version: 66.12
glider: 204
mission: 15
dive: 174
start: 4 2 115 23 36 30
data:
$ID,204
$MISSION,15
$DIVE,174
$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,82
$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
$GPS1,020415,232636,1439.7461,14536.8555,26,1.9,26,0.9,0.0,0.0,3,11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.9
$GPS2,020415,233619,1439.7002,14536.7695,20,1.9,20,0.9,0.0,0.0,3,11.7
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,183.2,125180,-16.9,-10.000,-20.51,2373
$D_GRID,1378
$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,-155.7,181,2616,801,805,0.0,0.0,0,149,0.00,0.00,-47.65,0.000,16386,0.000,0.000,181,2615,2079,2050,2108,0,0,0,0,0,0,26.18,28.83,26.25
$GC,151,-0.81,-155.7,181,2616,2053,2109,3.0,-4.9,7,206,11.88,2.10,-35.28,0.000,18948,0.227,0.042,3012,1221,3476,3448,3505,0,0,0,0,0,0,25.56,24.20,25.87
$GC,310,-0.81,-155.7,3013,1221,3448,3506,32.3,-20.9,37,322,0.00,2.12,0.00,0.000,1030,0.000,0.032,3004,2609,3477,3449,3506,0,0,0,0,0,0,26.08,26.01,26.11
$GC,628,-0.81,-155.7,3003,2610,3450,3507,111.4,-24.9,75,635,0.00,1.70,0.00,0.000,260,0.000,0.046,3001,3686,3477,3449,3506,0,0,0,0,0,0,26.21,25.99,26.26
$GC,740,-0.81,-155.7,2996,3686,3448,3506,138.1,-21.8,86,748,0.00,1.52,0.00,0.000,1030,0.000,0.021,3002,2591,3477,3449,3506,0,0,0,0,0,0,26.22,26.19,26.24
$GC,1052,-0.81,-155.7,3001,2591,3451,3507,200.3,-18.7,117,1060,0.00,2.00,0.00,0.000,516,0.000,0.026,3008,1231,3478,3449,3507,0,0,0,0,0,0,26.20,26.09,26.25
$GC,1119,-0.81,-155.7,3009,1231,3450,3507,209.8,-17.0,119,1127,0.00,2.10,0.00,0.000,1030,0.000,0.032,3000,2607,3478,3450,3506,0,0,0,0,0,0,26.15,26.08,26.17
$GC,1436,-0.81,-155.7,2999,2607,3453,3508,255.2,-13.1,130,1445,0.00,1.67,0.00,0.000,260,0.000,0.047,2991,3694,3479,3451,3507,0,0,0,0,0,0,26.24,26.02,26.29
$GC,1564,-0.81,-155.7,2992,3695,3451,3508,275.6,-16.6,134,1573,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2604,3479,3451,3508,0,0,0,0,0,0,26.22,26.19,26.24
$GC,1892,-0.81,-155.7,2997,2610,3454,3508,324.5,-12.5,145,1900,0.00,2.08,0.00,0.000,516,0.000,0.026,3008,1220,3480,3453,3508,0,0,0,0,0,0,26.22,26.09,26.27
$GC,2054,-0.81,-155.7,3009,1217,3452,3508,340.9,-10.7,150,2062,0.00,2.12,0.00,0.000,1030,0.000,0.032,2999,2609,3479,3452,3507,0,0,0,0,0,0,26.15,26.08,26.18
$GC,2371,-0.81,-155.7,3000,2607,3452,3506,377.3,-11.6,161,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2609,3478,3452,3505,0,0,0,0,0,0,26.22,26.29,26.29
$GC,2672,-0.81,-155.7,2999,2610,3453,3500,415.1,-12.9,171,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2610,3476,3452,3500,0,0,0,0,0,0,26.20,26.28,26.27
$GC,2972,-0.81,-155.7,3000,2610,3451,3496,452.7,-12.3,181,2980,0.00,1.70,0.00,0.000,260,0.000,0.047,2991,3701,3473,3451,3495,0,0,0,0,0,0,26.21,25.95,26.27
$GC,3028,-0.81,-155.7,2992,3702,3451,3494,456.7,-12.3,182,3039,0.00,1.58,0.00,0.000,1030,0.000,0.024,2998,2592,3472,3451,3493,0,0,0,0,0,0,26.21,26.17,26.22
$GC,3334,-0.81,-155.7,2997,2593,3450,3492,492.8,-10.6,193,3341,0.00,2.05,0.00,0.000,516,0.000,0.026,3008,1214,3470,3449,3491,0,0,0,0,0,0,26.20,26.07,26.25
$GC,3365,-0.81,-155.7,3009,1214,3448,3492,495.7,-10.6,194,3373,0.00,2.15,0.00,0.000,1030,0.000,0.031,2999,2613,3469,3448,3491,0,0,0,0,0,0,26.09,26.03,26.13
