version: 66.12
glider: 204
mission: 15
dive: 91
start: 3 17 115 23 0 2
data:
$ID,204
$MISSION,15
$DIVE,91
$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,46
$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
$GPS1,170315,225336,1400.7234,14542.7646,36,0.8,36,1.1,0.0,0.0,11,17.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.3
$GPS2,170315,225951,1400.7650,14542.7178,5,0.8,5,1.1,0.7,286.2,11,75.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,337.8,22295,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,196,2618,799,804,0.0,0.0,0,153,0.00,0.00,-50.67,0.000,16386,0.000,0.000,192,2618,2169,2136,2203,0,0,0,0,0,0,26.13,28.83,26.20
$GC,155,-0.80,-175.2,197,2619,2138,2205,3.0,-3.2,5,212,11.75,1.70,-29.75,0.000,18692,0.232,0.060,2995,3690,3556,3529,3583,0,0,0,0,0,0,25.78,24.66,25.93
$GC,403,-0.80,-175.2,2995,3690,3530,3585,68.2,-27.6,39,411,0.00,1.58,0.00,0.000,1030,0.000,0.021,3002,2585,3555,3528,3582,0,0,0,0,0,0,26.25,26.22,26.25
$GC,715,-0.80,-175.2,3002,2585,3533,3585,143.6,-18.6,70,724,0.00,2.00,0.00,0.000,516,0.000,0.024,3008,1222,3558,3532,3585,0,0,0,0,0,0,26.23,26.22,26.29
$GC,758,-0.80,-175.2,3008,1222,3533,3585,152.0,-20.0,74,766,0.00,2.08,0.00,0.000,1030,0.000,0.030,2999,2601,3558,3532,3585,0,0,0,0,0,0,26.25,26.18,26.25
$GC,1070,-0.80,-175.2,3000,2602,3537,3587,205.0,-15.9,103,1079,0.00,1.65,0.00,0.000,260,0.000,0.043,2991,3694,3561,3535,3587,0,0,0,0,0,0,26.26,26.19,26.32
$GC,1117,-0.80,-175.2,2992,3695,3536,3588,210.2,-15.6,104,1126,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2603,3561,3535,3587,0,0,0,0,0,0,26.30,26.28,26.31
$GC,1435,-0.80,-175.2,2998,2604,3537,3589,263.3,-15.3,115,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2601,3562,3536,3588,0,0,0,0,0,0,26.26,26.32,26.32
$GC,1735,-0.80,-175.2,2998,2605,3537,3588,306.1,-14.2,125,1743,0.00,1.67,0.00,0.000,260,0.000,0.042,2990,3699,3562,3536,3588,0,0,0,0,0,0,26.27,26.20,26.33
$GC,1821,-0.80,-175.2,2991,3699,3537,3589,315.4,-14.7,127,1833,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2603,3561,3536,3587,0,0,0,0,0,0,26.27,26.25,26.28
$GC,2127,-0.80,-175.2,2998,2603,3537,3585,361.1,-12.7,138,2134,0.00,1.67,0.00,0.000,260,0.000,0.042,2991,3695,3560,3535,3585,0,0,0,0,0,0,26.27,26.20,26.33
$GC,2177,-0.80,-175.2,2991,3697,3536,3586,365.0,-12.6,139,2186,0.00,1.58,0.00,0.000,1030,0.000,0.021,2997,2600,3559,3535,3584,0,0,0,0,0,0,26.30,26.29,26.32
$GC,2490,-0.80,-175.2,2998,2601,3538,3583,405.7,-12.4,150,2498,0.00,2.03,0.00,0.000,516,0.000,0.024,3008,1222,3557,3534,3581,0,0,0,0,0,0,26.25,26.23,26.31
$GC,2552,-0.80,-175.2,3008,1224,3534,3583,413.1,-12.2,152,2560,0.00,2.08,0.00,0.000,1030,0.000,0.029,2998,2602,3560,3540,3581,0,0,0,0,0,0,26.29,26.23,26.30
$GC,2884,-0.80,-175.2,2999,2604,3531,3579,455.9,-13.1,163,2893,0.00,1.67,0.00,0.000,260,0.000,0.043,2991,3701,3553,3530,3577,0,0,0,0,0,0,26.25,26.19,26.31
$GC,3041,-0.80,-175.2,2991,3701,3529,3576,476.0,-13.2,168,3049,0.00,1.55,0.00,0.000,1030,0.000,0.023,2998,2608,3552,3528,3576,0,0,0,0,0,0,26.31,26.28,26.32
$GC,3368,-0.80,-175.2,2999,2610,3525,3575,516.7,-11.9,179,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3548,3524,3573,0,0,0,0,0,0,26.25,26.32,26.32
$GC,3668,-0.80,-175.2,2998,2610,3518,3572,551.2,-11.6,189,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2608,3546,3522,3570,0,0,0,0,0,0,26.24,26.30,26.29
