version: 66.12
glider: 204
mission: 15
dive: 99
start: 3 19 115 12 36 25
data:
$ID,204
$MISSION,15
$DIVE,99
$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,84
$R_STBD_OVSHOOT,36
$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
$GPS1,190315,123030,1412.4614,14542.6006,40,0.8,40,1.1,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-71.7
$GPS2,190315,123615,1412.5302,14542.5459,6,0.8,6,1.1,0.0,0.0,9,13.4
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,85.6,133775,-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,-175.2,187,2614,809,789,0.0,0.0,0,153,0.00,0.00,-49.22,0.000,16386,0.000,0.000,187,2614,2140,2104,2177,0,0,0,0,0,0,26.14,28.83,26.20
$GC,155,-0.80,-175.2,188,2614,2107,2176,3.2,-3.9,5,214,11.88,1.73,-30.25,0.000,18692,0.234,0.063,2997,3693,3556,3528,3584,0,0,0,0,0,0,25.75,24.61,26.02
$GC,273,-0.80,-175.2,2997,3693,3530,3587,30.3,-28.5,20,291,0.00,1.55,0.00,0.000,1030,0.000,0.021,3003,2574,3557,3529,3585,0,0,0,0,0,0,26.20,26.17,26.20
$GC,596,-0.80,-175.2,3003,2574,3532,3585,116.1,-23.5,56,601,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2574,3556,3527,3585,0,0,0,0,0,0,26.22,26.29,26.28
$GC,896,-0.80,-175.2,3003,2575,3534,3587,178.5,-20.8,86,905,0.00,1.73,0.00,0.000,260,0.000,0.045,2992,3694,3558,3532,3585,0,0,0,0,0,0,26.25,26.14,26.29
$GC,963,-0.80,-175.2,2995,3694,3535,3586,192.0,-21.3,92,973,0.00,1.50,0.00,0.000,1030,0.000,0.021,3003,2593,3559,3533,3586,0,0,0,0,0,0,26.27,26.25,26.28
$GC,1278,-0.80,-175.2,3003,2594,3536,3589,241.0,-15.0,106,1286,0.00,2.00,0.00,0.000,516,0.000,0.028,3009,1244,3562,3535,3589,0,0,0,0,0,0,26.25,26.22,26.30
$GC,1329,-0.80,-175.2,3009,1244,3536,3589,245.6,-15.0,107,1344,0.00,2.05,0.00,0.000,1030,0.000,0.032,3001,2602,3562,3536,3589,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1640,-0.80,-175.2,3000,2602,3538,3588,291.0,-13.8,118,1647,0.00,1.65,0.00,0.000,260,0.000,0.043,2992,3694,3562,3536,3589,0,0,0,0,0,0,26.27,26.17,26.32
$GC,1676,-0.80,-175.2,2994,3695,3536,3590,295.7,-14.0,119,1683,0.00,1.50,0.00,0.000,1030,0.000,0.021,2999,2609,3562,3536,3589,0,0,0,0,0,0,26.30,26.27,26.31
$GC,2002,-0.80,-175.2,2999,2610,3537,3590,340.6,-13.4,130,2010,0.00,1.70,0.00,0.000,260,0.000,0.043,2992,3692,3562,3535,3589,0,0,0,0,0,0,26.27,26.19,26.32
$GC,2043,-0.80,-175.2,2992,3692,3537,3588,345.0,-13.5,131,2050,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2597,3562,3536,3588,0,0,0,0,0,0,26.31,26.29,26.32
$GC,2364,-0.80,-175.2,2999,2598,3536,3584,384.9,-11.7,142,2372,0.00,2.00,0.00,0.000,516,0.000,0.026,3009,1236,3560,3536,3584,0,0,0,0,0,0,26.25,26.22,26.31
$GC,2451,-0.80,-175.2,3008,1236,3537,3584,394.2,-11.0,145,2458,0.00,2.08,0.00,0.000,1030,0.000,0.031,3000,2602,3559,3535,3583,0,0,0,0,0,0,26.25,26.19,26.27
$GC,2777,-0.80,-175.2,3001,2604,3534,3582,431.0,-11.3,156,2785,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3689,3556,3533,3580,0,0,0,0,0,0,26.26,26.16,26.32
$GC,2863,-0.80,-175.2,2992,3690,3533,3580,438.5,-11.7,158,2875,0.00,1.50,0.00,0.000,1030,0.000,0.021,2999,2608,3555,3532,3579,0,0,0,0,0,0,26.30,26.23,26.31
$GC,3170,-0.80,-175.2,2999,2608,3530,3576,476.4,-11.4,169,3181,0.00,2.03,0.00,0.000,516,0.000,0.024,3008,1228,3552,3528,3576,0,0,0,0,0,0,26.17,26.21,26.23
$GC,3250,-0.80,-175.2,3009,1230,3527,3577,483.3,-11.3,171,3258,0.00,2.10,0.00,0.000,1030,0.000,0.030,3000,2610,3550,3526,3575,0,0,0,0,0,0,26.25,26.19,26.27
