version: 66.12
glider: 204
mission: 15
dive: 76
start: 3 14 115 23 37 25
data:
$ID,204
$MISSION,15
$DIVE,76
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,360
$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,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,42
$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,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,97
$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,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,140315,233135,1318.2164,14609.1152,33,0.8,33,1.4,0.6,196.9,10,15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-53.6
$GPS2,140315,233715,1318.1927,14609.0723,5,0.8,5,1.4,0.8,351.0,10,12.2
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,331.6,114198,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-175.2,188,2623,527,475,0.0,0.0,0,157,0.00,0.00,-57.28,0.000,16386,0.000,0.000,187,2623,2042,2003,2082,0,0,0,0,0,0,26.16,28.83,26.22
$GC,159,-0.80,-175.2,188,2624,2011,2079,3.0,-4.9,7,214,11.65,2.10,-34.42,0.000,18948,0.232,0.041,3009,1208,3556,3528,3585,0,0,0,0,0,0,25.84,24.82,26.09
$GC,241,-0.80,-175.2,3009,1208,3530,3584,19.7,-26.2,19,253,0.00,2.10,0.00,0.000,1030,0.000,0.031,3001,2600,3557,3530,3584,0,0,0,0,0,0,26.20,26.15,26.22
$GC,555,-0.80,-175.2,3001,2600,3531,3584,105.6,-27.3,60,562,0.00,1.65,0.00,0.000,260,0.000,0.043,2993,3693,3555,3526,3584,0,0,0,0,0,0,26.26,26.21,26.31
$GC,586,-0.80,-175.2,2993,3692,3530,3586,113.6,-26.2,63,593,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2566,3557,3530,3584,0,0,0,0,0,0,26.28,26.27,26.29
$GC,897,-0.80,-175.2,2999,2566,3533,3585,183.3,-18.3,94,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2566,3558,3531,3585,0,0,0,0,0,0,26.29,26.34,26.34
$GC,1217,-0.80,-175.2,3000,2567,3535,3589,231.6,-14.5,112,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2566,3561,3534,3588,0,0,0,0,0,0,26.29,26.36,26.35
$GC,1517,-0.80,-175.2,3000,2567,3537,3589,275.4,-14.4,122,1524,0.00,1.73,0.00,0.000,260,0.000,0.045,2992,3693,3561,3535,3588,0,0,0,0,0,0,26.32,26.26,26.37
$GC,1552,-0.80,-175.2,2992,3693,3536,3588,279.8,-14.3,123,1560,0.00,1.50,0.00,0.000,1030,0.000,0.021,2998,2602,3561,3535,3588,0,0,0,0,0,0,26.37,26.35,26.38
$GC,1879,-0.80,-175.2,2998,2603,3535,3589,327.0,-14.3,134,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2601,3561,3535,3588,0,0,0,0,0,0,26.29,26.37,26.36
$GC,2179,-0.80,-175.2,2999,2603,3535,3585,371.3,-14.8,144,2188,0.00,1.70,0.00,0.000,260,0.000,0.045,2992,3697,3559,3535,3584,0,0,0,0,0,0,26.31,26.27,26.36
$GC,2242,-0.80,-175.2,2992,3698,3536,3584,380.6,-14.7,146,2249,0.00,1.58,0.00,0.000,1030,0.000,0.022,2998,2600,3559,3535,3583,0,0,0,0,0,0,26.36,26.34,26.37
$GC,2573,-0.80,-175.2,2999,2599,3535,3579,423.1,-12.3,157,2585,0.00,2.03,0.00,0.000,516,0.000,0.025,3008,1214,3555,3533,3578,0,0,0,0,0,0,26.32,26.31,26.37
$GC,2683,-0.80,-175.2,3009,1216,3532,3580,433.5,-11.7,160,2693,0.00,2.10,0.00,0.000,1030,0.000,0.031,3000,2605,3554,3530,3579,0,0,0,0,0,0,26.33,26.28,26.34
$GC,2988,-0.80,-175.2,3000,2606,3529,3576,471.7,-12.1,170,2996,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3693,3551,3527,3575,0,0,0,0,0,0,26.31,26.25,26.37
$GC,3099,-0.80,-175.2,2992,3693,3528,3573,483.2,-12.5,173,3108,0.00,1.58,0.00,0.000,1030,0.000,0.022,2998,2596,3549,3526,3572,0,0,0,0,0,0,26.36,26.34,26.37
$GC,3412,-0.80,-175.2,2998,2599,3524,3570,521.4,-11.2,184,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2599,3546,3523,3570,0,0,0,0,0,0,26.29,26.36,26.35
