version: 66.12
glider: 203
mission: 8
dive: 124
start: 8 2 115 12 57 10
data:
$ID,203
$MISSION,8
$DIVE,124
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,100
$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
$GPS1,020815,125122,5635.1763,-15011.6699,37,0.9,37,16.7,0.6,178.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.8
$GPS2,020815,125658,5635.1094,-15011.6074,7,0.9,10,16.7,0.6,142.3,10,9.4
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,289.2,85284,-17.4,-10.556,-19.06,2832
$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,-0.89,-194.6,192,2807,792,660,0.0,0.0,0,148,0.00,0.00,-48.92,0.000,16386,0.000,0.000,191,2806,2004,2046,1962,0,0,0,0,0,0,26.03,28.83,26.10
$GC,150,-0.89,-194.6,191,2807,2047,1963,3.2,-3.4,7,215,8.60,2.28,-41.03,0.000,18948,0.233,0.037,2341,1339,3636,3707,3566,0,0,0,0,0,0,25.64,24.56,25.94
$GC,326,-0.82,-194.6,2341,1340,3708,3570,39.8,-22.2,33,343,0.15,2.08,0.00,0.000,3078,0.157,0.024,2372,2705,3638,3707,3569,0,0,0,0,0,0,25.83,26.03,25.98
$GC,649,-0.80,-194.6,2372,2706,3708,3574,98.4,-18.1,68,656,0.00,1.75,0.00,0.000,260,0.000,0.037,2366,3852,3639,3707,3572,0,0,0,0,0,0,26.12,26.09,26.18
$GC,715,-0.79,-194.6,2366,3853,3708,3572,109.8,-19.0,74,726,0.08,1.62,0.00,0.000,3078,0.177,0.021,2380,2691,3640,3707,3573,0,0,0,0,0,0,25.98,26.16,26.10
$GC,1021,-0.80,-194.6,2381,2692,3707,3574,156.3,-13.7,105,1028,0.00,2.00,0.00,0.000,516,0.000,0.022,2380,1341,3640,3707,3574,0,0,0,0,0,0,26.15,26.13,26.21
$GC,1062,-0.83,-194.6,2379,1342,3709,3574,161.2,-13.7,108,1072,0.00,2.05,0.00,0.000,1030,0.000,0.025,2374,2701,3640,3707,3574,0,0,0,0,0,0,26.17,26.13,26.19
$GC,1368,-0.85,-194.6,2375,2700,3708,3573,199.9,-11.8,139,1375,0.00,1.75,0.00,0.000,260,0.000,0.040,2374,3845,3640,3707,3573,0,0,0,0,0,0,26.17,26.10,26.20
$GC,1429,-0.88,-194.6,2375,3844,3708,3573,207.0,-11.4,145,1437,0.00,1.62,0.00,0.000,1030,0.000,0.021,2375,2709,3640,3707,3573,0,0,0,0,0,0,26.21,26.18,26.22
$GC,1742,-0.91,-194.6,2375,2711,3708,3575,245.8,-12.8,176,1749,0.00,2.05,0.00,0.000,516,0.000,0.022,2374,1324,3640,3707,3573,0,0,0,0,0,0,26.14,26.15,26.20
$GC,1773,-0.94,-194.6,2375,1325,3708,3574,249.3,-13.0,178,1785,0.00,2.10,0.00,0.000,1030,0.000,0.026,2374,2706,3640,3707,3573,0,0,0,0,0,0,26.17,26.13,26.19
$GC,2079,-0.98,-194.6,2375,2707,3707,3574,288.9,-12.8,189,2090,0.08,1.75,0.00,0.000,4356,0.119,0.037,2307,3846,3639,3706,3573,0,0,0,0,0,0,26.06,26.11,26.16
$GC,2125,-1.00,-194.6,2306,3846,3705,3573,293.7,-13.5,190,2132,0.00,1.65,0.00,0.000,1030,0.000,0.021,2306,2695,3639,3705,3573,0,0,0,0,0,0,26.20,26.17,26.20
$GC,2442,-0.97,-194.6,2305,2696,3705,3575,351.3,-17.4,201,2447,0.08,0.00,0.00,0.000,2054,0.183,0.000,2320,2695,3638,3704,3573,0,0,0,0,0,0,25.98,26.14,26.10
$GC,2742,-0.97,-194.6,2320,2694,3703,3573,399.4,-15.7,211,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3638,3703,3573,0,0,0,0,0,0,26.14,26.20,26.22
$GC,3042,-0.97,-194.6,2321,2696,3702,3575,445.4,-15.1,221,3049,0.00,1.77,0.00,0.000,260,0.000,0.038,2314,3847,3637,3701,3573,0,0,0,0,0,0,26.14,26.09,26.20
