version: 66.12
glider: 203
mission: 6
dive: 148
start: 1 9 115 8 1 45
data:
$ID,203
$MISSION,6
$DIVE,148
$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,81
$R_STBD_OVSHOOT,40
$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
$GPS1,090115,075605,1900.0477,-15701.9609,28,0.8,28,9.5,0.6,151.7,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-64.1
$GPS2,090115,080134,1900.0081,-15701.9512,5,0.9,5,9.5,0.5,64.6,9,13.9
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,H6
$TGT_LATLONG,1921.740,-15701.310
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,355.4,40263,-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,-155.7,195,2877,1018,925,0.0,0.0,0,136,0.00,0.00,-36.67,0.000,16386,0.000,0.000,194,2876,2053,2075,2031,0,0,0,0,0,0,26.12,28.83,26.19
$GC,137,-0.90,-155.7,195,2875,2076,2031,3.2,-2.9,5,189,8.85,1.55,-31.85,0.000,18692,0.212,0.061,2495,3867,3244,3308,3181,0,0,0,0,0,0,25.72,24.51,25.88
$GC,431,-0.90,-155.7,2495,3867,3309,3183,69.9,-26.2,48,440,0.00,1.50,0.00,0.000,1030,0.000,0.022,2495,2792,3246,3308,3184,0,0,0,0,0,0,26.23,26.21,26.25
$GC,744,-0.90,-155.7,2494,2792,3309,3185,140.2,-19.1,79,752,0.00,1.48,0.00,0.000,516,0.000,0.021,2495,1770,3246,3307,3185,0,0,0,0,0,0,26.23,26.23,26.29
$GC,801,-0.90,-155.7,2494,1770,3309,3186,149.7,-18.8,84,811,0.10,1.52,0.00,0.000,3078,0.165,0.031,2510,2801,3246,3308,3185,0,0,0,0,0,0,25.99,26.18,26.13
$GC,1106,-0.90,-155.7,2509,2801,3311,3183,200.1,-15.5,115,1114,0.00,1.50,0.00,0.000,516,0.000,0.022,2510,1750,3248,3311,3186,0,0,0,0,0,0,26.25,26.23,26.31
$GC,1233,-0.90,-155.7,2510,1751,3314,3187,217.6,-14.2,127,1243,0.00,1.52,0.00,0.000,1030,0.000,0.031,2504,2782,3249,3313,3186,0,0,0,0,0,0,26.26,26.22,26.29
$GC,1559,-0.90,-155.7,2505,2783,3314,3189,262.3,-13.5,154,1567,0.00,1.62,0.00,0.000,260,0.000,0.043,2497,3857,3250,3313,3188,0,0,0,0,0,0,26.27,26.17,26.32
$GC,1741,-0.90,-155.7,2497,3857,3315,3188,288.7,-14.7,160,1750,0.00,1.50,0.00,0.000,1030,0.000,0.023,2497,2781,3250,3312,3188,0,0,0,0,0,0,26.32,26.29,26.32
$GC,2075,-0.90,-155.7,2497,2781,3314,3187,332.1,-12.4,171,2085,0.00,1.65,0.00,0.000,260,0.000,0.043,2489,3856,3250,3313,3187,0,0,0,0,0,0,26.28,26.18,26.32
$GC,2134,-0.90,-155.7,2489,3854,3313,3187,336.8,-12.8,172,2144,0.10,1.50,0.00,0.000,3078,0.158,0.024,2512,2788,3250,3312,3188,0,0,0,0,0,0,26.06,26.29,26.19
$GC,2440,-0.90,-155.7,2512,2787,3310,3187,374.9,-10.9,183,2447,0.00,1.62,0.00,0.000,260,0.000,0.044,2507,3846,3248,3309,3187,0,0,0,0,0,0,26.26,26.17,26.32
$GC,2546,-0.90,-155.7,2507,3847,3307,3188,385.5,-11.4,186,2553,0.00,1.52,0.00,0.000,1030,0.000,0.024,2507,2801,3246,3306,3187,0,0,0,0,0,0,26.28,26.26,26.30
$GC,2862,-0.90,-155.7,2506,2802,3302,3189,425.3,-12.3,197,2871,0.00,1.62,0.00,0.000,260,0.000,0.044,2498,3849,3245,3301,3189,0,0,0,0,0,0,26.25,26.10,26.32
$GC,2899,-0.90,-155.7,2499,3850,3301,3189,429.8,-12.7,198,2906,0.00,1.50,0.00,0.000,1030,0.000,0.026,2499,2801,3243,3300,3187,0,0,0,0,0,0,26.29,26.26,26.30
$GC,3226,-0.90,-155.7,2498,2802,3295,3189,472.6,-12.6,209,3233,0.00,1.67,0.00,0.000,260,0.000,0.048,2497,3843,3241,3295,3187,0,0,0,0,0,0,26.25,26.13,26.32
