version: 66.12
glider: 203
mission: 8
dive: 128
start: 8 3 115 7 5 2
data:
$ID,203
$MISSION,8
$DIVE,128
$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,98
$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
$GPS1,030815,065936,5636.3672,-15023.8594,34,0.9,37,16.6,0.3,73.6,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.9
$GPS2,030815,070451,5636.3799,-15023.7354,7,0.9,11,16.6,0.0,76.4,10,9.5
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,270.0,72976,-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,-194.6,193,2805,1052,948,0.0,0.0,0,137,0.00,0.00,-37.90,0.000,16386,0.000,0.000,193,2806,1994,2038,1951,0,0,0,0,0,0,26.03,28.83,26.10
$GC,139,-0.89,-194.6,194,2804,2039,1951,3.2,-4.4,5,203,8.65,2.22,-41.55,0.000,18948,0.233,0.034,2341,1324,3631,3705,3558,0,0,0,0,0,0,25.63,25.25,25.90
$GC,316,-0.83,-194.6,2342,1325,3706,3563,37.8,-21.0,31,335,0.12,2.10,0.00,0.000,3078,0.167,0.025,2360,2706,3633,3705,3561,0,0,0,0,0,0,25.82,26.03,25.96
$GC,636,-0.81,-194.6,2364,2706,3706,3567,99.2,-17.4,66,646,0.00,1.75,0.00,0.000,260,0.000,0.037,2359,3849,3634,3704,3565,0,0,0,0,0,0,26.07,26.06,26.13
$GC,700,-0.79,-194.6,2358,3849,3706,3565,110.0,-16.9,72,707,0.10,1.62,0.00,0.000,3078,0.165,0.021,2379,2701,3635,3705,3565,0,0,0,0,0,0,25.91,26.15,26.05
$GC,1012,-0.81,-194.6,2380,2702,3706,3567,156.9,-14.2,103,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2701,3635,3705,3566,0,0,0,0,0,0,26.14,26.20,26.20
$GC,1313,-0.83,-194.6,2380,2701,3706,3566,198.5,-13.5,133,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2701,3635,3705,3566,0,0,0,0,0,0,26.14,26.21,26.20
$GC,1614,-0.87,-194.6,2380,2702,3705,3567,234.7,-11.8,163,1621,0.00,1.77,0.00,0.000,260,0.000,0.037,2375,3846,3635,3705,3566,0,0,0,0,0,0,26.12,26.06,26.18
$GC,1660,-0.90,-194.6,2375,3846,3706,3566,239.9,-12.1,167,1671,0.00,1.62,0.00,0.000,1030,0.000,0.022,2375,2715,3635,3705,3566,0,0,0,0,0,0,26.18,26.16,26.19
$GC,1985,-0.93,-194.6,2375,2714,3705,3568,279.7,-12.0,184,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2715,3635,3705,3566,0,0,0,0,0,0,26.13,26.19,26.19
$GC,2286,-0.96,-194.6,2375,2716,3705,3566,315.7,-12.0,194,2291,0.08,0.00,0.00,0.000,4102,0.117,0.000,2312,2714,3634,3704,3565,0,0,0,0,0,0,26.06,26.16,26.13
$GC,2585,-0.93,-194.6,2312,2714,3704,3560,364.1,-16.4,204,2593,0.10,1.75,0.00,0.000,2308,0.162,0.035,2327,3846,3634,3702,3566,0,0,0,0,0,0,25.95,26.07,26.06
$GC,2613,-0.91,-194.6,2327,3846,3708,3565,368.5,-16.3,205,2620,0.00,1.65,0.00,0.000,1030,0.000,0.022,2327,2696,3634,3703,3566,0,0,0,0,0,0,26.18,26.15,26.19
$GC,2945,-0.91,-194.6,2328,2697,3702,3567,419.9,-15.5,216,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2696,3634,3702,3566,0,0,0,0,0,0,26.13,26.20,26.18
$GC,3245,-0.91,-194.6,2327,2695,3701,3565,466.4,-15.4,226,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2696,3633,3700,3566,0,0,0,0,0,0,26.14,26.20,26.20
$GC,3545,-0.91,-194.6,2327,2696,3699,3573,511.7,-15.0,236,3554,0.00,1.80,0.00,0.000,260,0.000,0.038,2320,3855,3631,3697,3566,0,0,0,0,0,0,26.14,26.07,26.20
$GC,3593,-0.91,-194.6,2321,3856,3699,3567,516.8,-15.0,237,3601,0.10,1.67,0.00,0.000,3078,0.158,0.021,2343,2678,3632,3698,3566,0,0,0,0,0,0,25.94,26.16,26.07
