version: 66.12
glider: 203
mission: 8
dive: 85
start: 7 26 115 3 38 31
data:
$ID,203
$MISSION,8
$DIVE,85
$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,101
$R_STBD_OVSHOOT,42
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,260715,033303,5727.7612,-14837.4609,27,0.8,27,17.4,0.0,0.0,11,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.3
$GPS2,260715,033820,5727.7222,-14837.3916,6,0.8,8,17.4,0.0,0.0,11,9.8
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,147.0,36927,-18.0,-11.000,-19.55,2718
$D_GRID,3115
$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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,92,-0.92,-194.6,184,2801,875,766,0.0,0.0,0,141,0.00,0.00,-46.42,0.000,16386,0.000,0.000,184,2801,2022,2065,1980,0,0,0,0,0,0,25.92,28.83,25.99
$GC,143,-0.92,-194.6,185,2803,2064,1982,3.0,-3.4,7,202,8.60,1.67,-42.15,0.000,18692,0.233,0.058,2331,3847,3635,3704,3567,0,0,0,0,0,0,25.67,24.76,25.91
$GC,426,-0.86,-194.6,2331,3849,3699,3575,64.2,-20.9,55,436,0.12,1.62,0.00,0.000,3078,0.158,0.021,2360,2690,3638,3703,3573,0,0,0,0,0,0,25.89,26.05,26.03
$GC,731,-0.86,-194.6,2360,2691,3705,3577,118.5,-16.0,86,741,0.00,1.80,0.00,0.000,260,0.000,0.038,2355,3853,3639,3703,3576,0,0,0,0,0,0,26.05,26.06,26.13
$GC,830,-0.86,-194.6,2355,3856,3705,3576,133.3,-15.9,95,840,0.00,1.62,0.00,0.000,1030,0.000,0.021,2354,2691,3639,3704,3575,0,0,0,0,0,0,26.13,26.09,26.13
$GC,1135,-0.86,-194.6,2355,2696,3706,3578,180.5,-14.1,126,1143,0.00,1.80,0.00,0.000,260,0.000,0.037,2347,3850,3640,3704,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,1181,-0.86,-194.6,2347,3853,3705,3576,186.8,-15.0,130,1192,0.00,1.62,0.00,0.000,1030,0.000,0.021,2347,2695,3640,3704,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,1487,-0.86,-194.6,2346,2696,3705,3577,231.2,-13.5,161,1494,0.00,2.03,0.00,0.000,516,0.000,0.022,2347,1332,3640,3704,3576,0,0,0,0,0,0,26.08,26.09,26.13
$GC,1514,-0.86,-194.6,2347,1334,3705,3577,234.8,-13.3,163,1529,0.10,2.10,0.00,0.000,3078,0.168,0.025,2359,2716,3639,3703,3576,0,0,0,0,0,0,25.96,26.10,26.08
$GC,1845,-0.88,-194.6,2360,2723,3705,3577,278.1,-13.4,182,1852,0.00,1.73,0.00,0.000,260,0.000,0.040,2359,3845,3639,3703,3576,0,0,0,0,0,0,26.08,26.07,26.14
$GC,1886,-0.90,-194.6,2354,3847,3703,3577,282.7,-13.8,183,1893,0.00,1.62,0.00,0.000,1030,0.000,0.022,2354,2712,3638,3701,3576,0,0,0,0,0,0,26.14,26.11,26.14
$GC,2207,-0.92,-194.6,2354,2711,3702,3576,329.9,-14.5,194,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2712,3638,3701,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,2507,-0.94,-194.6,2354,2711,3700,3576,372.4,-14.1,204,2515,0.00,1.77,0.00,0.000,260,0.000,0.039,2348,3852,3637,3699,3576,0,0,0,0,0,0,26.08,26.07,26.14
$GC,2559,-0.96,-194.6,2348,3852,3699,3576,376.9,-14.1,205,2566,0.00,1.70,0.00,0.000,1030,0.000,0.021,2344,2685,3637,3698,3576,0,0,0,0,0,0,26.15,26.10,26.15
$GC,2870,-0.98,-194.6,2348,2685,3697,3577,423.0,-13.4,216,2878,0.00,1.80,0.00,0.000,260,0.000,0.038,2339,3843,3636,3697,3576,0,0,0,0,0,0,26.08,26.07,26.15
$GC,2932,-0.98,-194.6,2339,3844,3698,3575,431.2,-13.3,218,2939,0.00,1.62,0.00,0.000,1030,0.000,0.022,2339,2711,3636,3696,3576,0,0,0,0,0,0,26.15,26.12,26.16
$GC,3263,-0.98,-194.6,2340,2710,3695,3573,474.8,-13.0,229,3272,0.00,1.77,0.00,0.000,260,0.000,0.039,2330,3852,3636,3696,3576,0,0,0,0,0,0,26.07,26.07,26.13
$GC,3291,-0.98,-194.6,2331,3851,3696,3576,474.8,-13.0,229,3302,0.00,1.65,0.00,0.000,1030,0.000,0.022,2331,2691,3635,3695,3576,0,0,0,0,0,0,26.14,26.10,26.14
