version: 66.12
glider: 203
mission: 8
dive: 149
start: 8 7 115 3 56 3
data:
$ID,203
$MISSION,8
$DIVE,149
$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,-5
$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,106
$R_STBD_OVSHOOT,47
$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
$GPS1,070815,035034,5638.5747,-15131.2305,26,1.0,27,16.3,0.0,0.0,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.7
$GPS2,070815,035551,5638.5908,-15131.2715,7,0.8,13,16.3,0.0,0.0,10,8.2
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,32.8,66870,-17.4,-10.556,-19.06,2832
$D_GRID,1216
$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,-194.6,201,2807,966,843,0.0,0.0,0,147,0.00,0.00,-47.97,0.000,16386,0.000,0.000,201,2808,2158,2201,2116,0,0,0,0,0,0,26.02,28.83,26.09
$GC,149,-0.89,-194.6,202,2809,2203,2117,3.2,-4.1,5,204,8.73,2.22,-35.03,0.000,18948,0.233,0.034,2343,1341,3630,3703,3558,0,0,0,0,0,0,25.53,25.25,25.71
$GC,460,-0.87,-194.6,2343,1343,3703,3564,64.6,-18.6,51,471,0.10,2.05,0.00,0.000,3078,0.166,0.024,2359,2703,3633,3703,3563,0,0,0,0,0,0,25.84,26.05,25.98
$GC,777,-0.87,-194.6,2360,2705,3704,3566,116.5,-16.2,82,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2703,3634,3703,3566,0,0,0,0,0,0,26.10,26.16,26.15
$GC,1086,-0.87,-194.6,2359,2705,3705,3567,165.6,-15.4,113,1099,0.00,2.05,0.00,0.000,516,0.000,0.023,2359,1340,3634,3703,3566,0,0,0,0,0,0,26.12,26.06,26.17
$GC,1128,-0.87,-194.6,2359,1339,3704,3565,172.2,-15.5,117,1135,0.00,2.08,0.00,0.000,1030,0.000,0.025,2352,2707,3634,3703,3566,0,0,0,0,0,0,26.11,26.06,26.13
$GC,1433,-0.89,-194.6,2353,2707,3699,3566,217.6,-13.7,147,1441,0.00,1.77,0.00,0.000,260,0.000,0.037,2344,3852,3638,3710,3566,0,0,0,0,0,0,26.13,26.03,26.15
$GC,1490,-0.89,-194.6,2344,3851,3704,3566,224.8,-13.8,152,1500,0.00,1.62,0.00,0.000,1030,0.000,0.021,2344,2711,3634,3702,3566,0,0,0,0,0,0,26.16,26.14,26.15
$GC,1815,-0.89,-194.6,2344,2711,3704,3566,271.9,-14.4,175,1823,0.00,2.08,0.00,0.000,516,0.000,0.022,2344,1320,3634,3703,3566,0,0,0,0,0,0,26.12,26.06,26.17
$GC,1867,-0.89,-194.6,2344,1321,3704,3567,276.7,-14.5,176,1875,0.00,2.10,0.00,0.000,1030,0.000,0.025,2335,2700,3634,3703,3566,0,0,0,0,0,0,26.13,26.08,26.15
$GC,2173,-0.89,-194.6,2335,2701,3703,3567,326.8,-15.3,186,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2700,3634,3702,3566,0,0,0,0,0,0,26.12,26.19,26.17
$GC,2473,-0.89,-194.6,2335,2700,3702,3566,372.7,-15.1,196,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2700,3633,3701,3566,0,0,0,0,0,0,26.10,26.16,26.15
$GC,2773,-0.89,-194.6,2335,2701,3701,3567,416.0,-14.3,206,2780,0.00,1.77,0.00,0.000,260,0.000,0.039,2326,3851,3632,3699,3566,0,0,0,0,0,0,26.10,26.02,26.17
$GC,2834,-0.89,-194.6,2326,3851,3700,3566,424.9,-14.2,208,2841,0.05,1.70,0.00,0.000,3078,0.129,0.021,2353,2692,3632,3699,3566,0,0,0,0,0,0,25.86,26.13,26.00
$GC,3166,-0.92,-194.6,2353,2693,3699,3567,466.7,-12.0,219,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2692,3631,3697,3566,0,0,0,0,0,0,26.09,26.16,26.15
$GC,3465,-0.95,-194.6,2353,2691,3697,3566,502.6,-12.1,229,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2692,3631,3696,3566,0,0,0,0,0,0,26.09,26.15,26.15
