version: 66.12
glider: 203
mission: 8
dive: 98
start: 7 28 115 15 7 54
data:
$ID,203
$MISSION,8
$DIVE,98
$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,-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,85
$R_STBD_OVSHOOT,46
$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
$GPS1,280715,150227,5709.7744,-14900.0186,38,0.8,38,17.2,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.1
$GPS2,280715,150743,5709.7515,-14859.9893,21,0.8,21,17.2,0.7,192.4,10,3.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,274.2,66833,-18.0,-11.000,-19.55,2718
$D_GRID,3650
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.92,-194.6,198,2710,917,805,0.0,0.0,0,156,0.00,0.00,-51.60,0.000,16386,0.000,0.000,197,2709,2209,2254,2165,0,0,0,0,0,0,26.01,28.83,26.07
$GC,158,-0.92,-194.6,198,2709,2256,2166,3.1,-4.1,8,207,8.70,2.08,-29.45,0.000,18948,0.240,0.036,2329,1323,3631,3704,3558,0,0,0,0,0,0,25.66,25.37,25.84
$GC,262,-0.84,-194.6,2328,1322,3706,3560,28.2,-24.4,24,272,0.17,2.10,0.00,0.000,3078,0.150,0.026,2369,2704,3631,3705,3557,0,0,0,0,0,0,25.88,26.03,26.03
$GC,572,-0.82,-194.6,2369,2706,3706,3568,84.3,-18.5,66,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2705,3635,3705,3566,0,0,0,0,0,0,26.08,26.15,26.13
$GC,873,-0.82,-194.6,2368,2704,3705,3568,132.0,-15.5,96,880,0.00,1.75,0.00,0.000,260,0.000,0.039,2363,3851,3636,3705,3568,0,0,0,0,0,0,26.10,26.09,26.15
$GC,914,-0.82,-194.6,2364,3852,3706,3568,138.6,-15.7,100,921,0.00,1.65,0.00,0.000,1030,0.000,0.021,2363,2686,3636,3704,3568,0,0,0,0,0,0,26.16,26.13,26.17
$GC,1225,-0.84,-194.6,2363,2683,3705,3570,182.1,-13.8,131,1233,0.00,1.83,0.00,0.000,260,0.000,0.037,2354,3852,3636,3705,3568,0,0,0,0,0,0,26.11,26.10,26.17
$GC,1257,-0.84,-194.6,2354,3851,3706,3568,186.5,-14.3,134,1264,0.00,1.67,0.00,0.000,1030,0.000,0.021,2355,2702,3636,3705,3568,0,0,0,0,0,0,26.16,26.15,26.17
$GC,1568,-0.84,-194.6,2354,2702,3706,3568,229.8,-14.1,165,1576,0.00,2.05,0.00,0.000,516,0.000,0.022,2354,1324,3636,3704,3568,0,0,0,0,0,0,26.12,26.12,26.17
$GC,1620,-0.86,-194.6,2354,1325,3705,3569,236.5,-14.4,169,1630,0.00,2.10,0.00,0.000,1030,0.000,0.026,2348,2705,3636,3704,3569,0,0,0,0,0,0,26.16,26.11,26.17
$GC,1925,-0.86,-194.6,2348,2705,3705,3567,281.5,-14.3,186,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2705,3636,3704,3568,0,0,0,0,0,0,26.12,26.19,26.17
$GC,2225,-0.86,-194.6,2348,2706,3703,3570,322.3,-13.3,196,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2705,3635,3703,3568,0,0,0,0,0,0,26.10,26.17,26.17
$GC,2525,-0.86,-194.6,2348,2705,3702,3568,361.3,-13.1,206,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3634,3701,3568,0,0,0,0,0,0,26.11,26.17,26.17
$GC,2825,-0.87,-194.6,2348,2707,3700,3569,401.2,-13.5,216,2833,0.00,2.08,0.00,0.000,516,0.000,0.023,2348,1326,3633,3698,3568,0,0,0,0,0,0,26.12,26.11,26.17
$GC,2857,-0.89,-194.6,2347,1325,3701,3568,404.9,-13.5,217,2865,0.00,2.10,0.00,0.000,1030,0.000,0.027,2341,2703,3633,3699,3568,0,0,0,0,0,0,26.16,26.11,26.17
$GC,3184,-0.89,-194.6,2341,2703,3698,3568,450.6,-13.8,228,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2704,3630,3697,3563,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3484,-0.89,-194.6,2342,2705,3697,3569,491.0,-13.3,238,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2704,3631,3695,3568,0,0,0,0,0,0,26.12,26.18,26.17
