version: 66.12
glider: 203
mission: 8
dive: 90
start: 7 27 115 2 20 29
data:
$ID,203
$MISSION,8
$DIVE,90
$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,104
$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,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
$GPS1,270715,021503,5713.7163,-14835.1729,29,0.9,29,17.3,1.3,60.1,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.0
$GPS2,270715,022018,5713.7383,-14835.1572,7,0.9,9,17.3,0.0,56.0,10,9.9
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,167.4,10931,-18.0,-11.000,-19.55,2718
$D_GRID,4959
$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,-194.6,185,2813,683,559,0.0,0.0,0,158,0.00,0.00,-62.33,0.000,16386,0.000,0.000,184,2812,2235,2273,2198,0,0,0,0,0,0,25.94,28.83,26.01
$GC,160,-0.92,-194.6,185,2814,2276,2200,3.3,-3.9,9,208,8.57,1.60,-32.92,0.000,18692,0.233,0.057,2333,3853,3634,3703,3566,0,0,0,0,0,0,25.69,25.29,25.93
$GC,323,-0.86,-194.6,2333,3853,3704,3570,40.0,-20.5,40,333,0.10,1.62,0.00,0.000,3078,0.168,0.021,2355,2688,3636,3703,3570,0,0,0,0,0,0,25.88,26.06,26.02
$GC,634,-0.84,-194.6,2355,2687,3705,3574,101.7,-17.6,75,642,0.00,2.00,0.00,0.000,516,0.000,0.023,2356,1354,3638,3703,3574,0,0,0,0,0,0,26.03,26.06,26.08
$GC,686,-0.84,-194.6,2356,1352,3704,3574,110.3,-16.8,80,694,0.00,2.05,0.00,0.000,1030,0.000,0.025,2349,2705,3639,3703,3575,0,0,0,0,0,0,26.13,26.09,26.14
$GC,998,-0.84,-194.6,2349,2706,3704,3577,159.2,-15.9,111,1006,0.08,1.75,0.00,0.000,2308,0.195,0.035,2357,3853,3639,3703,3575,0,0,0,0,0,0,25.93,26.08,26.07
$GC,1050,-0.84,-194.6,2357,3854,3704,3577,167.3,-15.4,116,1057,0.00,1.60,0.00,0.000,1030,0.000,0.021,2357,2711,3639,3703,3575,0,0,0,0,0,0,26.16,26.13,26.16
$GC,1362,-0.84,-194.6,2357,2710,3704,3575,213.2,-15.9,147,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2710,3639,3703,3576,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1683,-0.86,-194.6,2356,2710,3703,3576,258.9,-13.6,175,1692,0.00,2.05,0.00,0.000,516,0.000,0.023,2357,1332,3639,3703,3575,0,0,0,0,0,0,26.09,26.10,26.15
$GC,1701,-0.87,-194.6,2358,1332,3704,3575,258.9,-13.6,175,1709,0.00,2.08,0.00,0.000,1030,0.000,0.026,2349,2700,3639,3703,3575,0,0,0,0,0,0,26.15,26.11,26.16
$GC,2007,-0.87,-194.6,2350,2702,3702,3577,303.8,-13.8,185,2014,0.00,1.77,0.00,0.000,260,0.000,0.041,2347,3854,3638,3702,3575,0,0,0,0,0,0,26.10,26.09,26.15
$GC,2068,-0.87,-194.6,2348,3856,3702,3577,312.3,-13.9,187,2075,0.00,1.65,0.00,0.000,1030,0.000,0.021,2348,2693,3638,3701,3575,0,0,0,0,0,0,26.16,26.13,26.17
$GC,2399,-0.87,-194.6,2348,2691,3700,3576,358.7,-14.0,198,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2690,3636,3699,3574,0,0,0,0,0,0,26.10,26.17,26.17
$GC,2699,-0.87,-194.6,2347,2692,3698,3576,400.4,-14.1,208,2707,0.00,1.80,0.00,0.000,260,0.000,0.040,2339,3849,3636,3697,3575,0,0,0,0,0,0,26.10,26.08,26.15
$GC,2751,-0.87,-194.6,2339,3851,3698,3576,405.0,-14.1,209,2758,0.00,1.70,0.00,0.000,1030,0.000,0.022,2339,2691,3636,3697,3575,0,0,0,0,0,0,26.15,26.13,26.15
$GC,3062,-0.87,-194.6,2339,2693,3696,3576,450.8,-13.9,220,3067,0.08,0.00,0.00,0.000,2054,0.184,0.000,2353,2692,3635,3695,3575,0,0,0,0,0,0,25.96,26.13,26.10
$GC,3362,-0.90,-194.6,2352,2693,3695,3577,488.7,-12.4,230,3369,0.00,1.80,0.00,0.000,260,0.000,0.039,2348,3847,3634,3694,3575,0,0,0,0,0,0,26.09,26.07,26.15
