version: 66.12
glider: 203
mission: 8
dive: 134
start: 8 4 115 9 33 4
data:
$ID,203
$MISSION,8
$DIVE,134
$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,-5
$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,101
$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,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
$GPS1,040815,092734,5637.7456,-15040.9688,30,0.9,31,16.6,0.8,64.0,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-54.7
$GPS2,040815,093253,5637.8081,-15040.8369,6,0.9,10,16.6,0.0,36.9,9,9.6
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,257.0,55764,-17.4,-10.556,-19.06,2832
$D_GRID,4178
$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,-194.6,182,2712,720,597,0.0,0.0,0,151,0.00,0.00,-51.38,0.000,16386,0.000,0.000,180,2714,1964,2009,1920,0,0,0,0,0,0,26.03,28.83,26.09
$GC,152,-0.89,-194.6,181,2714,2011,1920,3.0,-2.9,7,219,8.77,2.10,-45.20,0.000,18948,0.235,0.036,2346,1340,3634,3708,3561,0,0,0,0,0,0,25.59,25.25,25.89
$GC,370,-0.85,-194.6,2346,1341,3709,3566,39.7,-18.9,40,388,0.10,2.08,0.00,0.000,3078,0.173,0.027,2361,2709,3637,3708,3566,0,0,0,0,0,0,25.87,26.06,26.01
$GC,694,-0.82,-194.6,2361,2708,3709,3568,95.8,-16.6,75,701,0.00,1.73,0.00,0.000,260,0.000,0.039,2355,3850,3638,3708,3569,0,0,0,0,0,0,26.13,26.07,26.19
$GC,746,-0.80,-194.6,2356,3856,3709,3574,105.3,-18.4,80,755,0.10,1.62,0.00,0.000,3078,0.163,0.021,2376,2701,3638,3707,3569,0,0,0,0,0,0,25.91,26.15,26.05
$GC,1059,-0.80,-194.6,2376,2702,3709,3571,152.0,-14.1,111,1067,0.00,1.80,0.00,0.000,260,0.000,0.039,2371,3852,3637,3706,3569,0,0,0,0,0,0,26.13,26.08,26.19
$GC,1121,-0.80,-194.6,2372,3852,3709,3569,160.8,-14.4,117,1130,0.00,1.62,0.00,0.000,1030,0.000,0.022,2372,2697,3638,3708,3569,0,0,0,0,0,0,26.18,26.15,26.18
$GC,1435,-0.81,-194.6,2372,2697,3717,3569,204.5,-13.6,148,1445,0.00,1.80,0.00,0.000,260,0.000,0.038,2363,3859,3637,3706,3569,0,0,0,0,0,0,26.12,26.07,26.18
$GC,1464,-0.83,-194.6,2363,3859,3709,3569,208.0,-13.5,150,1475,0.00,1.65,0.00,0.000,1030,0.000,0.022,2363,2703,3638,3707,3569,0,0,0,0,0,0,26.17,26.15,26.18
$GC,1770,-0.85,-194.6,2362,2703,3708,3569,250.4,-13.1,181,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2703,3638,3708,3569,0,0,0,0,0,0,26.14,26.21,26.20
$GC,2070,-0.87,-194.6,2362,2702,3708,3569,289.5,-12.7,191,2078,0.00,1.77,0.00,0.000,260,0.000,0.038,2355,3854,3638,3707,3569,0,0,0,0,0,0,26.13,26.07,26.19
$GC,2112,-0.89,-194.6,2354,3854,3706,3569,293.5,-12.5,192,2119,0.00,1.65,0.00,0.000,1030,0.000,0.023,2355,2696,3637,3706,3569,0,0,0,0,0,0,26.19,26.15,26.20
$GC,2433,-0.89,-194.6,2354,2692,3707,3569,335.4,-12.8,203,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2693,3637,3705,3569,0,0,0,0,0,0,26.13,26.20,26.18
$GC,2733,-0.90,-194.6,2354,2694,3703,3570,375.3,-13.5,213,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2693,3636,3704,3569,0,0,0,0,0,0,26.13,26.20,26.18
$GC,3033,-0.92,-194.6,2354,2693,3704,3568,414.4,-12.7,223,3042,0.00,1.80,0.00,0.000,260,0.000,0.040,2348,3850,3636,3703,3569,0,0,0,0,0,0,26.13,26.05,26.20
