version: 66.12
glider: 204
mission: 15
dive: 86
start: 3 16 115 22 54 21
data:
$ID,204
$MISSION,15
$DIVE,86
$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,63
$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
$GPS1,160315,224823,1346.8599,14550.9092,39,0.9,39,1.2,0.0,0.0,10,16.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.9
$GPS2,160315,225409,1346.8199,14550.8359,6,0.7,6,1.2,0.8,288.5,12,13.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.0,51935,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,203,2627,810,801,0.0,0.0,0,156,0.00,0.00,-55.62,0.000,16386,0.000,0.000,202,2626,2337,2299,2376,0,0,0,0,0,0,26.13,28.83,26.20
$GC,157,-0.80,-175.2,203,2627,2300,2378,3.5,-3.9,6,201,11.70,2.10,-24.67,0.000,19204,0.233,0.038,3009,1214,3555,3529,3582,0,0,0,0,0,0,25.79,25.43,25.94
$GC,446,-0.80,-175.2,3010,1215,3532,3585,75.5,-23.4,47,455,0.00,2.08,0.00,0.000,1030,0.000,0.033,3002,2579,3557,3531,3584,0,0,0,0,0,0,26.23,26.17,26.25
$GC,752,-0.80,-175.2,3001,2581,3533,3585,145.1,-22.7,77,759,0.00,1.70,0.00,0.000,260,0.000,0.044,2993,3698,3558,3532,3584,0,0,0,0,0,0,26.25,26.17,26.29
$GC,787,-0.80,-175.2,2993,3699,3533,3586,152.0,-21.7,80,799,0.00,1.52,0.00,0.000,1030,0.000,0.021,3000,2589,3558,3532,3585,0,0,0,0,0,0,26.29,26.27,26.30
$GC,1103,-0.80,-175.2,2999,2589,3535,3586,212.9,-19.3,108,1111,0.00,1.70,0.00,0.000,260,0.000,0.045,2993,3695,3560,3534,3586,0,0,0,0,0,0,26.27,26.20,26.32
$GC,1139,-0.80,-175.2,2993,3696,3535,3588,218.9,-19.4,109,1147,0.00,1.52,0.00,0.000,1030,0.000,0.020,2999,2587,3561,3535,3587,0,0,0,0,0,0,26.32,26.29,26.33
$GC,1466,-0.80,-175.2,2999,2585,3538,3589,268.8,-13.7,120,1473,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3693,3562,3536,3589,0,0,0,0,0,0,26.28,26.21,26.34
$GC,1576,-0.80,-175.2,2992,3694,3537,3589,281.1,-13.7,123,1584,0.00,1.50,0.00,0.000,1030,0.000,0.021,2999,2608,3562,3536,3589,0,0,0,0,0,0,26.34,26.32,26.34
$GC,1888,-0.80,-175.2,2999,2608,3537,3590,326.5,-14.0,134,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2609,3562,3536,3589,0,0,0,0,0,0,26.27,26.34,26.33
$GC,2188,-0.80,-175.2,2999,2608,3537,3586,363.9,-12.1,144,2196,0.00,2.03,0.00,0.000,516,0.000,0.024,3009,1223,3560,3535,3585,0,0,0,0,0,0,26.25,26.27,26.31
$GC,2214,-0.80,-175.2,3009,1223,3536,3587,363.9,-12.1,144,2226,0.00,2.10,0.00,0.000,1030,0.000,0.029,3000,2618,3561,3536,3586,0,0,0,0,0,0,26.31,26.26,26.33
$GC,2520,-0.80,-175.2,3001,2620,3536,3584,406.6,-14.2,155,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2618,3559,3535,3583,0,0,0,0,0,0,26.29,26.36,26.35
$GC,2820,-0.80,-175.2,3001,2620,3534,3581,448.3,-13.3,165,2827,0.00,1.62,0.00,0.000,260,0.000,0.043,2992,3691,3556,3533,3580,0,0,0,0,0,0,26.27,26.21,26.34
$GC,2951,-0.80,-175.2,2992,3691,3533,3578,463.8,-12.8,169,2958,0.00,1.52,0.00,0.000,1030,0.000,0.021,2999,2597,3555,3532,3578,0,0,0,0,0,0,26.34,26.30,26.34
$GC,3272,-0.80,-175.2,2999,2596,3530,3575,501.8,-11.4,180,3279,0.00,2.05,0.00,0.000,516,0.000,0.027,3009,1221,3555,3528,3582,0,0,0,0,0,0,26.27,26.25,26.33
$GC,3343,-0.80,-175.2,3010,1219,3527,3577,508.7,-11.5,182,3350,0.00,2.10,0.00,0.000,1030,0.000,0.031,3000,2602,3550,3526,3575,0,0,0,0,0,0,26.29,26.24,26.32
$GC,3659,-0.80,-175.2,3000,2602,3525,3572,544.8,-11.4,193,3668,0.00,1.70,0.00,0.000,260,0.000,0.044,2992,3687,3547,3524,3571,0,0,0,0,0,0,26.27,26.20,26.32
