version: 66.12
glider: 203
mission: 8
dive: 9
start: 7 11 115 14 23 3
data:
$ID,203
$MISSION,8
$DIVE,9
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,2620
$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,0.0015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,42
$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,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,-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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,110715,141759,5905.0396,-14728.4053,15,1.0,16,18.1,0.0,0.0,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-63.7
$GPS2,110715,142252,5904.9883,-14728.4570,20,1.0,20,18.1,0.4,219.4,10,4.1
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,66.4,25330,-17.8,-10.000,-19.47,2615
$D_GRID,844
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,92,-0.70,-170.3,201,2805,609,467,0.0,0.0,0,158,0.00,0.00,-63.92,0.000,16386,0.000,0.000,201,2806,2261,2293,2230,0,0,0,0,0,0,26.74,28.83,26.82
$GC,160,-0.70,-170.3,202,2808,2295,2231,3.0,-6.0,10,202,8.50,2.05,-27.20,0.000,18948,0.241,0.040,2372,1417,3533,3602,3465,0,0,0,0,0,0,26.34,26.07,26.55
$GC,426,-0.70,-170.3,2373,1418,3603,3469,54.5,-17.5,60,441,0.00,2.05,0.00,0.000,1030,0.000,0.031,2366,2801,3535,3602,3468,0,0,0,0,0,0,26.75,26.72,26.77
$GC,737,-0.70,-170.3,2366,2802,3603,3472,103.4,-13.5,91,744,0.00,1.60,0.00,0.000,260,0.000,0.045,2359,3846,3536,3602,3471,0,0,0,0,0,0,27.01,26.82,27.07
$GC,758,-0.70,-170.3,2359,3848,3602,3473,106.5,-13.8,93,765,0.10,1.50,0.00,0.000,3078,0.172,0.028,2381,2779,3536,3602,3471,0,0,0,0,0,0,26.71,26.89,26.84
$GC,1070,-0.71,-170.3,2382,2781,3603,3473,145.3,-12.2,124,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2779,3536,3602,3471,0,0,0,0,0,0,27.08,27.15,27.15
$GC,1370,-0.71,-170.3,2381,2779,3603,3470,182.0,-11.7,154,1380,0.00,1.98,0.00,0.000,516,0.000,0.026,2379,1411,3537,3603,3471,0,0,0,0,0,0,27.14,26.98,27.20
$GC,1454,-0.71,-170.3,2382,1411,3604,3471,192.0,-11.7,162,1461,0.00,2.08,0.00,0.000,1030,0.000,0.033,2375,2806,3536,3602,3471,0,0,0,0,0,0,27.03,26.96,27.05
$GC,1759,-0.72,-170.3,2375,2809,3602,3472,228.9,-11.9,192,1767,0.00,2.03,0.00,0.000,516,0.000,0.027,2375,1410,3536,3602,3471,0,0,0,0,0,0,27.19,27.03,27.29
$GC,1811,-0.72,-170.3,2375,1410,3603,3471,234.7,-12.0,196,1822,0.00,2.05,0.00,0.000,1030,0.000,0.034,2375,2795,3536,3602,3471,0,0,0,0,0,0,27.07,27.01,27.07
$GC,2126,-0.72,-170.3,2375,2796,3603,3471,272.2,-11.6,216,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2796,3536,3601,3471,0,0,0,0,0,0,27.22,27.29,27.29
$GC,2426,-0.73,-170.3,2375,2797,3602,3472,307.0,-11.4,226,2433,0.00,2.00,0.00,0.000,516,0.000,0.027,2375,1413,3536,3601,3471,0,0,0,0,0,0,27.25,27.08,27.32
$GC,2467,-0.73,-170.3,2374,1412,3600,3471,310.0,-11.4,227,2475,0.00,2.05,0.00,0.000,1030,0.000,0.034,2374,2802,3535,3600,3471,0,0,0,0,0,0,27.13,27.07,27.15
$GC,2779,-0.74,-170.3,2375,2802,3599,3471,347.8,-11.7,238,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2802,3534,3598,3471,0,0,0,0,0,0,27.25,27.35,27.34
$GC,3079,-0.74,-170.3,2375,2804,3598,3472,383.7,-12.0,248,3087,0.00,2.03,0.00,0.000,516,0.000,0.028,2375,1403,3534,3597,3471,0,0,0,0,0,0,27.29,27.12,27.36
