version: 66.12
glider: 204
mission: 15
dive: 40
start: 3 7 115 20 54 14
data:
$ID,204
$MISSION,15
$DIVE,40
$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,87
$R_STBD_OVSHOOT,60
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,070315,204505,1332.7526,14508.7637,33,0.7,33,1.1,0.0,0.0,11,15.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.2
$GPS2,070315,205404,1332.7870,14508.6816,7,0.8,7,1.1,0.0,125.5,10,10.9
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,84.8,131020,-15.8,-10.000,-19.55,2669
$D_GRID,1441
$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,93,-0.80,-175.2,193,2629,795,779,0.0,0.0,0,146,0.00,0.00,-50.30,0.000,16386,0.000,0.000,192,2628,2165,2134,2196,0,0,0,0,0,0,26.75,28.83,26.83
$GC,147,-0.80,-175.2,192,2628,2128,2196,3.1,-5.4,8,199,11.30,2.05,-32.45,0.000,18948,0.232,0.041,3012,1218,3555,3526,3585,0,0,0,0,0,0,26.28,25.33,26.51
$GC,259,-0.80,-175.2,3013,1219,3528,3586,27.7,-24.7,28,266,0.00,2.08,0.00,0.000,1030,0.000,0.033,3004,2579,3555,3526,3585,0,0,0,0,0,0,26.65,26.62,26.68
$GC,570,-0.80,-175.2,3004,2581,3528,3586,117.1,-28.1,67,574,0.00,1.70,0.00,0.000,260,0.000,0.044,2995,3697,3556,3527,3585,0,0,0,0,0,0,27.00,26.75,27.05
$GC,706,-0.80,-175.2,2996,3699,3528,3586,145.7,-18.7,80,715,0.00,1.55,0.00,0.000,1030,0.000,0.021,3000,2596,3556,3527,3585,0,0,0,0,0,0,26.94,26.91,26.95
$GC,1021,-0.80,-175.2,3000,2592,3531,3588,212.6,-19.9,108,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2595,3558,3530,3587,0,0,0,0,0,0,27.13,27.20,27.18
$GC,1321,-0.80,-175.2,3000,2592,3532,3591,265.6,-16.2,118,1325,0.00,1.98,0.00,0.000,516,0.000,0.024,3010,1215,3560,3531,3590,0,0,0,0,0,0,27.18,26.99,27.24
$GC,1341,-0.80,-175.2,3009,1216,3532,3590,265.6,-16.2,118,1345,0.00,2.08,0.00,0.000,1030,0.000,0.031,3001,2603,3560,3531,3589,0,0,0,0,0,0,27.00,26.97,27.03
$GC,1651,-0.80,-175.2,3001,2605,3532,3591,313.9,-13.5,129,1655,0.00,2.00,0.00,0.000,516,0.000,0.024,3009,1225,3560,3531,3590,0,0,0,0,0,0,27.22,27.03,27.28
$GC,1691,-0.80,-175.2,3009,1224,3533,3589,318.1,-13.6,130,1695,0.00,2.05,0.00,0.000,1030,0.000,0.031,3000,2601,3560,3531,3590,0,0,0,0,0,0,27.04,27.01,27.07
$GC,2011,-0.80,-175.2,3001,2601,3532,3588,364.6,-13.9,141,2016,0.00,1.65,0.00,0.000,260,0.000,0.044,2992,3700,3558,3530,3587,0,0,0,0,0,0,27.25,27.01,27.31
$GC,2041,-0.80,-175.2,2992,3700,3532,3588,368.6,-13.7,142,2045,0.00,1.55,0.00,0.000,1030,0.000,0.022,2999,2595,3559,3531,3587,0,0,0,0,0,0,27.14,27.11,27.16
$GC,2371,-0.80,-175.2,2999,2591,3532,3583,407.8,-11.3,153,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2590,3556,3530,3582,0,0,0,0,0,0,27.27,27.34,27.33
$GC,2671,-0.80,-175.2,2999,2590,3532,3577,441.8,-11.4,163,2678,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3691,3553,3531,3576,0,0,0,0,0,0,27.28,27.05,27.35
$GC,2702,-0.80,-175.2,2992,3692,3531,3577,445.2,-11.3,164,2706,0.00,1.52,0.00,0.000,1030,0.000,0.022,2999,2592,3553,3530,3576,0,0,0,0,0,0,27.18,27.15,27.20
$GC,3032,-0.80,-175.2,2999,2592,3528,3573,483.1,-11.7,175,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2591,3550,3526,3574,0,0,0,0,0,0,27.29,27.37,27.36
$GC,3332,-0.80,-175.2,2998,2593,3523,3572,522.9,-13.8,185,3337,0.00,1.98,0.00,0.000,516,0.000,0.027,3009,1229,3546,3522,3570,0,0,0,0,0,0,27.30,27.10,27.36
$GC,3381,-0.80,-175.2,3009,1228,3523,3570,527.2,-14.0,186,3386,0.00,2.05,0.00,0.000,1030,0.000,0.031,3000,2599,3546,3522,3570,0,0,0,0,0,0,27.13,27.10,27.14
