version: 66.12
glider: 203
mission: 6
dive: 172
start: 1 14 115 5 31 26
data:
$ID,203
$MISSION,6
$DIVE,172
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$T_MISSION,400
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$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,4
$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,20
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,92
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$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,-63.024231
$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
$GPS1,140115,052229,1941.6465,-15718.2188,42,0.8,42,9.5,0.5,45.2,10,10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-67.7
$GPS2,140115,053114,1941.7262,-15718.1885,15,0.9,15,9.5,0.0,62.1,8,4.5
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H7
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,306.8,84763,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,-0.90,-155.7,186,2781,1017,927,0.0,0.0,0,139,0.00,0.00,-40.45,0.000,16386,0.000,0.000,189,2781,2163,2191,2135,0,0,0,0,0,0,26.10,28.83,26.17
$GC,141,-0.90,-155.7,191,2782,2189,2136,3.3,-3.5,4,188,8.93,1.65,-27.48,0.000,18692,0.210,0.061,2503,3856,3245,3309,3181,0,0,0,0,0,0,25.66,24.37,25.95
$GC,437,-0.90,-155.7,2503,3856,3310,3182,62.8,-22.6,50,455,0.00,1.50,0.00,0.000,1030,0.000,0.024,2504,2799,3245,3309,3182,0,0,0,0,0,0,26.10,26.07,26.12
$GC,749,-0.90,-155.7,2504,2801,3310,3184,126.4,-17.8,81,757,0.00,1.62,0.00,0.000,260,0.000,0.044,2496,3852,3246,3309,3183,0,0,0,0,0,0,26.19,26.06,26.25
$GC,876,-0.90,-155.7,2496,3852,3310,3185,147.2,-16.3,93,886,0.00,1.50,0.00,0.000,1030,0.000,0.023,2496,2785,3246,3308,3185,0,0,0,0,0,0,26.22,26.20,26.24
$GC,1182,-0.90,-155.7,2496,2786,3311,3188,198.4,-16.8,124,1189,0.00,1.62,0.00,0.000,260,0.000,0.044,2488,3846,3248,3310,3187,0,0,0,0,0,0,26.21,26.09,26.27
$GC,1233,-0.90,-155.7,2488,3846,3311,3187,207.2,-17.6,129,1240,0.10,1.50,0.00,0.000,3078,0.164,0.023,2510,2785,3248,3310,3187,0,0,0,0,0,0,25.96,26.22,26.08
$GC,1554,-0.90,-155.7,2510,2786,3311,3187,254.6,-14.0,159,1562,0.00,1.67,0.00,0.000,260,0.000,0.044,2505,3843,3248,3310,3187,0,0,0,0,0,0,26.22,26.07,26.28
$GC,1720,-0.90,-155.7,2505,3843,3311,3187,276.3,-14.2,164,1728,0.00,1.50,0.00,0.000,1030,0.000,0.023,2504,2779,3249,3311,3187,0,0,0,0,0,0,26.25,26.22,26.25
$GC,2037,-0.90,-155.7,2505,2781,3311,3188,322.1,-13.9,175,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3248,3310,3187,0,0,0,0,0,0,26.22,26.29,26.29
$GC,2337,-0.90,-155.7,2505,2780,3310,3187,361.4,-13.2,185,2344,0.00,1.65,0.00,0.000,260,0.000,0.046,2498,3844,3247,3308,3187,0,0,0,0,0,0,26.23,26.06,26.29
$GC,2423,-0.90,-155.7,2497,3844,3307,3187,369.5,-13.3,187,2433,0.00,1.50,0.00,0.000,1030,0.000,0.024,2498,2785,3246,3306,3187,0,0,0,0,0,0,26.25,26.22,26.25
$GC,2728,-0.90,-155.7,2498,2785,3303,3187,413.7,-13.2,198,2735,0.00,1.50,0.00,0.000,516,0.000,0.023,2498,1730,3244,3302,3187,0,0,0,0,0,0,26.21,26.15,26.27
$GC,2799,-0.90,-155.7,2497,1729,3302,3186,421.8,-13.1,200,2808,0.00,1.65,0.00,0.000,1030,0.000,0.035,2497,2817,3244,3302,3187,0,0,0,0,0,0,26.17,26.10,26.20