$GC,3766,-0.98,-194.6,2353,2693,3697,3567,538.5,-11.8,239,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2693,3630,3695,3566,0,0,0,0,0,0,26.08,26.13,26.14
$GC,4066,-1.02,-194.6,2353,2693,3695,3567,574.1,-11.7,249,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2691,3629,3693,3565,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4366,-1.06,-194.6,2353,2693,3694,3567,611.2,-12.5,259,4371,0.10,0.00,0.00,0.000,4102,0.094,0.000,2296,2691,3629,3693,3566,0,0,0,0,0,0,25.99,26.08,26.06
$GC,4665,-1.06,-194.6,2296,2693,3692,3567,658.2,-15.4,269,4673,0.00,2.05,0.00,0.000,516,0.000,0.023,2296,1326,3628,3691,3566,0,0,0,0,0,0,26.10,26.03,26.16
$GC,4717,-1.06,-194.6,2296,1327,3692,3567,662.2,-15.2,270,4727,0.00,2.10,0.00,0.000,1030,0.000,0.026,2293,2697,3628,3690,3566,0,0,0,0,0,0,26.07,26.03,26.10
$GC,5022,-1.04,-194.6,2293,2699,3690,3566,712.5,-15.4,281,5030,0.00,1.80,0.00,0.000,260,0.000,0.040,2293,3856,3627,3690,3565,0,0,0,0,0,0,26.10,25.97,26.16
$GC,5064,-1.02,-194.6,2292,3857,3691,3567,717.2,-15.3,282,5071,0.00,1.67,0.00,0.000,1030,0.000,0.022,2293,2687,3628,3690,3566,0,0,0,0,0,0,26.13,26.10,26.14
$GC,5386,-1.02,-194.6,2293,2688,3690,3567,766.8,-14.4,293,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2693,3627,3689,3565,0,0,0,0,0,0,26.07,26.14,26.13
$GC,5686,-1.02,-194.6,2293,2688,3689,3567,813.3,-15.5,303,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2687,3627,3688,3566,0,0,0,0,0,0,26.09,26.15,26.15
$GC,5986,-1.02,-194.6,2293,2688,3688,3567,858.0,-14.5,313,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2687,3626,3687,3565,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6286,-1.02,-194.6,2293,2688,3688,3567,902.0,-14.6,323,6293,0.00,1.83,0.00,0.000,260,0.000,0.040,2293,3849,3626,3687,3565,0,0,0,0,0,0,26.06,25.96,26.13
$GC,6317,-1.02,-194.6,2293,3849,3686,3565,906.8,-14.7,324,6325,0.00,1.65,0.00,0.000,1030,0.000,0.021,2292,2701,3626,3686,3566,0,0,0,0,0,0,26.10,26.08,26.11
$STATE,6617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6618,begin apogee
$GC,6621,-0.25,0.0,2293,2813,3687,3567,950.8,-14.4,334,6803,0.82,0.00,169.57,1.040,10246,0.117,0.000,2550,2811,2833,2869,2797,0,0,0,0,0,0,25.70,24.43,23.80
$STATE,6803,end apogee,CONTROL_FINISHED_OK
$STATE,6803,begin climb
$GC,6805,0.89,194.6,2550,2811,2870,2795,958.8,0.0,340,6984,1.10,1.77,164.20,1.061,11012,0.068,0.039,2922,3833,2033,2071,1995,0,0,0,0,0,0,24.60,23.96,23.25
$GC,7208,0.83,199.8,2925,3834,2065,1985,939.1,10.4,353,7217,0.00,1.50,0.00,0.000,1030,0.000,0.022,2931,2783,2024,2065,1984,0,0,0,0,0,0,25.70,25.64,25.72
$GC,7527,0.79,231.1,2932,2789,2065,1985,906.8,9.4,364,7567,0.00,1.75,30.73,1.030,8452,0.000,0.039,2931,3840,1886,1927,1846,0,0,0,0,0,0,26.02,25.48,24.66
$GC,7602,0.74,248.5,2931,3839,1921,1836,900.6,9.9,366,7624,0.12,1.50,14.43,1.004,13318,0.171,0.023,2904,2803,1827,1868,1786,0,0,0,0,0,0,25.53,25.71,24.63
$GC,7950,0.74,273.8,2904,2805,1855,1770,863.0,9.6,378,7983,0.00,1.65,23.23,1.010,8452,0.000,0.037,2903,3846,1712,1755,1670,0,0,0,0,0,0,26.03,25.34,24.78
