version: 66.12
glider: 204
mission: 15
dive: 108
start: 3 21 115 6 58 45
data:
$ID,204
$MISSION,15
$DIVE,108
$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,78
$R_STBD_OVSHOOT,49
$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
$GPS1,210315,065259,1415.2983,14559.8047,38,0.7,38,1.1,0.0,0.0,10,14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.5
$GPS2,210315,065835,1415.3160,14559.7480,5,1.2,5,1.1,0.0,0.0,5,19.8
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,82.6,102495,-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,-175.2,198,2615,809,807,0.0,0.0,0,151,0.00,0.00,-49.83,0.000,16386,0.000,0.000,197,2616,2169,2137,2202,0,0,0,0,0,0,26.13,28.83,26.19
$GC,152,-0.80,-175.2,197,2616,2139,2202,3.2,-5.2,7,201,11.75,2.10,-30.62,0.000,18948,0.234,0.042,3008,1220,3555,3528,3583,0,0,0,0,0,0,25.71,24.54,25.87
$GC,235,-0.80,-175.2,3009,1220,3531,3584,20.4,-24.9,22,242,0.00,2.12,0.00,0.000,1030,0.000,0.032,3001,2580,3556,3529,3584,0,0,0,0,0,0,26.12,26.09,26.16
$GC,548,-0.80,-175.2,3001,2582,3531,3586,106.3,-28.8,64,556,0.00,1.70,0.00,0.000,260,0.000,0.043,2992,3697,3557,3530,3585,0,0,0,0,0,0,26.20,26.11,26.26
$GC,630,-0.80,-175.2,2993,3698,3531,3586,128.6,-25.5,72,637,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2571,3558,3531,3585,0,0,0,0,0,0,26.25,26.22,26.26
$GC,941,-0.80,-175.2,2999,2568,3535,3586,193.0,-18.4,103,949,0.00,1.75,0.00,0.000,260,0.000,0.044,2992,3702,3559,3533,3585,0,0,0,0,0,0,26.23,26.12,26.28
$GC,977,-0.80,-175.2,2992,3702,3534,3586,199.3,-19.9,106,987,0.00,1.52,0.00,0.000,1030,0.000,0.021,2999,2610,3559,3533,3586,0,0,0,0,0,0,26.26,26.24,26.27
$GC,1283,-0.80,-175.2,2999,2610,3537,3588,250.1,-15.8,117,1290,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3701,3562,3535,3589,0,0,0,0,0,0,26.26,26.13,26.32
$GC,1353,-0.80,-175.2,2992,3699,3536,3589,259.4,-15.7,119,1360,0.00,1.55,0.00,0.000,1030,0.000,0.022,2999,2586,3562,3535,3589,0,0,0,0,0,0,26.28,26.26,26.29
$GC,1674,-0.80,-175.2,2998,2585,3536,3590,306.9,-13.8,130,1682,0.00,2.00,0.00,0.000,516,0.000,0.025,3009,1227,3562,3535,3589,0,0,0,0,0,0,26.25,26.20,26.31
$GC,1741,-0.80,-175.2,3009,1225,3537,3589,314.2,-13.1,132,1749,0.00,2.08,0.00,0.000,1030,0.000,0.029,3000,2609,3562,3535,3589,0,0,0,0,0,0,26.25,26.20,26.27
$GC,2058,-0.80,-175.2,3001,2610,3536,3590,356.0,-12.6,143,2065,0.00,1.65,0.00,0.000,260,0.000,0.044,2992,3691,3562,3535,3589,0,0,0,0,0,0,26.25,26.15,26.30
$GC,2099,-0.80,-175.2,2993,3693,3537,3590,360.0,-12.5,144,2106,0.00,1.52,0.00,0.000,1030,0.000,0.021,2999,2589,3562,3535,3589,0,0,0,0,0,0,26.24,26.22,26.25
$GC,2420,-0.80,-175.2,2999,2589,3536,3585,403.4,-13.3,155,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2589,3560,3535,3585,0,0,0,0,0,0,26.25,26.32,26.30
$GC,2720,-0.80,-175.2,2999,2589,3536,3581,441.3,-12.7,165,2727,0.00,2.00,0.00,0.000,516,0.000,0.024,3008,1228,3557,3535,3580,0,0,0,0,0,0,26.23,26.19,26.29
$GC,2776,-0.80,-175.2,3007,1228,3535,3582,448.2,-12.3,167,2786,0.00,2.10,0.00,0.000,1030,0.000,0.029,3000,2603,3557,3533,3581,0,0,0,0,0,0,26.17,26.10,26.20
$GC,3106,-0.80,-175.2,3001,2605,3530,3578,486.9,-11.6,178,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2603,3555,3530,3581,0,0,0,0,0,0,26.24,26.30,26.29
$GC,3406,-0.80,-175.2,3000,2605,3527,3576,522.3,-11.7,188,3414,0.00,1.67,0.00,0.000,260,0.000,0.043,2992,3695,3549,3526,3573,0,0,0,0,0,0,26.22,26.10,26.29
