version: 66.12
glider: 204
mission: 15
dive: 125
start: 3 24 115 18 12 33
data:
$ID,204
$MISSION,15
$DIVE,125
$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,81
$R_STBD_OVSHOOT,48
$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
$GPS1,240315,180634,1420.3779,14637.3701,31,0.8,31,1.3,0.7,211.1,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.1
$GPS2,240315,181222,1420.3339,14637.2773,7,0.8,7,1.3,0.0,234.3,11,13.4
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,60.7,34531,-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,-175.2,189,2616,814,801,0.0,0.0,0,148,0.00,0.00,-48.70,0.000,16386,0.000,0.000,188,2616,2123,2092,2154,0,0,0,0,0,0,26.13,28.83,26.20
$GC,149,-0.80,-175.2,189,2616,2093,2154,3.2,-5.6,7,206,11.80,2.12,-33.25,0.000,18948,0.230,0.041,3010,1223,3556,3529,3583,0,0,0,0,0,0,25.67,24.41,25.84
$GC,219,-0.80,-175.2,3010,1223,3530,3585,15.6,-23.0,16,237,0.00,2.08,0.00,0.000,1030,0.000,0.031,3001,2590,3556,3530,3583,0,0,0,0,0,0,26.10,26.04,26.12
$GC,541,-0.80,-175.2,3002,2591,3533,3585,103.3,-28.4,58,551,0.00,1.67,0.00,0.000,260,0.000,0.042,2993,3693,3557,3531,3584,0,0,0,0,0,0,26.20,26.03,26.25
$GC,570,-0.80,-175.2,2993,3694,3532,3583,110.6,-26.8,60,580,0.00,1.55,0.00,0.000,1030,0.000,0.021,3000,2569,3557,3531,3584,0,0,0,0,0,0,26.22,26.19,26.22
$GC,875,-0.80,-175.2,3001,2574,3533,3586,175.9,-18.1,91,882,0.00,1.77,0.00,0.000,260,0.000,0.044,2993,3691,3558,3533,3583,0,0,0,0,0,0,26.22,26.06,26.27
$GC,981,-0.80,-175.2,2993,3693,3532,3587,193.8,-17.8,101,993,0.00,1.50,0.00,0.000,1030,0.000,0.021,3000,2608,3559,3532,3586,0,0,0,0,0,0,26.22,26.20,26.23
$GC,1287,-0.80,-175.2,3000,2608,3536,3586,244.4,-15.9,114,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2608,3560,3535,3586,0,0,0,0,0,0,26.23,26.29,26.29
$GC,1587,-0.80,-175.2,3000,2608,3537,3587,288.2,-14.6,124,1595,0.00,1.67,0.00,0.000,260,0.000,0.044,2993,3693,3561,3536,3587,0,0,0,0,0,0,26.24,26.07,26.29
$GC,1628,-0.80,-175.2,2993,3694,3536,3588,293.0,-14.6,125,1635,0.00,1.52,0.00,0.000,1030,0.000,0.021,3000,2597,3561,3535,3587,0,0,0,0,0,0,26.25,26.22,26.26
$GC,1949,-0.80,-175.2,3000,2598,3536,3587,335.3,-13.0,136,1957,0.00,2.03,0.00,0.000,516,0.000,0.025,3009,1222,3560,3535,3586,0,0,0,0,0,0,26.22,26.16,26.29
$GC,2045,-0.80,-175.2,3009,1221,3537,3586,345.8,-12.2,139,2053,0.00,2.10,0.00,0.000,1030,0.000,0.029,3000,2611,3560,3535,3586,0,0,0,0,0,0,26.20,26.15,26.22
$GC,2362,-0.80,-175.2,3001,2611,3537,3583,385.3,-12.2,150,2370,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3695,3559,3535,3583,0,0,0,0,0,0,26.22,26.08,26.28
$GC,2399,-0.80,-175.2,2993,3696,3535,3583,389.4,-12.3,151,2406,0.00,1.52,0.00,0.000,1030,0.000,0.022,2999,2602,3559,3536,3582,0,0,0,0,0,0,26.25,26.22,26.25
$GC,2725,-0.80,-175.2,2998,2602,3533,3579,432.5,-13.2,162,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3556,3533,3579,0,0,0,0,0,0,26.22,26.29,26.28
$GC,3025,-0.80,-175.2,3000,2603,3530,3577,469.4,-11.4,172,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3553,3530,3576,0,0,0,0,0,0,26.20,26.29,26.25
$GC,3325,-0.80,-175.2,2998,2602,3527,3573,500.5,-10.2,182,3333,0.00,2.05,0.00,0.000,516,0.000,0.025,3009,1217,3549,3526,3573,0,0,0,0,0,0,26.20,26.13,26.26
$GC,3376,-0.80,-175.2,3010,1218,3527,3575,503.3,-10.2,183,3387,0.00,2.10,0.00,0.000,1030,0.000,0.030,3000,2601,3548,3525,3572,0,0,0,0,0,0,26.17,26.12,26.20
