version: 66.12
glider: 204
mission: 15
dive: 102
start: 3 20 115 2 54 0
data:
$ID,204
$MISSION,15
$DIVE,102
$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,46
$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
$GPS1,200315,024735,1413.1949,14548.5254,30,0.8,30,1.1,0.0,0.0,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.0
$GPS2,200315,025349,1413.1753,14548.4980,6,0.8,6,1.1,0.0,0.0,10,12.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,74.5,123036,-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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,91,-0.80,-175.2,189,2619,799,801,0.0,0.0,0,139,0.00,0.00,-45.78,0.000,16386,0.000,0.000,188,2620,2043,2021,2065,0,0,0,0,0,0,26.14,28.83,26.21
$GC,141,-0.80,-175.2,189,2621,2025,2069,3.1,-5.3,7,200,11.75,1.70,-38.62,0.000,18692,0.233,0.063,2994,3685,3555,3529,3582,0,0,0,0,0,0,25.70,24.56,25.88
$GC,309,-0.80,-175.2,2994,3686,3530,3586,39.9,-27.9,38,320,0.00,1.52,0.00,0.000,1030,0.000,0.021,3000,2585,3556,3529,3584,0,0,0,0,0,0,26.22,26.19,26.23
$GC,624,-0.80,-175.2,3000,2584,3531,3583,125.5,-27.7,72,632,0.00,1.75,0.00,0.000,260,0.000,0.044,2993,3692,3557,3530,3584,0,0,0,0,0,0,26.22,26.13,26.27
$GC,680,-0.80,-175.2,2993,3692,3532,3584,140.2,-29.1,77,692,0.00,1.50,0.00,0.000,1030,0.000,0.021,3000,2594,3557,3531,3584,0,0,0,0,0,0,26.27,26.25,26.28
$GC,996,-0.80,-175.2,3000,2593,3534,3585,206.0,-17.3,107,1004,0.00,2.03,0.00,0.000,516,0.000,0.027,3006,1231,3559,3533,3585,0,0,0,0,0,0,26.25,26.20,26.30
$GC,1063,-0.80,-175.2,3006,1231,3536,3585,215.5,-16.1,109,1071,0.00,2.08,0.00,0.000,1030,0.000,0.032,2997,2601,3559,3534,3585,0,0,0,0,0,0,26.24,26.17,26.26
$GC,1385,-0.80,-175.2,2998,2601,3536,3587,265.9,-14.7,120,1393,0.00,1.70,0.00,0.000,260,0.000,0.042,2989,3694,3561,3535,3587,0,0,0,0,0,0,26.26,26.17,26.31
$GC,1426,-0.80,-175.2,2989,3694,3537,3587,270.4,-14.4,121,1433,0.00,1.50,0.00,0.000,1030,0.000,0.020,2996,2600,3561,3535,3587,0,0,0,0,0,0,26.30,26.28,26.32
$GC,1747,-0.80,-175.2,2996,2600,3536,3589,316.8,-13.6,132,1755,0.00,2.00,0.00,0.000,516,0.000,0.024,3006,1231,3561,3535,3587,0,0,0,0,0,0,26.26,26.22,26.32
$GC,1778,-0.80,-175.2,3006,1232,3536,3589,320.1,-13.3,133,1786,0.00,2.08,0.00,0.000,1030,0.000,0.031,2997,2606,3561,3535,3587,0,0,0,0,0,0,26.27,26.21,26.29
$GC,2100,-0.80,-175.2,2997,2606,3537,3586,361.1,-13.0,144,2108,0.00,1.70,0.00,0.000,260,0.000,0.044,2989,3692,3563,3541,3585,0,0,0,0,0,0,26.26,26.17,26.32
$GC,2197,-0.80,-175.2,2990,3693,3536,3585,373.4,-13.2,147,2205,0.00,1.50,0.00,0.000,1030,0.000,0.021,2993,2609,3559,3535,3584,0,0,0,0,0,0,26.30,26.28,26.32
$GC,2524,-0.80,-175.2,2995,2610,3535,3581,414.5,-12.8,158,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2608,3557,3534,3580,0,0,0,0,0,0,26.25,26.31,26.31
$GC,2824,-0.80,-175.2,2995,2608,3532,3576,453.8,-13.1,168,2832,0.00,2.03,0.00,0.000,516,0.000,0.024,3004,1225,3553,3530,3577,0,0,0,0,0,0,26.22,26.21,26.27
$GC,2865,-0.80,-175.2,3005,1227,3531,3578,457.1,-12.9,169,2874,0.00,2.08,0.00,0.000,1030,0.000,0.030,2996,2602,3553,3530,3576,0,0,0,0,0,0,26.25,26.19,26.27
$GC,3178,-0.80,-175.2,2996,2602,3528,3574,495.9,-11.5,180,3185,0.00,2.05,0.00,0.000,516,0.000,0.024,3005,1228,3550,3526,3574,0,0,0,0,0,0,26.25,26.20,26.29
$GC,3199,-0.80,-175.2,3005,1227,3527,3575,495.9,-11.5,180,3206,0.00,2.08,0.00,0.000,1030,0.000,0.030,2996,2601,3550,3526,3574,0,0,0,0,0,0,26.24,26.17,26.26