$GC,3692,-0.80,-175.2,3000,2601,3518,3568,575.7,-14.8,197,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2605,3542,3518,3566,0,0,0,0,0,0,27.32,27.39,27.38
$GC,3992,-0.80,-175.2,3000,2601,3515,3565,616.5,-13.1,207,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2600,3538,3514,3563,0,0,0,0,0,0,27.32,27.39,27.39
$GC,4292,-0.80,-175.2,3001,2601,3512,3563,653.4,-12.1,217,4296,0.00,1.65,0.00,0.000,260,0.000,0.046,2992,3692,3536,3511,3561,0,0,0,0,0,0,27.32,27.06,27.39
$GC,4321,-0.80,-175.2,2992,3691,3512,3560,657.1,-12.1,218,4327,0.00,1.52,0.00,0.000,1030,0.000,0.023,2995,2610,3535,3511,3560,0,0,0,0,0,0,27.21,27.18,27.22
$GC,4652,-0.80,-175.2,2995,2610,3509,3558,697.7,-12.4,229,4657,0.00,2.03,0.00,0.000,516,0.000,0.026,3005,1214,3532,3507,3558,0,0,0,0,0,0,27.31,27.11,27.37
$GC,4696,-0.80,-175.2,3005,1216,3508,3559,701.3,-12.3,230,4701,0.00,2.08,0.00,0.000,1030,0.000,0.033,2995,2597,3532,3507,3558,0,0,0,0,0,0,27.13,27.08,27.15
$GC,5012,-0.80,-175.2,2996,2602,3506,3554,741.3,-12.3,241,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2597,3529,3504,3554,0,0,0,0,0,0,27.29,27.35,27.35
$GC,5312,-0.80,-175.2,2996,2597,3504,3552,778.7,-12.4,251,5317,0.00,1.65,0.00,0.000,260,0.000,0.046,2987,3688,3526,3502,3551,0,0,0,0,0,0,27.27,27.04,27.34
$GC,5342,-0.80,-175.2,2987,3687,3503,3552,782.6,-12.5,252,5346,0.00,1.55,0.00,0.000,1030,0.000,0.023,2994,2589,3526,3502,3551,0,0,0,0,0,0,27.17,27.15,27.19
$GC,5672,-0.80,-175.2,2995,2591,3502,3551,823.6,-12.3,263,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3524,3500,3549,0,0,0,0,0,0,27.27,27.34,27.33
$GC,5972,-0.80,-175.2,2995,2591,3499,3550,859.1,-11.7,273,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3523,3499,3548,0,0,0,0,0,0,27.24,27.32,27.31
$GC,6272,-0.80,-175.2,2994,2589,3498,3546,892.9,-11.2,283,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3521,3497,3546,0,0,0,0,0,0,27.24,27.32,27.31
$GC,6572,-0.80,-175.2,2994,2589,3497,3544,922.6,-9.2,293,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3519,3495,3544,0,0,0,0,0,0,27.25,27.33,27.32
$GC,6872,-0.80,-175.2,2995,2591,3495,3545,948.3,-8.4,303,6876,0.00,1.70,0.00,0.000,260,0.000,0.047,2987,3692,3518,3493,3543,0,0,0,0,0,0,27.24,26.98,27.30
$GC,6902,-0.80,-175.2,2987,3692,3494,3543,950.7,-8.3,304,6907,0.00,1.52,0.00,0.000,1030,0.000,0.024,2994,2610,3518,3493,3543,0,0,0,0,0,0,27.11,27.08,27.13
$GC,7232,-0.80,-175.2,2992,2610,3491,3543,978.6,-8.5,315,7236,0.00,2.03,0.00,0.000,516,0.000,0.027,3004,1225,3516,3492,3541,0,0,0,0,0,0,27.22,27.02,27.29
$GC,7306,-0.80,-175.2,3004,1227,3491,3543,983.6,-8.4,317,7311,0.00,2.08,0.00,0.000,1030,0.000,0.032,2995,2598,3515,3490,3541,0,0,0,0,0,0,27.03,26.99,27.07
$STATE,7381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7381,begin apogee
$GC,7384,-0.17,0.0,2995,2419,3492,3541,991.1,-8.2,320,7521,0.73,0.00,134.15,1.303,10246,0.161,0.000,3207,2418,2839,2814,2864,0,0,0,0,0,0,26.77,25.10,24.40
$STATE,7523,end apogee,CONTROL_FINISHED_OK
$STATE,7523,begin climb
$GC,7523,0.80,175.2,3207,2418,2810,2858,994.0,0.0,324,7674,1.08,2.28,142.77,1.305,10756,0.143,0.029,3530,1027,2118,2115,2122,0,0,0,0,0,0,25.22,24.75,24.03
$GC,7842,0.83,197.0,3530,1028,2108,2111,978.9,9.2,335,7867,0.00,2.20,18.55,1.270,9222,0.000,0.031,3527,2420,2030,2029,2032,0,0,0,0,0,0,25.98,25.95,24.69