$GC,3123,-0.90,-155.7,2498,2818,3297,3188,462.7,-12.2,211,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2817,3241,3297,3186,0,0,0,0,0,0,26.21,26.28,26.27
$GC,3422,-0.90,-155.7,2497,2813,3294,3188,498.4,-11.6,221,3431,0.00,1.60,0.00,0.000,260,0.000,0.046,2489,3850,3239,3292,3187,0,0,0,0,0,0,26.22,26.05,26.29
$GC,3510,-0.90,-155.7,2490,3852,3292,3188,505.6,-11.4,223,3521,0.10,1.50,0.00,0.000,3078,0.158,0.025,2512,2804,3238,3290,3187,0,0,0,0,0,0,25.94,26.19,26.06
$GC,3815,-0.90,-155.7,2512,2805,3288,3187,540.2,-10.2,234,3823,0.00,1.50,0.00,0.000,516,0.000,0.023,2512,1753,3236,3287,3186,0,0,0,0,0,0,26.18,26.15,26.25
$GC,3872,-0.90,-155.7,2512,1754,3287,3188,543.4,-10.2,235,3882,0.00,1.65,0.00,0.000,1030,0.000,0.036,2510,2827,3236,3286,3186,0,0,0,0,0,0,26.13,26.06,26.15
$GC,4178,-0.90,-155.7,2511,2828,3283,3187,580.3,-11.6,246,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2827,3233,3281,3185,0,0,0,0,0,0,26.20,26.27,26.26
$GC,4478,-0.90,-155.7,2511,2829,3282,3182,614.6,-11.4,256,4486,0.00,1.60,0.00,0.000,260,0.000,0.048,2502,3851,3231,3280,3183,0,0,0,0,0,0,26.17,26.03,26.24
$GC,4566,-0.90,-155.7,2503,3851,3280,3183,622.2,-11.8,258,4576,0.00,1.50,0.00,0.000,1030,0.000,0.026,2503,2809,3231,3279,3183,0,0,0,0,0,0,26.20,26.15,26.21
$GC,4871,-0.90,-155.7,2503,2808,3278,3181,658.3,-10.5,269,4880,0.00,1.65,0.00,0.000,260,0.000,0.048,2497,3849,3229,3277,3182,0,0,0,0,0,0,26.17,26.00,26.23
$GC,4950,-0.90,-155.7,2494,3850,3277,3183,665.1,-10.5,271,4957,0.00,1.50,0.00,0.000,1030,0.000,0.027,2498,2810,3228,3276,3181,0,0,0,0,0,0,26.20,26.16,26.21
$GC,5266,-0.90,-155.7,2498,2809,3273,3179,698.5,-10.0,282,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2810,3226,3272,3180,0,0,0,0,0,0,26.15,26.22,26.21
$GC,5566,-0.90,-155.7,2498,2811,3272,3180,729.6,-10.6,292,5573,0.00,1.52,0.00,0.000,516,0.000,0.024,2498,1751,3224,3270,3179,0,0,0,0,0,0,26.15,26.10,26.21
$GC,5612,-0.90,-155.7,2497,1751,3272,3178,733.0,-10.7,293,5619,0.00,1.67,0.00,0.000,1030,0.000,0.037,2498,2834,3224,3270,3179,0,0,0,0,0,0,26.09,26.01,26.12
$GC,5928,-0.90,-155.7,2498,2835,3269,3176,770.5,-11.3,304,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2835,3222,3268,3177,0,0,0,0,0,0,26.14,26.20,26.20
$GC,6228,-0.90,-155.7,2498,2834,3267,3174,804.6,-11.2,314,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2835,3220,3266,3175,0,0,0,0,0,0,26.13,26.20,26.20
$GC,6528,-0.90,-155.7,2498,2835,3266,3174,838.2,-11.0,324,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2835,3219,3265,3174,0,0,0,0,0,0,26.14,26.22,26.20
$GC,6828,-0.90,-155.7,2498,2835,3265,3173,869.5,-10.2,334,6836,0.00,1.62,0.00,0.000,260,0.000,0.050,2497,3859,3218,3263,3173,0,0,0,0,0,0,26.10,25.91,26.17
$GC,6900,-0.90,-155.7,2497,3859,3264,3172,876.0,-10.3,336,6909,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2831,3217,3263,3172,0,0,0,0,0,0,26.14,26.10,26.15
$GC,7224,-0.90,-155.7,2498,2832,3263,3172,908.7,-9.6,347,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2831,3216,3262,3171,0,0,0,0,0,0,26.10,26.17,26.17
$GC,7523,-0.90,-155.7,2497,2832,3261,3172,937.2,-9.4,357,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2831,3215,3260,3170,0,0,0,0,0,0,26.09,26.17,26.15
