version: 66.12
glider: 203
mission: 8
dive: 131
start: 8 3 115 20 25 49
data:
$ID,203
$MISSION,8
$DIVE,131
$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,102
$R_STBD_OVSHOOT,39
$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
$GPS1,030815,201934,5637.1030,-15031.6650,32,0.8,33,16.6,0.9,27.3,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-63.4
$GPS2,030815,202449,5637.1553,-15031.5410,7,0.8,11,16.6,0.6,66.5,9,9.4
$SPEED_LIMITS,0.106,0.306
$TGT_NAME,WP9
$TGT_LATLONG,5634.690,-15135.209
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,261.4,65107,-17.4,-10.556,-19.06,2832
$D_GRID,4435
$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,-194.6,188,2801,985,881,0.0,0.0,0,138,0.00,0.00,-38.67,0.000,16386,0.000,0.000,186,2799,1939,1984,1894,0,0,0,0,0,0,26.06,28.83,26.15
$GC,139,-0.89,-194.6,187,2801,1985,1895,3.1,-4.0,5,207,8.62,2.28,-44.88,0.000,18948,0.233,0.037,2341,1331,3635,3709,3562,0,0,0,0,0,0,25.64,24.51,25.94
$GC,391,-0.84,-194.6,2341,1332,3710,3569,51.1,-20.4,45,399,0.12,2.10,0.00,0.000,3078,0.167,0.026,2364,2716,3638,3709,3567,0,0,0,0,0,0,25.89,26.11,26.05
$GC,704,-0.82,-194.6,2364,2717,3710,3570,111.3,-19.0,76,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2717,3639,3709,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,1004,-0.82,-194.6,2364,2718,3710,3572,164.4,-15.9,106,1011,0.00,1.73,0.00,0.000,260,0.000,0.038,2359,3847,3639,3709,3570,0,0,0,0,0,0,26.13,26.08,26.19
$GC,1046,-0.82,-194.6,2359,3847,3711,3575,171.1,-16.1,110,1053,0.00,1.62,0.00,0.000,1030,0.000,0.021,2359,2709,3639,3708,3570,0,0,0,0,0,0,26.18,26.14,26.20
$GC,1357,-0.82,-194.6,2359,2710,3710,3572,215.0,-12.6,141,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2709,3639,3709,3570,0,0,0,0,0,0,26.15,26.21,26.20
$GC,1678,-0.82,-194.6,2359,2710,3710,3572,258.8,-13.9,169,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2709,3638,3707,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,1977,-0.84,-194.6,2359,2710,3709,3572,300.7,-14.1,179,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2709,3639,3709,3569,0,0,0,0,0,0,26.14,26.21,26.20
$GC,2277,-0.85,-194.6,2359,2710,3708,3572,342.8,-13.9,189,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2712,3638,3707,3570,0,0,0,0,0,0,26.13,26.20,26.20
$GC,2577,-0.88,-194.6,2359,2709,3707,3570,384.5,-13.8,199,2587,0.00,1.77,0.00,0.000,260,0.000,0.037,2350,3854,3637,3705,3570,0,0,0,0,0,0,26.13,26.09,26.19
$GC,2616,-0.90,-194.6,2350,3852,3706,3572,389.3,-13.8,200,2623,0.00,1.65,0.00,0.000,1030,0.000,0.021,2350,2693,3637,3705,3570,0,0,0,0,0,0,26.18,26.16,26.19
$GC,2942,-0.90,-194.6,2350,2688,3705,3570,435.6,-13.5,211,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2688,3637,3704,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,3243,-0.91,-194.6,2350,2690,3703,3572,475.0,-13.3,221,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2689,3636,3702,3570,0,0,0,0,0,0,26.13,26.20,26.18
$GC,3543,-0.93,-194.6,2350,2690,3702,3572,515.3,-13.5,231,3551,0.00,1.80,0.00,0.000,260,0.000,0.038,2348,3845,3635,3701,3570,0,0,0,0,0,0,26.13,26.06,26.20
$GC,3570,-0.95,-194.6,2348,3846,3702,3570,515.3,-13.5,231,3582,0.00,1.65,0.00,0.000,1030,0.000,0.022,2348,2703,3635,3700,3570,0,0,0,0,0,0,26.19,26.16,26.20