$GC,3090,-0.94,-194.6,2348,3852,3702,3577,418.5,-12.7,224,3101,0.00,1.65,0.00,0.000,1030,0.000,0.023,2348,2693,3635,3702,3568,0,0,0,0,0,0,26.19,26.17,26.20
$GC,3396,-0.95,-194.6,2348,2693,3702,3569,460.5,-12.4,235,3404,0.00,1.80,0.00,0.000,260,0.000,0.038,2340,3850,3635,3701,3569,0,0,0,0,0,0,26.12,26.01,26.18
$GC,3433,-0.95,-194.6,2340,3853,3701,3570,464.8,-12.5,236,3440,0.00,1.65,0.00,0.000,1030,0.000,0.023,2339,2703,3634,3700,3569,0,0,0,0,0,0,26.18,26.15,26.19
$GC,3759,-0.95,-194.6,2340,2702,3699,3570,508.1,-13.2,247,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2701,3633,3698,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,4059,-0.95,-194.6,2340,2702,3698,3570,547.4,-13.2,257,4066,0.00,1.80,0.00,0.000,260,0.000,0.039,2332,3854,3633,3697,3569,0,0,0,0,0,0,26.12,26.05,26.17
$GC,4105,-0.95,-194.6,2332,3858,3698,3570,551.6,-13.3,258,4112,0.00,1.67,0.00,0.000,1030,0.000,0.023,2332,2690,3632,3697,3568,0,0,0,0,0,0,26.18,26.15,26.19
$GC,4421,-0.95,-194.6,2332,2684,3697,3568,597.2,-13.8,269,4429,0.00,1.80,0.00,0.000,260,0.000,0.039,2323,3849,3632,3695,3569,0,0,0,0,0,0,26.11,26.05,26.17
$GC,4453,-0.95,-194.6,2323,3850,3694,3570,601.7,-13.8,270,4460,0.00,1.70,0.00,0.000,1030,0.000,0.023,2323,2696,3632,3695,3569,0,0,0,0,0,0,26.16,26.15,26.17
$GC,4785,-0.95,-194.6,2323,2696,3695,3568,647.5,-13.5,281,4793,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3847,3631,3694,3568,0,0,0,0,0,0,26.11,26.03,26.17
$GC,4832,-0.95,-194.6,2319,3850,3695,3570,652.0,-13.6,282,4840,0.00,1.70,0.00,0.000,1030,0.000,0.022,2319,2693,3631,3694,3568,0,0,0,0,0,0,26.15,26.13,26.16
$GC,5149,-0.95,-194.6,2320,2695,3693,3570,696.9,-13.6,293,5157,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3846,3631,3693,3569,0,0,0,0,0,0,26.11,26.05,26.17
$GC,5186,-0.95,-194.6,2320,3847,3694,3570,701.4,-13.7,294,5193,0.00,1.65,0.00,0.000,1030,0.000,0.024,2319,2699,3631,3693,3569,0,0,0,0,0,0,26.15,26.13,26.17
$GC,5512,-0.95,-194.6,2319,2697,3691,3568,748.9,-14.4,305,5519,0.00,1.80,0.00,0.000,260,0.000,0.041,2312,3849,3630,3691,3569,0,0,0,0,0,0,26.10,26.04,26.18
$GC,5549,-0.95,-194.6,2313,3849,3692,3569,753.5,-14.5,306,5557,0.08,1.65,0.00,0.000,3078,0.186,0.023,2326,2696,3630,3691,3569,0,0,0,0,0,0,25.94,26.15,26.05
$GC,5876,-0.95,-194.6,2326,2696,3691,3570,798.5,-13.1,317,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2695,3629,3690,3569,0,0,0,0,0,0,26.10,26.17,26.19
$GC,6176,-0.95,-194.6,2326,2694,3690,3569,834.9,-12.0,327,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2695,3629,3689,3569,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6476,-0.95,-194.6,2327,2695,3690,3569,869.3,-11.4,337,6484,0.00,1.83,0.00,0.000,260,0.000,0.041,2322,3847,3628,3688,3569,0,0,0,0,0,0,26.10,26.03,26.15
$GC,6513,-0.95,-194.6,2323,3849,3688,3570,873.3,-11.5,338,6520,0.00,1.70,0.00,0.000,1030,0.000,0.024,2322,2702,3628,3688,3569,0,0,0,0,0,0,26.15,26.14,26.17
$GC,6839,-0.95,-194.6,2322,2702,3688,3568,911.3,-11.3,349,6847,0.00,1.80,0.00,0.000,260,0.000,0.041,2320,3850,3628,3687,3569,0,0,0,0,0,0,26.09,26.01,26.15
$GC,6885,-0.95,-194.6,2320,3852,3689,3568,915.2,-11.6,350,6893,0.00,1.67,0.00,0.000,1030,0.000,0.024,2320,2691,3627,3687,3568,0,0,0,0,0,0,26.15,26.11,26.15