$GC,3483,-0.80,-175.2,2998,3695,3528,3573,529.9,-12.0,190,3490,0.00,1.52,0.00,0.000,1030,0.000,0.022,2998,2608,3549,3525,3573,0,0,0,0,0,0,26.27,26.23,26.27
$GC,3799,-0.80,-175.2,2998,2608,3523,3570,567.0,-11.3,201,3807,0.00,2.08,0.00,0.000,516,0.000,0.024,3008,1209,3546,3522,3570,0,0,0,0,0,0,26.20,26.17,26.26
$GC,3836,-0.80,-175.2,3008,1211,3522,3571,570.4,-11.1,202,3844,0.00,2.15,0.00,0.000,1030,0.000,0.031,2999,2604,3546,3522,3570,0,0,0,0,0,0,26.20,26.13,26.22
$GC,4158,-0.80,-175.2,3000,2606,3519,3568,605.8,-10.9,213,4165,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3693,3543,3519,3567,0,0,0,0,0,0,26.21,26.06,26.27
$GC,4183,-0.80,-175.2,2992,3694,3519,3568,605.8,-10.9,213,4193,0.00,1.55,0.00,0.000,1030,0.000,0.022,2998,2590,3542,3518,3566,0,0,0,0,0,0,26.25,26.22,26.27
$GC,4489,-0.80,-175.2,2999,2594,3516,3565,641.1,-10.6,224,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2589,3540,3516,3564,0,0,0,0,0,0,26.20,26.27,26.26
$GC,4789,-0.80,-175.2,2998,2590,3514,3562,672.7,-10.5,234,4796,0.00,2.03,0.00,0.000,516,0.000,0.025,3008,1227,3537,3513,3562,0,0,0,0,0,0,26.17,26.11,26.23
$GC,4855,-0.80,-175.2,3008,1228,3513,3563,678.6,-10.3,236,4863,0.00,2.10,0.00,0.000,1030,0.000,0.029,3000,2603,3536,3511,3562,0,0,0,0,0,0,26.17,26.11,26.20
$GC,5177,-0.80,-175.2,3000,2602,3511,3558,713.3,-10.5,247,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3534,3510,3558,0,0,0,0,0,0,26.18,26.25,26.24
$GC,5477,-0.80,-175.2,3000,2603,3507,3558,745.2,-10.7,257,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3531,3507,3556,0,0,0,0,0,0,26.17,26.24,26.22
$GC,5777,-0.80,-175.2,2999,2604,3507,3556,776.9,-10.3,267,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3528,3506,3551,0,0,0,0,0,0,26.15,26.22,26.22
$GC,6077,-0.80,-175.2,2999,2602,3505,3557,807.6,-10.2,277,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2602,3528,3504,3552,0,0,0,0,0,0,26.13,26.21,26.20
$GC,6377,-0.80,-175.2,2999,2603,3503,3551,837.7,-10.1,287,6384,0.00,2.08,0.00,0.000,516,0.000,0.024,3008,1217,3526,3502,3551,0,0,0,0,0,0,26.14,26.06,26.20
$GC,6413,-0.80,-175.2,3007,1217,3502,3551,840.2,-9.9,288,6421,0.00,2.12,0.00,0.000,1030,0.000,0.031,2999,2600,3526,3501,3551,0,0,0,0,0,0,26.10,26.05,26.13
$GC,6730,-0.80,-175.2,2999,2600,3501,3549,871.2,-9.3,299,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2600,3524,3500,3549,0,0,0,0,0,0,26.13,26.20,26.19
$GC,7030,-0.80,-175.2,2999,2601,3501,3548,899.6,-9.3,309,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2600,3523,3499,3548,0,0,0,0,0,0,26.15,26.21,26.20
$GC,7330,-0.80,-175.2,3000,2602,3498,3548,928.7,-9.8,319,7338,0.00,1.75,0.00,0.000,260,0.000,0.045,2991,3694,3521,3497,3546,0,0,0,0,0,0,26.13,25.96,26.20
$GC,7386,-0.80,-175.2,2991,3695,3498,3547,932.0,-10.1,320,7397,0.00,1.55,0.00,0.000,1030,0.000,0.023,2997,2602,3521,3497,3546,0,0,0,0,0,0,26.15,26.12,26.16
$GC,7692,-0.80,-175.2,2997,2601,3497,3544,965.7,-10.2,331,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2602,3520,3496,3545,0,0,0,0,0,0,26.10,26.17,26.16
$STATE,7931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7931,begin apogee
$GC,7934,-0.17,0.0,2999,2426,3494,3545,990.3,-10.2,339,8086,0.75,0.00,138.77,1.275,10246,0.156,0.000,3209,2423,2835,2809,2861,0,0,0,0,0,0,25.66,24.69,23.92
$STATE,8087,end apogee,CONTROL_FINISHED_OK
$STATE,8087,begin climb