$GC,3875,-0.97,-194.6,2348,2703,3700,3570,561.3,-14.3,242,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2703,3634,3699,3570,0,0,0,0,0,0,26.12,26.19,26.17
$GC,4175,-0.99,-194.6,2348,2704,3699,3571,603.5,-13.9,252,4185,0.00,1.77,0.00,0.000,260,0.000,0.037,2339,3846,3634,3698,3570,0,0,0,0,0,0,26.11,26.07,26.17
$GC,4214,-1.01,-194.6,2340,3846,3698,3570,608.3,-13.9,253,4221,0.00,1.65,0.00,0.000,1030,0.000,0.023,2340,2699,3633,3697,3570,0,0,0,0,0,0,26.17,26.15,26.17
$GC,4540,-1.02,-194.6,2340,2698,3697,3570,655.8,-14.2,264,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2699,3633,3697,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,4840,-1.04,-194.6,2340,2698,3696,3570,697.5,-13.7,274,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2698,3632,3695,3570,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5140,-1.06,-194.6,2339,2699,3695,3570,736.8,-13.0,284,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2699,3632,3694,3570,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5440,-1.08,-194.6,2340,2700,3694,3571,774.7,-12.4,294,5448,0.08,1.80,0.00,0.000,4356,0.121,0.036,2280,3852,3631,3693,3570,0,0,0,0,0,0,26.01,26.04,26.10
$GC,5467,-1.10,-194.6,2280,3852,3693,3570,774.7,-12.4,294,5477,0.00,1.67,0.00,0.000,1030,0.000,0.022,2280,2670,3631,3692,3570,0,0,0,0,0,0,26.16,26.13,26.17
$GC,5773,-1.06,-194.6,2280,2671,3693,3572,827.3,-16.1,305,5778,0.08,0.00,0.00,0.000,2054,0.186,0.000,2292,2670,3630,3691,3570,0,0,0,0,0,0,25.94,26.10,26.06
$GC,6073,-1.04,-194.6,2293,2671,3691,3572,871.7,-14.4,315,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2670,3629,3689,3569,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6373,-1.02,-194.6,2292,2670,3691,3570,913.8,-13.9,325,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2670,3629,3690,3569,0,0,0,0,0,0,26.10,26.18,26.17
$STATE,6641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6641,begin apogee
$GC,6645,-0.25,0.0,2293,2812,3698,3571,951.2,-13.9,334,6876,0.85,0.00,223.95,0.887,10246,0.124,0.000,2557,2811,2838,2871,2806,0,0,0,0,0,0,25.81,24.41,23.72
$STATE,6877,end apogee,CONTROL_FINISHED_OK
$STATE,6877,begin climb
$GC,6878,0.89,194.6,2557,2811,2865,2796,962.2,0.0,341,7055,1.05,2.30,164.20,1.052,11012,0.050,0.022,2931,1447,2036,2070,2003,0,0,0,0,0,0,24.56,23.89,23.20
$GC,7204,0.86,223.9,2931,1445,2061,1990,951.7,9.5,352,7238,0.00,2.12,25.15,1.041,9222,0.000,0.026,2931,2798,1928,1969,1888,0,0,0,0,0,0,25.34,25.29,24.16
$GC,7543,0.82,223.9,2931,2798,1946,1868,912.4,11.2,364,7551,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3848,1907,1945,1869,0,0,0,0,0,0,25.91,25.89,25.96
$GC,7595,0.78,223.9,2932,3848,1946,1869,908.4,11.3,365,7603,0.10,1.50,0.00,0.000,5126,0.181,0.023,2911,2794,1906,1945,1867,0,0,0,0,0,0,25.79,25.98,25.96
$GC,7907,0.76,223.9,2911,2795,1946,1868,872.8,10.9,376,7915,0.00,2.05,0.00,0.000,516,0.000,0.024,2918,1424,1906,1945,1867,0,0,0,0,0,0,26.06,26.10,26.13
$GC,7934,0.74,223.9,2918,1425,1945,1868,869.9,11.1,377,7941,0.00,2.12,0.00,0.000,1030,0.000,0.027,2918,2812,1906,1945,1867,0,0,0,0,0,0,26.13,26.08,26.15
$GC,8261,0.72,223.9,2918,2815,1944,1868,833.6,11.1,388,8268,0.10,1.62,0.00,0.000,4356,0.168,0.037,2896,3846,1905,1944,1867,0,0,0,0,0,0,25.94,26.09,26.08
$GC,8337,0.69,223.9,2897,3847,1945,1867,826.6,11.2,390,8345,0.00,1.50,0.00,0.000,1030,0.000,0.023,2902,2790,1904,1943,1865,0,0,0,0,0,0,26.20,26.12,26.20