$GC,3367,-0.90,-155.7,2497,3845,3293,3189,488.5,-13.0,213,3374,0.00,1.50,0.00,0.000,1030,0.000,0.025,2497,2821,3239,3292,3187,0,0,0,0,0,0,26.27,26.26,26.28
$GC,3678,-0.90,-155.7,2497,2821,3289,3187,527.5,-11.3,224,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2821,3237,3288,3187,0,0,0,0,0,0,26.24,26.31,26.29
$GC,3979,-0.90,-155.7,2497,2820,3285,3186,560.5,-10.9,234,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2821,3235,3283,3187,0,0,0,0,0,0,26.23,26.29,26.29
$GC,4278,-0.90,-155.7,2497,2821,3282,3185,593.0,-11.0,244,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2821,3232,3280,3185,0,0,0,0,0,0,26.22,26.30,26.29
$GC,4578,-0.90,-155.7,2497,2820,3280,3183,626.6,-11.5,254,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2821,3231,3279,3183,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4878,-0.90,-155.7,2497,2820,3278,3182,660.5,-11.2,264,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2821,3229,3276,3182,0,0,0,0,0,0,26.20,26.27,26.27
$GC,5178,-0.90,-155.7,2497,2820,3275,3180,694.3,-11.3,274,5187,0.00,1.62,0.00,0.000,260,0.000,0.050,2490,3848,3227,3274,3181,0,0,0,0,0,0,26.20,26.06,26.26
$GC,5276,-0.90,-155.7,2490,3848,3274,3180,705.3,-11.8,277,5284,0.10,1.50,0.00,0.000,3078,0.161,0.026,2513,2809,3225,3271,3180,0,0,0,0,0,0,25.95,26.20,26.08
$GC,5603,-0.90,-155.7,2512,2810,3271,3180,741.7,-11.1,288,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2809,3224,3270,3179,0,0,0,0,0,0,26.18,26.26,26.25
$GC,5903,-0.90,-155.7,2512,2809,3270,3177,776.0,-11.5,298,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2809,3223,3269,3177,0,0,0,0,0,0,26.18,26.26,26.25
$GC,6203,-0.90,-155.7,2513,2810,3267,3176,810.2,-11.3,308,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2809,3220,3266,3175,0,0,0,0,0,0,26.17,26.25,26.24
$GC,6503,-0.90,-155.7,2512,2808,3265,3174,842.9,-10.6,318,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2809,3219,3264,3174,0,0,0,0,0,0,26.15,26.23,26.22
$GC,6803,-0.90,-155.7,2513,2809,3264,3174,874.1,-10.3,328,6810,0.00,1.65,0.00,0.000,260,0.000,0.049,2510,3846,3218,3263,3174,0,0,0,0,0,0,26.15,25.99,26.22
$GC,6849,-0.90,-155.7,2510,3847,3262,3175,877.3,-10.3,329,6856,0.00,1.50,0.00,0.000,1030,0.000,0.028,2510,2818,3217,3262,3173,0,0,0,0,0,0,26.20,26.16,26.24
$GC,7165,-0.90,-155.7,2511,2820,3262,3179,911.2,-9.9,340,7174,0.00,1.67,0.00,0.000,260,0.000,0.049,2504,3844,3217,3262,3172,0,0,0,0,0,0,26.13,25.99,26.20
$GC,7253,-0.90,-155.7,2504,3844,3262,3172,917.6,-10.1,342,7263,0.00,1.48,0.00,0.000,1030,0.000,0.028,2504,2867,3216,3261,3172,0,0,0,0,0,0,26.17,26.13,26.19
$GC,7558,-0.90,-155.7,2504,2868,3261,3172,949.6,-9.3,353,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2866,3215,3260,3171,0,0,0,0,0,0,26.13,26.20,26.20
$GC,7858,-0.90,-155.7,2504,2868,3260,3170,977.0,-9.0,363,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2867,3214,3259,3169,0,0,0,0,0,0,26.13,26.20,26.18
$STATE,8006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8007,begin apogee
$GC,8010,-0.19,0.0,2504,2947,3259,3168,990.6,-9.1,368,8145,0.75,0.00,125.47,1.059,10244,0.118,0.000,2737,2948,2609,2649,2570,0,0,0,0,0,0,25.74,24.94,24.24
