version: 66.12
glider: 203
mission: 6
dive: 194
start: 1 18 115 18 37 47
data:
$ID,203
$MISSION,6
$DIVE,194
$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,89
$R_STBD_OVSHOOT,38
$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
$GPS1,180115,183104,2013.8948,-15749.7139,25,0.9,25,9.6,0.8,151.9,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-65.4
$GPS2,180115,183736,2013.8257,-15749.7021,7,1.0,7,9.6,0.0,142.1,9,12.5
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,RECOVERY
$TGT_LATLONG,2109.516,-15808.905
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,334.9,108340,-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,-155.7,198,2796,1020,928,0.0,0.0,0,146,0.00,0.00,-43.10,0.000,16386,0.000,0.000,197,2795,2254,2278,2230,0,0,0,0,0,0,26.08,28.83,26.15
$GC,148,-0.90,-155.7,198,2796,2280,2232,3.5,-3.4,4,198,8.80,1.62,-22.33,0.000,18692,0.206,0.062,2497,3851,3245,3309,3181,0,0,0,0,0,0,25.60,24.31,25.89
$GC,429,-0.90,-155.7,2497,3853,3310,3184,62.9,-23.2,42,448,0.00,1.50,0.00,0.000,1030,0.000,0.023,2497,2789,3245,3309,3182,0,0,0,0,0,0,26.15,26.13,26.17
$GC,746,-0.90,-155.7,2497,2790,3310,3184,130.7,-20.8,73,757,0.00,1.65,0.00,0.000,260,0.000,0.041,2488,3859,3246,3309,3183,0,0,0,0,0,0,26.06,25.92,26.11
$GC,787,-0.90,-155.7,2489,3858,3310,3183,139.4,-21.1,76,799,0.05,1.52,0.00,0.000,3078,0.142,0.024,2503,2823,3246,3309,3183,0,0,0,0,0,0,25.84,26.06,25.89
$GC,1103,-0.90,-155.7,2504,2824,3310,3187,192.5,-16.7,107,1110,0.00,1.62,0.00,0.000,260,0.000,0.044,2498,3849,3251,3317,3186,0,0,0,0,0,0,26.18,26.03,26.24
$GC,1255,-0.90,-155.7,2499,3849,3311,3188,217.8,-17.5,122,1265,0.00,1.50,0.00,0.000,1030,0.000,0.023,2499,2789,3249,3310,3188,0,0,0,0,0,0,26.12,26.09,26.13
$GC,1589,-0.90,-155.7,2499,2789,3312,3188,268.1,-14.2,147,1596,0.00,1.50,0.00,0.000,516,0.000,0.022,2499,1727,3249,3311,3188,0,0,0,0,0,0,26.19,26.15,26.25
$GC,1625,-0.90,-155.7,2498,1727,3313,3188,272.3,-14.2,148,1632,0.00,1.65,0.00,0.000,1030,0.000,0.033,2497,2830,3250,3312,3188,0,0,0,0,0,0,26.14,26.08,26.17
$GC,1952,-0.90,-155.7,2497,2832,3312,3189,317.3,-13.5,159,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2830,3249,3311,3188,0,0,0,0,0,0,26.18,26.26,26.25
$GC,2251,-0.90,-155.7,2496,2831,3312,3187,355.6,-12.8,169,2259,0.00,1.58,0.00,0.000,260,0.000,0.044,2489,3861,3249,3311,3188,0,0,0,0,0,0,26.19,26.03,26.25
$GC,2387,-0.90,-155.7,2489,3863,3311,3189,372.2,-13.6,173,2395,0.10,1.50,0.00,0.000,3078,0.153,0.024,2512,2803,3248,3310,3187,0,0,0,0,0,0,25.92,26.17,26.03
$GC,2705,-0.90,-155.7,2513,2804,3307,3189,410.5,-11.5,184,2712,0.00,1.65,0.00,0.000,260,0.000,0.046,2507,3859,3246,3305,3187,0,0,0,0,0,0,26.18,26.01,26.25
$GC,2797,-0.90,-155.7,2507,3859,3305,3187,421.6,-12.0,187,2804,0.00,1.52,0.00,0.000,1030,0.000,0.024,2507,2796,3245,3304,3187,0,0,0,0,0,0,26.20,26.16,26.21
$GC,3129,-0.90,-155.7,2508,2798,3301,3188,460.2,-11.4,198,3138,0.00,1.67,0.00,0.000,260,0.000,0.047,2499,3859,3243,3299,3187,0,0,0,0,0,0,26.08,25.93,26.15
$GC,3176,-0.90,-155.7,2500,3858,3300,3187,464.3,-11.6,199,3184,0.00,1.50,0.00,0.000,1030,0.000,0.025,2499,2812,3242,3298,3187,0,0,0,0,0,0,26.18,26.15,26.20
