version: 66.12
glider: 203
mission: 8
dive: 24
start: 7 14 115 14 3 47
data:
$ID,203
$MISSION,8
$DIVE,24
$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,98
$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
$GPS1,140715,135823,5849.5776,-14657.8584,37,0.9,38,18.2,0.3,32.7,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.8
$GPS2,140715,140336,5849.6069,-14657.8701,5,0.9,15,18.2,0.0,8.1,9,9.7
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP2
$TGT_LATLONG,5822.084,-14642.424
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,125.2,53135,-18.0,-11.000,-19.55,2718
$D_GRID,2629
$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,-194.6,197,2756,933,797,0.0,0.0,0,151,0.00,0.00,-51.70,0.000,16386,0.000,0.000,196,2757,2261,2296,2226,0,0,0,0,0,0,26.72,28.83,26.79
$GC,153,-0.92,-194.6,198,2758,2297,2223,3.2,-5.1,8,204,8.27,0.00,-29.75,0.000,18438,0.239,0.000,2335,2757,3633,3698,3568,0,0,0,0,0,0,26.34,26.12,26.55
$GC,505,-0.86,-194.6,2336,2757,3700,3573,80.9,-20.4,58,516,0.10,1.65,0.00,0.000,2308,0.182,0.038,2355,3857,3636,3699,3573,0,0,0,0,0,0,26.63,26.71,26.73
$GC,545,-0.82,-194.6,2355,3858,3699,3573,87.5,-18.9,61,556,0.08,1.60,0.00,0.000,3078,0.188,0.022,2368,2697,3636,3699,3574,0,0,0,0,0,0,26.63,26.79,26.74
$GC,850,-0.84,-194.6,2369,2699,3700,3576,133.5,-14.0,92,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2698,3636,3698,3575,0,0,0,0,0,0,26.99,27.06,27.05
$GC,1151,-0.86,-194.6,2368,2699,3699,3576,176.6,-13.3,122,1160,0.00,1.73,0.00,0.000,260,0.000,0.041,2363,3850,3637,3699,3575,0,0,0,0,0,0,27.05,26.88,27.12
$GC,1174,-0.88,-194.6,2362,3850,3699,3574,179.6,-12.9,124,1182,0.00,1.58,0.00,0.000,1030,0.000,0.024,2363,2721,3636,3698,3575,0,0,0,0,0,0,26.97,26.94,26.98
$GC,1486,-0.90,-194.6,2363,2721,3699,3575,218.5,-11.9,155,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2721,3636,3698,3575,0,0,0,0,0,0,27.11,27.18,27.17
$GC,1787,-0.93,-194.6,2363,2722,3699,3577,254.7,-12.4,183,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2721,3636,3698,3575,0,0,0,0,0,0,27.15,27.22,27.21
$GC,2086,-0.95,-194.6,2364,2723,3697,3577,292.9,-12.6,193,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2721,3636,3697,3575,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2386,-0.98,-194.6,2363,2721,3696,3575,329.7,-12.2,203,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2721,3635,3695,3575,0,0,0,0,0,0,27.21,27.28,27.27
$GC,2687,-1.01,-194.6,2363,2721,3695,3575,366.3,-12.3,213,2697,0.10,2.03,0.00,0.000,4612,0.101,0.024,2304,1311,3634,3694,3575,0,0,0,0,0,0,27.09,27.07,27.13
$GC,2711,-1.05,-194.6,2304,1312,3694,3576,366.3,-12.3,213,2722,0.00,2.03,0.00,0.000,1030,0.000,0.028,2294,2702,3634,3694,3575,0,0,0,0,0,0,27.12,27.07,27.14
$GC,3017,-1.01,-194.6,2293,2702,3694,3575,421.4,-17.0,224,3024,0.08,1.70,0.00,0.000,2308,0.213,0.039,2306,3860,3634,3693,3575,0,0,0,0,0,0,27.01,27.07,27.10
$GC,3058,-0.98,-194.6,2307,3862,3693,3576,425.8,-16.9,225,3065,0.00,1.62,0.00,0.000,1030,0.000,0.024,2305,2683,3633,3692,3575,0,0,0,0,0,0,27.16,27.13,27.18
$GC,3374,-0.96,-194.6,2306,2684,3692,3576,479.8,-16.4,236,3383,0.10,1.75,0.00,0.000,2308,0.184,0.040,2322,3852,3632,3690,3575,0,0,0,0,0,0,27.00,27.08,27.10
$GC,3402,-0.94,-194.6,2323,3853,3690,3576,479.8,-16.4,236,3412,0.00,1.60,0.00,0.000,1030,0.000,0.024,2322,2695,3632,3690,3575,0,0,0,0,0,0,27.17,27.15,27.18
