version: 66.12
glider: 203
mission: 8
dive: 78
start: 7 24 115 19 43 49
data:
$ID,203
$MISSION,8
$DIVE,78
$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,96
$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
$GPS1,240715,193832,5748.2852,-14844.2354,36,0.9,40,17.4,0.4,183.5,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-61.4
$GPS2,240715,194338,5748.2705,-14844.2734,7,0.8,9,17.4,0.0,68.1,9,9.2
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP6
$TGT_LATLONG,5707.854,-14834.288
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,130.9,75520,-18.0,-11.000,-19.55,2718
$D_GRID,1768
$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,-194.6,180,2802,1064,967,0.0,0.0,0,154,0.00,0.00,-51.05,0.000,16386,0.000,0.000,178,2801,2377,2417,2337,0,0,0,0,0,0,25.94,28.83,26.01
$GC,156,-0.92,-194.6,179,2802,2420,2339,3.5,-4.2,5,206,8.73,1.70,-23.60,0.000,18692,0.238,0.057,2328,3861,3636,3705,3568,0,0,0,0,0,0,25.70,24.83,25.93
$GC,461,-0.88,-194.6,2328,3861,3707,3575,70.0,-19.8,44,480,0.10,1.65,0.00,0.000,3078,0.163,0.021,2349,2682,3639,3704,3575,0,0,0,0,0,0,25.93,26.06,26.06
$GC,776,-0.88,-194.6,2350,2681,3707,3578,124.0,-16.4,75,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2681,3642,3706,3578,0,0,0,0,0,0,26.02,26.09,26.08
$GC,1085,-0.90,-194.6,2350,2681,3708,3578,169.4,-15.5,106,1098,0.00,1.98,0.00,0.000,516,0.000,0.023,2350,1351,3642,3706,3579,0,0,0,0,0,0,26.06,26.08,26.12
$GC,1122,-0.92,-194.6,2350,1351,3708,3579,174.5,-15.5,109,1132,0.00,2.05,0.00,0.000,1030,0.000,0.025,2347,2706,3642,3706,3579,0,0,0,0,0,0,26.13,26.09,26.14
$GC,1428,-0.94,-194.6,2348,2707,3707,3579,221.0,-13.5,140,1435,0.00,1.75,0.00,0.000,260,0.000,0.038,2339,3857,3642,3707,3578,0,0,0,0,0,0,26.08,26.07,26.13
$GC,1454,-0.96,-194.6,2340,3859,3707,3580,224.0,-13.5,142,1465,0.00,1.62,0.00,0.000,1030,0.000,0.021,2339,2705,3642,3706,3578,0,0,0,0,0,0,26.13,26.09,26.13
$GC,1770,-0.97,-194.6,2339,2704,3707,3578,267.3,-13.7,166,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2705,3642,3706,3578,0,0,0,0,0,0,26.08,26.15,26.13
$GC,2070,-0.99,-194.6,2339,2706,3706,3580,307.3,-13.4,176,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2705,3641,3705,3578,0,0,0,0,0,0,26.07,26.13,26.13
$GC,2369,-1.01,-194.6,2339,2706,3705,3580,350.0,-14.3,186,2377,0.00,2.05,0.00,0.000,516,0.000,0.023,2334,1327,3640,3703,3578,0,0,0,0,0,0,26.07,26.09,26.13
$GC,2406,-1.03,-194.6,2340,1328,3704,3580,353.7,-14.2,187,2414,0.00,2.10,0.00,0.000,1030,0.000,0.026,2332,2710,3641,3704,3578,0,0,0,0,0,0,26.13,26.09,26.13
$GC,2723,-1.05,-194.6,2333,2710,3703,3578,401.8,-15.3,198,2731,0.00,1.75,0.00,0.000,260,0.000,0.039,2323,3858,3640,3702,3578,0,0,0,0,0,0,26.06,26.07,26.12
$GC,2774,-1.06,-194.6,2324,3858,3703,3579,406.9,-15.4,199,2782,0.00,1.65,0.00,0.000,1030,0.000,0.021,2324,2692,3640,3702,3578,0,0,0,0,0,0,26.15,26.10,26.15
$GC,3086,-1.06,-194.6,2324,2692,3701,3578,460.5,-16.4,210,3094,0.00,2.03,0.00,0.000,516,0.000,0.024,2323,1332,3640,3703,3578,0,0,0,0,0,0,26.08,26.08,26.13
$GC,3133,-1.06,-194.6,2324,1331,3701,3578,465.5,-16.4,211,3142,0.00,2.10,0.00,0.000,1030,0.000,0.026,2319,2709,3639,3701,3578,0,0,0,0,0,0,26.13,26.09,26.13
$GC,3446,-1.06,-194.6,2320,2710,3699,3580,516.4,-15.0,222,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2709,3638,3698,3578,0,0,0,0,0,0,26.07,26.13,26.13
