version: 66.12
glider: 203
mission: 8
dive: 38
start: 7 17 115 5 58 14
data:
$ID,203
$MISSION,8
$DIVE,38
$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,83
$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
$GPS1,170715,055304,5821.6304,-14648.6660,37,0.8,37,18.1,0.0,0.0,12,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.9
$GPS2,170715,055803,5821.6416,-14648.6377,6,0.8,10,18.1,0.5,16.7,12,9.6
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,252.1,74633,-18.0,-11.000,-19.55,2718
$D_GRID,1000
$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,-194.6,187,2715,1015,900,0.0,0.0,0,147,0.00,0.00,-48.05,0.000,16386,0.000,0.000,185,2714,2244,2275,2214,0,0,0,0,0,0,26.70,28.83,26.78
$GC,149,-0.92,-194.6,186,2714,2278,2215,3.3,-4.4,7,202,8.38,2.10,-30.42,0.000,18948,0.241,0.041,2333,1318,3636,3703,3569,0,0,0,0,0,0,26.34,25.70,26.46
$GC,294,-0.84,-194.6,2334,1318,3704,3572,36.1,-23.9,30,304,0.15,2.05,0.00,0.000,3078,0.164,0.026,2366,2705,3638,3704,3573,0,0,0,0,0,0,26.48,26.63,26.62
$GC,610,-0.84,-194.6,2366,2707,3704,3577,93.0,-13.8,68,617,0.00,1.70,0.00,0.000,260,0.000,0.038,2360,3857,3639,3703,3576,0,0,0,0,0,0,26.91,26.73,26.97
$GC,686,-0.84,-194.6,2360,3857,3703,3576,103.2,-14.7,75,696,0.00,1.62,0.00,0.000,1030,0.000,0.022,2360,2663,3639,3703,3576,0,0,0,0,0,0,26.85,26.83,26.86
$GC,991,-0.84,-194.6,2360,2668,3704,3578,150.6,-14.4,106,998,0.00,1.90,0.00,0.000,516,0.000,0.024,2359,1337,3640,3703,3578,0,0,0,0,0,0,27.01,26.86,27.07
$GC,1038,-0.84,-194.6,2360,1338,3703,3580,157.4,-14.6,110,1045,0.00,2.00,0.00,0.000,1030,0.000,0.027,2350,2702,3641,3703,3579,0,0,0,0,0,0,26.91,26.86,26.93
$GC,1349,-0.84,-194.6,2350,2705,3703,3580,203.4,-14.8,141,1357,0.00,1.70,0.00,0.000,260,0.000,0.040,2344,3854,3640,3702,3579,0,0,0,0,0,0,27.08,26.89,27.14
$GC,1391,-0.84,-194.6,2343,3854,3704,3578,209.6,-14.8,145,1398,0.10,1.58,0.00,0.000,3078,0.166,0.023,2367,2700,3640,3703,3578,0,0,0,0,0,0,26.81,26.97,26.93
$GC,1703,-0.88,-194.6,2367,2699,3704,3580,250.6,-12.8,176,1711,0.00,1.98,0.00,0.000,516,0.000,0.024,2367,1327,3641,3703,3579,0,0,0,0,0,0,27.12,26.97,27.18
$GC,1725,-0.91,-194.6,2367,1327,3704,3580,250.6,-12.8,176,1732,0.00,2.03,0.00,0.000,1030,0.000,0.028,2363,2705,3640,3703,3578,0,0,0,0,0,0,27.01,26.97,27.03
$GC,2030,-0.93,-194.6,2363,2705,3703,3578,292.6,-12.7,186,2037,0.00,1.70,0.00,0.000,260,0.000,0.042,2362,3853,3640,3702,3578,0,0,0,0,0,0,27.16,26.98,27.22
$GC,2261,-0.96,-194.6,2362,3855,3701,3579,319.9,-12.8,193,2268,0.00,1.58,0.00,0.000,1030,0.000,0.023,2362,2697,3639,3701,3578,0,0,0,0,0,0,27.10,27.07,27.11
$GC,2573,-0.98,-194.6,2363,2698,3699,3580,361.4,-12.8,204,2580,0.00,1.73,0.00,0.000,260,0.000,0.041,2354,3853,3638,3699,3578,0,0,0,0,0,0,27.20,27.03,27.27
$GC,2804,-1.01,-194.6,2354,3852,3699,3578,389.7,-13.3,211,2811,0.00,1.58,0.00,0.000,1030,0.000,0.024,2355,2698,3638,3698,3578,0,0,0,0,0,0,27.14,27.11,27.15
$GC,3116,-1.03,-194.6,2354,2699,3698,3579,433.5,-13.0,222,3123,0.08,1.73,0.00,0.000,4356,0.129,0.039,2305,3853,3636,3696,3577,0,0,0,0,0,0,27.09,27.05,27.14
$GC,3197,-1.03,-194.6,2305,3854,3697,3579,442.2,-14.0,224,3207,0.00,1.58,0.00,0.000,1030,0.000,0.023,2302,2692,3637,3696,3578,0,0,0,0,0,0,27.20,27.13,27.17
$GC,3503,-1.02,-194.6,2306,2693,3696,3579,494.1,-15.6,235,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2692,3636,3695,3578,0,0,0,0,0,0,27.25,27.33,27.32
