version: 66.12
glider: 203
mission: 8
dive: 127
start: 8 3 115 2 27 8
data:
$ID,203
$MISSION,8
$DIVE,127
$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,105
$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
$GPS1,030815,022133,5635.7329,-15021.1738,26,0.7,26,16.7,0.0,0.0,12,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-61.7
$GPS2,030815,022657,5635.6929,-15021.1240,7,0.8,8,16.7,0.0,135.9,11,9.5
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,283.4,75596,-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,-194.6,195,2808,567,439,0.0,0.0,0,156,0.00,0.00,-56.55,0.000,16386,0.000,0.000,194,2808,1977,2023,1932,0,0,0,0,0,0,26.02,28.83,26.09
$GC,158,-0.89,-194.6,195,2808,2024,1932,3.1,-3.5,8,214,8.62,2.22,-42.58,0.000,18948,0.231,0.037,2342,1342,3634,3707,3561,0,0,0,0,0,0,25.63,24.50,25.91
$GC,336,-0.82,-194.6,2342,1344,3709,3567,39.1,-23.6,36,351,0.15,2.08,0.00,0.000,3078,0.158,0.025,2373,2708,3637,3708,3566,0,0,0,0,0,0,25.80,26.02,25.97
$GC,659,-0.81,-194.6,2373,2710,3709,3569,98.3,-16.4,71,668,0.00,1.75,0.00,0.000,260,0.000,0.038,2367,3852,3638,3708,3568,0,0,0,0,0,0,26.08,26.03,26.13
$GC,693,-0.79,-194.6,2367,3853,3708,3569,103.6,-16.0,74,701,0.00,1.62,0.00,0.000,1030,0.000,0.021,2367,2694,3638,3708,3568,0,0,0,0,0,0,26.19,26.14,26.20
$GC,1006,-0.79,-194.6,2367,2694,3708,3569,154.4,-16.3,105,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2694,3638,3708,3569,0,0,0,0,0,0,26.14,26.21,26.20
$GC,1306,-0.79,-194.6,2367,2695,3709,3570,197.3,-13.0,135,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2694,3638,3707,3569,0,0,0,0,0,0,26.13,26.20,26.19
$GC,1606,-0.81,-194.6,2367,2694,3709,3568,235.6,-12.9,165,1614,0.00,1.80,0.00,0.000,260,0.000,0.038,2360,3857,3638,3708,3569,0,0,0,0,0,0,26.14,26.09,26.20
$GC,1663,-0.81,-194.6,2360,3857,3709,3568,242.9,-13.8,170,1674,0.08,1.62,0.00,0.000,3078,0.178,0.021,2373,2704,3638,3708,3569,0,0,0,0,0,0,25.97,26.17,26.09
$GC,1989,-0.84,-194.6,2374,2703,3708,3568,287.3,-13.4,185,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2704,3638,3707,3569,0,0,0,0,0,0,26.13,26.20,26.19
$GC,2289,-0.87,-194.6,2374,2705,3707,3570,326.5,-12.9,195,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2703,3637,3706,3568,0,0,0,0,0,0,26.15,26.20,26.21
$GC,2589,-0.91,-194.6,2373,2703,3706,3568,363.9,-12.3,205,2596,0.00,1.77,0.00,0.000,260,0.000,0.039,2373,3846,3636,3705,3568,0,0,0,0,0,0,26.11,26.08,26.17
$GC,2625,-0.94,-194.6,2372,3847,3705,3570,367.8,-12.3,206,2632,0.00,1.62,0.00,0.000,1030,0.000,0.022,2373,2713,3636,3704,3569,0,0,0,0,0,0,26.18,26.16,26.20
$GC,2951,-0.98,-194.6,2369,2713,3704,3568,407.4,-11.6,217,2960,0.10,1.80,0.00,0.000,4356,0.093,0.038,2305,3852,3635,3702,3569,0,0,0,0,0,0,26.08,26.08,26.14
$GC,2989,-1.01,-194.6,2306,3853,3703,3570,412.0,-12.1,218,2997,0.00,1.70,0.00,0.000,1030,0.000,0.021,2306,2687,3635,3702,3569,0,0,0,0,0,0,26.19,26.17,26.19
$GC,3316,-0.98,-194.6,2306,2688,3702,3570,463.6,-15.4,229,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2687,3634,3700,3569,0,0,0,0,0,0,26.13,26.20,26.18
$GC,3616,-0.95,-194.6,2306,2688,3700,3570,509.0,-15.2,239,3621,0.10,0.00,0.00,0.000,2054,0.169,0.000,2327,2687,3634,3699,3569,0,0,0,0,0,0,25.94,26.13,26.07