$GC,3711,-0.80,-175.2,2998,2599,3522,3567,554.3,-10.8,194,3723,0.00,2.03,0.00,0.000,516,0.000,0.027,3007,1226,3543,3519,3567,0,0,0,0,0,0,26.28,26.29,26.34
$GC,3746,-0.80,-175.2,3008,1227,3520,3568,557.6,-10.6,195,3754,0.00,2.08,0.00,0.000,1030,0.000,0.030,2999,2602,3543,3519,3567,0,0,0,0,0,0,26.33,26.27,26.34
$GC,4068,-0.80,-175.2,2999,2602,3517,3564,591.0,-10.5,206,4075,0.00,1.70,0.00,0.000,260,0.000,0.044,2991,3690,3539,3515,3564,0,0,0,0,0,0,26.28,26.24,26.34
$GC,4119,-0.80,-175.2,2991,3691,3516,3564,594.6,-10.9,207,4126,0.00,1.52,0.00,0.000,1030,0.000,0.022,2997,2594,3539,3515,3563,0,0,0,0,0,0,26.34,26.31,26.35
$GC,4430,-0.80,-175.2,2999,2594,3513,3562,631.9,-11.3,218,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2593,3536,3512,3560,0,0,0,0,0,0,26.28,26.35,26.34
$GC,4730,-0.80,-175.2,2997,2594,3510,3560,666.2,-11.4,228,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2593,3533,3509,3558,0,0,0,0,0,0,26.27,26.34,26.34
$GC,5030,-0.80,-175.2,2998,2594,3510,3557,700.8,-11.5,238,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2593,3531,3507,3556,0,0,0,0,0,0,26.26,26.33,26.32
$GC,5330,-0.80,-175.2,2998,2594,3506,3555,734.2,-10.8,248,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2593,3529,3505,3553,0,0,0,0,0,0,26.26,26.32,26.32
$GC,5630,-0.80,-175.2,2997,2593,3504,3551,766.5,-10.7,258,5637,0.00,2.03,0.00,0.000,516,0.000,0.028,3007,1231,3527,3503,3551,0,0,0,0,0,0,26.25,26.22,26.32
$GC,5666,-0.80,-175.2,3007,1232,3503,3553,769.3,-10.6,259,5674,0.00,2.10,0.00,0.000,1030,0.000,0.032,2998,2602,3526,3502,3551,0,0,0,0,0,0,26.27,26.21,26.29
$GC,5988,-0.80,-175.2,2998,2602,3502,3549,804.6,-10.6,270,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3524,3500,3549,0,0,0,0,0,0,26.25,26.32,26.30
$GC,6288,-0.80,-175.2,2998,2602,3500,3549,837.0,-11.0,280,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3523,3499,3548,0,0,0,0,0,0,26.23,26.30,26.29
$GC,6588,-0.80,-175.2,2999,2604,3498,3548,870.4,-11.1,290,6595,0.00,2.05,0.00,0.000,516,0.000,0.026,3007,1233,3521,3497,3546,0,0,0,0,0,0,26.23,26.18,26.29
$GC,6619,-0.80,-175.2,3007,1229,3497,3548,873.3,-11.1,291,6627,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2602,3521,3497,3546,0,0,0,0,0,0,26.25,26.19,26.27
$GC,6946,-0.80,-175.2,2999,2603,3497,3547,908.5,-10.4,302,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3523,3503,3544,0,0,0,0,0,0,26.22,26.29,26.28
$GC,7246,-0.80,-175.2,2999,2603,3494,3545,938.2,-9.6,312,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3518,3493,3543,0,0,0,0,0,0,26.20,26.27,26.26
$GC,7546,-0.80,-175.2,3000,2603,3493,3544,966.3,-9.2,322,7553,0.00,1.70,0.00,0.000,260,0.000,0.045,2990,3702,3517,3492,3542,0,0,0,0,0,0,26.21,26.10,26.27
$GC,7582,-0.80,-175.2,2990,3704,3492,3543,969.2,-9.3,323,7589,0.00,1.55,0.00,0.000,1030,0.000,0.024,2995,2614,3517,3492,3542,0,0,0,0,0,0,26.25,26.22,26.26
$STATE,7817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7817,begin apogee
$GC,7820,-0.17,0.0,2996,2420,3492,3540,991.6,-9.2,331,7964,0.75,0.00,136.15,1.292,10246,0.155,0.000,3209,2421,2838,2811,2865,0,0,0,0,0,0,25.91,24.87,24.16
$STATE,7964,end apogee,CONTROL_FINISHED_OK
$STATE,7964,begin climb
$GC,7965,0.80,175.2,3209,2420,2809,2860,996.3,0.0,335,8123,1.08,2.28,145.48,1.263,10756,0.138,0.027,3533,1030,2117,2111,2124,0,0,0,0,0,0,25.01,24.26,23.56
$GC,8232,0.94,271.9,3532,1031,2106,2116,991.4,6.3,344,8325,0.17,2.20,81.60,1.299,11270,0.164,0.029,3567,2421,1729,1730,1728,0,0,0,0,0,0,25.20,25.35,23.73
$GC,8629,0.94,271.9,3567,2421,1716,1709,944.2,12.1,358,8636,0.00,2.03,0.00,0.000,260,0.000,0.045,3559,3693,1712,1715,1709,0,0,0,0,0,0,25.86,25.84,25.92