$GC,3493,-0.90,-155.7,2499,2812,3296,3187,506.6,-13.0,210,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2812,3241,3295,3187,0,0,0,0,0,0,26.16,26.23,26.22
$GC,3793,-0.90,-155.7,2499,2813,3289,3188,543.0,-11.8,220,3800,0.00,1.52,0.00,0.000,516,0.000,0.022,2499,1749,3237,3288,3187,0,0,0,0,0,0,26.17,26.11,26.23
$GC,3859,-0.90,-155.7,2499,1748,3289,3187,549.9,-11.4,222,3866,0.00,1.67,0.00,0.000,1030,0.000,0.035,2498,2839,3237,3288,3187,0,0,0,0,0,0,26.09,26.02,26.12
$GC,4186,-0.90,-155.7,2497,2839,3284,3187,583.2,-9.8,233,4193,0.00,1.60,0.00,0.000,260,0.000,0.048,2497,3858,3234,3282,3187,0,0,0,0,0,0,26.15,25.95,26.21
$GC,4218,-0.90,-155.7,2497,3859,3283,3188,586.5,-9.8,234,4225,0.00,1.52,0.00,0.000,1030,0.000,0.026,2497,2813,3234,3282,3187,0,0,0,0,0,0,26.15,26.11,26.17
$GC,4550,-0.90,-155.7,2497,2813,3281,3184,619.8,-10.2,245,4557,0.00,1.65,0.00,0.000,260,0.000,0.049,2497,3850,3232,3280,3184,0,0,0,0,0,0,26.13,25.94,26.20
$GC,4651,-0.90,-155.7,2497,3851,3281,3185,629.5,-10.5,248,4658,0.00,1.50,0.00,0.000,1030,0.000,0.026,2497,2811,3231,3280,3183,0,0,0,0,0,0,26.15,26.11,26.16
$GC,4973,-0.90,-155.7,2497,2812,3278,3184,663.8,-10.5,259,4980,0.00,1.65,0.00,0.000,260,0.000,0.047,2490,3849,3229,3277,3182,0,0,0,0,0,0,26.13,25.93,26.20
$GC,5009,-0.90,-155.7,2490,3850,3278,3184,667.2,-10.5,260,5018,0.10,1.50,0.00,0.000,3078,0.158,0.027,2512,2819,3229,3277,3182,0,0,0,0,0,0,25.84,26.09,25.96
$GC,5337,-0.90,-155.7,2513,2825,3275,3187,699.7,-9.8,271,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2819,3227,3274,3181,0,0,0,0,0,0,26.10,26.17,26.15
$GC,5638,-0.90,-155.7,2513,2820,3274,3181,728.7,-9.7,281,5645,0.00,1.65,0.00,0.000,260,0.000,0.049,2510,3850,3225,3271,3179,0,0,0,0,0,0,26.14,25.89,26.20
$GC,5704,-0.90,-155.7,2510,3850,3272,3179,734.9,-9.7,283,5711,0.00,1.50,0.00,0.000,1030,0.000,0.027,2511,2818,3225,3271,3179,0,0,0,0,0,0,26.14,26.10,26.15
$GC,6031,-0.90,-155.7,2511,2818,3270,3179,766.6,-9.3,294,6039,0.00,1.55,0.00,0.000,516,0.000,0.024,2510,1749,3223,3269,3177,0,0,0,0,0,0,26.10,26.05,26.17
$GC,6068,-0.90,-155.7,2509,1749,3270,3177,769.8,-9.4,295,6076,0.00,1.70,0.00,0.000,1030,0.000,0.037,2509,2846,3222,3268,3177,0,0,0,0,0,0,26.01,25.94,26.03
$GC,6396,-0.90,-155.7,2510,2846,3267,3175,802.1,-10.1,306,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2846,3220,3266,3175,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6696,-0.90,-155.7,2511,2848,3264,3176,833.7,-10.8,316,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2847,3219,3264,3175,0,0,0,0,0,0,26.08,26.15,26.15
$GC,6995,-0.90,-155.7,2511,2848,3266,3175,867.2,-10.9,326,7003,0.00,1.60,0.00,0.000,260,0.000,0.049,2503,3856,3218,3263,3174,0,0,0,0,0,0,26.11,25.86,26.17
$GC,7041,-0.90,-155.7,2502,3857,3264,3175,870.8,-10.9,327,7050,0.00,1.50,0.00,0.000,1030,0.000,0.028,2503,2833,3218,3263,3174,0,0,0,0,0,0,26.06,26.03,26.07
$GC,7360,-0.90,-155.7,2503,2833,3263,3172,906.8,-10.4,338,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2833,3217,3262,3172,0,0,0,0,0,0,26.08,26.15,26.13