$GC,3126,-0.74,-170.3,2375,1400,3598,3471,387.6,-12.0,249,3135,0.00,2.08,0.00,0.000,1030,0.000,0.034,2375,2808,3534,3597,3471,0,0,0,0,0,0,27.17,27.11,27.19
$GC,3439,-0.75,-170.3,2374,2809,3596,3473,427.7,-12.3,260,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2808,3533,3595,3471,0,0,0,0,0,0,27.31,27.38,27.36
$GC,3740,-0.75,-170.3,2375,2808,3595,3471,462.4,-11.3,270,3750,0.00,2.03,0.00,0.000,516,0.000,0.028,2375,1414,3532,3593,3471,0,0,0,0,0,0,27.32,27.15,27.39
$GC,3779,-0.76,-170.3,2375,1415,3594,3472,465.9,-11.3,271,3786,0.00,2.08,0.00,0.000,1030,0.000,0.034,2374,2810,3532,3593,3471,0,0,0,0,0,0,27.19,27.14,27.22
$GC,4096,-0.76,-170.3,2375,2812,3593,3472,501.5,-10.7,282,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2811,3531,3592,3471,0,0,0,0,0,0,27.33,27.43,27.38
$GC,4396,-0.77,-170.3,2374,2810,3592,3470,532.2,-10.2,292,4403,0.00,2.03,0.00,0.000,516,0.000,0.028,2375,1407,3531,3591,3471,0,0,0,0,0,0,27.34,27.17,27.41
$GC,4447,-0.77,-170.3,2375,1406,3592,3471,534.9,-10.2,293,4458,0.00,2.05,0.00,0.000,1030,0.000,0.034,2375,2801,3531,3591,3471,0,0,0,0,0,0,27.22,27.15,27.24
$GC,4752,-0.78,-170.3,2375,2801,3591,3471,569.6,-10.6,304,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2800,3530,3590,3471,0,0,0,0,0,0,27.34,27.43,27.41
$GC,5052,-0.78,-170.3,2375,2801,3589,3473,600.8,-10.0,314,5060,0.00,2.03,0.00,0.000,516,0.000,0.028,2375,1408,3529,3588,3471,0,0,0,0,0,0,27.36,27.19,27.46
$GC,5119,-0.79,-170.3,2375,1407,3589,3470,606.6,-10.0,316,5127,0.00,2.05,0.00,0.000,1030,0.000,0.034,2375,2800,3529,3588,3470,0,0,0,0,0,0,27.24,27.17,27.25
$GC,5437,-0.79,-170.3,2375,2802,3588,3472,639.5,-10.1,327,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2800,3529,3587,3471,0,0,0,0,0,0,27.36,27.44,27.43
$GC,5736,-0.80,-170.3,2375,2800,3588,3470,671.2,-10.6,337,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2800,3529,3587,3471,0,0,0,0,0,0,27.37,27.45,27.43
$GC,6036,-0.80,-170.3,2375,2802,3587,3472,702.7,-10.5,347,6044,0.00,2.00,0.00,0.000,516,0.000,0.028,2375,1417,3528,3586,3471,0,0,0,0,0,0,27.37,27.20,27.44
$GC,6078,-0.81,-170.3,2375,1416,3586,3471,705.5,-10.5,348,6085,0.00,2.05,0.00,0.000,1030,0.000,0.035,2375,2805,3528,3585,3471,0,0,0,0,0,0,27.25,27.19,27.27
$GC,6390,-0.81,-170.3,2375,2805,3582,3471,740.9,-10.9,359,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2805,3528,3584,3472,0,0,0,0,0,0,27.38,27.46,27.45
$GC,6689,-0.82,-170.3,2375,2806,3585,3472,773.1,-10.7,369,6697,0.00,2.03,0.00,0.000,516,0.000,0.028,2374,1407,3527,3583,3471,0,0,0,0,0,0,27.39,27.21,27.45
$GC,6721,-0.83,-170.3,2374,1406,3584,3470,775.9,-10.6,370,6729,0.00,2.08,0.00,0.000,1030,0.000,0.035,2374,2809,3527,3583,3471,0,0,0,0,0,0,27.26,27.20,27.28
$GC,7043,-0.83,-170.3,2375,2811,3584,3471,809.4,-10.0,381,7050,0.00,2.03,0.00,0.000,516,0.000,0.028,2375,1418,3527,3583,3471,0,0,0,0,0,0,27.38,27.22,27.46
$GC,7084,-0.84,-170.3,2375,1412,3584,3471,812.4,-9.8,382,7092,0.00,2.08,0.00,0.000,1030,0.000,0.036,2374,2807,3526,3582,3471,0,0,0,0,0,0,27.27,27.20,27.28
$STATE,7400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7400,begin apogee