$GC,3702,-0.80,-175.2,2992,3686,3524,3571,548.9,-11.6,194,3710,0.00,1.52,0.00,0.000,1030,0.000,0.021,2999,2599,3547,3523,3571,0,0,0,0,0,0,26.32,26.27,26.33
$GC,4024,-0.80,-175.2,2999,2598,3525,3569,587.7,-11.6,205,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2598,3544,3520,3569,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4324,-0.80,-175.2,2999,2599,3518,3568,621.6,-11.3,215,4333,0.00,2.05,0.00,0.000,516,0.000,0.027,3009,1216,3540,3516,3564,0,0,0,0,0,0,26.25,26.22,26.30
$GC,4361,-0.80,-175.2,3009,1217,3517,3568,625.2,-11.2,216,4369,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2606,3541,3516,3566,0,0,0,0,0,0,26.27,26.20,26.28
$GC,4683,-0.80,-175.2,3003,2606,3510,3563,661.7,-11.3,227,4690,0.00,1.73,0.00,0.000,260,0.000,0.046,2992,3694,3538,3514,3563,0,0,0,0,0,0,26.23,26.16,26.29
$GC,4723,-0.80,-175.2,2991,3694,3515,3562,665.5,-11.6,228,4731,0.00,1.58,0.00,0.000,1030,0.000,0.023,2999,2611,3538,3514,3563,0,0,0,0,0,0,26.28,26.26,26.29
$GC,5045,-0.80,-175.2,2997,2611,3512,3560,703.4,-11.5,239,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2611,3536,3511,3561,0,0,0,0,0,0,26.23,26.30,26.29
$GC,5345,-0.80,-175.2,2999,2612,3509,3560,735.9,-10.5,249,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2611,3533,3509,3558,0,0,0,0,0,0,26.21,26.28,26.27
$GC,5645,-0.80,-175.2,2999,2611,3508,3554,766.7,-10.3,259,5656,0.00,2.08,0.00,0.000,516,0.000,0.026,3009,1209,3531,3507,3555,0,0,0,0,0,0,26.19,26.17,26.25
$GC,5695,-0.80,-175.2,3008,1210,3507,3556,769.6,-10.1,260,5703,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2601,3531,3507,3555,0,0,0,0,0,0,26.23,26.17,26.25
$GC,6001,-0.80,-175.2,3000,2602,3506,3553,801.9,-9.9,270,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2602,3532,3505,3560,0,0,0,0,0,0,26.15,26.22,26.20
$GC,6301,-0.80,-175.2,3000,2603,3504,3554,831.8,-10.1,280,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3527,3503,3552,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6601,-0.80,-175.2,3000,2603,3502,3552,861.5,-9.9,290,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2602,3526,3501,3551,0,0,0,0,0,0,26.18,26.25,26.25
$GC,6900,-0.80,-175.2,2997,2601,3503,3550,892.3,-10.3,300,6909,0.00,2.08,0.00,0.000,516,0.000,0.025,3008,1212,3524,3499,3550,0,0,0,0,0,0,26.18,26.13,26.24
$GC,6938,-0.80,-175.2,3008,1212,3501,3549,895.3,-10.4,301,6945,0.00,2.15,0.00,0.000,1030,0.000,0.032,3000,2607,3524,3499,3549,0,0,0,0,0,0,26.18,26.12,26.20
$GC,7254,-0.80,-175.2,3000,2609,3499,3550,928.6,-10.2,312,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2607,3523,3499,3548,0,0,0,0,0,0,26.16,26.22,26.22
$GC,7554,-0.80,-175.2,3000,2608,3499,3547,958.7,-9.9,322,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2607,3522,3497,3547,0,0,0,0,0,0,26.18,26.25,26.24
$GC,7854,-0.80,-175.2,3000,2608,3496,3547,987.8,-9.7,332,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2607,3520,3496,3545,0,0,0,0,0,0,26.15,26.22,26.20
$STATE,7884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7884,begin apogee
$GC,7887,-0.17,0.0,3000,2424,3496,3547,990.8,-9.9,333,8047,0.75,0.00,148.30,1.895,10246,0.157,0.000,3211,2422,2840,2814,2866,0,0,0,0,1,0,25.83,23.99,22.96
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8049,0.80,175.2,3212,2423,2819,2870,997.8,0.0,338,8221,1.10,2.33,152.65,1.284,10756,0.132,0.025,3530,1027,2117,2111,2124,0,0,0,0,0,0,24.24,24.08,23.36
