version: 66.12
glider: 204
mission: 15
dive: 171
start: 4 2 115 9 41 14
data:
$ID,204
$MISSION,15
$DIVE,171
$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,-4
$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,83
$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
$GPS1,020415,093023,1448.5920,14541.9121,38,1.0,38,0.9,0.5,261.4,7,12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-71.4
$GPS2,020415,094103,1448.6482,14541.7412,4,0.7,4,0.9,0.7,295.1,11,-1.0
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,196.4,143988,-17.3,-11.000,-20.71,2428
$D_GRID,1300
$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,-175.2,190,2604,802,804,0.0,0.0,0,153,0.00,0.00,-56.62,0.000,16386,0.000,0.000,191,2604,2347,2307,2388,0,0,0,0,0,0,26.16,28.83,26.22
$GC,155,-0.85,-175.2,191,2605,2313,2387,3.3,-4.1,8,198,11.88,2.12,-25.88,0.000,18948,0.232,0.039,2998,1222,3555,3528,3582,0,0,0,0,0,0,25.52,24.06,25.72
$GC,335,-0.85,-175.2,2999,1222,3530,3583,43.2,-24.2,42,347,0.00,2.10,0.00,0.000,1030,0.000,0.032,2989,2600,3556,3530,3583,0,0,0,0,0,0,26.10,26.03,26.13
$GC,647,-0.85,-175.2,2990,2600,3530,3584,121.5,-21.2,75,655,0.00,1.67,0.00,0.000,260,0.000,0.043,2981,3693,3557,3531,3583,0,0,0,0,0,0,26.10,25.94,26.15
$GC,734,-0.85,-175.2,2982,3694,3530,3584,141.5,-25.0,83,744,0.00,1.52,0.00,0.000,1030,0.000,0.021,2988,2592,3557,3531,3584,0,0,0,0,0,0,26.22,26.20,26.22
$GC,1039,-0.85,-175.2,2988,2589,3534,3585,201.3,-17.2,114,1046,0.00,2.00,0.00,0.000,516,0.000,0.025,2995,1235,3559,3533,3585,0,0,0,0,0,0,26.22,26.11,26.29
$GC,1161,-0.85,-175.2,2994,1235,3536,3585,220.2,-16.1,118,1169,0.00,2.10,0.00,0.000,1030,0.000,0.033,2986,2607,3560,3535,3585,0,0,0,0,0,0,26.15,26.07,26.17
$GC,1483,-0.85,-175.2,2985,2608,3536,3586,272.3,-14.5,129,1491,0.00,2.05,0.00,0.000,516,0.000,0.026,2995,1231,3560,3535,3586,0,0,0,0,0,0,26.20,26.11,26.27
$GC,1530,-0.85,-175.2,2995,1232,3535,3586,276.2,-14.3,130,1538,0.00,2.10,0.00,0.000,1030,0.000,0.033,2985,2604,3560,3535,3585,0,0,0,0,0,0,26.15,26.08,26.19
$GC,1842,-0.85,-175.2,2986,2605,3538,3586,323.7,-13.2,141,1850,0.00,1.73,0.00,0.000,260,0.000,0.044,2977,3697,3560,3535,3586,0,0,0,0,0,0,26.23,26.03,26.28
$GC,1949,-0.85,-175.2,2978,3698,3535,3586,336.2,-13.2,144,1956,0.00,1.52,0.00,0.000,1030,0.000,0.021,2984,2604,3560,3535,3585,0,0,0,0,0,0,26.25,26.22,26.26
$GC,2265,-0.85,-175.2,2985,2600,3534,3585,386.0,-14.7,155,2273,0.00,2.03,0.00,0.000,516,0.000,0.024,2995,1226,3560,3535,3585,0,0,0,0,0,0,26.22,26.13,26.28
$GC,2352,-0.85,-175.2,2996,1226,3534,3585,397.8,-13.9,158,2364,0.00,2.10,0.00,0.000,1030,0.000,0.030,2986,2612,3559,3535,3584,0,0,0,0,0,0,26.09,26.06,26.10
$GC,2683,-0.85,-175.2,2987,2613,3534,3581,440.1,-13.3,169,2692,0.00,2.10,0.00,0.000,516,0.000,0.024,2995,1223,3557,3534,3580,0,0,0,0,0,0,26.18,26.03,26.25
$GC,2746,-0.85,-175.2,2996,1212,3533,3581,448.2,-13.2,171,2754,0.00,2.12,0.00,0.000,1030,0.000,0.031,2986,2602,3557,3533,3581,0,0,0,0,0,0,26.13,26.06,26.16
$GC,3073,-0.85,-175.2,2986,2602,3530,3577,485.6,-11.1,182,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2603,3553,3531,3576,0,0,0,0,0,0,26.17,26.24,26.23
$GC,3373,-0.85,-175.2,2985,2603,3529,3574,519.6,-11.3,192,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2602,3550,3527,3573,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3673,-0.85,-175.2,2987,2603,3522,3571,557.0,-12.8,202,3680,0.00,1.70,0.00,0.000,260,0.000,0.044,2977,3697,3546,3523,3570,0,0,0,0,0,0,26.18,25.93,26.24
