version: 66.12
glider: 204
mission: 15
dive: 111
start: 3 21 115 21 8 58
data:
$ID,204
$MISSION,15
$DIVE,111
$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,90
$R_STBD_OVSHOOT,51
$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
$GPS1,210315,210035,1416.1810,14606.3691,38,0.8,38,1.1,0.0,0.0,10,6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.0
$GPS2,210315,210848,1416.1313,14606.3799,9,0.8,9,1.1,0.0,0.0,10,12.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,74.4,90503,-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,-175.2,193,2632,800,806,0.0,0.0,0,146,0.00,0.00,-46.45,0.000,16386,0.000,0.000,192,2631,2049,2025,2074,0,0,0,0,0,0,26.17,28.83,26.23
$GC,147,-0.80,-175.2,193,2630,2026,2074,3.1,-4.9,7,202,11.90,2.10,-38.15,0.000,18948,0.234,0.041,3011,1222,3555,3529,3582,0,0,0,0,0,0,25.70,24.51,26.00
$GC,312,-0.80,-175.2,3011,1222,3532,3584,36.6,-25.5,37,325,0.00,2.08,0.00,0.000,1030,0.000,0.032,2999,2586,3557,3531,3584,0,0,0,0,0,0,26.19,26.13,26.20
$GC,625,-0.80,-175.2,3003,2586,3532,3584,119.7,-27.1,72,633,0.00,1.70,0.00,0.000,260,0.000,0.046,2994,3694,3557,3531,3584,0,0,0,0,0,0,26.23,26.10,26.29
$GC,762,-0.80,-175.2,2994,3693,3532,3585,150.7,-24.2,85,773,0.00,1.52,0.00,0.000,1030,0.000,0.020,3001,2585,3558,3531,3585,0,0,0,0,0,0,26.28,26.26,26.29
$GC,1087,-0.80,-175.2,3001,2585,3534,3585,217.7,-17.9,112,1095,0.00,1.98,0.00,0.000,516,0.000,0.024,3009,1236,3559,3533,3585,0,0,0,0,0,0,26.26,26.21,26.31
$GC,1174,-0.80,-175.2,3009,1236,3535,3587,230.7,-15.5,115,1185,0.00,2.08,0.00,0.000,1030,0.000,0.032,3000,2608,3560,3535,3585,0,0,0,0,0,0,26.18,26.10,26.21
$GC,1504,-0.80,-175.2,3000,2604,3535,3587,282.9,-15.2,126,1511,0.00,2.03,0.00,0.000,516,0.000,0.024,3008,1232,3560,3535,3586,0,0,0,0,0,0,26.27,26.22,26.32
$GC,1565,-0.80,-175.2,3008,1229,3536,3586,291.8,-15.1,128,1573,0.00,2.08,0.00,0.000,1030,0.000,0.031,2999,2602,3560,3535,3585,0,0,0,0,0,0,26.26,26.20,26.28
$GC,1892,-0.80,-175.2,3000,2604,3536,3588,340.4,-14.7,139,1899,0.00,1.70,0.00,0.000,260,0.000,0.043,2992,3693,3560,3535,3586,0,0,0,0,0,0,26.27,26.16,26.32
$GC,1953,-0.80,-175.2,2992,3694,3536,3586,349.0,-14.3,141,1961,0.00,1.50,0.00,0.000,1030,0.000,0.020,2998,2592,3560,3534,3586,0,0,0,0,0,0,26.29,26.27,26.30
$GC,2286,-0.80,-175.2,2999,2592,3535,3586,394.9,-13.4,152,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2591,3560,3535,3585,0,0,0,0,0,0,26.27,26.34,26.32
$GC,2584,-0.80,-175.2,2998,2591,3536,3582,430.2,-11.6,162,2592,0.00,1.98,0.00,0.000,516,0.000,0.024,3008,1241,3557,3535,3580,0,0,0,0,0,0,26.26,26.20,26.32
$GC,2630,-0.80,-175.2,3008,1241,3535,3581,433.3,-11.8,163,2638,0.00,2.08,0.00,0.000,1030,0.000,0.030,3000,2610,3557,3534,3580,0,0,0,0,0,0,26.26,26.20,26.28
$GC,2942,-0.80,-175.2,3005,2610,3533,3576,471.9,-12.0,174,2950,0.00,1.65,0.00,0.000,260,0.000,0.044,2990,3693,3553,3531,3576,0,0,0,0,0,0,26.25,26.13,26.30
$GC,3009,-0.80,-175.2,2992,3694,3531,3577,479.5,-12.1,176,3016,0.00,1.50,0.00,0.000,1030,0.000,0.021,2998,2612,3553,3530,3576,0,0,0,0,0,0,26.29,26.26,26.29
$GC,3335,-0.80,-175.2,2997,2612,3528,3573,517.5,-11.1,187,3343,0.00,2.05,0.00,0.000,516,0.000,0.024,3008,1216,3550,3527,3573,0,0,0,0,0,0,26.25,26.20,26.31
