version: 66.12
glider: 204
mission: 15
dive: 173
start: 4 2 115 18 31 8
data:
$ID,204
$MISSION,15
$DIVE,173
$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,78
$R_STBD_OVSHOOT,46
$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
$GPS1,020415,182522,1442.7573,14538.8486,38,0.8,38,0.9,0.8,236.6,10,13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-72.5
$GPS2,020415,183055,1442.7332,14538.7500,6,0.7,6,0.9,0.0,0.0,12,0.0
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,190.6,131782,-16.9,-10.000,-20.51,2373
$D_GRID,1013
$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,-155.7,182,2616,804,806,0.0,0.0,0,152,0.00,0.00,-50.30,0.000,16386,0.000,0.000,181,2616,2158,2126,2190,0,0,0,0,0,0,26.15,28.83,26.22
$GC,154,-0.81,-155.7,183,2617,2128,2191,3.1,-5.1,7,204,11.95,2.10,-28.85,0.000,18948,0.228,0.041,3010,1216,3476,3448,3504,0,0,0,0,0,0,25.56,24.18,25.87
$GC,299,-0.81,-155.7,3010,1216,3448,3506,31.9,-19.5,33,310,0.00,2.12,0.00,0.000,1030,0.000,0.034,3001,2598,3476,3448,3505,0,0,0,0,0,0,26.04,25.97,26.08
$GC,611,-0.81,-155.7,3002,2599,3449,3506,109.3,-23.2,71,618,0.00,1.70,0.00,0.000,260,0.000,0.046,2993,3698,3477,3448,3506,0,0,0,0,0,0,26.06,25.91,26.13
$GC,718,-0.81,-155.7,2994,3699,3449,3506,132.3,-22.1,81,730,0.00,1.58,0.00,0.000,1030,0.000,0.021,2995,2582,3478,3449,3507,0,0,0,0,0,0,26.15,26.13,26.17
$GC,1024,-0.81,-155.7,2995,2583,3453,3508,192.3,-18.1,112,1032,0.00,2.00,0.00,0.000,516,0.000,0.024,3005,1220,3479,3451,3507,0,0,0,0,0,0,26.21,26.13,26.27
$GC,1156,-0.81,-155.7,3005,1220,3455,3508,210.1,-15.0,119,1165,0.00,2.12,0.00,0.000,1030,0.000,0.032,2997,2610,3480,3453,3507,0,0,0,0,0,0,26.12,26.04,26.15
$GC,1474,-0.81,-155.7,2996,2611,3455,3515,257.7,-14.4,130,1482,0.00,1.73,0.00,0.000,260,0.000,0.047,2989,3697,3480,3453,3508,0,0,0,0,0,0,26.20,26.00,26.25
$GC,1617,-0.81,-155.7,2988,3698,3455,3510,276.5,-15.6,134,1624,0.00,1.58,0.00,0.000,1030,0.000,0.021,2996,2602,3481,3453,3509,0,0,0,0,0,0,26.21,26.20,26.22
$GC,1928,-0.81,-155.7,2995,2601,3456,3510,321.9,-13.9,145,1936,0.00,2.05,0.00,0.000,516,0.000,0.026,3006,1217,3481,3454,3509,0,0,0,0,0,0,26.21,26.07,26.27
$GC,2005,-0.81,-155.7,3004,1217,3455,3510,329.5,-13.6,147,2013,0.00,2.12,0.00,0.000,1030,0.000,0.032,2997,2605,3481,3454,3509,0,0,0,0,0,0,26.12,26.05,26.15
$GC,2317,-0.81,-155.7,2996,2606,3456,3508,372.5,-12.1,158,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2605,3480,3454,3507,0,0,0,0,0,0,26.20,26.25,26.25
$GC,2617,-0.81,-155.7,2997,2605,3454,3504,406.1,-10.4,168,2624,0.00,2.08,0.00,0.000,516,0.000,0.026,3006,1220,3479,3454,3504,0,0,0,0,0,0,26.20,26.04,26.26
$GC,2638,-0.81,-155.7,3006,1219,3453,3505,406.1,-10.4,168,2648,0.00,2.12,0.00,0.000,1030,0.000,0.032,2997,2606,3478,3454,3503,0,0,0,0,0,0,26.10,26.03,26.14
$GC,2944,-0.81,-155.7,2998,2607,3453,3499,443.8,-11.8,179,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2606,3476,3454,3498,0,0,0,0,0,0,26.18,26.25,26.25
$GC,3243,-0.81,-155.7,2996,2607,3454,3496,477.3,-10.8,189,3251,0.00,2.08,0.00,0.000,516,0.000,0.027,3005,1228,3473,3452,3494,0,0,0,0,0,0,26.19,26.01,26.25
$GC,3280,-0.81,-155.7,3006,1228,3450,3495,480.2,-10.7,190,3287,0.00,2.12,0.00,0.000,1030,0.000,0.033,3003,2603,3472,3450,3494,0,0,0,0,0,0,26.08,26.01,26.11
$GC,3597,-0.81,-155.7,2998,2603,3448,3492,513.3,-9.8,201,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2603,3469,3447,3492,0,0,0,0,0,0,26.15,26.23,26.22