$GC,3555,-0.80,-175.2,3000,2611,3525,3573,520.0,-11.4,181,3563,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3701,3548,3524,3572,0,0,0,0,0,0,26.23,26.12,26.30
$GC,3602,-0.80,-175.2,2992,3701,3525,3571,523.9,-11.7,182,3609,0.00,1.55,0.00,0.000,1030,0.000,0.023,2998,2610,3547,3523,3571,0,0,0,0,0,0,26.29,26.26,26.29
$GC,3918,-0.80,-175.2,2998,2610,3521,3570,563.4,-12.1,193,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2610,3545,3521,3569,0,0,0,0,0,0,26.23,26.29,26.29
$GC,4218,-0.80,-175.2,2998,2610,3519,3566,598.2,-11.5,203,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3540,3514,3566,0,0,0,0,0,0,26.23,26.29,26.29
$GC,4518,-0.80,-175.2,2999,2611,3516,3565,632.3,-11.4,213,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2610,3539,3515,3563,0,0,0,0,0,0,26.22,26.28,26.27
$GC,4818,-0.80,-175.2,2998,2611,3513,3563,665.0,-10.6,223,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2610,3537,3512,3562,0,0,0,0,0,0,26.21,26.28,26.27
$GC,5118,-0.80,-175.2,2998,2609,3510,3559,696.5,-10.4,233,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2610,3534,3509,3559,0,0,0,0,0,0,26.19,26.27,26.26
$GC,5418,-0.80,-175.2,2999,2610,3509,3558,727.3,-10.3,243,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2609,3532,3508,3556,0,0,0,0,0,0,26.19,26.26,26.25
$GC,5718,-0.80,-175.2,2999,2611,3507,3555,757.1,-9.8,253,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2610,3530,3507,3554,0,0,0,0,0,0,26.18,26.25,26.24
$GC,6018,-0.80,-175.2,2998,2609,3505,3552,785.5,-9.5,263,6026,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3696,3528,3504,3552,0,0,0,0,0,0,26.17,26.03,26.22
$GC,6050,-0.80,-175.2,2992,3697,3504,3553,788.8,-9.7,264,6058,0.00,1.58,0.00,0.000,1030,0.000,0.023,2998,2585,3527,3502,3552,0,0,0,0,0,0,26.18,26.15,26.20
$GC,6381,-0.80,-175.2,2998,2589,3503,3551,821.5,-9.8,275,6393,0.00,2.03,0.00,0.000,516,0.000,0.025,3008,1225,3525,3501,3550,0,0,0,0,0,0,26.16,26.09,26.22
$GC,6426,-0.80,-175.2,3008,1226,3502,3550,824.5,-9.9,276,6435,0.00,2.12,0.00,0.000,1030,0.000,0.030,3000,2609,3526,3501,3551,0,0,0,0,0,0,26.14,26.07,26.16
$GC,6740,-0.80,-175.2,2999,2608,3501,3549,857.1,-10.0,287,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2609,3524,3500,3549,0,0,0,0,0,0,26.14,26.21,26.20
$GC,7039,-0.80,-175.2,3000,2608,3499,3554,887.1,-10.0,297,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2609,3520,3493,3547,0,0,0,0,0,0,26.13,26.21,26.20
$GC,7339,-0.80,-175.2,3000,2610,3498,3548,917.9,-10.5,307,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2609,3521,3497,3546,0,0,0,0,0,0,26.12,26.20,26.17
$GC,7639,-0.80,-175.2,3000,2610,3497,3546,948.8,-10.3,317,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2609,3520,3496,3545,0,0,0,0,0,0,26.15,26.21,26.20
$GC,7939,-0.80,-175.2,3000,2609,3496,3544,979.9,-10.6,327,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2609,3518,3493,3544,0,0,0,0,0,0,26.11,26.18,26.17
$STATE,8058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8058,begin apogee
$GC,8061,-0.17,0.0,3000,2426,3494,3543,993.1,-11.0,331,8207,0.75,0.00,138.20,1.309,10246,0.156,0.000,3211,2424,2838,2812,2865,0,0,0,0,0,0,25.70,24.68,23.93
$STATE,8208,end apogee,CONTROL_FINISHED_OK
$STATE,8208,begin climb
$GC,8209,0.80,175.2,3211,2429,2809,2862,999.9,0.0,335,8368,1.08,2.28,148.05,1.288,10756,0.138,0.026,3533,1030,2120,2115,2126,0,0,0,0,0,0,24.81,23.92,23.34