$GC,3916,-0.95,-194.6,2328,2688,3699,3570,549.4,-13.2,249,3923,0.00,1.80,0.00,0.000,260,0.000,0.037,2322,3845,3633,3698,3568,0,0,0,0,0,0,26.14,26.07,26.20
$GC,3957,-0.95,-194.6,2322,3848,3698,3570,553.7,-13.3,250,3964,0.00,1.62,0.00,0.000,1030,0.000,0.022,2322,2713,3633,3697,3569,0,0,0,0,0,0,26.18,26.15,26.17
$GC,4278,-0.95,-194.6,2322,2712,3698,3568,599.2,-14.0,261,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2713,3633,3697,3569,0,0,0,0,0,0,26.12,26.19,26.17
$GC,4578,-0.95,-194.6,2321,2712,3696,3568,642.1,-14.2,271,4585,0.00,1.77,0.00,0.000,260,0.000,0.040,2319,3852,3631,3695,3568,0,0,0,0,0,0,26.12,26.06,26.20
$GC,4614,-0.95,-194.6,2320,3853,3695,3570,646.7,-14.3,272,4621,0.00,1.67,0.00,0.000,1030,0.000,0.022,2319,2683,3631,3695,3568,0,0,0,0,0,0,26.19,26.17,26.20
$GC,4940,-0.95,-194.6,2319,2677,3693,3568,695.2,-14.5,283,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2677,3631,3694,3568,0,0,0,0,0,0,26.13,26.20,26.20
$GC,5240,-0.95,-194.6,2320,2678,3694,3574,738.4,-14.4,293,5248,0.00,1.83,0.00,0.000,260,0.000,0.039,2319,3848,3630,3692,3568,0,0,0,0,0,0,26.12,26.06,26.17
$GC,5277,-0.95,-194.6,2319,3847,3694,3568,742.3,-14.3,294,5284,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2712,3630,3692,3568,0,0,0,0,0,0,26.17,26.14,26.17
$GC,5598,-0.95,-194.6,2320,2712,3692,3568,788.0,-14.0,305,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2712,3629,3690,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5898,-0.95,-194.6,2319,2711,3691,3569,827.9,-13.1,315,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2712,3629,3690,3569,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6198,-0.95,-194.6,2318,2713,3690,3570,864.9,-12.0,325,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2712,3628,3689,3568,0,0,0,0,0,0,26.10,26.17,26.17
$GC,6498,-0.95,-194.6,2320,2712,3690,3569,899.4,-11.3,335,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2712,3628,3689,3568,0,0,0,0,0,0,26.10,26.17,26.17
$GC,6798,-0.95,-194.6,2321,2712,3689,3568,932.9,-11.3,345,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2711,3624,3681,3568,0,0,0,0,0,0,26.12,26.17,26.17
$STATE,6947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6947,begin apogee
$GC,6950,-0.25,0.0,2320,2810,3688,3568,950.1,-11.6,350,7192,0.75,0.00,232.12,0.865,10246,0.118,0.000,2553,2810,2834,2866,2803,0,0,0,0,0,0,25.84,24.45,23.86
$STATE,7193,end apogee,CONTROL_FINISHED_OK
$STATE,7193,begin climb
$GC,7194,0.89,194.6,2553,2812,2863,2802,961.1,0.0,358,7373,1.08,2.30,165.30,1.048,11012,0.053,0.021,2931,1414,2036,2067,2005,0,0,0,0,0,0,24.63,23.70,23.20
$GC,7543,0.86,236.6,2932,1415,2059,1993,948.3,9.0,369,7588,0.00,2.15,35.47,1.035,9222,0.000,0.026,2932,2788,1875,1909,1842,0,0,0,0,0,0,25.41,25.37,24.13
$GC,7884,0.83,249.5,2932,2788,1892,1817,911.7,10.1,381,7895,0.00,1.65,3.25,0.719,8452,0.000,0.037,2932,3854,1826,1865,1787,0,0,0,0,0,0,25.88,25.40,24.50
$GC,7985,0.79,249.5,2932,3855,1882,1798,901.9,11.0,384,7996,0.00,1.52,2.20,0.339,9222,0.000,0.022,2931,2774,1824,1864,1784,0,0,0,0,0,0,26.00,25.98,24.63