$GC,3968,-0.80,-175.2,2998,2610,3519,3569,587.3,-12.2,199,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3543,3518,3569,0,0,0,0,0,0,26.25,26.31,26.29
$GC,4268,-0.80,-175.2,2998,2608,3517,3565,623.8,-12.0,209,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3540,3516,3565,0,0,0,0,0,0,26.24,26.31,26.30
$GC,4568,-0.80,-175.2,2998,2608,3515,3563,658.0,-11.1,219,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3538,3513,3563,0,0,0,0,0,0,26.22,26.30,26.29
$GC,4868,-0.80,-175.2,2998,2608,3512,3561,688.5,-9.9,229,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3536,3511,3561,0,0,0,0,0,0,26.20,26.28,26.27
$GC,5168,-0.80,-175.2,2998,2610,3509,3560,718.4,-10.2,239,5176,0.00,2.08,0.00,0.000,516,0.000,0.025,3008,1209,3533,3508,3558,0,0,0,0,0,0,26.22,26.16,26.28
$GC,5204,-0.80,-175.2,3008,1208,3509,3562,721.2,-10.2,240,5212,0.00,2.12,0.00,0.000,1030,0.000,0.030,2999,2600,3533,3508,3558,0,0,0,0,0,0,26.20,26.15,26.22
$GC,5520,-0.80,-175.2,3000,2601,3507,3557,756.3,-10.9,251,5528,0.00,1.73,0.00,0.000,260,0.000,0.044,2990,3690,3530,3506,3555,0,0,0,0,0,0,26.18,26.10,26.25
$GC,5557,-0.80,-175.2,2991,3690,3507,3562,759.8,-11.1,252,5564,0.00,1.60,0.00,0.000,1030,0.000,0.022,2997,2590,3530,3506,3554,0,0,0,0,0,0,26.24,26.22,26.24
$GC,5883,-0.80,-175.2,2997,2590,3505,3553,795.3,-10.5,263,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2590,3528,3504,3553,0,0,0,0,0,0,26.19,26.26,26.25
$GC,6183,-0.80,-175.2,2994,2590,3510,3551,828.2,-11.1,273,6190,0.00,1.73,0.00,0.000,260,0.000,0.044,2990,3694,3526,3502,3551,0,0,0,0,0,0,26.20,26.06,26.25
$GC,6218,-0.80,-175.2,2991,3694,3503,3551,831.6,-11.1,274,6226,0.00,1.55,0.00,0.000,1030,0.000,0.023,2997,2606,3526,3502,3551,0,0,0,0,0,0,26.22,26.19,26.23
$GC,6545,-0.80,-175.2,2997,2607,3501,3550,868.1,-10.8,285,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3525,3500,3550,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6845,-0.80,-175.2,2998,2608,3499,3550,898.8,-9.9,295,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2606,3523,3498,3549,0,0,0,0,0,0,26.17,26.24,26.23
$GC,7145,-0.80,-175.2,2997,2608,3499,3549,927.6,-9.6,305,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3522,3497,3547,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7445,-0.80,-175.2,2997,2607,3497,3546,956.1,-9.5,315,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3521,3496,3546,0,0,0,0,0,0,26.14,26.21,26.20
$GC,7745,-0.80,-175.2,2997,2606,3495,3545,984.6,-9.4,325,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3519,3494,3545,0,0,0,0,0,0,26.14,26.21,26.20
$STATE,7804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7804,begin apogee
$GC,7807,-0.17,0.0,2999,2423,3495,3544,990.3,-9.5,327,7951,0.75,0.00,137.20,1.269,10246,0.155,0.000,3211,2422,2838,2812,2865,0,0,0,0,0,0,25.77,24.79,24.05
$STATE,7952,end apogee,CONTROL_FINISHED_OK
$STATE,7952,begin climb
$GC,7953,0.80,175.2,3211,2422,2809,2862,995.3,0.0,331,8110,1.05,2.25,145.62,1.232,10756,0.138,0.025,3527,1027,2118,2113,2124,0,0,0,0,0,0,24.91,24.16,23.45
$GC,8169,1.00,317.1,3527,1027,2108,2118,993.9,4.5,339,8303,0.25,2.22,121.62,1.283,11270,0.138,0.028,3599,2418,1544,1548,1540,0,0,0,0,0,0,24.94,25.01,23.37
