version: 66.12
glider: 204
mission: 15
dive: 109
start: 3 21 115 11 21 42
data:
$ID,204
$MISSION,15
$DIVE,109
$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,87
$R_STBD_OVSHOOT,56
$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
$GPS1,210315,111600,1415.6121,14601.9033,39,0.8,39,1.1,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.2
$GPS2,210315,112131,1415.6364,14601.8555,8,0.8,8,1.1,0.0,269.4,11,15.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,80.5,98668,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,192,2624,806,809,0.0,0.0,0,145,0.00,0.00,-48.47,0.000,16386,0.000,0.000,190,2623,2127,2095,2159,0,0,0,0,0,0,26.15,28.83,26.21
$GC,147,-0.80,-175.2,192,2623,2098,2159,3.2,-5.7,7,200,11.82,2.10,-33.62,0.000,18948,0.235,0.041,3009,1216,3555,3528,3582,0,0,0,0,0,0,25.72,24.55,25.88
$GC,265,-0.80,-175.2,3009,1215,3530,3583,28.1,-25.8,29,276,0.00,2.08,0.00,0.000,1030,0.000,0.033,3001,2579,3556,3529,3583,0,0,0,0,0,0,26.17,26.10,26.20
$GC,577,-0.80,-175.2,3001,2580,3530,3585,111.8,-24.4,67,585,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3697,3556,3529,3583,0,0,0,0,0,0,26.20,26.15,26.26
$GC,608,-0.80,-175.2,2993,3698,3530,3585,119.3,-23.1,70,616,0.00,1.52,0.00,0.000,1030,0.000,0.021,2999,2591,3556,3530,3583,0,0,0,0,0,0,26.25,26.22,26.27
$GC,920,-0.80,-175.2,2999,2590,3533,3585,184.1,-19.9,101,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2590,3558,3532,3585,0,0,0,0,0,0,26.25,26.30,26.29
$GC,1220,-0.80,-175.2,3001,2591,3534,3587,238.5,-16.3,117,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2590,3559,3533,3585,0,0,0,0,0,0,26.24,26.29,26.29
$GC,1520,-0.80,-175.2,2999,2590,3536,3587,281.6,-12.6,127,1528,0.00,2.00,0.00,0.000,516,0.000,0.024,3008,1224,3561,3535,3587,0,0,0,0,0,0,26.27,26.20,26.32
$GC,1581,-0.80,-175.2,3008,1224,3535,3588,288.7,-12.4,129,1592,0.00,2.10,0.00,0.000,1030,0.000,0.031,2999,2618,3561,3535,3587,0,0,0,0,0,0,26.25,26.20,26.27
$GC,1907,-0.80,-175.2,2999,2617,3536,3586,330.9,-13.1,140,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2618,3558,3531,3586,0,0,0,0,0,0,26.25,26.31,26.30
$GC,2206,-0.80,-175.2,2999,2619,3535,3587,366.6,-11.7,150,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2617,3560,3535,3585,0,0,0,0,0,0,26.26,26.32,26.32
$GC,2507,-0.80,-175.2,2999,2618,3535,3581,401.5,-11.9,160,2515,0.00,2.05,0.00,0.000,516,0.000,0.024,3007,1231,3558,3535,3581,0,0,0,0,0,0,26.25,26.21,26.31
$GC,2564,-0.80,-175.2,3008,1232,3534,3582,408.1,-11.8,162,2572,0.00,2.10,0.00,0.000,1030,0.000,0.031,2999,2606,3557,3534,3581,0,0,0,0,0,0,26.25,26.18,26.27
$GC,2896,-0.80,-175.2,2995,2606,3532,3576,447.1,-11.9,173,2906,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3697,3553,3530,3576,0,0,0,0,0,0,26.24,26.10,26.29
$GC,2945,-0.80,-175.2,2990,3698,3531,3575,451.2,-12.0,174,2952,0.00,1.52,0.00,0.000,1030,0.000,0.022,2997,2611,3553,3530,3576,0,0,0,0,0,0,26.27,26.24,26.29
$GC,3261,-0.80,-175.2,2997,2612,3527,3580,492.0,-12.6,185,3268,0.00,1.73,0.00,0.000,260,0.000,0.044,2990,3695,3549,3526,3572,0,0,0,0,0,0,26.22,26.12,26.27
$GC,3327,-0.80,-175.2,2990,3697,3526,3573,500.1,-13.0,187,3334,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2589,3548,3525,3572,0,0,0,0,0,0,26.26,26.24,26.27
