version: 66.12
glider: 204
mission: 15
dive: 82
start: 3 16 115 3 15 7
data:
$ID,204
$MISSION,15
$DIVE,82
$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,45
$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
$GPS1,160315,030835,1335.1768,14559.0469,33,1.0,33,1.3,1.3,46.3,8,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.3
$GPS2,160315,031456,1335.2616,14558.9951,20,0.8,20,1.3,0.7,33.2,10,6.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,318.9,77776,-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,-175.2,204,2620,814,801,0.0,0.0,0,152,0.00,0.00,-52.45,0.000,16386,0.000,0.000,203,2620,2230,2189,2272,0,0,0,0,0,0,26.18,28.83,26.25
$GC,154,-0.80,-175.2,204,2622,2191,2273,3.2,-4.0,6,200,11.77,1.65,-29.77,0.000,19204,0.236,0.061,2998,3691,3555,3528,3582,0,0,0,0,0,0,25.84,24.76,26.10
$GC,435,-0.80,-175.2,2998,3691,3529,3585,78.2,-29.0,47,444,0.00,1.52,0.00,0.000,1030,0.000,0.021,3004,2575,3556,3528,3585,0,0,0,0,0,0,26.30,26.25,26.31
$GC,748,-0.80,-175.2,3005,2571,3532,3584,149.2,-21.1,78,756,0.00,1.95,0.00,0.000,516,0.000,0.027,3010,1243,3557,3530,3585,0,0,0,0,0,0,26.28,26.26,26.34
$GC,829,-0.80,-175.2,3010,1244,3529,3586,164.9,-19.2,85,840,0.00,2.05,0.00,0.000,1030,0.000,0.032,3001,2601,3558,3532,3585,0,0,0,0,0,0,26.30,26.25,26.32
$GC,1155,-0.80,-175.2,3001,2602,3535,3587,221.3,-16.3,110,1163,0.00,2.03,0.00,0.000,516,0.000,0.024,3008,1237,3560,3534,3586,0,0,0,0,0,0,26.30,26.28,26.36
$GC,1187,-0.80,-175.2,3008,1236,3536,3586,226.6,-16.1,111,1195,0.00,2.08,0.00,0.000,1030,0.000,0.033,2999,2606,3560,3534,3586,0,0,0,0,0,0,26.32,26.27,26.34
$GC,1514,-0.80,-175.2,3000,2607,3537,3586,271.9,-13.0,122,1521,0.00,1.65,0.00,0.000,260,0.000,0.044,2991,3695,3560,3535,3586,0,0,0,0,0,0,26.31,26.24,26.36
$GC,1565,-0.80,-175.2,2990,3695,3535,3586,276.7,-13.7,123,1572,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2602,3560,3535,3586,0,0,0,0,0,0,26.36,26.34,26.36
$GC,1876,-0.80,-175.2,2995,2602,3536,3586,324.9,-14.3,134,1883,0.00,1.67,0.00,0.000,260,0.000,0.045,2988,3694,3558,3530,3586,0,0,0,0,0,0,26.31,26.23,26.36
$GC,1916,-0.80,-175.2,2988,3694,3536,3586,329.1,-13.9,135,1924,0.00,1.52,0.00,0.000,1030,0.000,0.021,2994,2589,3561,3537,3586,0,0,0,0,0,0,26.37,26.34,26.37
$GC,2238,-0.80,-175.2,2994,2590,3535,3584,370.8,-12.9,146,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2589,3559,3535,3584,0,0,0,0,0,0,26.31,26.38,26.37
$GC,2537,-0.80,-175.2,2994,2589,3534,3580,416.9,-15.5,156,2545,0.00,2.00,0.00,0.000,516,0.000,0.024,3004,1221,3556,3533,3580,0,0,0,0,0,0,26.30,26.29,26.36
$GC,2569,-0.80,-175.2,3004,1220,3533,3575,420.8,-15.1,157,2579,0.00,2.10,0.00,0.000,1030,0.000,0.030,2996,2614,3556,3533,3580,0,0,0,0,0,0,26.32,26.27,26.34
$GC,2894,-0.80,-175.2,2996,2616,3530,3577,464.8,-13.0,168,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2614,3552,3528,3576,0,0,0,0,0,0,26.30,26.36,26.36
$GC,3194,-0.80,-175.2,2996,2615,3526,3574,502.8,-12.3,178,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2614,3549,3525,3573,0,0,0,0,0,0,26.29,26.36,26.35
$GC,3494,-0.80,-175.2,2996,2614,3523,3570,536.6,-10.8,188,3502,0.00,1.65,0.00,0.000,260,0.000,0.044,2987,3693,3546,3522,3570,0,0,0,0,0,0,26.28,26.20,26.34
$GC,3530,-0.80,-175.2,2988,3694,3522,3571,539.8,-10.6,189,3537,0.00,1.52,0.00,0.000,1030,0.000,0.023,2994,2608,3545,3521,3569,0,0,0,0,0,0,26.33,26.31,26.34