$GC,3803,-1.00,-194.6,2305,2693,3694,3578,539.9,-15.4,245,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2692,3635,3693,3578,0,0,0,0,0,0,27.27,27.34,27.34
$GC,4102,-1.00,-194.6,2306,2692,3694,3578,586.7,-15.8,255,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2692,3635,3693,3578,0,0,0,0,0,0,27.28,27.36,27.34
$GC,4402,-1.00,-194.6,2305,2693,3693,3577,631.9,-14.6,265,4411,0.00,1.73,0.00,0.000,260,0.000,0.042,2305,3853,3635,3692,3578,0,0,0,0,0,0,27.29,27.11,27.36
$GC,4459,-1.00,-194.6,2305,3854,3692,3579,636.6,-14.5,266,4469,0.00,1.58,0.00,0.000,1030,0.000,0.024,2305,2691,3634,3691,3578,0,0,0,0,0,0,27.22,27.18,27.22
$GC,4765,-1.00,-194.6,2305,2691,3691,3578,682.8,-14.2,277,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2690,3634,3690,3578,0,0,0,0,0,0,27.29,27.38,27.36
$GC,5065,-1.00,-194.6,2305,2690,3690,3578,727.3,-14.8,287,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2690,3634,3690,3578,0,0,0,0,0,0,27.31,27.39,27.37
$GC,5365,-1.00,-194.6,2305,2690,3690,3578,771.2,-14.4,297,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2691,3633,3689,3577,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5665,-1.00,-194.6,2305,2691,3688,3579,815.6,-14.8,307,5673,0.00,1.73,0.00,0.000,260,0.000,0.042,2305,3846,3633,3688,3578,0,0,0,0,0,0,27.32,27.14,27.39
$GC,5698,-1.00,-194.6,2305,3848,3688,3579,820.4,-14.7,308,5705,0.00,1.55,0.00,0.000,1030,0.000,0.024,2304,2710,3632,3687,3578,0,0,0,0,0,0,27.24,27.21,27.25
$GC,6029,-1.00,-194.6,2305,2712,3688,3580,867.7,-14.1,319,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2710,3632,3687,3578,0,0,0,0,0,0,27.33,27.40,27.39
$GC,6330,-1.00,-194.6,2306,2711,3687,3579,909.0,-13.8,329,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2710,3631,3686,3577,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6629,-1.00,-194.6,2305,2711,3687,3579,951.0,-14.0,339,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2710,3632,3686,3578,0,0,0,0,0,0,27.34,27.41,27.40
$STATE,6928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6928,begin apogee
$GC,6932,-0.25,0.0,2306,2818,3686,3579,993.0,-14.1,349,7100,0.77,0.00,159.60,1.079,10246,0.127,0.000,2559,2817,2838,2880,2797,0,0,0,0,0,0,27.06,24.94,24.30
$STATE,7101,end apogee,CONTROL_FINISHED_OK
$STATE,7101,begin climb
$GC,7102,0.92,194.6,2559,2817,2871,2787,1002.1,0.0,354,7276,1.05,2.28,159.73,1.073,11012,0.067,0.024,2931,1432,2034,2075,1994,0,0,0,0,0,0,25.13,24.65,24.01
$GC,7405,0.89,292.6,2931,1433,2067,1985,998.1,7.3,364,7498,0.00,2.10,83.15,1.062,9222,0.000,0.028,2932,2788,1644,1691,1598,0,0,0,0,0,0,25.72,25.68,24.06
$GC,7796,0.87,292.6,2931,2788,1670,1571,952.0,12.1,377,7803,0.00,1.65,0.00,0.000,260,0.000,0.041,2931,3857,1620,1669,1571,0,0,0,0,0,0,26.17,26.00,26.23
$GC,7842,0.84,292.6,2932,3858,1669,1572,947.9,12.3,378,7849,0.00,1.50,0.00,0.000,1030,0.000,0.024,2932,2795,1619,1668,1571,0,0,0,0,0,0,26.15,26.12,26.17
$GC,8158,0.83,292.6,2932,2796,1669,1572,905.5,12.6,389,8167,0.00,1.67,0.00,0.000,260,0.000,0.041,2932,3851,1619,1668,1570,0,0,0,0,0,0,26.55,26.38,26.62
$GC,8196,0.80,292.6,2932,3852,1669,1572,901.1,12.9,390,8203,0.00,1.50,0.00,0.000,1030,0.000,0.024,2931,2808,1616,1662,1570,0,0,0,0,0,0,26.48,26.47,26.49