$STATE,7170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7171,begin apogee
$GC,7174,-0.25,0.0,2320,2812,3688,3570,953.8,-12.9,360,7417,0.75,0.00,232.55,0.870,10246,0.119,0.000,2553,2811,2836,2871,2802,0,0,0,0,0,0,25.80,24.43,23.82
$STATE,7417,end apogee,CONTROL_FINISHED_OK
$STATE,7417,begin climb
$GC,7419,0.89,194.6,2554,2812,2869,2799,967.9,0.0,368,7597,1.05,2.30,165.23,1.054,11012,0.048,0.022,2929,1417,2035,2069,2001,0,0,0,0,0,0,24.58,23.72,23.21
$GC,7662,0.84,305.6,2933,1418,2061,1992,963.9,6.5,376,7768,0.00,2.25,96.38,1.035,9222,0.000,0.027,2933,2797,1590,1632,1549,0,0,0,0,0,0,24.89,24.84,23.38
$GC,8077,0.82,305.6,2933,2796,1614,1525,911.4,12.9,390,8084,0.00,1.65,0.00,0.000,260,0.000,0.040,2932,3852,1569,1613,1525,0,0,0,0,0,0,25.77,25.78,25.84
$GC,8143,0.79,305.6,2932,3852,1613,1524,902.6,13.7,392,8151,0.00,1.55,0.00,0.000,1030,0.000,0.023,2933,2801,1568,1612,1524,0,0,0,0,0,0,25.94,25.91,25.95
$GC,8470,0.77,305.6,2933,2802,1612,1523,860.5,12.8,403,8477,0.10,1.62,0.00,0.000,4356,0.181,0.037,2913,3851,1567,1611,1523,0,0,0,0,0,0,25.89,26.04,26.02
$GC,8511,0.75,305.6,2913,3852,1612,1524,856.3,12.7,404,8518,0.00,1.50,0.00,0.000,1030,0.000,0.024,2917,2796,1566,1611,1522,0,0,0,0,0,0,26.15,26.11,26.15
$GC,8832,0.75,305.6,2917,2796,1606,1521,815.5,12.5,415,8840,0.00,2.10,0.00,0.000,516,0.000,0.026,2919,1422,1566,1611,1522,0,0,0,0,0,0,26.12,26.11,26.18
$GC,8865,0.75,305.6,2919,1422,1611,1523,811.6,12.4,416,8872,0.00,2.12,0.00,0.000,1030,0.000,0.028,2918,2806,1566,1610,1522,0,0,0,0,0,0,26.16,26.11,26.17
$GC,9191,0.75,305.6,2918,2805,1612,1522,770.0,12.7,427,9199,0.00,1.62,0.00,0.000,260,0.000,0.041,2918,3857,1566,1610,1522,0,0,0,0,0,0,26.13,26.10,26.19
$GC,9233,0.75,305.6,2919,3857,1610,1520,765.8,12.9,428,9240,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2799,1565,1610,1521,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9554,0.75,305.6,2919,2799,1608,1523,724.5,12.4,439,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2798,1565,1610,1521,0,0,0,0,0,0,26.13,26.20,26.19
$GC,9854,0.75,305.6,2919,2799,1610,1523,687.2,12.2,449,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2798,1565,1610,1521,0,0,0,0,0,0,26.14,26.21,26.20
$GC,10154,0.75,305.6,2919,2798,1610,1521,650.0,12.3,459,10161,0.00,1.65,0.00,0.000,260,0.000,0.041,2918,3853,1565,1609,1521,0,0,0,0,0,0,26.12,26.08,26.19
$GC,10216,0.75,305.6,2919,3854,1610,1522,641.8,12.9,461,10223,0.10,1.50,0.00,0.000,5126,0.181,0.024,2904,2792,1565,1609,1521,0,0,0,0,0,0,25.90,26.14,26.08
$GC,10548,0.77,305.6,2904,2792,1611,1522,604.9,10.6,472,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2791,1564,1608,1521,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10848,0.78,318.4,2905,2798,1610,1522,574.3,10.1,482,10856,0.00,0.00,2.53,0.435,8198,0.000,0.000,2904,2792,1538,1582,1495,0,0,0,0,0,0,26.11,25.79,24.77
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$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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