version: 66.12
glider: 203
mission: 6
dive: 125
start: 1 4 115 14 25 11
data:
$ID,203
$MISSION,6
$DIVE,125
$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,90
$R_STBD_OVSHOOT,31
$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
$GPS1,040115,141905,1842.1637,-15728.8740,35,1.1,35,9.4,0.0,0.0,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-63.8
$GPS2,040115,142500,1842.1470,-15728.9033,16,1.0,16,9.4,0.4,237.6,8,3.8
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H5
$TGT_LATLONG,1847.590,-15702.740
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,40.1,46965,-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,-155.7,188,2780,1020,930,0.0,0.0,0,143,0.00,0.00,-43.80,0.000,16386,0.000,0.000,186,2781,2270,2304,2237,0,0,0,0,0,0,26.13,28.83,26.20
$GC,145,-0.90,-155.7,187,2782,2302,2240,3.2,-4.5,6,185,8.85,1.52,-23.88,0.000,18948,0.210,0.044,2502,1759,3244,3307,3182,0,0,0,0,0,0,25.72,24.57,25.87
$GC,367,-0.90,-155.7,2502,1759,3309,3183,52.2,-21.3,45,376,0.00,1.58,0.00,0.000,1030,0.000,0.033,2497,2812,3245,3308,3183,0,0,0,0,0,0,26.20,26.14,26.22
$GC,680,-0.90,-155.7,2497,2813,3309,3185,126.6,-23.6,76,690,0.00,1.62,0.00,0.000,260,0.000,0.044,2488,3853,3245,3307,3184,0,0,0,0,0,0,26.22,26.15,26.28
$GC,805,-0.90,-155.7,2489,3855,3310,3187,153.4,-18.1,88,813,0.05,1.50,0.00,0.000,3078,0.145,0.023,2503,2829,3247,3308,3186,0,0,0,0,0,0,26.04,26.25,26.10
$GC,1117,-0.90,-155.7,2504,2828,3311,3189,211.6,-18.7,119,1124,0.00,1.52,0.00,0.000,516,0.000,0.022,2504,1761,3249,3310,3189,0,0,0,0,0,0,26.26,26.23,26.31
$GC,1199,-0.90,-155.7,2505,1760,3312,3189,224.4,-15.2,127,1206,0.00,1.55,0.00,0.000,1030,0.000,0.033,2499,2798,3249,3310,3189,0,0,0,0,0,0,26.27,26.22,26.30
$GC,1520,-0.90,-155.7,2500,2800,3313,3191,271.8,-13.9,149,1529,0.00,1.65,0.00,0.000,260,0.000,0.045,2491,3855,3253,3313,3194,0,0,0,0,0,0,26.25,26.18,26.32
$GC,1593,-0.90,-155.7,2492,3855,3313,3189,281.1,-14.5,151,1600,0.08,1.50,0.00,0.000,3078,0.177,0.024,2506,2790,3251,3312,3190,0,0,0,0,0,0,26.11,26.29,26.22
$GC,1915,-0.90,-155.7,2505,2790,3312,3189,323.5,-12.6,162,1923,0.00,1.50,0.00,0.000,516,0.000,0.023,2506,1730,3250,3312,3189,0,0,0,0,0,0,26.27,26.27,26.33
$GC,1942,-0.90,-155.7,2505,1730,3312,3190,323.5,-12.6,162,1952,0.00,1.60,0.00,0.000,1030,0.000,0.034,2501,2798,3250,3312,3189,0,0,0,0,0,0,26.29,26.23,26.30
$GC,2247,-0.90,-155.7,2501,2801,3312,3191,366.9,-13.4,173,2256,0.00,1.60,0.00,0.000,260,0.000,0.045,2497,3853,3249,3310,3189,0,0,0,0,0,0,26.26,26.19,26.32
$GC,2410,-0.90,-155.7,2497,3854,3309,3190,386.9,-13.0,178,2419,0.00,1.50,0.00,0.000,1030,0.000,0.024,2497,2790,3248,3308,3189,0,0,0,0,0,0,26.32,26.29,26.32
$GC,2734,-0.90,-155.7,2497,2789,3306,3189,428.5,-12.5,189,2741,0.00,1.65,0.00,0.000,260,0.000,0.047,2489,3853,3245,3302,3189,0,0,0,0,0,0,26.26,26.18,26.32
$GC,2830,-0.90,-155.7,2488,3853,3301,3189,441.0,-13.4,192,2838,0.10,1.50,0.00,0.000,3078,0.162,0.025,2512,2796,3245,3301,3189,0,0,0,0,0,0,26.06,26.28,26.19
$GC,3157,-0.90,-155.7,2512,2796,3297,3189,481.9,-12.4,203,3166,0.00,1.65,0.00,0.000,260,0.000,0.047,2506,3856,3242,3295,3189,0,0,0,0,0,0,26.24,26.17,26.31
$GC,3215,-0.90,-155.7,2506,3857,3296,3190,486.5,-12.7,204,3225,0.00,1.50,0.00,0.000,1030,0.000,0.026,2506,2806,3242,3295,3189,0,0,0,0,0,0,26.31,26.28,26.32
$GC,3520,-0.90,-155.7,2506,2806,3290,3189,525.9,-11.3,215,3528,0.00,1.62,0.00,0.000,260,0.000,0.047,2498,3852,3239,3290,3189,0,0,0,0,0,0,26.25,26.16,26.32
