version: 66.12
glider: 204
mission: 15
dive: 52
start: 3 10 115 4 3 18
data:
$ID,204
$MISSION,15
$DIVE,52
$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,85
$R_STBD_OVSHOOT,48
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,100315,035705,1324.7235,14533.2363,31,0.8,31,1.2,0.5,233.1,10,15.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.3
$GPS2,100315,040308,1324.7299,14533.1650,6,0.8,6,1.2,0.8,255.5,10,13.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,105.2,84497,-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,-175.2,198,2605,824,800,0.0,0.0,0,157,0.00,0.00,-53.35,0.000,16386,0.000,0.000,197,2605,2297,2258,2336,0,0,0,0,0,0,26.77,28.83,26.84
$GC,159,-0.80,-175.2,198,2606,2260,2335,3.3,-5.7,8,201,11.30,2.00,-24.67,0.000,18948,0.233,0.039,3010,1220,3554,3525,3583,0,0,0,0,0,0,26.28,25.99,26.51
$GC,283,-0.80,-175.2,3011,1221,3527,3586,35.1,-24.7,31,294,0.00,2.08,0.00,0.000,1030,0.000,0.033,3003,2585,3555,3526,3584,0,0,0,0,0,0,26.67,26.63,26.69
$GC,598,-0.80,-175.2,3003,2586,3527,3585,123.6,-30.2,67,604,0.00,1.67,0.00,0.000,260,0.000,0.043,2994,3695,3554,3525,3584,0,0,0,0,0,0,27.00,26.76,27.06
$GC,693,-0.80,-175.2,2994,3692,3528,3584,147.8,-25.8,76,703,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2589,3555,3526,3584,0,0,0,0,0,0,26.92,26.89,26.93
$GC,998,-0.80,-175.2,3002,2591,3531,3587,205.4,-16.6,105,1005,0.00,1.98,0.00,0.000,516,0.000,0.024,3007,1228,3557,3530,3585,0,0,0,0,0,0,27.10,26.91,27.19
$GC,1073,-0.80,-175.2,3007,1230,3532,3587,214.9,-16.1,107,1080,0.00,2.08,0.00,0.000,1030,0.000,0.030,2999,2613,3558,3531,3586,0,0,0,0,0,0,26.94,26.91,26.96
$GC,1388,-0.80,-175.2,2999,2613,3533,3589,263.6,-14.9,118,1395,0.00,1.62,0.00,0.000,260,0.000,0.044,2990,3694,3560,3532,3589,0,0,0,0,0,0,27.17,26.93,27.23
$GC,1423,-0.80,-175.2,2990,3694,3533,3589,268.1,-14.9,119,1430,0.00,1.52,0.00,0.000,1030,0.000,0.021,2997,2591,3561,3532,3590,0,0,0,0,0,0,27.07,27.05,27.08
$GC,1748,-0.80,-175.2,2998,2592,3534,3591,316.2,-14.4,130,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2591,3561,3532,3590,0,0,0,0,0,0,27.22,27.29,27.28
$GC,2048,-0.80,-175.2,2998,2592,3533,3589,358.2,-13.2,140,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3559,3532,3587,0,0,0,0,0,0,27.24,27.31,27.30
$GC,2348,-0.80,-175.2,2997,2591,3533,3582,396.4,-12.2,150,2355,0.00,1.95,0.00,0.000,516,0.000,0.025,3007,1242,3557,3532,3582,0,0,0,0,0,0,27.26,27.06,27.32
$GC,2394,-0.80,-175.2,3007,1243,3533,3583,400.1,-12.1,151,2400,0.00,2.03,0.00,0.000,1030,0.000,0.030,2998,2599,3557,3532,3582,0,0,0,0,0,0,27.08,27.04,27.10
$GC,2709,-0.80,-175.2,2999,2601,3532,3577,439.6,-12.0,162,2715,0.00,1.65,0.00,0.000,260,0.000,0.044,2990,3693,3553,3531,3575,0,0,0,0,0,0,27.27,27.03,27.34
$GC,2789,-0.80,-175.2,2990,3693,3531,3576,446.9,-12.1,164,2795,0.00,1.52,0.00,0.000,1030,0.000,0.022,2996,2607,3552,3529,3576,0,0,0,0,0,0,27.17,27.14,27.18
$GC,3099,-0.80,-175.2,2997,2607,3527,3573,485.7,-11.7,175,3105,0.00,2.00,0.00,0.000,516,0.000,0.024,3007,1221,3549,3525,3573,0,0,0,0,0,0,27.29,27.09,27.35
$GC,3144,-0.80,-175.2,3006,1221,3526,3573,489.1,-11.6,176,3151,0.00,2.05,0.00,0.000,1030,0.000,0.030,2998,2594,3548,3524,3573,0,0,0,0,0,0,27.10,27.07,27.13