$GC,3719,-0.85,-175.2,2977,3698,3525,3571,561.2,-12.8,203,3726,0.00,1.58,0.00,0.000,1030,0.000,0.023,2984,2590,3546,3523,3569,0,0,0,0,0,0,26.13,26.09,26.14
$GC,4035,-0.85,-175.2,2983,2591,3521,3567,601.4,-11.9,214,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2590,3542,3519,3566,0,0,0,0,0,0,26.17,26.24,26.23
$GC,4335,-0.85,-175.2,2985,2591,3516,3564,637.8,-11.8,224,4343,0.00,2.05,0.00,0.000,516,0.000,0.026,2995,1219,3539,3516,3563,0,0,0,0,0,0,26.16,26.02,26.21
$GC,4376,-0.85,-175.2,2996,1219,3515,3564,640.9,-11.7,225,4384,0.00,2.15,0.00,0.000,1030,0.000,0.031,2986,2615,3540,3516,3564,0,0,0,0,0,0,26.08,26.01,26.10
$GC,4688,-0.85,-175.2,2986,2615,3513,3561,683.2,-13.2,236,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2615,3537,3513,3561,0,0,0,0,0,0,26.15,26.22,26.20
$GC,4988,-0.85,-175.2,2985,2616,3512,3559,720.4,-12.1,246,4996,0.00,1.67,0.00,0.000,260,0.000,0.044,2978,3690,3534,3510,3558,0,0,0,0,0,0,26.13,25.88,26.20
$GC,5025,-0.85,-175.2,2978,3690,3509,3558,724.2,-12.2,247,5032,0.00,1.55,0.00,0.000,1030,0.000,0.023,2984,2608,3533,3510,3557,0,0,0,0,0,0,26.13,26.09,26.14
$GC,5351,-0.85,-175.2,2985,2608,3507,3555,760.9,-10.7,258,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2608,3530,3507,3554,0,0,0,0,0,0,26.13,26.19,26.18
$GC,5651,-0.85,-175.2,2984,2608,3505,3552,793.3,-11.3,268,5659,0.00,2.10,0.00,0.000,516,0.000,0.025,2995,1207,3528,3505,3552,0,0,0,0,0,0,26.11,25.94,26.17
$GC,5672,-0.85,-175.2,2996,1207,3504,3552,793.3,-11.3,268,5680,0.00,2.15,0.00,0.000,1030,0.000,0.031,2986,2600,3528,3505,3552,0,0,0,0,0,0,26.01,25.94,26.04
$GC,5985,-0.85,-175.2,2987,2601,3502,3551,833.8,-12.3,279,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2600,3526,3503,3550,0,0,0,0,0,0,26.08,26.14,26.15
$GC,6285,-0.85,-175.2,2984,2601,3504,3550,866.2,-10.2,289,6292,0.00,1.73,0.00,0.000,260,0.000,0.045,2977,3700,3524,3501,3548,0,0,0,0,0,0,26.09,25.82,26.14
$GC,6326,-0.85,-175.2,2977,3700,3500,3549,869.6,-10.2,290,6334,0.00,1.60,0.00,0.000,1030,0.000,0.024,2984,2597,3524,3500,3548,0,0,0,0,0,0,26.06,26.01,26.08
$GC,6648,-0.85,-175.2,2985,2596,3499,3547,901.4,-9.3,301,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2596,3522,3499,3546,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6948,-0.85,-175.2,2985,2596,3497,3545,930.8,-10.1,311,6955,0.00,2.10,0.00,0.000,516,0.000,0.027,2995,1205,3520,3497,3544,0,0,0,0,0,0,26.10,25.91,26.16
$GC,6979,-0.85,-175.2,2995,1206,3497,3545,933.6,-10.2,312,6988,0.00,2.17,0.00,0.000,1030,0.000,0.031,2987,2603,3520,3497,3544,0,0,0,0,0,0,25.94,25.88,25.97
$GC,7307,-0.85,-175.2,2985,2603,3497,3544,967.2,-9.9,323,7316,0.00,1.75,0.00,0.000,260,0.000,0.046,2977,3682,3519,3495,3543,0,0,0,0,0,0,25.99,25.77,26.05
$GC,7350,-0.85,-175.2,2978,3687,3495,3543,970.6,-9.9,324,7357,0.00,1.62,0.00,0.000,1030,0.000,0.023,2984,2589,3519,3495,3543,0,0,0,0,0,0,26.03,26.01,26.04
$STATE,7550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7550,begin apogee
$GC,7554,-0.17,0.0,2985,2427,3495,3543,992.2,-10.2,331,7713,0.80,0.00,146.77,1.652,10246,0.147,0.000,3212,2424,2839,2813,2866,0,0,0,0,1,0,25.42,23.90,22.78
$STATE,7713,end apogee,CONTROL_FINISHED_OK
