version: 66.12
glider: 204
mission: 15
dive: 112
start: 3 22 115 2 11 47
data:
$ID,204
$MISSION,15
$DIVE,112
$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,55
$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
$GPS1,220315,020534,1416.9207,14608.6387,35,0.8,35,1.2,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-71.4
$GPS2,220315,021137,1416.8732,14608.5898,8,0.9,8,1.2,0.0,302.8,8,12.6
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,82.9,86391,-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,-175.2,187,2628,800,802,0.0,0.0,0,165,0.00,0.00,-61.10,0.000,16386,0.000,0.000,186,2628,2488,2445,2531,0,0,0,0,0,0,26.16,28.83,26.22
$GC,167,-0.80,-175.2,190,2629,2447,2532,3.3,-3.1,9,211,11.98,2.15,-18.15,0.000,18948,0.235,0.040,3019,1216,3556,3528,3584,0,0,0,0,0,0,25.68,24.51,26.01
$GC,310,-0.80,-175.2,3019,1214,3531,3585,42.9,-25.0,35,321,0.00,2.10,0.00,0.000,1030,0.000,0.033,3010,2593,3557,3530,3585,0,0,0,0,0,0,26.17,26.11,26.20
$GC,620,-0.80,-175.2,3010,2591,3532,3585,124.1,-23.1,68,627,0.00,1.67,0.00,0.000,260,0.000,0.044,3002,3694,3558,3531,3585,0,0,0,0,0,0,26.22,26.12,26.27
$GC,681,-0.80,-175.2,3002,3694,3532,3585,138.1,-23.2,74,688,0.00,1.52,0.00,0.000,1030,0.000,0.020,3005,2585,3556,3527,3585,0,0,0,0,0,0,26.25,26.23,26.26
$GC,992,-0.80,-175.2,3005,2585,3534,3587,200.8,-15.1,105,1000,0.00,1.98,0.00,0.000,516,0.000,0.024,3011,1230,3560,3534,3586,0,0,0,0,0,0,26.23,26.20,26.29
$GC,1024,-0.80,-175.2,3011,1231,3535,3587,204.3,-14.1,106,1032,0.00,2.08,0.00,0.000,1030,0.000,0.031,3002,2603,3560,3534,3586,0,0,0,0,0,0,26.24,26.17,26.25
$GC,1351,-0.80,-175.2,3002,2602,3537,3589,251.7,-14.2,117,1358,0.00,2.03,0.00,0.000,516,0.000,0.024,3009,1232,3562,3535,3589,0,0,0,0,0,0,26.26,26.21,26.32
$GC,1407,-0.80,-175.2,3009,1231,3536,3591,256.4,-14.2,118,1417,0.00,2.08,0.00,0.000,1030,0.000,0.031,3000,2602,3562,3536,3589,0,0,0,0,0,0,26.26,26.20,26.28
$GC,1712,-0.80,-175.2,3000,2603,3537,3589,301.7,-13.9,129,1719,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3701,3562,3536,3589,0,0,0,0,0,0,26.26,26.13,26.32
$GC,1833,-0.80,-175.2,2993,3702,3537,3590,318.6,-13.9,133,1842,0.00,1.52,0.00,0.000,1030,0.000,0.022,2999,2609,3562,3536,3589,0,0,0,0,0,0,26.28,26.22,26.29
$GC,2167,-0.80,-175.2,2999,2609,3537,3585,361.2,-13.0,144,2176,0.00,2.05,0.00,0.000,516,0.000,0.024,3009,1210,3560,3535,3585,0,0,0,0,0,0,26.25,26.20,26.31
$GC,2196,-0.80,-175.2,3009,1211,3536,3586,365.2,-13.0,145,2204,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2608,3563,3535,3592,0,0,0,0,0,0,26.18,26.13,26.20
$GC,2523,-0.80,-175.2,3001,2609,3535,3582,405.5,-12.0,156,2530,0.00,1.70,0.00,0.000,260,0.000,0.045,2992,3691,3558,3535,3581,0,0,0,0,0,0,26.25,26.12,26.31
$GC,2564,-0.80,-175.2,2992,3692,3534,3582,409.4,-12.1,157,2571,0.00,1.58,0.00,0.000,1030,0.000,0.021,2998,2592,3557,3534,3581,0,0,0,0,0,0,26.28,26.26,26.29
$GC,2885,-0.80,-175.2,2999,2592,3532,3578,451.1,-12.8,168,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2591,3554,3531,3577,0,0,0,0,0,0,26.25,26.31,26.29
$GC,3185,-0.80,-175.2,2999,2592,3527,3576,488.1,-12.2,178,3193,0.00,2.03,0.00,0.000,516,0.000,0.025,3008,1222,3550,3526,3575,0,0,0,0,0,0,26.23,26.17,26.29
