version: 66.12
glider: 203
mission: 6
dive: 33
start: 12 17 114 5 34 12
data:
$ID,203
$MISSION,6
$DIVE,33
$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,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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,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,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,91
$R_STBD_OVSHOOT,33
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,171214,052859,2015.5227,-15750.9014,39,0.8,39,9.6,0.0,0.0,10,15.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-61.5
$GPS2,171214,053402,2015.5038,-15750.8975,6,0.7,6,9.6,0.5,304.2,11,11.2
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,H2
$TGT_LATLONG,2002.880,-15801.350
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,208.3,29618,-17.8,-10.000,-19.47,2615
$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,92,-0.94,-170.3,180,2772,1020,915,0.0,0.0,0,135,0.00,0.00,-40.65,0.000,16386,0.000,0.000,178,2770,2188,2205,2172,0,0,0,0,0,0,26.87,28.83,26.95
$GC,137,-0.94,-170.3,179,2770,2208,2171,3.1,-3.8,6,179,8.52,1.42,-28.85,0.000,18948,0.217,0.048,2492,1758,3303,3362,3245,0,0,0,0,0,0,26.46,25.75,26.68
$GC,402,-0.94,-170.3,2492,1756,3364,3248,60.4,-24.6,54,411,0.00,1.52,0.00,0.000,1030,0.000,0.036,2487,2807,3305,3363,3247,0,0,0,0,0,0,26.90,26.84,26.92
$GC,715,-0.94,-170.3,2487,2808,3363,3251,130.6,-21.4,85,722,0.00,1.48,0.00,0.000,516,0.000,0.024,2487,1772,3306,3363,3250,0,0,0,0,0,0,27.14,26.99,27.20
$GC,791,-0.94,-170.3,2486,1772,3364,3250,144.4,-19.6,92,802,0.08,1.50,0.00,0.000,3078,0.204,0.035,2493,2781,3304,3363,3246,0,0,0,0,0,0,26.85,26.98,26.98
$GC,1096,-0.94,-170.3,2493,2781,3368,3251,200.4,-16.9,123,1103,0.00,1.42,0.00,0.000,516,0.000,0.024,2493,1769,3309,3367,3251,0,0,0,0,0,0,27.22,27.08,27.29
$GC,1152,-0.94,-170.3,2492,1772,3362,3252,210.2,-18.9,128,1162,0.00,1.50,0.00,0.000,1030,0.000,0.036,2488,2813,3309,3367,3252,0,0,0,0,0,0,27.10,27.05,27.12
$GC,1457,-0.94,-170.3,2488,2813,3368,3253,259.5,-15.1,155,1464,0.00,1.55,0.00,0.000,260,0.000,0.047,2482,3856,3310,3367,3253,0,0,0,0,0,0,27.27,27.08,27.34
$GC,1483,-0.94,-170.3,2480,3856,3367,3253,259.5,-15.1,155,1493,0.08,1.50,0.00,0.000,3078,0.202,0.026,2494,2769,3310,3367,3253,0,0,0,0,0,0,26.98,27.14,27.10
$GC,1788,-0.94,-170.3,2495,2769,3368,3253,306.4,-13.3,166,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2769,3310,3367,3253,0,0,0,0,0,0,27.30,27.37,27.36
$GC,2088,-0.94,-170.3,2497,2770,3364,3254,348.5,-13.9,176,2096,0.00,1.60,0.00,0.000,260,0.000,0.049,2489,3847,3309,3365,3253,0,0,0,0,0,0,27.32,27.13,27.39
$GC,2174,-0.94,-170.3,2489,3849,3366,3254,357.9,-14.7,178,2185,0.00,1.52,0.00,0.000,1030,0.000,0.026,2489,2752,3309,3365,3253,0,0,0,0,0,0,27.24,27.20,27.25
$GC,2480,-0.94,-170.3,2490,2753,3364,3254,402.9,-12.8,189,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2752,3307,3362,3252,0,0,0,0,0,0,27.34,27.43,27.41
$GC,2780,-0.94,-170.3,2488,2752,3358,3252,442.6,-13.4,199,2787,0.00,1.65,0.00,0.000,260,0.000,0.050,2484,3855,3304,3357,3252,0,0,0,0,0,0,27.36,27.15,27.43
$GC,2920,-0.94,-170.3,2483,3856,3355,3254,458.8,-13.5,203,2927,0.00,1.50,0.00,0.000,1030,0.000,0.028,2484,2763,3303,3355,3252,0,0,0,0,0,0,27.27,27.24,27.29
