version: 66.12
glider: 204
mission: 15
dive: 132
start: 3 26 115 4 52 51
data:
$ID,204
$MISSION,15
$DIVE,132
$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,78
$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
$GPS1,260315,044634,1422.8411,14654.7979,32,1.0,32,1.3,0.9,110.4,7,12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.6
$GPS2,260315,045240,1422.7605,14654.7334,6,0.8,6,1.3,1.0,216.6,10,16.6
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,318.6,142509,-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,-175.2,192,2616,806,796,0.0,0.0,0,161,0.00,0.00,-56.53,0.000,16386,0.000,0.000,191,2616,2341,2297,2385,0,0,0,0,0,0,26.10,28.83,26.17
$GC,162,-0.80,-175.2,191,2615,2302,2383,3.1,-3.3,8,212,11.93,1.67,-23.60,0.000,18692,0.231,0.061,3000,3690,3555,3528,3582,0,0,0,0,0,0,25.62,25.27,25.93
$GC,367,-0.80,-175.2,3000,3690,3529,3586,59.2,-28.4,38,376,0.00,1.55,0.00,0.000,1030,0.000,0.020,3003,2567,3556,3528,3584,0,0,0,0,0,0,26.20,26.12,26.20
$GC,680,-0.80,-175.2,3003,2567,3532,3586,137.5,-20.0,69,687,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2566,3557,3530,3585,0,0,0,0,0,0,26.18,26.24,26.24
$GC,981,-0.80,-175.2,3003,2565,3535,3585,194.1,-16.8,99,988,0.00,1.73,0.00,0.000,260,0.000,0.044,2996,3688,3559,3533,3585,0,0,0,0,0,0,26.20,26.05,26.25
$GC,1102,-0.80,-175.2,2996,3690,3534,3586,214.8,-16.9,106,1109,0.00,1.50,0.00,0.000,1030,0.000,0.021,3002,2596,3559,3533,3586,0,0,0,0,0,0,26.21,26.19,26.22
$GC,1433,-0.80,-175.2,3003,2597,3537,3587,265.2,-14.0,117,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2596,3562,3536,3588,0,0,0,0,0,0,26.20,26.26,26.26
$GC,1734,-0.80,-175.2,3003,2597,3537,3589,307.2,-14.1,127,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2596,3562,3536,3588,0,0,0,0,0,0,26.19,26.25,26.25
$GC,2033,-0.80,-175.2,3002,2595,3537,3587,348.4,-13.8,137,2041,0.00,1.73,0.00,0.000,260,0.000,0.046,2996,3676,3561,3536,3587,0,0,0,0,0,0,26.20,26.03,26.25
$GC,2089,-0.80,-175.2,2996,3676,3536,3587,352.7,-13.8,138,2100,0.00,1.50,0.00,0.000,1030,0.000,0.021,3003,2606,3561,3536,3586,0,0,0,0,0,0,26.24,26.22,26.25
$GC,2395,-0.80,-175.2,3002,2606,3537,3582,393.7,-11.6,149,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2605,3559,3536,3582,0,0,0,0,0,0,26.21,26.27,26.27
$GC,2695,-0.80,-175.2,3003,2606,3534,3580,428.4,-11.4,159,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2604,3557,3533,3582,0,0,0,0,0,0,26.21,26.27,26.27
$GC,2995,-0.80,-175.2,3003,2607,3531,3577,464.1,-12.0,169,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2605,3554,3531,3577,0,0,0,0,0,0,26.17,26.24,26.23
$GC,3295,-0.80,-175.2,3003,2607,3528,3571,499.9,-12.0,179,3302,0.00,2.05,0.00,0.000,516,0.000,0.024,3008,1215,3550,3526,3574,0,0,0,0,0,0,26.17,26.08,26.24
$GC,3366,-0.80,-175.2,3008,1217,3526,3575,506.7,-11.9,181,3374,0.00,2.12,0.00,0.000,1030,0.000,0.030,2999,2605,3549,3525,3574,0,0,0,0,0,0,26.13,26.06,26.16
$GC,3678,-0.80,-175.2,2999,2605,3524,3570,546.0,-12.0,192,3686,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3693,3546,3523,3570,0,0,0,0,0,0,26.17,25.98,26.23
$GC,3764,-0.80,-175.2,2990,3694,3523,3570,553.5,-12.2,194,3776,0.00,1.55,0.00,0.000,1030,0.000,0.021,2994,2590,3545,3522,3569,0,0,0,0,0,0,26.18,26.14,26.20
$GC,4070,-0.80,-175.2,2995,2591,3519,3568,594.0,-12.1,205,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3543,3519,3567,0,0,0,0,0,0,26.17,26.23,26.22
