version: 66.12
glider: 203
mission: 8
dive: 71
start: 7 23 115 11 46 16
data:
$ID,203
$MISSION,8
$DIVE,71
$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,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,-3
$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,83
$R_STBD_OVSHOOT,45
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,230715,114052,5747.9922,-14809.5977,39,1.1,40,17.6,0.8,43.8,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.2
$GPS2,230715,114605,5747.9653,-14809.4814,7,0.8,12,17.6,0.5,218.0,10,8.9
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP5
$TGT_LATLONG,5749.762,-14846.494
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.8,36649,-18.0,-11.000,-19.55,2718
$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,-0.92,-194.6,182,2709,796,681,0.0,0.0,0,154,0.00,0.00,-55.20,0.000,16386,0.000,0.000,180,2708,2153,2199,2107,0,0,0,0,0,0,25.90,28.83,25.97
$GC,156,-0.92,-194.6,181,2709,2200,2110,3.2,-3.7,7,219,8.65,2.15,-34.20,0.000,18948,0.237,0.039,2332,1316,3636,3705,3567,0,0,0,0,0,0,25.69,24.87,25.91
$GC,250,-0.82,-194.6,2332,1316,3706,3568,21.3,-23.8,19,259,0.17,2.10,0.00,0.000,3078,0.158,0.024,2369,2705,3637,3705,3569,0,0,0,0,0,0,25.83,25.96,25.96
$GC,580,-0.82,-194.6,2369,2705,3706,3574,83.0,-17.0,63,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2706,3639,3705,3574,0,0,0,0,0,0,25.97,26.04,26.03
$GC,883,-0.82,-194.6,2370,2707,3706,3578,131.5,-15.6,93,891,0.00,2.08,0.00,0.000,516,0.000,0.023,2370,1318,3640,3705,3576,0,0,0,0,0,0,26.03,26.06,26.09
$GC,935,-0.84,-194.6,2370,1318,3706,3575,139.0,-13.9,98,943,0.00,2.10,0.00,0.000,1030,0.000,0.024,2363,2712,3640,3705,3575,0,0,0,0,0,0,26.10,26.06,26.10
$GC,1240,-0.86,-194.6,2363,2712,3707,3576,180.0,-14.1,128,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2712,3640,3705,3576,0,0,0,0,0,0,26.06,26.12,26.12
$GC,1541,-0.88,-194.6,2364,2713,3706,3577,221.0,-13.2,158,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2712,3640,3705,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,1862,-0.90,-194.6,2364,2712,3706,3576,262.5,-13.3,184,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2712,3640,3705,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,2161,-0.92,-194.6,2364,2711,3704,3575,303.4,-13.5,194,2169,0.00,2.10,0.00,0.000,516,0.000,0.022,2364,1311,3639,3703,3576,0,0,0,0,0,0,26.06,26.09,26.13
$GC,2193,-0.95,-194.6,2364,1312,3704,3577,307.0,-13.3,195,2201,0.00,2.10,0.00,0.000,1030,0.000,0.026,2362,2699,3639,3703,3575,0,0,0,0,0,0,26.13,26.08,26.13
$GC,2515,-0.98,-194.6,2363,2700,3702,3577,347.9,-12.3,206,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2699,3638,3701,3576,0,0,0,0,0,0,26.06,26.16,26.12
$GC,2815,-1.01,-194.6,2363,2700,3700,3577,385.2,-12.4,216,2823,0.08,1.75,0.00,0.000,4356,0.121,0.037,2306,3844,3637,3699,3575,0,0,0,0,0,0,26.03,26.07,26.10
$GC,2847,-1.02,-194.6,2306,3845,3700,3577,389.1,-12.8,217,2854,0.00,1.65,0.00,0.000,1030,0.000,0.022,2306,2683,3637,3698,3576,0,0,0,0,0,0,26.13,26.10,26.13
$GC,3174,-1.00,-194.6,2306,2680,3699,3575,442.4,-16.3,228,3181,0.00,2.00,0.00,0.000,516,0.000,0.023,2306,1333,3637,3698,3576,0,0,0,0,0,0,26.06,26.09,26.12