$GC,3746,-1.06,-194.6,2320,2709,3698,3578,559.9,-14.4,232,3758,0.00,2.05,0.00,0.000,516,0.000,0.024,2319,1337,3638,3697,3580,0,0,0,0,0,0,26.06,26.09,26.12
$GC,3782,-1.06,-194.6,2318,1338,3698,3579,564.4,-14.5,233,3789,0.00,2.08,0.00,0.000,1030,0.000,0.027,2319,2702,3637,3697,3578,0,0,0,0,0,0,26.13,26.08,26.13
$GC,4104,-1.06,-194.6,2319,2702,3697,3578,610.5,-13.8,244,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2702,3637,3696,3578,0,0,0,0,0,0,26.06,26.13,26.13
$GC,4404,-1.06,-194.6,2319,2703,3696,3580,650.3,-13.0,254,4411,0.00,2.05,0.00,0.000,516,0.000,0.023,2319,1337,3636,3695,3578,0,0,0,0,0,0,26.06,26.08,26.12
$GC,4430,-1.06,-194.6,2320,1337,3696,3578,654.0,-13.2,255,4438,0.00,2.08,0.00,0.000,1030,0.000,0.027,2319,2705,3636,3695,3578,0,0,0,0,0,0,26.12,26.08,26.13
$GC,4757,-1.06,-194.6,2320,2706,3694,3579,698.4,-13.6,266,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2704,3636,3694,3578,0,0,0,0,0,0,26.06,26.13,26.12
$GC,5057,-1.08,-194.6,2319,2704,3694,3578,736.8,-12.6,276,5065,0.00,2.08,0.00,0.000,516,0.000,0.023,2319,1327,3635,3693,3578,0,0,0,0,0,0,26.06,26.08,26.13
$GC,5139,-1.10,-194.6,2319,1327,3693,3578,744.9,-12.5,278,5147,0.00,2.10,0.00,0.000,1030,0.000,0.026,2319,2706,3635,3692,3578,0,0,0,0,0,0,26.12,26.08,26.13
$GC,5451,-1.12,-194.6,2319,2706,3693,3578,786.3,-12.4,289,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2705,3634,3691,3578,0,0,0,0,0,0,26.04,26.11,26.10
$GC,5755,-1.12,-194.6,2320,2707,3691,3580,823.2,-12.2,299,5763,0.00,1.77,0.00,0.000,260,0.000,0.041,2319,3855,3634,3690,3578,0,0,0,0,0,0,26.06,26.05,26.11
$GC,5986,-1.12,-194.6,2319,3857,3690,3579,851.3,-13.1,306,5995,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2695,3633,3690,3577,0,0,0,0,0,0,26.12,26.09,26.13
$GC,6299,-1.14,-194.6,2319,2697,3691,3579,893.8,-12.9,317,6308,0.08,2.05,0.00,0.000,4612,0.119,0.021,2268,1324,3633,3689,3578,0,0,0,0,0,0,26.01,26.07,26.09
$GC,6532,-1.12,-194.6,2268,1322,3689,3580,928.7,-16.5,324,6540,0.00,2.10,0.00,0.000,1030,0.000,0.027,2266,2703,3633,3688,3578,0,0,0,0,0,0,26.12,26.08,26.13
$GC,6838,-1.10,-194.6,2267,2703,3688,3578,981.6,-16.1,334,6848,0.08,1.75,0.00,0.000,2308,0.210,0.038,2277,3846,3632,3687,3578,0,0,0,0,0,0,25.91,26.06,26.07
$GC,6872,-1.08,-194.6,2278,3847,3687,3579,986.5,-16.1,335,6880,0.00,1.67,0.00,0.000,1030,0.000,0.022,2278,2702,3632,3687,3578,0,0,0,0,0,0,26.12,26.08,26.13
$STATE,6898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6898,begin apogee
$GC,6902,-0.25,0.0,2279,2811,3688,3578,991.4,-15.8,336,7072,0.88,0.00,162.73,1.102,10246,0.122,0.000,2553,2812,2838,2876,2801,0,0,0,0,0,0,25.92,24.48,23.82
$STATE,7073,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7074,0.92,194.6,2553,2813,2870,2795,1000.2,0.0,341,7251,1.10,1.83,162.73,1.093,10500,0.067,0.039,2930,3841,2037,2076,1998,0,0,0,0,0,0,24.63,23.71,23.06
$GC,7475,0.85,206.4,2931,3843,2070,1989,980.9,10.6,355,7487,0.00,1.52,3.97,0.965,9222,0.000,0.023,2931,2801,1996,2036,1957,0,0,0,0,0,0,25.32,25.28,24.14
$GC,7801,0.82,229.7,2932,2802,2058,1968,947.5,10.1,366,7838,0.00,1.73,27.65,1.076,8452,0.000,0.040,2931,3841,1893,1936,1851,0,0,0,0,0,0,25.72,25.19,24.49
$GC,7928,0.77,229.7,2931,3842,1930,1844,933.3,11.6,370,7935,0.10,1.52,0.00,0.000,5126,0.184,0.023,2911,2786,1885,1927,1844,0,0,0,0,0,0,25.47,25.59,25.60
