version: 66.12
glider: 204
mission: 15
dive: 191
start: 4 6 115 12 59 52
data:
$ID,204
$MISSION,15
$DIVE,191
$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,84
$R_STBD_OVSHOOT,50
$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
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,060415,125354,1404.8717,14519.9561,41,0.9,41,1.0,1.6,116.4,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.0
$GPS2,060415,125941,1404.8395,14519.9023,5,0.7,5,1.0,0.0,66.5,12,31.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.0,53838,-16.9,-10.000,-20.51,2373
$D_GRID,1763
$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,-155.7,191,2628,804,802,0.0,0.0,0,149,0.00,0.00,-48.83,0.000,16386,0.000,0.000,192,2627,2106,2078,2135,0,0,0,0,0,0,26.89,28.83,26.96
$GC,151,-0.81,-155.7,193,2628,2079,2136,3.0,-4.4,7,208,11.65,2.12,-35.05,0.000,18948,0.223,0.040,3009,1211,3475,3449,3501,0,0,0,0,0,0,25.72,24.46,26.08
$GC,356,-0.81,-155.7,3008,1211,3450,3503,43.3,-21.1,43,371,0.00,2.08,0.00,0.000,1030,0.000,0.034,3000,2598,3476,3450,3502,0,0,0,0,0,0,26.60,26.53,26.64
$GC,675,-0.81,-155.7,3001,2599,3449,3503,117.2,-20.7,76,682,0.00,1.65,0.00,0.000,260,0.000,0.044,2991,3704,3476,3450,3503,0,0,0,0,0,0,27.10,26.55,27.15
$GC,707,-0.81,-155.7,2992,3704,3449,3504,124.2,-22.4,79,714,0.00,1.52,0.00,0.000,1030,0.000,0.023,2999,2586,3476,3449,3503,0,0,0,0,0,0,26.87,26.84,26.89
$GC,1018,-0.81,-155.7,2999,2587,3450,3505,185.0,-17.2,110,1025,0.00,1.70,0.00,0.000,260,0.000,0.044,2991,3690,3477,3451,3504,0,0,0,0,0,0,27.15,26.60,27.20
$GC,1229,-0.81,-155.7,2990,3691,3453,3507,229.0,-20.6,123,1238,0.00,1.50,0.00,0.000,1030,0.000,0.021,2999,2571,3478,3451,3506,0,0,0,0,0,0,26.96,26.93,26.98
$GC,1562,-0.81,-155.7,2999,2568,3453,3507,273.9,-11.3,134,1571,0.00,1.73,0.00,0.000,260,0.000,0.046,2991,3685,3480,3454,3506,0,0,0,0,0,0,27.18,26.61,27.24
$GC,1635,-0.81,-155.7,2990,3686,3456,3508,281.5,-11.8,136,1642,0.00,1.50,0.00,0.000,1030,0.000,0.021,2998,2573,3480,3454,3507,0,0,0,0,0,0,26.97,26.94,26.99
$GC,1956,-0.81,-155.7,2997,2573,3457,3508,324.9,-13.0,147,1963,0.00,1.70,0.00,0.000,260,0.000,0.046,2991,3695,3481,3455,3507,0,0,0,0,0,0,27.19,26.61,27.25
$GC,2022,-0.81,-155.7,2992,3696,3454,3508,333.6,-13.7,149,2030,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2599,3480,3454,3507,0,0,0,0,0,0,26.96,26.96,26.98
$GC,2349,-0.81,-155.7,2996,2599,3456,3506,375.7,-12.1,160,2360,0.00,1.98,0.00,0.000,516,0.000,0.028,3007,1229,3479,3454,3505,0,0,0,0,0,0,27.20,26.78,27.25
$GC,2380,-0.81,-155.7,3007,1230,3456,3506,379.4,-12.0,161,2387,0.00,2.03,0.00,0.000,1030,0.000,0.031,2999,2603,3479,3454,3505,0,0,0,0,0,0,26.82,26.74,26.85
$GC,2706,-0.81,-155.7,3000,2604,3454,3500,416.6,-10.9,172,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3476,3454,3498,0,0,0,0,0,0,27.20,27.27,27.25
$GC,3006,-0.81,-155.7,3000,2604,3454,3494,450.8,-11.4,182,3014,0.00,2.00,0.00,0.000,516,0.000,0.025,3007,1217,3473,3453,3493,0,0,0,0,0,0,27.20,26.79,27.26
$GC,3058,-0.81,-155.7,3008,1218,3452,3494,454.0,-11.5,183,3069,0.00,2.05,0.00,0.000,1030,0.000,0.031,2999,2600,3472,3452,3493,0,0,0,0,0,0,26.81,26.73,26.84