$GC,3707,-0.94,-194.6,2322,2694,3691,3575,529.7,-14.8,247,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2694,3632,3689,3575,0,0,0,0,0,0,27.28,27.35,27.34
$GC,4007,-0.94,-194.6,2322,2694,3690,3575,577.2,-16.2,257,4014,0.00,1.73,0.00,0.000,260,0.000,0.043,2319,3851,3630,3688,3572,0,0,0,0,0,0,27.29,27.10,27.35
$GC,4038,-0.94,-194.6,2319,3851,3689,3575,582.3,-16.3,258,4046,0.00,1.60,0.00,0.000,1030,0.000,0.024,2319,2693,3632,3687,3577,0,0,0,0,0,0,27.20,27.17,27.22
$GC,4370,-0.94,-194.6,2320,2692,3687,3575,635.3,-16.1,269,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2693,3630,3686,3574,0,0,0,0,0,0,27.30,27.38,27.36
$GC,4670,-0.94,-194.6,2320,2693,3687,3575,681.1,-14.9,279,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2692,3630,3686,3575,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4970,-0.94,-194.6,2320,2694,3686,3576,724.8,-14.6,289,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2693,3630,3686,3575,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5270,-0.94,-194.6,2319,2694,3686,3575,768.3,-14.6,299,5278,0.00,1.73,0.00,0.000,260,0.000,0.043,2319,3850,3628,3684,3573,0,0,0,0,0,0,27.33,27.15,27.39
$GC,5302,-0.94,-194.6,2318,3852,3685,3576,773.2,-14.8,300,5310,0.00,1.60,0.00,0.000,1030,0.000,0.025,2319,2696,3629,3684,3575,0,0,0,0,0,0,27.24,27.21,27.25
$GC,5634,-0.94,-194.6,2320,2697,3683,3576,822.5,-14.6,311,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3629,3683,3575,0,0,0,0,0,0,27.33,27.41,27.40
$GC,5934,-0.94,-194.6,2319,2695,3683,3575,863.8,-13.5,321,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3628,3682,3575,0,0,0,0,0,0,27.34,27.41,27.41
$GC,6234,-0.94,-194.6,2319,2695,3682,3570,902.3,-12.7,331,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2695,3628,3681,3575,0,0,0,0,0,0,27.34,27.42,27.41
$GC,6534,-0.94,-194.6,2319,2697,3681,3573,939.7,-12.6,341,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3627,3680,3575,0,0,0,0,0,0,27.35,27.42,27.41
$GC,6834,-0.96,-194.6,2319,2695,3681,3575,978.5,-12.9,351,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2696,3627,3680,3575,0,0,0,0,0,0,27.36,27.43,27.42
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6927,-0.25,0.0,2319,2814,3681,3576,990.2,-12.9,354,7161,0.73,0.00,226.68,0.886,10246,0.129,0.000,2555,2813,2840,2882,2798,0,0,0,0,0,0,27.08,24.94,24.39
$STATE,7161,end apogee,CONTROL_FINISHED_OK
$STATE,7161,begin climb
$GC,7163,0.92,194.6,2555,2814,2876,2793,1002.6,0.0,361,7343,1.08,2.12,169.10,1.047,11012,0.068,0.024,2931,1413,2036,2076,1997,0,0,0,0,0,0,25.08,24.52,24.06
$GC,7418,0.86,373.7,2932,1415,2061,1982,1002.6,4.2,369,7605,0.00,2.15,176.43,0.969,9222,0.000,0.029,2931,2785,1314,1363,1265,0,0,0,0,0,0,25.54,25.49,23.96
$GC,7909,0.86,373.7,2932,2786,1338,1235,939.0,14.1,386,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2785,1285,1336,1234,0,0,0,0,0,0,26.13,26.21,26.20
$GC,8210,0.86,373.7,2931,2786,1336,1234,895.3,14.7,396,8221,0.00,2.05,0.00,0.000,516,0.000,0.027,2937,1417,1284,1336,1232,0,0,0,0,0,0,26.48,26.34,26.55
$GC,8255,0.86,373.7,2931,1418,1336,1234,890.9,14.6,397,8262,0.00,2.12,0.00,0.000,1030,0.000,0.028,2931,2808,1284,1335,1233,0,0,0,0,0,0,26.41,26.36,26.44
$GC,8571,0.86,373.7,2931,2807,1335,1231,842.7,14.6,408,8579,0.00,2.08,0.00,0.000,516,0.000,0.027,2931,1418,1282,1334,1231,0,0,0,0,0,0,26.71,26.55,26.78
$GC,8608,0.86,373.7,2931,1419,1335,1233,838.9,14.5,409,8616,0.00,2.08,0.00,0.000,1030,0.000,0.029,2932,2799,1282,1334,1231,0,0,0,0,0,0,26.62,26.57,26.64