$GC,4369,-0.80,-175.2,2994,2591,3516,3565,631.3,-12.6,215,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3540,3516,3564,0,0,0,0,0,0,26.15,26.22,26.21
$GC,4670,-0.80,-175.2,2994,2591,3514,3564,667.4,-11.5,225,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3538,3514,3562,0,0,0,0,0,0,26.14,26.21,26.20
$GC,4970,-0.80,-175.2,2994,2590,3512,3561,699.7,-10.5,235,4977,0.00,2.03,0.00,0.000,516,0.000,0.024,2998,1227,3536,3511,3561,0,0,0,0,0,0,26.12,26.03,26.17
$GC,5011,-0.80,-175.2,2999,1229,3510,3562,702.4,-10.4,236,5019,0.00,2.10,0.00,0.000,1030,0.000,0.029,2989,2602,3535,3511,3560,0,0,0,0,0,0,26.08,26.01,26.10
$GC,5323,-0.80,-175.2,2990,2602,3509,3557,735.9,-10.4,247,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3532,3507,3558,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5623,-0.80,-175.2,2990,2603,3508,3556,768.5,-10.9,257,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3531,3507,3555,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5923,-0.80,-175.2,2990,2604,3506,3554,801.9,-11.0,267,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3529,3506,3553,0,0,0,0,0,0,26.11,26.17,26.17
$GC,6223,-0.80,-175.2,2989,2602,3504,3552,833.6,-10.2,277,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3527,3503,3551,0,0,0,0,0,0,26.13,26.20,26.18
$GC,6523,-0.80,-175.2,2989,2602,3502,3551,861.0,-8.6,287,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2602,3525,3501,3550,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6823,-0.80,-175.2,2990,2604,3500,3550,885.5,-8.3,297,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2603,3524,3500,3549,0,0,0,0,0,0,26.09,26.18,26.15
$GC,7123,-0.80,-175.2,2989,2602,3499,3548,911.3,-8.7,307,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3523,3498,3548,0,0,0,0,0,0,26.10,26.17,26.16
$GC,7423,-0.80,-175.2,2989,2604,3497,3548,937.8,-9.1,317,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3521,3497,3546,0,0,0,0,0,0,26.05,26.13,26.11
$GC,7723,-0.80,-175.2,2989,2602,3497,3545,966.9,-10.0,327,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3520,3496,3545,0,0,0,0,0,0,26.08,26.15,26.13
$STATE,7962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7962,begin apogee
$GC,7965,-0.17,0.0,2990,2422,3495,3545,992.1,-10.7,335,8116,0.77,0.00,139.40,1.278,10246,0.150,0.000,3209,2421,2835,2809,2862,0,0,0,0,0,0,25.55,24.60,23.79
$STATE,8117,end apogee,CONTROL_FINISHED_OK
$STATE,8117,begin climb
$GC,8118,0.80,175.2,3209,2420,2810,2860,999.8,0.0,340,8280,1.08,2.30,148.60,1.239,10756,0.131,0.025,3532,1041,2119,2113,2125,0,0,0,0,0,0,24.75,24.10,23.31
$GC,8449,0.94,271.7,3531,1042,2108,2116,993.0,6.3,351,8540,0.17,2.15,80.75,1.265,11270,0.162,0.028,3569,2421,1729,1731,1728,0,0,0,0,0,0,25.35,25.60,23.80
$GC,8834,0.94,271.7,3570,2421,1721,1714,949.4,12.3,364,8841,0.00,2.00,0.00,0.000,260,0.000,0.044,3561,3691,1717,1720,1714,0,0,0,0,0,0,25.98,25.90,26.05
$GC,8910,0.94,271.7,3562,3692,1721,1715,942.0,12.8,366,8917,0.00,1.85,0.00,0.000,1030,0.000,0.021,3570,2401,1717,1720,1714,0,0,0,0,0,0,26.10,26.08,26.11
$GC,9215,0.94,271.7,3570,2397,1720,1712,900.1,13.1,376,9224,0.00,2.05,0.00,0.000,260,0.000,0.042,3562,3700,1715,1719,1712,0,0,0,0,0,0,26.15,26.05,26.21
