version: 66.12
glider: 203
mission: 8
dive: 126
start: 8 2 115 21 54 42
data:
$ID,203
$MISSION,8
$DIVE,126
$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,101
$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
$GPS1,020815,214856,5636.2231,-15017.3291,34,1.3,39,16.7,0.8,111.5,7,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-61.0
$GPS2,020815,215431,5636.1626,-15017.1973,6,1.3,11,16.7,0.0,72.7,7,9.9
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,272.4,79625,-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,-194.6,194,2807,738,618,0.0,0.0,0,149,0.00,0.00,-49.83,0.000,16386,0.000,0.000,193,2806,1978,2022,1935,0,0,0,0,0,0,26.02,28.83,26.10
$GC,151,-0.89,-194.6,193,2807,2022,1937,3.2,-3.0,7,217,8.60,2.22,-42.53,0.000,18948,0.232,0.034,2341,1331,3633,3704,3562,0,0,0,0,0,0,25.61,25.25,25.91
$GC,262,-0.80,-194.6,2341,1333,3705,3567,23.1,-25.6,22,281,0.17,2.08,0.00,0.000,3078,0.157,0.024,2379,2705,3635,3704,3566,0,0,0,0,0,0,25.82,26.05,25.98
$GC,595,-0.79,-194.6,2379,2705,3705,3569,84.6,-15.8,64,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2704,3636,3704,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,896,-0.79,-194.6,2379,2705,3705,3571,133.2,-16.1,94,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2705,3637,3704,3571,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1196,-0.81,-194.6,2380,2706,3705,3572,174.5,-12.0,124,1204,0.00,1.75,0.00,0.000,260,0.000,0.037,2375,3856,3637,3704,3571,0,0,0,0,0,0,26.13,26.09,26.19
$GC,1243,-0.83,-194.6,2374,3856,3705,3570,179.8,-12.5,128,1254,0.00,1.62,0.00,0.000,1030,0.000,0.021,2375,2698,3637,3704,3571,0,0,0,0,0,0,26.20,26.18,26.21
$GC,1548,-0.85,-194.6,2375,2698,3705,3571,217.0,-12.6,159,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2699,3637,3704,3571,0,0,0,0,0,0,26.15,26.22,26.20
$GC,1849,-0.88,-194.6,2375,2700,3704,3569,253.7,-12.1,187,1856,0.00,1.80,0.00,0.000,260,0.000,0.038,2366,3859,3637,3703,3571,0,0,0,0,0,0,26.13,26.10,26.20
$GC,1895,-0.91,-194.6,2367,3862,3705,3572,257.9,-12.4,188,1903,0.00,1.65,0.00,0.000,1030,0.000,0.021,2367,2705,3637,3703,3571,0,0,0,0,0,0,26.19,26.16,26.20
$GC,2212,-0.93,-194.6,2367,2704,3704,3571,300.4,-13.0,199,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2704,3636,3702,3571,0,0,0,0,0,0,26.13,26.20,26.20
$GC,2512,-0.95,-194.6,2367,2710,3702,3572,338.1,-12.3,209,2519,0.00,1.77,0.00,0.000,260,0.000,0.039,2359,3852,3636,3701,3571,0,0,0,0,0,0,26.13,26.10,26.20
$GC,2553,-0.98,-194.6,2360,3853,3701,3572,342.1,-12.4,210,2560,0.00,1.65,0.00,0.000,1030,0.000,0.021,2360,2689,3635,3700,3571,0,0,0,0,0,0,26.20,26.17,26.23
$GC,2875,-1.00,-194.6,2366,2686,3700,3573,383.7,-12.4,221,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2682,3635,3699,3571,0,0,0,0,0,0,26.13,26.20,26.20
$GC,3175,-1.02,-194.6,2360,2685,3698,3572,419.5,-11.8,231,3183,0.08,1.83,0.00,0.000,4356,0.116,0.036,2295,3859,3634,3697,3571,0,0,0,0,0,0,26.07,26.08,26.15
$GC,3216,-1.02,-194.6,2295,3859,3698,3571,423.3,-12.1,232,3223,0.00,1.65,0.00,0.000,1030,0.000,0.021,2295,2702,3634,3697,3571,0,0,0,0,0,0,26.19,26.16,26.20
