version: 66.12
glider: 204
mission: 15
dive: 129
start: 3 25 115 14 0 55
data:
$ID,204
$MISSION,15
$DIVE,129
$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,90
$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
$GPS1,250315,135458,1422.1688,14646.5469,39,0.8,39,1.3,0.5,172.4,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.2
$GPS2,250315,140044,1422.1617,14646.5000,6,0.8,6,1.3,0.9,215.1,11,12.6
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,81.7,17708,-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,-175.2,194,2620,808,796,0.0,0.0,0,146,0.00,0.00,-46.83,0.000,16386,0.000,0.000,194,2620,2068,2043,2094,0,0,0,0,0,0,26.11,28.83,26.17
$GC,148,-0.80,-175.2,195,2619,2044,2096,3.3,-6.3,7,203,11.80,2.10,-36.83,0.000,18948,0.230,0.041,3011,1229,3555,3529,3582,0,0,0,0,0,0,25.65,24.35,25.81
$GC,268,-0.80,-175.2,3010,1228,3531,3582,25.6,-24.1,25,278,0.00,2.08,0.00,0.000,1030,0.000,0.032,3002,2593,3556,3530,3583,0,0,0,0,0,0,26.08,26.02,26.10
$GC,580,-0.80,-175.2,3002,2594,3532,3585,110.3,-23.9,64,588,0.00,1.70,0.00,0.000,260,0.000,0.044,2993,3702,3559,3531,3587,0,0,0,0,0,0,26.15,26.03,26.21
$GC,672,-0.80,-175.2,2994,3704,3532,3585,132.1,-22.2,73,682,0.00,1.58,0.00,0.000,1030,0.000,0.021,3000,2611,3557,3531,3584,0,0,0,0,0,0,26.20,26.19,26.22
$GC,986,-0.80,-175.2,3001,2612,3534,3586,196.7,-21.8,104,994,0.00,2.05,0.00,0.000,516,0.000,0.024,3007,1211,3559,3533,3585,0,0,0,0,0,0,26.16,26.13,26.22
$GC,1022,-0.80,-175.2,3008,1210,3535,3584,201.8,-20.0,106,1032,0.00,2.12,0.00,0.000,1030,0.000,0.033,2999,2604,3558,3534,3582,0,0,0,0,0,0,26.15,26.08,26.17
$GC,1345,-0.80,-175.2,2999,2604,3537,3586,252.4,-14.5,117,1353,0.00,2.08,0.00,0.000,516,0.000,0.025,3007,1218,3561,3536,3586,0,0,0,0,0,0,26.21,26.14,26.27
$GC,1451,-0.80,-175.2,3007,1209,3538,3586,264.3,-13.4,120,1463,0.00,2.12,0.00,0.000,1030,0.000,0.030,2998,2610,3561,3536,3586,0,0,0,0,0,0,26.18,26.11,26.20
$GC,1767,-0.80,-175.2,2995,2611,3537,3587,309.4,-13.5,131,1776,0.00,1.65,0.00,0.000,260,0.000,0.044,2989,3695,3561,3536,3586,0,0,0,0,0,0,26.21,26.06,26.27
$GC,1925,-0.80,-175.2,2990,3693,3537,3586,331.6,-14.4,136,1932,0.00,1.58,0.00,0.000,1030,0.000,0.021,2995,2590,3560,3535,3586,0,0,0,0,0,0,26.23,26.22,26.25
$GC,2251,-0.80,-175.2,2995,2591,3536,3586,374.5,-12.6,147,2262,0.00,2.00,0.00,0.000,516,0.000,0.024,3005,1214,3560,3535,3585,0,0,0,0,0,0,26.17,26.14,26.24
$GC,2286,-0.80,-175.2,3004,1214,3537,3584,378.3,-12.6,148,2294,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2608,3560,3535,3585,0,0,0,0,0,0,26.18,26.11,26.20
$GC,2608,-0.80,-175.2,2996,2610,3533,3582,418.6,-12.1,159,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2609,3557,3535,3580,0,0,0,0,0,0,26.17,26.25,26.24
$GC,2908,-0.80,-175.2,2996,2609,3532,3578,451.7,-10.9,169,2915,0.00,1.67,0.00,0.000,260,0.000,0.044,2988,3698,3554,3532,3577,0,0,0,0,0,0,26.20,26.01,26.26
$GC,2949,-0.80,-175.2,2988,3699,3532,3578,455.2,-11.0,170,2956,0.00,1.55,0.00,0.000,1030,0.000,0.023,2995,2606,3553,3531,3576,0,0,0,0,0,0,26.22,26.19,26.23
$GC,3270,-0.80,-175.2,2994,2608,3528,3576,490.5,-10.6,181,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2606,3550,3527,3574,0,0,0,0,0,0,26.19,26.25,26.24