$GC,3653,-0.80,-175.2,2995,2589,3523,3570,541.3,-12.1,198,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2589,3545,3522,3569,0,0,0,0,0,0,26.21,26.28,26.27
$GC,3953,-0.80,-175.2,2995,2588,3520,3566,577.7,-12.0,208,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2589,3540,3514,3566,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4253,-0.80,-175.2,2996,2589,3517,3564,613.8,-12.0,218,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2589,3540,3516,3564,0,0,0,0,0,0,26.21,26.27,26.27
$GC,4553,-0.80,-175.2,2996,2590,3513,3563,647.2,-10.8,228,4561,0.00,2.03,0.00,0.000,516,0.000,0.026,3005,1227,3537,3513,3561,0,0,0,0,0,0,26.20,26.11,26.25
$GC,4589,-0.80,-175.2,3005,1227,3514,3561,650.8,-10.8,229,4597,0.00,2.10,0.00,0.000,1030,0.000,0.030,2996,2602,3537,3513,3561,0,0,0,0,0,0,26.17,26.12,26.20
$GC,4911,-0.80,-175.2,2997,2603,3509,3560,684.8,-10.3,240,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2602,3534,3510,3558,0,0,0,0,0,0,26.18,26.26,26.25
$GC,5211,-0.80,-175.2,2996,2602,3508,3556,715.5,-10.3,250,5220,0.00,1.70,0.00,0.000,260,0.000,0.044,2988,3701,3531,3507,3556,0,0,0,0,0,0,26.17,25.98,26.23
$GC,5269,-0.80,-175.2,2988,3702,3507,3556,719.0,-10.3,251,5280,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2596,3531,3507,3555,0,0,0,0,0,0,26.20,26.17,26.21
$GC,5574,-0.80,-175.2,2995,2597,3506,3554,753.7,-10.6,262,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2596,3529,3505,3553,0,0,0,0,0,0,26.17,26.24,26.23
$GC,5874,-0.80,-175.2,2995,2597,3504,3552,785.0,-10.4,272,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2596,3527,3503,3551,0,0,0,0,0,0,26.13,26.22,26.20
$GC,6174,-0.80,-175.2,2994,2597,3502,3551,816.3,-10.4,282,6182,0.00,2.08,0.00,0.000,516,0.000,0.028,3004,1212,3525,3501,3550,0,0,0,0,0,0,26.15,26.06,26.21
$GC,6205,-0.80,-175.2,3003,1212,3498,3549,818.9,-10.3,283,6213,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2603,3524,3500,3549,0,0,0,0,0,0,26.10,26.04,26.13
$GC,6527,-0.80,-175.2,2996,2604,3500,3549,852.8,-10.5,294,6534,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3694,3523,3499,3548,0,0,0,0,0,0,26.15,25.97,26.20
$GC,6558,-0.80,-175.2,2987,3696,3500,3549,856.2,-10.5,295,6565,0.00,1.58,0.00,0.000,1030,0.000,0.023,2994,2588,3523,3499,3547,0,0,0,0,0,0,26.14,26.11,26.15
$GC,6890,-0.80,-175.2,2994,2588,3498,3546,893.0,-11.5,306,6901,0.00,2.03,0.00,0.000,516,0.000,0.027,3004,1222,3521,3497,3546,0,0,0,0,0,0,26.12,26.03,26.18
$GC,6940,-0.80,-175.2,3004,1223,3498,3547,896.5,-11.4,307,6948,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2603,3521,3497,3546,0,0,0,0,0,0,26.08,26.02,26.11
$GC,7245,-0.80,-175.2,2996,2604,3497,3545,932.6,-11.1,317,7254,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3694,3519,3495,3544,0,0,0,0,0,0,26.12,25.95,26.17
$GC,7282,-0.80,-175.2,2987,3695,3497,3545,936.3,-11.1,318,7289,0.00,1.58,0.00,0.000,1030,0.000,0.022,2993,2588,3519,3495,3544,0,0,0,0,0,0,26.14,26.10,26.15
$GC,7608,-0.80,-175.2,2994,2589,3494,3544,971.2,-10.4,329,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2588,3518,3493,3543,0,0,0,0,0,0,26.10,26.17,26.17
$STATE,7817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7817,begin apogee
$GC,7820,-0.17,0.0,2994,2421,3494,3542,993.1,-10.5,336,7966,0.77,0.00,138.45,1.271,10246,0.155,0.000,3213,2420,2839,2813,2865,0,0,0,0,0,0,25.66,24.71,23.94