$GC,3897,-0.81,-155.7,2997,2604,3446,3489,543.9,-10.7,211,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2603,3467,3446,3489,0,0,0,0,0,0,26.17,26.24,26.23
$GC,4197,-0.81,-155.7,2996,2604,3446,3487,577.4,-11.3,221,4204,0.00,1.73,0.00,0.000,260,0.000,0.045,2988,3701,3464,3443,3486,0,0,0,0,0,0,26.16,25.87,26.22
$GC,4242,-0.81,-155.7,2988,3702,3444,3486,581.0,-11.2,222,4250,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2611,3462,3442,3483,0,0,0,0,0,0,26.13,26.10,26.15
$GC,4559,-0.81,-155.7,2993,2612,3440,3485,615.8,-10.0,233,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2611,3461,3439,3484,0,0,0,0,0,0,26.13,26.20,26.18
$GC,4859,-0.81,-155.7,2994,2611,3438,3483,646.5,-10.4,243,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2611,3459,3436,3482,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5159,-0.81,-155.7,2995,2611,3433,3480,678.4,-10.2,253,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2610,3455,3432,3479,0,0,0,0,0,0,26.09,26.18,26.15
$GC,5459,-0.81,-155.7,2995,2611,3430,3476,707.2,-9.6,263,5467,0.00,1.73,0.00,0.000,260,0.000,0.045,2987,3702,3453,3430,3476,0,0,0,0,0,0,26.11,25.81,26.16
$GC,5485,-0.81,-155.7,2988,3703,3430,3477,707.2,-9.6,263,5496,0.00,1.62,0.00,0.000,1030,0.000,0.025,2994,2589,3453,3430,3476,0,0,0,0,0,0,26.08,26.05,26.10
$GC,5791,-0.81,-155.7,2993,2590,3429,3476,740.3,-10.1,274,5798,0.00,2.08,0.00,0.000,516,0.000,0.026,3004,1205,3451,3428,3475,0,0,0,0,0,0,26.08,25.94,26.14
$GC,5827,-0.81,-155.7,3005,1205,3427,3475,743.1,-10.2,275,5835,0.00,2.17,0.00,0.000,1030,0.000,0.030,2995,2607,3451,3427,3475,0,0,0,0,0,0,25.98,25.91,26.01
$GC,6144,-0.81,-155.7,2995,2609,3426,3473,780.6,-11.8,286,6152,0.00,1.75,0.00,0.000,260,0.000,0.046,2986,3690,3449,3426,3472,0,0,0,0,0,0,26.09,25.81,26.14
$GC,6176,-0.81,-155.7,2986,3691,3427,3473,784.7,-11.9,287,6183,0.00,1.62,0.00,0.000,1030,0.000,0.023,2993,2589,3448,3425,3472,0,0,0,0,0,0,26.05,26.04,26.07
$GC,6508,-0.81,-155.7,2993,2590,3426,3471,820.7,-9.9,298,6517,0.00,1.75,0.00,0.000,260,0.000,0.044,2987,3694,3447,3424,3471,0,0,0,0,0,0,26.02,25.79,26.08
$GC,6565,-0.81,-155.7,2987,3694,3424,3471,824.1,-10.0,299,6576,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2607,3447,3424,3470,0,0,0,0,0,0,26.06,26.01,26.07
$GC,6871,-0.81,-155.7,2994,2607,3422,3470,855.5,-9.6,310,6878,0.00,1.73,0.00,0.000,260,0.000,0.045,2983,3695,3445,3421,3469,0,0,0,0,0,0,26.07,25.77,26.13
$GC,6897,-0.81,-155.7,2987,3696,3421,3476,855.5,-9.6,310,6908,0.00,1.60,0.00,0.000,1030,0.000,0.024,2993,2588,3445,3422,3469,0,0,0,0,0,0,26.05,26.01,26.07
$GC,7202,-0.81,-155.7,2993,2588,3422,3469,890.4,-10.5,321,7209,0.00,1.77,0.00,0.000,260,0.000,0.044,2986,3700,3444,3421,3468,0,0,0,0,0,0,26.06,25.75,26.12
$GC,7238,-0.81,-155.7,2987,3700,3420,3468,893.8,-10.6,322,7245,0.00,1.60,0.00,0.000,1030,0.000,0.025,2993,2603,3444,3420,3468,0,0,0,0,0,0,26.03,25.99,26.04
$GC,7564,-0.81,-155.7,2994,2601,3418,3467,927.6,-10.1,333,7572,0.00,2.12,0.00,0.000,516,0.000,0.026,3003,1208,3442,3418,3466,0,0,0,0,0,0,26.03,25.86,26.08
$GC,7590,-0.81,-155.7,3002,1199,3420,3467,927.6,-10.1,333,7601,0.00,2.20,0.00,0.000,1030,0.000,0.030,2994,2609,3442,3418,3466,0,0,0,0,0,0,25.94,25.86,25.96
$GC,7896,-0.81,-155.7,2993,2610,3418,3465,959.5,-9.6,344,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3440,3416,3464,0,0,0,0,0,0,26.06,26.13,26.12
