version: 66.12
glider: 204
mission: 15
dive: 83
start: 3 16 115 8 12 47
data:
$ID,204
$MISSION,15
$DIVE,83
$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,88
$R_STBD_OVSHOOT,45
$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
$GPS1,160315,080624,1338.1082,14557.0000,37,0.8,37,1.3,0.8,31.0,9,16.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.1
$GPS2,160315,081236,1338.1875,14556.9570,17,0.8,17,1.3,1.3,223.9,9,6.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,322.1,71252,-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,-175.2,194,2622,812,799,0.0,0.0,0,171,0.00,0.00,-67.28,0.000,16386,0.000,0.000,193,2623,2699,2643,2756,0,0,0,0,0,0,26.15,28.83,26.22
$GC,173,-0.80,-175.2,194,2623,2645,2755,4.1,-4.9,7,205,11.77,1.67,-12.48,0.000,18692,0.235,0.057,2997,3691,3556,3527,3585,0,0,0,0,0,0,25.82,24.77,26.08
$GC,420,-0.80,-175.2,2997,3692,3530,3588,82.1,-28.6,39,432,0.00,1.52,0.00,0.000,1030,0.000,0.021,3003,2586,3557,3529,3586,0,0,0,0,0,0,26.27,26.25,26.28
$GC,726,-0.80,-175.2,3004,2586,3532,3588,155.2,-24.0,70,734,0.00,2.00,0.00,0.000,516,0.000,0.024,3010,1220,3558,3531,3586,0,0,0,0,0,0,26.26,26.25,26.31
$GC,792,-0.80,-175.2,3011,1219,3534,3586,169.0,-21.0,76,803,0.00,2.08,0.00,0.000,1030,0.000,0.031,3002,2598,3559,3532,3586,0,0,0,0,0,0,26.29,26.23,26.31
$GC,1108,-0.80,-175.2,3002,2598,3536,3589,227.3,-16.5,98,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2599,3562,3535,3589,0,0,0,0,0,0,26.28,26.34,26.34
$GC,1408,-0.80,-175.2,3003,2599,3536,3592,269.2,-13.2,108,1415,0.00,1.65,0.00,0.000,260,0.000,0.044,2994,3692,3563,3536,3590,0,0,0,0,0,0,26.28,26.23,26.34
$GC,1449,-0.80,-175.2,2994,3693,3537,3591,273.6,-13.4,109,1456,0.00,1.50,0.00,0.000,1030,0.000,0.021,3001,2605,3563,3536,3590,0,0,0,0,0,0,26.32,26.30,26.33
$GC,1769,-0.80,-175.2,3001,2606,3536,3592,322.4,-14.0,120,1777,0.00,2.03,0.00,0.000,516,0.000,0.024,3010,1214,3562,3535,3590,0,0,0,0,0,0,26.29,26.29,26.36
$GC,1816,-0.80,-175.2,3010,1214,3537,3590,325.8,-13.7,121,1824,0.00,2.10,0.00,0.000,1030,0.000,0.031,3001,2604,3563,3536,3590,0,0,0,0,0,0,26.32,26.27,26.34
$GC,2127,-0.80,-175.2,3001,2605,3537,3586,365.5,-11.4,132,2136,0.00,1.65,0.00,0.000,260,0.000,0.044,2993,3693,3560,3536,3585,0,0,0,0,0,0,26.29,26.23,26.35
$GC,2164,-0.80,-175.2,2994,3693,3536,3586,369.3,-11.2,133,2172,0.00,1.52,0.00,0.000,1030,0.000,0.021,3000,2590,3560,3535,3585,0,0,0,0,0,0,26.36,26.33,26.36
$GC,2491,-0.80,-175.2,3000,2591,3536,3583,408.4,-12.3,144,2498,0.00,2.00,0.00,0.000,516,0.000,0.025,3009,1224,3558,3534,3582,0,0,0,0,0,0,26.28,26.29,26.34
$GC,2522,-0.80,-175.2,3010,1222,3535,3582,411.8,-12.4,145,2530,0.00,2.08,0.00,0.000,1030,0.000,0.030,3001,2603,3558,3534,3582,0,0,0,0,0,0,26.29,26.25,26.32
$GC,2849,-0.80,-175.2,3001,2602,3532,3579,452.6,-12.0,156,2856,0.00,1.67,0.00,0.000,260,0.000,0.044,2993,3701,3554,3530,3579,0,0,0,0,0,0,26.28,26.22,26.35
$GC,2880,-0.80,-175.2,2993,3701,3531,3578,456.2,-11.9,157,2887,0.00,1.52,0.00,0.000,1030,0.000,0.023,2999,2611,3554,3530,3578,0,0,0,0,0,0,26.32,26.30,26.34
$GC,3211,-0.80,-175.2,2999,2611,3527,3575,496.2,-12.6,168,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3550,3526,3575,0,0,0,0,0,0,26.28,26.35,26.34
$GC,3511,-0.80,-175.2,3000,2612,3523,3574,531.7,-11.2,178,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2612,3548,3524,3573,0,0,0,0,0,0,26.28,26.34,26.34
