version: 66.12
glider: 203
mission: 8
dive: 21
start: 7 14 115 0 10 5
data:
$ID,203
$MISSION,8
$DIVE,21
$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,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,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
$GPS1,140715,000433,5855.4058,-14702.8867,29,0.9,29,18.2,0.6,55.6,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.8
$GPS2,140715,000954,5855.4121,-14702.8828,4,1.0,12,18.2,0.0,184.9,9,9.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,122.2,64844,-18.0,-11.000,-19.55,2718
$D_GRID,2116
$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,-194.6,194,2688,1061,949,0.0,0.0,0,141,0.00,0.00,-41.88,0.000,16386,0.000,0.000,199,2687,2120,2154,2087,0,0,0,0,0,0,26.65,28.83,26.72
$GC,143,-0.92,-194.6,200,2688,2155,2089,3.0,-4.7,7,200,8.27,1.77,-35.47,0.000,18692,0.236,0.057,2329,3856,3634,3701,3567,0,0,0,0,0,0,26.29,26.06,26.41
$GC,325,-0.86,-194.6,2329,3855,3702,3571,42.2,-21.6,38,336,0.12,1.60,0.00,0.000,3078,0.164,0.022,2359,2695,3636,3701,3571,0,0,0,0,0,0,26.47,26.65,26.60
$GC,636,-0.86,-194.6,2359,2696,3702,3575,100.1,-17.6,72,644,0.00,1.98,0.00,0.000,516,0.000,0.025,2359,1332,3637,3701,3574,0,0,0,0,0,0,26.90,26.74,26.96
$GC,687,-0.86,-194.6,2359,1334,3702,3575,107.7,-16.6,76,697,0.00,2.03,0.00,0.000,1030,0.000,0.028,2352,2708,3637,3700,3574,0,0,0,0,0,0,26.81,26.76,26.82
$GC,993,-0.86,-194.6,2352,2707,3702,3574,152.0,-13.9,107,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2708,3638,3701,3575,0,0,0,0,0,0,27.00,27.07,27.06
$GC,1294,-0.88,-194.6,2352,2708,3702,3574,191.1,-13.2,137,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2708,3637,3701,3574,0,0,0,0,0,0,27.06,27.14,27.13
$GC,1594,-0.89,-194.6,2353,2709,3702,3575,233.4,-15.1,167,1602,0.00,2.00,0.00,0.000,516,0.000,0.025,2353,1334,3637,3701,3574,0,0,0,0,0,0,27.12,26.95,27.17
$GC,1637,-0.91,-194.6,2352,1334,3702,3574,239.9,-15.1,171,1645,0.00,2.00,0.00,0.000,1030,0.000,0.029,2347,2698,3635,3697,3574,0,0,0,0,0,0,27.00,26.96,27.02
$GC,1949,-0.93,-194.6,2348,2700,3701,3576,287.2,-15.1,186,1958,0.00,1.75,0.00,0.000,260,0.000,0.041,2338,3878,3635,3698,3573,0,0,0,0,0,0,27.15,26.97,27.22
$GC,1971,-0.94,-194.6,2340,3878,3700,3574,287.2,-15.1,186,1979,0.00,1.60,0.00,0.000,1030,0.000,0.024,2339,2722,3637,3700,3574,0,0,0,0,0,0,27.07,27.04,27.08
$GC,2283,-0.94,-194.6,2340,2724,3699,3576,337.5,-14.9,197,2291,0.00,2.03,0.00,0.000,516,0.000,0.025,2338,1313,3636,3699,3574,0,0,0,0,0,0,27.19,27.03,27.25
$GC,2320,-0.94,-194.6,2339,1313,3707,3574,342.3,-14.9,198,2327,0.00,2.05,0.00,0.000,1030,0.000,0.029,2334,2704,3636,3698,3574,0,0,0,0,0,0,27.07,27.03,27.10
$GC,2642,-0.94,-194.6,2334,2704,3698,3574,391.5,-15.2,209,2649,0.00,1.70,0.00,0.000,260,0.000,0.042,2325,3860,3635,3697,3574,0,0,0,0,0,0,27.22,27.03,27.28
$GC,2687,-0.94,-194.6,2324,3861,3697,3575,396.1,-15.1,210,2694,0.00,1.62,0.00,0.000,1030,0.000,0.024,2325,2686,3635,3697,3574,0,0,0,0,0,0,27.13,27.10,27.15
$GC,3003,-0.94,-194.6,2324,2686,3697,3574,445.8,-14.9,221,3010,0.00,1.98,0.00,0.000,516,0.000,0.025,2325,1314,3635,3696,3574,0,0,0,0,0,0,27.24,27.08,27.30
$GC,3039,-0.94,-194.6,2325,1314,3696,3575,450.5,-14.8,222,3046,0.00,2.05,0.00,0.000,1030,0.000,0.029,2322,2708,3637,3700,3574,0,0,0,0,0,0,27.13,27.08,27.15