$GC,8254,0.77,229.7,2912,2785,1929,1841,897.0,11.2,381,8262,0.00,2.05,0.00,0.000,516,0.000,0.024,2918,1428,1884,1928,1841,0,0,0,0,0,0,25.88,25.91,25.94
$GC,8295,0.77,229.7,2918,1425,1929,1841,893.6,11.1,382,8303,0.00,2.12,0.00,0.000,1030,0.000,0.028,2918,2802,1884,1928,1841,0,0,0,0,0,0,25.96,25.92,25.98
$GC,8614,0.75,237.8,2918,2803,1928,1842,857.8,10.7,393,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2802,1884,1927,1841,0,0,0,0,0,0,25.99,26.06,26.05
$GC,8913,0.74,287.8,2918,2802,1935,1840,829.8,9.1,403,8977,0.00,1.75,50.00,1.004,8452,0.000,0.039,2918,3856,1653,1696,1611,0,0,0,0,0,0,26.03,25.15,24.47
$GC,9011,0.72,291.1,2918,3855,1693,1605,819.2,10.9,406,9019,0.10,1.52,0.00,0.000,5126,0.182,0.023,2899,2797,1648,1692,1605,0,0,0,0,0,0,25.37,25.48,25.49
$GC,9338,0.74,343.1,2899,2798,1691,1602,786.7,9.0,417,9395,0.00,0.00,48.92,0.968,8198,0.000,0.000,2899,2797,1440,1486,1394,0,0,0,0,0,0,25.89,25.08,24.45
$GC,9669,0.78,361.3,2899,2797,1470,1373,753.7,10.3,428,9695,0.00,2.17,16.08,0.962,8708,0.000,0.024,2902,1414,1358,1404,1312,0,0,0,0,0,0,25.81,25.50,24.83
$GC,9765,0.82,371.6,2903,1414,1398,1306,744.1,10.6,431,9777,0.00,2.15,3.90,0.896,9222,0.000,0.024,2903,2803,1323,1369,1278,0,0,0,0,0,0,25.75,25.72,24.56
$GC,10086,0.86,371.9,2903,2804,1388,1282,707.9,11.0,442,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2802,1334,1387,1281,0,0,0,0,0,0,25.91,25.98,25.97
$GC,10386,0.89,371.9,2903,2803,1388,1280,674.3,11.2,452,10394,0.05,2.08,0.00,0.000,2564,0.168,0.023,2945,1431,1334,1387,1281,0,0,0,0,0,0,25.93,26.01,26.05
$GC,10420,0.93,371.9,2945,1430,1387,1281,670.4,11.3,453,10429,0.00,2.10,0.00,0.000,1030,0.000,0.027,2945,2806,1334,1387,1281,0,0,0,0,0,0,26.06,26.02,26.06
$GC,10749,0.90,371.9,2945,2806,1388,1281,626.7,12.6,464,10756,0.00,1.62,0.00,0.000,260,0.000,0.039,2941,3843,1334,1387,1281,0,0,0,0,0,0,26.03,26.04,26.09
$GC,10805,0.87,371.9,2948,3842,1388,1281,622.1,12.9,465,10815,0.00,1.50,0.00,0.000,1030,0.000,0.023,2945,2773,1334,1387,1281,0,0,0,0,0,0,26.10,26.07,26.10
$GC,11110,0.87,371.9,2945,2774,1389,1283,579.3,12.7,476,11118,0.00,2.00,0.00,0.000,516,0.000,0.025,2945,1435,1334,1387,1281,0,0,0,0,0,0,26.03,26.07,26.10
$GC,11147,0.87,371.9,2944,1436,1388,1282,575.2,12.8,477,11155,0.00,2.10,0.00,0.000,1030,0.000,0.028,2945,2807,1334,1387,1281,0,0,0,0,0,0,26.10,26.06,26.11
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$STATE,15638,end climb,SURFACE_DEPTH_REACHED
$STATE,15638,begin surface coast
$FINISH,0.6,1.023798
$STATE,15654,end surface coast,CONTROL_FINISHED_OK
$STATE,15654,begin surface
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$IRIDIUM_FIX,5724.52,-14847.63,200508,090625
$TT8_MAMPS,0.058422,0.058422
$HUMID,38.69
$INTERNAL_PRESSURE,8.7836
$TCM_TEMP,17.40
$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,15683.64 7278.36
$PA_BOOTCOUNT,384
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$PA_HOME,0.01/0.198/27.046/25.474
$PA_DISK_BANK,1
$24V_AH,23.06,22.087
$10V_AH,10.26,31.536
$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,23.970,0.000,0.000,0.000,0.000,0.000,0.374,0.000,0.000,0.000
$MEM,180068
$DATA_FILE_SIZE,33414,791
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$CFSIZE,1024393216,988790784
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$INTR,1,2728.03,0x212970,0,24
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