version: 66.12
glider: 203
mission: 8
dive: 28
start: 7 15 115 8 19 52
data:
$ID,203
$MISSION,8
$DIVE,28
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,-2
$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,94
$R_STBD_OVSHOOT,45
$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,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,-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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,150715,081433,5841.3359,-14653.2344,38,0.8,38,18.1,0.0,0.0,11,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.1
$GPS2,150715,081941,5841.2920,-14653.2822,6,0.8,14,18.1,0.0,194.3,11,8.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,115.9,37104,-18.0,-11.000,-19.55,2718
$D_GRID,2711
$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,-0.92,-194.6,203,2802,775,649,0.0,0.0,0,158,0.00,0.00,-58.78,0.000,16386,0.000,0.000,202,2802,2291,2323,2259,0,0,0,0,0,0,26.66,28.83,26.72
$GC,160,-0.92,-194.6,204,2802,2325,2259,3.8,-6.3,9,209,8.32,1.58,-28.02,0.000,18692,0.238,0.057,2333,3855,3634,3698,3570,0,0,0,0,0,0,26.29,26.04,26.49
$GC,213,-0.66,-194.6,2333,3854,3698,3571,16.5,-22.1,16,229,0.25,1.67,0.00,0.000,3078,0.138,0.021,2413,2682,3635,3698,3572,0,0,0,0,0,0,26.40,26.57,26.48
$GC,534,-0.69,-194.6,2414,2687,3699,3577,65.4,-13.1,67,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2686,3636,3698,3575,0,0,0,0,0,0,26.86,26.94,26.92
$GC,836,-0.74,-194.6,2414,2686,3700,3578,105.8,-12.6,97,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2685,3637,3698,3577,0,0,0,0,0,0,26.96,27.03,27.02
$GC,1136,-0.80,-194.6,2414,2687,3700,3578,144.4,-12.2,127,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2686,3638,3699,3577,0,0,0,0,0,0,27.03,27.10,27.09
$GC,1437,-0.87,-194.6,2414,2683,3700,3580,175.4,-9.1,157,1447,0.12,1.77,0.00,0.000,4356,0.084,0.040,2334,3860,3638,3699,3577,0,0,0,0,0,0,26.95,26.90,26.98
$GC,1466,-0.91,-194.6,2334,3861,3699,3578,178.3,-10.0,159,1477,0.00,1.60,0.00,0.000,1030,0.000,0.024,2334,2704,3638,3699,3577,0,0,0,0,0,0,27.01,26.98,27.02
$GC,1771,-0.91,-194.6,2334,2704,3700,3577,225.0,-15.4,190,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2704,3637,3698,3577,0,0,0,0,0,0,27.13,27.20,27.20
$GC,2091,-0.91,-194.6,2334,2703,3698,3576,274.2,-15.2,212,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2704,3637,3698,3576,0,0,0,0,0,0,27.17,27.24,27.23
$GC,2391,-0.91,-194.6,2334,2705,3697,3578,319.0,-14.8,222,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2704,3636,3697,3576,0,0,0,0,0,0,27.20,27.27,27.25
$GC,2691,-0.91,-194.6,2334,2703,3696,3576,363.6,-14.7,232,2698,0.00,1.73,0.00,0.000,260,0.000,0.041,2325,3860,3635,3695,3576,0,0,0,0,0,0,27.22,27.04,27.28
$GC,2723,-0.91,-194.6,2326,3860,3696,3576,368.5,-14.8,233,2731,0.08,1.60,0.00,0.000,3078,0.183,0.024,2340,2706,3635,3695,3576,0,0,0,0,0,0,26.96,27.10,27.07
$GC,3055,-0.91,-194.6,2339,2706,3695,3580,416.5,-14.5,244,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2707,3634,3693,3575,0,0,0,0,0,0,27.24,27.31,27.30
$GC,3355,-0.93,-194.6,2339,2707,3692,3577,461.0,-14.8,254,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2706,3634,3692,3577,0,0,0,0,0,0,27.25,27.33,27.32