$GC,7404,-0.19,0.0,2375,2906,3583,3470,844.4,-9.4,393,7590,0.52,0.00,178.70,0.874,10246,0.125,0.000,2546,2907,2840,2884,2797,0,0,0,0,0,0,27.10,25.03,24.49
$STATE,7590,end apogee,CONTROL_FINISHED_OK
$STATE,7590,begin climb
$GC,7592,0.70,170.3,2547,2907,2878,2792,853.1,0.0,399,7748,0.82,1.58,145.52,0.972,10500,0.081,0.047,2829,3843,2134,2174,2094,0,0,0,0,0,0,25.16,24.81,24.18
$GC,7792,0.72,362.9,2829,3843,2156,2074,853.2,2.4,406,7986,0.00,1.42,182.50,0.901,9222,0.000,0.030,2834,2914,1359,1409,1310,0,0,0,0,0,0,25.53,25.51,24.21
$GC,8300,0.73,396.7,2834,2916,1381,1276,811.2,8.7,423,8351,0.00,2.22,35.33,0.708,8708,0.000,0.028,2835,1509,1218,1272,1164,0,0,0,0,1,0,26.32,25.62,24.89
$GC,8525,0.75,416.2,2836,1510,1289,1166,791.6,9.2,430,8561,0.00,2.12,21.88,0.778,9222,0.000,0.034,2836,2892,1139,1197,1081,0,0,0,0,1,0,26.21,26.15,24.98
$GC,8871,0.76,421.6,2836,2892,1219,1093,757.0,9.8,442,8884,0.00,2.10,4.22,0.724,8708,0.000,0.027,2836,1498,1122,1183,1061,0,0,0,0,0,0,26.52,26.01,25.51
$GC,8969,0.77,443.1,2836,1498,1208,1075,749.0,9.2,445,9010,0.00,2.15,25.08,0.877,9222,0.000,0.034,2836,2905,1036,1099,973,0,0,0,0,1,0,26.44,26.38,24.85
$GC,9320,0.78,457.2,2836,2906,1122,989,716.0,9.4,457,9354,0.08,2.17,20.70,0.773,10756,0.135,0.030,2876,1498,971,1037,906,0,0,0,0,1,0,26.43,26.00,25.24
$GC,9463,0.79,457.2,2876,1497,1059,914,702.5,10.9,461,9477,0.00,2.12,0.00,0.000,1030,0.000,0.034,2876,2896,985,1057,914,0,0,0,0,0,0,26.30,26.27,26.33
$GC,9773,0.80,457.2,2876,2898,1059,916,663.2,12.2,472,9781,0.00,2.08,0.00,0.000,516,0.000,0.030,2876,1503,986,1057,915,0,0,0,0,0,0,26.71,26.55,26.77
$GC,9850,0.81,457.2,2876,1504,1058,916,656.6,11.9,474,9858,0.00,2.12,0.00,0.000,1030,0.000,0.034,2876,2908,985,1057,914,0,0,0,0,0,0,26.63,26.58,26.65
$GC,10162,0.82,457.2,2876,2907,1058,914,615.4,12.4,485,10170,0.00,2.08,0.00,0.000,516,0.000,0.030,2876,1505,986,1057,915,0,0,0,0,0,0,26.89,26.72,26.94
$GC,10244,0.82,457.2,2876,1505,1059,914,608.2,12.0,487,10252,0.00,2.10,0.00,0.000,1030,0.000,0.034,2876,2902,986,1057,915,0,0,0,0,0,0,26.79,26.73,26.81
$GC,10556,0.83,457.2,2875,2902,1057,914,568.2,12.2,498,10564,0.00,2.05,0.00,0.000,516,0.000,0.030,2877,1504,986,1057,915,0,0,0,0,0,0,26.98,26.82,27.06
$GC,10658,0.84,457.2,2876,1505,1058,916,557.2,11.9,501,10668,0.00,2.10,0.00,0.000,1030,0.000,0.034,2876,2904,985,1057,914,0,0,0,0,0,0,26.89,26.84,26.91
$GC,10982,0.84,457.2,2876,2905,1058,916,515.0,13.7,512,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2904,988,1057,919,0,0,0,0,0,0,27.07,27.15,27.13
$GC,11282,0.85,457.2,2876,2905,1058,914,477.4,12.4,522,11290,0.00,1.45,0.00,0.000,260,0.000,0.048,2876,3850,986,1057,915,0,0,0,0,0,0,27.11,26.92,27.18
$GC,11329,0.85,457.2,2877,3851,1058,916,473.3,12.4,523,11336,0.00,1.38,0.00,0.000,1030,0.000,0.030,2876,2893,985,1057,914,0,0,0,0,0,0,27.01,26.99,27.01
$GC,11645,0.85,457.2,2876,2893,1059,914,437.4,10.6,534,11653,0.00,2.03,0.00,0.000,516,0.000,0.030,2876,1506,986,1057,915,0,0,0,0,0,0,27.15,26.99,27.22
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$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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