$GC,3459,-0.80,-175.2,2998,2594,3524,3570,527.3,-11.9,187,3466,0.00,1.65,0.00,0.000,260,0.000,0.044,2990,3687,3546,3522,3570,0,0,0,0,0,0,27.29,27.04,27.36
$GC,3490,-0.80,-175.2,2989,3687,3523,3569,531.2,-12.2,188,3496,0.00,1.52,0.00,0.000,1030,0.000,0.022,2996,2596,3546,3522,3570,0,0,0,0,0,0,27.20,27.15,27.20
$GC,3820,-0.80,-175.2,2997,2597,3519,3568,572.2,-12.1,199,3826,0.00,1.98,0.00,0.000,516,0.000,0.027,3006,1232,3541,3517,3566,0,0,0,0,0,0,27.30,27.09,27.36
$GC,3885,-0.80,-175.2,3006,1233,3518,3568,579.2,-11.9,201,3891,0.00,2.05,0.00,0.000,1030,0.000,0.031,2998,2599,3541,3516,3566,0,0,0,0,0,0,27.10,27.08,27.13
$GC,4210,-0.80,-175.2,2998,2601,3515,3564,615.4,-10.7,212,4216,0.00,1.65,0.00,0.000,260,0.000,0.045,2989,3690,3538,3514,3563,0,0,0,0,0,0,27.31,27.05,27.37
$GC,4260,-0.80,-175.2,2989,3690,3515,3563,618.6,-10.6,213,4267,0.00,1.52,0.00,0.000,1030,0.000,0.023,2996,2600,3538,3513,3563,0,0,0,0,0,0,27.20,27.16,27.20
$GC,4571,-0.80,-175.2,2996,2601,3511,3562,657.2,-12.3,224,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2599,3535,3510,3561,0,0,0,0,0,0,27.31,27.39,27.37
$GC,4871,-0.80,-175.2,2996,2601,3508,3559,697.3,-13.6,234,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2600,3533,3508,3558,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5171,-0.80,-175.2,2996,2600,3507,3555,737.7,-13.3,244,5177,0.00,1.67,0.00,0.000,260,0.000,0.046,2989,3692,3530,3506,3555,0,0,0,0,0,0,27.32,27.04,27.38
$GC,5206,-0.80,-175.2,2989,3691,3507,3555,741.8,-13.2,245,5212,0.00,1.55,0.00,0.000,1030,0.000,0.023,2996,2590,3530,3505,3555,0,0,0,0,0,0,27.20,27.17,27.22
$GC,5531,-0.80,-175.2,2995,2590,3505,3553,781.8,-11.7,256,5538,0.00,1.98,0.00,0.000,516,0.000,0.027,3005,1235,3528,3503,3553,0,0,0,0,0,0,27.32,27.08,27.39
$GC,5566,-0.80,-175.2,3005,1236,3504,3555,785.1,-11.5,257,5573,0.00,2.05,0.00,0.000,1030,0.000,0.032,2997,2592,3528,3503,3553,0,0,0,0,0,0,27.11,27.08,27.13
$GC,5892,-0.80,-175.2,2997,2591,3503,3558,819.5,-10.2,268,5899,0.00,1.67,0.00,0.000,260,0.000,0.045,2988,3695,3526,3502,3551,0,0,0,0,0,0,27.32,27.03,27.39
$GC,5932,-0.80,-175.2,2988,3694,3502,3551,823.0,-10.4,269,5939,0.00,1.55,0.00,0.000,1030,0.000,0.023,2995,2595,3526,3502,3550,0,0,0,0,0,0,27.18,27.17,27.22
$GC,6253,-0.80,-175.2,2995,2594,3501,3549,857.7,-10.7,280,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2594,3524,3500,3549,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6553,-0.80,-175.2,2995,2596,3499,3549,889.7,-10.6,290,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2594,3522,3498,3546,0,0,0,0,0,0,27.32,27.39,27.39
$GC,6853,-0.80,-175.2,2995,2595,3498,3547,921.3,-10.4,300,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2594,3521,3497,3546,0,0,0,0,0,0,27.32,27.39,27.39
$GC,7153,-0.80,-175.2,2995,2594,3497,3544,951.4,-10.1,310,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2594,3520,3496,3544,0,0,0,0,0,0,27.32,27.39,27.39
$GC,7453,-0.80,-175.2,2995,2594,3495,3544,979.5,-9.1,320,7459,0.00,2.00,0.00,0.000,516,0.000,0.028,3003,1231,3518,3493,3543,0,0,0,0,0,0,27.32,27.08,27.39
$GC,7498,-0.80,-175.2,3004,1231,3494,3543,982.2,-9.1,321,7504,0.00,2.08,0.00,0.000,1030,0.000,0.033,2995,2601,3517,3493,3541,0,0,0,0,0,0,27.10,27.06,27.13
$STATE,7572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7572,begin apogee
