version: 66.12
glider: 204
mission: 15
dive: 114
start: 3 22 115 11 59 49
data:
$ID,204
$MISSION,15
$DIVE,114
$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,83
$R_STBD_OVSHOOT,40
$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
$GPS1,220315,115405,1417.5457,14612.6699,35,0.7,35,1.2,0.0,0.0,10,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.4
$GPS2,220315,115939,1417.5614,14612.6182,8,0.8,8,1.2,0.0,282.5,9,11.4
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,83.5,79061,-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,-175.2,185,2622,803,802,0.0,0.0,0,142,0.00,0.00,-42.17,0.000,16386,0.000,0.000,185,2623,1936,1917,1956,0,0,0,0,0,0,26.15,28.83,26.20
$GC,144,-0.80,-175.2,185,2623,1918,1957,3.0,-5.9,7,206,11.90,2.12,-44.40,0.000,18948,0.233,0.040,3010,1225,3555,3528,3583,0,0,0,0,0,0,25.70,24.49,25.99
$GC,292,-0.80,-175.2,3010,1225,3531,3584,30.7,-25.7,33,302,0.00,2.10,0.00,0.000,1030,0.000,0.032,3002,2605,3557,3530,3584,0,0,0,0,0,0,26.17,26.10,26.19
$GC,603,-0.80,-175.2,3002,2604,3531,3584,119.6,-28.2,70,610,0.00,1.67,0.00,0.000,260,0.000,0.044,2993,3706,3557,3530,3585,0,0,0,0,0,0,26.23,26.10,26.29
$GC,639,-0.80,-175.2,2994,3707,3530,3586,129.2,-29.7,73,651,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2588,3557,3530,3585,0,0,0,0,0,0,26.25,26.22,26.26
$GC,945,-0.80,-175.2,3000,2587,3533,3584,190.7,-14.9,104,952,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2588,3558,3532,3585,0,0,0,0,0,0,26.25,26.30,26.30
$GC,1256,-0.80,-175.2,3001,2588,3536,3587,234.1,-13.4,119,1264,0.00,1.75,0.00,0.000,260,0.000,0.045,2994,3693,3561,3535,3587,0,0,0,0,0,0,26.26,26.13,26.31
$GC,1313,-0.80,-175.2,2994,3694,3535,3594,238.3,-13.3,120,1323,0.00,1.50,0.00,0.000,1030,0.000,0.020,3001,2596,3561,3535,3587,0,0,0,0,0,0,26.29,26.27,26.30
$GC,1618,-0.80,-175.2,3001,2595,3537,3587,285.2,-14.9,131,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2596,3562,3536,3588,0,0,0,0,0,0,26.26,26.32,26.32
$GC,1918,-0.80,-175.2,3001,2596,3536,3588,325.1,-12.7,141,1926,0.00,2.03,0.00,0.000,516,0.000,0.028,3012,1229,3561,3535,3587,0,0,0,0,0,0,26.27,26.18,26.32
$GC,2014,-0.80,-175.2,3009,1229,3536,3585,335.0,-11.7,144,2023,0.00,2.08,0.00,0.000,1030,0.000,0.030,3000,2603,3559,3534,3585,0,0,0,0,0,0,26.25,26.18,26.27
$GC,2332,-0.80,-175.2,3000,2603,3536,3582,371.5,-11.3,155,2339,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3688,3558,3535,3582,0,0,0,0,0,0,26.25,26.14,26.31
$GC,2378,-0.80,-175.2,2992,3688,3536,3581,375.0,-11.3,156,2385,0.00,1.50,0.00,0.000,1030,0.000,0.021,2996,2610,3558,3535,3581,0,0,0,0,0,0,26.31,26.28,26.34
$GC,2694,-0.80,-175.2,2997,2611,3532,3580,412.0,-10.7,167,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2610,3555,3532,3578,0,0,0,0,0,0,26.24,26.31,26.29
$GC,2994,-0.80,-175.2,2996,2609,3529,3575,443.9,-10.2,177,3001,0.00,2.05,0.00,0.000,516,0.000,0.024,3005,1218,3551,3528,3575,0,0,0,0,0,0,26.25,26.16,26.30
$GC,3030,-0.80,-175.2,3006,1219,3528,3577,446.5,-10.1,178,3038,0.00,2.10,0.00,0.000,1030,0.000,0.030,2997,2602,3551,3527,3575,0,0,0,0,0,0,26.22,26.17,26.25
$GC,3347,-0.80,-175.2,2997,2603,3526,3572,479.1,-10.1,189,3355,0.00,1.73,0.00,0.000,260,0.000,0.043,2985,3698,3548,3524,3572,0,0,0,0,0,0,26.21,26.10,26.27
