version: 66.12
glider: 204
mission: 15
dive: 176
start: 4 3 115 9 41 59
data:
$ID,204
$MISSION,15
$DIVE,176
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,70
$R_STBD_OVSHOOT,41
$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
$GPS1,030415,093604,1434.3488,14533.3574,25,1.2,25,0.9,0.0,0.0,7,17.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-69.2
$GPS2,030415,094147,1434.3143,14533.2441,8,0.8,8,0.9,0.9,273.2,10,18.6
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,169.7,113464,-16.9,-10.000,-20.51,2373
$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,-0.81,-155.7,192,2609,801,804,0.0,0.0,0,148,0.00,0.00,-49.20,0.000,16386,0.000,0.000,193,2609,2133,2104,2162,0,0,0,0,0,0,26.17,28.83,26.23
$GC,150,-0.81,-155.7,194,2609,2103,2164,3.1,-4.5,8,200,11.85,2.12,-32.88,0.000,18948,0.227,0.041,3008,1204,3476,3448,3505,0,0,0,0,0,0,25.50,24.19,25.68
$GC,337,-0.81,-155.7,3008,1205,3451,3507,41.7,-23.4,41,348,0.00,2.12,0.00,0.000,1030,0.000,0.032,3000,2597,3477,3449,3506,0,0,0,0,0,0,26.07,26.01,26.10
$GC,652,-0.81,-155.7,3001,2598,3449,3507,122.8,-23.1,75,660,0.00,2.08,0.00,0.000,516,0.000,0.025,3007,1204,3477,3449,3506,0,0,0,0,0,0,26.16,26.08,26.22
$GC,674,-0.81,-155.7,3008,1205,3450,3507,126.7,-23.0,76,684,0.00,2.12,0.00,0.000,1030,0.000,0.032,2999,2600,3478,3450,3506,0,0,0,0,0,0,26.12,26.04,26.14
$GC,980,-0.81,-155.7,3000,2600,3451,3507,190.9,-20.5,107,988,0.00,1.67,0.00,0.000,260,0.000,0.045,2991,3693,3478,3450,3507,0,0,0,0,0,0,26.17,26.01,26.23
$GC,1077,-0.81,-155.7,2991,3693,3451,3508,207.4,-16.3,114,1086,0.00,1.60,0.00,0.000,1030,0.000,0.021,2997,2574,3479,3451,3508,0,0,0,0,0,0,26.20,26.19,26.21
$GC,1405,-0.81,-155.7,2998,2574,3453,3509,261.7,-15.8,125,1412,0.00,1.75,0.00,0.000,260,0.000,0.046,2990,3696,3481,3453,3509,0,0,0,0,0,0,26.21,25.97,26.27
$GC,1557,-0.81,-155.7,2989,3697,3455,3517,281.1,-12.5,130,1565,0.00,1.52,0.00,0.000,1030,0.000,0.021,2997,2606,3481,3453,3510,0,0,0,0,0,0,26.22,26.19,26.22
$GC,1889,-0.81,-155.7,2997,2607,3455,3511,322.6,-12.9,141,1900,0.00,2.05,0.00,0.000,516,0.000,0.024,3007,1211,3481,3454,3509,0,0,0,0,0,0,26.19,26.10,26.25
$GC,1914,-0.81,-155.7,3006,1212,3455,3510,322.6,-12.9,141,1924,0.00,2.12,0.00,0.000,1030,0.000,0.031,2998,2603,3481,3454,3509,0,0,0,0,0,0,26.13,26.06,26.16
$GC,2219,-0.81,-155.7,2998,2604,3455,3510,371.1,-14.7,152,2228,0.00,1.70,0.00,0.000,260,0.000,0.044,2990,3697,3480,3453,3508,0,0,0,0,0,0,26.20,26.01,26.25
$GC,2277,-0.81,-155.7,2989,3697,3455,3509,375.9,-14.5,153,2288,0.00,1.55,0.00,0.000,1030,0.000,0.022,2995,2591,3480,3454,3507,0,0,0,0,0,0,26.21,26.18,26.22
$GC,2582,-0.81,-155.7,2994,2591,3455,3506,419.6,-12.7,164,2590,0.00,2.03,0.00,0.000,516,0.000,0.025,3005,1224,3479,3454,3505,0,0,0,0,0,0,26.20,26.09,26.26
$GC,2624,-0.81,-155.7,3005,1224,3453,3505,422.9,-12.7,165,2632,0.00,2.10,0.00,0.000,1030,0.000,0.031,2996,2602,3479,3454,3505,0,0,0,0,0,0,26.12,26.05,26.15
$GC,2936,-0.81,-155.7,2996,2608,3453,3499,460.6,-11.5,176,2944,0.00,2.05,0.00,0.000,516,0.000,0.024,3004,1230,3475,3453,3498,0,0,0,0,0,0,26.20,26.08,26.26
$GC,2972,-0.81,-155.7,3005,1226,3453,3499,464.0,-11.4,177,2981,0.00,2.12,0.00,0.000,1030,0.000,0.030,2995,2604,3475,3453,3498,0,0,0,0,0,0,26.11,26.05,26.14