$GC,3692,-0.81,-155.7,2998,2613,3447,3489,528.8,-9.7,205,3700,0.00,2.10,0.00,0.000,516,0.000,0.026,3008,1214,3466,3445,3488,0,0,0,0,0,0,26.20,26.06,26.25
$GC,3739,-0.81,-155.7,3009,1215,3446,3488,531.3,-9.6,206,3747,0.00,2.12,0.00,0.000,1030,0.000,0.031,2999,2601,3466,3445,3487,0,0,0,0,0,0,26.07,26.00,26.10
$GC,4051,-0.81,-155.7,2998,2602,3442,3485,564.9,-10.5,217,4060,0.00,1.75,0.00,0.000,260,0.000,0.045,2991,3696,3462,3440,3484,0,0,0,0,0,0,26.17,25.91,26.22
$GC,4099,-0.81,-155.7,2992,3696,3440,3484,568.5,-10.6,218,4106,0.00,1.58,0.00,0.000,1030,0.000,0.023,2994,2590,3462,3441,3483,0,0,0,0,0,0,26.16,26.12,26.17
$GC,4415,-0.81,-155.7,2993,2590,3439,3481,605.4,-11.3,229,4424,0.00,1.75,0.00,0.000,260,0.000,0.044,2987,3695,3459,3438,3481,0,0,0,0,0,0,26.17,25.90,26.23
$GC,4512,-0.81,-155.7,2986,3696,3438,3480,615.8,-11.3,232,4519,0.00,1.58,0.00,0.000,1030,0.000,0.023,2994,2590,3457,3436,3479,0,0,0,0,0,0,26.15,26.12,26.17
$GC,4838,-0.81,-155.7,2993,2591,3434,3478,649.1,-9.5,243,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3455,3433,3477,0,0,0,0,0,0,26.16,26.22,26.21
$GC,5138,-0.81,-155.7,2993,2591,3432,3476,679.4,-10.6,253,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3452,3430,3475,0,0,0,0,0,0,26.16,26.22,26.21
$GC,5438,-0.81,-155.7,2993,2591,3427,3474,715.5,-13.0,263,5447,0.00,2.05,0.00,0.000,516,0.000,0.027,3003,1225,3450,3427,3473,0,0,0,0,0,0,26.13,25.96,26.19
$GC,5471,-0.81,-155.7,3004,1226,3426,3473,719.9,-13.0,264,5479,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2601,3449,3426,3472,0,0,0,0,0,0,26.02,25.96,26.06
$GC,5798,-0.81,-155.7,2996,2601,3425,3471,760.7,-12.0,275,5808,0.00,2.08,0.00,0.000,516,0.000,0.025,3003,1224,3448,3425,3471,0,0,0,0,0,0,26.10,25.95,26.15
$GC,5822,-0.81,-155.7,3002,1224,3426,3472,760.7,-12.0,275,5832,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2601,3447,3424,3471,0,0,0,0,0,0,26.01,25.94,26.04
$GC,6127,-0.81,-155.7,2995,2600,3422,3470,796.5,-10.8,286,6135,0.00,1.73,0.00,0.000,260,0.000,0.044,2986,3702,3445,3422,3468,0,0,0,0,0,0,26.12,25.84,26.17
$GC,6154,-0.81,-155.7,2987,3702,3422,3469,796.5,-10.8,286,6164,0.00,1.60,0.00,0.000,1030,0.000,0.024,2993,2608,3445,3422,3468,0,0,0,0,0,0,26.06,26.02,26.08
$GC,6459,-0.81,-155.7,2994,2609,3421,3467,835.8,-11.9,297,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2608,3443,3421,3466,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6759,-0.81,-155.7,2992,2609,3421,3465,870.4,-11.7,307,6767,0.00,1.73,0.00,0.000,260,0.000,0.046,2986,3697,3441,3419,3464,0,0,0,0,0,0,26.09,25.79,26.15
$GC,6791,-0.81,-155.7,2985,3698,3420,3465,873.8,-11.3,308,6799,0.00,1.60,0.00,0.000,1030,0.000,0.024,2993,2590,3441,3419,3464,0,0,0,0,0,0,26.03,26.00,26.04
$GC,7123,-0.81,-155.7,2994,2591,3415,3464,908.6,-9.9,319,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3439,3415,3463,0,0,0,0,0,0,26.07,26.15,26.13
$GC,7423,-0.81,-155.7,2992,2591,3416,3463,937.8,-9.9,329,7431,0.00,2.08,0.00,0.000,516,0.000,0.027,3003,1213,3437,3413,3462,0,0,0,0,0,0,26.06,25.87,26.11
$GC,7490,-0.81,-155.7,3003,1213,3413,3463,943.2,-9.5,331,7498,0.00,2.17,0.00,0.000,1030,0.000,0.033,2994,2601,3437,3413,3462,0,0,0,0,0,0,25.95,25.88,25.98
$GC,7807,-0.81,-155.7,2993,2605,3413,3461,975.4,-10.0,342,7815,0.00,1.73,0.00,0.000,260,0.000,0.046,2985,3700,3436,3412,3460,0,0,0,0,0,0,26.04,25.77,26.10
