version: 66.12
glider: 204
mission: 15
dive: 92
start: 3 18 115 3 27 0
data:
$ID,204
$MISSION,15
$DIVE,92
$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,76
$R_STBD_OVSHOOT,41
$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
$GPS1,180315,032108,1403.5776,14541.3955,38,0.8,38,1.1,0.3,293.3,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.9
$GPS2,180315,032649,1403.6238,14541.3535,5,0.8,5,1.1,0.0,0.0,10,13.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,333.8,16465,-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,-175.2,194,2621,818,803,0.0,0.0,0,153,0.00,0.00,-50.65,0.000,16386,0.000,0.000,194,2622,2185,2148,2223,0,0,0,0,0,0,26.14,28.83,26.21
$GC,155,-0.80,-175.2,194,2622,2151,2220,3.1,-3.4,5,210,11.75,1.65,-29.42,0.000,18692,0.232,0.057,2999,3698,3553,3525,3582,0,0,0,0,0,0,25.79,25.39,26.05
$GC,391,-0.80,-175.2,3000,3699,3526,3585,63.3,-28.2,37,409,0.00,1.60,0.00,0.000,1030,0.000,0.021,3005,2585,3554,3525,3583,0,0,0,0,0,0,26.18,26.17,26.19
$GC,702,-0.80,-175.2,3004,2585,3528,3584,146.8,-20.7,68,708,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2584,3555,3526,3584,0,0,0,0,0,0,26.22,26.28,26.27
$GC,1024,-0.80,-175.2,3005,2586,3532,3585,206.1,-17.6,98,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2585,3557,3531,3584,0,0,0,0,0,0,26.25,26.31,26.30
$GC,1323,-0.80,-175.2,3005,2585,3534,3585,254.6,-15.0,108,1330,0.00,1.70,0.00,0.000,260,0.000,0.043,2998,3697,3559,3533,3586,0,0,0,0,0,0,26.27,26.21,26.33
$GC,1369,-0.80,-175.2,2998,3698,3533,3587,259.3,-14.8,109,1379,0.00,1.52,0.00,0.000,1030,0.000,0.021,3005,2598,3559,3533,3585,0,0,0,0,0,0,26.31,26.25,26.32
$GC,1687,-0.80,-175.2,3004,2598,3534,3587,306.0,-14.0,120,1695,0.00,1.73,0.00,0.000,260,0.000,0.044,2998,3693,3559,3533,3586,0,0,0,0,0,0,26.27,26.20,26.32
$GC,1739,-0.80,-175.2,2997,3694,3534,3587,310.0,-13.7,121,1746,0.00,1.52,0.00,0.000,1030,0.000,0.021,3004,2589,3559,3533,3586,0,0,0,0,0,0,26.34,26.31,26.34
$GC,2050,-0.80,-175.2,3005,2590,3533,3587,351.6,-13.3,132,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2589,3559,3533,3585,0,0,0,0,0,0,26.27,26.34,26.32
$GC,2350,-0.80,-175.2,3005,2590,3533,3583,390.5,-12.5,142,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2588,3557,3533,3582,0,0,0,0,0,0,26.28,26.34,26.34
$GC,2650,-0.80,-175.2,3004,2588,3533,3578,428.9,-12.7,152,2661,0.00,2.00,0.00,0.000,516,0.000,0.024,3012,1221,3558,3538,3578,0,0,0,0,0,0,26.26,26.26,26.32
$GC,2720,-0.80,-175.2,3012,1220,3532,3578,435.8,-12.0,154,2728,0.00,2.08,0.00,0.000,1030,0.000,0.029,3003,2602,3553,3530,3577,0,0,0,0,0,0,26.29,26.23,26.31
$GC,3037,-0.80,-175.2,3004,2602,3528,3575,472.5,-11.6,165,3045,0.00,1.70,0.00,0.000,260,0.000,0.044,2995,3689,3550,3526,3575,0,0,0,0,0,0,26.27,26.19,26.32
$GC,3179,-0.80,-175.2,2995,3689,3527,3573,487.5,-12.2,169,3186,0.00,1.55,0.00,0.000,1030,0.000,0.022,3002,2609,3549,3525,3574,0,0,0,0,0,0,26.31,26.29,26.32
$GC,3490,-0.80,-175.2,3002,2609,3523,3570,523.9,-10.9,180,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2610,3546,3522,3571,0,0,0,0,0,0,26.25,26.34,26.32
$GC,3790,-0.80,-175.2,3003,2611,3519,3568,557.1,-11.2,190,3798,0.00,1.67,0.00,0.000,260,0.000,0.044,2995,3693,3543,3519,3567,0,0,0,0,0,0,26.23,26.15,26.31
$GC,3841,-0.80,-175.2,2995,3694,3518,3569,560.8,-11.2,191,3848,0.00,1.55,0.00,0.000,1030,0.000,0.023,3006,2589,3542,3518,3567,0,0,0,0,0,0,26.30,26.28,26.31