$GC,3910,-0.93,-194.6,2343,2676,3699,3566,561.4,-13.4,248,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2676,3631,3697,3566,0,0,0,0,0,0,26.12,26.19,26.18
$GC,4210,-0.95,-194.6,2343,2676,3698,3565,602.9,-13.9,258,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2676,3631,3697,3566,0,0,0,0,0,0,26.11,26.19,26.17
$GC,4510,-0.97,-194.6,2343,2676,3701,3566,644.6,-13.9,268,4517,0.00,1.83,0.00,0.000,260,0.000,0.038,2338,3845,3629,3695,3564,0,0,0,0,0,0,26.11,26.06,26.17
$GC,4546,-0.99,-194.6,2338,3850,3695,3567,649.1,-13.9,269,4553,0.00,1.65,0.00,0.000,1030,0.000,0.022,2337,2700,3630,3694,3566,0,0,0,0,0,0,26.17,26.14,26.17
$GC,4872,-0.99,-194.6,2338,2699,3694,3567,694.5,-13.6,280,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2697,3629,3693,3566,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5173,-1.01,-194.6,2338,2698,3693,3567,733.2,-12.9,290,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2697,3629,3692,3566,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5473,-1.02,-194.6,2338,2699,3693,3567,773.3,-13.1,300,5481,0.00,1.80,0.00,0.000,260,0.000,0.040,2335,3849,3628,3692,3565,0,0,0,0,0,0,26.12,26.06,26.17
$GC,5505,-1.04,-194.6,2335,3850,3693,3567,777.6,-13.2,301,5512,0.00,1.65,0.00,0.000,1030,0.000,0.022,2335,2699,3628,3691,3566,0,0,0,0,0,0,26.16,26.14,26.17
$GC,5837,-1.06,-194.6,2335,2697,3690,3567,821.9,-13.4,312,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2694,3627,3690,3565,0,0,0,0,0,0,26.13,26.17,26.17
$GC,6136,-1.08,-194.6,2335,2698,3690,3568,862.5,-13.4,322,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2698,3626,3689,3564,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6437,-1.10,-194.6,2335,2698,3690,3567,902.4,-13.0,332,6442,0.08,0.00,0.00,0.000,4102,0.121,0.000,2283,2696,3631,3697,3565,0,0,0,0,0,0,26.01,26.12,26.09
$GC,6737,-1.07,-194.6,2283,2695,3688,3565,949.9,-16.2,342,6744,0.00,1.80,0.00,0.000,260,0.000,0.040,2280,3850,3627,3688,3566,0,0,0,0,0,0,26.11,26.03,26.17
$STATE,6767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6767,begin apogee
$GC,6772,-0.25,0.0,2280,2790,3688,3566,955.4,-16.3,343,6942,0.90,0.00,162.85,1.063,10246,0.126,0.000,2556,2790,2838,2870,2807,0,0,0,0,0,0,25.79,24.43,23.73
$STATE,6943,end apogee,CONTROL_FINISHED_OK
$STATE,6943,begin climb
$GC,6944,0.89,194.6,2557,2791,2863,2799,964.9,0.0,348,7121,1.08,2.22,163.90,1.056,10756,0.067,0.021,2931,1425,2037,2070,2005,0,0,0,0,0,0,24.57,23.88,23.19
$GC,7345,0.87,250.0,2932,1426,2068,1992,951.2,8.5,362,7406,0.00,2.15,47.15,1.047,9222,0.000,0.026,2931,2798,1808,1845,1771,0,0,0,0,0,0,25.59,25.54,24.14
$GC,7701,0.83,250.0,2931,2798,1837,1759,911.7,11.4,374,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2798,1797,1836,1759,0,0,0,0,0,0,25.90,25.97,25.96
$GC,8001,0.80,250.0,2932,2799,1835,1759,876.4,11.9,384,8008,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3852,1796,1834,1758,0,0,0,0,0,0,26.06,26.06,26.12
$GC,8077,0.76,250.0,2932,3853,1834,1759,868.6,12.1,386,8085,0.10,1.50,0.00,0.000,5126,0.181,0.023,2910,2789,1795,1834,1757,0,0,0,0,0,0,25.91,26.12,26.07