$GC,3504,-0.80,-175.2,2996,2602,3524,3572,529.6,-10.0,190,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2601,3546,3522,3570,0,0,0,0,0,0,26.24,26.30,26.29
$GC,3804,-0.80,-175.2,2996,2602,3520,3569,558.3,-9.5,200,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2601,3544,3520,3568,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4104,-0.80,-175.2,2996,2602,3517,3566,588.9,-10.5,210,4115,0.00,2.05,0.00,0.000,516,0.000,0.024,3004,1227,3540,3516,3564,0,0,0,0,0,0,26.20,26.17,26.26
$GC,4143,-0.80,-175.2,3005,1228,3516,3565,592.6,-10.5,211,4151,0.00,2.12,0.00,0.000,1030,0.000,0.030,2996,2610,3540,3516,3565,0,0,0,0,0,0,26.20,26.15,26.23
$GC,4466,-0.80,-175.2,2996,2612,3514,3563,624.8,-9.6,222,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2610,3537,3513,3562,0,0,0,0,0,0,26.21,26.27,26.27
$GC,4765,-0.80,-175.2,2996,2610,3511,3559,654.5,-10.1,232,4772,0.00,1.67,0.00,0.000,260,0.000,0.044,2987,3695,3532,3505,3559,0,0,0,0,0,0,26.20,26.06,26.26
$GC,4811,-0.80,-175.2,2988,3695,3511,3558,657.7,-10.2,233,4819,0.00,1.55,0.00,0.000,1030,0.000,0.022,2994,2602,3534,3510,3558,0,0,0,0,0,0,26.24,26.20,26.25
$GC,5128,-0.80,-175.2,2994,2602,3509,3556,692.4,-10.7,244,5135,0.00,2.08,0.00,0.000,516,0.000,0.027,3004,1224,3531,3507,3556,0,0,0,0,0,0,26.17,26.13,26.23
$GC,5159,-0.80,-175.2,3005,1218,3508,3557,695.6,-10.7,245,5167,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2604,3531,3507,3556,0,0,0,0,0,0,26.17,26.10,26.19
$GC,5486,-0.80,-175.2,2995,2604,3507,3553,728.7,-10.1,256,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3529,3505,3553,0,0,0,0,0,0,26.17,26.25,26.24
$GC,5786,-0.80,-175.2,2996,2604,3504,3551,759.9,-10.5,266,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3527,3503,3551,0,0,0,0,0,0,26.17,26.24,26.22
$GC,6086,-0.80,-175.2,2995,2603,3502,3549,791.7,-10.6,276,6093,0.00,2.08,0.00,0.000,516,0.000,0.026,3004,1218,3524,3500,3549,0,0,0,0,0,0,26.15,26.08,26.21
$GC,6117,-0.80,-175.2,3003,1219,3496,3551,794.6,-10.6,277,6125,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2602,3524,3500,3549,0,0,0,0,0,0,26.15,26.09,26.18
$GC,6444,-0.80,-175.2,2996,2604,3499,3549,831.9,-11.5,288,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3522,3498,3547,0,0,0,0,0,0,26.14,26.20,26.20
$GC,6744,-0.80,-175.2,2995,2602,3498,3546,867.0,-11.7,298,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3521,3497,3546,0,0,0,0,0,0,26.15,26.22,26.20
$GC,7044,-0.80,-175.2,2996,2604,3496,3546,901.2,-11.2,308,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3520,3496,3545,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7344,-0.80,-175.2,2995,2602,3495,3544,933.6,-10.6,318,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3518,3493,3544,0,0,0,0,0,0,26.11,26.19,26.17
$GC,7644,-0.80,-175.2,2995,2602,3494,3542,964.8,-10.3,328,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3517,3493,3542,0,0,0,0,0,0,26.13,26.19,26.17
$STATE,7913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7913,begin apogee
$GC,7916,-0.17,0.0,2996,2425,3492,3541,992.4,-10.2,337,8061,0.77,0.00,137.35,1.289,10246,0.155,0.000,3213,2423,2838,2812,2865,0,0,0,0,0,0,25.69,24.73,23.97
$STATE,8062,end apogee,CONTROL_FINISHED_OK
$STATE,8062,begin climb
$GC,8063,0.80,175.2,3214,2424,2810,2862,998.0,0.0,341,8222,1.05,2.33,146.48,1.258,11012,0.138,0.028,3528,1032,2118,2112,2124,0,0,0,0,0,0,24.85,24.15,23.38