$GC,3231,-0.94,-170.3,2485,2765,3352,3252,500.6,-12.6,214,3240,0.00,1.67,0.00,0.000,260,0.000,0.050,2476,3852,3301,3352,3251,0,0,0,0,0,0,27.36,27.17,27.43
$GC,3333,-0.94,-170.3,2476,3853,3352,3250,513.5,-13.7,217,3341,0.10,1.50,0.00,0.000,3078,0.185,0.028,2497,2766,3300,3352,3248,0,0,0,0,0,0,27.06,27.24,27.20
$GC,3654,-0.94,-170.3,2497,2767,3349,3248,554.4,-12.4,228,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2766,3297,3349,3246,0,0,0,0,0,0,27.38,27.45,27.44
$GC,3955,-0.94,-170.3,2497,2767,3346,3245,589.0,-11.5,238,3962,0.00,1.62,0.00,0.000,260,0.000,0.053,2492,3846,3295,3346,3244,0,0,0,0,0,0,27.38,27.17,27.45
$GC,4000,-0.94,-170.3,2492,3848,3346,3244,592.8,-11.6,239,4008,0.00,1.50,0.00,0.000,1030,0.000,0.029,2492,2769,3294,3345,3243,0,0,0,0,0,0,27.29,27.25,27.30
$GC,4316,-0.94,-170.3,2492,2768,3342,3241,630.7,-11.7,250,4324,0.00,1.67,0.00,0.000,260,0.000,0.053,2484,3850,3291,3342,3241,0,0,0,0,0,0,27.39,27.18,27.46
$GC,4397,-0.94,-170.3,2485,3850,3343,3240,638.5,-12.3,252,4404,0.00,1.50,0.00,0.000,1030,0.000,0.029,2485,2769,3290,3341,3240,0,0,0,0,0,0,27.29,27.26,27.30
$GC,4708,-0.94,-170.3,2485,2772,3339,3240,680.0,-12.2,263,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2770,3288,3338,3239,0,0,0,0,0,0,27.39,27.46,27.45
$GC,5008,-0.94,-170.3,2484,2770,3337,3237,716.8,-12.1,273,5015,0.00,1.62,0.00,0.000,260,0.000,0.053,2478,3849,3286,3336,3237,0,0,0,0,0,0,27.39,27.18,27.46
$GC,5093,-0.94,-170.3,2478,3849,3337,3236,724.5,-12.3,275,5104,0.10,1.50,0.00,0.000,3078,0.193,0.030,2499,2773,3285,3335,3236,0,0,0,0,0,0,27.10,27.26,27.22
$GC,5399,-0.94,-170.3,2501,2775,3334,3236,762.5,-11.4,286,5406,0.00,1.62,0.00,0.000,260,0.000,0.055,2497,3846,3284,3334,3235,0,0,0,0,0,0,27.39,27.17,27.46
$GC,5435,-0.94,-170.3,2497,3847,3334,3235,766.1,-11.4,287,5442,0.00,1.50,0.00,0.000,1030,0.000,0.031,2497,2776,3283,3333,3234,0,0,0,0,0,0,27.29,27.25,27.30
$GC,5761,-0.94,-170.3,2497,2777,3330,3235,804.0,-11.3,298,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2776,3281,3329,3233,0,0,0,0,0,0,27.39,27.47,27.46
$GC,6061,-0.94,-170.3,2497,2776,3329,3229,837.9,-11.2,308,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2775,3278,3328,3228,0,0,0,0,0,0,27.39,27.47,27.46
$GC,6361,-0.94,-170.3,2496,2776,3327,3229,872.2,-11.4,318,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2776,3278,3327,3229,0,0,0,0,0,0,27.39,27.48,27.46
$GC,6661,-0.94,-170.3,2497,2776,3325,3228,905.6,-11.0,328,6669,0.00,1.62,0.00,0.000,260,0.000,0.056,2497,3846,3276,3324,3228,0,0,0,0,0,0,27.39,27.17,27.46
$GC,6732,-0.94,-170.3,2497,3846,3325,3227,912.4,-11.3,330,6739,0.00,1.50,0.00,0.000,1030,0.000,0.031,2497,2775,3275,3324,3227,0,0,0,0,0,0,27.29,27.26,27.31
$GC,7053,-0.94,-170.3,2497,2776,3324,3228,949.1,-10.9,341,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2775,3275,3323,3227,0,0,0,0,0,0,27.39,27.50,27.46
$GC,7353,-0.94,-170.3,2497,2776,3321,3228,981.4,-10.5,351,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2775,3273,3321,3226,0,0,0,0,0,0,27.39,27.47,27.46
$STATE,7442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7442,begin apogee
$GC,7445,-0.19,0.0,2498,2951,3321,3227,990.8,-10.5,354,7585,0.75,0.00,133.07,1.053,10244,0.134,0.000,2740,2949,2606,2656,2557,0,0,0,0,0,0,27.07,25.35,24.70
$STATE,7586,end apogee,CONTROL_FINISHED_OK