$GC,3087,-0.97,-194.6,2315,3849,3702,3575,450.3,-15.1,222,3094,0.00,1.65,0.00,0.000,1030,0.000,0.021,2312,2685,3636,3700,3573,0,0,0,0,0,0,26.20,26.17,26.21
$GC,3404,-0.95,-194.6,2315,2683,3699,3574,500.8,-15.1,233,3411,0.00,1.83,0.00,0.000,260,0.000,0.037,2306,3857,3636,3699,3573,0,0,0,0,0,0,26.14,26.09,26.20
$GC,3440,-0.93,-194.6,2311,3859,3700,3574,505.7,-15.2,234,3447,0.05,1.70,0.00,0.000,3078,0.139,0.021,2331,2693,3635,3698,3573,0,0,0,0,0,0,25.93,26.17,26.08
$GC,3767,-0.93,-194.6,2331,2694,3698,3574,551.7,-13.8,245,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2693,3635,3697,3573,0,0,0,0,0,0,26.13,26.20,26.19
$GC,4067,-0.93,-194.6,2330,2693,3698,3573,592.9,-13.7,255,4074,0.00,1.80,0.00,0.000,260,0.000,0.037,2325,3848,3634,3696,3573,0,0,0,0,0,0,26.13,26.10,26.19
$GC,4107,-0.93,-194.6,2326,3852,3697,3574,597.2,-13.5,256,4114,0.00,1.65,0.00,0.000,1030,0.000,0.022,2325,2696,3638,3703,3573,0,0,0,0,0,0,26.18,26.15,26.19
$GC,4429,-0.93,-194.6,2325,2693,3695,3573,642.2,-13.5,267,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2693,3633,3694,3573,0,0,0,0,0,0,26.15,26.22,26.20
$GC,4729,-0.93,-194.6,2325,2693,3694,3573,682.9,-13.7,277,4736,0.00,1.80,0.00,0.000,260,0.000,0.039,2320,3846,3633,3693,3573,0,0,0,0,0,0,26.14,26.07,26.20
$GC,4765,-0.93,-194.6,2320,3849,3694,3574,687.3,-13.8,278,4772,0.00,1.65,0.00,0.000,1030,0.000,0.022,2320,2696,3633,3693,3573,0,0,0,0,0,0,26.21,26.15,26.18
$GC,5091,-0.93,-194.6,2320,2697,3693,3574,733.8,-14.4,289,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3632,3692,3573,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5391,-0.93,-194.6,2318,2697,3692,3574,776.3,-14.1,299,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2696,3630,3691,3570,0,0,0,0,0,0,26.12,26.20,26.18
$GC,5691,-0.93,-194.6,2319,2696,3690,3572,818.3,-13.8,309,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3631,3689,3573,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5991,-0.93,-194.6,2320,2697,3690,3575,858.5,-13.5,319,5998,0.00,1.80,0.00,0.000,260,0.000,0.039,2319,3844,3631,3689,3574,0,0,0,0,0,0,26.11,26.08,26.17
$GC,6027,-0.93,-194.6,2320,3847,3689,3574,862.7,-13.6,320,6034,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2696,3630,3688,3573,0,0,0,0,0,0,26.16,26.14,26.17
$GC,6353,-0.93,-194.6,2320,2695,3689,3575,905.8,-13.2,331,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2694,3630,3687,3573,0,0,0,0,0,0,26.12,26.18,26.17
$GC,6653,-0.93,-194.6,2319,2694,3688,3572,945.4,-12.8,341,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2693,3630,3687,3573,0,0,0,0,0,0,26.11,26.18,26.17
$STATE,6712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6712,begin apogee
$GC,6716,-0.25,0.0,2317,2811,3688,3575,952.8,-12.6,343,6957,0.75,0.00,228.68,0.877,10246,0.118,0.000,2554,2810,2835,2870,2801,0,0,0,0,0,0,25.87,24.45,23.87
$STATE,6957,end apogee,CONTROL_FINISHED_OK
$STATE,6957,begin climb
$GC,6959,0.89,194.6,2554,2811,2869,2799,964.9,0.0,351,7138,1.05,2.28,164.93,1.059,11012,0.054,0.021,2931,1426,2035,2070,2001,0,0,0,0,0,0,24.64,23.69,23.18
$GC,7218,0.84,310.5,2931,1426,2064,1992,961.2,6.4,359,7329,0.00,2.20,99.60,1.043,9222,0.000,0.025,2932,2795,1574,1616,1533,0,0,0,0,0,0,24.96,24.92,23.38
