version: 66.12
glider: 204
mission: 15
dive: 181
start: 4 4 115 11 13 57
data:
$ID,204
$MISSION,15
$DIVE,181
$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,-3
$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,74
$R_STBD_OVSHOOT,55
$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
$GPS1,040415,110653,1423.0980,14528.1045,37,0.8,37,1.0,0.8,253.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.5
$GPS2,040415,111324,1423.0583,14528.0029,16,0.8,16,1.0,0.6,245.1,10,4.7
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,175.1,90584,-16.9,-10.000,-20.51,2373
$D_GRID,1830
$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,-0.81,-155.7,194,2630,802,801,0.0,0.0,0,158,0.00,0.00,-53.35,0.000,16386,0.000,0.000,193,2630,2242,2203,2282,0,0,0,0,0,0,26.18,28.83,26.25
$GC,160,-0.81,-155.7,193,2631,2207,2283,3.1,-4.0,8,211,11.93,2.17,-26.70,0.000,18948,0.228,0.040,3014,1207,3476,3448,3505,0,0,0,0,0,0,25.51,24.14,25.83
$GC,351,-0.81,-155.7,3011,1207,3449,3506,44.6,-23.1,41,364,0.00,2.12,0.00,0.000,1030,0.000,0.032,3002,2593,3477,3449,3505,0,0,0,0,0,0,26.03,25.96,26.06
$GC,669,-0.81,-155.7,3002,2593,3449,3506,123.3,-24.2,74,676,0.00,2.05,0.00,0.000,516,0.000,0.025,3007,1214,3477,3448,3506,0,0,0,0,0,0,26.20,26.08,26.25
$GC,690,-0.81,-155.7,3006,1215,3451,3506,127.4,-23.9,75,700,0.00,2.12,0.00,0.000,1030,0.000,0.034,2999,2601,3478,3450,3506,0,0,0,0,0,0,26.10,26.03,26.14
$GC,996,-0.81,-155.7,2999,2601,3450,3507,182.2,-18.8,106,1005,0.00,1.73,0.00,0.000,260,0.000,0.043,2990,3697,3479,3451,3507,0,0,0,0,0,0,26.19,26.01,26.24
$GC,1079,-0.81,-155.7,2989,3699,3453,3508,199.2,-19.2,114,1087,0.00,1.60,0.00,0.000,1030,0.000,0.021,2997,2585,3477,3451,3503,0,0,0,0,0,0,26.18,26.17,26.19
$GC,1392,-0.81,-155.7,2996,2586,3456,3510,249.3,-15.8,125,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2585,3481,3454,3508,0,0,0,0,0,0,26.20,26.27,26.25
$GC,1692,-0.81,-155.7,2998,2586,3454,3509,293.6,-14.7,135,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2585,3482,3455,3509,0,0,0,0,0,0,26.20,26.26,26.25
$GC,1992,-0.81,-155.7,2996,2585,3456,3508,341.1,-15.4,145,2000,0.00,1.73,0.00,0.000,260,0.000,0.045,2990,3693,3481,3455,3508,0,0,0,0,0,0,26.20,25.97,26.26
$GC,2073,-0.81,-155.7,2988,3693,3456,3509,350.0,-14.7,147,2081,0.00,1.52,0.00,0.000,1030,0.000,0.021,2997,2594,3481,3455,3508,0,0,0,0,0,0,26.22,26.20,26.23
$GC,2385,-0.81,-155.7,2996,2595,3456,3506,395.2,-13.7,158,2395,0.00,2.03,0.00,0.000,516,0.000,0.025,3007,1228,3480,3455,3505,0,0,0,0,0,0,26.20,26.10,26.25
$GC,2454,-0.81,-155.7,3006,1229,3456,3505,403.3,-13.1,160,2462,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2604,3479,3454,3504,0,0,0,0,0,0,26.13,26.06,26.15
$GC,2776,-0.81,-155.7,2997,2605,3456,3499,441.6,-10.9,171,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2604,3476,3454,3499,0,0,0,0,0,0,26.20,26.27,26.26
$GC,3076,-0.81,-155.7,2997,2605,3451,3496,473.4,-11.0,181,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2605,3473,3452,3495,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3376,-0.81,-155.7,2997,2605,3450,3493,505.7,-10.5,191,3384,0.00,1.73,0.00,0.000,260,0.000,0.045,2990,3690,3470,3449,3492,0,0,0,0,0,0,26.20,25.96,26.24
$GC,3423,-0.81,-155.7,2989,3690,3451,3493,509.0,-10.5,192,3431,0.00,1.55,0.00,0.000,1030,0.000,0.023,2997,2599,3470,3449,3492,0,0,0,0,0,0,26.16,26.12,26.17
