version: 66.12
glider: 204
mission: 15
dive: 177
start: 4 3 115 14 48 33
data:
$ID,204
$MISSION,15
$DIVE,177
$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,80
$R_STBD_OVSHOOT,47
$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
$GPS1,030415,144222,1431.6317,14533.5566,36,1.2,36,0.9,0.6,252.8,7,15.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.7
$GPS2,030415,144822,1431.5759,14533.4824,11,0.7,11,0.9,0.0,234.3,12,24.4
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.2,109052,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.81,-155.7,188,2626,802,804,0.0,0.0,0,153,0.00,0.00,-52.35,0.000,16386,0.000,0.000,189,2624,2219,2186,2252,0,0,0,0,0,0,26.17,28.83,26.22
$GC,154,-0.81,-155.7,189,2626,2188,2253,3.3,-5.7,8,203,11.98,2.10,-29.10,0.000,18948,0.230,0.037,3007,1212,3475,3447,3503,0,0,0,0,0,0,25.51,25.36,25.69
$GC,351,-0.81,-155.7,3007,1212,3450,3505,44.3,-21.9,44,363,0.00,2.12,0.00,0.000,1030,0.000,0.034,2998,2594,3476,3448,3504,0,0,0,0,0,0,26.08,26.01,26.12
$GC,667,-0.81,-155.7,2998,2595,3450,3505,124.4,-22.5,77,674,0.00,1.70,0.00,0.000,260,0.000,0.044,2990,3696,3476,3448,3505,0,0,0,0,0,0,26.09,25.89,26.15
$GC,703,-0.81,-155.7,2991,3696,3448,3505,131.2,-21.9,80,714,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2587,3476,3448,3505,0,0,0,0,0,0,26.17,26.15,26.19
$GC,1009,-0.81,-155.7,2994,2588,3451,3506,193.1,-18.1,111,1016,0.00,1.75,0.00,0.000,260,0.000,0.044,2988,3690,3477,3449,3506,0,0,0,0,0,0,26.21,25.96,26.26
$GC,1130,-0.81,-155.7,2987,3691,3451,3508,211.3,-14.4,119,1139,0.00,1.58,0.00,0.000,1030,0.000,0.021,2995,2593,3477,3449,3506,0,0,0,0,0,0,26.19,26.19,26.20
$GC,1464,-0.81,-155.7,2994,2591,3453,3508,259.3,-13.1,130,1474,0.00,2.03,0.00,0.000,516,0.000,0.025,3005,1217,3479,3452,3507,0,0,0,0,0,0,26.20,26.10,26.26
$GC,1648,-0.81,-155.7,3006,1217,3453,3508,281.2,-11.8,136,1659,0.00,2.12,0.00,0.000,1030,0.000,0.033,2996,2606,3479,3452,3507,0,0,0,0,0,0,26.13,26.06,26.16
$GC,1974,-0.81,-155.7,2995,2607,3454,3508,323.8,-12.3,147,1981,0.00,2.05,0.00,0.000,516,0.000,0.026,3005,1231,3479,3452,3507,0,0,0,0,0,0,26.21,26.10,26.26
$GC,2010,-0.81,-155.7,3005,1231,3452,3508,326.9,-12.1,148,2018,0.00,2.10,0.00,0.000,1030,0.000,0.031,2995,2606,3479,3452,3507,0,0,0,0,0,0,26.11,26.04,26.14
$GC,2332,-0.81,-155.7,2996,2607,3452,3505,369.4,-13.3,159,2339,0.00,1.67,0.00,0.000,260,0.000,0.045,2987,3694,3478,3452,3505,0,0,0,0,0,0,26.21,25.98,26.27
$GC,2378,-0.81,-155.7,2988,3695,3452,3504,373.5,-13.2,160,2385,0.00,1.55,0.00,0.000,1030,0.000,0.022,2994,2591,3476,3448,3504,0,0,0,0,0,0,26.21,26.17,26.22
$GC,2694,-0.81,-155.7,2995,2591,3452,3499,410.5,-10.1,171,2702,0.00,2.03,0.00,0.000,516,0.000,0.025,3004,1225,3475,3452,3499,0,0,0,0,0,0,26.20,26.09,26.25
$GC,2776,-0.81,-155.7,3002,1226,3454,3499,416.3,-9.5,173,2784,0.00,2.10,0.00,0.000,1030,0.000,0.030,2995,2603,3475,3452,3498,0,0,0,0,0,0,26.13,26.06,26.15
$GC,3088,-0.81,-155.7,2994,2604,3453,3494,451.7,-11.1,184,3097,0.00,2.05,0.00,0.000,516,0.000,0.024,3004,1227,3472,3451,3493,0,0,0,0,0,0,26.22,26.08,26.29
$GC,3151,-0.81,-155.7,3002,1228,3452,3494,458.7,-11.1,186,3159,0.00,2.10,0.00,0.000,1030,0.000,0.030,2995,2602,3471,3450,3493,0,0,0,0,0,0,26.10,26.04,26.13
$GC,3483,-0.81,-155.7,2994,2604,3455,3491,494.1,-9.9,197,3493,0.00,1.70,0.00,0.000,260,0.000,0.044,2986,3703,3469,3448,3490,0,0,0,0,0,0,26.17,25.95,26.23
