version: 66.12
glider: 203
mission: 6
dive: 54
start: 12 21 114 11 46 25
data:
$ID,203
$MISSION,6
$DIVE,54
$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,-3
$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,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,85
$R_STBD_OVSHOOT,42
$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
$GPS1,211214,114134,1936.5125,-15816.8789,31,0.8,31,9.5,0.0,0.0,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-65.4
$GPS2,211214,114615,1936.4905,-15816.8398,5,0.8,5,9.5,0.0,0.0,9,16.7
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H3
$TGT_LATLONG,1846.710,-15903.280
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,212.0,123005,-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,-155.7,187,2800,1021,917,0.0,0.0,0,139,0.00,0.00,-40.25,0.000,16386,0.000,0.000,186,2799,2167,2189,2146,0,0,0,0,0,0,26.98,28.83,27.06
$GC,140,-0.90,-155.7,187,2800,2190,2147,3.2,-4.3,6,182,8.50,1.62,-27.35,0.000,18692,0.216,0.063,2499,3853,3242,3301,3184,0,0,0,0,0,0,26.58,26.29,26.79
$GC,404,-0.90,-155.7,2499,3853,3302,3187,61.6,-25.1,50,417,0.00,1.48,0.00,0.000,1030,0.000,0.024,2499,2803,3244,3301,3188,0,0,0,0,0,0,27.01,26.97,27.02
$GC,711,-0.90,-155.7,2499,2803,3304,3187,133.4,-21.8,81,719,0.00,1.55,0.00,0.000,260,0.000,0.045,2491,3851,3245,3303,3188,0,0,0,0,0,0,27.18,26.98,27.24
$GC,888,-0.90,-155.7,2491,3853,3304,3192,167.9,-16.6,98,899,0.05,1.45,0.00,0.000,3078,0.149,0.024,2516,2817,3246,3303,3190,0,0,0,0,0,0,26.91,27.10,27.04
$GC,1193,-0.90,-155.7,2516,2817,3307,3190,217.1,-15.6,129,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2817,3248,3306,3190,0,0,0,0,0,0,27.27,27.34,27.34
$GC,1493,-0.90,-155.7,2516,2818,3309,3193,258.6,-13.1,155,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2817,3249,3308,3191,0,0,0,0,0,0,27.30,27.37,27.36
$GC,1793,-0.90,-155.7,2516,2817,3309,3192,298.2,-13.2,165,1800,0.00,1.52,0.00,0.000,260,0.000,0.047,2510,3849,3250,3307,3193,0,0,0,0,0,0,27.32,27.11,27.39
$GC,1984,-0.90,-155.7,2510,3849,3308,3192,321.9,-13.1,171,1992,0.00,1.45,0.00,0.000,1030,0.000,0.024,2516,2805,3250,3308,3192,0,0,0,0,0,0,27.21,27.21,27.27
$GC,2305,-0.90,-155.7,2512,2810,3306,3194,367.5,-13.4,182,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2808,3248,3305,3192,0,0,0,0,0,0,27.34,27.43,27.41
$GC,2605,-0.90,-155.7,2512,2810,3303,3193,404.6,-12.5,192,2613,0.00,1.55,0.00,0.000,260,0.000,0.048,2503,3852,3246,3301,3192,0,0,0,0,0,0,27.36,27.15,27.42
$GC,2791,-0.90,-155.7,2503,3852,3300,3192,429.1,-13.8,198,2798,0.00,1.42,0.00,0.000,1030,0.000,0.027,2504,2840,3245,3299,3192,0,0,0,0,0,0,27.27,27.24,27.27
$GC,3117,-0.90,-155.7,2503,2840,3296,3191,470.6,-12.4,209,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2840,3243,3295,3191,0,0,0,0,0,0,27.36,27.45,27.43
$GC,3417,-0.90,-155.7,2504,2840,3293,3188,509.0,-13.3,219,3424,0.00,1.50,0.00,0.000,260,0.000,0.050,2497,3847,3240,3292,3188,0,0,0,0,0,0,27.37,27.17,27.44
$GC,3563,-0.90,-155.7,2498,3847,3293,3187,526.2,-14.3,223,3574,0.00,1.45,0.00,0.000,1030,0.000,0.028,2498,2821,3239,3291,3187,0,0,0,0,0,0,27.27,27.24,27.31
$GC,3868,-0.90,-155.7,2497,2822,3289,3185,568.7,-12.0,234,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2821,3236,3288,3185,0,0,0,0,0,0,27.38,27.46,27.45
