version: 66.12
glider: 203
mission: 8
dive: 117
start: 8 1 115 6 6 39
data:
$ID,203
$MISSION,8
$DIVE,117
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$D_ABORT,1020
$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,300
$T_MISSION,330
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,102
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$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,-62.66111
$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
$GPS1,010815,060104,5654.0942,-14959.5850,36,0.9,37,16.8,0.0,0.0,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-64.1
$GPS2,010815,060628,5654.1016,-14959.5840,5,0.9,11,16.8,0.0,0.0,10,10.0
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP8
$TGT_LATLONG,5633.536,-15002.901
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,180.2,38238,-17.4,-10.556,-19.06,2832
$D_GRID,1000
$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,-0.89,-194.6,191,2710,804,680,0.0,0.0,0,146,0.00,0.00,-46.38,0.000,16386,0.000,0.000,191,2709,1954,2002,1906,0,0,0,0,0,0,26.01,28.83,26.08
$GC,147,-0.89,-194.6,192,2706,2003,1907,3.1,-3.2,7,214,8.60,1.80,-44.35,0.000,18692,0.233,0.057,2341,3848,3636,3707,3566,0,0,0,0,0,0,25.65,24.57,25.92
$GC,274,-0.82,-194.6,2341,3849,3708,3569,26.7,-25.7,25,290,0.12,1.62,0.00,0.000,3078,0.156,0.020,2369,2680,3638,3707,3570,0,0,0,0,0,0,25.86,26.08,26.01
$GC,592,-0.80,-194.6,2370,2681,3708,3574,85.2,-17.4,66,600,0.00,1.98,0.00,0.000,516,0.000,0.022,2369,1344,3639,3707,3572,0,0,0,0,0,0,26.10,26.12,26.17
$GC,643,-0.80,-194.6,2370,1346,3708,3574,92.7,-15.6,70,655,0.00,2.05,0.00,0.000,1030,0.000,0.024,2363,2709,3639,3707,3572,0,0,0,0,0,0,26.16,26.11,26.17
$GC,950,-0.80,-194.6,2364,2710,3709,3575,142.6,-14.8,101,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2709,3640,3707,3573,0,0,0,0,0,0,26.13,26.19,26.18
$GC,1250,-0.80,-194.6,2364,2710,3708,3574,184.9,-12.8,131,1258,0.00,1.73,0.00,0.000,260,0.000,0.038,2363,3844,3640,3707,3573,0,0,0,0,0,0,26.13,26.08,26.19
$GC,1287,-0.80,-194.6,2363,3844,3709,3573,189.2,-13.0,134,1297,0.08,1.60,0.00,0.000,3078,0.169,0.021,2376,2714,3640,3707,3573,0,0,0,0,0,0,26.01,26.17,26.12
$GC,1592,-0.83,-194.6,2376,2714,3708,3573,227.0,-12.4,165,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2714,3639,3706,3573,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1892,-0.87,-194.6,2375,2714,3707,3574,266.8,-13.1,187,1901,0.00,1.75,0.00,0.000,260,0.000,0.039,2375,3843,3639,3705,3573,0,0,0,0,0,0,26.13,26.10,26.19
$GC,1945,-0.90,-194.6,2375,3843,3706,3574,271.1,-13.1,188,1952,0.00,1.62,0.00,0.000,1030,0.000,0.021,2374,2697,3638,3704,3573,0,0,0,0,0,0,26.18,26.16,26.19
$GC,2256,-0.94,-194.6,2374,2696,3705,3575,313.7,-12.9,199,2263,0.00,1.80,0.00,0.000,260,0.000,0.040,2374,3851,3638,3703,3573,0,0,0,0,0,0,26.15,26.09,26.20
$GC,2282,-0.97,-194.6,2374,3851,3704,3573,313.7,-12.9,199,2292,0.08,1.65,0.00,0.000,5126,0.113,0.021,2313,2691,3638,3703,3573,0,0,0,0,0,0,26.08,26.16,26.15
$GC,2587,-0.95,-194.6,2313,2690,3702,3573,367.7,-16.5,210,2595,0.10,1.80,0.00,0.000,2308,0.164,0.035,2328,3855,3637,3701,3573,0,0,0,0,0,0,25.95,26.10,26.07
$GC,2619,-0.93,-194.6,2329,3856,3702,3575,371.9,-16.2,211,2627,0.00,1.65,0.00,0.000,1030,0.000,0.022,2329,2692,3637,3701,3573,0,0,0,0,0,0,26.20,26.17,26.20