$STATE,7586,begin climb
$GC,7587,0.94,170.3,2740,2951,2649,2551,994.8,0.0,358,7735,1.02,1.50,136.93,1.043,10500,0.086,0.057,3101,3844,1912,1963,1861,0,0,0,0,0,0,25.52,25.55,24.49
$GC,7959,0.94,170.3,3101,3845,1942,1838,959.9,12.8,371,7968,0.00,1.33,0.00,0.000,1030,0.000,0.030,3108,2949,1889,1941,1838,0,0,0,0,0,0,26.34,26.34,26.38
$GC,8287,0.94,170.3,3108,2949,1935,1837,921.2,11.6,382,8295,0.00,1.55,0.00,0.000,516,0.000,0.027,3109,1897,1888,1939,1837,0,0,0,0,0,0,26.80,26.66,26.88
$GC,8478,0.94,170.3,3109,1897,1940,1837,900.8,11.1,388,8486,0.00,1.58,0.00,0.000,1030,0.000,0.039,3109,2952,1887,1938,1837,0,0,0,0,0,0,26.79,26.72,26.81
$GC,8800,0.94,170.3,3109,2948,1938,1838,862.5,11.5,399,8807,0.00,1.40,0.00,0.000,260,0.000,0.053,3109,3849,1887,1938,1836,0,0,0,0,0,0,27.03,26.82,27.10
$GC,8856,0.94,170.3,3109,3848,1938,1835,858.8,11.6,400,8866,0.00,1.30,0.00,0.000,1030,0.000,0.030,3116,2951,1886,1937,1835,0,0,0,0,0,0,26.94,26.92,26.95
$GC,9161,0.94,170.3,3115,2952,1936,1836,819.8,11.8,411,9168,0.00,1.50,0.00,0.000,516,0.000,0.026,3123,1878,1886,1936,1836,0,0,0,0,0,0,27.10,26.96,27.18
$GC,9242,0.94,170.3,3123,1878,1936,1838,812.7,11.7,413,9248,0.00,1.60,0.00,0.000,1030,0.000,0.039,3123,2954,1885,1936,1835,0,0,0,0,0,0,27.01,26.94,27.03
$GC,9552,0.94,170.3,3123,2955,1935,1836,772.0,12.3,424,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2954,1884,1935,1834,0,0,0,0,0,0,27.17,27.24,27.24
$GC,9852,0.94,170.3,3123,2954,1936,1834,735.3,11.9,434,9860,0.00,1.40,0.00,0.000,260,0.000,0.053,3123,3856,1884,1935,1834,0,0,0,0,0,0,27.18,27.01,27.28
$GC,9898,0.94,170.3,3123,3856,1935,1836,731.4,11.9,435,9906,0.00,1.30,0.00,0.000,1030,0.000,0.031,3129,2952,1884,1934,1834,0,0,0,0,0,0,27.10,27.08,27.11
$GC,10214,0.94,170.3,3129,2952,1935,1834,694.4,10.7,446,10222,0.00,1.42,0.00,0.000,260,0.000,0.053,3129,3860,1883,1933,1834,0,0,0,0,0,0,27.24,27.03,27.32
$GC,10270,0.94,170.3,3129,3860,1935,1833,691.1,10.7,447,10281,0.00,1.33,0.00,0.000,1030,0.000,0.031,3136,2939,1884,1934,1834,0,0,0,0,0,0,27.12,27.11,27.15
$GC,10575,0.94,170.3,3136,2939,1935,1833,656.6,10.4,458,10582,0.00,1.50,0.00,0.000,516,0.000,0.028,3138,1903,1881,1928,1834,0,0,0,0,0,0,27.26,27.11,27.33
$GC,10611,0.94,170.3,3136,1903,1935,1833,653.4,10.4,459,10618,0.00,1.52,0.00,0.000,1030,0.000,0.039,3137,2942,1883,1934,1833,0,0,0,0,0,0,27.14,27.07,27.17
$GC,10936,0.94,170.3,3137,2943,1934,1834,617.6,11.1,470,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2942,1883,1933,1833,0,0,0,0,0,0,27.27,27.36,27.35
$GC,11236,0.94,170.3,3136,2942,1934,1833,583.9,11.6,480,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2941,1883,1933,1833,0,0,0,0,0,0,27.29,27.37,27.36
$GC,11536,0.94,170.3,3136,2941,1934,1833,548.2,11.9,490,11544,0.00,1.42,0.00,0.000,260,0.000,0.054,3136,3860,1882,1932,1833,0,0,0,0,0,0,27.31,27.10,27.38
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$STATE,16636,end climb,SURFACE_DEPTH_REACHED
$STATE,16636,begin surface coast
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$STATE,16652,end surface coast,CONTROL_FINISHED_OK
$STATE,16652,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16660.16 8243.88
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$10V_AH,10.17,9.202
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