$GC,3225,-0.98,-194.6,2305,1334,3696,3577,447.6,-16.3,229,3233,0.00,2.08,0.00,0.000,1030,0.000,0.026,2306,2702,3636,3697,3576,0,0,0,0,0,0,26.12,26.08,26.13
$GC,3538,-0.96,-194.6,2306,2702,3697,3575,501.6,-16.0,240,3543,0.10,0.00,0.00,0.000,2054,0.187,0.000,2327,2702,3634,3692,3576,0,0,0,0,0,0,25.95,26.11,26.08
$GC,3838,-0.96,-194.6,2325,2701,3696,3575,544.8,-14.2,250,3845,0.00,1.75,0.00,0.000,260,0.000,0.038,2322,3850,3635,3695,3575,0,0,0,0,0,0,26.06,26.07,26.11
$GC,3879,-0.96,-194.6,2322,3852,3699,3576,549.5,-14.2,251,3885,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2688,3634,3694,3575,0,0,0,0,0,0,26.13,26.10,26.13
$GC,4200,-0.96,-194.6,2322,2685,3694,3574,599.1,-15.1,262,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2684,3634,3693,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4500,-0.96,-194.6,2321,2684,3693,3575,643.0,-14.5,272,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2684,3634,3692,3576,0,0,0,0,0,0,26.06,26.13,26.12
$GC,4800,-0.96,-194.6,2321,2684,3692,3575,685.0,-13.8,282,4808,0.00,1.83,0.00,0.000,260,0.000,0.040,2319,3856,3632,3690,3575,0,0,0,0,0,0,26.06,26.06,26.11
$GC,4832,-0.96,-194.6,2318,3857,3692,3577,689.4,-13.6,283,4839,0.00,1.65,0.00,0.000,1030,0.000,0.022,2315,2699,3632,3690,3575,0,0,0,0,0,0,26.13,26.08,26.13
$GC,5164,-0.96,-194.6,2320,2696,3690,3577,734.0,-13.5,294,5173,0.00,1.83,0.00,0.000,260,0.000,0.040,2312,3855,3633,3690,3576,0,0,0,0,0,0,26.05,26.06,26.11
$GC,5197,-0.96,-194.6,2313,3855,3689,3576,738.5,-13.4,295,5205,0.00,1.70,0.00,0.000,1030,0.000,0.022,2312,2694,3632,3689,3575,0,0,0,0,0,0,26.11,26.10,26.11
$GC,5529,-0.96,-194.6,2312,2694,3689,3575,783.0,-13.2,306,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2694,3632,3688,3576,0,0,0,0,0,0,26.05,26.12,26.10
$GC,5829,-0.96,-194.6,2312,2696,3688,3578,822.7,-13.3,316,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2694,3631,3687,3575,0,0,0,0,0,0,26.04,26.12,26.10
$GC,6129,-0.96,-194.6,2312,2694,3688,3575,860.4,-12.3,326,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2694,3631,3687,3576,0,0,0,0,0,0,26.05,26.12,26.10
$GC,6429,-0.96,-194.6,2312,2694,3687,3576,897.8,-12.7,336,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2694,3631,3686,3576,0,0,0,0,0,0,26.05,26.12,26.10
$GC,6729,-0.96,-194.6,2312,2694,3687,3576,935.5,-12.3,346,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2695,3630,3685,3575,0,0,0,0,0,0,26.05,26.11,26.10
$GC,7029,-0.96,-194.6,2312,2694,3687,3575,973.6,-12.8,356,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2694,3630,3686,3575,0,0,0,0,0,0,26.04,26.15,26.10
$STATE,7178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7178,begin apogee
$GC,7182,-0.25,0.0,2313,2812,3686,3575,992.5,-12.5,361,7424,0.77,0.00,234.18,0.888,10246,0.122,0.000,2552,2812,2838,2876,2801,0,0,0,0,0,0,25.94,24.51,23.94
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7425,begin climb
$GC,7426,0.92,194.6,2553,2813,2873,2798,1004.1,0.0,369,7605,1.10,2.30,165.18,1.084,11012,0.061,0.020,2943,1423,2035,2072,1999,0,0,0,0,0,0,24.65,23.56,23.06