$GC,7844,-0.81,-155.7,2985,3700,3414,3461,978.8,-9.9,343,7851,0.00,1.60,0.00,0.000,1030,0.000,0.024,2992,2599,3436,3412,3460,0,0,0,0,0,0,26.03,25.99,26.05
$STATE,7959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7959,begin apogee
$GC,7963,-0.17,0.0,2994,2429,3412,3460,991.2,-10.3,347,8095,0.77,0.00,124.60,1.264,10246,0.148,0.000,3212,2427,2839,2812,2866,0,0,0,0,0,0,25.41,24.61,23.69
$STATE,8095,end apogee,CONTROL_FINISHED_OK
$STATE,8095,begin climb
$GC,8097,0.81,155.7,3212,2427,2810,2868,997.0,0.0,351,8243,1.05,2.30,133.73,1.229,10756,0.128,0.028,3538,1029,2196,2190,2202,0,0,0,0,0,0,24.77,24.13,23.24
$GC,8407,0.94,244.7,3533,1030,2182,2198,991.2,6.1,361,8494,0.17,2.20,75.20,1.216,11270,0.163,0.031,3568,2435,1838,1837,1839,0,0,0,0,0,0,25.44,25.72,23.87
$GC,8803,0.94,244.7,3567,2436,1828,1823,944.7,12.3,375,8810,0.00,1.98,0.00,0.000,260,0.000,0.044,3560,3689,1824,1826,1823,0,0,0,0,0,0,26.10,26.00,26.17
$GC,8884,0.94,244.7,3561,3691,1826,1823,937.1,12.7,377,8894,0.00,1.88,0.00,0.000,1030,0.000,0.024,3568,2400,1823,1825,1822,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9189,0.94,244.7,3569,2400,1824,1820,898.5,11.2,388,9200,0.00,2.05,0.00,0.000,516,0.000,0.030,3579,1047,1821,1823,1819,0,0,0,0,0,0,26.17,26.12,26.24
$GC,9224,0.94,244.7,3578,1048,1824,1820,895.2,11.1,389,9233,0.00,2.12,0.00,0.000,1030,0.000,0.031,3570,2423,1820,1821,1819,0,0,0,0,0,0,26.15,26.08,26.18
$GC,9547,0.98,273.9,3568,2424,1822,1820,863.8,8.7,400,9581,0.00,0.00,23.92,1.167,8198,0.000,0.000,3570,2422,1716,1717,1715,0,0,0,0,0,0,26.17,25.61,24.68
$GC,9877,0.98,273.9,3569,2423,1714,1708,829.0,11.1,411,9887,0.00,2.00,0.00,0.000,260,0.000,0.047,3560,3691,1709,1712,1707,0,0,0,0,0,0,26.13,25.98,26.18
$GC,9956,0.98,273.9,3559,3692,1714,1708,821.9,11.4,413,9964,0.00,1.85,0.00,0.000,1030,0.000,0.024,3569,2426,1710,1713,1707,0,0,0,0,0,0,26.17,26.15,26.19
$GC,10262,0.98,273.9,3568,2424,1713,1707,785.3,11.1,423,10269,0.00,2.03,0.00,0.000,260,0.000,0.044,3560,3700,1708,1710,1706,0,0,0,0,0,0,26.16,25.97,26.22
$GC,10313,0.98,273.9,3559,3701,1713,1707,782.0,11.3,424,10323,0.00,1.88,0.00,0.000,1030,0.000,0.025,3569,2424,1708,1711,1706,0,0,0,0,0,0,26.16,26.12,26.18
$GC,10618,0.98,273.9,3568,2425,1711,1706,741.3,12.9,435,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2424,1707,1710,1705,0,0,0,0,0,0,26.13,26.20,26.19
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$STATE,17472,end climb,SURFACE_DEPTH_REACHED
$STATE,17472,begin surface coast
$FINISH,0.8,1.010368
$STATE,17487,end surface coast,CONTROL_FINISHED_OK
$STATE,17487,begin surface
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$IRIDIUM_FIX,1434.22,14542.12,280108,125513
$TT8_MAMPS,0.056175,0.056175
$HUMID,35.86
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$TCM_TEMP,24.70
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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,17477.40 7389.71
$PA_BOOTCOUNT,979
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$PA_HOME,0.06/0.103/1.856/1.659
$PA_DISK_BANK,2
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$10V_AH,9.98,36.949
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,237860
$DATA_FILE_SIZE,36781,831
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$CFSIZE,1024393216,1001226240
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