version: 66.12
glider: 203
mission: 8
dive: 49
start: 7 19 115 7 56 21
data:
$ID,203
$MISSION,8
$DIVE,49
$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,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,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
$GPS1,190715,075103,5818.7524,-14751.1113,32,0.9,32,17.8,0.9,65.9,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-65.4
$GPS2,190715,075610,5818.7471,-14750.9756,8,0.8,11,17.8,0.0,165.4,11,9.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP3
$TGT_LATLONG,5818.207,-14805.057
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.4,13738,-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,-194.6,185,2709,943,821,0.0,0.0,0,144,0.00,0.00,-44.53,0.000,16386,0.000,0.000,185,2709,2062,2100,2025,0,0,0,0,0,0,25.94,28.83,26.00
$GC,145,-0.92,-194.6,186,2710,2102,2027,3.0,-3.9,6,196,8.52,0.00,-37.95,0.000,19206,0.233,0.000,2338,2709,3634,3701,3567,0,0,0,0,0,0,25.79,25.48,25.97
$GC,515,-0.87,-194.6,2339,2709,3703,3574,78.7,-19.9,58,530,0.05,2.05,0.00,0.000,2564,0.226,0.022,2351,1324,3638,3702,3574,0,0,0,0,0,0,25.96,26.08,26.08
$GC,593,-0.87,-194.6,2352,1325,3703,3576,92.0,-17.1,65,604,0.00,2.10,0.00,0.000,1030,0.000,0.025,2347,2708,3638,3702,3575,0,0,0,0,0,0,26.13,26.09,26.13
$GC,899,-0.87,-194.6,2348,2708,3703,3576,145.8,-17.8,96,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2704,3639,3702,3577,0,0,0,0,0,0,26.07,26.14,26.13
$GC,1200,-0.87,-194.6,2348,2709,3703,3578,192.5,-14.2,126,1214,0.00,2.10,0.00,0.000,516,0.000,0.023,2347,1311,3639,3702,3577,0,0,0,0,0,0,26.08,26.12,26.14
$GC,1238,-0.87,-194.6,2348,1311,3704,3576,197.6,-14.6,129,1249,0.08,2.10,0.00,0.000,3078,0.185,0.024,2352,2705,3638,3701,3576,0,0,0,0,0,0,26.03,26.13,26.13
$GC,1543,-0.87,-194.6,2353,2706,3703,3578,241.8,-14.4,160,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2704,3639,3702,3577,0,0,0,0,0,0,26.09,26.16,26.15
$GC,1844,-0.88,-194.6,2353,2704,3698,3577,285.7,-14.7,174,1851,0.00,2.08,0.00,0.000,516,0.000,0.023,2353,1320,3639,3702,3576,0,0,0,0,0,0,26.09,26.13,26.15
$GC,1865,-0.90,-194.6,2354,1321,3703,3578,285.7,-14.7,174,1876,0.00,2.10,0.00,0.000,1030,0.000,0.026,2348,2706,3639,3702,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,2170,-0.90,-194.6,2349,2707,3701,3578,331.9,-13.6,185,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2706,3638,3700,3577,0,0,0,0,0,0,26.09,26.15,26.14
$GC,2471,-0.90,-194.6,2348,2706,3700,3576,371.9,-13.2,195,2478,0.00,1.75,0.00,0.000,260,0.000,0.040,2342,3854,3637,3698,3576,0,0,0,0,0,0,26.09,26.12,26.15
$GC,2527,-0.90,-194.6,2341,3856,3698,3578,376.3,-13.3,196,2537,0.00,1.65,0.00,0.000,1030,0.000,0.023,2342,2687,3637,3698,3576,0,0,0,0,0,0,26.17,26.13,26.17
$GC,2832,-0.90,-194.6,2341,2689,3698,3578,419.3,-12.6,207,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2688,3636,3697,3576,0,0,0,0,0,0,26.08,26.16,26.15
$GC,3132,-0.90,-194.6,2342,2687,3696,3576,455.3,-12.1,217,3139,0.00,1.80,0.00,0.000,260,0.000,0.040,2335,3846,3635,3694,3576,0,0,0,0,0,0,26.09,26.11,26.15
$GC,3173,-0.90,-194.6,2335,3848,3701,3577,459.2,-12.3,218,3180,0.00,1.62,0.00,0.000,1030,0.000,0.023,2335,2712,3635,3695,3576,0,0,0,0,0,0,26.16,26.13,26.16
$GC,3494,-0.90,-194.6,2335,2714,3694,3578,503.1,-13.8,229,3502,0.00,2.08,0.00,0.000,516,0.000,0.023,2335,1320,3634,3692,3576,0,0,0,0,0,0,26.09,26.12,26.15