$GC,3856,-0.80,-175.2,2993,2608,3519,3566,573.5,-10.3,200,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3542,3518,3566,0,0,0,0,0,0,26.26,26.32,26.32
$GC,4156,-0.80,-175.2,2994,2608,3516,3564,607.4,-12.0,210,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2609,3539,3514,3564,0,0,0,0,0,0,26.27,26.34,26.33
$GC,4456,-0.80,-175.2,2994,2608,3513,3561,645.0,-12.6,220,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3536,3512,3561,0,0,0,0,0,0,26.26,26.32,26.32
$GC,4756,-0.80,-175.2,2994,2608,3510,3558,682.0,-12.1,230,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3534,3509,3559,0,0,0,0,0,0,26.23,26.29,26.29
$GC,5056,-0.80,-175.2,2994,2608,3508,3556,717.3,-11.5,240,5064,0.00,2.08,0.00,0.000,516,0.000,0.025,3004,1222,3531,3506,3556,0,0,0,0,0,0,26.25,26.20,26.31
$GC,5102,-0.80,-175.2,3004,1217,3507,3557,720.9,-11.6,241,5110,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2603,3531,3506,3556,0,0,0,0,0,0,26.26,26.20,26.27
$GC,5414,-0.80,-175.2,2996,2607,3506,3554,760.0,-12.3,252,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3529,3505,3553,0,0,0,0,0,0,26.24,26.29,26.29
$GC,5714,-0.80,-175.2,2995,2603,3504,3551,798.1,-12.9,262,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3527,3503,3551,0,0,0,0,0,0,26.22,26.29,26.29
$GC,6014,-0.80,-175.2,2995,2603,3502,3550,834.9,-12.0,272,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2608,3525,3501,3550,0,0,0,0,0,0,26.21,26.29,26.27
$GC,6314,-0.80,-175.2,2995,2603,3500,3549,868.3,-11.0,282,6321,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3701,3523,3498,3549,0,0,0,0,0,0,26.20,26.09,26.26
$GC,6364,-0.80,-175.2,2987,3703,3500,3550,871.8,-10.9,283,6372,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2601,3524,3499,3549,0,0,0,0,0,0,26.22,26.20,26.24
$GC,6676,-0.80,-175.2,2994,2603,3498,3548,904.6,-9.3,294,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3521,3496,3547,0,0,0,0,0,0,26.19,26.25,26.25
$GC,6976,-0.80,-175.2,2994,2602,3497,3545,931.9,-9.1,304,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3520,3496,3545,0,0,0,0,0,0,26.20,26.27,26.25
$GC,7276,-0.80,-175.2,2993,2601,3495,3544,959.8,-9.5,314,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3518,3493,3544,0,0,0,0,0,0,26.19,26.25,26.25
$GC,7576,-0.80,-175.2,2994,2603,3493,3544,989.1,-9.9,324,7584,0.00,2.08,0.00,0.000,516,0.000,0.027,3004,1209,3517,3492,3543,0,0,0,0,0,0,26.17,26.13,26.25
$STATE,7601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7606,-0.17,0.0,2997,2421,3493,3544,991.8,-10.0,325,7751,0.75,0.00,138.10,1.283,10246,0.157,0.000,3208,2421,2838,2811,2865,0,0,0,0,0,0,25.86,24.85,24.13
$STATE,7752,end apogee,CONTROL_FINISHED_OK
$STATE,7752,begin climb
$GC,7753,0.80,175.2,3209,2420,2809,2860,996.8,0.0,329,7911,1.08,2.33,145.38,1.271,10756,0.138,0.028,3530,1038,2120,2114,2126,0,0,0,0,0,0,25.00,24.20,23.49
$GC,8075,0.90,243.0,3531,1040,2105,2117,988.7,7.4,340,8143,0.12,2.17,57.08,1.286,11270,0.177,0.029,3551,2427,1848,1847,1850,0,0,0,0,0,0,25.37,25.53,24.06
$GC,8440,0.90,243.0,3551,2426,1836,1830,949.0,10.8,352,8448,0.00,2.00,0.00,0.000,260,0.000,0.045,3543,3695,1832,1834,1830,0,0,0,0,0,0,25.94,25.91,26.01
$GC,8477,0.90,243.0,3542,3695,1835,1829,945.8,11.0,353,8484,0.00,1.85,0.00,0.000,1030,0.000,0.023,3550,2422,1832,1834,1830,0,0,0,0,0,0,26.03,26.02,26.05
