version: 66.12
glider: 204
mission: 15
dive: 58
start: 3 11 115 8 22 5
data:
$ID,204
$MISSION,15
$DIVE,58
$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,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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,110315,081605,1319.3586,14546.4404,38,0.8,38,1.3,0.9,264.3,9,17.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.8
$GPS2,110315,082155,1319.3218,14546.3623,7,0.7,7,1.3,1.1,263.2,10,13.2
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,103.1,58672,-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,-175.2,204,2620,763,735,0.0,0.0,0,158,0.00,0.00,-54.00,0.000,16386,0.000,0.000,203,2620,2213,2173,2253,0,0,0,0,0,0,26.79,28.83,26.86
$GC,159,-0.80,-175.2,204,2619,2175,2253,3.1,-4.9,7,208,11.27,2.05,-26.60,0.000,18948,0.231,0.041,3018,1217,3555,3527,3584,0,0,0,0,0,0,26.28,25.24,26.53
$GC,295,-0.80,-175.2,3018,1217,3530,3584,36.2,-25.1,31,306,0.00,2.03,0.00,0.000,1030,0.000,0.034,3009,2580,3558,3529,3587,0,0,0,0,0,0,26.71,26.65,26.73
$GC,607,-0.80,-175.2,3009,2580,3530,3585,122.0,-27.6,66,617,0.00,1.70,0.00,0.000,260,0.000,0.046,3001,3694,3557,3529,3585,0,0,0,0,0,0,27.02,26.76,27.08
$GC,675,-0.80,-175.2,3001,3694,3530,3584,136.9,-22.2,72,685,0.00,1.50,0.00,0.000,1030,0.000,0.021,3005,2567,3557,3529,3585,0,0,0,0,0,0,26.94,26.90,26.94
$GC,980,-0.80,-175.2,3009,2567,3533,3588,189.0,-14.3,103,989,0.00,1.73,0.00,0.000,260,0.000,0.045,2997,3693,3560,3532,3588,0,0,0,0,0,0,27.13,26.86,27.18
$GC,1133,-0.80,-175.2,2998,3693,3533,3593,212.5,-15.4,113,1142,0.00,1.48,0.00,0.000,1030,0.000,0.021,3004,2611,3564,3532,3597,0,0,0,0,0,0,27.05,27.01,27.06
$GC,1466,-0.80,-175.2,3004,2611,3535,3590,260.4,-13.9,124,1474,0.00,1.95,0.00,0.000,516,0.000,0.024,3012,1229,3562,3534,3591,0,0,0,0,0,0,27.19,27.00,27.28
$GC,1522,-0.80,-175.2,3013,1229,3535,3591,265.0,-14.2,125,1532,0.00,2.00,0.00,0.000,1030,0.000,0.031,3004,2609,3562,3534,3591,0,0,0,0,0,0,27.04,26.97,27.06
$GC,1828,-0.80,-175.2,3004,2609,3534,3591,310.4,-13.0,136,1835,0.00,1.95,0.00,0.000,516,0.000,0.026,3009,1235,3562,3534,3590,0,0,0,0,0,0,27.23,27.02,27.29
$GC,1869,-0.80,-175.2,3010,1236,3535,3592,313.7,-12.9,137,1876,0.00,2.00,0.00,0.000,1030,0.000,0.032,3001,2604,3562,3534,3590,0,0,0,0,0,0,27.06,27.01,27.09
$GC,2180,-0.80,-175.2,3001,2606,3535,3587,352.3,-12.2,148,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2605,3560,3534,3586,0,0,0,0,0,0,27.25,27.32,27.32
$GC,2480,-0.80,-175.2,3000,2605,3535,3582,388.0,-11.6,158,2489,0.00,1.95,0.00,0.000,516,0.000,0.025,3009,1231,3558,3534,3582,0,0,0,0,0,0,27.27,27.06,27.34
$GC,2512,-0.80,-175.2,3009,1231,3542,3582,391.0,-11.5,159,2520,0.00,2.00,0.00,0.000,1030,0.000,0.031,3001,2602,3557,3533,3582,0,0,0,0,0,0,27.10,27.04,27.13
$GC,2834,-0.80,-175.2,3000,2602,3533,3577,428.3,-11.8,170,2841,0.00,1.62,0.00,0.000,260,0.000,0.044,2992,3699,3554,3531,3577,0,0,0,0,0,0,27.28,27.02,27.34
$GC,2895,-0.80,-175.2,2993,3701,3531,3578,435.7,-12.0,172,2902,0.00,1.50,0.00,0.000,1030,0.000,0.024,2995,2587,3553,3531,3576,0,0,0,0,0,0,27.17,27.14,27.18
$GC,3226,-0.80,-175.2,2994,2588,3528,3574,474.7,-11.7,183,3234,0.00,1.92,0.00,0.000,516,0.000,0.026,3004,1224,3549,3526,3573,0,0,0,0,0,0,27.29,27.08,27.36
$GC,3253,-0.80,-175.2,3005,1225,3528,3575,477.8,-11.6,184,3261,0.00,2.00,0.00,0.000,1030,0.000,0.031,2996,2601,3550,3526,3574,0,0,0,0,0,0,27.13,27.06,27.15
