version: 66.12
glider: 203
mission: 8
dive: 104
start: 7 29 115 18 58 23
data:
$ID,203
$MISSION,8
$DIVE,104
$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,103
$R_STBD_OVSHOOT,44
$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,21
$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
$GPS1,290715,185253,5711.8667,-14929.0732,39,0.8,41,17.1,0.0,190.9,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.2
$GPS2,290715,185810,5711.8652,-14929.0752,18,0.9,18,17.1,0.0,214.2,8,0.0
$SPEED_LIMITS,0.110,0.310
$TGT_NAME,WP7
$TGT_LATLONG,5714.387,-15006.126
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,278.9,37423,-18.0,-11.000,-19.55,2718
$D_GRID,2945
$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,-194.6,195,2807,752,625,0.0,0.0,0,151,0.00,0.00,-51.78,0.000,16386,0.000,0.000,194,2808,2035,2081,1990,0,0,0,0,0,0,26.00,28.83,26.06
$GC,153,-0.92,-194.6,195,2808,2082,1992,3.3,-4.2,8,210,8.60,2.22,-39.40,0.000,18948,0.234,0.037,2337,1340,3637,3707,3567,0,0,0,0,0,0,25.66,24.67,25.83
$GC,384,-0.87,-194.6,2334,1342,3708,3573,50.9,-20.2,48,396,0.12,2.08,0.00,0.000,3078,0.167,0.025,2357,2713,3639,3707,3571,0,0,0,0,0,0,25.90,26.08,26.04
$GC,691,-0.85,-194.6,2357,2714,3708,3577,106.4,-17.5,79,698,0.00,1.75,0.00,0.000,260,0.000,0.037,2351,3867,3640,3707,3574,0,0,0,0,0,0,26.09,26.08,26.15
$GC,757,-0.83,-194.6,2351,3868,3708,3577,117.9,-18.4,85,769,0.08,1.65,0.00,0.000,3078,0.171,0.021,2365,2704,3641,3707,3575,0,0,0,0,0,0,25.97,26.14,26.10
$GC,1063,-0.85,-194.6,2365,2705,3708,3577,163.8,-13.6,116,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2704,3641,3707,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,1364,-0.87,-194.6,2365,2705,3708,3577,203.8,-12.9,146,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2704,3641,3707,3576,0,0,0,0,0,0,26.12,26.19,26.17
$GC,1667,-0.90,-194.6,2365,2705,3707,3577,241.0,-12.2,176,1675,0.00,1.80,0.00,0.000,260,0.000,0.039,2361,3854,3641,3707,3575,0,0,0,0,0,0,26.11,26.09,26.17
$GC,1714,-0.92,-194.6,2361,3855,3708,3577,246.7,-12.4,180,1726,0.00,1.65,0.00,0.000,1030,0.000,0.021,2361,2684,3640,3706,3575,0,0,0,0,0,0,26.17,26.15,26.18
$GC,2040,-0.94,-194.6,2361,2684,3707,3575,288.9,-12.9,193,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2685,3640,3704,3576,0,0,0,0,0,0,26.11,26.18,26.17
$GC,2341,-0.97,-194.6,2361,2684,3705,3575,327.2,-12.4,203,2349,0.00,1.80,0.00,0.000,260,0.000,0.038,2352,3849,3638,3702,3575,0,0,0,0,0,0,26.12,26.09,26.18
$GC,2368,-0.99,-194.6,2352,3851,3704,3575,327.2,-12.4,203,2379,0.00,1.62,0.00,0.000,1030,0.000,0.022,2352,2709,3639,3703,3575,0,0,0,0,0,0,26.17,26.14,26.17
$GC,2673,-1.01,-194.6,2348,2708,3703,3575,368.5,-12.5,214,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2709,3638,3701,3575,0,0,0,0,0,0,26.10,26.17,26.17
$GC,2973,-1.03,-194.6,2352,2708,3700,3575,406.3,-12.4,224,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2706,3637,3699,3576,0,0,0,0,0,0,26.10,26.17,26.16
$GC,3274,-1.05,-194.6,2351,2708,3699,3575,443.2,-12.2,234,3279,0.10,0.00,0.00,0.000,4102,0.092,0.000,2282,2708,3637,3698,3576,0,0,0,0,0,0,26.09,26.17,26.15
$GC,3574,-1.00,-194.6,2283,2710,3697,3577,491.3,-16.2,244,3581,0.12,0.00,0.00,0.000,2054,0.166,0.000,2311,2709,3635,3696,3575,0,0,0,0,0,0,25.91,26.11,26.07