$GC,3570,-0.80,-175.2,2994,2606,3526,3571,523.6,-11.2,191,3577,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3701,3547,3524,3571,0,0,0,0,0,0,26.18,26.00,26.24
$GC,3615,-0.80,-175.2,2987,3703,3525,3572,527.2,-11.3,192,3623,0.00,1.58,0.00,0.000,1030,0.000,0.023,2994,2589,3547,3524,3571,0,0,0,0,0,0,26.21,26.18,26.22
$GC,3932,-0.80,-175.2,2994,2589,3523,3568,564.2,-10.9,203,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3544,3521,3568,0,0,0,0,0,0,26.16,26.22,26.22
$GC,4232,-0.80,-175.2,2995,2590,3518,3566,597.2,-11.1,213,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3541,3518,3565,0,0,0,0,0,0,26.13,26.21,26.20
$GC,4532,-0.80,-175.2,2994,2590,3516,3564,633.6,-12.5,223,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3539,3515,3563,0,0,0,0,0,0,26.15,26.22,26.20
$GC,4832,-0.80,-175.2,2994,2590,3514,3562,671.1,-12.5,233,4842,0.00,2.05,0.00,0.000,516,0.000,0.024,3003,1209,3536,3512,3561,0,0,0,0,0,0,26.14,26.04,26.20
$GC,4862,-0.80,-175.2,3003,1209,3513,3561,674.8,-12.6,234,4869,0.00,2.15,0.00,0.000,1030,0.000,0.031,2993,2602,3537,3512,3562,0,0,0,0,0,0,26.08,26.01,26.11
$GC,5188,-0.80,-175.2,2995,2604,3510,3559,714.2,-11.7,245,5195,0.00,1.73,0.00,0.000,260,0.000,0.043,2986,3688,3534,3510,3558,0,0,0,0,0,0,26.11,25.91,26.17
$GC,5219,-0.80,-175.2,2986,3688,3511,3558,718.1,-12.0,246,5228,0.00,1.58,0.00,0.000,1030,0.000,0.022,2992,2597,3533,3509,3557,0,0,0,0,0,0,26.12,26.10,26.12
$GC,5552,-0.80,-175.2,2993,2598,3508,3557,758.2,-12.1,257,5561,0.00,1.73,0.00,0.000,260,0.000,0.044,2985,3694,3531,3507,3555,0,0,0,0,0,0,26.11,25.92,26.17
$GC,5585,-0.80,-175.2,2986,3695,3508,3556,762.3,-12.3,258,5592,0.00,1.55,0.00,0.000,1030,0.000,0.022,2992,2600,3530,3507,3554,0,0,0,0,0,0,26.13,26.10,26.14
$GC,5916,-0.80,-175.2,2993,2600,3507,3553,801.6,-11.9,269,5924,0.00,2.08,0.00,0.000,516,0.000,0.027,3002,1229,3529,3506,3553,0,0,0,0,0,0,26.08,25.99,26.15
$GC,5948,-0.80,-175.2,3001,1220,3506,3553,805.3,-11.8,270,5956,0.00,2.12,0.00,0.000,1030,0.000,0.031,2994,2601,3528,3505,3552,0,0,0,0,0,0,26.03,25.96,26.07
$GC,6280,-0.80,-175.2,2994,2601,3504,3551,843.8,-11.6,281,6290,0.00,1.70,0.00,0.000,260,0.000,0.044,2985,3695,3527,3503,3551,0,0,0,0,0,0,26.08,25.91,26.15
$GC,6323,-0.80,-175.2,2985,3695,3504,3550,847.9,-11.8,282,6332,0.00,1.55,0.00,0.000,1030,0.000,0.022,2992,2600,3527,3503,3551,0,0,0,0,0,0,26.09,26.07,26.10
$GC,6646,-0.80,-175.2,2993,2602,3502,3550,887.4,-12.0,293,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2600,3525,3501,3549,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6946,-0.80,-175.2,2992,2600,3501,3548,922.7,-11.6,303,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2600,3524,3500,3548,0,0,0,0,0,0,26.08,26.15,26.15
$GC,7246,-0.80,-175.2,2992,2600,3500,3546,955.4,-10.7,313,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2600,3522,3497,3547,0,0,0,0,0,0,26.09,26.15,26.14
$GC,7546,-0.80,-175.2,2992,2600,3498,3545,987.5,-10.8,323,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2600,3520,3496,3545,0,0,0,0,0,0,26.06,26.14,26.13
$STATE,7575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7575,begin apogee
$GC,7578,-0.17,0.0,2993,2426,3498,3545,990.8,-10.7,324,7729,0.77,0.00,139.62,1.271,10246,0.150,0.000,3211,2424,2835,2809,2861,0,0,0,0,0,0,25.58,24.62,23.82