$GC,3360,-0.94,-194.6,2321,2708,3695,3573,500.3,-15.1,233,3368,0.00,1.67,0.00,0.000,260,0.000,0.043,2320,3850,3634,3695,3574,0,0,0,0,0,0,27.26,27.08,27.32
$GC,3397,-0.94,-194.6,2325,3849,3695,3574,505.2,-15.1,234,3405,0.00,1.60,0.00,0.000,1030,0.000,0.024,2320,2699,3633,3693,3574,0,0,0,0,0,0,27.17,27.14,27.18
$GC,3724,-0.94,-194.6,2320,2698,3694,3575,554.9,-14.9,245,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2698,3633,3693,3574,0,0,0,0,0,0,27.27,27.35,27.34
$GC,4024,-0.94,-194.6,2320,2700,3692,3575,597.0,-13.8,255,4032,0.00,2.00,0.00,0.000,516,0.000,0.026,2320,1305,3632,3691,3574,0,0,0,0,0,0,27.29,27.13,27.36
$GC,4061,-0.94,-194.6,2320,1305,3691,3574,601.5,-13.7,256,4068,0.00,2.05,0.00,0.000,1030,0.000,0.030,2319,2704,3632,3690,3574,0,0,0,0,0,0,27.17,27.13,27.20
$GC,4382,-0.94,-194.6,2320,2705,3690,3576,645.2,-13.0,267,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2704,3631,3689,3574,0,0,0,0,0,0,27.30,27.37,27.36
$GC,4682,-0.94,-194.6,2320,2706,3689,3575,686.0,-13.9,277,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3631,3688,3574,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4982,-0.94,-194.6,2319,2704,3688,3574,728.0,-14.0,287,4992,0.00,2.00,0.00,0.000,516,0.000,0.025,2320,1317,3630,3686,3574,0,0,0,0,0,0,27.32,27.15,27.39
$GC,5007,-0.94,-194.6,2320,1315,3688,3574,728.0,-14.0,287,5017,0.00,2.03,0.00,0.000,1030,0.000,0.030,2319,2701,3629,3685,3574,0,0,0,0,0,0,27.21,27.16,27.23
$GC,5312,-0.94,-194.6,2319,2701,3688,3573,774.0,-13.9,298,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3629,3686,3573,0,0,0,0,0,0,27.32,27.40,27.39
$GC,5612,-0.94,-194.6,2320,2701,3687,3574,815.3,-13.8,308,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3630,3686,3574,0,0,0,0,0,0,27.34,27.41,27.40
$GC,5912,-0.94,-194.6,2319,2703,3686,3576,855.8,-13.3,318,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3629,3685,3574,0,0,0,0,0,0,27.34,27.42,27.41
$GC,6212,-0.94,-194.6,2320,2703,3685,3575,895.2,-12.7,328,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2701,3629,3684,3574,0,0,0,0,0,0,27.35,27.42,27.41
$GC,6512,-0.96,-194.6,2320,2701,3685,3573,932.5,-12.1,338,6520,0.00,2.00,0.00,0.000,516,0.000,0.026,2319,1316,3628,3682,3574,0,0,0,0,0,0,27.35,27.20,27.42
$GC,6544,-0.97,-194.6,2321,1316,3683,3575,935.8,-12.1,339,6551,0.00,2.03,0.00,0.000,1030,0.000,0.030,2320,2702,3628,3683,3574,0,0,0,0,0,0,27.24,27.19,27.26
$GC,6866,-0.99,-194.6,2320,2701,3683,3574,975.1,-12.1,350,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2701,3628,3682,3574,0,0,0,0,0,0,27.36,27.43,27.42
$STATE,7014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7014,begin apogee
$GC,7018,-0.25,0.0,2320,2813,3681,3576,993.2,-12.1,355,7200,0.73,0.00,167.25,1.572,10246,0.126,0.000,2556,2812,2844,2889,2800,0,0,0,0,1,0,27.08,24.49,23.62
$STATE,7201,end apogee,CONTROL_FINISHED_OK
$STATE,7201,begin climb
$GC,7202,0.92,194.6,2557,2813,2896,2801,1002.3,0.0,361,7384,1.05,1.73,169.20,1.079,10500,0.058,0.042,2932,3831,2036,2076,1996,0,0,0,0,0,0,24.85,24.60,23.99
$GC,7608,0.86,202.4,2932,3831,2065,1981,983.5,10.7,374,7616,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2776,2022,2064,1981,0,0,0,0,0,0,25.98,25.94,25.98