$GC,3295,-0.81,-155.7,2995,2605,3453,3494,498.3,-10.2,188,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3472,3452,3493,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3595,-0.81,-155.7,2995,2605,3450,3493,531.2,-11.5,198,3602,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3695,3470,3449,3492,0,0,0,0,0,0,26.17,25.90,26.22
$GC,3691,-0.81,-155.7,2988,3696,3448,3491,541.7,-11.5,201,3698,0.00,1.55,0.00,0.000,1030,0.000,0.023,2994,2611,3469,3448,3490,0,0,0,0,0,0,26.17,26.13,26.17
$GC,4017,-0.81,-155.7,2993,2611,3446,3488,577.0,-10.1,212,4025,0.00,2.10,0.00,0.000,516,0.000,0.025,3004,1204,3466,3445,3487,0,0,0,0,0,0,26.15,26.03,26.22
$GC,4054,-0.81,-155.7,3004,1205,3444,3488,580.1,-10.0,213,4062,0.00,2.17,0.00,0.000,1030,0.000,0.031,2995,2602,3466,3444,3488,0,0,0,0,0,0,26.03,25.96,26.06
$GC,4376,-0.81,-155.7,2996,2603,3440,3486,615.4,-11.0,224,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3462,3440,3484,0,0,0,0,0,0,26.15,26.22,26.20
$GC,4676,-0.81,-155.7,2994,2604,3440,3483,648.8,-11.4,234,4684,0.00,2.10,0.00,0.000,516,0.000,0.026,3004,1205,3460,3438,3482,0,0,0,0,0,0,26.14,25.99,26.20
$GC,4738,-0.81,-155.7,3002,1203,3438,3482,655.5,-11.5,236,4746,0.00,2.17,0.00,0.000,1030,0.000,0.031,2995,2608,3459,3436,3482,0,0,0,0,0,0,26.03,25.96,26.06
$GC,5060,-0.81,-155.7,2994,2608,3436,3479,693.7,-11.7,247,5067,0.00,1.70,0.00,0.000,260,0.000,0.047,2986,3692,3456,3434,3479,0,0,0,0,0,0,26.13,25.85,26.18
$GC,5091,-0.81,-155.7,2986,3692,3435,3483,697.4,-11.6,248,5099,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2590,3456,3434,3478,0,0,0,0,0,0,26.09,26.06,26.11
$GC,5423,-0.81,-155.7,2994,2591,3431,3477,734.0,-10.9,259,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2591,3454,3431,3477,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5723,-0.81,-155.7,2993,2591,3430,3474,763.7,-9.7,269,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2591,3451,3429,3474,0,0,0,0,0,0,26.12,26.17,26.17
$GC,6023,-0.81,-155.7,2994,2591,3426,3472,789.6,-8.2,279,6031,0.00,2.08,0.00,0.000,516,0.000,0.027,3003,1211,3447,3422,3472,0,0,0,0,0,0,26.08,25.92,26.14
$GC,6050,-0.81,-155.7,3003,1212,3426,3473,791.9,-8.3,280,6058,0.00,2.17,0.00,0.000,1030,0.000,0.033,2994,2603,3449,3426,3472,0,0,0,0,0,0,25.94,25.86,25.97
$GC,6382,-0.81,-155.7,2993,2604,3426,3472,820.6,-8.9,291,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2603,3448,3425,3471,0,0,0,0,0,0,26.08,26.14,26.13
$GC,6682,-0.81,-155.7,2993,2603,3425,3470,847.7,-9.0,301,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2603,3445,3422,3469,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6982,-0.81,-155.7,2995,2604,3421,3469,875.5,-9.3,311,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2603,3444,3421,3468,0,0,0,0,0,0,26.03,26.10,26.09
$GC,7282,-0.81,-155.7,2993,2604,3422,3467,903.0,-9.4,321,7290,0.00,2.10,0.00,0.000,516,0.000,0.027,3002,1223,3444,3421,3467,0,0,0,0,0,0,26.06,25.88,26.12
$GC,7314,-0.81,-155.7,3001,1224,3421,3467,905.6,-9.4,322,7322,0.00,2.15,0.00,0.000,1030,0.000,0.032,2994,2602,3443,3420,3467,0,0,0,0,0,0,25.89,25.84,25.91
$GC,7641,-0.81,-155.7,2993,2604,3420,3465,937.0,-9.6,333,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3441,3418,3464,0,0,0,0,0,0,26.03,26.10,26.08
$GC,7941,-0.81,-155.7,2993,2603,3417,3465,965.7,-9.7,343,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3440,3416,3464,0,0,0,0,0,0,26.06,26.12,26.10
$STATE,8210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8210,begin apogee
