version: 66.12
glider: 203
mission: 8
dive: 7
start: 7 11 115 9 41 15
data:
$ID,203
$MISSION,8
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,170
$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,175
$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,563.75671
$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,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,45
$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,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,110715,093624,5905.4639,-14729.9277,18,0.9,26,18.1,0.3,285.8,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.8
$GPS2,110715,094104,5905.4609,-14729.9941,13,0.9,25,18.1,0.3,275.6,9,9.5
$SPEED_LIMITS,0.100,0.283
$TGT_NAME,LAUNCH
$TGT_LATLONG,5856.292,-14707.998
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,69.3,27021,-17.8,-10.000,-19.47,2615
$D_GRID,760
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.94,-170.3,206,2796,612,476,0.0,0.0,0,161,0.00,0.00,-66.95,0.000,16386,0.000,0.000,205,2794,2346,2378,2315,0,0,0,0,0,0,26.80,28.83,26.88
$GC,163,-0.94,-170.3,206,2796,2380,2316,3.0,-5.7,11,199,8.20,1.67,-24.25,0.000,18692,0.243,0.064,2302,3854,3534,3602,3467,0,0,0,0,0,0,26.38,25.62,26.61
$GC,423,-0.83,-170.3,2303,3856,3602,3473,60.5,-21.0,57,433,0.17,1.50,0.00,0.000,3078,0.157,0.026,2348,2775,3536,3602,3470,0,0,0,0,0,0,26.62,26.82,26.76
$GC,728,-0.83,-170.3,2348,2776,3603,3474,114.6,-16.8,88,737,0.00,1.98,0.00,0.000,516,0.000,0.028,2350,1418,3537,3602,3473,0,0,0,0,0,0,27.05,26.88,27.12
$GC,821,-0.83,-170.3,2349,1419,3602,3474,130.1,-16.2,97,835,0.00,2.05,0.00,0.000,1030,0.000,0.031,2344,2808,3537,3602,3473,0,0,0,0,0,0,26.95,26.89,26.96
$GC,1131,-0.83,-170.3,2345,2809,3602,3474,176.2,-14.9,128,1139,0.00,2.03,0.00,0.000,516,0.000,0.027,2345,1414,3537,3602,3472,0,0,0,0,0,0,27.14,26.97,27.20
$GC,1188,-0.83,-170.3,2344,1413,3602,3472,184.3,-14.0,133,1196,0.00,2.05,0.00,0.000,1030,0.000,0.031,2336,2804,3537,3602,3473,0,0,0,0,0,0,27.03,26.96,27.04
$GC,1493,-0.83,-170.3,2336,2804,3603,3473,229.9,-15.6,163,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2804,3538,3603,3473,0,0,0,0,0,0,27.19,27.27,27.26
$GC,1813,-0.83,-170.3,2336,2804,3604,3472,277.1,-14.2,183,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2804,3537,3602,3473,0,0,0,0,0,0,27.22,27.31,27.30
$GC,2113,-0.83,-170.3,2337,2805,3603,3475,320.2,-14.9,193,2120,0.00,2.03,0.00,0.000,516,0.000,0.028,2336,1423,3537,3602,3473,0,0,0,0,0,0,27.26,27.10,27.32
$GC,2174,-0.83,-170.3,2337,1417,3602,3474,329.4,-15.2,195,2182,0.10,2.05,0.00,0.000,3078,0.187,0.032,2349,2810,3537,3602,3473,0,0,0,0,0,0,26.94,27.08,27.08
$GC,2502,-0.87,-170.3,2349,2810,3602,3474,376.2,-14.2,206,2510,0.00,2.03,0.00,0.000,516,0.000,0.027,2349,1412,3537,3601,3473,0,0,0,0,0,0,27.29,27.11,27.35