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7732,0.80,175.2,3212,2424,2810,2859,997.6,0.0,329,7893,1.05,2.20,148.18,1.246,10500,0.130,0.041,3513,3690,2119,2115,2124,0,0,0,0,0,0,24.79,24.11,23.32
$GC,8042,0.89,236.4,3513,3690,2112,2115,989.2,7.6,339,8104,0.12,1.90,51.60,1.258,11270,0.144,0.021,3553,2391,1872,1872,1873,0,0,0,0,0,0,25.36,25.58,24.01
$GC,8418,0.89,236.4,3552,2390,1866,1861,950.6,10.4,352,8426,0.00,2.08,0.00,0.000,260,0.000,0.043,3543,3701,1863,1865,1861,0,0,0,0,0,0,26.03,25.95,26.08
$GC,8490,0.89,236.4,3544,3702,1865,1862,944.1,10.8,354,8497,0.00,1.85,0.00,0.000,1030,0.000,0.024,3552,2431,1862,1863,1861,0,0,0,0,0,0,26.13,26.10,26.15
$GC,8806,0.91,250.8,3553,2427,1860,1858,912.4,9.4,365,8824,0.00,0.00,11.95,1.226,8198,0.000,0.000,3552,2427,1816,1818,1815,0,0,0,0,0,0,26.15,25.82,24.94
$GC,9106,0.92,261.9,3552,2428,1811,1806,883.8,9.6,375,9127,0.00,2.08,10.38,1.220,8452,0.000,0.043,3543,3698,1768,1771,1766,0,0,0,0,0,0,26.13,25.88,24.93
$GC,9146,0.94,269.6,3543,3697,1771,1763,880.9,9.7,376,9158,0.00,1.88,3.70,1.043,9222,0.000,0.023,3552,2404,1740,1743,1737,0,0,0,0,0,0,25.98,25.96,24.49
$GC,9466,0.94,269.6,3553,2405,1763,1741,848.3,10.1,387,9478,0.00,2.03,1.12,0.224,8452,0.000,0.041,3543,3692,1742,1751,1733,0,0,0,0,0,0,26.13,25.83,25.67
$GC,9537,0.94,269.6,3543,3692,1763,1738,841.7,10.5,389,9545,0.00,1.85,1.15,0.226,9222,0.000,0.023,3552,2416,1738,1744,1732,0,0,0,0,0,0,26.20,26.17,25.63
$GC,9855,0.94,269.6,3552,2413,1764,1737,807.0,10.5,400,9862,0.00,0.00,1.08,0.227,8198,0.000,0.000,3552,2412,1737,1744,1730,0,0,0,0,0,0,26.15,25.91,25.65
$GC,10154,0.94,269.6,3551,2412,1765,1735,773.4,11.5,410,10165,0.00,2.03,1.02,0.230,8452,0.000,0.042,3543,3700,1740,1752,1729,0,0,0,0,0,0,26.14,25.78,25.65
$GC,10234,0.94,269.6,3544,3702,1763,1736,765.9,12.1,412,10242,0.00,1.85,1.02,0.229,9222,0.000,0.024,3552,2433,1737,1744,1730,0,0,0,0,0,0,26.16,26.13,25.61
$GC,10539,0.94,269.6,3552,2428,1763,1735,727.4,11.6,422,10547,0.00,0.00,0.95,0.233,8198,0.000,0.000,3551,2427,1737,1745,1729,0,0,0,0,0,0,26.09,25.86,25.60
$GC,10839,0.94,269.6,3552,2427,1764,1733,692.3,11.6,432,10847,0.00,1.98,0.00,0.000,260,0.000,0.043,3543,3693,1747,1762,1733,0,0,0,0,0,0,26.11,25.96,26.17
$GC,10871,0.94,269.6,3544,3694,1764,1735,689.1,11.7,433,10879,0.00,1.85,0.95,0.231,9222,0.000,0.023,3552,2415,1737,1745,1729,0,0,0,0,0,0,26.11,26.09,25.58
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$STATE,17413,end climb,SURFACE_DEPTH_REACHED
$STATE,17413,begin surface coast
$FINISH,1.2,1.022521
$STATE,17423,end surface coast,CONTROL_FINISHED_OK
$STATE,17423,begin surface
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$IRIDIUM_FIX,1414.18,14647.00,200108,032254
$TT8_MAMPS,0.053928,0.053928
$HUMID,35.54
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.70
$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,17403.91 7301.19
$PA_BOOTCOUNT,934
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$PA_HOME,0.05/0.094/1.856/1.667
$PA_DISK_BANK,1
$24V_AH,23.32,41.952
$10V_AH,10.10,33.933
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229036
$DATA_FILE_SIZE,36736,819
$CAP_FILE_SIZE,153266,0
$CFSIZE,1024393216,1005518848
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