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8147,0.90,155.7,2734,2948,2642,2561,993.5,0.0,372,8287,0.98,1.52,129.48,1.051,10500,0.073,0.051,3088,3843,1972,2012,1933,0,0,0,0,0,0,25.08,25.10,23.64
$GC,8511,0.90,155.7,3088,3842,1992,1909,963.5,12.1,384,8522,0.00,1.35,0.00,0.000,1030,0.000,0.028,3094,2951,1951,1990,1912,0,0,0,0,0,0,25.79,25.78,25.81
$GC,8817,0.90,155.7,3095,2952,1992,1909,925.1,11.6,395,8825,0.00,1.52,0.00,0.000,516,0.000,0.024,3102,1897,1948,1989,1908,0,0,0,0,0,0,26.10,26.10,26.17
$GC,9049,0.90,155.7,3103,1898,1988,1910,901.8,10.9,402,9058,0.00,1.60,0.00,0.000,1030,0.000,0.036,3105,2941,1947,1987,1907,0,0,0,0,0,0,26.17,26.10,26.19
$GC,9362,0.90,155.7,3103,2943,1988,1909,865.4,10.9,413,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2941,1946,1986,1907,0,0,0,0,0,0,26.17,26.25,26.24
$GC,9662,0.90,155.7,3104,2942,1987,1907,832.3,11.1,423,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2941,1945,1986,1905,0,0,0,0,0,0,26.17,26.25,26.23
$GC,9962,0.90,155.7,3102,2941,1986,1904,798.8,11.1,433,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2941,1945,1985,1905,0,0,0,0,0,0,26.16,26.24,26.23
$GC,10262,0.90,155.7,3102,2941,1986,1904,766.2,10.8,443,10271,0.00,1.48,0.00,0.000,260,0.000,0.048,3102,3852,1945,1985,1905,0,0,0,0,0,0,26.14,26.05,26.21
$GC,10335,0.90,155.7,3102,3852,1986,1905,759.0,11.1,445,10342,0.00,1.35,0.00,0.000,1030,0.000,0.028,3109,2946,1944,1984,1905,0,0,0,0,0,0,26.17,26.16,26.21
$GC,10656,0.90,155.7,3109,2952,1986,1904,723.1,10.5,456,10665,0.00,1.52,0.00,0.000,516,0.000,0.024,3117,1898,1945,1985,1905,0,0,0,0,0,0,26.14,26.12,26.20
$GC,10709,0.90,155.7,3117,1898,1986,1904,719.8,10.4,457,10716,0.00,1.65,0.00,0.000,1030,0.000,0.036,3123,2941,1945,1985,1905,0,0,0,0,0,0,26.10,26.08,26.14
$GC,11020,0.90,155.7,3116,2941,1985,1904,684.5,10.7,468,11028,0.00,1.48,0.00,0.000,260,0.000,0.048,3117,3851,1942,1980,1904,0,0,0,0,0,0,26.15,26.02,26.21
$GC,11077,0.90,155.7,3117,3853,1984,1906,680.9,10.7,469,11087,0.00,1.35,0.00,0.000,1030,0.000,0.028,3122,2947,1943,1983,1904,0,0,0,0,0,0,26.14,26.12,26.16
$GC,11382,0.90,155.7,3123,2947,1985,1904,645.5,10.5,480,11391,0.00,1.48,0.00,0.000,260,0.000,0.047,3123,3849,1943,1983,1903,0,0,0,0,0,0,26.11,25.99,26.18
$GC,11490,0.90,155.7,3123,3848,1984,1904,635.1,10.9,483,11498,0.00,1.33,0.00,0.000,1030,0.000,0.028,3127,2961,1943,1983,1904,0,0,0,0,0,0,26.12,26.11,26.15
$GC,11807,0.90,155.7,3128,2962,1984,1906,600.5,9.9,494,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2961,1943,1983,1904,0,0,0,0,0,0,26.10,26.17,26.17
$GC,12107,0.90,155.7,3127,2961,1984,1904,573.0,9.1,504,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2961,1943,1983,1904,0,0,0,0,0,0,26.10,26.17,26.20
$GC,12407,0.90,155.7,3128,2961,1984,1904,546.1,8.9,514,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2961,1943,1982,1904,0,0,0,0,0,0,26.09,26.17,26.15
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$STATE,17739,end climb,SURFACE_DEPTH_REACHED
$STATE,17739,begin surface coast
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$STATE,17755,end surface coast,CONTROL_FINISHED_OK
$STATE,17755,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
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