$GC,3612,-0.90,-155.7,2498,3852,3289,3189,537.0,-11.9,218,3621,0.00,1.50,0.00,0.000,1030,0.000,0.027,2498,2803,3238,3288,3189,0,0,0,0,0,0,26.27,26.24,26.29
$GC,3946,-0.90,-155.7,2499,2803,3285,3189,574.8,-11.2,229,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2803,3236,3284,3189,0,0,0,0,0,0,26.21,26.29,26.27
$GC,4245,-0.90,-155.7,2498,2805,3281,3190,608.0,-11.0,239,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2809,3233,3279,3188,0,0,0,0,0,0,26.23,26.30,26.29
$GC,4545,-0.90,-155.7,2499,2804,3280,3185,642.6,-11.4,249,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2804,3232,3278,3186,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4845,-0.90,-155.7,2498,2803,3278,3183,678.1,-11.7,259,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2803,3230,3277,3184,0,0,0,0,0,0,26.22,26.29,26.28
$GC,5145,-0.90,-155.7,2498,2803,3275,3182,713.7,-11.8,269,5154,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3850,3227,3273,3182,0,0,0,0,0,0,26.21,26.12,26.27
$GC,5193,-0.90,-155.7,2497,3850,3274,3182,717.6,-11.8,270,5200,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2812,3227,3273,3182,0,0,0,0,0,0,26.27,26.23,26.28
$GC,5509,-0.90,-155.7,2498,2813,3272,3182,758.2,-12.2,281,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2812,3226,3272,3181,0,0,0,0,0,0,26.22,26.29,26.27
$GC,5809,-0.90,-155.7,2497,2812,3271,3180,794.6,-12.1,291,5819,0.00,1.52,0.00,0.000,516,0.000,0.024,2497,1754,3224,3268,3180,0,0,0,0,0,0,26.19,26.19,26.26
$GC,5852,-0.90,-155.7,2498,1754,3271,3180,798.8,-12.2,292,5861,0.00,1.67,0.00,0.000,1030,0.000,0.037,2497,2842,3224,3269,3180,0,0,0,0,0,0,26.19,26.11,26.22
$GC,6175,-0.90,-155.7,2497,2843,3267,3179,840.3,-12.5,303,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2843,3226,3273,3179,0,0,0,0,0,0,26.19,26.25,26.25
$GC,6475,-0.90,-155.7,2497,2844,3265,3178,876.3,-11.9,313,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2843,3220,3264,3177,0,0,0,0,0,0,26.17,26.25,26.24
$GC,6775,-0.90,-155.7,2497,2842,3266,3175,912.3,-11.9,323,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2843,3219,3263,3175,0,0,0,0,0,0,26.17,26.24,26.26
$GC,7075,-0.90,-155.7,2496,2842,3263,3174,948.0,-11.9,333,7084,0.00,1.58,0.00,0.000,260,0.000,0.051,2497,3850,3218,3262,3175,0,0,0,0,0,0,26.17,26.05,26.23
$GC,7117,-0.90,-155.7,2497,3851,3263,3175,952.8,-12.4,334,7126,0.00,1.50,0.00,0.000,1030,0.000,0.028,2497,2821,3217,3261,3174,0,0,0,0,0,0,26.19,26.15,26.21
$GC,7441,-0.90,-155.7,2498,2820,3263,3173,987.7,-10.5,345,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2820,3216,3260,3173,0,0,0,0,0,0,26.15,26.22,26.22
$STATE,7468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7469,begin apogee
$GC,7472,-0.19,0.0,2498,2958,3262,3175,990.9,-10.5,346,7610,0.77,0.00,125.75,1.470,10244,0.119,0.000,2739,2956,2608,2646,2570,0,0,0,0,1,0,25.82,24.54,23.66
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7612,0.90,155.7,2740,2958,2662,2571,995.5,0.0,350,7758,0.98,1.55,136.00,1.043,10500,0.073,0.051,3084,3853,1972,2010,1934,0,0,0,0,0,0,24.74,24.75,23.50
$GC,7982,0.90,155.7,3084,3854,1992,1914,967.2,11.1,363,7990,0.00,1.38,0.00,0.000,1030,0.000,0.027,3091,2941,1952,1991,1913,0,0,0,0,0,0,25.70,25.69,25.72
$GC,8309,0.90,155.7,3092,2945,1991,1911,934.2,9.9,374,8317,0.00,1.58,0.00,0.000,516,0.000,0.024,3100,1897,1950,1989,1911,0,0,0,0,0,0,26.06,26.08,26.13
$GC,8470,0.90,155.7,3100,1896,1990,1910,920.2,9.2,379,8477,0.00,1.62,0.00,0.000,1030,0.000,0.035,3100,2954,1949,1988,1911,0,0,0,0,0,0,26.14,26.08,26.16