$GC,3682,-0.80,-175.2,3000,2600,3524,3570,536.5,-10.1,194,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2601,3546,3523,3570,0,0,0,0,0,0,26.21,26.28,26.27
$GC,3982,-0.80,-175.2,3001,2600,3521,3567,566.3,-10.1,204,3989,0.00,1.67,0.00,0.000,260,0.000,0.043,2992,3691,3543,3519,3567,0,0,0,0,0,0,26.19,26.00,26.25
$GC,4033,-0.80,-175.2,2992,3691,3520,3566,569.7,-10.3,205,4040,0.00,1.55,0.00,0.000,1030,0.000,0.023,2999,2590,3542,3519,3566,0,0,0,0,0,0,26.22,26.20,26.23
$GC,4344,-0.80,-175.2,2999,2590,3518,3564,602.8,-10.0,216,4352,0.00,2.05,0.00,0.000,516,0.000,0.026,3008,1229,3539,3515,3564,0,0,0,0,0,0,26.19,26.08,26.22
$GC,4376,-0.80,-175.2,3009,1227,3517,3565,606.1,-10.1,217,4384,0.00,2.10,0.00,0.000,1030,0.000,0.030,3000,2603,3540,3516,3564,0,0,0,0,0,0,26.14,26.07,26.16
$GC,4708,-0.80,-175.2,3000,2603,3514,3562,640.9,-10.6,228,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2603,3537,3513,3561,0,0,0,0,0,0,26.15,26.22,26.21
$GC,5008,-0.80,-175.2,3000,2603,3512,3556,671.8,-10.0,238,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2603,3534,3510,3559,0,0,0,0,0,0,26.15,26.22,26.20
$GC,5308,-0.80,-175.2,3000,2603,3509,3557,701.7,-10.0,248,5315,0.00,1.70,0.00,0.000,260,0.000,0.044,2991,3700,3532,3508,3556,0,0,0,0,0,0,26.15,25.94,26.20
$GC,5344,-0.80,-175.2,2992,3702,3509,3564,705.0,-10.1,249,5352,0.00,1.58,0.00,0.000,1030,0.000,0.024,2998,2600,3532,3508,3556,0,0,0,0,0,0,26.16,26.13,26.17
$GC,5671,-0.80,-175.2,2998,2599,3508,3554,739.0,-10.3,260,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2600,3529,3506,3553,0,0,0,0,0,0,26.05,26.11,26.10
$GC,5971,-0.80,-175.2,2999,2601,3505,3552,771.2,-10.6,270,5979,0.00,2.08,0.00,0.000,516,0.000,0.027,3008,1218,3527,3504,3551,0,0,0,0,0,0,26.13,25.98,26.19
$GC,6028,-0.80,-175.2,3008,1217,3504,3552,774.6,-10.5,271,6038,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,2599,3526,3501,3551,0,0,0,0,0,0,26.09,26.03,26.12
$GC,6333,-0.80,-175.2,3000,2600,3503,3550,808.8,-10.2,282,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2600,3526,3502,3550,0,0,0,0,0,0,26.14,26.20,26.19
$GC,6634,-0.80,-175.2,2999,2600,3502,3549,838.9,-9.8,292,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2600,3524,3500,3549,0,0,0,0,0,0,26.11,26.16,26.16
$GC,6933,-0.80,-175.2,2999,2600,3500,3547,868.7,-10.1,302,6940,0.00,1.70,0.00,0.000,260,0.000,0.044,2991,3692,3523,3499,3547,0,0,0,0,0,0,26.13,25.89,26.19
$GC,6969,-0.80,-175.2,2992,3692,3500,3546,871.8,-10.0,303,6976,0.00,1.58,0.00,0.000,1030,0.000,0.023,2995,2585,3522,3498,3546,0,0,0,0,0,0,26.10,26.08,26.11
$GC,7295,-0.80,-175.2,2995,2586,3498,3546,905.9,-10.5,314,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2585,3520,3496,3545,0,0,0,0,0,0,26.10,26.16,26.15
$GC,7595,-0.80,-175.2,2995,2586,3497,3540,938.3,-11.0,324,7603,0.00,2.05,0.00,0.000,516,0.000,0.025,3003,1211,3519,3495,3543,0,0,0,0,0,0,26.08,25.98,26.13
$GC,7626,-0.80,-175.2,3004,1211,3496,3543,941.2,-10.9,325,7636,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2600,3519,3495,3544,0,0,0,0,0,0,26.02,25.96,26.05
$GC,7955,-0.80,-175.2,2995,2601,3494,3544,977.7,-11.0,336,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2600,3517,3493,3542,0,0,0,0,0,0,26.06,26.13,26.12
$STATE,8074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8074,begin apogee