$GC,3533,-0.98,-194.6,2295,2700,3696,3573,477.6,-16.7,243,3538,0.10,0.00,0.00,0.000,2054,0.168,0.000,2316,2699,3632,3694,3571,0,0,0,0,0,0,25.92,26.11,26.06
$GC,3833,-0.96,-194.6,2316,2700,3695,3571,521.8,-14.9,253,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2698,3632,3694,3571,0,0,0,0,0,0,26.13,26.20,26.20
$GC,4132,-0.96,-194.6,2317,2700,3694,3572,566.7,-14.8,263,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2699,3632,3693,3571,0,0,0,0,0,0,26.15,26.21,26.20
$GC,4433,-0.96,-194.6,2316,2699,3692,3571,610.1,-14.6,273,4440,0.00,1.80,0.00,0.000,260,0.000,0.038,2311,3853,3630,3691,3570,0,0,0,0,0,0,26.13,26.07,26.18
$GC,4469,-0.96,-194.6,2311,3857,3692,3572,614.7,-14.6,274,4475,0.00,1.65,0.00,0.000,1030,0.000,0.021,2311,2701,3630,3690,3570,0,0,0,0,0,0,26.17,26.15,26.19
$GC,4795,-0.95,-194.6,2311,2697,3691,3570,663.7,-14.9,285,4800,0.10,0.00,0.00,0.000,2054,0.163,0.000,2332,2696,3630,3690,3571,0,0,0,0,0,0,25.92,26.10,26.06
$GC,5095,-0.95,-194.6,2333,2697,3689,3571,704.1,-13.2,295,5102,0.00,1.80,0.00,0.000,260,0.000,0.039,2327,3852,3629,3687,3571,0,0,0,0,0,0,26.13,26.06,26.20
$GC,5145,-0.95,-194.6,2327,3854,3689,3572,708.3,-13.2,296,5153,0.00,1.70,0.00,0.000,1030,0.000,0.021,2327,2695,3629,3688,3571,0,0,0,0,0,0,26.17,26.14,26.17
$GC,5458,-0.95,-194.6,2327,2696,3688,3572,753.8,-13.7,307,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2695,3629,3687,3571,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5757,-0.95,-194.6,2326,2696,3687,3572,794.0,-13.3,317,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2695,3628,3687,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6057,-0.95,-194.6,2327,2695,3687,3570,835.9,-14.2,327,6065,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3849,3628,3686,3571,0,0,0,0,0,0,26.11,26.05,26.17
$GC,6099,-0.95,-194.6,2322,3848,3687,3571,840.6,-14.3,328,6107,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2700,3628,3685,3571,0,0,0,0,0,0,26.17,26.15,26.18
$GC,6421,-0.95,-194.6,2320,2701,3687,3572,886.5,-13.5,339,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2700,3628,3685,3571,0,0,0,0,0,0,26.11,26.17,26.16
$GC,6721,-0.95,-194.6,2322,2700,3685,3570,928.1,-13.8,349,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2699,3627,3684,3570,0,0,0,0,0,0,26.15,26.19,26.18
$STATE,6900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6900,begin apogee
$GC,6904,-0.25,0.0,2322,2815,3685,3572,952.4,-13.3,355,7116,0.75,0.00,201.35,0.936,10246,0.117,0.000,2555,2814,2832,2867,2797,0,0,0,0,0,0,25.84,24.40,23.71
$STATE,7117,end apogee,CONTROL_FINISHED_OK
$STATE,7117,begin climb
$GC,7119,0.89,194.6,2556,2813,2864,2791,965.6,0.0,362,7297,1.05,2.30,164.10,1.052,11012,0.052,0.021,2931,1422,2035,2070,2001,0,0,0,0,0,0,24.58,23.71,23.20
$GC,7432,0.87,274.3,2931,1423,2063,1990,959.0,7.7,372,7511,0.00,2.15,68.18,1.040,9222,0.000,0.025,2931,2789,1713,1753,1674,0,0,0,0,0,0,25.26,25.22,23.77
$GC,7807,0.84,274.3,2932,2789,1742,1654,914.4,12.1,385,7816,0.00,1.70,0.00,0.000,260,0.000,0.039,2931,3850,1698,1740,1656,0,0,0,0,0,0,25.79,25.80,25.86