$GC,8088,0.80,175.2,3210,2425,2808,2861,997.6,0.0,344,8248,1.08,2.35,147.05,1.265,11012,0.136,0.026,3532,1028,2117,2112,2123,0,0,0,0,0,0,24.87,24.12,23.35
$GC,8297,1.03,334.4,3532,1028,2108,2118,996.7,3.9,351,8449,0.28,2.25,137.60,1.256,11270,0.137,0.028,3609,2420,1472,1479,1465,0,0,0,0,0,0,24.87,24.94,23.35
$GC,8742,1.03,334.4,3609,2421,1475,1450,928.4,16.9,366,8750,0.00,2.00,0.00,0.000,260,0.000,0.044,3601,3693,1459,1469,1449,0,0,0,0,0,0,25.89,25.82,25.95
$GC,8799,1.03,334.4,3601,3693,1470,1449,918.1,17.5,368,8806,0.00,1.90,0.00,0.000,1030,0.000,0.022,3610,2396,1458,1468,1448,0,0,0,0,0,0,26.01,25.98,26.01
$GC,9130,1.03,334.4,3610,2392,1469,1448,861.1,17.1,379,9138,0.00,2.05,0.00,0.000,260,0.000,0.044,3602,3693,1457,1467,1448,0,0,0,0,0,0,26.12,26.07,26.18
$GC,9182,1.03,334.4,3602,3692,1469,1447,856.2,17.4,380,9193,0.00,1.85,0.00,0.000,1030,0.000,0.022,3610,2405,1457,1467,1447,0,0,0,0,0,0,26.20,26.17,26.21
$GC,9487,1.03,334.4,3610,2402,1467,1445,799.2,17.0,391,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2403,1456,1466,1446,0,0,0,0,0,0,26.17,26.25,26.24
$GC,9787,1.03,334.4,3610,2404,1467,1445,748.4,16.9,401,9795,0.00,2.05,0.00,0.000,260,0.000,0.043,3602,3705,1454,1465,1444,0,0,0,0,0,0,26.17,26.08,26.23
$GC,9824,1.03,334.4,3602,3706,1466,1446,743.7,17.0,402,9832,0.00,1.85,0.00,0.000,1030,0.000,0.024,3610,2427,1455,1466,1444,0,0,0,0,0,0,26.20,26.18,26.21
$GC,10146,1.03,334.4,3610,2424,1466,1443,688.4,16.6,413,10154,0.00,2.03,0.00,0.000,260,0.000,0.043,3602,3702,1454,1465,1443,0,0,0,0,0,0,26.16,26.06,26.22
$GC,10172,1.03,334.4,3601,3701,1466,1443,688.4,16.6,413,10182,0.00,1.85,0.00,0.000,1030,0.000,0.023,3610,2419,1454,1465,1443,0,0,0,0,0,0,26.20,26.17,26.21
$GC,10478,1.03,334.4,3610,2417,1465,1443,636.0,15.5,424,10485,0.00,2.10,0.00,0.000,516,0.000,0.030,3621,1037,1453,1464,1443,0,0,0,0,0,0,26.15,26.10,26.21
$GC,10504,1.03,334.4,3621,1036,1465,1443,632.0,15.3,425,10512,0.00,2.12,0.00,0.000,1030,0.000,0.029,3619,2425,1453,1463,1443,0,0,0,0,0,0,26.14,26.08,26.16
$GC,10831,1.03,334.4,3619,2425,1464,1443,582.2,15.2,436,10838,0.00,2.00,0.00,0.000,260,0.000,0.044,3614,3695,1453,1463,1443,0,0,0,0,0,0,26.13,26.02,26.20
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$STATE,15343,end climb,SURFACE_DEPTH_REACHED
$STATE,15343,begin surface coast
$FINISH,0.7,1.008329
$STATE,15353,end surface coast,CONTROL_FINISHED_OK
$STATE,15353,begin surface
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$IRIDIUM_FIX,1409.73,14601.93,150108,202045
$TT8_MAMPS,0.053928,0.053928
$HUMID,35.82
$INTERNAL_PRESSURE,9.26244
$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,15334.76 6582.44
$PA_BOOTCOUNT,913
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$PA_HOME,0.05/0.090/1.856/1.672
$PA_DISK_BANK,1
$24V_AH,23.35,31.793
$10V_AH,10.08,32.389
$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,24.225,100.300,534.150,8.200,0.000,0.000,0.000,250.350,0.000,15726.711,6.550,0.000,12207.547,580.280,2821.315,94.862,0.000,2064.654,0.000,1562.895,0.000,0.548,0.000
$DEVICE_MAMPS,234.090,53.550,1275.255,122.400,0.000,0.000,0.000,89.505,420.000,63.368,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,502.260,0.000,0.000,0.000,0.000,0.000,15726.650,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.328,0.000,0.000,0.000
$MEM,229080
$DATA_FILE_SIZE,33440,746
$CAP_FILE_SIZE,129459,0
$CFSIZE,1024393216,1007616000
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