$GC,3531,-0.90,-194.6,2335,1320,3694,3576,507.6,-13.9,230,3539,0.10,2.10,0.00,0.000,3078,0.176,0.028,2347,2701,3634,3693,3576,0,0,0,0,0,0,26.03,26.12,26.13
$GC,3854,-0.93,-194.6,2348,2703,3693,3577,548.0,-12.0,241,3861,0.00,1.77,0.00,0.000,260,0.000,0.041,2347,3854,3634,3693,3576,0,0,0,0,0,0,26.08,26.10,26.15
$GC,3885,-0.95,-194.6,2348,3856,3693,3578,551.9,-12.0,242,3892,0.00,1.67,0.00,0.000,1030,0.000,0.023,2347,2685,3634,3692,3576,0,0,0,0,0,0,26.16,26.13,26.17
$GC,4216,-0.98,-194.6,2348,2684,3691,3577,592.2,-12.1,253,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2683,3633,3691,3576,0,0,0,0,0,0,26.07,26.15,26.13
$GC,4516,-1.00,-194.6,2347,2684,3691,3578,626.4,-11.0,263,4524,0.00,1.83,0.00,0.000,260,0.000,0.040,2340,3855,3633,3690,3576,0,0,0,0,0,0,26.08,26.09,26.15
$GC,4548,-1.03,-194.6,2340,3855,3691,3576,630.2,-11.3,264,4556,0.00,1.70,0.00,0.000,1030,0.000,0.023,2340,2703,3633,3690,3576,0,0,0,0,0,0,26.16,26.13,26.16
$GC,4880,-1.05,-194.6,2341,2703,3690,3582,670.9,-12.5,275,4891,0.00,2.05,0.00,0.000,516,0.000,0.024,2340,1316,3632,3688,3576,0,0,0,0,0,0,26.08,26.13,26.15
$GC,4916,-1.07,-194.6,2337,1315,3690,3576,674.7,-12.5,276,4923,0.00,2.10,0.00,0.000,1030,0.000,0.028,2335,2700,3632,3688,3576,0,0,0,0,0,0,26.15,26.11,26.16
$GC,5237,-1.09,-194.6,2335,2700,3688,3576,717.3,-13.2,287,5243,0.08,0.00,0.00,0.000,4102,0.127,0.000,2291,2700,3631,3687,3576,0,0,0,0,0,0,26.06,26.15,26.14
$GC,5537,-1.06,-194.6,2292,2700,3688,3576,764.0,-15.4,297,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2700,3631,3686,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5837,-1.04,-194.6,2292,2701,3687,3578,810.3,-15.6,307,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2700,3631,3686,3576,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6137,-1.02,-194.6,2292,2700,3687,3576,857.9,-15.6,317,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2700,3631,3686,3576,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6438,-1.01,-194.6,2292,2700,3687,3576,903.5,-15.1,327,6448,0.10,2.08,0.00,0.000,2564,0.186,0.021,2313,1321,3630,3685,3576,0,0,0,0,0,0,26.00,26.12,26.11
$GC,6497,-1.01,-194.6,2313,1320,3684,3575,908.5,-15.0,328,6507,0.00,2.10,0.00,0.000,1030,0.000,0.028,2308,2700,3630,3685,3576,0,0,0,0,0,0,26.15,26.11,26.15
$GC,6802,-1.01,-194.6,2309,2700,3685,3576,957.0,-15.2,339,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2700,3630,3684,3576,0,0,0,0,0,0,26.07,26.15,26.13
$STATE,7040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7041,begin apogee
$GC,7044,-0.25,0.0,2308,2811,3685,3578,993.2,-14.9,347,7287,0.77,0.00,234.05,0.886,10246,0.122,0.000,2550,2809,2836,2876,2797,0,0,0,0,0,0,26.01,24.71,24.13
$STATE,7287,end apogee,CONTROL_FINISHED_OK
$STATE,7287,begin climb
$GC,7289,0.92,194.6,2551,2811,2872,2795,1008.2,0.0,355,7468,1.10,2.28,162.18,1.079,11012,0.067,0.023,2931,1431,2032,2070,1995,0,0,0,0,0,0,24.84,24.21,23.56
$GC,7692,0.90,236.3,2932,1432,2064,1983,990.8,9.4,368,7741,0.00,2.12,35.67,1.069,9222,0.000,0.027,2931,2790,1863,1904,1823,0,0,0,0,0,0,25.46,25.41,24.12
$GC,8039,0.87,236.3,2931,2790,1898,1810,949.2,11.8,380,8048,0.00,2.12,0.00,0.000,516,0.000,0.024,2931,1410,1853,1896,1810,0,0,0,0,0,0,25.65,25.67,25.71
