version: 66.12
glider: 204
mission: 15
dive: 105
start: 3 20 115 16 25 29
data:
$ID,204
$MISSION,15
$DIVE,105
$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,66
$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
$GPS1,200315,161904,1414.2618,14553.9795,28,0.7,28,1.1,0.0,0.0,12,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.6
$GPS2,200315,162519,1414.2540,14553.9229,5,0.7,5,1.1,0.5,53.7,11,11.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,74.1,113118,-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,-175.2,177,2634,808,807,0.0,0.0,0,139,0.00,0.00,-43.53,0.000,16386,0.000,0.000,176,2634,1979,1956,2002,0,0,0,0,0,0,26.13,28.83,26.20
$GC,141,-0.80,-175.2,176,2634,1957,2003,3.3,-6.9,7,201,11.90,2.15,-38.88,0.000,18948,0.235,0.041,3012,1225,3555,3527,3584,0,0,0,0,0,0,25.73,24.54,26.02
$GC,324,-0.80,-175.2,3012,1227,3530,3586,41.8,-23.9,41,335,0.00,2.05,0.00,0.000,1030,0.000,0.032,3003,2578,3557,3529,3585,0,0,0,0,0,0,26.20,26.14,26.22
$GC,640,-0.80,-175.2,3003,2579,3530,3586,124.3,-25.9,75,647,0.00,1.70,0.00,0.000,260,0.000,0.043,2995,3695,3559,3529,3589,0,0,0,0,0,0,26.22,26.13,26.28
$GC,716,-0.80,-175.2,2995,3696,3530,3587,143.8,-28.0,82,726,0.00,1.52,0.00,0.000,1030,0.000,0.021,3002,2586,3557,3529,3585,0,0,0,0,0,0,26.28,26.26,26.29
$GC,1021,-0.80,-175.2,3001,2586,3533,3587,206.2,-19.2,111,1029,0.00,1.98,0.00,0.000,516,0.000,0.024,3008,1235,3559,3532,3586,0,0,0,0,0,0,26.25,26.22,26.30
$GC,1078,-0.80,-175.2,3008,1240,3534,3585,215.8,-18.2,113,1086,0.00,2.08,0.00,0.000,1030,0.000,0.032,3000,2603,3559,3533,3586,0,0,0,0,0,0,26.24,26.17,26.26
$GC,1405,-0.80,-175.2,3000,2603,3535,3588,266.2,-15.1,124,1416,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3706,3562,3535,3589,0,0,0,0,0,0,26.21,26.13,26.26
$GC,1514,-0.80,-175.2,2992,3708,3535,3591,280.4,-14.7,127,1521,0.00,1.52,0.00,0.000,1030,0.000,0.021,2997,2608,3562,3534,3590,0,0,0,0,0,0,26.32,26.27,26.31
$GC,1830,-0.80,-175.2,2997,2608,3535,3591,327.5,-14.1,138,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3562,3535,3590,0,0,0,0,0,0,26.27,26.34,26.32
$GC,2130,-0.80,-175.2,2997,2607,3536,3588,365.4,-11.6,148,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3561,3534,3588,0,0,0,0,0,0,26.26,26.32,26.31
$GC,2430,-0.80,-175.2,2997,2607,3536,3584,402.2,-12.9,158,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3561,3539,3584,0,0,0,0,0,0,26.26,26.33,26.32
$GC,2731,-0.80,-175.2,2997,2608,3534,3581,447.2,-15.5,168,2738,0.00,1.67,0.00,0.000,260,0.000,0.042,2990,3700,3556,3533,3579,0,0,0,0,0,0,26.26,26.15,26.32
$GC,2771,-0.80,-175.2,2990,3699,3534,3579,452.0,-15.6,169,2778,0.00,1.55,0.00,0.000,1030,0.000,0.023,2995,2591,3556,3533,3579,0,0,0,0,0,0,26.29,26.27,26.30
$GC,3092,-0.80,-175.2,2995,2591,3530,3576,499.2,-13.3,180,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2590,3552,3528,3576,0,0,0,0,0,0,26.24,26.30,26.29
$GC,3392,-0.80,-175.2,2995,2590,3527,3574,536.5,-12.4,190,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2590,3549,3525,3573,0,0,0,0,0,0,26.17,26.22,26.23
$GC,3692,-0.80,-175.2,2995,2591,3524,3570,572.2,-11.7,200,3700,0.00,1.73,0.00,0.000,260,0.000,0.044,2988,3704,3545,3521,3570,0,0,0,0,0,0,26.22,26.10,26.28
$GC,3748,-0.80,-175.2,2989,3704,3523,3569,575.9,-11.7,201,3758,0.00,1.58,0.00,0.000,1030,0.000,0.023,2995,2590,3545,3522,3569,0,0,0,0,0,0,26.28,26.25,26.29