$GC,3784,-0.91,-194.6,2341,2705,3695,3570,530.1,-13.0,248,3792,0.00,2.08,0.00,0.000,516,0.000,0.023,2341,1325,3631,3694,3568,0,0,0,0,0,0,26.10,26.12,26.16
$GC,3811,-0.93,-194.6,2341,1326,3695,3569,533.8,-13.1,249,3819,0.00,2.10,0.00,0.000,1030,0.000,0.027,2335,2703,3631,3694,3568,0,0,0,0,0,0,26.15,26.11,26.17
$GC,4143,-0.93,-194.6,2331,2702,3694,3568,579.7,-14.2,260,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2702,3630,3693,3568,0,0,0,0,0,0,26.11,26.19,26.17
$GC,4443,-0.93,-194.6,2335,2702,3693,3568,622.2,-14.0,270,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2703,3630,3692,3568,0,0,0,0,0,0,26.13,26.17,26.14
$GC,4743,-0.95,-194.6,2335,2702,3692,3568,664.2,-13.8,280,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2702,3629,3691,3568,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5043,-0.96,-194.6,2335,2703,3691,3568,703.6,-12.8,290,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2702,3627,3690,3564,0,0,0,0,0,0,26.10,26.17,26.15
$GC,5343,-0.98,-194.6,2335,2704,3690,3569,742.1,-12.8,300,5352,0.00,2.08,0.00,0.000,516,0.000,0.024,2335,1328,3626,3685,3568,0,0,0,0,0,0,26.10,26.11,26.15
$GC,5371,-1.00,-194.6,2335,1328,3690,3568,742.1,-12.8,300,5381,0.00,2.10,0.00,0.000,1030,0.000,0.027,2333,2709,3628,3689,3568,0,0,0,0,0,0,26.14,26.10,26.15
$GC,5676,-1.02,-194.6,2332,2710,3689,3569,784.2,-12.5,311,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2709,3628,3688,3568,0,0,0,0,0,0,26.09,26.16,26.15
$GC,5976,-1.04,-194.6,2333,2710,3688,3569,820.4,-12.0,321,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2709,3627,3687,3568,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6276,-1.07,-194.6,2333,2710,3688,3576,857.8,-12.3,331,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2709,3627,3687,3567,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6576,-1.09,-194.6,2333,2710,3687,3569,895.5,-12.6,341,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2709,3627,3686,3568,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6876,-1.11,-194.6,2333,2711,3688,3569,934.5,-13.0,351,6885,0.10,2.08,0.00,0.000,4612,0.099,0.021,2274,1332,3627,3686,3568,0,0,0,0,0,0,26.06,26.09,26.13
$GC,6924,-1.13,-194.6,2274,1334,3687,3570,939.3,-13.4,352,6931,0.00,2.08,0.00,0.000,1030,0.000,0.025,2266,2703,3627,3686,3568,0,0,0,0,0,0,26.13,26.09,26.15
$STATE,7234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7234,begin apogee
$GC,7238,-0.25,0.0,2266,2818,3686,3569,992.1,-16.4,363,7407,0.95,0.00,161.25,1.108,10246,0.132,0.000,2556,2817,2838,2870,2806,0,0,0,0,0,0,25.88,24.41,23.75
$STATE,7408,end apogee,CONTROL_FINISHED_OK
$STATE,7408,begin climb
$GC,7409,0.92,194.6,2557,2816,2865,2797,1000.6,0.0,368,7585,1.12,2.30,164.40,1.094,11012,0.063,0.020,2944,1434,2038,2070,2006,0,0,0,0,0,0,24.54,23.50,23.00
$GC,7750,0.88,244.4,2945,1431,2062,1994,989.6,9.1,380,7802,0.00,2.15,42.75,1.086,9222,0.000,0.026,2944,2791,1841,1876,1806,0,0,0,0,0,0,25.20,25.15,23.87
$GC,8100,0.83,244.4,2945,2791,1861,1784,948.0,12.1,391,8108,0.00,1.67,0.00,0.000,260,0.000,0.040,2945,3860,1822,1860,1784,0,0,0,0,0,0,25.66,25.66,25.72
$GC,8167,0.78,244.4,2945,3860,1860,1784,939.7,12.6,393,8175,0.12,1.52,0.00,0.000,5126,0.175,0.023,2917,2791,1821,1859,1784,0,0,0,0,0,0,25.63,25.79,25.78