$GC,4168,-0.90,-155.7,2498,2822,3287,3184,604.2,-11.8,244,4176,0.00,1.55,0.00,0.000,260,0.000,0.050,2490,3857,3235,3287,3183,0,0,0,0,0,0,27.38,27.17,27.45
$GC,4224,-0.90,-155.7,2491,3858,3287,3184,608.1,-12.0,245,4235,0.05,1.45,0.00,0.000,3078,0.145,0.028,2517,2841,3234,3286,3182,0,0,0,0,0,0,27.09,27.26,27.20
$GC,4530,-0.90,-155.7,2517,2840,3284,3181,644.2,-10.5,256,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2841,3232,3283,3181,0,0,0,0,0,0,27.39,27.46,27.45
$GC,4829,-0.90,-155.7,2517,2842,3282,3180,674.3,-10.0,266,4838,0.00,1.50,0.00,0.000,260,0.000,0.052,2512,3843,3229,3281,3178,0,0,0,0,0,0,27.39,27.17,27.45
$GC,4892,-0.90,-155.7,2512,3844,3281,3179,680.5,-9.9,268,4899,0.00,1.42,0.00,0.000,1030,0.000,0.028,2512,2847,3229,3280,3178,0,0,0,0,0,0,27.27,27.25,27.29
$GC,5223,-0.90,-155.7,2511,2847,3279,3175,711.4,-9.4,279,5232,0.00,1.50,0.00,0.000,260,0.000,0.052,2503,3846,3227,3279,3176,0,0,0,0,0,0,27.38,27.17,27.45
$GC,5336,-0.90,-155.7,2504,3847,3278,3175,720.6,-9.8,282,5343,0.00,1.42,0.00,0.000,1030,0.000,0.029,2504,2852,3226,3278,3175,0,0,0,0,0,0,27.27,27.25,27.29
$GC,5646,-0.90,-155.7,2504,2853,3276,3174,755.1,-10.8,293,5653,0.00,1.50,0.00,0.000,260,0.000,0.052,2498,3849,3224,3275,3174,0,0,0,0,0,0,27.39,27.15,27.45
$GC,5702,-0.90,-155.7,2498,3850,3270,3175,758.5,-11.0,294,5712,0.00,1.42,0.00,0.000,1030,0.000,0.029,2498,2857,3223,3274,3173,0,0,0,0,0,0,27.27,27.24,27.29
$GC,6007,-0.90,-155.7,2498,2858,3273,3173,797.3,-11.7,305,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2856,3222,3272,3172,0,0,0,0,0,0,27.38,27.46,27.45
$GC,6307,-0.90,-155.7,2498,2858,3271,3172,832.6,-11.9,315,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2857,3221,3272,3170,0,0,0,0,0,0,27.39,27.46,27.45
$GC,6607,-0.90,-155.7,2498,2856,3270,3168,869.5,-12.4,325,6614,0.00,1.50,0.00,0.000,260,0.000,0.054,2496,3850,3218,3269,3168,0,0,0,0,0,0,27.38,27.17,27.46
$GC,6643,-0.90,-155.7,2497,3850,3270,3168,873.3,-12.3,326,6651,0.00,1.45,0.00,0.000,1030,0.000,0.030,2496,2842,3218,3268,3168,0,0,0,0,0,0,27.27,27.24,27.31
$GC,6970,-0.90,-155.7,2497,2842,3267,3166,914.7,-12.1,337,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2841,3216,3266,3167,0,0,0,0,0,0,27.38,27.46,27.45
$GC,7270,-0.90,-155.7,2497,2843,3266,3168,948.3,-10.8,347,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2841,3216,3265,3167,0,0,0,0,0,0,27.38,27.46,27.45
$GC,7570,-0.90,-155.7,2496,2843,3266,3168,978.0,-9.5,357,7577,0.00,1.52,0.00,0.000,260,0.000,0.054,2497,3849,3215,3264,3166,0,0,0,0,0,0,27.39,27.16,27.44
$GC,7606,-0.90,-155.7,2497,3848,3265,3166,980.9,-9.5,358,7613,0.00,1.45,0.00,0.000,1030,0.000,0.031,2497,2844,3213,3263,3163,0,0,0,0,0,0,27.27,27.25,27.31
$STATE,7720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7720,begin apogee
$GC,7723,-0.19,0.0,2498,2945,3265,3166,992.0,-9.2,362,7852,0.73,0.00,121.90,1.047,10244,0.124,0.000,2734,2944,2607,2657,2557,0,0,0,0,0,0,27.05,25.41,24.77
$STATE,7853,end apogee,CONTROL_FINISHED_OK
$STATE,7853,begin climb
$GC,7854,0.90,155.7,2735,2944,2650,2548,994.0,0.0,366,7990,0.98,1.50,125.38,1.040,10500,0.077,0.054,3094,3844,1971,2021,1922,0,0,0,0,0,0,25.59,25.61,24.56
$GC,8213,0.90,155.7,3094,3845,2001,1898,959.2,12.9,377,8221,0.00,1.33,0.00,0.000,1030,0.000,0.028,3100,2944,1948,2000,1897,0,0,0,0,0,0,26.37,26.36,26.39