$GC,7932,0.80,274.3,2930,3851,1741,1655,897.7,13.5,389,7940,0.00,1.50,0.00,0.000,1030,0.000,0.022,2931,2787,1696,1739,1654,0,0,0,0,0,0,26.01,25.97,26.01
$GC,8264,0.77,274.3,2931,2789,1740,1653,858.9,11.3,400,8270,0.10,0.00,0.00,0.000,4102,0.177,0.000,2910,2787,1695,1739,1652,0,0,0,0,0,0,25.93,26.12,26.08
$GC,8564,0.78,285.6,2910,2787,1740,1651,828.1,10.1,410,8575,0.00,1.73,1.73,0.208,8452,0.000,0.038,2910,3851,1676,1721,1632,0,0,0,0,0,0,26.12,26.07,25.80
$GC,8614,0.78,296.2,2911,3853,1735,1642,824.8,10.2,411,8641,0.00,1.50,17.65,0.988,9222,0.000,0.023,2915,2790,1626,1668,1584,0,0,0,0,0,0,26.19,26.15,25.02
$GC,8955,0.78,296.2,2915,2791,1659,1572,785.7,10.9,423,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2789,1615,1659,1571,0,0,0,0,0,0,26.06,26.14,26.13
$GC,9255,0.78,296.2,2916,2792,1659,1573,751.4,11.7,433,9263,0.00,1.65,0.00,0.000,260,0.000,0.040,2915,3850,1614,1658,1571,0,0,0,0,0,0,26.11,26.08,26.18
$GC,9312,0.78,296.2,2916,3850,1659,1572,747.3,12.0,434,9322,0.00,1.50,0.00,0.000,1030,0.000,0.023,2918,2781,1615,1659,1571,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9617,0.78,296.2,2919,2783,1660,1572,707.3,12.0,445,9624,0.00,1.67,0.00,0.000,260,0.000,0.039,2919,3856,1614,1658,1571,0,0,0,0,0,0,26.14,26.10,26.20
$GC,9648,0.78,296.2,2919,3857,1659,1572,703.3,12.2,446,9656,0.00,1.50,0.00,0.000,1030,0.000,0.023,2925,2789,1613,1658,1569,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9981,0.78,296.2,2924,2788,1659,1570,663.9,11.8,457,9991,0.00,1.70,0.00,0.000,260,0.000,0.040,2925,3856,1614,1658,1570,0,0,0,0,0,0,26.14,26.10,26.21
$GC,10050,0.76,296.2,2925,3857,1659,1572,655.9,12.1,459,10057,0.10,1.50,0.00,0.000,5126,0.172,0.023,2910,2787,1614,1658,1570,0,0,0,0,0,0,25.95,26.15,26.11
$GC,10376,0.76,296.2,2910,2788,1659,1571,619.1,10.9,470,10385,0.00,1.70,0.00,0.000,260,0.000,0.040,2910,3846,1614,1658,1570,0,0,0,0,0,0,26.13,26.10,26.19
$GC,10439,0.76,296.2,2910,3847,1658,1572,611.6,11.3,472,10447,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2783,1614,1658,1570,0,0,0,0,0,0,26.18,26.15,26.19
$GC,10771,0.76,296.2,2916,2783,1659,1570,574.3,11.4,483,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2783,1614,1658,1570,0,0,0,0,0,0,26.13,26.22,26.20
$GC,11072,0.76,296.2,2917,2782,1658,1570,539.5,11.8,493,11079,0.00,1.70,0.00,0.000,260,0.000,0.039,2916,3843,1614,1658,1570,0,0,0,0,0,0,26.13,26.08,26.19
$GC,11148,0.76,296.2,2916,3844,1658,1570,531.9,12.0,495,11155,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2776,1613,1657,1570,0,0,0,0,0,0,26.17,26.14,26.18
$GC,11464,0.76,298.4,2919,2775,1658,1571,495.5,10.5,506,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2774,1613,1658,1569,0,0,0,0,0,0,26.11,26.19,26.17
$GC,11764,0.76,317.4,2919,2774,1659,1569,465.3,9.9,516,11792,0.00,1.75,19.40,0.783,8452,0.000,0.040,2919,3844,1538,1580,1496,0,0,0,0,0,0,26.11,25.79,25.10
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$STATE,15883,end climb,SURFACE_DEPTH_REACHED
$STATE,15883,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15923.06 7424.77
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$FG_AHR_10Vo,0.000
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