version: 66.12
glider: 204
mission: 15
dive: 149
start: 3 29 115 4 52 32
data:
$ID,204
$MISSION,15
$DIVE,149
$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,300
$T_MISSION,330
$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,8
$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,84
$R_STBD_OVSHOOT,38
$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
$GPS1,290315,044704,1446.0253,14624.8975,23,1.1,23,1.1,1.5,247.2,7,14.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.7
$GPS2,290315,045221,1446.0261,14624.7783,7,0.8,7,1.1,1.2,333.6,10,16.5
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,310.9,73793,-17.3,-11.000,-20.71,2428
$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,-0.85,-175.2,195,2613,798,801,0.0,0.0,0,145,0.00,0.00,-46.00,0.000,16386,0.000,0.000,194,2613,2027,2005,2050,0,0,0,0,0,0,26.13,28.83,26.20
$GC,147,-0.85,-175.2,194,2613,2011,2052,3.0,-3.5,6,211,11.85,1.73,-40.22,0.000,18692,0.232,0.060,2976,3698,3555,3527,3583,0,0,0,0,0,0,25.58,24.27,25.76
$GC,431,-0.85,-175.2,2977,3699,3527,3585,77.1,-29.0,46,439,0.00,1.55,0.00,0.000,1030,0.000,0.021,2978,2588,3556,3528,3584,0,0,0,0,0,0,26.19,26.16,26.20
$GC,743,-0.85,-175.2,2978,2588,3531,3585,161.7,-28.0,77,750,0.00,1.75,0.00,0.000,260,0.000,0.041,2972,3700,3557,3529,3585,0,0,0,0,0,0,26.20,26.05,26.25
$GC,815,-0.85,-175.2,2972,3700,3536,3585,178.1,-20.3,84,823,0.00,1.55,0.00,0.000,1030,0.000,0.021,2978,2589,3557,3530,3585,0,0,0,0,0,0,26.22,26.19,26.23
$GC,1147,-0.85,-175.2,2979,2589,3533,3587,240.2,-20.2,103,1158,0.00,2.00,0.00,0.000,516,0.000,0.023,2989,1213,3560,3534,3586,0,0,0,0,0,0,26.21,26.15,26.27
$GC,1197,-0.85,-175.2,2989,1213,3534,3586,245.5,-19.9,104,1212,0.00,2.10,0.00,0.000,1030,0.000,0.031,2979,2601,3560,3534,3586,0,0,0,0,0,0,26.16,26.10,26.19
$GC,1507,-0.85,-175.2,2980,2602,3535,3586,298.2,-16.2,115,1514,0.00,1.67,0.00,0.000,260,0.000,0.043,2971,3701,3561,3536,3586,0,0,0,0,0,0,26.22,26.03,26.27
$GC,1673,-0.85,-175.2,2970,3702,3537,3587,323.3,-16.8,120,1682,0.00,1.55,0.00,0.000,1030,0.000,0.022,2978,2599,3560,3535,3586,0,0,0,0,0,0,26.22,26.20,26.23
$GC,1991,-0.85,-175.2,2977,2599,3537,3586,375.1,-14.7,131,2000,0.00,1.70,0.00,0.000,260,0.000,0.044,2971,3695,3560,3535,3586,0,0,0,0,0,0,26.22,26.03,26.27
$GC,2018,-0.85,-175.2,2970,3696,3537,3587,375.1,-14.7,131,2028,0.00,1.55,0.00,0.000,1030,0.000,0.021,2978,2585,3560,3535,3586,0,0,0,0,0,0,26.25,26.22,26.25
$GC,2324,-0.85,-175.2,2984,2585,3534,3584,418.0,-12.3,142,2331,0.00,2.00,0.00,0.000,516,0.000,0.023,2988,1224,3559,3535,3583,0,0,0,0,0,0,26.22,26.12,26.27
$GC,2370,-0.85,-175.2,2989,1224,3534,3583,421.2,-12.5,143,2379,0.00,2.10,0.00,0.000,1030,0.000,0.030,2980,2604,3558,3534,3582,0,0,0,0,0,0,26.15,26.09,26.18
$GC,2675,-0.85,-175.2,2979,2604,3534,3580,462.8,-13.1,153,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2604,3556,3533,3579,0,0,0,0,0,0,26.18,26.24,26.23
$GC,2975,-0.85,-175.2,2981,2604,3529,3576,504.0,-13.7,163,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2603,3552,3528,3576,0,0,0,0,0,0,26.19,26.26,26.25
$GC,3275,-0.85,-175.2,2979,2605,3527,3574,541.9,-12.0,173,3282,0.00,1.67,0.00,0.000,260,0.000,0.044,2971,3691,3548,3525,3572,0,0,0,0,0,0,26.18,25.96,26.25
$GC,3337,-0.85,-175.2,2972,3692,3525,3573,549.1,-11.7,175,3344,0.00,1.52,0.00,0.000,1030,0.000,0.021,2978,2604,3548,3525,3572,0,0,0,0,0,0,26.20,26.15,26.20