$GC,2946,-0.93,-194.6,2329,2693,3700,3574,421.2,-15.0,222,2953,0.00,1.80,0.00,0.000,260,0.000,0.038,2322,3855,3636,3699,3573,0,0,0,0,0,0,26.13,26.09,26.19
$GC,2982,-0.93,-194.6,2322,3856,3707,3575,425.7,-14.8,223,2990,0.00,1.67,0.00,0.000,1030,0.000,0.021,2321,2702,3637,3701,3573,0,0,0,0,0,0,26.19,26.16,26.20
$GC,3309,-0.93,-194.6,2322,2704,3698,3574,474.0,-14.7,234,3320,0.08,2.03,0.00,0.000,2564,0.182,0.021,2335,1330,3635,3697,3573,0,0,0,0,0,0,25.96,26.11,26.09
$GC,3339,-0.93,-194.6,2335,1330,3698,3574,478.1,-14.5,235,3347,0.00,2.08,0.00,0.000,1030,0.000,0.027,2331,2697,3635,3697,3573,0,0,0,0,0,0,26.16,26.12,26.18
$GC,3666,-0.93,-194.6,2331,2699,3696,3575,522.0,-13.4,246,3675,0.00,1.77,0.00,0.000,260,0.000,0.039,2321,3851,3634,3695,3573,0,0,0,0,0,0,26.08,26.05,26.14
$GC,3729,-0.93,-194.6,2322,3851,3696,3574,531.1,-13.9,248,3736,0.08,1.62,0.00,0.000,3078,0.172,0.021,2336,2700,3633,3694,3573,0,0,0,0,0,0,25.98,26.15,26.10
$GC,4060,-0.93,-194.6,2336,2699,3694,3573,574.0,-13.0,259,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2699,3633,3693,3573,0,0,0,0,0,0,26.12,26.18,26.17
$GC,4361,-0.93,-194.6,2337,2699,3693,3574,614.9,-14.0,269,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2699,3632,3692,3573,0,0,0,0,0,0,26.12,26.18,26.17
$GC,4660,-0.93,-194.6,2336,2699,3691,3573,658.1,-14.3,279,4667,0.00,1.80,0.00,0.000,260,0.000,0.039,2333,3856,3632,3691,3574,0,0,0,0,0,0,26.13,26.08,26.19
$GC,4706,-0.93,-194.6,2333,3858,3691,3574,662.6,-14.2,280,4714,0.00,1.65,0.00,0.000,1030,0.000,0.022,2333,2700,3631,3690,3573,0,0,0,0,0,0,26.19,26.15,26.20
$GC,5023,-0.93,-194.6,2333,2698,3690,3574,709.8,-13.9,291,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2696,3631,3689,3573,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5323,-0.93,-194.6,2333,2696,3689,3575,749.7,-13.0,301,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2696,3630,3688,3573,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5623,-0.93,-194.6,2333,2697,3688,3574,785.5,-11.5,311,5631,0.00,1.80,0.00,0.000,260,0.000,0.039,2324,3851,3629,3687,3572,0,0,0,0,0,0,26.12,26.07,26.18
$GC,5674,-0.93,-194.6,2324,3853,3688,3574,789.3,-11.5,312,5681,0.00,1.70,0.00,0.000,1030,0.000,0.022,2324,2693,3630,3687,3573,0,0,0,0,0,0,26.16,26.15,26.18
$GC,5986,-0.93,-194.6,2325,2694,3687,3574,827.8,-11.6,323,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2693,3630,3687,3573,0,0,0,0,0,0,26.13,26.20,26.18
$GC,6286,-0.93,-194.6,2324,2694,3686,3574,863.3,-11.7,333,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2693,3629,3686,3573,0,0,0,0,0,0,26.10,26.17,26.17
$GC,6586,-0.93,-194.6,2325,2694,3687,3574,899.9,-12.3,343,6593,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3847,3627,3681,3573,0,0,0,0,0,0,26.13,26.06,26.16
$GC,6632,-0.93,-194.6,2321,3847,3687,3573,904.1,-12.4,344,6639,0.08,1.65,0.00,0.000,3078,0.171,0.022,2337,2700,3629,3685,3573,0,0,0,0,0,0,25.96,26.13,26.08
$GC,6948,-0.95,-194.6,2335,2701,3685,3575,945.1,-13.0,355,6956,0.00,1.80,0.00,0.000,260,0.000,0.039,2335,3852,3628,3684,3573,0,0,0,0,0,0,26.10,26.06,26.17
$GC,6985,-0.97,-194.6,2335,3853,3685,3574,949.5,-13.1,356,6992,0.00,1.70,0.00,0.000,1030,0.000,0.023,2335,2699,3628,3684,3573,0,0,0,0,0,0,26.15,26.14,26.17