$GC,3655,-0.95,-194.6,2339,2706,3690,3576,504.1,-14.3,264,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2706,3633,3690,3576,0,0,0,0,0,0,27.27,27.34,27.34
$GC,3955,-0.97,-194.6,2339,2707,3690,3577,546.6,-14.1,274,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2707,3633,3689,3577,0,0,0,0,0,0,27.29,27.36,27.34
$GC,4255,-0.99,-194.6,2340,2708,3689,3577,587.8,-13.5,284,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2706,3631,3687,3576,0,0,0,0,0,0,27.29,27.36,27.36
$GC,4555,-1.01,-194.6,2340,2706,3688,3576,626.6,-12.8,294,4562,0.00,1.70,0.00,0.000,260,0.000,0.042,2335,3850,3631,3687,3576,0,0,0,0,0,0,27.30,27.13,27.36
$GC,4591,-1.04,-194.6,2335,3850,3688,3576,630.9,-13.0,295,4598,0.00,1.60,0.00,0.000,1030,0.000,0.024,2336,2691,3631,3686,3577,0,0,0,0,0,0,27.22,27.19,27.23
$GC,4917,-1.05,-194.6,2335,2691,3688,3576,673.8,-13.0,306,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2691,3631,3686,3576,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5218,-1.08,-194.6,2336,2691,3686,3576,712.9,-13.1,316,5225,0.00,1.73,0.00,0.000,260,0.000,0.041,2328,3849,3631,3686,3576,0,0,0,0,0,0,27.32,27.14,27.39
$GC,5264,-1.10,-194.6,2327,3851,3687,3578,717.1,-13.1,317,5271,0.00,1.60,0.00,0.000,1030,0.000,0.025,2328,2690,3630,3685,3576,0,0,0,0,0,0,27.24,27.21,27.24
$GC,5580,-1.11,-194.6,2328,2691,3685,3577,761.2,-13.3,328,5588,0.08,1.75,0.00,0.000,4356,0.131,0.041,2280,3857,3630,3685,3576,0,0,0,0,0,0,27.18,27.15,27.23
$GC,5607,-1.13,-194.6,2280,3857,3685,3576,761.2,-13.3,328,5618,0.00,1.60,0.00,0.000,1030,0.000,0.024,2279,2695,3629,3683,3576,0,0,0,0,0,0,27.24,27.22,27.25
$GC,5913,-1.10,-194.6,2281,2695,3682,3577,814.5,-16.1,339,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2695,3628,3680,3576,0,0,0,0,0,0,27.32,27.41,27.39
$GC,6213,-1.07,-194.6,2281,2696,3682,3578,861.5,-15.4,349,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2695,3628,3681,3576,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6513,-1.04,-194.6,2280,2696,3681,3578,907.2,-15.1,359,6521,0.10,1.73,0.00,0.000,2308,0.186,0.039,2296,3854,3628,3681,3576,0,0,0,0,0,0,27.08,27.16,27.17
$GC,6555,-1.02,-194.6,2296,3854,3682,3580,911.8,-14.8,360,6562,0.00,1.60,0.00,0.000,1030,0.000,0.024,2296,2689,3627,3679,3576,0,0,0,0,0,0,27.26,27.23,27.27
$GC,6876,-1.02,-194.6,2296,2689,3681,3576,956.8,-13.7,371,6884,0.00,1.77,0.00,0.000,260,0.000,0.043,2293,3867,3628,3680,3576,0,0,0,0,0,0,27.34,27.17,27.41
$GC,6908,-1.02,-194.6,2294,3869,3681,3578,961.3,-13.7,372,6916,0.00,1.65,0.00,0.000,1030,0.000,0.025,2293,2715,3628,3680,3576,0,0,0,0,0,0,27.24,27.23,27.26
$STATE,7119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7119,begin apogee
$GC,7122,-0.25,0.0,2294,2819,3680,3576,990.5,-13.9,379,7308,0.80,0.00,171.88,1.559,10246,0.131,0.000,2551,2819,2838,2880,2797,0,0,0,0,1,0,27.06,24.50,23.64
$STATE,7308,end apogee,CONTROL_FINISHED_OK
$STATE,7309,begin climb
$GC,7310,0.92,194.6,2552,2819,2894,2798,999.8,0.0,385,7491,1.10,2.30,167.93,1.083,11012,0.065,0.024,2944,1394,2036,2076,1997,0,0,0,0,0,0,24.79,24.55,23.93
$GC,7630,0.87,260.8,2944,1394,2066,1985,991.5,8.5,395,7699,0.00,2.17,56.30,1.058,9222,0.000,0.028,2943,2795,1765,1808,1723,0,0,0,0,0,0,25.69,25.64,24.18
$GC,7996,0.84,260.8,2944,2795,1799,1707,946.8,11.8,408,8003,0.00,1.62,0.00,0.000,260,0.000,0.041,2943,3848,1752,1797,1707,0,0,0,0,0,0,26.17,26.00,26.24