$GC,4152,-0.80,-175.2,3002,2589,3517,3564,600.0,-12.1,202,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2589,3541,3518,3564,0,0,0,0,0,0,26.23,26.29,26.28
$GC,4452,-0.80,-175.2,3002,2589,3514,3561,635.1,-11.4,212,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2589,3537,3513,3562,0,0,0,0,0,0,26.24,26.30,26.29
$GC,4752,-0.80,-175.2,3002,2590,3510,3561,668.0,-11.1,222,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2589,3534,3509,3559,0,0,0,0,0,0,26.21,26.28,26.27
$GC,5052,-0.80,-175.2,3003,2590,3508,3558,700.2,-10.5,232,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2589,3531,3507,3555,0,0,0,0,0,0,26.21,26.29,26.27
$GC,5352,-0.80,-175.2,3002,2589,3506,3554,730.7,-10.0,242,5360,0.00,1.73,0.00,0.000,260,0.000,0.044,2995,3694,3530,3505,3555,0,0,0,0,0,0,26.21,26.09,26.27
$GC,5398,-0.80,-175.2,2995,3694,3506,3554,733.9,-10.0,243,5405,0.00,1.55,0.00,0.000,1030,0.000,0.023,3002,2608,3529,3504,3554,0,0,0,0,0,0,26.27,26.22,26.27
$GC,5714,-0.80,-175.2,3002,2608,3504,3551,765.6,-9.4,254,5723,0.00,2.10,0.00,0.000,516,0.000,0.025,3011,1204,3527,3503,3551,0,0,0,0,0,0,26.20,26.15,26.24
$GC,5751,-0.80,-175.2,3011,1203,3504,3551,768.6,-9.3,255,5759,0.00,2.15,0.00,0.000,1030,0.000,0.030,3003,2608,3526,3502,3551,0,0,0,0,0,0,26.20,26.12,26.22
$GC,6073,-0.80,-175.2,3002,2609,3502,3549,800.3,-10.0,266,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2608,3524,3500,3549,0,0,0,0,0,0,26.19,26.26,26.25
$GC,6373,-0.80,-175.2,3002,2609,3500,3548,832.1,-10.9,276,6380,0.00,1.67,0.00,0.000,260,0.000,0.046,2995,3692,3523,3499,3548,0,0,0,0,0,0,26.18,26.05,26.24
$GC,6419,-0.80,-175.2,2996,3692,3499,3547,835.6,-11.2,277,6426,0.00,1.58,0.00,0.000,1030,0.000,0.022,3002,2585,3523,3499,3547,0,0,0,0,0,0,26.23,26.18,26.25
$GC,6735,-0.80,-175.2,3002,2585,3498,3546,874.1,-11.7,288,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2585,3521,3497,3546,0,0,0,0,0,0,26.17,26.24,26.23
$GC,7035,-0.80,-175.2,3001,2584,3497,3544,909.8,-12.0,298,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2585,3523,3502,3544,0,0,0,0,0,0,26.16,26.23,26.22
$GC,7335,-0.80,-175.2,3001,2584,3494,3543,943.9,-11.0,308,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2585,3518,3493,3543,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7635,-0.80,-175.2,3001,2581,3493,3543,973.9,-9.6,318,7643,0.00,2.05,0.00,0.000,516,0.000,0.026,3008,1209,3517,3492,3542,0,0,0,0,0,0,26.14,26.07,26.20
$GC,7672,-0.80,-175.2,3009,1210,3492,3543,976.2,-9.4,319,7679,0.00,2.15,0.00,0.000,1030,0.000,0.031,3000,2602,3517,3492,3542,0,0,0,0,0,0,26.13,26.06,26.15
$STATE,7837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7837,begin apogee
$GC,7840,-0.17,0.0,3000,2426,3492,3541,992.1,-9.0,325,7985,0.75,0.00,137.02,1.271,10246,0.155,0.000,3211,2424,2838,2811,2865,0,0,0,0,0,0,25.78,24.80,24.05
$STATE,7986,end apogee,CONTROL_FINISHED_OK
$STATE,7986,begin climb
$GC,7987,0.80,175.2,3213,2424,2810,2859,996.4,0.0,329,8146,1.05,2.22,146.43,1.291,11012,0.135,0.043,3513,3691,2119,2114,2124,0,0,0,0,0,0,24.94,24.14,23.40
$GC,8270,0.86,219.9,3513,3692,2112,2115,987.2,8.3,339,8317,0.00,1.90,38.05,1.274,9222,0.000,0.021,3521,2418,1939,1938,1940,0,0,0,0,0,0,25.44,25.41,24.04
$GC,8626,0.89,239.9,3521,2418,1931,1924,954.2,9.2,351,8653,0.12,2.10,16.70,1.261,10500,0.154,0.043,3548,3695,1856,1857,1856,0,0,0,0,0,0,25.77,25.56,24.72