$GC,3811,-0.80,-175.2,3000,2612,3520,3571,564.1,-10.7,188,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3547,3519,3575,0,0,0,0,0,0,26.27,26.34,26.33
$GC,4111,-0.80,-175.2,3000,2611,3518,3567,593.0,-9.3,198,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3541,3516,3567,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4411,-0.80,-175.2,3000,2611,3515,3564,622.5,-10.3,208,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3539,3514,3564,0,0,0,0,0,0,26.26,26.32,26.31
$GC,4711,-0.80,-175.2,2999,2611,3512,3562,655.2,-11.2,218,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3537,3511,3563,0,0,0,0,0,0,26.26,26.34,26.32
$GC,5011,-0.80,-175.2,2999,2612,3510,3560,688.7,-11.0,228,5019,0.00,2.08,0.00,0.000,516,0.000,0.026,3007,1208,3534,3509,3560,0,0,0,0,0,0,26.24,26.21,26.29
$GC,5062,-0.80,-175.2,3007,1211,3510,3561,691.6,-10.9,229,5072,0.00,2.12,0.00,0.000,1030,0.000,0.032,2998,2598,3534,3508,3560,0,0,0,0,0,0,26.25,26.18,26.27
$GC,5368,-0.80,-175.2,2998,2598,3508,3557,727.5,-10.7,240,5375,0.00,1.70,0.00,0.000,260,0.000,0.045,2990,3701,3532,3507,3557,0,0,0,0,0,0,26.24,26.13,26.29
$GC,5403,-0.80,-175.2,2990,3702,3507,3557,730.8,-10.7,241,5411,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2592,3531,3507,3556,0,0,0,0,0,0,26.25,26.23,26.26
$GC,5729,-0.80,-175.2,2994,2593,3505,3555,769.0,-11.7,252,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2592,3529,3504,3554,0,0,0,0,0,0,26.22,26.29,26.28
$GC,6029,-0.80,-175.2,2994,2593,3503,3554,805.0,-12.2,262,6037,0.00,2.05,0.00,0.000,516,0.000,0.028,3003,1211,3527,3502,3553,0,0,0,0,0,0,26.22,26.16,26.29
$GC,6060,-0.80,-175.2,3003,1212,3503,3554,808.2,-12.1,263,6069,0.00,2.12,0.00,0.000,1030,0.000,0.032,2994,2601,3527,3502,3553,0,0,0,0,0,0,26.20,26.17,26.22
$GC,6387,-0.80,-175.2,2994,2602,3501,3553,848.0,-12.0,274,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2600,3526,3501,3551,0,0,0,0,0,0,26.20,26.26,26.25
$GC,6688,-0.80,-175.2,2994,2601,3501,3550,882.7,-11.4,284,6695,0.00,1.70,0.00,0.000,260,0.000,0.046,2986,3701,3527,3498,3556,0,0,0,0,0,0,26.20,26.08,26.25
$GC,6723,-0.80,-175.2,2986,3701,3500,3550,886.3,-11.4,285,6731,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2604,3524,3499,3550,0,0,0,0,0,0,26.22,26.20,26.23
$GC,7050,-0.80,-175.2,2993,2604,3499,3548,923.8,-11.1,296,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2604,3523,3497,3549,0,0,0,0,0,0,26.17,26.24,26.23
$GC,7350,-0.80,-175.2,2993,2604,3496,3548,955.9,-10.5,306,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2605,3522,3496,3548,0,0,0,0,0,0,26.16,26.22,26.22
$GC,7650,-0.80,-175.2,2992,2604,3496,3545,985.3,-9.6,316,7658,0.00,2.08,0.00,0.000,516,0.000,0.026,3002,1206,3520,3495,3546,0,0,0,0,0,0,26.17,26.13,26.22
$GC,7681,-0.80,-175.2,3003,1207,3495,3547,987.6,-9.5,317,7689,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2604,3520,3494,3546,0,0,0,0,0,0,26.17,26.11,26.19
$STATE,7702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7702,begin apogee
$GC,7705,-0.17,0.0,2994,2423,3495,3545,990.2,-9.5,318,7850,0.77,0.00,138.20,1.285,10246,0.155,0.000,3213,2422,2838,2811,2865,0,0,0,0,0,0,25.85,24.82,24.10
$STATE,7851,end apogee,CONTROL_FINISHED_OK
$STATE,7851,begin climb
$GC,7852,0.80,175.2,3213,2422,2809,2860,994.0,0.0,322,8012,1.05,2.20,145.85,1.261,11012,0.132,0.042,3513,3686,2119,2114,2124,0,0,0,0,0,0,25.00,24.18,23.46