$GC,3668,-0.85,-175.2,2977,2604,3524,3570,583.1,-10.3,186,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2603,3546,3522,3570,0,0,0,0,0,0,26.17,26.23,26.22
$GC,3968,-0.85,-175.2,2977,2604,3520,3568,615.9,-11.4,196,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2603,3542,3518,3567,0,0,0,0,0,0,26.16,26.22,26.22
$GC,4268,-0.85,-175.2,2979,2604,3516,3565,652.4,-12.5,206,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2603,3540,3516,3564,0,0,0,0,0,0,26.13,26.20,26.19
$GC,4568,-0.85,-175.2,2979,2604,3513,3569,688.7,-11.6,216,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2603,3538,3514,3562,0,0,0,0,0,0,26.17,26.22,26.22
$GC,4868,-0.85,-175.2,2977,2604,3512,3560,721.5,-10.9,226,4876,0.00,1.70,0.00,0.000,260,0.000,0.044,2971,3690,3534,3509,3560,0,0,0,0,0,0,26.14,25.91,26.20
$GC,4910,-0.85,-175.2,2972,3691,3510,3559,725.0,-10.9,227,4919,0.00,1.55,0.00,0.000,1030,0.000,0.022,2978,2596,3534,3510,3559,0,0,0,0,0,0,26.13,26.10,26.15
$GC,5233,-0.85,-175.2,2976,2597,3509,3557,760.1,-10.5,238,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2596,3532,3508,3556,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5533,-0.85,-175.2,2979,2597,3506,3555,792.5,-11.0,248,5541,0.00,2.05,0.00,0.000,516,0.000,0.026,2988,1226,3529,3505,3554,0,0,0,0,0,0,26.14,25.98,26.20
$GC,5579,-0.85,-175.2,2989,1227,3505,3555,795.3,-11.0,249,5588,0.00,2.12,0.00,0.000,1030,0.000,0.031,2979,2603,3530,3505,3555,0,0,0,0,0,0,26.03,25.96,26.05
$GC,5885,-0.85,-175.2,2981,2604,3503,3552,831.4,-11.2,259,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2603,3527,3503,3552,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6185,-0.85,-175.2,2979,2605,3503,3551,863.7,-10.6,269,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2603,3525,3501,3550,0,0,0,0,0,0,26.12,26.19,26.18
$GC,6485,-0.85,-175.2,2978,2604,3502,3550,894.2,-10.0,279,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2603,3524,3500,3548,0,0,0,0,0,0,26.08,26.14,26.11
$GC,6785,-0.85,-175.2,2979,2604,3500,3547,923.4,-9.6,289,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2603,3522,3498,3547,0,0,0,0,0,0,26.06,26.15,26.14
$GC,7085,-0.85,-175.2,2979,2604,3498,3547,952.1,-9.5,299,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2603,3521,3497,3545,0,0,0,0,0,0,26.06,26.15,26.13
$GC,7385,-0.85,-175.2,2979,2605,3498,3545,980.4,-9.3,309,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2603,3520,3496,3544,0,0,0,0,0,0,26.07,26.13,26.13
$STATE,7503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7503,begin apogee
$GC,7507,-0.17,0.0,2979,2426,3496,3545,992.0,-9.6,313,7659,0.82,0.00,140.12,1.248,10246,0.151,0.000,3211,2425,2834,2808,2861,0,0,0,0,0,0,25.46,24.58,23.75
$STATE,7659,end apogee,CONTROL_FINISHED_OK
$STATE,7660,begin climb
$GC,7661,0.85,175.2,3212,2425,2807,2860,997.0,0.0,318,7822,1.10,2.30,148.48,1.211,10756,0.130,0.025,3541,1035,2117,2112,2123,0,0,0,0,0,0,24.74,24.12,23.30
$GC,7910,1.00,275.6,3540,1035,2107,2116,991.2,6.8,326,8007,0.20,2.20,85.53,1.210,11270,0.149,0.028,3591,2422,1710,1711,1710,0,0,0,0,0,0,25.06,25.26,23.51
$GC,8316,1.00,275.6,3592,2419,1701,1696,933.9,14.6,340,8324,0.00,2.00,0.00,0.000,260,0.000,0.044,3591,3688,1699,1701,1697,0,0,0,0,0,0,26.01,25.92,26.08
$GC,8362,1.00,275.6,3591,3692,1701,1696,929.8,14.7,341,8370,0.00,1.85,0.00,0.000,1030,0.000,0.021,3600,2405,1698,1701,1696,0,0,0,0,0,0,26.10,26.08,26.10
$GC,8674,1.00,275.6,3596,2403,1701,1695,882.1,14.0,352,8683,0.00,2.05,0.00,0.000,260,0.000,0.043,3600,3693,1696,1699,1694,0,0,0,0,0,0,26.16,26.03,26.22