$GC,3585,-0.80,-175.2,2996,2602,3524,3572,512.7,-10.3,195,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2601,3547,3523,3572,0,0,0,0,0,0,27.30,27.37,27.36
$GC,3885,-0.80,-175.2,2996,2602,3521,3570,544.3,-10.7,205,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2601,3544,3520,3568,0,0,0,0,0,0,27.31,27.38,27.37
$GC,4185,-0.80,-175.2,2996,2601,3518,3564,577.4,-11.3,215,4193,0.00,1.60,0.00,0.000,260,0.000,0.044,2988,3692,3541,3516,3567,0,0,0,0,0,0,27.31,27.03,27.38
$GC,4217,-0.80,-175.2,2988,3693,3517,3566,581.1,-11.5,216,4224,0.00,1.50,0.00,0.000,1030,0.000,0.024,2994,2577,3540,3516,3564,0,0,0,0,0,0,27.19,27.16,27.21
$GC,4548,-0.80,-175.2,2994,2576,3514,3564,621.0,-12.1,227,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2575,3538,3514,3563,0,0,0,0,0,0,27.32,27.39,27.38
$GC,4848,-0.80,-175.2,2990,2576,3507,3560,656.1,-11.4,237,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2576,3535,3511,3559,0,0,0,0,0,0,27.32,27.39,27.38
$GC,5148,-0.80,-175.2,2995,2577,3509,3559,688.4,-10.6,247,5155,0.00,1.67,0.00,0.000,260,0.000,0.045,2986,3691,3533,3508,3558,0,0,0,0,0,0,27.32,27.03,27.38
$GC,5178,-0.80,-175.2,2987,3691,3510,3557,691.7,-10.7,248,5186,0.00,1.50,0.00,0.000,1030,0.000,0.024,2994,2584,3532,3508,3557,0,0,0,0,0,0,27.20,27.16,27.20
$GC,5510,-0.80,-175.2,2994,2583,3507,3555,727.4,-10.9,259,5519,0.00,1.95,0.00,0.000,516,0.000,0.027,3004,1211,3530,3506,3555,0,0,0,0,0,0,27.32,27.08,27.39
$GC,5543,-0.80,-175.2,3003,1212,3507,3555,730.9,-11.0,260,5550,0.00,2.05,0.00,0.000,1030,0.000,0.033,2995,2603,3527,3505,3550,0,0,0,0,0,0,27.13,27.06,27.15
$GC,5869,-0.80,-175.2,2995,2603,3505,3551,767.2,-11.3,271,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3528,3504,3552,0,0,0,0,0,0,27.32,27.39,27.39
$GC,6169,-0.80,-175.2,2995,2603,3503,3550,799.3,-10.4,281,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3526,3502,3551,0,0,0,0,0,0,27.32,27.39,27.39
$GC,6469,-0.80,-175.2,2996,2602,3501,3549,828.9,-9.7,291,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3525,3500,3550,0,0,0,0,0,0,27.32,27.40,27.39
$GC,6769,-0.80,-175.2,2995,2605,3499,3550,857.8,-9.7,301,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2604,3524,3499,3549,0,0,0,0,0,0,27.32,27.39,27.38
$GC,7069,-0.80,-175.2,2995,2603,3499,3546,887.2,-9.9,311,7076,0.00,1.62,0.00,0.000,260,0.000,0.046,2987,3700,3520,3497,3543,0,0,0,0,0,0,27.32,27.00,27.39
$GC,7105,-0.80,-175.2,2987,3701,3498,3547,890.5,-10.0,312,7113,0.00,1.50,0.00,0.000,1030,0.000,0.024,2994,2607,3521,3497,3546,0,0,0,0,0,0,27.19,27.15,27.20
$GC,7432,-0.80,-175.2,2994,2607,3497,3546,924.8,-10.6,323,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2607,3520,3496,3544,0,0,0,0,0,0,27.31,27.39,27.39
$GC,7732,-0.80,-175.2,2993,2607,3495,3543,958.6,-11.6,333,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2607,3519,3494,3544,0,0,0,0,0,0,27.32,27.39,27.39
$STATE,8031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8031,begin apogee
$GC,8034,-0.17,0.0,2995,2411,3493,3542,993.2,-11.7,343,8175,0.73,0.00,133.95,1.305,10246,0.158,0.000,3209,2410,2839,2813,2865,0,0,0,0,0,0,26.70,25.13,24.43
$STATE,8176,end apogee,CONTROL_FINISHED_OK
$STATE,8176,begin climb
$GC,8177,0.80,175.2,3209,2411,2810,2859,1000.4,0.0,347,8331,1.05,2.17,142.05,1.271,10756,0.142,0.028,3529,1044,2118,2114,2123,0,0,0,0,0,0,25.29,24.53,24.01
$GC,8439,1.02,326.3,3529,1044,2107,2112,1000.0,4.2,355,8578,0.25,2.12,125.88,1.268,11270,0.142,0.029,3603,2422,1503,1511,1496,0,0,0,0,0,0,25.63,25.72,23.89