$GC,3242,-0.80,-175.2,3009,1224,3526,3576,495.0,-12.1,180,3250,0.00,2.10,0.00,0.000,1030,0.000,0.030,2996,2604,3549,3525,3574,0,0,0,0,0,0,26.22,26.16,26.25
$GC,3568,-0.80,-175.2,3000,2606,3524,3572,535.7,-12.6,191,3577,0.00,1.73,0.00,0.000,260,0.000,0.044,2992,3694,3546,3523,3570,0,0,0,0,0,0,26.25,26.07,26.28
$GC,3605,-0.80,-175.2,2991,3694,3524,3570,539.9,-12.7,192,3612,0.00,1.58,0.00,0.000,1030,0.000,0.021,2998,2607,3546,3523,3570,0,0,0,0,0,0,26.25,26.23,26.26
$GC,3931,-0.80,-175.2,2998,2607,3521,3567,580.2,-11.9,203,3939,0.00,2.05,0.00,0.000,516,0.000,0.024,3008,1219,3543,3519,3567,0,0,0,0,0,0,26.20,26.15,26.25
$GC,4008,-0.80,-175.2,3007,1218,3518,3567,586.7,-11.8,205,4015,0.00,2.12,0.00,0.000,1030,0.000,0.030,2999,2610,3542,3517,3568,0,0,0,0,0,0,26.20,26.13,26.21
$GC,4313,-0.80,-175.2,2999,2610,3517,3563,623.8,-11.4,215,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3538,3515,3562,0,0,0,0,0,0,26.20,26.26,26.25
$GC,4613,-0.80,-175.2,3000,2612,3513,3564,657.7,-11.3,225,4620,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3694,3537,3513,3562,0,0,0,0,0,0,26.17,26.03,26.23
$GC,4658,-0.80,-175.2,2991,3696,3513,3563,661.2,-11.3,226,4665,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2591,3537,3512,3562,0,0,0,0,0,0,26.22,26.19,26.23
$GC,4974,-0.80,-175.2,2998,2592,3510,3560,696.9,-10.5,237,4983,0.00,1.75,0.00,0.000,260,0.000,0.044,2991,3686,3534,3509,3559,0,0,0,0,0,0,26.17,26.03,26.22
$GC,5026,-0.80,-175.2,2991,3686,3510,3558,700.7,-10.8,238,5033,0.00,1.52,0.00,0.000,1030,0.000,0.022,2998,2606,3533,3509,3558,0,0,0,0,0,0,26.22,26.15,26.23
$GC,5338,-0.80,-175.2,2998,2606,3508,3557,734.4,-9.7,249,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2605,3531,3507,3556,0,0,0,0,0,0,26.18,26.24,26.23
$GC,5638,-0.80,-175.2,2998,2605,3507,3553,763.4,-9.7,259,5646,0.00,1.70,0.00,0.000,260,0.000,0.043,2991,3694,3530,3506,3554,0,0,0,0,0,0,26.14,25.99,26.20
$GC,5755,-0.80,-175.2,2992,3696,3505,3554,772.6,-9.9,262,5766,0.00,1.55,0.00,0.000,1030,0.000,0.022,2998,2596,3529,3505,3553,0,0,0,0,0,0,26.18,26.16,26.20
$GC,6060,-0.80,-175.2,2998,2597,3503,3553,804.5,-9.6,273,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2596,3526,3502,3551,0,0,0,0,0,0,26.17,26.23,26.22
$GC,6360,-0.80,-175.2,2992,2596,3508,3550,832.5,-9.2,283,6368,0.00,1.73,0.00,0.000,260,0.000,0.044,2996,3694,3527,3500,3555,0,0,0,0,0,0,26.15,25.96,26.21
$GC,6408,-0.80,-175.2,2991,3695,3501,3551,835.6,-9.3,284,6416,0.00,1.60,0.00,0.000,1030,0.000,0.022,2997,2600,3524,3500,3549,0,0,0,0,0,0,26.14,26.14,26.16
$GC,6725,-0.80,-175.2,2997,2599,3500,3549,865.8,-8.9,295,6733,0.00,1.73,0.00,0.000,260,0.000,0.044,2990,3696,3524,3499,3549,0,0,0,0,0,0,26.13,25.96,26.18
$GC,6766,-0.80,-175.2,2990,3696,3500,3548,868.8,-9.0,296,6774,0.00,1.58,0.00,0.000,1030,0.000,0.023,2997,2590,3523,3499,3548,0,0,0,0,0,0,26.15,26.12,26.17
$GC,7088,-0.80,-175.2,2997,2590,3498,3546,899.6,-9.5,307,7097,0.00,1.77,0.00,0.000,260,0.000,0.044,2990,3691,3522,3497,3547,0,0,0,0,0,0,26.15,25.96,26.17
$GC,7126,-0.80,-175.2,2990,3691,3498,3546,902.7,-9.6,308,7133,0.00,1.60,0.00,0.000,1030,0.000,0.022,2997,2594,3519,3493,3546,0,0,0,0,0,0,26.13,26.12,26.15
$GC,7452,-0.80,-175.2,2997,2593,3496,3544,934.7,-9.7,319,7460,0.00,2.05,0.00,0.000,516,0.000,0.027,3007,1230,3520,3495,3545,0,0,0,0,0,0,26.12,26.00,26.16