$GC,8300,0.75,270.4,2931,2774,1887,1791,868.6,9.8,395,8335,0.10,0.00,27.50,1.007,12294,0.178,0.000,2910,2775,1735,1772,1698,0,0,0,0,0,0,25.91,25.50,24.77
$GC,8630,0.76,296.0,2910,2775,1755,1679,836.5,9.6,406,8664,0.00,1.75,22.60,0.989,8452,0.000,0.040,2910,3843,1621,1660,1583,0,0,0,0,0,0,26.03,25.58,24.82
$GC,8734,0.76,300.6,2909,3842,1654,1574,826.5,10.4,409,8742,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2797,1614,1654,1574,0,0,0,0,0,0,25.89,25.86,25.89
$GC,9056,0.76,300.6,2917,2797,1654,1572,791.2,10.6,420,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2795,1612,1653,1572,0,0,0,0,0,0,26.06,26.13,26.11
$GC,9356,0.76,310.5,2917,2797,1653,1571,760.5,10.2,430,9374,0.00,0.00,12.35,0.956,8198,0.000,0.000,2916,2797,1572,1612,1532,0,0,0,0,0,0,26.11,25.79,25.05
$GC,9657,0.76,315.9,2917,2797,1601,1518,729.3,10.4,440,9664,0.00,1.65,0.00,0.000,260,0.000,0.039,2916,3858,1558,1599,1517,0,0,0,0,0,0,26.08,26.04,26.14
$GC,9708,0.76,318.5,2916,3860,1601,1519,725.7,10.5,441,9722,0.00,1.55,1.75,0.187,9222,0.000,0.023,2919,2794,1541,1583,1499,0,0,0,0,0,0,26.13,26.12,25.75
$GC,10019,0.76,323.9,2919,2795,1601,1506,691.4,10.4,452,10040,0.00,2.10,11.70,0.929,8708,0.000,0.025,2918,1435,1514,1556,1472,0,0,0,0,0,0,26.11,25.86,25.08
$GC,10064,0.76,329.8,2919,1434,1550,1470,688.1,10.3,453,10071,0.00,2.10,0.00,0.000,1030,0.000,0.026,2919,2801,1510,1549,1471,0,0,0,0,0,0,25.99,25.95,26.00
$GC,10376,0.76,329.8,2919,2802,1550,1469,651.8,11.4,464,10383,0.00,1.65,0.00,0.000,260,0.000,0.039,2919,3847,1508,1548,1468,0,0,0,0,0,0,26.08,26.07,26.15
$GC,10412,0.76,329.8,2919,3847,1550,1466,648.0,11.5,465,10420,0.00,1.52,0.00,0.000,1030,0.000,0.023,2918,2804,1508,1549,1467,0,0,0,0,0,0,26.15,26.13,26.15
$GC,10740,0.76,329.8,2919,2804,1550,1466,610.5,11.3,476,10748,0.00,1.62,0.00,0.000,260,0.000,0.040,2919,3854,1507,1548,1467,0,0,0,0,0,0,26.10,26.08,26.16
$GC,10773,0.76,329.8,2918,3854,1549,1466,606.5,11.5,477,10780,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2792,1507,1548,1466,0,0,0,0,0,0,26.17,26.15,26.17
$GC,11104,0.76,329.8,2919,2791,1550,1465,567.3,11.7,488,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2791,1507,1549,1465,0,0,0,0,0,0,26.13,26.20,26.19
$GC,11404,0.76,329.8,2919,2793,1550,1463,533.9,10.8,498,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2792,1511,1549,1473,0,0,0,0,0,0,26.13,26.20,26.18
$GC,11704,0.76,329.8,2919,2793,1550,1467,502.5,10.9,508,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2792,1507,1549,1466,0,0,0,0,0,0,26.13,26.20,26.19
$GC,12004,0.76,330.8,2918,2792,1550,1466,470.3,10.5,518,12011,0.00,0.00,1.73,0.207,8198,0.000,0.000,2919,2792,1488,1530,1447,0,0,0,0,0,0,26.13,25.98,25.74
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$STATE,16199,end climb,SURFACE_DEPTH_REACHED
$STATE,16199,begin surface coast
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$STATE,16220,end surface coast,CONTROL_FINISHED_OK
$STATE,16220,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16248.91 7599.16
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$FG_AHR_10Vo,0.000
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