$GC,3873,-1.00,-194.6,2311,2710,3696,3577,534.9,-14.7,254,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2713,3634,3694,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,4173,-1.00,-194.6,2311,2709,3694,3577,578.9,-14.4,264,4180,0.00,1.77,0.00,0.000,260,0.000,0.038,2306,3847,3634,3693,3575,0,0,0,0,0,0,26.10,26.07,26.16
$GC,4205,-1.00,-194.6,2307,3849,3692,3577,583.5,-14.4,265,4212,0.00,1.65,0.00,0.000,1030,0.000,0.022,2303,2692,3634,3693,3575,0,0,0,0,0,0,26.16,26.13,26.17
$GC,4536,-0.98,-194.6,2306,2693,3692,3577,632.4,-14.7,276,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2691,3634,3692,3576,0,0,0,0,0,0,26.10,26.17,26.15
$GC,4837,-0.97,-194.6,2306,2692,3692,3575,676.5,-14.7,286,4842,0.10,0.00,0.00,0.000,2054,0.171,0.000,2328,2692,3633,3691,3575,0,0,0,0,0,0,25.94,26.12,26.08
$GC,5136,-0.97,-194.6,2328,2695,3691,3574,717.1,-13.3,296,5143,0.00,1.80,0.00,0.000,260,0.000,0.039,2322,3848,3632,3690,3575,0,0,0,0,0,0,26.10,26.08,26.15
$GC,5177,-0.97,-194.6,2322,3850,3690,3576,721.2,-13.2,297,5183,0.00,1.65,0.00,0.000,1030,0.000,0.022,2322,2700,3632,3690,3575,0,0,0,0,0,0,26.17,26.14,26.17
$GC,5498,-0.97,-194.6,2322,2699,3690,3575,766.0,-13.7,308,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2699,3632,3689,3575,0,0,0,0,0,0,26.10,26.16,26.15
$GC,5798,-0.97,-194.6,2322,2700,3688,3577,809.3,-14.6,318,5805,0.00,1.80,0.00,0.000,260,0.000,0.039,2319,3849,3631,3688,3575,0,0,0,0,0,0,26.10,26.06,26.17
$GC,5859,-0.97,-194.6,2319,3849,3682,3574,818.4,-14.8,320,5866,0.00,1.65,0.00,0.000,1030,0.000,0.022,2319,2695,3631,3687,3575,0,0,0,0,0,0,26.17,26.12,26.17
$GC,6191,-0.97,-194.6,2320,2692,3688,3575,864.2,-13.3,331,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2692,3631,3687,3575,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6491,-0.97,-194.6,2319,2691,3688,3575,901.9,-12.5,341,6498,0.00,1.80,0.00,0.000,260,0.000,0.041,2319,3848,3630,3686,3575,0,0,0,0,0,0,26.09,26.07,26.15
$GC,6532,-0.97,-194.6,2319,3849,3687,3575,906.2,-12.6,342,6539,0.00,1.65,0.00,0.000,1030,0.000,0.023,2319,2698,3630,3686,3575,0,0,0,0,0,0,26.15,26.13,26.16
$GC,6853,-0.97,-194.6,2319,2694,3686,3575,947.6,-12.5,353,6860,0.00,2.05,0.00,0.000,516,0.000,0.024,2319,1330,3630,3686,3575,0,0,0,0,0,0,26.08,26.08,26.15
$GC,6884,-0.97,-194.6,2319,1329,3687,3575,951.7,-12.6,354,6892,0.00,2.10,0.00,0.000,1030,0.000,0.027,2319,2709,3631,3686,3576,0,0,0,0,0,0,26.13,26.08,26.14
$STATE,7210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7210,begin apogee
$GC,7214,-0.25,0.0,2320,2817,3685,3575,991.6,-12.3,365,7405,0.75,0.00,181.68,1.027,10246,0.121,0.000,2552,2818,2837,2872,2803,0,0,0,0,0,0,25.89,24.36,23.70
$STATE,7405,end apogee,CONTROL_FINISHED_OK
$STATE,7405,begin climb
$GC,7407,0.92,194.6,2552,2818,2865,2794,1001.3,0.0,371,7584,1.12,2.33,164.77,1.088,11012,0.063,0.022,2943,1427,2038,2073,2003,0,0,0,0,0,0,24.50,23.68,23.01
$GC,7699,0.88,259.6,2944,1429,2061,1991,993.7,8.5,381,7764,0.00,2.17,56.20,1.074,9222,0.000,0.025,2944,2788,1779,1816,1742,0,0,0,0,0,0,25.01,24.95,23.58
$GC,8079,0.83,259.6,2944,2788,1800,1715,946.7,12.7,394,8086,0.00,1.67,0.00,0.000,260,0.000,0.038,2944,3857,1757,1798,1716,0,0,0,0,0,0,25.64,25.64,25.70