$GC,8213,-0.17,0.0,2993,2431,3416,3464,992.2,-9.9,352,8347,0.77,0.00,125.15,1.252,10246,0.148,0.000,3211,2431,2838,2811,2865,0,0,0,0,0,0,25.38,24.56,23.63
$STATE,8347,end apogee,CONTROL_FINISHED_OK
$STATE,8347,begin climb
$GC,8349,0.81,155.7,3213,2432,2807,2862,998.0,0.0,356,8494,1.05,2.30,134.35,1.238,10756,0.129,0.027,3530,1039,2198,2190,2206,0,0,0,0,0,0,24.70,23.79,23.14
$GC,8639,0.95,255.5,3532,1039,2189,2198,994.0,5.7,366,8736,0.17,2.17,84.93,1.217,11270,0.158,0.030,3570,2423,1791,1792,1791,0,0,0,0,0,0,25.33,25.60,23.62
$GC,9050,0.95,255.5,3569,2424,1784,1778,951.0,10.8,380,9057,0.00,2.00,0.00,0.000,260,0.000,0.046,3562,3691,1779,1782,1777,0,0,0,0,0,0,26.08,25.95,26.15
$GC,9101,0.95,255.5,3561,3692,1783,1778,947.9,11.0,381,9112,0.00,1.88,0.00,0.000,1030,0.000,0.024,3570,2402,1779,1781,1777,0,0,0,0,0,0,26.16,26.13,26.17
$GC,9406,0.95,255.5,3571,2402,1781,1775,914.1,10.1,392,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2401,1776,1780,1772,0,0,0,0,0,0,26.15,26.22,26.22
$GC,9706,0.95,255.5,3571,2401,1779,1774,882.5,10.6,402,9714,0.00,2.08,0.00,0.000,260,0.000,0.044,3561,3694,1777,1780,1774,0,0,0,0,0,0,26.15,25.98,26.21
$GC,9728,0.95,255.5,3562,3695,1780,1774,882.5,10.6,402,9735,0.00,1.85,0.00,0.000,1030,0.000,0.024,3570,2430,1777,1780,1774,0,0,0,0,0,0,26.18,26.15,26.22
$GC,10033,0.95,255.5,3571,2428,1779,1773,849.3,10.1,412,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2431,1776,1779,1773,0,0,0,0,0,0,26.13,26.20,26.20
$GC,10333,0.95,255.5,3569,2428,1781,1773,817.7,10.7,422,10341,0.00,2.03,0.00,0.000,260,0.000,0.044,3562,3699,1775,1779,1772,0,0,0,0,0,0,26.13,25.90,26.19
$GC,10400,0.95,255.5,3562,3699,1779,1772,811.0,11.0,424,10407,0.00,1.88,0.00,0.000,1030,0.000,0.025,3570,2422,1775,1779,1772,0,0,0,0,0,0,26.08,26.05,26.10
$GC,10717,0.95,255.5,3571,2423,1778,1772,777.4,10.1,435,10725,0.00,2.12,0.00,0.000,516,0.000,0.029,3580,1031,1775,1778,1772,0,0,0,0,0,0,26.06,25.98,26.13
$GC,10794,0.95,255.5,3579,1035,1777,1772,770.8,10.5,437,10802,0.00,2.15,0.00,0.000,1030,0.000,0.031,3571,2420,1772,1774,1771,0,0,0,0,0,0,26.03,25.96,26.06
$GC,11106,0.95,255.5,3570,2420,1775,1773,737.3,10.2,448,11117,0.00,2.03,0.00,0.000,260,0.000,0.047,3562,3693,1773,1775,1771,0,0,0,0,0,0,26.08,25.82,26.15
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$GC,14760,1.04,318.9,3613,3696,1531,1519,341.7,15.5,568,14768,0.00,1.88,0.00,0.000,1030,0.000,0.024,3622,2421,1524,1530,1518,0,0,0,0,0,0,26.05,26.01,26.06
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$STATE,17913,end climb,SURFACE_DEPTH_REACHED
$STATE,17913,begin surface coast
$FINISH,1.0,1.022414
$STATE,17929,end surface coast,CONTROL_FINISHED_OK
$STATE,17929,begin surface
$SM_CCo,17946,21.90,0.116,0,0,799,500.17
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$IRIDIUM_FIX,1427.54,14532.24,280108,230401
$TT8_MAMPS,0.056175,0.056175
$HUMID,35.66
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.80
$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,17923.66 7649.87
$PA_BOOTCOUNT,981
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.06/0.103/1.856/1.658
$PA_DISK_BANK,2
$24V_AH,23.14,62.643
$10V_AH,9.97,37.102
$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,568.816,0.000,0.000,0.000,0.000,0.000,18306.641,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,237936
$DATA_FILE_SIZE,36743,843
$CAP_FILE_SIZE,157617,0
$CFSIZE,1024393216,1001029632
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