$GC,2565,-0.92,-170.3,2350,1410,3602,3473,384.8,-13.9,208,2572,0.00,2.05,0.00,0.000,1030,0.000,0.033,2348,2801,3537,3601,3473,0,0,0,0,0,0,27.16,27.10,27.18
$GC,2892,-0.97,-170.3,2349,2803,3601,3474,429.4,-13.6,219,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2801,3536,3600,3473,0,0,0,0,0,0,27.31,27.39,27.37
$STATE,3070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3070,begin apogee
$GC,3074,-0.19,0.0,2349,2700,3600,3473,453.8,-13.8,225,3226,0.62,0.00,139.40,1.293,10246,0.122,0.000,2552,2700,2840,2884,2797,0,0,0,0,1,0,27.00,24.74,23.93
$STATE,3227,end apogee,CONTROL_FINISHED_OK
$STATE,3227,begin climb
$GC,3228,0.94,170.3,2553,2702,2898,2799,463.5,0.0,230,3384,1.05,1.92,142.95,0.747,11012,0.074,0.044,2916,3847,2134,2173,2095,0,0,0,0,0,0,25.02,25.04,24.53
$GC,3608,1.04,291.3,2916,3847,2161,2078,461.5,5.2,242,3720,0.10,1.67,102.40,0.720,11270,0.110,0.028,2960,2696,1650,1693,1608,0,0,0,0,0,0,26.13,26.21,24.70
$GC,4030,1.04,291.3,2960,2696,1668,1576,415.0,11.7,257,4038,0.00,1.83,0.00,0.000,260,0.000,0.046,2960,3854,1622,1667,1577,0,0,0,0,0,0,26.46,26.28,26.54
$GC,4262,0.96,291.3,2960,3855,1667,1576,388.8,12.2,264,4269,0.00,1.67,0.00,0.000,1030,0.000,0.028,2968,2682,1620,1665,1575,0,0,0,0,0,0,26.60,26.57,26.62
$GC,4573,0.93,291.3,2969,2682,1666,1574,351.3,11.6,275,4581,0.12,1.80,0.00,0.000,4356,0.187,0.043,2936,3853,1619,1665,1574,0,0,0,0,0,0,26.55,26.67,26.65
$GC,4640,0.93,291.3,2935,3853,1664,1574,344.2,11.5,277,4647,0.00,1.65,0.00,0.000,1030,0.000,0.028,2942,2686,1619,1665,1573,0,0,0,0,0,0,26.80,26.77,26.82
$GC,4966,0.94,296.1,2942,2685,1665,1573,310.5,9.8,288,4974,0.00,1.77,0.00,0.000,260,0.000,0.045,2942,3850,1618,1664,1573,0,0,0,0,0,0,27.00,26.80,27.06
$GC,5017,0.95,302.0,2941,3849,1665,1572,307.3,9.8,289,5025,0.00,1.62,0.00,0.000,1030,0.000,0.028,2946,2693,1618,1664,1573,0,0,0,0,0,0,26.92,26.87,26.94
$GC,5330,0.96,314.3,2946,2694,1665,1574,275.3,9.5,300,5357,0.00,1.77,19.55,0.623,8452,0.000,0.043,2946,3851,1553,1598,1508,0,0,0,0,0,0,27.08,26.44,26.11
$GC,5481,0.96,314.3,2946,3851,1585,1491,258.7,11.3,304,5488,0.00,1.62,0.00,0.000,1030,0.000,0.028,2946,2701,1537,1584,1491,0,0,0,0,0,0,26.79,26.76,26.82
$GC,5788,0.98,323.3,2946,2701,1584,1492,226.7,9.6,329,5795,0.00,1.75,0.00,0.000,260,0.000,0.046,2946,3853,1536,1583,1490,0,0,0,0,0,0,27.00,26.81,27.07
$GC,5834,0.98,323.3,2946,3853,1584,1489,222.2,10.4,333,5844,0.00,1.62,0.00,0.000,1030,0.000,0.028,2946,2700,1536,1583,1490,0,0,0,0,0,0,26.92,26.89,26.94
$GC,6139,0.98,323.3,2946,2700,1583,1490,191.1,10.1,364,6146,0.00,1.75,0.00,0.000,260,0.000,0.044,2946,3858,1536,1582,1490,0,0,0,0,0,0,27.09,26.89,27.15