$GC,8067,0.80,260.8,2943,3850,1798,1707,939.1,12.1,410,8075,0.10,1.52,0.00,0.000,5126,0.206,0.024,2924,2772,1751,1797,1706,0,0,0,0,0,0,25.98,26.16,26.13
$GC,8389,0.80,284.1,2924,2773,1797,1707,904.8,10.1,421,8416,0.00,1.67,19.70,1.003,8452,0.000,0.040,2924,3848,1673,1719,1628,0,0,0,0,0,0,26.57,25.79,25.33
$GC,8507,0.77,284.1,2925,3849,1708,1616,891.4,11.2,424,8515,0.00,1.50,0.00,0.000,1030,0.000,0.025,2929,2785,1661,1707,1615,0,0,0,0,0,0,26.25,26.22,26.26
$GC,8839,0.76,284.1,2930,2787,1707,1614,854.1,11.1,435,8848,0.10,1.62,0.00,0.000,4356,0.194,0.040,2908,3851,1659,1706,1613,0,0,0,0,0,0,26.37,26.46,26.48
$GC,8927,0.74,284.1,2908,3851,1707,1612,847.0,11.2,437,8938,0.00,1.50,0.00,0.000,1030,0.000,0.024,2910,2776,1659,1705,1613,0,0,0,0,0,0,26.60,26.58,26.63
$GC,9232,0.74,297.7,2910,2776,1707,1612,812.4,10.5,448,9244,0.00,1.98,4.20,0.822,8708,0.000,0.024,2918,1423,1628,1677,1580,0,0,0,0,0,0,26.82,26.34,25.82
$GC,9268,0.75,322.7,2918,1423,1692,1586,810.1,10.1,449,9309,0.00,2.08,31.70,0.967,9222,0.000,0.029,2918,2809,1517,1563,1471,0,0,0,0,0,0,26.65,26.60,25.34
$GC,9618,0.75,322.7,2918,2809,1551,1452,768.6,11.4,461,9626,0.00,2.08,0.00,0.000,516,0.000,0.028,2918,1434,1501,1549,1453,0,0,0,0,0,0,26.58,26.43,26.64
$GC,9665,0.75,322.7,2919,1430,1550,1452,764.9,11.4,462,9672,0.00,2.08,0.00,0.000,1030,0.000,0.029,2919,2808,1500,1548,1453,0,0,0,0,0,0,26.51,26.46,26.53
$GC,9982,0.75,322.7,2918,2810,1550,1453,724.7,12.3,473,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2808,1499,1548,1451,0,0,0,0,0,0,26.79,26.86,26.86
$GC,10282,0.75,322.7,2919,2808,1550,1451,688.3,11.9,483,10289,0.00,1.58,0.00,0.000,260,0.000,0.043,2918,3855,1499,1548,1451,0,0,0,0,0,0,26.89,26.72,26.96
$GC,10318,0.75,322.7,2919,3855,1549,1450,684.3,12.0,484,10325,0.10,1.50,0.00,0.000,5126,0.194,0.024,2902,2769,1499,1548,1450,0,0,0,0,0,0,26.63,26.79,26.76
$GC,10645,0.77,350.1,2902,2769,1549,1450,650.5,10.0,495,10679,0.00,2.00,24.60,0.880,8708,0.000,0.024,2907,1438,1405,1453,1357,0,0,0,0,0,0,26.98,26.23,25.75
$GC,10713,0.80,377.7,2908,1427,1441,1345,644.1,10.0,497,10750,0.00,2.08,26.00,0.859,9222,0.000,0.029,2907,2799,1291,1341,1242,0,0,0,0,0,0,26.45,26.40,25.36
$GC,11070,0.82,377.7,2907,2799,1328,1223,602.2,11.6,509,11081,0.00,2.03,0.00,0.000,516,0.000,0.027,2916,1432,1275,1327,1224,0,0,0,0,0,0,26.59,26.44,26.66
$GC,11101,0.85,377.7,2916,1432,1328,1223,598.5,11.6,510,11109,0.00,2.08,0.00,0.000,1030,0.000,0.029,2916,2807,1275,1327,1223,0,0,0,0,0,0,26.51,26.46,26.53
$GC,11428,0.87,377.7,2916,2807,1328,1221,558.5,12.1,521,11436,0.00,1.62,0.00,0.000,260,0.000,0.043,2916,3852,1274,1326,1222,0,0,0,0,0,0,26.79,26.63,26.86
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$STATE,15797,end climb,SURFACE_DEPTH_REACHED
$STATE,15797,begin surface coast
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$STATE,15818,end surface coast,CONTROL_FINISHED_OK
$STATE,15818,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15847.32 7481.17
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$10V_AH,9.96,17.452
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$FG_AHR_10Vo,0.000
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