$GC,3562,-0.81,-155.7,2985,3704,3449,3490,500.6,-10.1,199,3569,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2611,3468,3447,3489,0,0,0,0,0,0,26.15,26.12,26.17
$GC,3878,-0.81,-155.7,2992,2611,3446,3487,539.3,-12.0,210,3887,0.00,2.10,0.00,0.000,516,0.000,0.025,3003,1202,3465,3445,3486,0,0,0,0,0,0,26.17,26.03,26.23
$GC,3975,-0.81,-155.7,3002,1202,3444,3487,549.8,-11.4,213,3984,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2599,3463,3441,3486,0,0,0,0,0,0,26.07,26.01,26.10
$GC,4298,-0.81,-155.7,2993,2602,3442,3485,582.8,-9.5,224,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2605,3461,3440,3483,0,0,0,0,0,0,26.16,26.22,26.22
$GC,4598,-0.81,-155.7,2993,2602,3438,3481,613.0,-10.6,234,4605,0.00,1.70,0.00,0.000,260,0.000,0.044,2985,3695,3458,3436,3480,0,0,0,0,0,0,26.15,25.90,26.21
$GC,4629,-0.81,-155.7,2986,3696,3436,3480,616.7,-10.9,235,4636,0.00,1.60,0.00,0.000,1030,0.000,0.023,2992,2581,3457,3436,3479,0,0,0,0,0,0,26.13,26.10,26.15
$GC,4960,-0.81,-155.7,2991,2582,3435,3478,655.4,-11.4,246,4970,0.00,2.08,0.00,0.000,516,0.000,0.026,2999,1209,3455,3433,3477,0,0,0,0,0,0,26.13,25.99,26.20
$GC,5005,-0.81,-155.7,2999,1205,3434,3478,659.1,-11.1,247,5014,0.00,2.17,0.00,0.000,1030,0.000,0.030,2990,2611,3454,3432,3477,0,0,0,0,0,0,26.01,25.94,26.03
$GC,5324,-0.81,-155.7,2991,2612,3429,3475,692.9,-9.9,258,5331,0.00,2.12,0.00,0.000,516,0.000,0.027,2999,1210,3452,3430,3475,0,0,0,0,0,0,26.08,25.96,26.15
$GC,5350,-0.81,-155.7,3000,1210,3429,3475,695.7,-10.0,259,5358,0.00,2.15,0.00,0.000,1030,0.000,0.032,2990,2600,3451,3428,3474,0,0,0,0,0,0,26.01,25.94,26.03
$GC,5677,-0.81,-155.7,2989,2601,3428,3473,729.0,-10.2,270,5686,0.00,1.75,0.00,0.000,260,0.000,0.046,2981,3690,3449,3427,3472,0,0,0,0,0,0,26.08,25.85,26.13
$GC,5725,-0.81,-155.7,2980,3691,3428,3473,732.4,-10.2,271,5732,0.00,1.58,0.00,0.000,1030,0.000,0.024,2988,2590,3449,3426,3472,0,0,0,0,0,0,26.13,26.09,26.14
$GC,6041,-0.81,-155.7,2988,2591,3426,3472,765.9,-9.9,282,6050,0.00,2.08,0.00,0.000,516,0.000,0.027,2998,1210,3448,3425,3471,0,0,0,0,0,0,26.10,25.94,26.16
$GC,6084,-0.81,-155.7,2998,1211,3425,3472,769.1,-9.9,283,6092,0.00,2.17,0.00,0.000,1030,0.000,0.031,2989,2606,3447,3424,3471,0,0,0,0,0,0,25.98,25.91,26.01
$GC,6407,-0.81,-155.7,2990,2606,3422,3469,800.5,-9.4,294,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2606,3445,3422,3468,0,0,0,0,0,0,26.06,26.13,26.13
$GC,6707,-0.81,-155.7,2990,2606,3421,3467,828.1,-9.4,304,6715,0.00,2.12,0.00,0.000,516,0.000,0.027,2998,1220,3443,3420,3466,0,0,0,0,0,0,26.10,25.90,26.16
$GC,6759,-0.81,-155.7,2997,1221,3422,3467,831.2,-9.2,305,6767,0.00,2.15,0.00,0.000,1030,0.000,0.031,2989,2603,3443,3420,3467,0,0,0,0,0,0,25.93,25.86,25.96
$GC,7064,-0.81,-155.7,2990,2605,3419,3465,861.1,-9.2,315,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2606,3441,3419,3464,0,0,0,0,0,0,26.07,26.14,26.13
$GC,7364,-0.81,-155.7,2990,2604,3416,3464,887.9,-9.0,325,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2604,3440,3417,3464,0,0,0,0,0,0,26.06,26.13,26.12
$GC,7664,-0.81,-155.7,2988,2605,3416,3464,915.1,-9.0,335,7672,0.00,2.10,0.00,0.000,516,0.000,0.027,2998,1225,3438,3414,3462,0,0,0,0,0,0,26.07,25.88,26.12
$GC,7705,-0.81,-155.7,2997,1225,3416,3463,917.3,-8.8,336,7713,0.00,2.15,0.00,0.000,1030,0.000,0.031,2989,2603,3438,3414,3462,0,0,0,0,0,0,25.92,25.85,25.96