$GC,7714,0.88,253.6,2944,1423,2064,1988,995.2,8.8,378,7775,0.00,2.20,51.38,1.068,9222,0.000,0.026,2945,2796,1800,1840,1761,0,0,0,0,0,0,24.91,24.85,23.56
$GC,8085,0.84,253.6,2941,2795,1825,1739,948.2,12.4,391,8093,0.00,1.70,0.00,0.000,260,0.000,0.040,2945,3846,1781,1824,1739,0,0,0,0,0,0,25.46,25.48,25.53
$GC,8212,0.79,253.6,2945,3846,1824,1738,932.0,13.2,395,8222,0.12,1.50,0.00,0.000,5126,0.178,0.023,2917,2797,1780,1823,1738,0,0,0,0,0,0,25.56,25.67,25.69
$GC,8541,0.79,276.8,2917,2798,1825,1737,896.9,10.1,406,8566,0.00,0.00,19.73,1.022,8198,0.000,0.000,2917,2798,1710,1752,1668,0,0,0,0,0,0,25.87,25.42,24.74
$GC,8841,0.79,278.5,2918,2799,1737,1650,864.9,10.9,416,8849,0.00,1.65,0.00,0.000,260,0.000,0.040,2917,3856,1693,1737,1649,0,0,0,0,0,0,25.86,25.87,25.91
$GC,8903,0.77,278.5,2917,3857,1737,1649,857.6,11.1,418,8911,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2796,1691,1735,1648,0,0,0,0,0,0,25.96,25.92,25.96
$GC,9235,0.77,278.5,2918,2797,1736,1649,818.9,11.6,429,9245,0.00,1.67,0.00,0.000,260,0.000,0.041,2918,3846,1691,1735,1647,0,0,0,0,0,0,25.98,26.00,26.04
$GC,9293,0.77,278.5,2918,3845,1736,1646,814.8,11.9,430,9303,0.00,1.50,0.00,0.000,1030,0.000,0.024,2919,2781,1690,1735,1646,0,0,0,0,0,0,26.07,26.03,26.07
$GC,9599,0.77,278.5,2919,2781,1736,1646,774.9,12.0,441,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2781,1690,1735,1646,0,0,0,0,0,0,26.02,26.09,26.08
$GC,9899,0.77,278.5,2919,2781,1735,1645,740.2,11.4,451,9907,0.00,1.67,0.00,0.000,260,0.000,0.039,2918,3860,1690,1734,1646,0,0,0,0,0,0,26.04,26.05,26.10
$GC,9980,0.77,278.5,2918,3859,1736,1646,732.6,11.7,453,9988,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2797,1689,1733,1646,0,0,0,0,0,0,26.10,26.07,26.11
$GC,10293,0.77,283.0,2919,2798,1735,1646,695.9,10.8,464,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2797,1690,1734,1646,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10592,0.77,283.0,2919,2797,1735,1646,662.3,11.4,474,10599,0.00,1.65,0.00,0.000,260,0.000,0.040,2917,3861,1690,1734,1646,0,0,0,0,0,0,26.06,26.06,26.11
$GC,10663,0.77,283.0,2919,3861,1735,1645,654.8,11.9,476,10671,0.00,1.50,0.00,0.000,1030,0.000,0.024,2924,2803,1690,1734,1646,0,0,0,0,0,0,26.12,26.08,26.13
$GC,10985,0.77,283.0,2924,2804,1735,1647,615.6,11.7,487,10992,0.00,1.62,0.00,0.000,260,0.000,0.041,2924,3851,1689,1733,1646,0,0,0,0,0,0,26.04,26.05,26.10
$GC,11056,0.76,283.0,2924,3851,1734,1645,607.7,12.3,489,11065,0.10,1.50,0.00,0.000,5126,0.174,0.024,2911,2787,1689,1733,1645,0,0,0,0,0,0,25.93,26.08,26.07
$GC,11379,0.76,283.0,2910,2786,1734,1646,570.3,11.3,500,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2787,1689,1733,1646,0,0,0,0,0,0,26.04,26.11,26.10
$GC,11679,0.76,285.1,2911,2788,1734,1647,536.7,10.9,510,11687,0.00,1.65,0.00,0.000,260,0.000,0.041,2910,3852,1689,1733,1645,0,0,0,0,0,0,26.03,26.05,26.09
$GC,11771,0.76,285.1,2910,3851,1728,1645,526.1,11.2,513,11779,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2789,1686,1727,1645,0,0,0,0,0,0,26.11,26.08,26.11
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$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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