$GC,9253,0.94,271.7,3562,3701,1719,1714,896.5,13.2,377,9261,0.00,1.85,0.00,0.000,1030,0.000,0.024,3570,2426,1715,1718,1712,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9575,0.94,271.7,3570,2423,1718,1711,852.4,13.4,388,9580,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2423,1712,1714,1711,0,0,0,0,0,0,26.14,26.21,26.21
$GC,9875,0.94,271.7,3571,2424,1717,1712,812.8,13.2,398,9883,0.00,2.00,0.00,0.000,260,0.000,0.042,3562,3693,1714,1716,1713,0,0,0,0,0,0,26.14,26.01,26.20
$GC,9922,0.94,271.7,3562,3693,1716,1710,808.4,13.3,399,9930,0.00,1.85,0.00,0.000,1030,0.000,0.022,3570,2408,1713,1716,1710,0,0,0,0,0,0,26.17,26.14,26.18
$GC,10234,0.94,271.7,3571,2404,1716,1710,765.8,12.9,410,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2404,1712,1715,1710,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10534,0.94,271.7,3571,2405,1716,1711,728.4,12.6,420,10541,0.00,2.05,0.00,0.000,260,0.000,0.043,3562,3699,1712,1715,1709,0,0,0,0,0,0,26.11,25.95,26.17
$GC,10565,0.94,271.7,3562,3699,1717,1709,724.9,12.6,421,10572,0.00,1.85,0.00,0.000,1030,0.000,0.024,3570,2430,1712,1715,1709,0,0,0,0,0,0,26.12,26.09,26.13
$GC,10886,0.94,271.7,3570,2426,1716,1708,685.1,12.2,432,10893,0.00,2.12,0.00,0.000,516,0.000,0.029,3580,1043,1711,1714,1709,0,0,0,0,0,0,26.09,26.02,26.14
$GC,10932,0.94,271.7,3581,1033,1713,1710,681.3,12.0,433,10941,0.00,2.15,0.00,0.000,1030,0.000,0.030,3572,2430,1711,1713,1709,0,0,0,0,0,0,26.06,25.99,26.09
$GC,11250,0.94,271.7,3572,2430,1714,1709,642.5,11.5,444,11258,0.00,2.15,0.00,0.000,516,0.000,0.030,3580,1030,1710,1713,1708,0,0,0,0,0,0,26.06,26.00,26.11
$GC,11367,0.94,271.7,3581,1031,1712,1710,628.9,11.6,448,11376,0.00,2.15,0.00,0.000,1030,0.000,0.030,3572,2423,1710,1711,1709,0,0,0,0,0,0,26.03,25.96,26.07
$GC,11700,0.94,271.7,3572,2422,1713,1708,590.2,11.6,459,11712,0.00,2.03,0.00,0.000,260,0.000,0.045,3562,3692,1710,1712,1708,0,0,0,0,0,0,26.06,25.88,26.12
$GC,11760,0.94,271.7,3562,3692,1714,1708,585.7,11.9,460,11770,0.00,1.85,0.00,0.000,1030,0.000,0.023,3571,2414,1711,1713,1709,0,0,0,0,0,0,26.10,26.07,26.12
$GC,12066,0.94,271.7,3571,2414,1714,1708,546.8,11.6,471,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2414,1710,1713,1708,0,0,0,0,0,0,26.06,26.13,26.12
$GC,12366,0.94,271.7,3571,2415,1713,1710,513.3,11.0,481,12374,0.00,2.05,0.00,0.000,260,0.000,0.044,3562,3702,1710,1712,1708,0,0,0,0,0,0,26.03,25.83,26.10
$GC,12447,0.94,271.7,3562,3702,1715,1708,506.2,11.3,483,12455,0.00,1.88,0.00,0.000,1030,0.000,0.024,3571,2425,1710,1712,1708,0,0,0,0,0,0,26.05,26.02,26.07
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$STATE,17133,end climb,SURFACE_DEPTH_REACHED
$STATE,17133,begin surface coast
$FINISH,0.9,1.022564
$STATE,17148,end surface coast,CONTROL_FINISHED_OK
$STATE,17149,begin surface
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$IRIDIUM_FIX,1416.41,14656.89,200108,181421
$TT8_MAMPS,0.053928,0.053928
$HUMID,36.21
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17131.71 7105.02
$PA_BOOTCOUNT,937
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$PA_DISK_BANK,1
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$10V_AH,10.06,34.150
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,228996
$DATA_FILE_SIZE,33488,796
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$CFSIZE,1024393216,1005240320
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