$GC,8522,0.79,292.6,2931,2807,1668,1569,859.7,12.5,401,8529,0.00,1.60,0.00,0.000,260,0.000,0.042,2932,3854,1618,1667,1570,0,0,0,0,0,0,26.75,26.58,26.82
$GC,8563,0.76,292.6,2932,3854,1668,1569,855.6,12.8,402,8570,0.10,1.50,0.00,0.000,5126,0.194,0.024,2910,2764,1618,1666,1570,0,0,0,0,0,0,26.48,26.66,26.63
$GC,8885,0.76,299.7,2911,2766,1668,1570,818.9,10.7,413,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2765,1618,1666,1570,0,0,0,0,0,0,26.89,26.96,26.95
$GC,9185,0.76,299.7,2910,2764,1668,1569,783.3,12.2,423,9193,0.00,1.65,0.00,0.000,260,0.000,0.041,2911,3859,1617,1666,1569,0,0,0,0,0,0,26.96,26.79,27.03
$GC,9212,0.76,299.7,2910,3859,1667,1568,783.3,12.2,423,9222,0.00,1.50,0.00,0.000,1030,0.000,0.024,2916,2771,1617,1666,1569,0,0,0,0,0,0,26.89,26.85,26.89
$GC,9518,0.76,299.7,2917,2771,1667,1568,741.5,12.3,434,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2771,1617,1666,1569,0,0,0,0,0,0,27.02,27.10,27.08
$GC,9817,0.76,299.7,2920,2771,1667,1568,705.6,11.9,444,9825,0.00,1.62,0.00,0.000,260,0.000,0.041,2917,3855,1617,1666,1568,0,0,0,0,0,0,27.07,26.89,27.13
$GC,9859,0.76,299.7,2917,3856,1666,1570,701.5,12.2,445,9867,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2756,1617,1666,1569,0,0,0,0,0,0,26.99,26.96,27.00
$GC,10181,0.76,299.7,2919,2756,1666,1568,660.8,12.1,456,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2756,1617,1666,1569,0,0,0,0,0,0,27.10,27.19,27.17
$GC,10482,0.77,306.1,2919,2756,1667,1568,627.4,10.8,466,10490,0.00,0.00,2.67,0.505,8198,0.000,0.000,2919,2756,1589,1638,1541,0,0,0,0,0,0,27.14,26.82,26.02
$GC,10782,0.77,307.9,2918,2756,1661,1556,594.7,10.9,476,10793,0.00,1.65,2.90,0.575,8452,0.000,0.039,2919,3853,1585,1636,1534,0,0,0,0,0,0,27.15,26.79,25.95
$GC,10867,0.77,307.9,2919,3854,1652,1553,587.5,11.2,478,10878,0.00,1.48,2.15,0.327,9222,0.000,0.024,2925,2807,1583,1633,1533,0,0,0,0,0,0,27.05,27.01,26.01
$GC,11172,0.77,307.9,2924,2808,1652,1548,550.2,11.4,489,11179,0.00,1.58,0.00,0.000,260,0.000,0.042,2924,3861,1600,1652,1548,0,0,0,0,0,0,27.13,26.96,27.20
$GC,11218,0.77,307.9,2925,3862,1653,1549,546.6,11.4,490,11227,0.05,1.50,0.00,0.000,5126,0.161,0.025,2916,2799,1599,1652,1547,0,0,0,0,0,0,26.86,27.02,26.94
$GC,11537,0.77,321.2,2916,2799,1652,1548,510.1,10.5,501,11570,0.00,2.08,20.62,0.802,8708,0.000,0.026,2919,1430,1518,1566,1471,0,0,0,0,0,0,27.17,26.58,26.06
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$STATE,15955,end climb,SURFACE_DEPTH_REACHED
$STATE,15956,begin surface coast
$FINISH,0.6,1.023927
$STATE,15976,end surface coast,CONTROL_FINISHED_OK
$STATE,15976,begin surface
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$IRIDIUM_FIX,5756.79,-14652.72,120508,192057
$TT8_MAMPS,0.16478,0.16478
$HUMID,38.50
$INTERNAL_PRESSURE,8.7557
$TCM_TEMP,17.60
$XPDR_PINGS,2
$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,16005.26 7398.96
$PA_BOOTCOUNT,341
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$PA_HOME,0.01/0.190/27.046/25.482
$PA_DISK_BANK,1
$24V_AH,24.01,6.631
$10V_AH,9.95,24.377
$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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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,138.482,0.000,0.000,0.000
$MEM,187152
$DATA_FILE_SIZE,33554,833
$CAP_FILE_SIZE,140449,0
$CFSIZE,1024393216,992739328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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