$GC,8188,0.85,210.7,3527,2420,2022,2020,943.6,9.5,347,8203,0.00,2.10,11.40,1.252,8708,0.000,0.028,3536,1032,1975,1975,1975,0,0,0,0,0,0,26.56,25.75,25.13
$GC,8247,0.87,221.4,3536,1032,1972,1969,938.3,9.6,349,8257,0.00,2.17,4.05,1.086,9222,0.000,0.030,3527,2426,1943,1944,1942,0,0,0,0,0,0,26.23,26.21,25.06
$GC,8573,0.90,242.3,3527,2426,1967,1944,907.1,9.2,360,8604,0.00,0.00,25.30,1.268,8198,0.000,0.000,3527,2425,1845,1847,1844,0,0,0,0,0,0,26.72,25.76,25.00
$GC,8903,0.92,255.3,3527,2426,1842,1834,876.0,9.5,371,8918,0.12,1.98,11.50,1.238,10500,0.203,0.045,3545,3696,1793,1796,1790,0,0,0,0,0,0,26.29,25.86,25.24
$GC,8982,0.92,255.3,3545,3695,1793,1788,869.2,10.3,373,8987,0.00,1.90,0.00,0.000,1030,0.000,0.024,3554,2415,1788,1791,1786,0,0,0,0,0,0,26.41,26.37,26.42
$GC,9293,0.92,255.3,3554,2413,1791,1783,833.7,10.4,384,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2414,1786,1790,1782,0,0,0,0,0,0,26.78,26.85,26.84
$GC,9593,0.95,276.5,3554,2412,1790,1781,805.2,9.2,394,9618,0.00,2.08,18.65,1.222,8452,0.000,0.047,3545,3690,1705,1707,1703,0,0,0,0,0,0,26.90,26.13,25.33
$GC,9663,0.97,293.9,3545,3693,1703,1699,799.4,9.3,396,9685,0.00,1.88,15.98,1.206,9222,0.000,0.024,3554,2417,1634,1636,1633,0,0,0,0,0,0,26.41,26.39,25.08
$GC,9983,1.01,323.7,3554,2418,1631,1624,769.1,8.9,407,10016,0.15,2.03,26.73,1.193,10500,0.135,0.044,3603,3695,1512,1516,1509,0,0,0,0,0,0,26.40,25.55,24.98
$GC,10050,1.02,324.2,3603,3696,1513,1504,761.8,10.0,409,10054,0.00,1.90,0.00,0.000,1030,0.000,0.024,3611,2427,1507,1512,1502,0,0,0,0,0,0,26.10,26.09,26.11
$GC,10375,1.02,324.2,3611,2426,1510,1497,721.2,12.4,420,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2425,1502,1509,1495,0,0,0,0,0,0,26.69,26.77,26.76
$GC,10675,1.02,324.2,3611,2426,1510,1496,678.8,14.8,430,10679,0.00,2.10,0.00,0.000,516,0.000,0.031,3621,1037,1501,1508,1494,0,0,0,0,0,0,26.84,26.67,26.90
$GC,10709,1.02,324.2,3621,1037,1509,1493,674.4,14.8,431,10714,0.00,2.12,0.00,0.000,1030,0.000,0.030,3621,2425,1501,1508,1494,0,0,0,0,0,0,26.70,26.67,26.74
$GC,11035,1.02,324.2,3621,2425,1508,1493,623.7,15.4,442,11040,0.00,1.98,0.00,0.000,260,0.000,0.046,3615,3700,1500,1507,1494,0,0,0,0,0,0,26.95,26.72,27.02
$GC,11074,1.02,324.2,3615,3700,1508,1493,618.7,15.7,443,11080,0.00,1.90,0.00,0.000,1030,0.000,0.025,3624,2409,1503,1507,1499,0,0,0,0,0,0,26.85,26.82,26.88
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$STATE,15854,end climb,SURFACE_DEPTH_REACHED
$STATE,15854,begin surface coast
$FINISH,0.6,1.008386
$STATE,15869,end surface coast,CONTROL_FINISHED_OK
$STATE,15869,begin surface
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$IRIDIUM_FIX,1325.32,14510.29,020108,101629
$TT8_MAMPS,0.179011,0.179011
$HUMID,35.23
$INTERNAL_PRESSURE,9.26244
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$XPDR_PINGS,839
$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,15852.74 6283.43
$PA_BOOTCOUNT,845
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$PA_HOME,0.04/0.077/1.856/1.685
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$10V_AH,9.97,9.034
$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,23.220,0.000,0.000,0.000,0.000,0.000,141.224,0.000,0.000,0.000
$MEM,229056
$DATA_FILE_SIZE,33356,782
$CAP_FILE_SIZE,135809,0
$CFSIZE,1024393216,1014267904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,080315,012005,1331.564,14511.032,36,0.7,36,1.1,0.6,80.6,10,15.3