$GC,8111,0.90,241.6,3514,3687,2111,2117,987.1,7.4,331,8179,0.12,1.92,56.53,1.307,11270,0.151,0.021,3551,2392,1854,1854,1854,0,0,0,0,0,0,25.13,25.30,23.82
$GC,8482,0.90,241.6,3551,2391,1842,1837,945.6,10.8,344,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2392,1839,1841,1837,0,0,0,0,0,0,25.87,25.94,25.94
$GC,8783,0.90,245.4,3550,2392,1841,1835,915.3,9.9,354,8790,0.00,2.05,0.00,0.000,260,0.000,0.044,3542,3700,1837,1839,1836,0,0,0,0,0,0,26.10,26.06,26.17
$GC,8889,0.90,245.4,3542,3701,1840,1837,905.9,10.6,357,8899,0.00,1.85,0.00,0.000,1030,0.000,0.024,3550,2430,1837,1839,1836,0,0,0,0,0,0,26.20,26.17,26.20
$GC,9202,0.90,245.4,3551,2428,1839,1835,871.1,10.4,368,9210,0.00,2.00,0.00,0.000,260,0.000,0.044,3542,3698,1836,1838,1834,0,0,0,0,0,0,26.17,26.12,26.24
$GC,9264,0.90,245.4,3542,3697,1839,1833,863.9,11.1,370,9272,0.00,1.85,0.00,0.000,1030,0.000,0.024,3550,2418,1836,1838,1834,0,0,0,0,0,0,26.22,26.20,26.23
$GC,9596,0.90,245.4,3551,2416,1838,1834,826.2,11.6,381,9605,0.00,2.00,0.00,0.000,260,0.000,0.044,3542,3694,1835,1837,1833,0,0,0,0,0,0,26.17,26.12,26.22
$GC,9643,0.90,245.4,3542,3695,1838,1835,822.1,11.8,382,9651,0.00,1.85,0.00,0.000,1030,0.000,0.023,3549,2409,1835,1837,1833,0,0,0,0,0,0,26.22,26.20,26.23
$GC,9955,0.90,245.4,3551,2407,1838,1833,782.9,12.1,393,9962,0.00,2.03,0.00,0.000,260,0.000,0.044,3542,3693,1835,1837,1833,0,0,0,0,0,0,26.18,26.11,26.24
$GC,10011,0.90,245.4,3543,3694,1837,1835,779.0,12.2,394,10022,0.00,1.85,0.00,0.000,1030,0.000,0.023,3551,2406,1835,1837,1833,0,0,0,0,0,0,26.24,26.22,26.25
$GC,10316,0.90,245.4,3550,2406,1837,1832,740.3,11.5,405,10324,0.00,2.03,0.00,0.000,260,0.000,0.044,3542,3699,1834,1836,1832,0,0,0,0,0,0,26.18,26.10,26.25
$GC,10352,0.90,245.4,3542,3700,1837,1834,737.0,11.7,406,10360,0.00,1.85,0.00,0.000,1030,0.000,0.024,3550,2425,1834,1836,1832,0,0,0,0,0,0,26.22,26.20,26.23
$GC,10669,0.90,245.4,3551,2425,1836,1833,699.6,11.3,417,10677,0.00,2.00,0.00,0.000,260,0.000,0.044,3542,3701,1833,1835,1832,0,0,0,0,0,0,26.15,26.09,26.21
$GC,10710,0.90,245.4,3542,3701,1837,1832,696.0,11.3,418,10717,0.00,1.90,0.00,0.000,1030,0.000,0.024,3550,2409,1834,1836,1832,0,0,0,0,0,0,26.21,26.17,26.22
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$STATE,16881,end climb,SURFACE_DEPTH_REACHED
$STATE,16881,begin surface coast
$FINISH,0.8,1.022458
$STATE,16896,end surface coast,CONTROL_FINISHED_OK
$STATE,16896,begin surface
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$IRIDIUM_FIX,1331.97,14558.29,100108,213419
$TT8_MAMPS,0.055426,0.055426
$HUMID,36.13
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.30
$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,16925.83 7068.80
$PA_BOOTCOUNT,888
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$PA_HOME,0.05/0.085/1.856/1.677
$PA_DISK_BANK,0
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$10V_AH,10.07,30.617
$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
$DEVICE_SECS,24.350,112.025,555.900,0.000,0.000,0.000,0.000,277.225,0.250,17305.141,18.725,0.000,13509.533,599.310,3133.783,90.878,0.000,2219.588,0.000,1665.891,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229104
$DATA_FILE_SIZE,33466,780
$CAP_FILE_SIZE,145538,0
$CFSIZE,1024393216,1010057216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0
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