$GC,8180,0.78,259.6,2943,3857,1799,1714,934.4,13.3,397,8188,0.12,1.52,0.00,0.000,5126,0.177,0.022,2917,2786,1760,1806,1714,0,0,0,0,0,0,25.64,25.82,25.79
$GC,8502,0.78,263.6,2918,2786,1799,1713,896.8,10.8,408,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2786,1755,1798,1713,0,0,0,0,0,0,26.00,26.07,26.06
$GC,8802,0.78,279.6,2918,2787,1798,1715,865.5,10.4,418,8828,0.00,1.75,16.42,1.018,8452,0.000,0.039,2917,3851,1691,1732,1650,0,0,0,0,0,0,26.07,25.70,24.93
$GC,8937,0.75,279.6,2917,3851,1726,1640,851.2,11.9,422,8945,0.00,1.50,0.00,0.000,1030,0.000,0.023,2919,2792,1682,1725,1640,0,0,0,0,0,0,25.98,25.95,25.98
$GC,9254,0.75,279.6,2919,2797,1726,1640,814.0,11.1,433,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2792,1681,1724,1639,0,0,0,0,0,0,26.05,26.12,26.11
$GC,9554,0.75,279.6,2919,2792,1725,1638,781.2,11.0,443,9563,0.00,1.65,0.00,0.000,260,0.000,0.040,2918,3851,1681,1724,1639,0,0,0,0,0,0,26.09,26.08,26.16
$GC,9587,0.74,279.6,2922,3851,1725,1638,777.2,11.3,444,9595,0.10,1.50,0.00,0.000,5126,0.184,0.023,2903,2786,1681,1724,1638,0,0,0,0,0,0,25.93,26.13,26.09
$GC,9919,0.74,280.7,2904,2786,1725,1638,741.2,11.0,455,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2786,1681,1724,1638,0,0,0,0,0,0,26.10,26.16,26.15
$GC,10219,0.74,289.9,2904,2787,1723,1640,708.9,10.7,465,10227,0.00,0.00,2.28,0.374,8198,0.000,0.000,2903,2785,1657,1699,1615,0,0,0,0,0,0,26.10,25.86,24.80
$GC,10519,0.74,324.2,2904,2786,1723,1626,678.8,9.7,475,10567,0.00,1.77,39.75,0.895,8452,0.000,0.039,2904,3852,1511,1554,1468,0,0,0,0,0,0,26.10,25.42,24.75
$GC,10607,0.74,344.9,2904,3852,1551,1454,669.6,10.2,478,10634,0.00,1.55,19.17,0.894,9222,0.000,0.023,2906,2803,1433,1476,1390,0,0,0,0,0,0,25.71,25.69,24.68
$GC,10932,0.76,344.9,2907,2804,1459,1369,633.2,11.6,488,10942,0.00,2.08,0.00,0.000,516,0.000,0.024,2915,1430,1412,1458,1367,0,0,0,0,0,0,25.93,25.96,26.01
$GC,10962,0.78,344.9,2915,1429,1459,1367,629.6,11.8,489,10969,0.00,2.12,0.00,0.000,1030,0.000,0.027,2914,2814,1412,1457,1367,0,0,0,0,0,0,26.01,25.96,26.02
$GC,11289,0.78,344.9,2915,2814,1458,1366,588.8,12.5,500,11297,0.00,2.10,0.00,0.000,516,0.000,0.025,2923,1434,1412,1458,1366,0,0,0,0,0,0,26.06,26.06,26.12
$GC,11325,0.78,344.9,2919,1435,1458,1367,584.8,12.5,501,11337,0.00,2.10,0.00,0.000,1030,0.000,0.027,2918,2808,1411,1457,1366,0,0,0,0,0,0,26.10,26.06,26.12
$GC,11651,0.78,344.9,2918,2809,1458,1365,543.3,12.8,512,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2808,1410,1457,1364,0,0,0,0,0,0,26.08,26.15,26.15
$GC,11951,0.78,344.9,2919,2807,1458,1364,505.4,12.3,522,11960,0.00,2.10,0.00,0.000,516,0.000,0.024,2919,1424,1410,1456,1364,0,0,0,0,0,0,26.09,26.11,26.15
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$STATE,16310,end climb,SURFACE_DEPTH_REACHED
$STATE,16311,begin surface coast
$FINISH,0.7,1.023939
$STATE,16326,end surface coast,CONTROL_FINISHED_OK
$STATE,16326,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1654118
$PA_UPTIME,16354.73 7695.19
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$10V_AH,10.20,33.300
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$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,180100
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