$GC,8495,0.76,250.1,2917,2793,1860,1782,903.4,10.8,404,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2794,1821,1859,1783,0,0,0,0,0,0,25.98,26.05,26.03
$GC,8795,0.74,273.3,2917,2793,1859,1782,872.4,10.1,414,8829,0.00,1.75,24.52,1.031,8452,0.000,0.040,2917,3851,1715,1752,1678,0,0,0,0,0,0,26.06,25.54,24.80
$GC,8899,0.71,273.3,2917,3852,1747,1670,861.9,11.0,417,8906,0.10,1.50,0.00,0.000,5126,0.183,0.024,2898,2803,1707,1746,1669,0,0,0,0,0,0,25.65,25.80,25.80
$GC,9221,0.71,310.8,2898,2804,1747,1669,829.2,9.6,428,9259,0.00,0.00,32.97,1.004,8454,0.000,0.000,2898,2803,1570,1609,1531,0,0,0,0,0,0,26.01,25.35,24.68
$GC,9551,0.71,317.1,2898,2803,1594,1512,794.5,10.8,439,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2803,1553,1593,1513,0,0,0,0,0,0,25.94,26.01,26.00
$GC,9850,0.71,317.1,2898,2804,1594,1513,762.0,11.0,449,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2803,1552,1593,1511,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10151,0.73,317.1,2898,2804,1593,1512,728.5,11.4,459,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2803,1551,1592,1511,0,0,0,0,0,0,26.08,26.15,26.15
$GC,10451,0.75,317.1,2898,2803,1591,1511,694.1,11.4,469,10458,0.00,1.62,0.00,0.000,260,0.000,0.041,2898,3854,1551,1591,1511,0,0,0,0,0,0,26.09,26.08,26.15
$GC,10487,0.75,317.1,2898,3855,1593,1511,690.2,11.6,470,10494,0.00,1.50,0.00,0.000,1030,0.000,0.024,2903,2792,1551,1592,1510,0,0,0,0,0,0,26.17,26.13,26.17
$GC,10813,0.75,317.1,2903,2792,1592,1511,651.7,11.2,481,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2792,1550,1591,1510,0,0,0,0,0,0,26.09,26.17,26.16
$GC,11113,0.75,317.1,2903,2791,1592,1509,618.1,11.1,491,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2792,1549,1591,1508,0,0,0,0,0,0,26.08,26.18,26.14
$GC,11413,0.75,317.1,2903,2793,1591,1511,585.0,11.1,501,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2791,1550,1590,1510,0,0,0,0,0,0,26.10,26.16,26.15
$GC,11713,0.77,328.1,2904,2791,1591,1509,552.3,10.6,511,11736,0.00,1.73,14.43,0.868,8452,0.000,0.040,2903,3850,1497,1538,1456,0,0,0,0,0,0,26.09,25.81,25.11
$GC,11785,0.77,337.1,2904,3850,1531,1447,546.1,10.7,513,11796,0.00,1.55,3.03,0.646,9222,0.000,0.023,2915,2796,1466,1508,1424,0,0,0,0,0,0,25.98,25.94,24.77
$GC,12101,0.77,349.3,2909,2795,1530,1427,510.3,10.5,524,12125,0.00,0.00,18.67,0.828,8198,0.000,0.000,2909,2795,1415,1457,1373,0,0,0,0,0,0,26.06,25.65,25.03
$GC,12401,0.79,349.3,2909,2797,1444,1360,477.1,11.3,534,12408,0.00,2.05,0.00,0.000,516,0.000,0.024,2918,1428,1401,1444,1358,0,0,0,0,0,0,25.98,26.01,26.05
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$STATE,16635,end climb,SURFACE_DEPTH_REACHED
$STATE,16635,begin surface coast
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$STATE,16650,end surface coast,CONTROL_FINISHED_OK
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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,16679.17 7803.98
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$10V_AH,10.18,32.893
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$FG_AHR_10Vo,0.000
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$MEM,180072
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