$GC,3372,-0.80,-175.2,3009,1215,3526,3573,521.1,-11.1,188,3383,0.00,2.12,0.00,0.000,1030,0.000,0.030,2999,2612,3549,3526,3573,0,0,0,0,0,0,26.24,26.17,26.26
$GC,3697,-0.80,-175.2,3001,2612,3524,3569,555.3,-10.6,199,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2612,3546,3522,3570,0,0,0,0,0,0,26.24,26.31,26.29
$GC,3997,-0.80,-175.2,3000,2612,3521,3567,587.3,-10.8,209,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2613,3541,3519,3564,0,0,0,0,0,0,26.22,26.28,26.27
$GC,4297,-0.80,-175.2,3000,2614,3517,3565,618.8,-10.4,219,4305,0.00,2.08,0.00,0.000,516,0.000,0.026,3008,1227,3540,3516,3564,0,0,0,0,0,0,26.21,26.14,26.27
$GC,4354,-0.80,-175.2,3008,1229,3516,3565,624.5,-10.3,221,4362,0.00,2.10,0.00,0.000,1030,0.000,0.030,2999,2602,3539,3515,3564,0,0,0,0,0,0,26.18,26.12,26.20
$GC,4680,-0.80,-175.2,2999,2602,3514,3561,659.1,-10.7,232,4688,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3691,3537,3513,3561,0,0,0,0,0,0,26.21,26.08,26.27
$GC,4717,-0.80,-175.2,2990,3691,3514,3561,662.5,-10.7,233,4725,0.00,1.52,0.00,0.000,1030,0.000,0.022,2998,2597,3537,3513,3561,0,0,0,0,0,0,26.25,26.22,26.26
$GC,5044,-0.80,-175.2,2998,2599,3510,3560,699.1,-11.2,244,5051,0.00,2.05,0.00,0.000,516,0.000,0.027,3008,1229,3533,3509,3558,0,0,0,0,0,0,26.20,26.11,26.26
$GC,5095,-0.80,-175.2,3008,1226,3509,3558,702.7,-11.2,245,5103,0.00,2.10,0.00,0.000,1030,0.000,0.029,2999,2602,3533,3509,3558,0,0,0,0,0,0,26.17,26.11,26.18
$GC,5407,-0.80,-175.2,2999,2602,3508,3555,741.2,-11.5,256,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3531,3507,3555,0,0,0,0,0,0,26.19,26.25,26.25
$GC,5707,-0.80,-175.2,2999,2603,3506,3554,774.2,-10.8,266,5715,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3690,3528,3505,3552,0,0,0,0,0,0,26.17,26.03,26.23
$GC,5739,-0.80,-175.2,2991,3691,3506,3553,777.6,-10.9,267,5746,0.00,1.52,0.00,0.000,1030,0.000,0.022,2998,2597,3528,3505,3552,0,0,0,0,0,0,26.17,26.15,26.18
$GC,6070,-0.80,-175.2,2997,2597,3504,3550,811.9,-10.1,278,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2597,3526,3502,3550,0,0,0,0,0,0,26.15,26.22,26.22
$GC,6370,-0.80,-175.2,2998,2598,3501,3550,843.1,-10.6,288,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2597,3524,3500,3548,0,0,0,0,0,0,26.16,26.22,26.22
$GC,6670,-0.80,-175.2,2998,2598,3500,3548,873.5,-10.1,298,6678,0.00,2.05,0.00,0.000,516,0.000,0.027,3007,1230,3523,3499,3547,0,0,0,0,0,0,26.15,26.03,26.20
$GC,6707,-0.80,-175.2,3007,1231,3499,3548,876.7,-10.0,299,6714,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2595,3522,3498,3547,0,0,0,0,0,0,26.08,26.01,26.10
$GC,7029,-0.80,-175.2,2999,2597,3498,3546,907.3,-9.4,310,7036,0.00,1.73,0.00,0.000,260,0.000,0.044,2990,3706,3521,3497,3545,0,0,0,0,0,0,26.14,25.98,26.20
$GC,7065,-0.80,-175.2,2990,3706,3498,3544,910.2,-9.4,311,7072,0.00,1.58,0.00,0.000,1030,0.000,0.023,2997,2604,3520,3496,3544,0,0,0,0,0,0,26.12,26.09,26.13
$GC,7391,-0.80,-175.2,2997,2605,3495,3545,941.6,-9.3,322,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2603,3519,3495,3543,0,0,0,0,0,0,26.11,26.17,26.17
$GC,7692,-0.80,-175.2,2997,2605,3494,3544,969.0,-9.2,332,7700,0.00,2.08,0.00,0.000,516,0.000,0.025,3007,1214,3517,3493,3542,0,0,0,0,0,0,26.12,26.03,26.17