$GC,8711,1.00,275.6,3601,3693,1699,1694,877.2,14.0,353,8719,0.00,1.85,0.00,0.000,1030,0.000,0.022,3607,2410,1697,1700,1694,0,0,0,0,0,0,26.20,26.17,26.20
$GC,9038,1.00,275.6,3608,2406,1701,1694,831.3,13.7,364,9045,0.00,2.05,0.00,0.000,260,0.000,0.044,3609,3699,1695,1698,1692,0,0,0,0,0,0,26.15,26.01,26.21
$GC,9074,1.00,275.6,3610,3700,1698,1693,827.4,13.8,365,9081,0.00,1.85,0.00,0.000,1030,0.000,0.024,3618,2424,1695,1698,1693,0,0,0,0,0,0,26.20,26.17,26.21
$GC,9390,1.00,275.6,3619,2424,1695,1693,782.7,13.5,376,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,2423,1694,1696,1692,0,0,0,0,0,0,26.13,26.21,26.23
$GC,9690,1.00,275.6,3617,2424,1696,1693,741.7,14.0,386,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2423,1693,1695,1692,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9990,1.00,275.6,3617,2424,1696,1692,696.8,15.3,396,9998,0.00,2.03,0.00,0.000,260,0.000,0.044,3614,3701,1692,1694,1691,0,0,0,0,0,0,26.11,25.93,26.17
$GC,10052,1.00,275.6,3615,3701,1694,1692,687.5,15.7,398,10060,0.12,1.88,0.00,0.000,5126,0.176,0.024,3594,2417,1692,1694,1691,0,0,0,0,0,0,25.72,26.10,25.91
$GC,10374,1.00,275.6,3593,2417,1696,1692,641.8,13.5,409,10382,0.00,2.03,0.00,0.000,260,0.000,0.044,3594,3691,1692,1694,1691,0,0,0,0,0,0,26.10,25.90,26.16
$GC,10420,1.00,275.6,3594,3692,1694,1691,637.1,13.6,410,10428,0.00,1.85,0.00,0.000,1030,0.000,0.022,3602,2416,1692,1693,1691,0,0,0,0,0,0,26.13,26.10,26.16
$GC,10732,1.00,275.6,3601,2414,1695,1691,595.6,11.6,421,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2413,1692,1694,1691,0,0,0,0,0,0,26.08,26.15,26.15
$GC,11032,1.00,275.6,3603,2414,1693,1691,562.1,11.2,431,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2414,1692,1693,1691,0,0,0,0,0,0,26.06,26.13,26.13
$GC,11332,1.00,275.6,3603,2415,1693,1690,525.1,13.0,441,11340,0.00,2.05,0.00,0.000,260,0.000,0.045,3602,3695,1692,1693,1691,0,0,0,0,0,0,26.08,25.82,26.15
$GC,11419,1.00,275.6,3603,3695,1693,1690,512.5,14.2,444,11430,0.00,1.88,0.00,0.000,1030,0.000,0.022,3611,2408,1691,1693,1690,0,0,0,0,0,0,26.08,26.03,26.10
$GC,11749,1.00,275.6,3612,2406,1692,1691,466.3,14.4,455,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2405,1691,1693,1690,0,0,0,0,0,0,26.00,26.06,26.06
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$STATE,15899,end climb,SURFACE_DEPTH_REACHED
$STATE,15899,begin surface coast
$FINISH,0.8,1.022522
$STATE,15914,end surface coast,CONTROL_FINISHED_OK
$STATE,15914,begin surface
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$IRIDIUM_FIX,1438.68,14624.16,230108,181453
$TT8_MAMPS,0.055426,0.055426
$HUMID,36.65
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.70
$XPDR_PINGS,1
$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,15910.89 6652.19
$PA_BOOTCOUNT,954
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$PA_HOME,0.05/0.098/1.856/1.664
$PA_DISK_BANK,1
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$10V_AH,10.07,35.192
$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,231.795,60.435,1248.480,116.280,0.000,0.000,0.000,87.975,420.000,63.428,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,511.379,0.000,0.000,0.000,0.000,0.000,16270.851,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229204
$DATA_FILE_SIZE,33458,758
$CAP_FILE_SIZE,132604,0
$CFSIZE,1024393216,1003683840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$CURRENT,0.036,36.53,1
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