$GC,8793,0.90,243.0,3551,2422,1833,1830,909.7,11.0,364,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,2422,1831,1833,1829,0,0,0,0,0,0,26.15,26.22,26.25
$GC,9093,0.90,243.0,3551,2423,1833,1829,877.4,10.7,374,9101,0.00,2.00,0.00,0.000,260,0.000,0.044,3543,3694,1830,1832,1828,0,0,0,0,0,0,26.19,26.13,26.25
$GC,9170,0.90,243.0,3543,3696,1832,1828,870.2,11.1,376,9177,0.00,1.85,0.00,0.000,1030,0.000,0.023,3551,2406,1829,1831,1828,0,0,0,0,0,0,26.25,26.22,26.26
$GC,9481,0.90,243.0,3551,2405,1832,1826,834.5,11.1,387,9489,0.00,2.03,0.00,0.000,260,0.000,0.044,3542,3691,1829,1831,1827,0,0,0,0,0,0,26.20,26.13,26.26
$GC,9587,0.90,243.0,3542,3692,1832,1826,824.3,11.6,390,9597,0.00,1.85,0.00,0.000,1030,0.000,0.024,3550,2422,1828,1830,1827,0,0,0,0,0,0,26.25,26.22,26.26
$GC,9901,0.90,243.0,3552,2421,1831,1825,787.9,10.7,401,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2422,1827,1830,1825,0,0,0,0,0,0,26.20,26.26,26.25
$GC,10201,0.90,243.0,3550,2422,1830,1825,756.6,10.4,411,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2422,1827,1829,1825,0,0,0,0,0,0,26.19,26.26,26.25
$GC,10501,0.90,243.0,3551,2423,1829,1826,726.4,10.1,421,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2421,1826,1828,1824,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10801,0.90,243.9,3551,2423,1829,1826,696.2,10.0,431,10812,0.00,2.00,0.00,0.000,260,0.000,0.044,3542,3693,1826,1828,1824,0,0,0,0,0,0,26.17,26.10,26.23
$GC,10846,0.90,243.9,3548,3692,1830,1824,693.0,10.1,432,10853,0.00,1.85,0.00,0.000,1030,0.000,0.023,3551,2412,1826,1829,1824,0,0,0,0,0,0,26.22,26.20,26.23
$GC,11157,0.90,243.9,3552,2410,1828,1825,660.2,10.1,443,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,2409,1826,1828,1824,0,0,0,0,0,0,26.16,26.23,26.22
$GC,11457,0.90,243.9,3551,2410,1828,1825,629.6,10.4,453,11465,0.00,2.03,0.00,0.000,260,0.000,0.046,3543,3691,1825,1827,1824,0,0,0,0,0,0,26.16,26.06,26.22
$GC,11513,0.90,243.9,3543,3691,1828,1825,623.2,10.9,455,11522,0.00,1.85,0.00,0.000,1030,0.000,0.024,3551,2424,1825,1827,1824,0,0,0,0,0,0,26.19,26.15,26.20
$GC,11846,0.91,252.3,3551,2424,1828,1824,590.2,9.7,466,11857,0.00,2.00,1.33,0.210,8452,0.000,0.042,3542,3701,1810,1813,1807,0,0,0,0,0,0,26.13,25.91,25.77
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$STATE,17382,end climb,SURFACE_DEPTH_REACHED
$STATE,17382,begin surface coast
$FINISH,0.8,1.011589
$STATE,17397,end surface coast,CONTROL_FINISHED_OK
$STATE,17397,begin surface
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$IRIDIUM_FIX,1327.53,14559.53,100108,122016
$TT8_MAMPS,0.055426,0.055426
$HUMID,36.02
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$TCM_TEMP,24.50
$XPDR_PINGS,2
$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,17376.89 7185.26
$PA_BOOTCOUNT,887
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$PA_DISK_BANK,0
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$10V_AH,10.11,30.546
$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
$DEVICE_SECS,24.200,103.675,532.200,8.125,0.000,0.000,0.000,288.725,0.500,17816.600,21.463,0.000,13971.116,571.180,3163.355,91.274,0.000,2208.619,0.000,1683.105,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,553.512,0.000,0.000,0.000,0.000,0.000,17816.820,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229036
$DATA_FILE_SIZE,36714,819
$CAP_FILE_SIZE,144467,0
$CFSIZE,1024393216,1010155520
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