$GC,7749,-0.80,-175.2,3007,1216,3493,3543,974.0,-9.1,334,7759,0.00,2.15,0.00,0.000,1030,0.000,0.031,2998,2603,3517,3492,3542,0,0,0,0,0,0,26.07,26.01,26.10
$STATE,7932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7932,begin apogee
$GC,7935,-0.17,0.0,2998,2426,3493,3541,990.4,-8.9,340,8080,0.75,0.00,137.40,1.284,10246,0.155,0.000,3209,2425,2838,2812,2865,0,0,0,0,0,0,25.65,24.73,23.96
$STATE,8080,end apogee,CONTROL_FINISHED_OK
$STATE,8080,begin climb
$GC,8081,0.80,175.2,3209,2425,2811,2862,994.2,0.0,344,8242,1.08,2.28,147.40,1.252,11012,0.138,0.027,3529,1030,2118,2112,2124,0,0,0,0,0,0,24.87,24.17,23.42
$GC,8361,0.87,225.0,3529,1030,2108,2115,984.4,8.1,354,8412,0.00,2.20,42.45,1.284,9222,0.000,0.028,3524,2424,1919,1919,1920,0,0,0,0,0,0,25.45,25.40,24.01
$GC,8717,0.90,243.3,3524,2425,1910,1906,950.4,9.3,366,8739,0.12,0.00,16.10,1.264,10246,0.191,0.000,3549,2424,1845,1845,1846,0,0,0,0,0,0,25.72,25.59,24.77
$GC,9016,0.90,243.3,3550,2425,1837,1834,918.2,10.9,376,9027,0.00,2.00,0.00,0.000,260,0.000,0.044,3541,3693,1835,1838,1833,0,0,0,0,0,0,26.10,26.03,26.17
$GC,9060,0.90,243.3,3542,3695,1838,1834,914.3,11.1,377,9068,0.00,1.85,0.00,0.000,1030,0.000,0.022,3550,2404,1834,1836,1832,0,0,0,0,0,0,26.19,26.15,26.20
$GC,9382,0.90,243.3,3550,2402,1836,1832,879.0,10.2,388,9390,0.00,2.03,0.00,0.000,260,0.000,0.043,3541,3693,1833,1836,1831,0,0,0,0,0,0,26.17,26.10,26.24
$GC,9453,0.90,243.3,3542,3692,1837,1831,872.8,10.5,390,9462,0.00,1.83,0.00,0.000,1030,0.000,0.023,3550,2420,1833,1836,1831,0,0,0,0,0,0,26.23,26.21,26.25
$GC,9771,0.90,244.9,3550,2416,1834,1831,839.6,9.9,401,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2416,1830,1831,1829,0,0,0,0,0,0,26.17,26.25,26.24
$GC,10070,0.90,244.9,3550,2417,1834,1830,809.6,10.1,411,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2415,1831,1833,1829,0,0,0,0,0,0,26.15,26.22,26.21
$GC,10371,0.90,244.9,3550,2417,1834,1830,779.1,10.1,421,10378,0.00,2.03,0.00,0.000,260,0.000,0.044,3542,3701,1831,1833,1829,0,0,0,0,0,0,26.17,26.03,26.23
$GC,10467,0.90,244.9,3541,3698,1833,1829,769.3,11.1,424,10475,0.00,1.85,0.00,0.000,1030,0.000,0.024,3549,2429,1831,1833,1829,0,0,0,0,0,0,26.19,26.15,26.20
$GC,10789,0.90,244.9,3550,2426,1833,1828,734.3,10.5,435,10796,0.00,2.00,0.00,0.000,260,0.000,0.043,3542,3693,1830,1832,1829,0,0,0,0,0,0,26.12,26.01,26.20
$GC,10845,0.90,244.9,3542,3690,1833,1830,730.9,10.5,436,10855,0.00,1.85,0.00,0.000,1030,0.000,0.023,3550,2414,1830,1832,1829,0,0,0,0,0,0,26.18,26.15,26.20
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$STATE,17696,end climb,SURFACE_DEPTH_REACHED
$STATE,17696,begin surface coast
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$STATE,17712,end surface coast,CONTROL_FINISHED_OK
$STATE,17712,begin surface
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$TT8_MAMPS,0.053928,0.053928
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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,17697.75 7547.71
$PA_BOOTCOUNT,916
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$10V_AH,10.07,32.613
$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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