$GC,3408,-0.93,-194.6,2347,3848,3694,3575,492.6,-12.5,231,3418,0.00,1.67,0.00,0.000,1030,0.000,0.022,2348,2710,3634,3693,3575,0,0,0,0,0,0,26.16,26.10,26.17
$GC,3727,-0.95,-194.6,2348,2711,3693,3577,536.0,-13.0,242,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2710,3633,3692,3575,0,0,0,0,0,0,26.12,26.16,26.15
$GC,4027,-0.98,-194.6,2349,2710,3692,3575,576.7,-13.6,252,4034,0.00,1.77,0.00,0.000,260,0.000,0.039,2340,3851,3632,3690,3575,0,0,0,0,0,0,26.09,26.07,26.16
$GC,4068,-1.00,-194.6,2340,3853,3691,3577,581.0,-13.6,253,4075,0.00,1.65,0.00,0.000,1030,0.000,0.022,2339,2699,3632,3690,3575,0,0,0,0,0,0,26.16,26.13,26.17
$GC,4390,-1.02,-194.6,2340,2697,3690,3577,627.9,-13.9,264,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2695,3631,3689,3574,0,0,0,0,0,0,26.09,26.16,26.15
$GC,4690,-1.04,-194.6,2340,2697,3689,3577,668.4,-13.5,274,4697,0.00,1.80,0.00,0.000,260,0.000,0.040,2333,3850,3631,3688,3575,0,0,0,0,0,0,26.10,26.08,26.15
$GC,4746,-1.07,-194.6,2333,3852,3688,3576,672.6,-13.4,275,4756,0.00,1.65,0.00,0.000,1030,0.000,0.022,2333,2694,3631,3687,3575,0,0,0,0,0,0,26.16,26.13,26.17
$GC,5051,-1.08,-194.6,2334,2695,3688,3577,717.5,-13.3,286,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2694,3631,3687,3575,0,0,0,0,0,0,26.09,26.16,26.15
$GC,5351,-1.10,-194.6,2334,2695,3687,3576,757.0,-13.1,296,5359,0.08,1.80,0.00,0.000,4356,0.119,0.037,2280,3846,3630,3686,3575,0,0,0,0,0,0,26.03,26.07,26.12
$GC,5398,-1.10,-194.6,2280,3848,3687,3577,761.1,-13.4,297,5405,0.00,1.65,0.00,0.000,1030,0.000,0.022,2279,2688,3630,3686,3575,0,0,0,0,0,0,26.16,26.13,26.16
$GC,5710,-1.06,-194.6,2280,2688,3687,3575,815.2,-16.3,308,5718,0.00,1.80,0.00,0.000,260,0.000,0.040,2280,3843,3630,3686,3575,0,0,0,0,0,0,26.09,26.06,26.15
$GC,5782,-1.03,-194.6,2279,3844,3685,3576,825.3,-16.3,310,5789,0.10,1.62,0.00,0.000,3078,0.168,0.022,2300,2700,3629,3684,3575,0,0,0,0,0,0,25.94,26.13,26.08
$GC,6104,-1.03,-194.6,2300,2700,3684,3575,872.7,-14.1,321,6112,0.00,2.08,0.00,0.000,516,0.000,0.024,2299,1330,3629,3683,3575,0,0,0,0,0,0,26.08,26.09,26.14
$GC,6136,-1.03,-194.6,2300,1330,3685,3575,877.0,-14.0,322,6143,0.00,2.10,0.00,0.000,1030,0.000,0.026,2295,2701,3630,3684,3576,0,0,0,0,0,0,26.13,26.09,26.14
$GC,6463,-1.01,-194.6,2295,2703,3683,3577,922.9,-13.7,333,6470,0.00,1.75,0.00,0.000,260,0.000,0.040,2293,3845,3628,3682,3575,0,0,0,0,0,0,26.08,26.07,26.13
$GC,6489,-1.00,-194.6,2294,3844,3683,3575,922.9,-13.7,333,6499,0.10,1.62,0.00,0.000,3078,0.168,0.022,2314,2704,3628,3682,3575,0,0,0,0,0,0,25.92,26.10,26.07
$GC,6794,-1.00,-194.6,2315,2710,3682,3577,964.6,-12.5,344,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2708,3628,3681,3575,0,0,0,0,0,0,26.08,26.15,26.14
$STATE,7003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7003,begin apogee
$GC,7007,-0.25,0.0,2315,2814,3682,3576,991.9,-12.8,351,7177,0.75,0.00,162.93,1.091,10246,0.119,0.000,2551,2812,2841,2884,2799,0,0,0,0,0,0,25.92,24.46,23.81
$STATE,7177,end apogee,CONTROL_FINISHED_OK
$STATE,7177,begin climb
$GC,7179,0.92,194.6,2551,2812,2870,2791,999.0,0.0,356,7357,1.10,2.38,164.18,1.087,11012,0.066,0.022,2931,1429,2035,2074,1997,0,0,0,0,0,0,24.59,23.69,23.05