$GC,4054,-0.80,-175.2,2995,2590,3519,3567,612.4,-10.5,212,4065,0.00,2.03,0.00,0.000,516,0.000,0.025,3004,1208,3542,3518,3566,0,0,0,0,0,0,26.22,26.17,26.27
$GC,4108,-0.80,-175.2,3005,1210,3518,3568,615.3,-10.2,213,4119,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2603,3541,3517,3566,0,0,0,0,0,0,26.20,26.14,26.23
$GC,4414,-0.80,-175.2,2996,2604,3515,3564,649.6,-10.5,224,4423,0.00,1.73,0.00,0.000,260,0.000,0.044,2987,3695,3538,3514,3563,0,0,0,0,0,0,26.21,26.10,26.27
$GC,4491,-0.80,-175.2,2988,3695,3515,3562,656.5,-10.8,226,4498,0.00,1.55,0.00,0.000,1030,0.000,0.022,2994,2590,3538,3514,3563,0,0,0,0,0,0,26.26,26.22,26.27
$GC,4807,-0.80,-175.2,2994,2589,3512,3560,691.3,-10.5,237,4815,0.00,1.75,0.00,0.000,260,0.000,0.044,2988,3690,3535,3510,3560,0,0,0,0,0,0,26.20,26.08,26.26
$GC,4858,-0.80,-175.2,2987,3690,3511,3559,694.7,-10.6,238,4865,0.00,1.52,0.00,0.000,1030,0.000,0.022,2994,2594,3534,3510,3559,0,0,0,0,0,0,26.24,26.21,26.25
$GC,5169,-0.80,-175.2,2995,2595,3508,3558,729.0,-10.3,249,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2593,3535,3514,3557,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5469,-0.80,-175.2,2994,2594,3506,3556,760.9,-10.7,259,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2593,3530,3506,3554,0,0,0,0,0,0,26.20,26.26,26.26
$GC,5769,-0.80,-175.2,2994,2593,3505,3552,793.8,-11.2,269,5777,0.00,1.75,0.00,0.000,260,0.000,0.045,2987,3701,3528,3504,3552,0,0,0,0,0,0,26.18,26.01,26.23
$GC,5840,-0.80,-175.2,2987,3701,3506,3551,800.8,-11.4,271,5847,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2612,3527,3504,3551,0,0,0,0,0,0,26.21,26.18,26.22
$GC,6161,-0.80,-175.2,2994,2612,3503,3550,837.7,-11.2,282,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2612,3525,3501,3550,0,0,0,0,0,0,26.15,26.22,26.21
$GC,6461,-0.80,-175.2,2994,2614,3500,3550,871.2,-11.1,292,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2612,3524,3499,3549,0,0,0,0,0,0,26.16,26.23,26.22
$GC,6761,-0.80,-175.2,2994,2614,3499,3548,904.3,-11.0,302,6769,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3698,3522,3498,3547,0,0,0,0,0,0,26.17,26.01,26.22
$GC,6803,-0.80,-175.2,2987,3699,3498,3547,908.1,-11.1,303,6810,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2590,3522,3498,3546,0,0,0,0,0,0,26.16,26.13,26.17
$GC,7124,-0.80,-175.2,2994,2590,3498,3544,942.2,-10.1,314,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3520,3496,3544,0,0,0,0,0,0,26.12,26.19,26.17
$GC,7424,-0.80,-175.2,2994,2590,3496,3544,972.1,-10.0,324,7431,0.00,1.73,0.00,0.000,260,0.000,0.044,2987,3693,3518,3493,3544,0,0,0,0,0,0,26.14,25.97,26.20
$GC,7476,-0.80,-175.2,2987,3694,3495,3545,975.4,-10.0,325,7484,0.00,1.60,0.00,0.000,1030,0.000,0.023,2994,2596,3518,3494,3543,0,0,0,0,0,0,26.15,26.13,26.16
$STATE,7607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7607,begin apogee
$GC,7611,-0.17,0.0,2994,2436,3490,3542,991.4,-10.4,330,7770,0.77,0.00,146.80,1.953,10246,0.157,0.000,3213,2434,2839,2814,2865,0,0,0,0,1,0,25.70,23.91,22.88
$STATE,7771,end apogee,CONTROL_FINISHED_OK
$STATE,7771,begin climb
$GC,7772,0.80,175.2,3213,2436,2825,2869,999.6,0.0,335,7935,1.10,2.30,151.07,1.199,11012,0.133,0.029,3529,1045,2120,2115,2125,0,0,0,0,0,0,24.22,24.14,23.42
$GC,8074,0.96,288.1,3529,1040,2109,2119,996.9,5.7,345,8185,0.20,2.17,94.57,1.242,11270,0.158,0.028,3577,2424,1659,1661,1657,0,0,0,0,0,0,25.25,25.45,23.73