$GC,8018,-0.81,-155.7,2990,2603,3412,3462,945.6,-8.9,347,8025,0.00,2.10,0.00,0.000,516,0.000,0.026,2997,1222,3437,3413,3461,0,0,0,0,0,0,26.03,25.86,26.10
$GC,8054,-0.81,-155.7,2998,1222,3412,3462,948.1,-8.9,348,8063,0.00,2.17,0.00,0.000,1030,0.000,0.032,2988,2604,3436,3412,3461,0,0,0,0,0,0,25.92,25.84,25.95
$GC,8377,-0.81,-155.7,2989,2606,3412,3460,977.3,-9.1,359,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2606,3436,3412,3460,0,0,0,0,0,0,26.03,26.10,26.10
$STATE,8526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8526,begin apogee
$GC,8529,-0.17,0.0,2988,2445,3412,3460,991.3,-9.3,364,8661,0.80,0.00,124.57,1.254,10246,0.148,0.000,3213,2444,2838,2811,2866,0,0,0,0,0,0,25.36,24.56,23.63
$STATE,8662,end apogee,CONTROL_FINISHED_OK
$STATE,8662,begin climb
$GC,8663,0.81,155.7,3212,2445,2804,2863,995.5,0.0,368,8810,1.05,2.35,134.40,1.234,10756,0.127,0.027,3532,1021,2199,2191,2207,0,0,0,0,0,0,24.71,24.06,23.14
$GC,8949,0.91,228.8,3531,1022,2186,2201,987.3,6.8,378,9022,0.15,2.20,62.22,1.219,11270,0.164,0.030,3560,2426,1904,1903,1906,0,0,0,0,0,0,25.31,25.59,23.80
$GC,9336,0.91,228.8,3560,2426,1893,1890,947.4,11.1,391,9344,0.00,2.03,0.00,0.000,260,0.000,0.046,3550,3693,1891,1892,1890,0,0,0,0,0,0,26.10,25.96,26.16
$GC,9393,0.91,228.8,3552,3694,1892,1890,943.8,11.1,392,9403,0.00,1.88,0.00,0.000,1030,0.000,0.024,3560,2402,1891,1892,1890,0,0,0,0,0,0,26.15,26.13,26.17
$GC,9699,0.92,233.1,3559,2402,1892,1889,910.1,9.8,403,9707,0.00,2.08,0.00,0.000,516,0.000,0.029,3571,1027,1889,1890,1888,0,0,0,0,0,0,26.17,26.09,26.23
$GC,9731,0.93,239.9,3571,1027,1888,1888,907.6,9.7,404,9742,0.00,2.15,3.60,0.969,9222,0.000,0.031,3561,2417,1861,1861,1861,0,0,0,0,0,0,26.07,26.01,24.32
$GC,10056,0.95,250.9,3562,2418,1887,1867,876.4,9.5,415,10082,0.00,2.10,15.93,1.158,8452,0.000,0.045,3550,3701,1813,1815,1812,0,0,0,0,0,0,26.17,25.77,24.75
$GC,10146,0.95,250.9,3552,3701,1811,1808,866.4,10.9,418,10154,0.00,1.88,0.00,0.000,1030,0.000,0.025,3559,2429,1809,1811,1807,0,0,0,0,0,0,26.04,26.01,26.06
$GC,10473,0.95,250.9,3559,2426,1810,1806,831.0,10.8,429,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2426,1806,1808,1805,0,0,0,0,0,0,26.10,26.17,26.17
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$STATE,18280,end climb,SURFACE_DEPTH_REACHED
$STATE,18280,begin surface coast
$FINISH,0.9,1.010285
$STATE,18291,end surface coast,CONTROL_FINISHED_OK
$STATE,18291,begin surface
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$IRIDIUM_FIX,1423.08,14533.50,290108,041018
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$HUMID,36.92
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$TCM_TEMP,24.40
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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,18269.56 7777.69
$PA_BOOTCOUNT,982
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$PA_HOME,0.06/0.103/1.856/1.658
$PA_DISK_BANK,2
$24V_AH,23.14,63.134
$10V_AH,9.98,37.182
$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,574.448,0.000,0.000,0.000,0.000,0.000,18702.131,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.328,0.000,0.000,0.000
$MEM,237840
$DATA_FILE_SIZE,36850,851
$CAP_FILE_SIZE,170145,0
$CFSIZE,1024393216,1000914944
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