$GC,3596,-0.98,-194.6,2332,2692,3695,3577,520.8,-14.2,240,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2691,3635,3694,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,3897,-0.98,-194.6,2331,2691,3695,3576,565.0,-14.9,250,3904,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3845,3634,3693,3576,0,0,0,0,0,0,26.08,26.07,26.13
$GC,3928,-0.98,-194.6,2323,3847,3694,3577,569.7,-15.0,251,3935,0.00,1.65,0.00,0.000,1030,0.000,0.023,2322,2695,3634,3692,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,4259,-0.98,-194.6,2323,2695,3692,3577,619.7,-15.0,262,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2693,3633,3691,3576,0,0,0,0,0,0,26.07,26.14,26.13
$GC,4559,-0.98,-194.6,2322,2693,3691,3576,664.4,-14.9,272,4566,0.00,1.80,0.00,0.000,260,0.000,0.040,2320,3845,3633,3690,3576,0,0,0,0,0,0,26.07,26.07,26.13
$GC,4610,-0.98,-194.6,2322,3847,3690,3577,669.3,-15.1,273,4617,0.00,1.65,0.00,0.000,1030,0.000,0.023,2320,2696,3632,3690,3575,0,0,0,0,0,0,26.13,26.10,26.13
$GC,4921,-0.98,-194.6,2320,2693,3690,3575,717.8,-14.5,284,4929,0.00,1.80,0.00,0.000,260,0.000,0.040,2319,3845,3632,3689,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,4983,-0.98,-194.6,2318,3844,3688,3576,727.0,-14.8,286,4990,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2693,3632,3688,3576,0,0,0,0,0,0,26.13,26.10,26.14
$GC,5314,-0.98,-194.6,2318,2691,3687,3577,773.0,-13.5,297,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3631,3686,3576,0,0,0,0,0,0,26.08,26.15,26.13
$GC,5614,-0.98,-194.6,2319,2690,3688,3576,812.4,-13.1,307,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2690,3631,3687,3576,0,0,0,0,0,0,26.08,26.13,26.13
$GC,5914,-0.98,-194.6,2319,2692,3687,3577,851.5,-13.0,317,5921,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3846,3631,3686,3576,0,0,0,0,0,0,26.07,26.06,26.13
$GC,5976,-0.98,-194.6,2319,3848,3687,3577,859.8,-13.0,319,5983,0.00,1.70,0.00,0.000,1030,0.000,0.023,2319,2694,3631,3686,3576,0,0,0,0,0,0,26.13,26.10,26.15
$GC,6307,-0.98,-194.6,2319,2694,3687,3576,902.8,-13.1,330,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2694,3630,3686,3575,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6607,-0.98,-194.6,2319,2696,3686,3577,943.3,-13.6,340,6615,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3843,3631,3685,3578,0,0,0,0,0,0,26.08,26.04,26.13
$GC,6648,-0.98,-194.6,2319,3844,3685,3575,947.8,-13.6,341,6656,0.00,1.65,0.00,0.000,1030,0.000,0.023,2315,2697,3629,3684,3575,0,0,0,0,0,0,26.13,26.10,26.14
$STATE,6968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6968,begin apogee
$GC,6972,-0.25,0.0,2320,2808,3684,3577,992.7,-13.4,352,7143,0.75,0.00,163.45,1.102,10246,0.119,0.000,2553,2807,2837,2876,2799,0,0,0,0,0,0,25.93,24.44,23.79
$STATE,7144,end apogee,CONTROL_FINISHED_OK
$STATE,7144,begin climb
$GC,7145,0.92,194.6,2553,2808,2869,2793,1001.0,0.0,357,7322,1.10,2.33,164.27,1.091,11012,0.066,0.023,2931,1421,2038,2077,1999,0,0,0,0,0,0,24.60,23.67,23.02
$GC,7487,0.90,259.7,2931,1421,2066,1987,990.8,8.5,369,7553,0.00,2.15,56.10,1.074,9222,0.000,0.025,2931,2791,1780,1822,1738,0,0,0,0,0,0,25.15,25.10,23.71
$GC,7868,0.87,259.7,2931,2792,1804,1715,947.1,11.9,382,7875,0.00,1.67,0.00,0.000,260,0.000,0.039,2931,3856,1757,1802,1713,0,0,0,0,0,0,25.57,25.58,25.63
$GC,7929,0.83,259.7,2931,3855,1803,1712,939.1,12.3,384,7936,0.00,1.55,0.00,0.000,1030,0.000,0.023,2931,2774,1757,1802,1713,0,0,0,0,0,0,25.73,25.70,25.74