$GC,8479,0.96,288.1,3577,2424,1655,1646,951.0,11.9,359,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2424,1650,1654,1646,0,0,0,0,0,0,25.93,25.99,25.98
$GC,8779,0.96,288.1,3577,2424,1654,1644,914.9,12.3,369,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2424,1648,1652,1644,0,0,0,0,0,0,26.15,26.22,26.22
$GC,9080,0.96,288.1,3577,2424,1652,1644,876.5,13.2,379,9087,0.00,1.98,0.00,0.000,260,0.000,0.044,3570,3690,1647,1652,1643,0,0,0,0,0,0,26.19,26.11,26.25
$GC,9121,0.96,288.1,3570,3691,1652,1645,872.7,13.5,380,9128,0.00,1.85,0.00,0.000,1030,0.000,0.022,3578,2404,1647,1651,1644,0,0,0,0,0,0,26.23,26.20,26.24
$GC,9432,0.96,288.1,3577,2400,1651,1643,826.8,14.5,391,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2400,1646,1650,1643,0,0,0,0,0,0,26.19,26.26,26.25
$GC,9732,0.96,288.1,3577,2400,1651,1642,784.3,13.9,401,9740,0.00,2.08,0.00,0.000,516,0.000,0.031,3588,1042,1645,1649,1642,0,0,0,0,0,0,26.18,26.14,26.25
$GC,9759,0.96,288.1,3588,1043,1648,1643,784.3,13.9,401,9769,0.00,2.12,0.00,0.000,1030,0.000,0.029,3586,2432,1645,1648,1642,0,0,0,0,0,0,26.18,26.13,26.21
$GC,10064,0.96,288.1,3587,2434,1649,1643,739.1,13.4,412,10072,0.00,1.98,0.00,0.000,260,0.000,0.043,3587,3696,1643,1648,1638,0,0,0,0,0,0,26.18,26.07,26.24
$GC,10101,0.96,288.1,3586,3696,1649,1641,735.3,13.5,413,10109,0.00,1.85,0.00,0.000,1030,0.000,0.023,3595,2427,1645,1648,1642,0,0,0,0,0,0,26.20,26.17,26.21
$GC,10423,0.96,288.1,3597,2423,1648,1643,690.9,13.1,424,10431,0.00,2.12,0.00,0.000,516,0.000,0.029,3606,1022,1644,1647,1641,0,0,0,0,0,0,26.15,26.11,26.21
$GC,10484,0.96,288.1,3607,1023,1646,1642,683.5,13.0,426,10492,0.00,2.15,0.00,0.000,1030,0.000,0.028,3606,2427,1643,1645,1641,0,0,0,0,0,0,26.15,26.08,26.18
$GC,10806,0.96,288.1,3607,2427,1647,1641,640.4,13.3,437,10814,0.00,1.98,0.00,0.000,260,0.000,0.044,3606,3691,1643,1646,1641,0,0,0,0,0,0,26.15,26.03,26.20
$GC,10878,0.96,288.1,3606,3692,1647,1642,631.1,14.0,439,10886,0.12,1.85,0.00,0.000,5126,0.182,0.023,3586,2406,1644,1647,1641,0,0,0,0,0,0,25.80,26.15,26.01
$GC,11195,0.96,288.1,3586,2405,1649,1640,589.5,12.4,450,11203,0.00,2.08,0.00,0.000,516,0.000,0.031,3596,1050,1643,1646,1640,0,0,0,0,0,0,26.13,26.05,26.20
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$STATE,16487,end climb,SURFACE_DEPTH_REACHED
$STATE,16487,begin surface coast
$FINISH,0.9,1.004959
$STATE,16502,end surface coast,CONTROL_FINISHED_OK
$STATE,16502,begin surface
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$IRIDIUM_FIX,1409.73,14552.06,150108,005324
$TT8_MAMPS,0.055426,0.055426
$HUMID,35.15
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.60
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16531.95 7077.16
$PA_BOOTCOUNT,910
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$PA_DISK_BANK,1
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$10V_AH,10.10,32.181
$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,24.700,115.575,558.900,0.000,0.000,0.000,0.000,287.575,0.000,16906.949,6.636,0.000,13173.215,622.830,3045.636,99.580,0.000,2241.830,0.000,1688.358,0.000,0.548,0.000
$DEVICE_MAMPS,234.855,55.845,1953.045,0.000,0.000,0.000,0.000,87.975,420.000,63.254,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229076
$DATA_FILE_SIZE,33445,785
$CAP_FILE_SIZE,141746,0
$CFSIZE,1024393216,1007894528
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$GPS,200315,210235,1414.902,14555.562,31,0.8,31,1.1,0.6,253.3,10,6.9