$GC,8930,0.86,373.7,2931,2799,1335,1231,791.0,14.6,420,8937,0.00,2.05,0.00,0.000,516,0.000,0.028,2932,1418,1282,1333,1232,0,0,0,0,0,0,26.85,26.70,26.92
$GC,8956,0.86,373.7,2931,1418,1335,1231,787.2,14.5,421,8964,0.00,2.08,0.00,0.000,1030,0.000,0.030,2931,2808,1282,1333,1231,0,0,0,0,0,0,26.75,26.67,26.77
$GC,9283,0.86,373.7,2931,2807,1334,1230,740.2,14.5,432,9292,0.00,2.08,0.00,0.000,516,0.000,0.028,2931,1418,1282,1334,1231,0,0,0,0,0,0,26.95,26.79,27.02
$GC,9316,0.86,373.7,2932,1414,1335,1230,735.4,14.5,433,9324,0.00,2.08,0.00,0.000,1030,0.000,0.029,2932,2800,1283,1336,1231,0,0,0,0,0,0,26.84,26.79,26.86
$GC,9648,0.86,373.7,2932,2800,1334,1230,687.9,14.7,444,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2801,1281,1333,1230,0,0,0,0,0,0,27.02,27.10,27.09
$GC,9948,0.86,373.7,2932,2802,1334,1232,647.0,13.2,454,9956,0.00,2.03,0.00,0.000,516,0.000,0.028,2932,1416,1282,1333,1231,0,0,0,0,0,0,27.07,26.91,27.14
$GC,9985,0.86,373.7,2932,1416,1335,1230,643.6,13.2,455,9992,0.00,2.05,0.00,0.000,1030,0.000,0.029,2932,2800,1282,1333,1231,0,0,0,0,0,0,26.96,26.91,26.98
$GC,10301,0.86,373.7,2931,2802,1335,1232,601.0,13.1,466,10309,0.00,2.03,0.00,0.000,516,0.000,0.028,2932,1420,1281,1333,1230,0,0,0,0,0,0,27.11,26.96,27.18
$GC,10328,0.86,373.7,2932,1416,1334,1230,601.0,13.1,466,10338,0.00,2.05,0.00,0.000,1030,0.000,0.029,2932,2806,1281,1332,1230,0,0,0,0,0,0,27.00,26.95,27.03
$GC,10633,0.86,373.7,2931,2808,1333,1232,558.0,13.0,477,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2806,1281,1332,1231,0,0,0,0,0,0,27.15,27.22,27.22
$GC,10933,0.86,373.7,2929,2808,1333,1232,517.9,13.8,487,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2807,1282,1333,1231,0,0,0,0,0,0,27.17,27.24,27.24
$GC,11233,0.86,373.7,2932,2808,1334,1232,479.3,13.6,497,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2807,1281,1333,1230,0,0,0,0,0,0,27.19,27.27,27.27
$GC,11533,0.86,373.7,2932,2806,1333,1230,438.2,13.7,507,11541,0.00,1.55,0.00,0.000,260,0.000,0.043,2927,3851,1281,1333,1230,0,0,0,0,0,0,27.22,27.03,27.29
$GC,11554,0.86,373.7,2932,3852,1333,1230,438.2,13.7,507,11562,0.00,1.50,0.00,0.000,1030,0.000,0.025,2934,2757,1281,1333,1229,0,0,0,0,0,0,27.13,27.10,27.15
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$STATE,15058,end climb,SURFACE_DEPTH_REACHED
$STATE,15058,begin surface coast
$FINISH,0.5,1.023652
$STATE,15073,end surface coast,CONTROL_FINISHED_OK
$STATE,15073,begin surface
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$IRIDIUM_FIX,5825.43,-14656.65,100508,032617
$TT8_MAMPS,0.178262,0.178262
$HUMID,39.25
$INTERNAL_PRESSURE,8.765
$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,15102.95 7233.42
$PA_BOOTCOUNT,327
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$PA_HOME,0.01/0.187/27.046/25.485
$PA_DISK_BANK,1
$24V_AH,23.96,4.222
$10V_AH,9.99,14.656
$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
$SENSOR_SECS,545.225,0.000,0.000,0.000,0.000,0.000,15473.521,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,137.846,0.000,0.000,0.000
$MEM,187192
$DATA_FILE_SIZE,33503,797
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$CFSIZE,1024393216,994131968
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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$INTR,1,14745.40,0x233782,1,24
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