$GC,3741,-0.81,-155.7,2997,2600,3446,3490,543.5,-10.6,203,3749,0.00,2.08,0.00,0.000,516,0.000,0.027,3007,1213,3467,3445,3489,0,0,0,0,0,0,26.15,26.03,26.20
$GC,3763,-0.81,-155.7,3006,1213,3447,3490,543.5,-10.6,203,3773,0.00,2.15,0.00,0.000,1030,0.000,0.032,2998,2603,3467,3445,3489,0,0,0,0,0,0,26.07,26.00,26.10
$GC,4068,-0.81,-155.7,2998,2604,3441,3486,579.1,-11.0,214,4076,0.00,1.70,0.00,0.000,260,0.000,0.045,2989,3694,3463,3441,3486,0,0,0,0,0,0,26.17,25.90,26.22
$GC,4105,-0.81,-155.7,2988,3695,3442,3486,582.9,-11.1,215,4112,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2590,3462,3440,3485,0,0,0,0,0,0,26.15,26.11,26.16
$GC,4431,-0.81,-155.7,2995,2590,3438,3484,620.0,-11.1,226,4441,0.00,2.08,0.00,0.000,516,0.000,0.026,3004,1217,3460,3438,3483,0,0,0,0,0,0,26.10,26.01,26.14
$GC,4504,-0.81,-155.7,3003,1212,3438,3484,626.9,-11.1,228,4512,0.00,2.17,0.00,0.000,1030,0.000,0.033,2995,2612,3460,3437,3483,0,0,0,0,0,0,26.03,25.96,26.06
$GC,4826,-0.81,-155.7,2994,2612,3436,3480,665.5,-12.1,239,4833,0.00,1.70,0.00,0.000,260,0.000,0.047,2987,3694,3456,3434,3479,0,0,0,0,0,0,26.14,25.86,26.20
$GC,4867,-0.81,-155.7,2986,3695,3435,3480,669.6,-12.4,240,4874,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2597,3456,3434,3478,0,0,0,0,0,0,26.12,26.08,26.13
$GC,5188,-0.81,-155.7,2994,2598,3430,3474,709.3,-11.6,251,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2598,3454,3431,3477,0,0,0,0,0,0,26.12,26.19,26.18
$GC,5488,-0.81,-155.7,2994,2598,3428,3475,743.9,-11.3,261,5496,0.00,2.08,0.00,0.000,516,0.000,0.028,3003,1222,3451,3428,3474,0,0,0,0,0,0,26.11,25.94,26.17
$GC,5590,-0.81,-155.7,3004,1222,3426,3476,753.4,-11.0,264,5598,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2603,3450,3426,3474,0,0,0,0,0,0,25.98,25.91,26.02
$GC,5902,-0.81,-155.7,2994,2605,3427,3473,787.7,-10.8,275,5910,0.00,1.75,0.00,0.000,260,0.000,0.046,2986,3689,3447,3425,3470,0,0,0,0,0,0,26.08,25.81,26.15
$GC,5928,-0.81,-155.7,2985,3690,3428,3472,787.7,-10.8,275,5938,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2598,3448,3425,3471,0,0,0,0,0,0,26.01,25.98,26.03
$GC,6234,-0.81,-155.7,2993,2598,3426,3471,822.1,-10.3,286,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2597,3447,3424,3470,0,0,0,0,0,0,26.07,26.12,26.13
$GC,6534,-0.81,-155.7,2994,2598,3422,3469,852.1,-9.7,296,6542,0.00,1.75,0.00,0.000,260,0.000,0.047,2986,3694,3445,3422,3469,0,0,0,0,0,0,26.05,25.75,26.10
$GC,6571,-0.81,-155.7,2985,3695,3423,3470,855.4,-9.8,297,6578,0.00,1.60,0.00,0.000,1030,0.000,0.024,2993,2591,3445,3422,3469,0,0,0,0,0,0,26.04,26.01,26.06
$GC,6897,-0.81,-155.7,2993,2590,3420,3468,886.9,-10.2,308,6907,0.00,2.08,0.00,0.000,516,0.000,0.027,3003,1216,3443,3420,3467,0,0,0,0,0,0,26.04,25.84,26.10
$GC,6982,-0.81,-155.7,3003,1217,3419,3468,892.9,-10.5,310,6992,0.00,2.17,0.00,0.000,1030,0.000,0.033,2993,2603,3443,3419,3467,0,0,0,0,0,0,25.92,25.84,25.95
$GC,7287,-0.81,-155.7,2993,2604,3419,3466,928.0,-10.7,321,7296,0.00,1.73,0.00,0.000,260,0.000,0.047,2985,3694,3441,3417,3465,0,0,0,0,0,0,26.00,25.72,26.05
$GC,7345,-0.81,-155.7,2984,3695,3419,3466,931.6,-10.8,322,7355,0.00,1.60,0.00,0.000,1030,0.000,0.024,2992,2590,3440,3417,3464,0,0,0,0,0,0,26.01,25.98,26.03