$GC,8791,0.90,155.7,3100,2956,1988,1911,887.7,9.8,390,8800,0.00,1.45,0.00,0.000,260,0.000,0.048,3100,3856,1948,1987,1910,0,0,0,0,0,0,26.17,26.11,26.23
$GC,8849,0.90,155.7,3100,3857,1987,1911,884.1,10.0,391,8859,0.00,1.35,0.00,0.000,1030,0.000,0.028,3107,2949,1949,1986,1912,0,0,0,0,0,0,26.21,26.19,26.22
$GC,9154,0.90,155.7,3107,2950,1987,1911,850.4,9.9,402,9161,0.00,1.48,0.00,0.000,260,0.000,0.049,3107,3861,1948,1986,1910,0,0,0,0,0,0,26.17,26.12,26.25
$GC,9200,0.90,155.7,3107,3861,1986,1909,847.1,10.1,403,9207,0.00,1.35,0.00,0.000,1030,0.000,0.028,3112,2957,1947,1985,1909,0,0,0,0,0,0,26.20,26.19,26.22
$GC,9516,0.90,155.7,3113,2956,1987,1908,813.0,10.3,414,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2956,1946,1985,1908,0,0,0,0,0,0,26.17,26.24,26.23
$GC,9816,0.90,155.7,3113,2956,1986,1908,783.7,9.8,424,9825,0.00,1.52,0.00,0.000,516,0.000,0.024,3121,1895,1946,1985,1908,0,0,0,0,0,0,26.17,26.18,26.24
$GC,9863,0.90,155.7,3121,1896,1986,1909,780.6,9.7,425,9870,0.00,1.62,0.00,0.000,1030,0.000,0.036,3121,2955,1946,1985,1908,0,0,0,0,0,0,26.17,26.10,26.20
$GC,10179,0.90,155.7,3122,2956,1984,1909,747.8,10.0,436,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2954,1946,1984,1908,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10479,0.90,155.7,3121,2954,1985,1907,718.0,9.9,446,10487,0.00,1.45,0.00,0.000,260,0.000,0.048,3121,3854,1945,1984,1907,0,0,0,0,0,0,26.14,26.06,26.21
$GC,10515,0.90,155.7,3121,3854,1985,1907,714.7,9.8,447,10522,0.00,1.35,0.00,0.000,1030,0.000,0.028,3126,2952,1945,1983,1907,0,0,0,0,0,0,26.18,26.16,26.21
$GC,10841,0.90,155.7,3124,2952,1985,1907,682.2,9.9,458,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2952,1945,1984,1907,0,0,0,0,0,0,26.15,26.23,26.22
$GC,11141,0.90,155.7,3126,2951,1984,1906,651.4,10.5,468,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2952,1944,1983,1906,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11441,0.90,155.7,3127,2953,1983,1908,619.2,10.5,478,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2952,1944,1982,1907,0,0,0,0,0,0,26.13,26.20,26.19
$GC,11741,0.90,155.7,3126,2952,1984,1906,588.1,10.1,488,11749,0.00,1.55,0.00,0.000,516,0.000,0.024,3134,1888,1944,1983,1906,0,0,0,0,0,0,26.11,26.13,26.18
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$GC,12828,0.92,155.7,3123,2932,1983,1908,479.1,8.4,524,12837,0.00,1.50,0.00,0.000,260,0.000,0.047,3123,3849,1944,1982,1906,0,0,0,0,0,0,26.10,26.00,26.17
$GC,12876,0.93,155.7,3123,3850,1983,1909,476.0,8.5,525,12883,0.00,1.35,0.00,0.000,1030,0.000,0.028,3126,2945,1944,1982,1906,0,0,0,0,0,0,26.13,26.10,26.15
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$GC,13492,0.93,155.7,3127,2946,1983,1908,415.5,9.5,546,13502,0.00,1.48,0.00,0.000,260,0.000,0.048,3126,3849,1944,1982,1907,0,0,0,0,0,0,26.09,25.99,26.15
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$STATE,17837,end climb,SURFACE_DEPTH_REACHED
$STATE,17837,begin surface coast
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$STATE,17849,end surface coast,CONTROL_FINISHED_OK
$STATE,17849,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,17851.80 8660.10
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$10V_AH,10.26,31.782
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$FG_AHR_10Vo,0.000
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$MEM,287792
$DATA_FILE_SIZE,40003,885
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$CFSIZE,1024393216,1006567424
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