$GC,7648,0.83,310.5,2931,2795,1599,1509,903.2,13.5,374,7657,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3853,1553,1598,1509,0,0,0,0,0,0,25.77,25.75,25.83
$GC,7681,0.80,310.5,2931,3853,1599,1508,898.6,13.5,375,7688,0.00,1.52,0.00,0.000,1030,0.000,0.022,2931,2780,1553,1597,1509,0,0,0,0,0,0,25.88,25.85,25.89
$GC,8015,0.79,310.5,2931,2780,1594,1508,854.9,13.3,386,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2780,1552,1596,1508,0,0,0,0,0,0,26.06,26.13,26.11
$GC,8313,0.77,310.5,2931,2780,1597,1507,816.6,12.5,396,8321,0.10,1.67,0.00,0.000,4356,0.175,0.037,2911,3860,1551,1596,1507,0,0,0,0,0,0,25.95,26.10,26.08
$GC,8350,0.75,310.5,2910,3859,1597,1512,812.6,12.3,397,8357,0.00,1.50,0.00,0.000,1030,0.000,0.023,2913,2800,1551,1596,1506,0,0,0,0,0,0,26.19,26.16,26.20
$GC,8676,0.75,310.5,2914,2800,1597,1506,774.4,11.6,408,8681,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2800,1551,1596,1506,0,0,0,0,0,0,26.15,26.22,26.23
$GC,8976,0.75,310.5,2914,2800,1596,1506,738.5,12.0,418,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2800,1550,1595,1506,0,0,0,0,0,0,26.15,26.21,26.21
$GC,9276,0.75,310.5,2914,2801,1595,1508,701.1,12.6,428,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2800,1550,1594,1506,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9576,0.75,310.5,2911,2800,1595,1506,665.1,11.8,438,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2800,1550,1594,1507,0,0,0,0,0,0,26.14,26.21,26.20
$GC,9876,0.75,310.5,2913,2801,1594,1508,630.2,11.4,448,9883,0.00,1.62,0.00,0.000,260,0.000,0.040,2914,3853,1550,1594,1506,0,0,0,0,0,0,26.13,26.09,26.20
$GC,9917,0.75,310.5,2914,3854,1595,1507,626.2,11.5,449,9926,0.00,1.50,0.00,0.000,1030,0.000,0.023,2918,2787,1549,1593,1505,0,0,0,0,0,0,26.18,26.16,26.20
$GC,10240,0.75,310.5,2919,2788,1595,1507,586.8,12.0,460,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2787,1549,1594,1504,0,0,0,0,0,0,26.12,26.20,26.20
$GC,10541,0.75,310.5,2918,2788,1593,1507,553.3,11.1,470,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2787,1549,1594,1505,0,0,0,0,0,0,26.13,26.19,26.19
$GC,10840,0.75,310.5,2919,2789,1595,1506,519.3,11.4,480,10849,0.00,1.70,0.00,0.000,260,0.000,0.040,2918,3845,1549,1594,1504,0,0,0,0,0,0,26.11,26.08,26.18
$GC,10893,0.75,310.5,2919,3844,1594,1505,515.2,11.6,481,10900,0.10,1.50,0.00,0.000,5126,0.175,0.023,2898,2785,1549,1594,1505,0,0,0,0,0,0,25.94,26.15,26.10
$GC,11204,0.77,310.5,2903,2785,1595,1507,477.2,11.1,492,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2785,1549,1594,1505,0,0,0,0,0,0,26.11,26.19,26.18
$GC,11504,0.80,329.2,2902,2785,1594,1505,446.7,9.9,502,11530,0.00,1.75,15.52,0.791,8452,0.000,0.040,2902,3854,1488,1531,1445,0,0,0,0,0,0,26.13,25.84,25.16
$GC,11574,0.82,338.8,2903,3855,1528,1441,440.4,10.2,504,11585,0.00,1.55,2.90,0.583,9222,0.000,0.023,2907,2794,1459,1505,1414,0,0,0,0,0,0,25.99,25.98,24.74
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$STATE,15439,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,15479.63 7327.18
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