version: 66.12
glider: 204
mission: 15
dive: 57
start: 3 11 115 3 31 50
data:
$ID,204
$MISSION,15
$DIVE,57
$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,79
$R_STBD_OVSHOOT,59
$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
$GPS1,110315,032359,1320.1674,14544.2598,36,0.8,36,1.3,0.7,234.2,9,14.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.4
$GPS2,110315,033140,1320.0475,14544.1680,6,0.8,6,1.3,0.6,253.0,10,13.4
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,102.1,62840,-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,-175.2,192,2636,810,802,0.0,0.0,0,149,0.00,0.00,-49.60,0.000,16386,0.000,0.000,191,2637,2158,2126,2190,0,0,0,0,0,0,26.82,28.83,26.89
$GC,151,-0.80,-175.2,192,2638,2127,2191,3.0,-4.9,7,205,11.43,2.15,-33.35,0.000,18948,0.233,0.042,3011,1208,3556,3527,3585,0,0,0,0,0,0,26.27,25.22,26.53
$GC,314,-0.80,-175.2,3011,1207,3530,3585,39.6,-27.1,37,328,0.00,2.05,0.00,0.000,1030,0.000,0.033,3003,2587,3557,3529,3585,0,0,0,0,0,0,26.74,26.68,26.77
$GC,632,-0.80,-175.2,3003,2587,3530,3584,132.5,-27.9,71,640,0.00,1.98,0.00,0.000,516,0.000,0.026,3008,1216,3554,3524,3585,0,0,0,0,0,0,27.05,26.84,27.10
$GC,658,-0.80,-175.2,3009,1217,3529,3587,138.4,-28.1,73,670,0.00,2.05,0.00,0.000,1030,0.000,0.033,3000,2602,3560,3536,3585,0,0,0,0,0,0,26.88,26.82,26.91
$GC,964,-0.80,-175.2,3000,2604,3533,3587,194.4,-15.9,104,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3559,3531,3588,0,0,0,0,0,0,27.14,27.20,27.18
$GC,1274,-0.80,-175.2,3000,2605,3534,3592,244.4,-15.5,117,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3561,3533,3590,0,0,0,0,0,0,27.19,27.25,27.25
$GC,1574,-0.80,-175.2,2999,2605,3535,3591,291.3,-16.5,127,1582,0.00,1.65,0.00,0.000,260,0.000,0.044,2991,3696,3561,3533,3590,0,0,0,0,0,0,27.22,26.96,27.28
$GC,1611,-0.80,-175.2,2991,3700,3534,3590,296.6,-16.5,128,1619,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2586,3561,3533,3590,0,0,0,0,0,0,27.10,27.10,27.12
$GC,1937,-0.80,-175.2,2998,2585,3534,3588,343.8,-13.5,139,1946,0.00,1.92,0.00,0.000,516,0.000,0.024,3008,1216,3561,3533,3589,0,0,0,0,0,0,27.25,27.05,27.32
$GC,1989,-0.80,-175.2,3009,1217,3534,3590,347.3,-13.4,140,1999,0.00,2.03,0.00,0.000,1030,0.000,0.031,2999,2607,3560,3533,3588,0,0,0,0,0,0,27.08,27.03,27.11
$GC,2294,-0.80,-175.2,3000,2609,3534,3584,387.0,-11.7,151,2302,0.00,1.98,0.00,0.000,516,0.000,0.026,3008,1219,3558,3533,3583,0,0,0,0,0,0,27.27,27.06,27.34
$GC,2321,-0.80,-175.2,3008,1220,3534,3584,387.0,-11.7,151,2331,0.00,2.03,0.00,0.000,1030,0.000,0.030,2999,2613,3557,3533,3582,0,0,0,0,0,0,27.10,27.04,27.13
$GC,2626,-0.80,-175.2,2999,2613,3534,3577,425.2,-11.9,162,2634,0.00,1.58,0.00,0.000,260,0.000,0.044,2991,3691,3554,3532,3577,0,0,0,0,0,0,27.29,27.01,27.34
$GC,2693,-0.80,-175.2,2991,3691,3533,3577,432.8,-12.0,164,2700,0.00,1.50,0.00,0.000,1030,0.000,0.022,2997,2563,3553,3531,3576,0,0,0,0,0,0,27.17,27.15,27.19
$GC,3019,-0.80,-175.2,2998,2563,3528,3573,472.3,-12.2,175,3026,0.00,1.88,0.00,0.000,516,0.000,0.025,3007,1232,3550,3527,3574,0,0,0,0,0,0,27.29,27.08,27.36
$GC,3052,-0.80,-175.2,3008,1231,3527,3574,476.1,-12.2,176,3062,0.00,1.98,0.00,0.000,1030,0.000,0.031,2999,2596,3550,3526,3574,0,0,0,0,0,0,27.09,27.06,27.13