$GC,7650,-0.81,-155.7,2991,2591,3418,3464,969.9,-11.9,333,7659,0.00,2.08,0.00,0.000,516,0.000,0.028,3002,1219,3439,3415,3464,0,0,0,0,0,0,26.04,25.86,26.10
$GC,7688,-0.81,-155.7,3002,1219,3415,3464,973.8,-12.0,334,7695,0.00,2.17,0.00,0.000,1030,0.000,0.032,2992,2607,3439,3414,3464,0,0,0,0,0,0,25.91,25.84,25.94
$STATE,7828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7828,begin apogee
$GC,7832,-0.17,0.0,2994,2433,3414,3463,992.4,-12.9,339,7965,0.77,0.00,125.60,1.252,10246,0.150,0.000,3210,2432,2838,2811,2865,0,0,0,0,0,0,25.34,24.56,23.61
$STATE,7965,end apogee,CONTROL_FINISHED_OK
$STATE,7965,begin climb
$GC,7967,0.81,155.7,3211,2432,2808,2862,1001.3,0.0,343,8112,1.05,2.33,134.60,1.247,10756,0.127,0.028,3532,1023,2198,2191,2206,0,0,0,0,0,0,24.72,23.78,23.11
$GC,8311,1.02,304.6,3532,1023,2182,2198,1004.0,3.6,355,8454,0.22,2.22,127.20,1.234,11270,0.135,0.031,3607,2431,1591,1593,1590,0,0,0,0,0,0,25.59,25.75,23.46
$GC,8758,1.02,304.6,3608,2431,1582,1576,948.3,14.4,370,8766,0.00,2.00,0.00,0.000,260,0.000,0.046,3606,3691,1579,1583,1576,0,0,0,0,0,0,26.08,25.97,26.15
$GC,8821,1.02,304.6,3607,3691,1582,1576,938.0,15.4,372,8828,0.00,1.88,0.00,0.000,1030,0.000,0.024,3615,2403,1578,1582,1575,0,0,0,0,0,0,26.15,26.12,26.17
$GC,9153,1.02,304.6,3617,2400,1580,1574,884.0,17.0,383,9162,0.00,2.08,0.00,0.000,516,0.000,0.030,3626,1034,1576,1580,1573,0,0,0,0,0,0,26.21,26.12,26.27
$GC,9181,1.02,304.6,3626,1035,1578,1573,884.0,17.0,383,9192,0.00,2.15,0.00,0.000,1030,0.000,0.031,3624,2427,1576,1579,1573,0,0,0,0,0,0,26.16,26.09,26.20
$GC,9487,1.02,304.6,3626,2427,1579,1573,824.1,18.0,394,9495,0.00,2.00,0.00,0.000,260,0.000,0.046,3615,3693,1575,1579,1572,0,0,0,0,0,0,26.20,26.00,26.27
$GC,9604,1.02,304.6,3616,3694,1578,1573,806.9,18.4,397,9616,0.00,1.88,0.00,0.000,1030,0.000,0.024,3623,2410,1575,1579,1572,0,0,0,0,0,0,26.18,26.15,26.20
$GC,9909,1.02,304.6,3623,2407,1580,1572,752.3,15.6,408,9917,0.00,2.05,0.00,0.000,260,0.000,0.045,3616,3692,1574,1578,1571,0,0,0,0,0,0,26.16,25.92,26.22
$GC,9936,1.02,304.6,3617,3693,1578,1571,748.0,15.5,409,9943,0.00,1.88,0.00,0.000,1030,0.000,0.025,3624,2415,1574,1578,1571,0,0,0,0,0,0,26.15,26.12,26.17
$GC,10262,1.02,304.6,3624,2412,1579,1571,700.3,14.4,420,10270,0.00,2.12,0.00,0.000,516,0.000,0.031,3635,1038,1573,1576,1571,0,0,0,0,0,0,26.12,26.03,26.18
$GC,10294,1.02,304.6,3634,1032,1578,1571,695.7,14.4,421,10302,0.00,2.17,0.00,0.000,1030,0.000,0.032,3626,2417,1572,1575,1570,0,0,0,0,0,0,26.06,25.98,26.10
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$STATE,16145,end climb,SURFACE_DEPTH_REACHED
$STATE,16145,begin surface coast
$FINISH,1.0,1.009236
$STATE,16160,end surface coast,CONTROL_FINISHED_OK
$STATE,16160,begin surface
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$IRIDIUM_FIX,1418.63,14528.57,290108,193446
$TT8_MAMPS,0.056924,0.056924
$HUMID,36.25
$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,16153.11 6875.58
$PA_BOOTCOUNT,986
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.06/0.104/1.856/1.657
$PA_DISK_BANK,2
$24V_AH,23.11,65.037
$10V_AH,9.98,37.485
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.328,0.000,0.000,0.000
$MEM,249500
$DATA_FILE_SIZE,33415,796
$CAP_FILE_SIZE,148658,0
$CFSIZE,1024393216,1000538112
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