$GC,3393,-0.80,-175.2,2989,3699,3524,3572,482.4,-10.3,190,3401,0.00,1.55,0.00,0.000,1030,0.000,0.022,2993,2600,3547,3524,3571,0,0,0,0,0,0,26.26,26.24,26.27
$GC,3709,-0.80,-175.2,2990,2600,3521,3568,519.2,-11.5,201,3718,0.00,2.05,0.00,0.000,516,0.000,0.026,3003,1213,3544,3521,3568,0,0,0,0,0,0,26.20,26.15,26.26
$GC,3761,-0.80,-175.2,3004,1213,3522,3568,522.9,-11.7,202,3770,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2606,3544,3520,3568,0,0,0,0,0,0,26.19,26.13,26.22
$GC,4067,-0.80,-175.2,3001,2607,3517,3566,562.9,-12.3,212,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2606,3541,3517,3565,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4367,-0.80,-175.2,2995,2607,3515,3565,597.2,-11.1,222,4379,0.00,2.05,0.00,0.000,516,0.000,0.026,3003,1221,3539,3515,3563,0,0,0,0,0,0,26.18,26.11,26.25
$GC,4402,-0.80,-175.2,3003,1221,3515,3563,600.6,-11.0,223,4410,0.00,2.12,0.00,0.000,1030,0.000,0.030,2995,2602,3538,3513,3563,0,0,0,0,0,0,26.17,26.11,26.20
$GC,4724,-0.80,-175.2,2994,2602,3512,3559,634.2,-10.2,234,4731,0.00,1.67,0.00,0.000,260,0.000,0.044,2986,3693,3535,3511,3560,0,0,0,0,0,0,26.20,26.04,26.25
$GC,4770,-0.80,-175.2,2987,3694,3511,3561,637.5,-10.2,235,4777,0.00,1.55,0.00,0.000,1030,0.000,0.022,2993,2598,3535,3511,3560,0,0,0,0,0,0,26.20,26.17,26.20
$GC,5086,-0.80,-175.2,2994,2599,3509,3559,670.2,-9.7,246,5095,0.00,2.08,0.00,0.000,516,0.000,0.027,3000,1223,3532,3508,3557,0,0,0,0,0,0,26.18,26.09,26.24
$GC,5139,-0.80,-175.2,3000,1211,3509,3558,673.2,-9.6,247,5146,0.00,2.15,0.00,0.000,1030,0.000,0.031,2990,2607,3532,3507,3557,0,0,0,0,0,0,26.17,26.10,26.19
$GC,5451,-0.80,-175.2,2991,2609,3507,3555,705.9,-10.0,258,5460,0.00,1.70,0.00,0.000,260,0.000,0.045,2982,3703,3530,3506,3554,0,0,0,0,0,0,26.15,26.00,26.20
$GC,5479,-0.80,-175.2,2983,3705,3507,3555,705.9,-10.0,258,5489,0.00,1.58,0.00,0.000,1030,0.000,0.024,2989,2612,3530,3506,3554,0,0,0,0,0,0,26.20,26.17,26.21
$GC,5784,-0.80,-175.2,2989,2613,3505,3553,740.8,-10.6,269,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2612,3527,3504,3551,0,0,0,0,0,0,26.14,26.22,26.20
$GC,6084,-0.80,-175.2,2989,2612,3503,3550,772.9,-10.7,279,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2612,3526,3502,3550,0,0,0,0,0,0,26.14,26.20,26.20
$GC,6384,-0.80,-175.2,2989,2611,3501,3549,805.2,-10.9,289,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2612,3524,3500,3549,0,0,0,0,0,0,26.14,26.21,26.20
$GC,6684,-0.80,-175.2,2989,2612,3499,3549,839.1,-11.5,299,6691,0.00,2.10,0.00,0.000,516,0.000,0.026,2996,1205,3522,3498,3547,0,0,0,0,0,0,26.14,26.01,26.20
$GC,6741,-0.80,-175.2,2997,1206,3499,3548,845.6,-11.3,301,6749,0.00,2.17,0.00,0.000,1030,0.000,0.030,2988,2609,3522,3498,3547,0,0,0,0,0,0,26.09,26.02,26.12
$GC,7068,-0.80,-175.2,2988,2609,3497,3545,883.8,-11.7,312,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2609,3518,3492,3545,0,0,0,0,0,0,26.12,26.20,26.18
$GC,7368,-0.80,-175.2,2988,2610,3496,3545,919.1,-11.7,322,7375,0.00,2.12,0.00,0.000,516,0.000,0.027,2996,1205,3519,3495,3544,0,0,0,0,0,0,26.11,26.00,26.17
$GC,7399,-0.80,-175.2,2997,1206,3495,3547,922.2,-11.5,323,7407,0.00,2.15,0.00,0.000,1030,0.000,0.029,2987,2603,3519,3494,3544,0,0,0,0,0,0,26.07,26.01,26.09
$GC,7726,-0.80,-175.2,2988,2603,3493,3544,959.1,-10.8,334,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2603,3518,3493,3543,0,0,0,0,0,0,26.08,26.15,26.14