$GC,8654,0.69,235.2,2902,2791,1945,1867,792.7,10.1,401,8662,0.00,0.00,2.38,0.431,8198,0.000,0.000,2901,2790,1880,1918,1842,0,0,0,0,0,0,26.13,25.84,24.70
$GC,8954,0.70,253.4,2902,2789,1947,1849,762.2,9.9,411,8988,0.00,1.67,24.45,0.959,8452,0.000,0.038,2902,3852,1796,1834,1759,0,0,0,0,0,0,26.12,25.43,24.90
$GC,9058,0.70,271.8,2902,3853,1828,1752,752.7,9.9,414,9082,0.00,1.50,16.85,0.950,9222,0.000,0.023,2903,2793,1729,1767,1691,0,0,0,0,0,0,25.93,25.89,24.79
$GC,9378,0.70,277.5,2903,2793,1753,1671,718.3,10.3,425,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2793,1711,1752,1671,0,0,0,0,0,0,26.03,26.10,26.09
$GC,9678,0.70,301.6,2903,2793,1754,1671,688.6,9.7,435,9712,0.00,1.70,26.60,0.913,8452,0.000,0.040,2903,3850,1601,1641,1562,0,0,0,0,0,0,26.10,25.62,24.90
$GC,9757,0.70,318.3,2904,3851,1633,1552,682.0,10.0,437,9779,0.05,1.55,14.93,0.914,13318,0.152,0.023,2893,2800,1540,1581,1500,0,0,0,0,0,0,25.66,25.83,24.82
$GC,10100,0.73,318.3,2894,2801,1568,1482,644.8,10.6,449,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2800,1524,1567,1481,0,0,0,0,0,0,25.98,26.06,26.06
$GC,10399,0.75,318.3,2893,2800,1566,1480,613.3,10.8,459,10406,0.00,2.05,0.00,0.000,516,0.000,0.024,2893,1429,1520,1561,1480,0,0,0,0,0,0,26.10,26.10,26.17
$GC,10431,0.78,318.3,2893,1430,1566,1481,610.5,10.7,460,10438,0.00,2.10,0.00,0.000,1030,0.000,0.027,2893,2801,1522,1565,1480,0,0,0,0,0,0,26.14,26.10,26.16
$GC,10753,0.81,332.9,2893,2801,1567,1479,577.3,10.0,471,10773,0.00,0.00,12.82,0.868,8454,0.000,0.000,2893,2801,1478,1520,1436,0,0,0,0,0,0,26.12,25.82,25.17
$GC,11083,0.85,342.7,2893,2801,1512,1425,543.6,10.2,482,11094,0.00,1.67,2.90,0.627,8452,0.000,0.041,2893,3854,1447,1494,1400,0,0,0,0,0,0,26.08,25.91,24.72
$GC,11134,0.87,342.8,2893,3855,1504,1408,540.0,10.6,483,11142,0.08,1.50,0.00,0.000,3078,0.119,0.023,2945,2795,1455,1503,1408,0,0,0,0,0,0,25.98,26.08,26.07
$GC,11446,0.87,342.8,2939,2796,1505,1410,500.0,12.3,494,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2795,1456,1504,1408,0,0,0,0,0,0,26.10,26.17,26.16
$GC,11746,0.87,342.8,2938,2796,1505,1410,462.6,12.5,504,11753,0.00,1.65,0.00,0.000,260,0.000,0.039,2939,3860,1455,1504,1406,0,0,0,0,0,0,26.12,26.09,26.17
$GC,11787,0.87,342.8,2939,3860,1506,1408,458.4,12.6,505,11794,0.00,1.50,0.00,0.000,1030,0.000,0.023,2945,2795,1456,1504,1408,0,0,0,0,0,0,26.16,26.15,26.18
$GC,12109,0.86,342.8,2945,2796,1504,1410,417.2,12.3,516,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2795,1456,1504,1408,0,0,0,0,0,0,26.12,26.18,26.17
$GC,12408,0.86,342.8,2945,2797,1506,1409,381.3,12.1,526,12415,0.00,1.65,0.00,0.000,260,0.000,0.039,2945,3858,1456,1504,1408,0,0,0,0,0,0,26.13,26.07,26.19
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$STATE,15566,end climb,SURFACE_DEPTH_REACHED
$STATE,15566,begin surface coast
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$STATE,15576,end surface coast,CONTROL_FINISHED_OK
$STATE,15576,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,15606.33 7306.85
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$10V_AH,10.17,35.166
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$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$MEM,143672
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