$GC,8078,-0.17,0.0,2995,2424,3494,3541,990.2,-10.4,340,8230,0.77,0.00,139.40,1.267,10246,0.151,0.000,3213,2424,2833,2806,2861,0,0,0,0,0,0,25.60,24.45,23.87
$STATE,8231,end apogee,CONTROL_FINISHED_OK
$STATE,8231,begin climb
$GC,8232,0.80,175.2,3214,2425,2809,2860,997.1,0.0,345,8392,1.08,2.22,147.57,1.207,10500,0.130,0.041,3514,3693,2119,2114,2124,0,0,0,0,0,0,24.82,24.15,23.39
$GC,8516,0.89,235.1,3514,3693,2111,2114,989.2,7.7,354,8577,0.00,1.90,50.47,1.209,9222,0.000,0.021,3523,2407,1876,1876,1876,0,0,0,0,0,0,25.53,25.47,23.99
$GC,8887,0.89,235.1,3523,2407,1868,1863,950.6,10.4,367,8895,0.00,2.05,0.00,0.000,260,0.000,0.044,3514,3694,1865,1867,1864,0,0,0,0,0,0,26.00,25.92,26.06
$GC,8959,0.89,235.1,3514,3694,1874,1863,943.7,10.5,369,8966,0.00,1.85,0.00,0.000,1030,0.000,0.022,3523,2414,1868,1874,1863,0,0,0,0,0,0,26.13,26.10,26.13
$GC,9275,0.89,239.4,3523,2411,1868,1861,911.2,9.8,380,9283,0.12,0.00,0.00,0.000,2054,0.153,0.000,3554,2410,1864,1867,1862,0,0,0,0,0,0,25.89,26.09,26.04
$GC,9575,0.89,239.4,3554,2411,1866,1863,878.8,10.9,390,9583,0.00,2.03,0.00,0.000,260,0.000,0.044,3545,3695,1863,1865,1861,0,0,0,0,0,0,26.14,26.01,26.20
$GC,9651,0.89,239.4,3546,3696,1866,1863,871.5,11.2,392,9659,0.00,1.85,0.00,0.000,1030,0.000,0.023,3557,2422,1863,1865,1861,0,0,0,0,0,0,26.19,26.15,26.20
$GC,9963,0.89,239.4,3554,2421,1866,1861,837.3,10.4,403,9970,0.00,2.00,0.00,0.000,260,0.000,0.043,3545,3698,1862,1864,1861,0,0,0,0,0,0,26.16,26.01,26.22
$GC,10029,0.89,239.4,3545,3698,1866,1861,830.9,10.7,405,10038,0.00,1.88,0.00,0.000,1030,0.000,0.024,3553,2407,1862,1864,1860,0,0,0,0,0,0,26.15,26.12,26.17
$GC,10352,0.91,253.8,3553,2405,1864,1860,798.7,9.4,416,10375,0.00,2.03,14.93,1.159,8452,0.000,0.041,3545,3691,1799,1800,1799,0,0,0,0,0,0,26.13,25.57,24.94
$GC,10394,0.94,269.3,3545,3692,1799,1796,796.1,9.4,417,10417,0.00,1.85,14.40,1.177,9222,0.000,0.024,3553,2421,1737,1739,1736,0,0,0,0,0,0,25.98,25.94,24.71
$GC,10741,0.94,269.3,3554,2422,1733,1727,758.3,10.4,429,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2422,1728,1732,1725,0,0,0,0,0,0,26.09,26.16,26.15
$GC,11041,0.94,269.3,3553,2422,1732,1727,726.6,10.6,439,11049,0.00,2.00,0.00,0.000,260,0.000,0.043,3545,3691,1728,1732,1725,0,0,0,0,0,0,26.13,25.99,26.19
$GC,11082,0.94,269.3,3545,3690,1733,1726,723.8,10.7,440,11091,0.00,1.85,0.00,0.000,1030,0.000,0.023,3554,2416,1728,1732,1725,0,0,0,0,0,0,26.17,26.13,26.18
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$STATE,17738,end climb,SURFACE_DEPTH_REACHED
$STATE,17738,begin surface coast
$FINISH,1.1,1.022474
$STATE,17749,end surface coast,CONTROL_FINISHED_OK
$STATE,17749,begin surface
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$IRIDIUM_FIX,1416.41,14635.89,190108,030643
$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,17728.39 7398.17
$PA_BOOTCOUNT,930
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$PA_HOME,0.05/0.094/1.856/1.668
$PA_DISK_BANK,1
$24V_AH,23.39,40.027
$10V_AH,10.05,33.637
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,229.500,56.610,1266.840,121.635,0.000,0.000,0.000,87.975,420.000,63.439,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,561.973,0.000,0.000,0.000,0.000,0.000,18121.730,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229020
$DATA_FILE_SIZE,36675,833
$CAP_FILE_SIZE,153069,0
$CFSIZE,1024393216,1005912064
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