$GC,7531,0.89,235.1,2931,1429,2066,1986,985.3,9.5,368,7574,0.00,2.15,34.88,1.071,9222,0.000,0.026,2931,2783,1879,1921,1838,0,0,0,0,0,0,25.21,25.18,23.97
$GC,7872,0.86,235.1,2931,2783,1904,1816,945.9,11.4,379,7879,0.00,1.67,0.00,0.000,260,0.000,0.040,2931,3850,1859,1903,1816,0,0,0,0,0,0,25.65,25.66,25.71
$GC,7918,0.82,235.1,2931,3850,1898,1815,941.8,11.8,380,7925,0.00,1.52,0.00,0.000,1030,0.000,0.023,2931,2788,1858,1902,1815,0,0,0,0,0,0,25.77,25.75,25.78
$GC,8235,0.78,235.1,2931,2788,1903,1814,903.4,11.6,391,8243,0.00,1.70,0.00,0.000,260,0.000,0.040,2931,3840,1858,1902,1814,0,0,0,0,0,0,25.94,25.94,26.00
$GC,8282,0.74,235.1,2931,3845,1903,1816,899.5,11.5,392,8289,0.12,1.50,0.00,0.000,5126,0.171,0.023,2903,2790,1858,1902,1814,0,0,0,0,0,0,25.84,26.00,25.99
$GC,8598,0.75,257.6,2904,2791,1902,1815,865.0,10.2,403,8623,0.00,0.00,18.73,1.021,8198,0.000,0.000,2903,2789,1789,1832,1747,0,0,0,0,0,0,26.03,25.59,24.89
$GC,8899,0.75,270.9,2904,2791,1818,1729,834.9,10.5,413,8916,0.00,0.00,12.05,1.006,8198,0.000,0.000,2903,2790,1733,1776,1690,0,0,0,0,0,0,25.96,25.64,24.91
$GC,9199,0.75,283.4,2903,2790,1766,1677,802.9,10.5,423,9220,0.00,1.73,11.27,0.996,8452,0.000,0.040,2903,3848,1680,1726,1635,0,0,0,0,0,0,25.98,25.70,24.95
$GC,9274,0.75,291.0,2904,3850,1721,1629,796.3,10.7,425,9285,0.00,1.50,2.12,0.317,9222,0.000,0.024,2906,2797,1652,1701,1603,0,0,0,0,0,0,25.90,25.87,24.64
$GC,9589,0.75,296.9,2907,2798,1717,1618,760.5,10.8,436,9610,0.00,1.73,13.05,0.978,8452,0.000,0.041,2906,3854,1622,1668,1576,0,0,0,0,0,0,26.01,25.70,24.96
$GC,9669,0.75,296.9,2906,3855,1663,1570,753.5,11.2,438,9676,0.00,1.50,0.00,0.000,1030,0.000,0.024,2913,2804,1615,1662,1569,0,0,0,0,0,0,25.91,25.88,25.91
$GC,9980,0.75,296.9,2912,2804,1662,1566,714.6,11.8,449,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2804,1614,1661,1567,0,0,0,0,0,0,26.01,26.08,26.07
$GC,10280,0.75,296.9,2913,2804,1661,1565,679.3,11.8,459,10289,0.00,2.08,0.00,0.000,516,0.000,0.024,2919,1418,1613,1660,1566,0,0,0,0,0,0,26.05,26.08,26.10
$GC,10307,0.75,296.9,2919,1419,1661,1567,679.3,11.8,459,10318,0.00,2.12,0.00,0.000,1030,0.000,0.028,2919,2802,1613,1660,1566,0,0,0,0,0,0,26.11,26.07,26.13
$GC,10613,0.75,296.9,2918,2802,1662,1566,639.4,12.0,470,10621,0.00,1.62,0.00,0.000,260,0.000,0.040,2920,3856,1612,1660,1565,0,0,0,0,0,0,26.08,26.07,26.14
$GC,10665,0.75,296.9,2919,3856,1661,1565,635.3,12.2,471,10672,0.00,1.55,0.00,0.000,1030,0.000,0.023,2919,2793,1612,1659,1565,0,0,0,0,0,0,26.14,26.09,26.13
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$STATE,16235,end climb,SURFACE_DEPTH_REACHED
$STATE,16236,begin surface coast
$FINISH,0.6,1.023983
$STATE,16246,end surface coast,CONTROL_FINISHED_OK
$STATE,16246,begin surface
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$IRIDIUM_FIX,5652.72,-14835.55,220508,110655
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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,16275.01 7759.78
$PA_BOOTCOUNT,396
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$PA_DISK_BANK,2
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$10V_AH,10.18,32.344
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$MEM,180112
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