$STATE,7713,begin climb
$GC,7715,0.85,175.2,3214,2425,2822,2870,1000.8,0.0,336,7886,1.12,2.35,154.12,1.176,11012,0.125,0.026,3542,1033,2115,2112,2119,0,0,0,0,0,0,24.17,24.09,23.22
$GC,7930,1.14,374.4,3542,1034,2112,2121,1002.1,2.6,343,8119,0.35,2.25,177.20,1.200,11270,0.109,0.028,3635,2425,1311,1324,1299,0,0,0,0,0,0,24.93,24.98,23.15
$GC,8423,1.14,374.4,3636,2426,1310,1282,919.8,18.9,360,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2425,1296,1310,1282,0,0,0,0,0,0,26.08,26.15,26.13
$GC,8723,1.14,374.4,3635,2426,1309,1279,862.5,19.0,370,8731,0.00,2.00,0.00,0.000,260,0.000,0.045,3627,3695,1293,1308,1278,0,0,0,0,0,0,26.20,26.06,26.25
$GC,8759,1.14,374.4,3627,3696,1306,1278,857.3,19.0,371,8767,0.00,1.88,0.00,0.000,1030,0.000,0.023,3635,2407,1291,1306,1277,0,0,0,0,0,0,26.23,26.20,26.25
$GC,9076,1.14,374.4,3635,2405,1308,1278,798.1,18.0,382,9084,0.00,2.05,0.00,0.000,260,0.000,0.044,3626,3692,1291,1306,1276,0,0,0,0,0,0,26.18,26.05,26.25
$GC,9108,1.14,374.4,3627,3693,1305,1277,792.1,18.1,383,9115,0.00,1.88,0.00,0.000,1030,0.000,0.024,3635,2412,1291,1305,1277,0,0,0,0,0,0,26.22,26.19,26.24
$GC,9440,1.14,374.4,3634,2408,1307,1277,735.3,17.6,394,9451,0.00,2.05,0.00,0.000,260,0.000,0.044,3626,3699,1290,1305,1276,0,0,0,0,0,0,26.16,26.00,26.22
$GC,9484,1.14,374.4,3626,3700,1306,1277,729.8,17.8,395,9492,0.00,1.88,0.00,0.000,1030,0.000,0.025,3635,2422,1290,1304,1276,0,0,0,0,0,0,26.19,26.15,26.20
$GC,9796,1.14,374.4,3636,2422,1303,1276,672.9,17.8,406,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,3635,2422,1289,1304,1275,0,0,0,0,0,0,26.17,26.23,26.22
$GC,10096,1.14,374.4,3636,2422,1303,1276,618.8,17.5,416,10104,0.00,2.03,0.00,0.000,260,0.000,0.044,3627,3698,1289,1304,1275,0,0,0,0,0,0,26.13,25.93,26.19
$GC,10158,1.14,374.4,3625,3699,1305,1276,607.8,17.4,418,10166,0.00,1.88,0.00,0.000,1030,0.000,0.025,3635,2421,1289,1303,1275,0,0,0,0,0,0,26.14,26.10,26.16
$GC,10490,1.14,374.4,3634,2422,1305,1276,557.3,14.6,429,10498,0.00,2.15,0.00,0.000,516,0.000,0.030,3646,1023,1288,1302,1275,0,0,0,0,0,0,26.14,26.02,26.20
$GC,10517,1.14,374.4,3645,1024,1304,1276,557.3,14.6,429,10528,0.00,2.15,0.00,0.000,1030,0.000,0.029,3637,2417,1289,1303,1275,0,0,0,0,0,0,26.06,25.99,26.10
$GC,10823,1.14,374.4,3637,2417,1302,1275,507.9,15.5,440,10832,0.00,2.03,0.00,0.000,260,0.000,0.044,3626,3701,1288,1302,1275,0,0,0,0,0,0,26.09,25.90,26.15
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$STATE,14568,end climb,SURFACE_DEPTH_REACHED
$STATE,14568,begin surface coast
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$STATE,14584,end surface coast,CONTROL_FINISHED_OK
$STATE,14584,begin surface
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$IRIDIUM_FIX,1443.14,14543.96,270108,230441
$TT8_MAMPS,0.053928,0.053928
$HUMID,37.12
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.60
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,14572.29 6262.75
$PA_BOOTCOUNT,976
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$10V_AH,10.00,36.724
$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,484.321,0.000,0.000,0.000,0.000,0.000,15272.271,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,237904
$DATA_FILE_SIZE,30083,720
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$CFSIZE,1024393216,1001553920
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