$GC,3363,-0.81,-155.7,3000,2598,3449,3492,490.8,-11.5,194,3370,0.00,1.65,0.00,0.000,260,0.000,0.044,2991,3701,3470,3449,3491,0,0,0,0,0,0,27.19,26.62,27.25
$GC,3379,-0.81,-155.7,2991,3702,3449,3491,490.8,-11.5,194,3386,0.00,1.55,0.00,0.000,1030,0.000,0.025,2997,2613,3469,3448,3490,0,0,0,0,0,0,26.92,26.91,26.94
$GC,3695,-0.81,-155.7,2998,2613,3445,3488,528.2,-11.0,205,3703,0.00,2.03,0.00,0.000,516,0.000,0.026,3007,1207,3466,3446,3487,0,0,0,0,0,0,27.20,26.77,27.26
$GC,3722,-0.81,-155.7,3006,1208,3447,3488,531.1,-10.9,206,3732,0.00,2.08,0.00,0.000,1030,0.000,0.031,2999,2600,3466,3445,3487,0,0,0,0,0,0,26.79,26.72,26.82
$GC,4056,-0.81,-155.7,2999,2602,3440,3485,567.5,-11.2,217,4064,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3686,3462,3440,3484,0,0,0,0,0,0,27.19,26.60,27.25
$GC,4113,-0.81,-155.7,2991,3686,3440,3483,571.3,-11.3,218,4123,0.00,1.50,0.00,0.000,1030,0.000,0.024,2997,2589,3462,3441,3483,0,0,0,0,0,0,26.95,26.91,26.96
$GC,4419,-0.81,-155.7,2998,2590,3437,3481,608.0,-11.1,229,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2590,3459,3438,3481,0,0,0,0,0,0,27.20,27.27,27.25
$GC,4719,-0.81,-155.7,2996,2591,3436,3479,639.5,-10.2,239,4726,0.00,1.98,0.00,0.000,516,0.000,0.027,3006,1225,3456,3434,3478,0,0,0,0,0,0,27.20,26.74,27.25
$GC,4770,-0.81,-155.7,3006,1225,3435,3479,642.6,-10.2,240,4778,0.00,2.08,0.00,0.000,1030,0.000,0.031,2998,2605,3455,3433,3478,0,0,0,0,0,0,26.76,26.69,26.80
$GC,5082,-0.81,-155.7,2997,2605,3433,3477,676.0,-10.2,251,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2605,3453,3431,3476,0,0,0,0,0,0,27.19,27.26,27.25
$GC,5382,-0.81,-155.7,2999,2605,3429,3473,706.0,-9.9,261,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2605,3451,3429,3473,0,0,0,0,0,0,27.20,27.27,27.25
$GC,5682,-0.81,-155.7,2997,2606,3428,3473,736.8,-10.9,271,5690,0.00,2.03,0.00,0.000,516,0.000,0.028,3006,1223,3449,3426,3472,0,0,0,0,0,0,27.19,26.71,27.25
$GC,5714,-0.81,-155.7,3007,1224,3425,3472,739.8,-11.0,272,5723,0.00,2.08,0.00,0.000,1030,0.000,0.032,2997,2605,3448,3426,3471,0,0,0,0,0,0,26.74,26.66,26.77
$GC,6042,-0.81,-155.7,2997,2605,3426,3470,777.2,-11.2,283,6050,0.00,1.70,0.00,0.000,260,0.000,0.047,2989,3693,3447,3425,3469,0,0,0,0,0,0,27.19,26.52,27.25
$GC,6079,-0.81,-155.7,2990,3694,3425,3469,780.9,-11.2,284,6086,0.00,1.55,0.00,0.000,1030,0.000,0.025,2995,2611,3447,3425,3469,0,0,0,0,0,0,26.89,26.86,26.91
$GC,6405,-0.81,-155.7,2995,2608,3423,3468,816.7,-10.2,295,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2610,3445,3422,3468,0,0,0,0,0,0,27.19,27.26,27.24
$GC,6706,-0.81,-155.7,2994,2612,3422,3467,846.4,-9.9,305,6717,0.00,2.03,0.00,0.000,516,0.000,0.027,3004,1207,3443,3421,3466,0,0,0,0,0,0,27.18,26.69,27.25
$GC,6741,-0.81,-155.7,3003,1208,3423,3467,849.6,-10.0,306,6749,0.00,2.10,0.00,0.000,1030,0.000,0.033,2995,2601,3443,3420,3466,0,0,0,0,0,0,26.70,26.63,26.74
$GC,7063,-0.81,-155.7,2996,2602,3418,3465,883.5,-10.8,317,7071,0.00,1.67,0.00,0.000,260,0.000,0.046,2986,3704,3441,3419,3464,0,0,0,0,0,0,27.16,26.48,27.22
$GC,7100,-0.81,-155.7,2986,3705,3421,3465,887.1,-11.0,318,7108,0.00,1.55,0.00,0.000,1030,0.000,0.027,2993,2608,3443,3422,3464,0,0,0,0,0,0,26.86,26.82,26.89
$GC,7427,-0.81,-155.7,2993,2609,3416,3464,924.9,-11.6,329,7435,0.00,2.08,0.00,0.000,516,0.000,0.028,3003,1200,3439,3416,3463,0,0,0,0,0,0,27.19,26.67,27.24