$GC,8261,0.81,259.7,2931,2773,1802,1711,899.6,12.0,395,8270,0.00,1.70,0.00,0.000,260,0.000,0.040,2931,3854,1756,1801,1711,0,0,0,0,0,0,25.91,25.92,25.98
$GC,8319,0.78,259.7,2932,3854,1802,1711,895.2,12.1,396,8329,0.00,1.50,0.00,0.000,1030,0.000,0.023,2931,2796,1756,1801,1711,0,0,0,0,0,0,26.01,25.97,26.01
$GC,8624,0.76,259.7,2932,2797,1801,1712,855.3,11.9,407,8633,0.10,1.65,0.00,0.000,4356,0.182,0.037,2910,3858,1755,1800,1711,0,0,0,0,0,0,25.89,26.01,26.02
$GC,8728,0.73,259.7,2911,3860,1801,1712,844.6,11.7,410,8739,0.05,1.55,0.00,0.000,5126,0.149,0.024,2901,2799,1755,1800,1710,0,0,0,0,0,0,25.91,26.06,26.01
$GC,9053,0.73,275.5,2901,2799,1801,1710,809.4,10.4,421,9074,0.00,1.70,12.30,0.999,8452,0.000,0.041,2901,3844,1710,1755,1666,0,0,0,0,0,0,26.05,25.77,25.02
$GC,9118,0.73,275.5,2902,3845,1750,1660,802.4,11.0,423,9127,0.00,1.55,0.00,0.000,1030,0.000,0.023,2905,2788,1703,1748,1659,0,0,0,0,0,0,25.93,25.92,25.93
$GC,9446,0.73,275.5,2905,2787,1748,1657,764.8,11.4,434,9455,0.00,1.65,0.00,0.000,260,0.000,0.040,2906,3848,1702,1748,1657,0,0,0,0,0,0,26.01,26.00,26.08
$GC,9499,0.73,275.5,2905,3849,1749,1656,760.8,11.6,435,9506,0.00,1.52,0.00,0.000,1030,0.000,0.023,2906,2803,1702,1747,1657,0,0,0,0,0,0,26.08,26.06,26.09
$GC,9811,0.73,275.5,2907,2804,1748,1658,722.2,11.7,446,9818,0.00,1.62,0.00,0.000,260,0.000,0.040,2906,3851,1701,1747,1656,0,0,0,0,0,0,26.05,26.05,26.11
$GC,9852,0.73,275.5,2906,3853,1748,1657,718.2,11.9,447,9859,0.00,1.50,0.00,0.000,1030,0.000,0.024,2913,2794,1701,1747,1656,0,0,0,0,0,0,26.11,26.08,26.12
$GC,10173,0.73,275.5,2914,2794,1749,1656,678.8,11.7,458,10180,0.00,1.67,0.00,0.000,260,0.000,0.040,2913,3845,1701,1747,1656,0,0,0,0,0,0,26.06,26.06,26.11
$GC,10244,0.73,275.5,2913,3846,1747,1655,671.1,12.1,460,10251,0.10,1.50,0.00,0.000,5126,0.186,0.024,2898,2781,1701,1747,1656,0,0,0,0,0,0,25.92,26.09,26.06
$GC,10566,0.75,299.5,2898,2782,1748,1657,635.7,10.1,471,10601,0.00,1.75,22.10,0.896,8452,0.000,0.041,2898,3849,1608,1653,1563,0,0,0,0,0,0,26.06,25.64,24.96
$GC,10640,0.75,310.4,2898,3849,1650,1557,628.5,10.6,473,10651,0.00,1.50,3.38,0.728,9222,0.000,0.023,2903,2800,1574,1620,1528,0,0,0,0,0,0,25.84,25.80,24.58
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$STATE,15898,end climb,SURFACE_DEPTH_REACHED
$STATE,15898,begin surface coast
$FINISH,0.7,1.022956
$STATE,15913,end surface coast,CONTROL_FINISHED_OK
$STATE,15913,begin surface
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$IRIDIUM_FIX,5704.59,-14839.54,210508,170059
$TT8_MAMPS,0.057673,0.057673
$HUMID,39.09
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.60
$XPDR_PINGS,1
$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,15945.46 7725.26
$PA_BOOTCOUNT,391
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$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.199/27.046/25.473
$PA_DISK_BANK,2
$24V_AH,23.02,25.030
$10V_AH,10.25,32.004
$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
$DEVICE_SECS,18.575,111.275,564.875,0.000,0.000,0.000,0.000,226.275,0.250,16308.561,9.790,0.000,12454.868,627.292,3080.825,132.721,0.000,2215.376,0.000,1811.419,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,575.224,0.000,0.000,0.000,0.000,0.000,16308.610,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.378,0.000,0.000,0.000
$MEM,180044
$DATA_FILE_SIZE,36719,840
$CAP_FILE_SIZE,148029,0
$CFSIZE,1024393216,988102656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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