$GC,7575,-0.17,0.0,2995,2433,3494,3543,990.1,-8.7,324,7715,0.73,0.00,135.10,1.291,10246,0.158,0.000,3209,2432,2838,2813,2864,0,0,0,0,0,0,26.75,25.10,24.39
$STATE,7715,end apogee,CONTROL_FINISHED_OK
$STATE,7715,begin climb
$GC,7716,0.80,175.2,3209,2433,2809,2860,993.2,0.0,328,7870,1.08,2.25,142.23,1.276,10756,0.139,0.030,3532,1048,2116,2112,2121,0,0,0,0,0,0,25.23,24.71,24.01
$GC,8019,0.84,204.7,3532,1047,2107,2110,980.5,8.9,338,8050,0.00,2.17,24.85,1.301,9222,0.000,0.031,3524,2421,2000,1999,2002,0,0,0,0,0,0,25.90,25.86,24.52
$GC,8354,0.86,215.5,3523,2419,1992,1990,945.3,9.6,350,8366,0.00,2.15,3.45,0.972,8708,0.000,0.030,3533,1040,1965,1971,1959,0,0,0,0,0,0,26.53,26.13,24.90
$GC,8394,0.88,228.4,3533,1039,1985,1962,942.6,9.5,351,8420,0.00,2.15,17.85,1.300,9222,0.000,0.029,3523,2428,1903,1905,1902,0,0,0,0,0,0,26.36,26.32,24.93
$GC,8715,0.92,257.9,3524,2428,1901,1895,912.5,8.9,362,8749,0.15,2.03,24.90,1.290,10500,0.189,0.046,3551,3684,1783,1785,1782,0,0,0,0,0,0,26.25,25.74,24.92
$GC,8773,0.95,278.7,3551,3684,1784,1778,909.2,9.2,363,8800,0.00,1.88,18.62,1.262,9222,0.000,0.023,3560,2422,1699,1701,1697,0,0,0,0,0,0,26.07,26.06,24.72
$GC,9108,0.95,278.7,3560,2423,1695,1688,868.6,11.0,375,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2422,1691,1695,1687,0,0,0,0,0,0,26.63,26.70,26.70
$GC,9408,0.95,278.7,3560,2423,1693,1686,836.8,10.7,385,9415,0.00,1.98,0.00,0.000,260,0.000,0.044,3551,3690,1689,1693,1685,0,0,0,0,0,0,26.84,26.62,26.91
$GC,9448,0.95,278.7,3552,3691,1693,1686,833.3,11.0,386,9455,0.00,1.85,0.00,0.000,1030,0.000,0.023,3560,2408,1689,1693,1685,0,0,0,0,0,0,26.74,26.73,26.77
$GC,9768,0.95,278.7,3561,2404,1692,1683,797.6,11.0,397,9775,0.00,2.00,0.00,0.000,260,0.000,0.044,3551,3686,1687,1691,1684,0,0,0,0,0,0,26.97,26.74,27.03
$GC,9808,0.95,278.7,3552,3687,1693,1684,794.0,11.2,398,9815,0.00,1.83,0.00,0.000,1030,0.000,0.022,3560,2408,1687,1691,1683,0,0,0,0,0,0,26.87,26.85,26.89
$GC,10129,0.95,278.7,3560,2405,1692,1683,756.5,11.5,409,10135,0.00,2.00,0.00,0.000,260,0.000,0.044,3551,3691,1687,1691,1683,0,0,0,0,0,0,27.05,26.81,27.12
$GC,10154,0.95,278.7,3552,3692,1691,1684,756.5,11.5,409,10164,0.00,1.80,0.00,0.000,1030,0.000,0.023,3560,2424,1686,1690,1683,0,0,0,0,0,0,26.94,26.93,26.96
$GC,10459,0.95,278.7,3560,2425,1690,1684,717.7,11.4,420,10465,0.00,1.98,0.00,0.000,260,0.000,0.044,3551,3695,1685,1687,1683,0,0,0,0,0,0,27.10,26.84,27.17
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$STATE,17131,end climb,SURFACE_DEPTH_REACHED
$STATE,17131,begin surface coast
$FINISH,0.7,1.010540
$STATE,17146,end surface coast,CONTROL_FINISHED_OK
$STATE,17146,begin surface
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$IRIDIUM_FIX,1316.45,14533.71,040108,172450
$TT8_MAMPS,0.158788,0.158788
$HUMID,36.02
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.70
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$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,17130.47 16526.96
$PA_BOOTCOUNT,857
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$PA_HOME,0.04/0.079/1.856/1.683
$PA_DISK_BANK,0
$24V_AH,24.01,10.319
$10V_AH,9.95,17.343
$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,23.220,0.000,0.000,0.000,0.000,0.000,107.761,0.000,0.000,0.000
$MEM,229092
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