$GC,8529,0.90,155.7,3099,2945,1999,1899,920.1,11.7,388,8538,0.00,1.52,0.00,0.000,516,0.000,0.024,3109,1867,1948,1998,1898,0,0,0,0,0,0,26.82,26.67,26.89
$GC,8736,0.90,155.7,3115,1867,1998,1898,899.8,11.1,394,8746,0.00,1.62,0.00,0.000,1030,0.000,0.037,3108,2955,1946,1997,1896,0,0,0,0,0,0,26.81,26.74,26.83
$GC,9041,0.90,155.7,3108,2958,1996,1897,863.3,11.0,405,9049,0.00,1.52,0.00,0.000,516,0.000,0.025,3115,1883,1945,1996,1895,0,0,0,0,0,0,27.04,26.89,27.11
$GC,9078,0.90,155.7,3116,1883,1998,1895,859.7,11.1,406,9085,0.00,1.58,0.00,0.000,1030,0.000,0.038,3116,2945,1945,1996,1895,0,0,0,0,0,0,26.92,26.86,26.95
$GC,9404,0.90,155.7,3116,2946,1996,1896,823.0,11.1,417,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2945,1945,1995,1895,0,0,0,0,0,0,27.12,27.20,27.19
$GC,9704,0.90,155.7,3115,2945,1995,1893,788.7,11.4,427,9712,0.00,1.52,0.00,0.000,516,0.000,0.025,3123,1871,1944,1994,1894,0,0,0,0,0,0,27.17,27.02,27.24
$GC,9740,0.90,155.7,3123,1872,1994,1895,785.2,11.3,428,9747,0.00,1.58,0.00,0.000,1030,0.000,0.038,3123,2938,1944,1994,1894,0,0,0,0,0,0,27.04,26.98,27.07
$GC,10066,0.90,155.7,3123,2936,1994,1895,746.7,11.7,439,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2938,1943,1993,1894,0,0,0,0,0,0,27.21,27.29,27.28
$GC,10366,0.90,155.7,3123,2937,1994,1893,712.5,11.4,449,10374,0.00,1.42,0.00,0.000,260,0.000,0.051,3123,3855,1943,1993,1893,0,0,0,0,0,0,27.24,27.03,27.31
$GC,10473,0.90,155.7,3124,3857,1994,1895,701.3,12.0,452,10480,0.00,1.30,0.00,0.000,1030,0.000,0.030,3129,2947,1943,1993,1893,0,0,0,0,0,0,27.13,27.11,27.15
$GC,10790,0.90,155.7,3129,2947,1994,1892,665.6,10.5,463,10797,0.00,1.42,0.00,0.000,260,0.000,0.051,3129,3857,1943,1993,1893,0,0,0,0,0,0,27.26,27.05,27.33
$GC,10955,0.90,155.7,3129,3858,1994,1894,647.9,11.8,468,10962,0.00,1.27,0.00,0.000,1030,0.000,0.030,3136,2963,1942,1992,1892,0,0,0,0,0,0,27.16,27.14,27.17
$GC,11271,0.90,155.7,3137,2963,1994,1892,613.5,10.3,479,11277,0.08,0.00,0.00,0.000,4102,0.210,0.000,3123,2963,1942,1992,1893,0,0,0,0,0,0,27.04,27.15,27.14
$GC,11571,0.90,155.7,3124,2964,1993,1893,585.1,9.7,489,11578,0.00,1.52,0.00,0.000,516,0.000,0.026,3126,1870,1942,1992,1892,0,0,0,0,0,0,27.30,27.15,27.36
$GC,11641,0.90,155.7,3129,1870,1993,1892,579.1,9.8,491,11649,0.00,1.62,0.00,0.000,1030,0.000,0.039,3129,2971,1942,1992,1892,0,0,0,0,0,0,27.17,27.10,27.20
$GC,11963,0.90,155.7,3128,2971,1993,1891,544.7,10.5,502,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2971,1942,1992,1892,0,0,0,0,0,0,27.31,27.39,27.39
$GC,12263,0.90,155.7,3129,2971,1993,1892,513.2,10.3,512,12271,0.00,1.52,0.00,0.000,516,0.000,0.025,3137,1891,1942,1992,1892,0,0,0,0,0,0,27.32,27.17,27.39
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$GC,14623,0.99,155.7,3150,1909,1993,1892,298.0,8.4,590,14630,0.00,1.55,0.00,0.000,1030,0.000,0.038,3150,2967,1942,1992,1892,0,0,0,0,0,0,27.22,27.15,27.24
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$STATE,17757,end climb,SURFACE_DEPTH_REACHED
$STATE,17757,begin surface coast
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$STATE,17762,end surface coast,CONTROL_FINISHED_OK
$STATE,17762,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17777.51 8570.41
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$10V_AH,10.11,24.518
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