$GC,8153,0.85,236.3,2931,1412,1897,1811,939.1,11.4,383,8165,0.00,2.15,0.00,0.000,1030,0.000,0.027,2931,2805,1853,1896,1811,0,0,0,0,0,0,25.82,25.78,25.84
$GC,8458,0.82,249.4,2931,2804,1895,1808,903.1,10.5,394,8467,0.00,0.00,2.95,0.642,8198,0.000,0.000,2931,2805,1822,1866,1779,0,0,0,0,0,0,25.91,25.79,24.84
$GC,8758,0.79,249.4,2931,2805,1891,1793,869.0,11.1,404,8766,0.00,0.00,2.08,0.283,8198,0.000,0.000,2931,2805,1821,1865,1778,0,0,0,0,0,0,25.99,25.88,24.89
$GC,9058,0.77,271.0,2931,2805,1890,1790,838.0,10.2,414,9092,0.10,0.00,28.10,0.999,12294,0.172,0.000,2910,2805,1730,1773,1688,0,0,0,0,0,0,25.96,25.44,24.82
$GC,9388,0.77,289.0,2910,2806,1758,1671,804.4,10.3,425,9411,0.00,1.70,15.77,0.984,8452,0.000,0.040,2910,3845,1655,1698,1612,0,0,0,0,0,0,25.91,25.58,24.96
$GC,9450,0.77,300.6,2910,3846,1691,1602,798.2,10.6,427,9461,0.00,1.58,3.85,0.846,9222,0.000,0.024,2915,2793,1613,1657,1569,0,0,0,0,0,0,25.78,25.72,24.64
$GC,9776,0.77,301.4,2915,2793,1680,1578,761.7,11.0,438,9787,0.00,2.12,2.15,0.331,8708,0.000,0.025,2918,1418,1611,1660,1562,0,0,0,0,0,0,25.94,25.89,24.98
$GC,9841,0.77,304.1,2919,1417,1678,1571,755.3,10.9,440,9852,0.00,2.12,3.35,0.761,9222,0.000,0.028,2919,2802,1599,1646,1553,0,0,0,0,0,0,26.02,25.97,24.89
$GC,10166,0.77,304.1,2919,2804,1670,1567,718.0,11.2,451,10177,0.00,1.67,2.22,0.362,8452,0.000,0.040,2918,3853,1602,1653,1552,0,0,0,0,0,0,26.01,25.95,25.04
$GC,10326,0.75,304.1,2919,3854,1665,1567,699.4,12.4,456,10334,0.05,1.52,0.00,0.000,5126,0.249,0.024,2909,2776,1615,1665,1565,0,0,0,0,0,0,25.94,26.05,26.06
$GC,10648,0.75,314.9,2909,2772,1666,1565,663.9,10.6,467,10675,0.00,2.05,18.60,0.908,8708,0.000,0.025,2915,1431,1548,1594,1503,0,0,0,0,0,0,26.05,25.70,25.09
$GC,10729,0.75,323.3,2915,1432,1584,1496,657.8,10.7,468,10740,0.00,2.12,1.73,0.207,9222,0.000,0.028,2915,2810,1519,1565,1474,0,0,0,0,0,0,25.86,25.84,25.67
$GC,11034,0.75,323.3,2916,2810,1585,1482,617.3,12.6,479,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2810,1532,1584,1480,0,0,0,0,0,0,25.98,26.06,26.05
$GC,11334,0.75,323.3,2915,2811,1584,1482,581.3,12.1,489,11342,0.00,1.60,0.00,0.000,260,0.000,0.041,2915,3854,1532,1583,1481,0,0,0,0,0,0,26.03,26.06,26.09
$GC,11366,0.75,323.3,2916,3855,1585,1482,577.0,12.4,490,11373,0.00,1.50,0.00,0.000,1030,0.000,0.024,2918,2794,1532,1584,1480,0,0,0,0,0,0,26.10,26.06,26.11
$GC,11697,0.75,323.3,2919,2794,1585,1482,534.9,12.7,501,11708,0.00,2.03,0.00,0.000,516,0.000,0.024,2928,1424,1532,1583,1481,0,0,0,0,0,0,26.04,26.09,26.11
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$STATE,16362,end climb,SURFACE_DEPTH_REACHED
$STATE,16362,begin surface coast
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$STATE,16378,end surface coast,CONTROL_FINISHED_OK
$STATE,16378,begin surface
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$IRIDIUM_FIX,5752.73,-14754.03,140508,211856
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$HUMID,38.73
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16406.68 7765.13
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$PA_DISK_BANK,1
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$10V_AH,10.30,29.545
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$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,187112
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