$GC,8022,0.75,299.0,2903,3845,1751,1662,856.8,9.6,380,8053,0.00,1.50,22.75,0.996,9222,0.000,0.023,2907,2799,1616,1660,1573,0,0,0,0,0,0,25.84,25.79,24.60
$GC,8372,0.75,299.0,2908,2800,1648,1557,816.5,11.0,392,8381,0.00,2.10,0.00,0.000,516,0.000,0.024,2916,1433,1601,1647,1555,0,0,0,0,0,0,26.03,26.03,26.10
$GC,8415,0.75,299.0,2917,1423,1647,1557,812.7,11.1,393,8423,0.00,2.12,0.00,0.000,1030,0.000,0.026,2916,2791,1601,1646,1556,0,0,0,0,0,0,26.07,26.02,26.09
$GC,8732,0.75,299.0,2917,2793,1646,1556,775.3,11.6,404,8739,0.00,1.65,0.00,0.000,260,0.000,0.040,2916,3859,1599,1645,1554,0,0,0,0,0,0,26.11,26.06,26.17
$GC,8773,0.75,299.0,2917,3858,1646,1554,771.4,11.7,405,8781,0.00,1.52,0.00,0.000,1030,0.000,0.022,2919,2778,1602,1645,1560,0,0,0,0,0,0,26.17,26.14,26.17
$GC,9095,0.75,299.0,2919,2779,1646,1555,729.5,13.0,416,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2778,1599,1644,1554,0,0,0,0,0,0,26.12,26.20,26.19
$GC,9395,0.75,299.0,2919,2778,1645,1552,692.7,11.5,426,9402,0.00,1.67,0.00,0.000,260,0.000,0.040,2919,3850,1598,1644,1553,0,0,0,0,0,0,26.12,26.08,26.18
$GC,9551,0.73,299.0,2919,3850,1645,1552,675.1,11.7,431,9559,0.05,1.52,0.00,0.000,5126,0.155,0.022,2903,2803,1597,1643,1552,0,0,0,0,0,0,25.89,26.15,25.98
$GC,9878,0.75,324.8,2904,2803,1645,1552,642.9,9.6,442,9913,0.00,2.15,22.67,0.890,8708,0.000,0.024,2906,1431,1505,1550,1461,0,0,0,0,0,0,26.12,25.71,24.95
$GC,9932,0.75,346.8,2907,1432,1544,1457,639.9,9.8,443,9963,0.00,2.12,20.65,0.877,9222,0.000,0.026,2906,2802,1418,1464,1373,0,0,0,0,0,0,25.87,25.82,24.75
$GC,10273,0.79,346.8,2906,2801,1454,1359,601.8,10.6,455,10282,0.00,2.10,0.00,0.000,516,0.000,0.024,2912,1420,1406,1453,1359,0,0,0,0,0,0,26.03,26.03,26.09
$GC,10307,0.82,346.8,2913,1420,1454,1359,598.6,10.6,456,10315,0.00,2.15,0.00,0.000,1030,0.000,0.026,2913,2805,1405,1452,1359,0,0,0,0,0,0,26.06,26.02,26.08
$GC,10634,0.85,346.8,2913,2805,1453,1357,561.4,11.4,467,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2806,1405,1452,1358,0,0,0,0,0,0,26.10,26.16,26.16
$GC,10934,0.87,346.8,2913,2805,1453,1358,525.7,12.1,477,10942,0.00,2.10,0.00,0.000,516,0.000,0.024,2919,1424,1405,1452,1358,0,0,0,0,0,0,26.10,26.09,26.17
$GC,10971,0.90,346.8,2919,1425,1452,1359,522.3,12.2,478,10979,0.00,2.10,0.00,0.000,1030,0.000,0.026,2919,2803,1404,1452,1357,0,0,0,0,0,0,26.13,26.08,26.15
$GC,11293,0.92,346.8,2919,2807,1452,1357,480.6,12.4,489,11300,0.00,1.65,0.00,0.000,260,0.000,0.040,2919,3844,1404,1451,1357,0,0,0,0,0,0,26.10,26.04,26.17
$GC,11350,0.94,346.8,2918,3846,1453,1358,476.7,12.4,490,11360,0.00,1.50,0.00,0.000,1030,0.000,0.023,2924,2780,1404,1451,1357,0,0,0,0,0,0,26.17,26.14,26.18
$GC,11655,0.96,346.8,2924,2781,1453,1358,437.6,11.1,501,11663,0.05,2.03,0.00,0.000,2564,0.167,0.021,2970,1421,1404,1451,1357,0,0,0,0,0,0,26.00,26.08,26.10
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$STATE,15452,end climb,SURFACE_DEPTH_REACHED
$STATE,15452,begin surface coast
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$STATE,15473,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
$PA_UPTIME,15502.62 7147.77
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$FG_AHR_10Vo,0.000
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