$GC,8394,0.76,251.9,2910,2789,1835,1757,833.1,10.5,397,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2788,1795,1833,1757,0,0,0,0,0,0,26.12,26.19,26.18
$GC,8694,0.76,270.3,2911,2788,1834,1757,802.8,9.9,407,8720,0.00,1.73,16.88,0.983,8452,0.000,0.039,2917,3850,1728,1765,1691,0,0,0,0,0,0,26.13,25.77,25.05
$GC,8774,0.75,280.9,2911,3849,1759,1681,796.5,10.2,409,8789,0.00,1.50,2.90,0.614,9222,0.000,0.023,2916,2799,1698,1744,1652,0,0,0,0,0,0,25.98,25.95,24.61
$GC,9084,0.75,294.6,2916,2799,1757,1662,762.2,10.1,420,9119,0.00,2.12,20.90,0.959,8708,0.000,0.024,2918,1422,1626,1665,1588,0,0,0,0,0,0,26.07,25.67,24.91
$GC,9133,0.75,307.8,2918,1423,1662,1585,759.0,10.1,421,9153,0.00,2.15,11.35,0.949,9222,0.000,0.027,2919,2810,1582,1622,1543,0,0,0,0,0,0,25.83,25.78,24.81
$GC,9448,0.75,307.8,2919,2811,1613,1532,722.7,11.4,432,9456,0.00,1.60,0.00,0.000,260,0.000,0.039,2918,3850,1568,1611,1526,0,0,0,0,0,0,26.02,26.01,26.08
$GC,9482,0.75,307.8,2918,3850,1613,1530,718.9,11.4,433,9489,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2788,1570,1611,1530,0,0,0,0,0,0,26.09,26.07,26.10
$GC,9813,0.75,307.8,2919,2789,1612,1530,681.5,11.1,444,9821,0.00,1.65,0.00,0.000,260,0.000,0.039,2918,3854,1570,1611,1529,0,0,0,0,0,0,26.11,26.08,26.17
$GC,9855,0.75,307.8,2919,3854,1613,1528,677.8,11.2,445,9862,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2790,1569,1611,1528,0,0,0,0,0,0,26.17,26.15,26.17
$GC,10176,0.75,307.8,2919,2790,1619,1528,640.4,10.8,456,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2790,1569,1611,1528,0,0,0,0,0,0,26.13,26.20,26.18
$GC,10476,0.75,307.8,2919,2791,1612,1529,606.3,11.7,466,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2790,1569,1610,1528,0,0,0,0,0,0,26.14,26.20,26.20
$GC,10777,0.75,307.8,2918,2790,1611,1528,569.3,12.3,476,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2790,1569,1610,1528,0,0,0,0,0,0,26.12,26.20,26.19
$GC,11076,0.75,307.8,2918,2790,1610,1528,531.9,12.5,486,11083,0.00,1.65,0.00,0.000,260,0.000,0.040,2919,3852,1569,1610,1528,0,0,0,0,0,0,26.12,26.08,26.18
$GC,11117,0.75,307.8,2919,3854,1611,1528,527.8,12.7,487,11124,0.00,1.50,0.00,0.000,1030,0.000,0.023,2921,2792,1569,1610,1528,0,0,0,0,0,0,26.19,26.16,26.20
$GC,11439,0.75,307.8,2921,2791,1611,1527,486.1,12.4,498,11446,0.00,1.70,0.00,0.000,260,0.000,0.041,2921,3847,1568,1610,1527,0,0,0,0,0,0,26.11,26.08,26.18
$GC,11490,0.75,307.8,2921,3848,1611,1528,482.1,12.3,499,11497,0.10,1.50,0.00,0.000,5126,0.168,0.023,2907,2785,1568,1610,1527,0,0,0,0,0,0,25.92,26.15,26.09
$GC,11802,0.77,323.9,2906,2786,1610,1527,447.5,10.0,510,11824,0.00,2.03,14.70,0.793,8708,0.000,0.021,2914,1431,1513,1554,1472,0,0,0,0,0,0,26.11,25.63,25.18
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$STATE,15730,end climb,SURFACE_DEPTH_REACHED
$STATE,15730,begin surface coast
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$STATE,15745,end surface coast,CONTROL_FINISHED_OK
$STATE,15745,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15775.14 7369.65
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$10V_AH,10.17,34.967
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$FG_AHR_10Vo,0.000
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