,3687,3575,0,0,0,0,0,0,26.15,26.11,26.16
$GC,5955,-0.94,-194.6,2323,2704,3687,3575,839.0,-13.7,319,5963,0.00,1.77,0.00,0.000,260,0.000,0.040,2319,3847,3630,3685,3575,0,0,0,0,0,0,26.09,26.07,26.15
$GC,5997,-0.94,-194.6,2319,3847,3688,3575,843.5,-13.7,320,6005,0.00,1.65,0.00,0.000,1030,0.000,0.023,2320,2706,3630,3686,3574,0,0,0,0,0,0,26.15,26.11,26.16
$GC,6319,-0.94,-194.6,2320,2705,3687,3575,887.6,-12.8,331,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2706,3630,3686,3575,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6619,-0.94,-194.6,2320,2706,3685,3575,926.3,-13.2,341,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2706,3630,3685,3575,0,0,0,0,0,0,26.10,26.17,26.15
$GC,6919,-0.94,-194.6,2320,2706,3685,3575,965.5,-13.3,351,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2706,3629,3683,3575,0,0,0,0,0,0,26.08,26.15,26.15
$STATE,7128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7128,begin apogee
$GC,7131,-0.25,0.0,2320,2818,3684,3577,993.1,-13.3,358,7317,0.75,0.00,178.38,1.037,10246,0.123,0.000,2551,2818,2840,2880,2801,0,0,0,0,0,0,25.91,24.47,23.90
$STATE,7318,end apogee,CONTROL_FINISHED_OK
$STATE,7318,begin climb
$GC,7319,0.92,194.6,2552,2818,2875,2796,1002.7,0.0,364,7498,1.12,2.38,165.68,1.092,11012,0.067,0.022,2943,1421,2036,2076,1997,0,0,0,0,0,0,24.60,23.67,23.02
$GC,7647,0.88,239.9,2943,1421,2067,1986,991.6,9.3,375,7695,0.00,2.20,39.25,1.075,9222,0.000,0.026,2944,2790,1860,1902,1818,0,0,0,0,0,0,25.12,25.08,23.85
$GC,8001,0.84,239.9,2943,2791,1885,1796,951.3,11.7,387,8009,0.00,1.70,0.00,0.000,260,0.000,0.040,2944,3844,1839,1884,1794,0,0,0,0,0,0,25.65,25.66,25.71
$GC,8058,0.79,239.9,2943,3845,1885,1795,947.0,11.9,388,8069,0.12,1.52,0.00,0.000,5126,0.177,0.023,2917,2778,1839,1884,1794,0,0,0,0,0,0,25.60,25.73,25.76
$GC,8364,0.78,242.1,2917,2778,1885,1793,910.7,10.9,399,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2777,1837,1883,1792,0,0,0,0,0,0,25.96,26.03,26.01
$GC,8663,0.78,274.1,2917,2779,1883,1793,880.0,9.8,409,8701,0.00,1.77,28.73,1.028,8452,0.000,0.040,2917,3853,1716,1760,1672,0,0,0,0,0,0,26.03,25.46,24.72
$GC,8775,0.75,287.2,2917,3852,1752,1659,869.9,10.5,412,8796,0.00,1.50,11.62,1.008,9222,0.000,0.024,2919,2801,1664,1710,1619,0,0,0,0,0,0,25.80,25.76,24.74
$GC,9115,0.75,287.2,2918,2802,1699,1609,828.5,11.2,424,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2800,1653,1700,1607,0,0,0,0,0,0,25.95,26.02,26.01
$GC,9415,0.75,287.2,2919,2800,1700,1607,794.8,11.3,434,9422,0.00,1.62,0.00,0.000,260,0.000,0.040,2919,3850,1653,1699,1607,0,0,0,0,0,0,26.04,26.03,26.10
$GC,9477,0.73,287.2,2919,3851,1700,1609,787.1,11.9,436,9484,0.10,1.50,0.00,0.000,5126,0.187,0.023,2898,2787,1653,1699,1608,0,0,0,0,0,0,25.93,26.08,26.07
$GC,9808,0.73,287.2,2899,2787,1700,1606,750.8,11.0,447,9818,0.00,2.05,0.00,0.000,516,0.000,0.024,2903,1428,1656,1707,1606,0,0,0,0,0,0,26.08,26.10,26.13
$GC,9847,0.73,287.2,2903,1428,1700,1607,747.0,11.1,448,9855,0.00,2.12,0.00,0.000,1030,0.000,0.028,2903,2811,1652,1699,1606,0,0,0,0,0,0,26.13,26.08,26.13
$GC,10169,0.73,287.2,2904,2813,1700,1608,710.2,11.2,459,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2812,1652,1699,1606,0,0,0,0,0,0,26.08,26.15,26.15
$GC,10469,0.73,292.8,2903,2812,1699,1606,677.4,10.8,469,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2811,1651,1698,1605,0,0,0,0,0,0,26.10,26.17,26.16
$GC,10769,0.73,305.4,2903,2811,1700,1605,645.5,10.5,479,10795,0.00,1.65,17.08,0.904,8452,0.000,0.040,2903,3843,1585,1631,1539,0,0,0,0,0,0,26.10,25.75,25.06
$GC,10844,0.73,309.3,2904,3844,1626,1532,638.6,10.9,481,10851,0.00,1.52,0.00,0.000,1030,0.000,0.023,2910,2805,1577,1625,1530,0,0,0,0,0,0,25.94,25.90,25.94
$GC,11161,0.73,321.8,2910,2806,1625,1530,602.8,10.5,492,11181,0.00,0.00,15.02,0.879,8198,0.000,0.000,2910,2805,1526,1573,1480,0,0,0,0,0,0,26.02,25.69,25.05
$GC,11461,0.73,329.8,2910,2806,1562,1464,570.9,10.7,502,11469,0.00,0.00,1.75,0.212,8198,0.000,0.000,2910,2806,1492,1540,1445,0,0,0,0,0,0,26.00,25.23,25.73
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$STATE,16480,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
$PA_UPTIME,16528.64 7822.92
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