$GC,3381,-0.80,-175.2,3000,2596,3523,3570,515.8,-11.8,187,3388,0.00,1.65,0.00,0.000,260,0.000,0.044,2991,3691,3546,3522,3571,0,0,0,0,0,0,27.30,27.03,27.36
$GC,3422,-0.80,-175.2,2991,3692,3523,3571,519.5,-11.7,188,3429,0.00,1.50,0.00,0.000,1030,0.000,0.023,2997,2608,3546,3522,3570,0,0,0,0,0,0,27.18,27.15,27.19
$GC,3742,-0.80,-175.2,2997,2610,3519,3568,557.1,-11.5,199,3750,0.00,1.98,0.00,0.000,516,0.000,0.026,3008,1210,3543,3520,3567,0,0,0,0,0,0,27.31,27.09,27.37
$GC,3774,-0.80,-175.2,3008,1210,3519,3567,560.6,-11.5,200,3782,0.00,2.05,0.00,0.000,1030,0.000,0.031,2999,2609,3542,3518,3567,0,0,0,0,0,0,27.13,27.06,27.15
$GC,4101,-0.80,-175.2,2999,2609,3516,3563,599.1,-12.0,211,4108,0.00,2.00,0.00,0.000,516,0.000,0.027,3007,1219,3538,3514,3563,0,0,0,0,0,0,27.32,27.08,27.38
$GC,4127,-0.80,-175.2,3008,1218,3514,3564,599.1,-12.0,211,4137,0.00,2.03,0.00,0.000,1030,0.000,0.031,2998,2601,3538,3514,3563,0,0,0,0,0,0,27.13,27.07,27.16
$GC,4432,-0.80,-175.2,2999,2598,3512,3561,639.0,-11.9,222,4442,0.00,1.62,0.00,0.000,260,0.000,0.045,2990,3702,3536,3511,3561,0,0,0,0,0,0,27.32,27.02,27.38
$GC,4490,-0.80,-175.2,2991,3704,3512,3562,643.1,-12.1,223,4501,0.00,1.50,0.00,0.000,1030,0.000,0.024,2995,2609,3535,3511,3560,0,0,0,0,0,0,27.19,27.15,27.20
$GC,4795,-0.80,-175.2,2995,2610,3509,3557,680.9,-11.2,234,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2610,3533,3508,3558,0,0,0,0,0,0,27.32,27.39,27.39
$GC,5095,-0.80,-175.2,2995,2611,3507,3556,713.4,-10.7,244,5103,0.00,2.00,0.00,0.000,516,0.000,0.026,3005,1202,3530,3505,3555,0,0,0,0,0,0,27.32,27.08,27.39
$GC,5177,-0.80,-175.2,3005,1203,3505,3556,719.4,-10.7,246,5187,0.00,2.05,0.00,0.000,1030,0.000,0.031,2992,2603,3529,3504,3554,0,0,0,0,0,0,27.13,27.07,27.16
$GC,5482,-0.80,-175.2,2996,2604,3504,3553,753.7,-10.5,257,5490,0.00,1.60,0.00,0.000,260,0.000,0.044,2987,3691,3527,3503,3552,0,0,0,0,0,0,27.32,27.02,27.38
$GC,5509,-0.80,-175.2,2988,3692,3504,3553,753.7,-10.5,257,5519,0.00,1.50,0.00,0.000,1030,0.000,0.024,2994,2581,3527,3503,3551,0,0,0,0,0,0,27.19,27.16,27.21
$GC,5814,-0.80,-175.2,2995,2582,3502,3552,787.2,-9.8,268,5822,0.00,1.92,0.00,0.000,516,0.000,0.027,3004,1225,3525,3501,3550,0,0,0,0,0,0,27.32,27.08,27.38
$GC,5846,-0.80,-175.2,3004,1225,3502,3550,790.3,-9.8,269,5853,0.00,2.03,0.00,0.000,1030,0.000,0.031,2995,2609,3525,3501,3550,0,0,0,0,0,0,27.13,27.06,27.15
$GC,6172,-0.80,-175.2,2995,2611,3500,3550,821.9,-9.9,280,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2609,3523,3499,3548,0,0,0,0,0,0,27.32,27.39,27.38
$GC,6472,-0.80,-175.2,2996,2610,3498,3548,852.0,-10.1,290,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2609,3522,3497,3547,0,0,0,0,0,0,27.32,27.40,27.39
$GC,6772,-0.80,-175.2,2995,2610,3497,3546,883.7,-10.7,300,6780,0.00,2.00,0.00,0.000,516,0.000,0.028,3004,1219,3520,3496,3545,0,0,0,0,0,0,27.33,27.07,27.39
$GC,6804,-0.80,-175.2,3003,1218,3497,3544,886.6,-10.8,301,6812,0.00,2.03,0.00,0.000,1030,0.000,0.031,2995,2598,3520,3496,3545,0,0,0,0,0,0,27.12,27.05,27.15
$GC,7125,-0.80,-175.2,2995,2600,3494,3545,922.8,-11.3,312,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3518,3493,3544,0,0,0,0,0,0,27.32,27.39,27.39
$GC,7425,-0.80,-175.2,2995,2599,3493,3542,957.4,-11.6,322,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2599,3517,3492,3542,0,0,0,0,0,0,27.32,27.39,27.39