$GC,7920,0.83,241.6,2932,2776,2064,1981,951.3,9.5,385,7971,0.00,1.77,40.28,1.023,8452,0.000,0.042,2931,3843,1842,1884,1800,0,0,0,0,0,0,26.47,25.46,24.85
$GC,8195,0.79,241.6,2932,3844,1875,1788,918.8,12.4,394,8202,0.00,1.50,0.00,0.000,1030,0.000,0.024,2931,2780,1830,1874,1786,0,0,0,0,0,0,26.22,26.20,26.25
$GC,8522,0.77,255.5,2932,2779,1873,1784,882.9,10.5,405,8534,0.08,1.62,4.15,0.741,12548,0.220,0.041,2916,3836,1801,1846,1757,0,0,0,0,0,0,26.36,26.15,25.67
$GC,8758,0.75,267.6,2916,3837,1856,1767,857.7,10.5,413,8786,0.00,1.48,18.98,0.983,9222,0.000,0.025,2919,2807,1747,1790,1705,0,0,0,0,0,0,26.64,26.60,25.48
$GC,9083,0.75,291.1,2919,2806,1772,1684,825.4,10.1,423,9110,0.00,0.00,21.52,0.957,8198,0.000,0.000,2919,2806,1652,1696,1608,0,0,0,0,0,0,26.64,25.97,25.41
$GC,9384,0.75,307.1,2919,2806,1677,1586,794.1,10.4,433,9406,0.00,1.60,13.82,0.938,8452,0.000,0.041,2919,3838,1582,1627,1538,0,0,0,0,0,0,26.58,25.92,25.48
$GC,9445,0.75,317.8,2918,3839,1618,1526,787.4,10.6,435,9457,0.00,1.50,3.50,0.672,9222,0.000,0.024,2919,2774,1541,1587,1496,0,0,0,0,0,0,26.29,26.27,25.29
$GC,9776,0.75,319.6,2919,2775,1610,1506,752.0,10.9,446,9787,0.00,1.67,2.72,0.496,8452,0.000,0.044,2919,3833,1538,1589,1487,0,0,0,0,0,0,26.65,26.39,25.63
$GC,9811,0.75,319.6,2919,3833,1601,1497,748.4,11.2,447,9819,0.08,1.50,0.00,0.000,5126,0.216,0.025,2910,2764,1549,1601,1498,0,0,0,0,0,0,26.37,26.53,26.50
$GC,10138,0.77,319.6,2910,2766,1603,1499,712.1,11.0,458,10147,0.00,1.67,0.00,0.000,260,0.000,0.043,2910,3839,1550,1603,1498,0,0,0,0,0,0,26.82,26.63,26.89
$GC,10176,0.79,319.6,2910,3838,1604,1498,707.8,11.4,459,10183,0.00,1.48,0.00,0.000,1030,0.000,0.026,2915,2815,1550,1602,1498,0,0,0,0,0,0,26.74,26.72,26.74
$GC,10503,0.80,319.6,2915,2815,1605,1497,670.5,11.8,470,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2815,1550,1602,1498,0,0,0,0,0,0,26.94,27.01,27.00
$GC,10803,0.82,319.6,2915,2816,1604,1499,637.8,11.2,480,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2815,1549,1603,1496,0,0,0,0,0,0,27.01,27.08,27.07
$GC,11103,0.84,324.5,2915,2816,1604,1500,605.6,10.8,490,11121,0.00,0.00,12.32,0.859,8198,0.000,0.000,2915,2815,1514,1562,1466,0,0,0,0,0,0,27.05,26.58,26.03
$GC,11403,0.86,342.7,2916,2816,1549,1455,574.1,10.3,500,11429,0.00,0.00,18.77,0.819,8198,0.000,0.000,2915,2814,1441,1488,1394,0,0,0,0,0,0,26.94,26.36,25.86
$GC,11703,0.88,342.7,2915,2816,1470,1374,538.4,12.0,510,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2815,1421,1470,1373,0,0,0,0,0,0,26.79,26.87,26.86
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$STATE,16254,end climb,SURFACE_DEPTH_REACHED
$STATE,16254,begin surface coast
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$STATE,16280,end surface coast,CONTROL_FINISHED_OK
$STATE,16280,begin surface
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$IRIDIUM_FIX,5833.68,-14659.09,090508,133230
$TT8_MAMPS,0.165529,0.165529
$HUMID,38.85
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$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16308.52 7700.09
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$PA_DISK_BANK,1
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$10V_AH,10.02,12.604
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.719,0.000,0.000,0.000
$MEM,187164
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