$GC,6232,0.98,323.3,2945,3859,1583,1490,180.7,11.3,373,6239,0.00,1.62,0.00,0.000,1030,0.000,0.028,2946,2696,1535,1582,1489,0,0,0,0,0,0,27.01,26.98,27.02
$GC,6544,1.04,338.4,2946,2696,1584,1489,149.5,9.4,404,6586,0.00,1.85,24.85,0.539,8452,0.000,0.045,2946,3857,1453,1500,1407,0,0,0,0,1,0,27.15,26.65,26.22
$GC,6676,1.04,338.4,2946,3857,1503,1407,134.8,11.6,417,6685,0.00,1.67,0.00,0.000,1030,0.000,0.028,2946,2702,1454,1501,1407,0,0,0,0,0,0,26.81,26.79,26.82
$GC,6990,1.12,348.9,2945,2700,1503,1409,103.6,9.6,448,7004,0.10,2.03,4.32,0.518,10756,0.108,0.028,3002,1311,1420,1470,1371,0,0,0,0,0,0,26.86,26.57,26.22
$GC,7099,1.12,348.9,3002,1312,1493,1381,92.1,11.3,458,7111,0.00,2.08,2.58,0.357,9222,0.000,0.031,3002,2706,1413,1462,1364,0,0,0,0,0,0,26.89,26.84,26.12
$GC,7406,1.14,360.4,3002,2706,1487,1377,59.0,9.6,489,7434,0.00,1.75,15.12,0.490,8452,0.000,0.043,3002,3854,1365,1414,1316,0,0,0,0,1,0,27.07,26.48,26.04
$GC,7659,1.10,362.5,3002,3854,1427,1322,33.5,9.9,529,7672,0.00,1.62,0.00,0.000,1030,0.000,0.028,3010,2693,1374,1426,1322,0,0,0,0,0,0,26.91,26.87,26.92
$GC,7971,1.16,402.3,3010,2693,1427,1323,7.4,8.4,590,7996,0.00,1.75,18.30,0.162,8452,0.000,0.043,3010,3849,1194,1248,1141,0,0,0,0,0,0,27.08,26.77,26.67
$STATE,8034,end climb,SURFACE_DEPTH_REACHED
$STATE,8034,begin surface coast
$FINISH,0.0,1.023634
$STATE,8055,end surface coast,CONTROL_FINISHED_OK
$STATE,8055,begin surface
$SM_CCo,8070,69.22,0.145,0,0,538,563.94
$SM_GC,0.82,7.43,1.52,69.22,0.051,0.027,0.145,202,2801,538,-7.51,2.49,563.94,0,0,0,0,0,0,26.85,26.91,26.50
$IRIDIUM_FIX,5837.82,-14731.73,060508,230403
$TT8_MAMPS,0.161784,0.161784
$HUMID,40.58
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,18.00
$XPDR_PINGS,0
$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,8103.44 4164.98
$PA_BOOTCOUNT,309
$PA_DFQS,0/0
$PA_LOG,0.01/0.246/31.498/29.652
$PA_DATA1,0.00/0.070/117.199/111.175
$PA_DATA0,0.05/5.703/117.199/105.542
$PA_ROOT,0.76/0.092/0.121/0.022
$PA_HOME,0.01/0.184/27.046/25.489
$PA_DISK_BANK,1
$24V_AH,23.93,1.286
$10V_AH,10.14,3.013
$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,17.900,57.900,469.475,69.225,0.000,0.000,0.000,186.700,0.000,0.000,27.145,0.000,5637.427,582.466,2108.347,89.075,0.000,1627.301,0.000,1260.682,0.000,0.548,0.000
$DEVICE_MAMPS,242.505,87.975,1292.850,144.585,0.000,0.000,0.000,89.505,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,412.846,0.000,0.000,0.000,0.000,0.000,8421.420,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,134.448,0.000,0.000,0.000
$MEM,187184
$DATA_FILE_SIZE,26730,606
$CAP_FILE_SIZE,90480,0
$CFSIZE,1024393216,995868672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,4,0
$INTR,0,8222.46,0x236db2,7,5
$CURRENT,0.223,213.26,1
$GPS,110715,115751,5904.970,-14728.762,38,1.0,38,18.1,0.0,0.0,8,9.2