$GC,8432,1.06,355.0,3533,1031,2107,2120,1002.3,3.1,343,8602,0.30,2.22,155.93,1.274,11270,0.125,0.029,3617,2418,1387,1397,1377,0,0,0,0,0,0,24.98,25.02,23.38
$GC,8897,1.06,355.0,3617,2418,1388,1360,929.6,17.3,359,8905,0.00,2.03,0.00,0.000,260,0.000,0.044,3612,3698,1373,1387,1360,0,0,0,0,0,0,25.84,25.81,25.89
$GC,8998,1.06,355.0,3613,3699,1386,1360,913.2,18.6,362,9006,0.00,1.88,0.00,0.000,1030,0.000,0.024,3621,2407,1372,1385,1359,0,0,0,0,0,0,26.04,26.01,26.05
$GC,9310,1.06,355.0,3621,2404,1386,1357,853.0,18.3,373,9318,0.00,2.05,0.00,0.000,260,0.000,0.044,3616,3693,1371,1385,1357,0,0,0,0,0,0,26.11,26.09,26.17
$GC,9336,1.06,355.0,3616,3694,1389,1358,853.0,18.3,373,9347,0.00,1.85,0.00,0.000,1030,0.000,0.023,3624,2413,1370,1384,1357,0,0,0,0,0,0,26.21,26.17,26.22
$GC,9642,1.06,355.0,3624,2409,1385,1356,789.2,19.4,384,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2409,1370,1384,1356,0,0,0,0,0,0,26.18,26.25,26.25
$GC,9942,1.06,355.0,3625,2410,1384,1357,732.7,18.8,394,9949,0.00,2.03,0.00,0.000,260,0.000,0.045,3616,3692,1369,1382,1356,0,0,0,0,0,0,26.16,26.08,26.22
$GC,9983,1.06,355.0,3616,3693,1383,1357,727.5,18.8,395,9990,0.00,1.85,0.00,0.000,1030,0.000,0.024,3624,2410,1368,1382,1355,0,0,0,0,0,0,26.22,26.20,26.24
$GC,10294,1.06,355.0,3623,2407,1382,1356,668.0,17.7,406,10302,0.00,2.05,0.00,0.000,260,0.000,0.044,3616,3693,1368,1382,1355,0,0,0,0,0,0,26.16,26.08,26.22
$GC,10361,1.06,355.0,3616,3694,1382,1356,656.1,18.7,408,10369,0.00,1.85,0.00,0.000,1030,0.000,0.023,3624,2415,1368,1381,1355,0,0,0,0,0,0,26.20,26.17,26.20
$GC,10688,1.06,355.0,3625,2412,1382,1356,596.1,17.9,419,10695,0.00,2.03,0.00,0.000,260,0.000,0.045,3615,3693,1368,1381,1355,0,0,0,0,0,0,26.13,26.06,26.18
$GC,10729,1.06,355.0,3616,3694,1382,1356,591.1,18.2,420,10736,0.00,1.85,0.00,0.000,1030,0.000,0.023,3625,2414,1367,1381,1354,0,0,0,0,0,0,26.19,26.16,26.21
$GC,11040,1.06,355.0,3625,2411,1382,1354,534.7,17.0,431,11048,0.00,2.03,0.00,0.000,260,0.000,0.045,3614,3692,1367,1380,1354,0,0,0,0,0,0,26.15,26.04,26.20
$GC,11072,1.06,355.0,3616,3692,1382,1353,530.1,16.8,432,11079,0.00,1.85,0.00,0.000,1030,0.000,0.023,3625,2420,1367,1380,1354,0,0,0,0,0,0,26.18,26.15,26.20
$GC,11393,1.06,355.0,3624,2419,1382,1354,478.1,16.4,443,11400,0.00,2.12,0.00,0.000,516,0.000,0.030,3635,1039,1367,1380,1354,0,0,0,0,0,0,26.13,26.09,26.20
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$STATE,15205,end climb,SURFACE_DEPTH_REACHED
$STATE,15205,begin surface coast
$FINISH,0.9,1.022109
$STATE,15221,end surface coast,CONTROL_FINISHED_OK
$STATE,15221,begin surface
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$IRIDIUM_FIX,1407.51,14540.95,140108,015818
$TT8_MAMPS,0.053179,0.053179
$HUMID,35.27
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.80
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$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,15205.87 6288.85
$PA_BOOTCOUNT,904
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$PA_HOME,0.05/0.088/1.856/1.674
$PA_DISK_BANK,0
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$10V_AH,10.14,31.761
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229096
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$CFSIZE,1024393216,1008484352
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$GPS,190315,165128,1412.822,14544.875,36,0.7,36,1.1,0.7,316.4,12,10.2