$GC,7823,-0.90,-155.7,2497,2832,3261,3166,966.8,-9.8,367,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2831,3214,3259,3169,0,0,0,0,0,0,26.12,26.19,26.17
$STATE,8061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8062,begin apogee
$GC,8065,-0.19,0.0,2498,2952,3260,3170,990.8,-10.0,375,8207,0.77,0.00,129.45,1.609,10244,0.117,0.000,2738,2951,2607,2648,2567,0,0,0,0,1,0,25.65,24.06,23.05
$STATE,8208,end apogee,CONTROL_FINISHED_OK
$STATE,8208,begin climb
$GC,8209,0.90,155.7,2738,2952,2660,2569,994.9,0.0,379,8359,1.02,1.60,137.05,1.047,10500,0.070,0.050,3092,3855,1967,2007,1928,0,0,0,0,0,0,24.30,24.31,23.39
$GC,8363,1.05,252.6,3093,3857,2001,1922,989.7,5.4,385,8459,0.08,1.45,84.82,1.032,11270,0.056,0.026,3152,2961,1572,1616,1528,0,0,0,0,0,0,24.38,24.37,23.41
$GC,8754,1.05,252.6,3153,2961,1600,1510,929.6,16.1,398,8761,0.00,1.58,0.00,0.000,516,0.000,0.023,3160,1887,1554,1599,1510,0,0,0,0,0,0,25.91,25.92,25.97
$GC,8810,1.05,252.6,3160,1889,1600,1511,924.5,15.9,399,8821,0.00,1.65,0.00,0.000,1030,0.000,0.033,3159,2950,1553,1597,1509,0,0,0,0,0,0,26.01,25.92,26.03
$GC,9116,1.05,252.6,3160,2953,1598,1508,872.9,15.3,410,9123,0.00,1.45,0.00,0.000,260,0.000,0.047,3160,3852,1553,1597,1509,0,0,0,0,0,0,26.14,26.07,26.21
$GC,9167,1.05,252.6,3160,3853,1596,1510,867.4,15.6,411,9174,0.00,1.35,0.00,0.000,1030,0.000,0.027,3163,2938,1552,1597,1508,0,0,0,0,0,0,26.18,26.15,26.20
$GC,9479,1.05,252.6,3164,2939,1597,1509,815.5,15.3,422,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2938,1552,1596,1508,0,0,0,0,0,0,26.17,26.25,26.24
$GC,9779,1.05,252.6,3163,2940,1597,1509,767.4,16.4,432,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2938,1551,1595,1507,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10079,1.05,252.6,3163,2939,1596,1508,719.2,15.8,442,10086,0.00,1.52,0.00,0.000,516,0.000,0.024,3163,1894,1551,1595,1507,0,0,0,0,0,0,26.17,26.13,26.25
$GC,10130,1.05,252.6,3163,1893,1596,1506,714.3,15.9,443,10137,0.00,1.65,0.00,0.000,1030,0.000,0.035,3163,2938,1550,1595,1506,0,0,0,0,0,0,26.11,26.08,26.14
$GC,10441,1.05,252.6,3164,2938,1595,1506,662.7,16.0,454,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2938,1550,1594,1507,0,0,0,0,0,0,26.14,26.22,26.20
$GC,10741,1.05,252.6,3170,2938,1594,1505,615.7,15.7,464,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2938,1549,1593,1506,0,0,0,0,0,0,26.13,26.19,26.20
$GC,11041,1.05,252.6,3163,2939,1594,1507,570.3,15.2,474,11048,0.00,1.48,0.00,0.000,260,0.000,0.047,3163,3847,1550,1594,1506,0,0,0,0,0,0,26.13,26.01,26.20
$GC,11092,1.05,252.6,3163,3847,1594,1506,565.3,15.4,475,11099,0.00,1.35,0.00,0.000,1030,0.000,0.027,3169,2942,1549,1593,1506,0,0,0,0,0,0,26.14,26.12,26.16
$GC,11403,1.05,252.6,3169,2943,1594,1507,512.9,15.7,486,11411,0.00,1.50,0.00,0.000,260,0.000,0.047,3163,3856,1549,1593,1506,0,0,0,0,0,0,26.10,25.97,26.17
$GC,11439,1.05,252.6,3169,3855,1594,1506,507.7,15.8,487,11449,0.00,1.35,0.00,0.000,1030,0.000,0.028,3176,2953,1549,1592,1506,0,0,0,0,0,0,26.10,26.09,26.13
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$STATE,15544,end climb,SURFACE_DEPTH_REACHED
$STATE,15544,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15594.12 7547.21
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