$STATE,7010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7010,begin apogee
$GC,7014,-0.25,0.0,2336,2812,3685,3575,953.4,-13.1,357,7187,0.70,0.00,165.60,1.059,10246,0.117,0.000,2553,2810,2838,2871,2806,0,0,0,0,0,0,25.89,24.43,23.75
$STATE,7187,end apogee,CONTROL_FINISHED_OK
$STATE,7188,begin climb
$GC,7189,0.89,194.6,2554,2810,2865,2796,962.7,0.0,362,7366,1.08,2.28,163.93,1.059,11012,0.064,0.020,2931,1428,2036,2069,2003,0,0,0,0,0,0,24.58,23.64,23.14
$GC,7575,0.87,269.6,2931,1428,2059,1988,953.6,7.8,375,7648,0.00,2.15,63.70,1.050,9222,0.000,0.026,2932,2791,1738,1775,1701,0,0,0,0,0,0,25.47,25.43,23.94
$GC,7972,0.84,269.6,2933,2794,1758,1674,909.3,11.1,389,7981,0.00,1.65,0.00,0.000,260,0.000,0.039,2931,3857,1716,1757,1675,0,0,0,0,0,0,25.84,25.82,25.91
$GC,8085,0.80,269.6,2931,3857,1757,1676,897.9,11.9,392,8094,0.00,1.55,0.00,0.000,1030,0.000,0.022,2932,2793,1715,1756,1674,0,0,0,0,0,0,26.01,25.97,26.01
$GC,8398,0.77,269.6,2932,2794,1756,1675,860.3,11.1,403,8406,0.10,1.65,0.00,0.000,4356,0.183,0.037,2911,3860,1714,1755,1673,0,0,0,0,0,0,25.91,26.06,26.04
$GC,8455,0.75,269.6,2910,3861,1756,1674,856.4,11.3,404,8465,0.00,1.50,0.00,0.000,1030,0.000,0.023,2912,2799,1714,1755,1673,0,0,0,0,0,0,26.15,26.12,26.15
$GC,8760,0.75,269.6,2912,2800,1755,1674,821.2,10.6,415,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2798,1711,1750,1673,0,0,0,0,0,0,26.11,26.18,26.17
$GC,9060,0.75,275.4,2912,2800,1755,1674,789.6,10.3,425,9067,0.00,1.65,0.00,0.000,260,0.000,0.039,2912,3864,1713,1754,1673,0,0,0,0,0,0,26.12,26.09,26.18
$GC,9136,0.72,275.4,2912,3864,1755,1671,782.7,10.8,427,9144,0.10,1.50,0.00,0.000,5126,0.177,0.024,2897,2804,1713,1754,1672,0,0,0,0,0,0,25.96,26.15,26.10
$GC,9455,0.73,308.6,2897,2803,1755,1671,751.3,9.3,438,9496,0.00,1.75,32.90,0.943,8452,0.000,0.040,2897,3856,1576,1616,1536,0,0,0,0,0,0,26.13,25.53,24.82
$GC,9540,0.73,328.3,2897,3860,1606,1522,742.5,9.8,441,9566,0.00,1.58,18.02,0.936,9222,0.000,0.023,2902,2797,1499,1540,1458,0,0,0,0,0,0,25.81,25.78,24.75
$GC,9870,0.73,328.3,2902,2797,1527,1442,707.6,10.7,452,9878,0.00,2.08,0.00,0.000,516,0.000,0.024,2906,1432,1483,1526,1440,0,0,0,0,0,0,26.00,26.00,26.06
$GC,9922,0.73,328.3,2906,1422,1526,1440,704.3,10.8,453,9929,0.00,2.12,0.00,0.000,1030,0.000,0.027,2906,2809,1482,1525,1439,0,0,0,0,0,0,26.06,26.01,26.08
$GC,10227,0.73,328.3,2906,2809,1527,1440,667.7,11.3,463,10235,0.00,2.10,0.00,0.000,516,0.000,0.024,2913,1424,1482,1525,1439,0,0,0,0,0,0,26.09,26.10,26.15
$GC,10269,0.73,328.3,2913,1424,1526,1439,664.0,11.2,464,10277,0.00,2.10,0.00,0.000,1030,0.000,0.026,2912,2802,1481,1524,1439,0,0,0,0,0,0,26.14,26.09,26.15
$GC,10591,0.73,328.3,2912,2804,1525,1439,624.8,12.3,475,10598,0.00,1.65,0.00,0.000,260,0.000,0.040,2912,3844,1480,1523,1438,0,0,0,0,0,0,26.12,26.09,26.18
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$STATE,16184,end climb,SURFACE_DEPTH_REACHED
$STATE,16184,begin surface coast
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$STATE,16205,end surface coast,CONTROL_FINISHED_OK
$STATE,16205,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16235.77 7714.01
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$10V_AH,10.17,34.230
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$FG_AHR_10Vo,0.000
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