$GC,8026,-0.80,-175.2,2988,2603,3492,3543,989.7,-9.8,344,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2602,3516,3491,3541,0,0,0,0,0,0,26.08,26.13,26.13
$STATE,8054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8054,begin apogee
$GC,8058,-0.17,0.0,2988,2406,3493,3541,992.5,-9.8,345,8203,0.80,0.00,138.07,1.277,10246,0.154,0.000,3213,2404,2838,2811,2865,0,0,0,0,0,0,25.65,24.70,23.94
$STATE,8203,end apogee,CONTROL_FINISHED_OK
$STATE,8204,begin climb
$GC,8205,0.80,175.2,3214,2406,2804,2862,996.9,0.0,349,8363,1.05,2.20,148.12,1.268,10500,0.132,0.041,3513,3694,2121,2116,2126,0,0,0,0,0,0,24.83,23.95,23.37
$GC,8553,0.82,192.9,3519,3695,2112,2116,982.2,9.3,361,8576,0.00,1.88,15.20,1.264,9222,0.000,0.021,3522,2423,2052,2050,2055,0,0,0,0,0,0,25.72,25.70,24.46
$GC,8890,0.86,214.3,3521,2422,2043,2044,949.2,9.2,373,8917,0.00,2.03,18.40,1.277,8452,0.000,0.041,3513,3699,1962,1962,1962,0,0,0,0,0,0,26.07,25.53,24.77
$GC,8956,0.88,232.8,3513,3700,1960,1958,943.8,9.3,374,8981,0.00,1.88,17.02,1.275,9222,0.000,0.023,3522,2422,1886,1886,1887,0,0,0,0,0,0,25.91,25.85,24.60
$GC,9276,0.90,243.3,3522,2423,1882,1878,911.8,9.6,385,9291,0.12,0.00,9.70,1.258,10246,0.159,0.000,3552,2422,1846,1846,1846,0,0,0,0,0,0,25.88,25.80,24.93
$GC,9576,0.90,243.3,3552,2423,1841,1837,879.8,10.6,395,9584,0.00,2.00,0.00,0.000,260,0.000,0.043,3543,3693,1838,1840,1837,0,0,0,0,0,0,26.13,26.05,26.20
$GC,9602,0.90,243.3,3544,3693,1841,1837,879.8,10.6,395,9612,0.00,1.85,0.00,0.000,1030,0.000,0.022,3552,2404,1838,1840,1837,0,0,0,0,0,0,26.20,26.17,26.21
$GC,9908,0.90,243.3,3552,2403,1840,1836,845.3,10.4,406,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2403,1837,1839,1836,0,0,0,0,0,0,26.18,26.25,26.25
$GC,10208,0.90,243.3,3552,2404,1839,1837,814.3,10.3,416,10215,0.00,2.05,0.00,0.000,260,0.000,0.044,3543,3693,1837,1838,1837,0,0,0,0,0,0,26.17,26.05,26.22
$GC,10244,0.90,243.3,3543,3693,1839,1836,810.8,10.5,417,10251,0.00,1.83,0.00,0.000,1030,0.000,0.023,3551,2426,1837,1838,1836,0,0,0,0,0,0,26.20,26.17,26.21
$GC,10570,0.90,243.3,3552,2426,1837,1835,774.9,10.9,428,10577,0.00,2.00,0.00,0.000,260,0.000,0.043,3543,3693,1835,1837,1834,0,0,0,0,0,0,26.14,26.05,26.20
$GC,10596,0.90,243.3,3543,3694,1839,1833,774.9,10.9,428,10606,0.00,1.85,0.00,0.000,1030,0.000,0.022,3552,2406,1835,1837,1834,0,0,0,0,0,0,26.20,26.18,26.21
$GC,10902,0.90,243.3,3551,2405,1838,1833,738.7,11.0,439,10910,0.00,2.03,0.00,0.000,260,0.000,0.044,3543,3694,1835,1837,1833,0,0,0,0,0,0,26.15,26.02,26.22
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$STATE,18057,end climb,SURFACE_DEPTH_REACHED
$STATE,18057,begin surface coast
$FINISH,0.8,1.022529
$STATE,18072,end surface coast,CONTROL_FINISHED_OK
$STATE,18072,begin surface
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$IRIDIUM_FIX,1411.96,14613.04,170108,012151
$TT8_MAMPS,0.056175,0.056175
$HUMID,35.90
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,18061.22 7583.63
$PA_BOOTCOUNT,919
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$PA_HOME,0.05/0.091/1.856/1.670
$PA_DISK_BANK,1
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$10V_AH,10.06,32.834
$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,229040
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