$GC,8675,0.94,271.9,3558,3695,1716,1711,940.2,12.1,359,8682,0.00,1.88,0.00,0.000,1030,0.000,0.022,3567,2410,1712,1715,1709,0,0,0,0,0,0,25.98,25.95,25.99
$GC,8986,0.94,271.9,3567,2406,1715,1707,900.7,12.1,370,8994,0.00,2.03,0.00,0.000,260,0.000,0.044,3559,3693,1710,1713,1707,0,0,0,0,0,0,26.13,26.09,26.19
$GC,9032,0.94,271.9,3559,3694,1715,1709,897.3,12.2,371,9040,0.00,1.90,0.00,0.000,1030,0.000,0.023,3568,2413,1710,1713,1707,0,0,0,0,0,0,26.19,26.16,26.21
$GC,9343,0.94,271.9,3568,2409,1714,1706,858.3,11.5,382,9353,0.00,2.05,0.00,0.000,260,0.000,0.046,3559,3695,1709,1712,1706,0,0,0,0,0,0,26.18,26.15,26.25
$GC,9387,0.94,271.9,3559,3694,1713,1706,854.3,11.7,383,9395,0.00,1.85,0.00,0.000,1030,0.000,0.024,3567,2417,1709,1713,1706,0,0,0,0,0,0,26.26,26.22,26.27
$GC,9708,0.94,271.9,3569,2412,1708,1705,816.0,11.8,394,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2412,1708,1711,1706,0,0,0,0,0,0,26.20,26.26,26.25
$GC,10009,0.94,271.9,3568,2412,1711,1705,779.4,12.3,404,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2412,1707,1710,1705,0,0,0,0,0,0,26.19,26.26,26.26
$GC,10308,0.94,271.9,3568,2413,1709,1707,739.9,13.5,414,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2413,1707,1709,1705,0,0,0,0,0,0,26.20,26.27,26.26
$GC,10609,0.94,271.9,3569,2413,1709,1706,700.1,13.2,424,10617,0.00,2.03,0.00,0.000,260,0.000,0.046,3565,3694,1707,1709,1705,0,0,0,0,0,0,26.17,26.10,26.25
$GC,10655,0.94,271.9,3560,3695,1710,1706,695.5,13.4,425,10663,0.00,1.85,0.00,0.000,1030,0.000,0.024,3568,2421,1707,1709,1705,0,0,0,0,0,0,26.25,26.20,26.26
$GC,10967,0.94,271.9,3567,2420,1710,1705,653.6,12.5,436,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2421,1707,1709,1705,0,0,0,0,0,0,26.20,26.26,26.25
$GC,11267,0.94,271.9,3568,2422,1709,1706,617.9,11.5,446,11274,0.00,2.00,0.00,0.000,260,0.000,0.044,3559,3692,1706,1708,1704,0,0,0,0,0,0,26.17,26.10,26.24
$GC,11323,0.94,271.9,3559,3693,1710,1704,611.6,11.3,448,11331,0.00,1.88,0.00,0.000,1030,0.000,0.024,3568,2410,1706,1709,1704,0,0,0,0,0,0,26.21,26.18,26.22
$GC,11654,0.95,280.0,3567,2405,1709,1704,578.8,9.7,459,11665,0.00,2.03,0.82,0.253,8452,0.000,0.042,3559,3699,1695,1698,1692,0,0,0,0,0,0,26.16,25.97,25.84
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$STATE,16991,end climb,SURFACE_DEPTH_REACHED
$STATE,16991,begin surface coast
$FINISH,0.6,1.022341
$STATE,17001,end surface coast,CONTROL_FINISHED_OK
$STATE,17001,begin surface
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$IRIDIUM_FIX,1309.80,14608.76,090108,125917
$TT8_MAMPS,0.053179,0.053179
$HUMID,35.86
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.60
$XPDR_PINGS,3
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16986.62 6989.54
$PA_BOOTCOUNT,881
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$PA_HOME,0.05/0.084/1.856/1.678
$PA_DISK_BANK,0
$24V_AH,23.56,16.582
$10V_AH,10.10,30.141
$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
$DEVICE_SECS,24.125,92.150,517.400,13.300,0.000,0.000,0.000,259.675,0.750,17423.801,6.556,0.000,13698.402,577.052,3001.581,85.811,0.000,2126.626,0.000,1633.258,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,545.265,0.000,0.000,0.000,0.000,0.000,17423.750,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229064
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$CFSIZE,1024393216,1010745344
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$GPS,150315,042205,1320.981,14607.382,30,1.0,30,1.4,1.0,164.6,7,18.9