$GC,8902,1.02,326.3,3603,2423,1500,1480,934.0,15.4,371,8912,0.00,1.98,0.00,0.000,260,0.000,0.045,3602,3692,1489,1499,1479,0,0,0,0,0,0,26.41,26.17,26.48
$GC,8955,1.02,326.3,3602,3692,1500,1479,928.4,15.7,372,8962,0.00,1.83,0.00,0.000,1030,0.000,0.023,3611,2417,1488,1499,1478,0,0,0,0,0,0,26.39,26.36,26.40
$GC,9261,1.02,326.3,3611,2414,1498,1479,874.1,16.6,382,9268,0.00,1.98,0.00,0.000,260,0.000,0.045,3611,3693,1487,1497,1478,0,0,0,0,0,0,26.77,26.53,26.84
$GC,9302,1.02,326.3,3610,3692,1498,1478,869.5,16.8,383,9309,0.00,1.80,0.00,0.000,1030,0.000,0.024,3619,2422,1487,1497,1477,0,0,0,0,0,0,26.69,26.65,26.70
$GC,9613,1.02,326.3,3619,2422,1497,1477,814.7,16.5,394,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,2421,1486,1495,1477,0,0,0,0,0,0,26.94,27.01,27.00
$GC,9913,1.02,326.3,3620,2422,1496,1478,765.2,16.5,404,9924,0.00,1.95,0.00,0.000,260,0.000,0.044,3612,3701,1486,1496,1476,0,0,0,0,0,0,27.02,26.76,27.08
$GC,9963,1.02,326.3,3614,3702,1496,1479,759.9,16.8,405,9970,0.00,1.83,0.00,0.000,1030,0.000,0.025,3622,2410,1485,1495,1476,0,0,0,0,0,0,26.91,26.87,26.93
$GC,10268,1.02,326.3,3618,2405,1496,1476,706.0,16.5,415,10278,0.00,1.98,0.00,0.000,260,0.000,0.045,3615,3701,1485,1495,1476,0,0,0,0,0,0,27.08,26.82,27.15
$GC,10306,1.02,326.3,3615,3700,1496,1475,700.0,16.9,416,10313,0.00,1.80,0.00,0.000,1030,0.000,0.025,3623,2420,1485,1495,1476,0,0,0,0,0,0,26.96,26.94,26.98
$GC,10627,1.02,326.3,3624,2421,1496,1470,646.6,16.5,427,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2420,1484,1494,1475,0,0,0,0,0,0,27.13,27.20,27.20
$GC,10927,1.02,326.3,3624,2420,1495,1474,598.2,15.7,437,10935,0.00,1.92,0.00,0.000,260,0.000,0.045,3616,3697,1484,1494,1475,0,0,0,0,0,0,27.16,26.89,27.22
$GC,10954,1.02,326.3,3616,3698,1494,1476,594.0,15.8,438,10962,0.00,1.80,0.00,0.000,1030,0.000,0.025,3624,2409,1484,1494,1474,0,0,0,0,0,0,27.04,27.01,27.06
$GC,11285,1.02,326.3,3624,2406,1494,1474,543.3,15.4,449,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2405,1484,1493,1475,0,0,0,0,0,0,27.19,27.26,27.25
$GC,11585,1.02,326.3,3624,2404,1494,1471,499.2,14.5,459,11594,0.00,1.95,0.00,0.000,260,0.000,0.045,3616,3693,1484,1493,1475,0,0,0,0,0,0,27.20,26.91,27.27
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$STATE,15431,end climb,SURFACE_DEPTH_REACHED
$STATE,15431,begin surface coast
$FINISH,0.7,0.996491
$STATE,15441,end surface coast,CONTROL_FINISHED_OK
$STATE,15441,begin surface
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$IRIDIUM_FIX,1314.23,14544.79,050108,214351
$TT8_MAMPS,0.161035,0.161035
$HUMID,36.33
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.40
$XPDR_PINGS,1
$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,15471.96 6589.95
$PA_BOOTCOUNT,863
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$PA_DATA0,0.65/76.472/117.199/34.773
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.080/1.856/1.682
$PA_DISK_BANK,0
$24V_AH,23.89,11.381
$10V_AH,9.93,21.398
$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
$SENSOR_SECS,496.105,0.000,0.000,0.000,0.000,0.000,15878.810,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.974,0.000,0.000,0.000
$MEM,229076
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$CAP_FILE_SIZE,129764,0
$CFSIZE,1024393216,1012547584
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$GPS,110315,124135,1318.037,14548.712,37,0.7,37,1.3,0.0,0.0,10,38.6