$GC,7660,-0.90,-155.7,2503,2833,3262,3170,935.9,-9.4,348,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2833,3215,3260,3171,0,0,0,0,0,0,26.09,26.17,26.16
$GC,7959,-0.90,-155.7,2503,2834,3261,3172,962.6,-9.1,358,7967,0.00,1.58,0.00,0.000,516,0.000,0.024,2502,1753,3215,3259,3171,0,0,0,0,0,0,26.06,26.01,26.13
$GC,8001,-0.90,-155.7,2502,1754,3260,3172,965.5,-9.1,359,8008,0.00,1.75,0.00,0.000,1030,0.000,0.037,2498,2844,3214,3259,3170,0,0,0,0,0,0,26.02,25.91,26.04
$STATE,8261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8262,begin apogee
$GC,8265,-0.19,0.0,2498,2957,3260,3169,991.4,-9.5,368,8407,0.77,0.00,129.12,1.634,10244,0.116,0.000,2739,2958,2610,2650,2571,0,0,0,0,1,0,25.61,23.98,22.94
$STATE,8407,end apogee,CONTROL_FINISHED_OK
$STATE,8407,begin climb
$GC,8409,0.90,155.7,2739,2957,2664,2570,995.4,0.0,372,8560,1.02,1.58,138.60,1.059,10500,0.070,0.050,3089,3846,1970,2009,1931,0,0,0,0,0,0,24.26,24.25,23.38
$GC,8589,1.06,260.6,3090,3846,1998,1916,990.8,5.0,378,8692,0.08,1.40,91.43,1.038,11270,0.055,0.027,3157,2963,1539,1583,1495,0,0,0,0,0,0,24.68,24.72,23.47
$GC,8984,1.06,260.6,3158,2964,1566,1476,926.9,16.2,392,8991,0.00,1.58,0.00,0.000,516,0.000,0.023,3163,1897,1519,1565,1474,0,0,0,0,0,0,25.94,25.95,26.01
$GC,9076,1.06,260.6,3163,1897,1566,1473,912.7,15.7,395,9083,0.00,1.62,0.00,0.000,1030,0.000,0.035,3163,2943,1518,1564,1473,0,0,0,0,0,0,26.06,26.00,26.09
$GC,9409,1.06,260.6,3163,2943,1565,1472,857.2,16.7,406,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2943,1517,1563,1472,0,0,0,0,0,0,26.15,26.22,26.22
$GC,9708,1.06,260.6,3163,2943,1563,1471,807.9,16.5,416,9715,0.00,1.55,0.00,0.000,516,0.000,0.024,3163,1895,1517,1563,1472,0,0,0,0,0,0,26.17,26.11,26.25
$GC,9744,1.06,260.6,3164,1896,1563,1473,802.9,16.2,417,9751,0.00,1.62,0.00,0.000,1030,0.000,0.035,3163,2948,1517,1563,1471,0,0,0,0,0,0,26.14,26.08,26.17
$GC,10071,1.06,260.6,3164,2947,1563,1471,750.0,16.0,428,10079,0.00,1.55,0.00,0.000,516,0.000,0.024,3164,1900,1516,1562,1471,0,0,0,0,0,0,26.15,26.12,26.21
$GC,10122,1.06,260.6,3163,1900,1562,1471,745.1,15.9,429,10129,0.00,1.60,0.00,0.000,1030,0.000,0.035,3163,2938,1517,1562,1472,0,0,0,0,0,0,26.12,26.06,26.15
$GC,10434,1.06,260.6,3163,2938,1563,1471,691.6,16.4,440,10441,0.00,1.55,0.00,0.000,516,0.000,0.024,3163,1895,1516,1561,1472,0,0,0,0,0,0,26.13,26.10,26.19
$GC,10465,1.06,260.6,3163,1895,1563,1470,686.5,16.5,441,10472,0.00,1.60,0.00,0.000,1030,0.000,0.035,3163,2926,1516,1562,1471,0,0,0,0,0,0,26.10,26.03,26.13
$GC,10797,1.06,260.6,3164,2927,1563,1474,631.9,16.4,452,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2926,1516,1561,1471,0,0,0,0,0,0,26.11,26.17,26.17
$GC,11097,1.06,260.6,3164,2925,1561,1470,584.3,15.4,462,11104,0.00,1.50,0.00,0.000,260,0.000,0.047,3164,3845,1516,1561,1471,0,0,0,0,0,0,26.10,25.95,26.17
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$STATE,15817,end climb,SURFACE_DEPTH_REACHED
$STATE,15817,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15863.88 7523.00
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