$GC,8681,0.92,256.1,3548,3696,1856,1854,951.2,9.4,352,8704,0.00,1.88,14.75,1.261,9222,0.000,0.022,3557,2414,1794,1796,1793,0,0,0,0,0,0,25.82,25.79,24.62
$GC,9013,0.92,256.1,3557,2414,1788,1780,911.5,10.7,364,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2414,1783,1787,1780,0,0,0,0,0,0,26.08,26.15,26.15
$GC,9313,0.92,256.1,3557,2415,1787,1780,880.2,10.5,374,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2414,1782,1786,1779,0,0,0,0,0,0,26.17,26.24,26.23
$GC,9613,0.92,256.1,3557,2413,1786,1778,848.8,10.7,384,9620,0.00,2.03,0.00,0.000,260,0.000,0.044,3553,3694,1781,1785,1778,0,0,0,0,0,0,26.20,26.10,26.26
$GC,9694,0.92,256.1,3549,3695,1786,1781,842.1,11.4,386,9704,0.00,1.85,0.00,0.000,1030,0.000,0.023,3557,2407,1781,1785,1778,0,0,0,0,0,0,26.24,26.21,26.25
$GC,10000,0.92,256.1,3557,2407,1785,1779,804.4,11.4,397,10011,0.00,2.03,0.00,0.000,260,0.000,0.044,3548,3693,1784,1791,1777,0,0,0,0,0,0,26.13,26.12,26.18
$GC,10075,0.92,256.1,3548,3693,1793,1777,796.9,11.9,399,10083,0.00,1.83,0.00,0.000,1030,0.000,0.024,3557,2429,1781,1784,1778,0,0,0,0,0,0,26.23,26.20,26.25
$GC,10392,0.92,256.1,3557,2426,1784,1776,757.2,12.2,410,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2426,1780,1783,1777,0,0,0,0,0,0,26.17,26.24,26.23
$GC,10692,0.92,256.1,3556,2426,1784,1776,721.9,11.5,420,10697,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2426,1779,1782,1776,0,0,0,0,0,0,26.15,26.22,26.21
$GC,10992,0.92,256.1,3557,2426,1783,1776,689.4,10.2,430,11002,0.00,2.00,0.00,0.000,260,0.000,0.044,3548,3694,1779,1782,1776,0,0,0,0,0,0,26.15,26.06,26.21
$GC,11092,0.92,256.1,3549,3695,1783,1778,679.7,10.5,433,11099,0.00,1.88,0.00,0.000,1030,0.000,0.023,3557,2406,1779,1782,1776,0,0,0,0,0,0,26.20,26.17,26.21
$GC,11408,0.92,256.1,3557,2408,1782,1778,647.4,10.2,444,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2402,1778,1781,1776,0,0,0,0,0,0,26.13,26.20,26.20
$GC,11708,0.92,256.1,3557,2402,1781,1777,614.8,10.9,454,11716,0.00,2.05,0.00,0.000,260,0.000,0.044,3548,3702,1779,1782,1776,0,0,0,0,0,0,26.13,26.03,26.18
$GC,11775,0.92,256.1,3548,3703,1782,1777,607.5,11.3,456,11782,0.00,1.88,0.00,0.000,1030,0.000,0.024,3557,2421,1778,1781,1776,0,0,0,0,0,0,26.17,26.15,26.19
$GC,12096,0.92,256.1,3557,2422,1782,1777,573.4,10.2,467,12104,0.00,2.10,0.00,0.000,516,0.000,0.030,3567,1032,1778,1781,1776,0,0,0,0,0,0,26.13,26.08,26.18
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$STATE,17358,end climb,SURFACE_DEPTH_REACHED
$STATE,17358,begin surface coast
$FINISH,0.9,1.008056
$STATE,17374,end surface coast,CONTROL_FINISHED_OK
$STATE,17374,begin surface
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$IRIDIUM_FIX,1354.17,14540.37,120108,164852
$TT8_MAMPS,0.055426,0.055426
$HUMID,35.58
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.60
$XPDR_PINGS,0
$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,17351.51 7133.27
$PA_BOOTCOUNT,897
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$PA_HOME,0.05/0.087/1.856/1.675
$PA_DISK_BANK,0
$24V_AH,23.40,24.234
$10V_AH,10.08,31.261
$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
$DEVICE_SECS,24.075,103.525,540.450,5.950,0.000,0.000,0.000,261.525,0.000,17747.051,7.004,0.000,13862.121,564.782,3207.581,96.263,0.000,2223.911,0.000,1722.226,0.000,0.548,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229012
$DATA_FILE_SIZE,33475,806
$CAP_FILE_SIZE,147260,0
$CFSIZE,1024393216,1009172480
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