$GC,7483,-0.80,-175.2,3007,1230,3496,3545,937.3,-9.6,320,7493,0.00,2.12,0.00,0.000,1030,0.000,0.031,2998,2602,3519,3493,3545,0,0,0,0,0,0,26.06,25.98,26.08
$GC,7812,-0.80,-175.2,2999,2603,3494,3545,969.1,-9.5,331,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3518,3493,3543,0,0,0,0,0,0,26.10,26.17,26.16
$STATE,8051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8051,begin apogee
$GC,8054,-0.17,0.0,2999,2429,3493,3541,992.6,-9.8,339,8200,0.75,0.00,137.68,1.280,10246,0.155,0.000,3209,2425,2839,2813,2865,0,0,0,0,0,0,25.63,24.68,23.90
$STATE,8201,end apogee,CONTROL_FINISHED_OK
$STATE,8201,begin climb
$GC,8202,0.80,175.2,3209,2425,2811,2862,997.7,0.0,343,8361,1.08,2.30,147.15,1.258,10756,0.134,0.028,3533,1029,2119,2114,2125,0,0,0,0,0,0,24.81,24.12,23.36
$GC,8530,0.89,236.4,3533,1029,2107,2115,987.6,7.6,355,8595,0.00,2.20,51.58,1.287,9222,0.000,0.029,3523,2433,1869,1868,1871,0,0,0,0,0,0,25.61,25.56,24.03
$GC,8891,0.89,237.3,3524,2434,1863,1862,952.6,10.0,367,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2433,1862,1863,1861,0,0,0,0,0,0,25.99,26.06,26.06
$GC,9190,0.89,237.7,3524,2434,1863,1861,922.5,10.0,377,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2433,1860,1861,1859,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9490,0.89,237.7,3524,2433,1861,1858,892.7,10.0,387,9498,0.00,1.98,0.00,0.000,260,0.000,0.044,3514,3690,1859,1860,1858,0,0,0,0,0,0,26.15,26.06,26.22
$GC,9512,0.89,237.7,3514,3690,1862,1858,892.7,10.0,387,9520,0.12,1.85,0.00,0.000,3078,0.164,0.021,3551,2399,1859,1861,1858,0,0,0,0,0,0,25.87,26.17,26.06
$GC,9817,0.89,237.7,3551,2399,1861,1857,856.3,11.4,397,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2398,1859,1860,1858,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10117,0.89,237.7,3551,2400,1860,1858,821.7,11.5,407,10125,0.00,2.05,0.00,0.000,260,0.000,0.043,3542,3691,1858,1859,1857,0,0,0,0,0,0,26.15,26.02,26.22
$GC,10188,0.89,237.7,3542,3691,1860,1857,814.2,12.0,409,10196,0.00,1.83,0.00,0.000,1030,0.000,0.022,3551,2418,1858,1860,1857,0,0,0,0,0,0,26.20,26.15,26.20
$GC,10505,0.89,237.7,3551,2417,1859,1857,777.4,11.0,420,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2418,1857,1857,1857,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10805,0.89,237.7,3550,2418,1858,1856,744.9,10.8,430,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2418,1856,1857,1856,0,0,0,0,0,0,26.12,26.18,26.18
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$STATE,17762,end climb,SURFACE_DEPTH_REACHED
$STATE,17762,begin surface coast
$FINISH,0.9,1.005933
$STATE,17773,end surface coast,CONTROL_FINISHED_OK
$STATE,17773,begin surface
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$IRIDIUM_FIX,1411.96,14608.11,160108,153327
$TT8_MAMPS,0.055426,0.055426
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17802.14 7574.54
$PA_BOOTCOUNT,917
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$PA_DISK_BANK,1
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$10V_AH,10.07,32.689
$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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$MEM,229096
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