$GC,8370,0.90,243.5,3531,1027,2109,2119,989.1,7.4,349,8437,0.12,2.20,57.92,1.322,11270,0.175,0.029,3552,2425,1843,1840,1847,0,0,0,0,0,0,25.31,25.46,23.92
$GC,8761,0.90,243.5,3551,2427,1836,1832,949.2,10.7,362,8773,0.00,2.00,0.00,0.000,260,0.000,0.044,3543,3693,1833,1835,1831,0,0,0,0,0,0,25.94,25.91,25.99
$GC,8816,0.90,243.5,3543,3692,1836,1830,945.8,10.7,363,8827,0.00,1.88,0.00,0.000,1030,0.000,0.022,3551,2393,1832,1834,1830,0,0,0,0,0,0,26.06,26.02,26.07
$GC,9122,0.90,243.5,3552,2393,1834,1829,909.3,11.3,374,9129,0.00,2.05,0.00,0.000,260,0.000,0.044,3543,3694,1831,1833,1829,0,0,0,0,0,0,26.15,26.10,26.20
$GC,9173,0.90,243.5,3543,3695,1834,1830,906.1,11.6,375,9183,0.00,1.83,0.00,0.000,1030,0.000,0.022,3551,2422,1831,1833,1829,0,0,0,0,0,0,26.21,26.19,26.22
$GC,9478,0.90,243.5,3551,2421,1834,1828,867.0,11.8,386,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2422,1830,1832,1828,0,0,0,0,0,0,26.20,26.27,26.26
$GC,9778,0.90,243.5,3552,2423,1832,1829,831.3,11.8,396,9786,0.00,2.00,0.00,0.000,260,0.000,0.044,3543,3694,1828,1830,1827,0,0,0,0,0,0,26.20,26.13,26.27
$GC,9810,0.90,243.5,3543,3694,1833,1827,827.2,12.0,397,9817,0.00,1.83,0.00,0.000,1030,0.000,0.023,3551,2424,1829,1831,1828,0,0,0,0,0,0,26.25,26.22,26.25
$GC,10136,0.90,243.5,3551,2423,1839,1827,789.6,11.4,408,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2423,1828,1830,1827,0,0,0,0,0,0,26.18,26.25,26.25
$GC,10436,0.90,243.5,3552,2424,1831,1828,756.4,10.8,418,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2423,1828,1830,1826,0,0,0,0,0,0,26.19,26.25,26.25
$GC,10736,0.90,244.7,3553,2425,1830,1827,726.3,10.0,428,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2423,1827,1829,1826,0,0,0,0,0,0,26.17,26.24,26.23
$GC,11036,0.92,258.7,3552,2424,1830,1826,697.5,9.5,438,11057,0.00,2.08,11.48,1.175,8452,0.000,0.044,3543,3692,1779,1782,1776,0,0,0,0,0,0,26.17,25.90,25.07
$GC,11136,0.92,259.0,3543,3693,1781,1777,688.4,10.0,441,11148,0.00,1.85,0.00,0.000,1030,0.000,0.023,3552,2422,1778,1780,1776,0,0,0,0,0,0,26.06,26.03,26.06
$GC,11457,0.92,259.0,3552,2424,1781,1776,655.0,10.4,452,11465,0.00,2.00,0.00,0.000,260,0.000,0.044,3543,3701,1777,1779,1775,0,0,0,0,0,0,26.10,26.06,26.16
$GC,11493,0.92,259.0,3543,3701,1781,1775,651.3,10.7,453,11502,0.00,1.88,0.00,0.000,1030,0.000,0.024,3552,2423,1777,1779,1775,0,0,0,0,0,0,26.17,26.15,26.18
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$STATE,17332,end climb,SURFACE_DEPTH_REACHED
$STATE,17332,begin surface coast
$FINISH,0.8,1.022403
$STATE,17347,end surface coast,CONTROL_FINISHED_OK
$STATE,17347,begin surface
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$IRIDIUM_FIX,1340.85,14549.04,110108,121609
$TT8_MAMPS,0.053928,0.053928
$HUMID,35.19
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.70
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$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,17319.36 7161.55
$PA_BOOTCOUNT,891
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$PA_HOME,0.05/0.086/1.856/1.676
$PA_DISK_BANK,0
$24V_AH,22.96,21.368
$10V_AH,10.09,30.832
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229068
$DATA_FILE_SIZE,33500,808
$CAP_FILE_SIZE,151068,0
$CFSIZE,1024393216,1009745920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
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