$GC,8196,-0.81,-155.7,2993,2610,3416,3465,985.3,-8.1,354,8203,0.00,1.73,0.00,0.000,260,0.000,0.046,2986,3701,3438,3414,3463,0,0,0,0,0,0,26.04,25.72,26.10
$GC,8228,-0.81,-155.7,2991,3701,3414,3464,987.9,-8.1,355,8234,0.00,1.62,0.00,0.000,1030,0.000,0.024,2993,2589,3438,3414,3463,0,0,0,0,0,0,26.01,25.96,26.02
$STATE,8257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8257,begin apogee
$GC,8261,-0.17,0.0,2995,2411,3414,3463,990.1,-7.9,356,8393,0.77,0.00,125.55,1.258,10246,0.146,0.000,3214,2410,2837,2810,2865,0,0,0,0,0,0,25.41,24.56,23.63
$STATE,8394,end apogee,CONTROL_FINISHED_OK
$STATE,8394,begin climb
$GC,8395,0.81,155.7,3215,2410,2805,2861,992.2,0.0,360,8542,1.05,2.33,133.68,1.209,10756,0.124,0.029,3535,1033,2197,2188,2206,0,0,0,0,0,0,24.71,24.08,23.20
$GC,8746,0.86,188.2,3536,1034,2180,2198,973.7,8.6,372,8784,0.00,2.20,27.45,1.191,9222,0.000,0.031,3526,2431,2070,2065,2076,0,0,0,0,0,0,25.86,25.80,24.32
$GC,9104,0.91,228.6,3525,2433,2057,2061,943.8,8.3,384,9150,0.12,2.08,34.20,1.196,10500,0.196,0.044,3549,3692,1902,1901,1903,0,0,0,0,0,0,25.70,25.43,24.46
$GC,9195,0.92,235.2,3548,3693,1898,1897,934.5,9.7,387,9205,0.00,1.88,1.55,0.207,9222,0.000,0.024,3557,2415,1879,1880,1878,0,0,0,0,0,0,25.85,25.82,25.37
$GC,9524,0.92,235.2,3558,2415,1900,1880,898.7,10.8,398,9536,0.00,2.00,1.08,0.223,8452,0.000,0.043,3548,3684,1878,1884,1873,0,0,0,0,0,0,26.06,25.73,25.59
$GC,9565,0.92,235.2,3549,3684,1898,1876,895.2,10.8,399,9572,0.00,1.85,0.00,0.000,1030,0.000,0.025,3557,2423,1887,1898,1876,0,0,0,0,0,0,26.17,26.15,26.19
$GC,9882,0.95,256.7,3556,2424,1904,1877,864.1,9.1,410,9917,0.00,0.00,24.02,1.174,8198,0.000,0.000,3557,2427,1786,1789,1784,0,0,0,0,0,0,26.15,25.32,24.68
$GC,10212,0.97,267.2,3556,2424,1784,1778,832.5,9.5,421,10223,0.00,2.03,4.10,1.057,8452,0.000,0.043,3548,3699,1752,1758,1747,0,0,0,0,0,0,26.12,25.49,24.68
$GC,10302,0.97,267.2,3547,3700,1779,1755,823.4,10.5,424,10316,0.00,1.90,1.75,0.227,9222,0.000,0.025,3557,2408,1751,1759,1743,0,0,0,0,0,0,26.17,26.10,25.17
$GC,10630,1.00,287.1,3557,2406,1779,1751,792.6,9.1,435,10665,0.10,2.05,24.33,1.137,10500,0.151,0.043,3588,3688,1662,1665,1660,0,0,0,0,0,0,25.90,25.33,24.67
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$STATE,17623,end climb,SURFACE_DEPTH_REACHED
$STATE,17624,begin surface coast
$FINISH,0.9,0.998302
$STATE,17639,end surface coast,CONTROL_FINISHED_OK
$STATE,17640,begin surface
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$IRIDIUM_FIX,1434.22,14539.02,280108,075313
$TT8_MAMPS,0.056175,0.056175
$HUMID,36.06
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$XPDR_PINGS,1
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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,17638.37 7436.15
$PA_BOOTCOUNT,978
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$PA_HOME,0.06/0.103/1.856/1.659
$PA_DISK_BANK,2
$24V_AH,23.20,61.197
$10V_AH,10.03,36.870
$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
$DEVICE_SECS,24.625,141.600,502.750,25.825,0.000,0.000,0.000,246.600,0.250,18026.000,7.798,0.000,13976.183,624.090,3275.670,133.650,0.000,2324.086,0.000,1849.190,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,567.298,0.000,0.000,0.000,0.000,0.000,18026.049,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,237952
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$CFSIZE,1024393216,1001324544
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