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7968,0.80,175.2,3213,2421,2810,2861,999.0,0.0,340,8127,1.05,2.17,147.38,1.258,10500,0.136,0.044,3513,3691,2119,2115,2124,0,0,0,0,0,0,24.83,24.13,23.37
$GC,8316,0.90,243.1,3514,3692,2111,2115,990.6,7.4,352,8384,0.12,1.88,57.22,1.274,11270,0.154,0.022,3550,2407,1842,1842,1843,0,0,0,0,0,0,25.45,25.68,24.08
$GC,8693,0.90,243.1,3550,2406,1835,1829,950.6,10.8,365,8700,0.00,2.10,0.00,0.000,516,0.000,0.031,3561,1050,1831,1833,1829,0,0,0,0,0,0,26.01,25.99,26.08
$GC,8719,0.90,243.1,3561,1043,1833,1830,950.6,10.8,365,8730,0.00,2.12,0.00,0.000,1030,0.000,0.029,3552,2423,1830,1832,1828,0,0,0,0,0,0,26.06,26.00,26.08
$GC,9024,0.90,243.1,3551,2423,1832,1827,914.4,10.8,376,9032,0.00,2.00,0.00,0.000,260,0.000,0.045,3542,3701,1830,1833,1828,0,0,0,0,0,0,26.15,26.06,26.21
$GC,9075,0.90,243.1,3542,3700,1833,1827,911.5,10.8,377,9086,0.00,1.85,0.00,0.000,1030,0.000,0.024,3550,2425,1830,1832,1828,0,0,0,0,0,0,26.18,26.15,26.19
$GC,9381,0.90,243.1,3551,2424,1833,1826,875.4,10.8,388,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2425,1829,1831,1827,0,0,0,0,0,0,26.17,26.25,26.25
$GC,9681,0.90,243.1,3551,2426,1831,1826,842.7,10.9,398,9690,0.00,2.00,0.00,0.000,260,0.000,0.044,3542,3693,1828,1831,1825,0,0,0,0,0,0,26.16,26.06,26.22
$GC,9728,0.90,243.1,3542,3693,1832,1825,839.1,10.9,399,9736,0.00,1.85,0.00,0.000,1030,0.000,0.022,3550,2408,1828,1831,1825,0,0,0,0,0,0,26.22,26.18,26.23
$GC,10040,0.90,243.1,3551,2406,1831,1825,804.5,10.2,410,10048,0.00,2.05,0.00,0.000,260,0.000,0.044,3542,3694,1827,1830,1824,0,0,0,0,0,0,26.15,26.03,26.21
$GC,10087,0.90,243.1,3542,3693,1830,1824,801.0,10.4,411,10094,0.00,1.85,0.00,0.000,1030,0.000,0.023,3550,2417,1827,1830,1824,0,0,0,0,0,0,26.20,26.16,26.20
$GC,10398,0.91,253.0,3551,2415,1829,1825,769.3,9.6,422,10405,0.00,0.00,1.70,0.219,8198,0.000,0.000,3550,2413,1807,1809,1805,0,0,0,0,0,0,26.14,25.79,25.37
$GC,10698,0.92,260.7,3551,2414,1835,1813,740.6,9.7,432,10719,0.00,2.08,12.98,1.166,8452,0.000,0.045,3542,3687,1773,1776,1770,0,0,0,0,0,0,26.13,25.86,24.98
$GC,10778,0.92,260.7,3542,3688,1773,1768,734.2,10.0,434,10786,0.00,1.85,0.00,0.000,1030,0.000,0.023,3550,2417,1769,1772,1767,0,0,0,0,0,0,26.03,26.00,26.03
$GC,11090,0.92,260.7,3550,2413,1774,1765,699.3,10.7,445,11100,0.00,2.03,0.00,0.000,260,0.000,0.044,3541,3690,1768,1771,1765,0,0,0,0,0,0,26.08,25.99,26.14
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$STATE,17469,end climb,SURFACE_DEPTH_REACHED
$STATE,17469,begin surface coast
$FINISH,0.8,0.996327
$STATE,17484,end surface coast,CONTROL_FINISHED_OK
$STATE,17484,begin surface
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$IRIDIUM_FIX,1409.73,14603.17,160108,004345
$TT8_MAMPS,0.054677,0.054677
$HUMID,35.82
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$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,17464.45 7427.45
$PA_BOOTCOUNT,914
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$PA_HOME,0.05/0.090/1.856/1.672
$PA_DISK_BANK,1
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$10V_AH,10.06,32.462
$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,229000
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