$STATE,7725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7725,begin apogee
$GC,7728,-0.17,0.0,2995,2425,3492,3541,992.0,-11.5,332,7871,0.73,0.00,135.23,1.287,10246,0.160,0.000,3207,2423,2839,2813,2865,0,0,0,0,0,0,26.68,25.13,24.43
$STATE,7872,end apogee,CONTROL_FINISHED_OK
$STATE,7872,begin climb
$GC,7873,0.80,175.2,3207,2424,2810,2858,998.8,0.0,336,8031,1.05,2.22,141.80,1.266,10756,0.140,0.028,3528,1047,2116,2111,2121,0,0,0,0,0,0,25.30,24.75,24.03
$GC,8165,0.95,277.5,3529,1048,2104,2111,995.1,6.1,346,8259,0.17,2.12,84.40,1.291,11270,0.164,0.030,3568,2427,1707,1709,1705,0,0,0,0,0,0,25.70,25.87,24.14
$GC,8568,0.95,277.5,3568,2426,1693,1683,947.7,12.3,360,8577,0.00,1.95,0.00,0.000,260,0.000,0.045,3560,3689,1687,1692,1683,0,0,0,0,0,0,26.47,26.24,26.53
$GC,8660,0.95,277.5,3560,3690,1693,1684,935.6,13.3,363,8670,0.00,1.80,0.00,0.000,1030,0.000,0.023,3568,2421,1687,1691,1683,0,0,0,0,0,0,26.49,26.46,26.51
$GC,8989,0.95,277.5,3569,2420,1691,1682,894.7,12.1,374,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2418,1685,1690,1681,0,0,0,0,0,0,26.84,26.91,26.91
$GC,9289,0.95,277.5,3568,2418,1690,1679,859.3,11.7,384,9297,0.00,1.95,0.00,0.000,260,0.000,0.044,3560,3695,1684,1689,1680,0,0,0,0,0,0,26.96,26.70,27.03
$GC,9340,0.95,277.5,3560,3694,1691,1680,856.1,11.7,385,9350,0.00,1.80,0.00,0.000,1030,0.000,0.023,3569,2404,1684,1689,1680,0,0,0,0,0,0,26.86,26.84,26.89
$GC,9645,0.95,277.5,3565,2402,1688,1680,817.2,11.8,396,9653,0.00,1.98,0.00,0.000,260,0.000,0.044,3560,3691,1683,1687,1680,0,0,0,0,0,0,27.05,26.79,27.12
$GC,9676,0.95,277.5,3560,3692,1688,1679,813.6,12.0,397,9684,0.00,1.77,0.00,0.000,1030,0.000,0.024,3569,2421,1683,1687,1680,0,0,0,0,0,0,26.94,26.91,26.96
$GC,10004,0.95,277.5,3569,2418,1683,1679,773.0,12.3,408,10016,0.00,1.95,0.00,0.000,260,0.000,0.044,3560,3700,1682,1685,1679,0,0,0,0,0,0,27.10,26.84,27.17
$GC,10044,0.95,277.5,3560,3701,1688,1679,769.2,12.3,409,10052,0.00,1.80,0.00,0.000,1030,0.000,0.025,3569,2423,1682,1686,1679,0,0,0,0,0,0,26.99,26.96,27.01
$GC,10360,0.95,277.5,3569,2423,1686,1680,729.7,11.9,420,10369,0.00,2.05,0.00,0.000,516,0.000,0.031,3579,1023,1681,1685,1678,0,0,0,0,0,0,27.15,26.94,27.22
$GC,10397,0.95,277.5,3579,1024,1685,1680,725.7,12.0,421,10405,0.00,2.08,0.00,0.000,1030,0.000,0.031,3570,2422,1681,1684,1678,0,0,0,0,0,0,26.98,26.92,27.01
$GC,10719,0.95,277.5,3570,2422,1686,1678,685.9,12.1,432,10726,0.00,1.92,0.00,0.000,260,0.000,0.046,3560,3699,1681,1685,1678,0,0,0,0,0,0,27.17,26.89,27.24
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$STATE,16909,end climb,SURFACE_DEPTH_REACHED
$STATE,16909,begin surface coast
$FINISH,0.7,1.022314
$STATE,16924,end surface coast,CONTROL_FINISHED_OK
$STATE,16924,begin surface
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$IRIDIUM_FIX,1312.02,14544.79,050108,165347
$TT8_MAMPS,0.158788,0.158788
$HUMID,36.13
$INTERNAL_PRESSURE,9.23314
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16953.64 7258.61
$PA_BOOTCOUNT,862
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$PA_HOME,0.04/0.080/1.856/1.682
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$10V_AH,9.93,20.722
$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,23.220,0.000,0.000,0.000,0.000,0.000,139.421,0.000,0.000,0.000
$MEM,229072
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