$GC,8621,1.00,317.1,3599,2419,1536,1524,931.4,14.7,354,8630,0.00,2.03,0.00,0.000,260,0.000,0.042,3598,3692,1529,1535,1523,0,0,0,0,0,0,25.81,25.77,25.87
$GC,8728,1.00,317.1,3600,3693,1535,1524,916.7,15.7,357,8737,0.00,1.88,0.00,0.000,1030,0.000,0.022,3607,2405,1529,1535,1523,0,0,0,0,0,0,26.05,26.01,26.06
$GC,9046,1.00,317.1,3608,2403,1533,1523,867.2,14.7,368,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,2402,1526,1532,1521,0,0,0,0,0,0,26.15,26.20,26.21
$GC,9345,1.00,317.1,3607,2403,1532,1522,820.4,16.1,378,9353,0.00,2.03,0.00,0.000,260,0.000,0.042,3603,3692,1526,1532,1520,0,0,0,0,0,0,26.17,26.09,26.22
$GC,9442,1.00,317.1,3607,3692,1533,1520,804.4,18.0,381,9450,0.00,1.85,0.00,0.000,1030,0.000,0.023,3616,2412,1526,1532,1521,0,0,0,0,0,0,26.22,26.20,26.23
$GC,9759,1.00,317.1,3616,2409,1531,1521,745.6,18.2,392,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,2408,1525,1531,1520,0,0,0,0,0,0,26.15,26.22,26.22
$GC,10059,1.00,317.1,3616,2408,1531,1519,693.7,16.8,402,10067,0.00,2.03,0.00,0.000,260,0.000,0.044,3612,3693,1524,1530,1519,0,0,0,0,0,0,26.16,26.08,26.22
$GC,10135,1.00,317.1,3613,3694,1531,1520,684.1,16.7,404,10143,0.00,1.85,0.00,0.000,1030,0.000,0.023,3621,2422,1524,1530,1519,0,0,0,0,0,0,26.21,26.18,26.22
$GC,10447,1.00,317.1,3623,2421,1530,1518,633.1,15.2,415,10455,0.00,2.10,0.00,0.000,516,0.000,0.029,3631,1036,1523,1529,1518,0,0,0,0,0,0,26.15,26.13,26.22
$GC,10484,1.00,317.1,3632,1036,1528,1519,628.2,15.3,416,10492,0.00,2.12,0.00,0.000,1030,0.000,0.028,3632,2428,1522,1527,1518,0,0,0,0,0,0,26.17,26.12,26.20
$GC,10805,1.00,317.1,3625,2428,1529,1518,578.1,15.1,427,10814,0.12,1.98,0.00,0.000,4356,0.175,0.041,3590,3693,1523,1528,1518,0,0,0,0,0,0,25.83,26.03,25.94
$GC,10867,1.00,317.1,3591,3694,1530,1518,569.2,15.3,429,10874,0.00,1.85,0.00,0.000,1030,0.000,0.023,3599,2418,1523,1528,1518,0,0,0,0,0,0,26.17,26.15,26.19
$GC,11188,1.00,317.1,3600,2417,1529,1519,525.2,13.0,440,11196,0.00,2.03,0.00,0.000,260,0.000,0.044,3599,3689,1523,1529,1518,0,0,0,0,0,0,26.14,26.05,26.20
$GC,11264,1.00,317.1,3599,3691,1529,1519,516.5,13.6,442,11271,0.00,1.85,0.00,0.000,1030,0.000,0.023,3607,2418,1523,1529,1518,0,0,0,0,0,0,26.15,26.13,26.17
$GC,11575,1.00,317.1,3609,2417,1529,1519,473.1,13.0,453,11583,0.00,2.12,0.00,0.000,516,0.000,0.031,3618,1038,1522,1528,1517,0,0,0,0,0,0,26.10,26.09,26.17
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$STATE,15576,end climb,SURFACE_DEPTH_REACHED
$STATE,15576,begin surface coast
$FINISH,0.8,1.020594
$STATE,15591,end surface coast,CONTROL_FINISHED_OK
$STATE,15591,begin surface
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$IRIDIUM_FIX,1354.17,14546.54,120108,122127
$TT8_MAMPS,0.053928,0.053928
$HUMID,36.21
$INTERNAL_PRESSURE,9.25268
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$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,15565.86 6453.62
$PA_BOOTCOUNT,896
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$PA_DISK_BANK,0
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$10V_AH,10.10,31.189
$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
$SENSOR_SECS,498.942,0.000,0.000,0.000,0.000,0.000,16010.271,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229096
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$CAP_FILE_SIZE,134740,0
$CFSIZE,1024393216,1009270784
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