$GC,8246,1.10,379.6,3529,1033,2109,2122,999.6,2.1,348,8439,0.32,2.25,179.73,1.284,11270,0.119,0.028,3623,2420,1287,1299,1276,0,0,0,0,0,0,24.71,24.74,23.34
$GC,8758,1.10,379.6,3623,2421,1288,1259,913.9,18.7,365,8768,0.00,2.00,0.00,0.000,260,0.000,0.045,3615,3692,1272,1287,1258,0,0,0,0,0,0,25.89,25.85,25.95
$GC,8856,1.10,379.6,3615,3689,1288,1256,895.2,19.7,368,8864,0.00,1.88,0.00,0.000,1030,0.000,0.022,3623,2404,1270,1285,1256,0,0,0,0,0,0,26.06,26.04,26.08
$GC,9178,1.10,379.6,3624,2400,1286,1256,834.2,18.2,379,9185,0.00,2.05,0.00,0.000,260,0.000,0.043,3615,3705,1270,1285,1255,0,0,0,0,0,0,26.16,26.09,26.22
$GC,9219,1.10,379.6,3615,3705,1286,1254,829.1,18.5,380,9227,0.00,1.88,0.00,0.000,1030,0.000,0.023,3624,2410,1270,1285,1255,0,0,0,0,0,0,26.21,26.18,26.22
$GC,9531,1.10,379.6,3623,2405,1285,1254,768.2,18.6,391,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2406,1269,1284,1254,0,0,0,0,0,0,26.20,26.27,26.25
$GC,9831,1.10,379.6,3624,2405,1283,1253,713.0,18.5,401,9840,0.00,2.03,0.00,0.000,260,0.000,0.044,3615,3694,1268,1283,1253,0,0,0,0,0,0,26.17,26.08,26.23
$GC,9883,1.10,379.6,3616,3695,1283,1254,707.6,18.8,402,9894,0.00,1.85,0.00,0.000,1030,0.000,0.023,3624,2414,1267,1282,1253,0,0,0,0,0,0,26.22,26.15,26.24
$GC,10189,1.10,379.6,3625,2408,1283,1254,647.4,17.7,413,10200,0.00,2.03,0.00,0.000,260,0.000,0.044,3616,3693,1267,1282,1253,0,0,0,0,0,0,26.15,26.08,26.22
$GC,10269,1.10,379.6,3616,3693,1283,1252,635.9,18.3,415,10276,0.00,1.85,0.00,0.000,1030,0.000,0.024,3624,2419,1266,1281,1252,0,0,0,0,0,0,26.20,26.18,26.21
$GC,10574,1.10,379.6,3624,2414,1283,1252,578.4,17.6,425,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2415,1266,1281,1252,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10874,1.10,379.6,3624,2416,1282,1253,522.7,18.6,435,10881,0.00,2.03,0.00,0.000,260,0.000,0.044,3615,3701,1266,1281,1252,0,0,0,0,0,0,26.15,26.05,26.22
$GC,10935,1.10,379.6,3616,3701,1281,1251,511.7,19.1,437,10943,0.00,1.90,0.00,0.000,1030,0.000,0.024,3624,2411,1269,1281,1257,0,0,0,0,0,0,26.17,26.15,26.19
$GC,11262,1.10,379.6,3624,2407,1282,1252,452.6,17.1,448,11270,0.00,2.08,0.00,0.000,516,0.000,0.031,3635,1040,1266,1281,1251,0,0,0,0,0,0,26.14,26.09,26.20
$GC,11284,1.10,379.6,3635,1040,1282,1251,452.6,17.1,448,11294,0.00,2.12,0.00,0.000,1030,0.000,0.029,3626,2430,1266,1280,1252,0,0,0,0,0,0,26.13,26.08,26.15
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$STATE,14913,end climb,SURFACE_DEPTH_REACHED
$STATE,14913,begin surface coast
$FINISH,0.8,0.995816
$STATE,14932,end surface coast,CONTROL_FINISHED_OK
$STATE,14932,begin surface
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$IRIDIUM_FIX,1407.51,14536.02,140108,161531
$TT8_MAMPS,0.056175,0.056175
$HUMID,35.46
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.90
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,14925.06 6501.34
$PA_BOOTCOUNT,907
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$PA_DISK_BANK,1
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$10V_AH,10.08,31.971
$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,500.644,0.000,0.000,0.000,0.000,0.000,15343.671,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229640
$DATA_FILE_SIZE,33535,744
$CAP_FILE_SIZE,128189,0
$CFSIZE,1024393216,1008205824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,200315,070423,1413.525,14550.513,37,0.7,37,1.1,0.0,0.0,10,13.3