$GC,7449,-0.81,-155.7,3003,1196,3416,3464,924.9,-11.6,329,7457,0.00,2.12,0.00,0.000,1030,0.000,0.032,2994,2604,3438,3414,3463,0,0,0,0,0,0,26.68,26.60,26.72
$GC,7754,-0.81,-155.7,2996,2604,3419,3462,960.5,-10.3,339,7761,0.00,1.67,0.00,0.000,260,0.000,0.047,2985,3702,3438,3414,3462,0,0,0,0,0,0,27.18,26.44,27.24
$GC,7830,-0.81,-155.7,2986,3703,3414,3463,966.7,-10.2,341,7838,0.00,1.58,0.00,0.000,1030,0.000,0.027,2993,2588,3438,3414,3462,0,0,0,0,0,0,26.85,26.81,26.88
$STATE,8116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8116,begin apogee
$GC,8119,-0.17,0.0,2993,2405,3415,3462,992.1,-7.8,351,8255,0.75,0.00,126.47,1.222,10246,0.147,0.000,3212,2403,2837,2810,2865,0,0,0,0,0,0,25.65,24.78,23.68
$STATE,8255,end apogee,CONTROL_FINISHED_OK
$STATE,8255,begin climb
$GC,8257,0.81,155.7,3213,2403,2806,2861,994.4,0.0,355,8404,1.02,2.25,134.43,1.213,10756,0.126,0.028,3531,1048,2197,2189,2206,0,0,0,0,0,0,25.06,24.20,23.13
$GC,8603,0.85,185.9,3531,1045,2182,2198,977.4,8.7,367,8641,0.00,2.12,25.77,1.196,9222,0.000,0.032,3525,2430,2075,2070,2081,0,0,0,0,0,0,26.23,26.17,24.33
$GC,8961,0.92,230.6,3526,2431,2063,2069,945.8,8.1,379,9008,0.12,2.08,38.03,1.187,10500,0.183,0.044,3551,3693,1893,1892,1894,0,0,0,0,0,0,26.25,25.54,24.43
$GC,9087,0.92,230.8,3551,3693,1887,1885,934.0,10.0,383,9097,0.00,1.85,0.00,0.000,1030,0.000,0.024,3560,2412,1884,1885,1884,0,0,0,0,0,0,26.32,26.29,26.35
$GC,9411,0.93,238.2,3561,2407,1883,1881,901.1,9.7,394,9422,0.00,2.03,1.30,0.215,8452,0.000,0.044,3551,3698,1867,1870,1865,0,0,0,0,0,0,26.89,25.98,25.82
$GC,9501,0.93,241.9,3552,3698,1890,1870,892.0,9.8,397,9514,0.00,1.83,2.88,0.711,9222,0.000,0.025,3560,2422,1854,1857,1851,0,0,0,0,0,0,26.73,26.69,24.21
$GC,9829,0.97,264.6,3559,2423,1887,1861,862.4,9.0,408,9863,0.00,0.00,27.52,1.144,8198,0.000,0.000,3560,2422,1757,1760,1754,0,0,0,0,0,0,27.01,25.77,24.72
$GC,10159,1.03,305.5,3560,2423,1752,1742,834.2,8.2,419,10205,0.12,2.10,35.80,1.126,10500,0.124,0.044,3612,3703,1588,1590,1587,0,0,0,0,0,0,26.51,25.62,24.55
$GC,10229,1.05,321.0,3611,3704,1586,1583,827.9,9.3,421,10253,0.00,1.90,14.88,1.100,9222,0.000,0.025,3620,2414,1526,1530,1522,0,0,0,0,0,0,26.16,26.12,24.42
$GC,10549,1.05,321.0,3621,2414,1521,1510,785.3,13.3,432,10557,0.00,2.00,0.00,0.000,260,0.000,0.045,3616,3694,1515,1520,1510,0,0,0,0,0,0,26.81,26.34,26.87
$GC,10585,1.05,321.0,3616,3695,1522,1511,781.4,13.6,433,10593,0.00,1.85,0.00,0.000,1030,0.000,0.025,3624,2409,1514,1520,1509,0,0,0,0,0,0,26.63,26.60,26.66
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$STATE,16781,end climb,SURFACE_DEPTH_REACHED
$STATE,16781,begin surface coast
$FINISH,1.0,1.012370
$STATE,16801,end surface coast,CONTROL_FINISHED_OK
$STATE,16801,begin surface
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$IRIDIUM_FIX,1400.84,14518.15,010208,022154
$TT8_MAMPS,0.166278,0.166278
$HUMID,37.32
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.60
$XPDR_PINGS,2
$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,16788.91 7057.58
$PA_BOOTCOUNT,996
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$PA_HOME,0.06/0.106/1.856/1.655
$PA_DISK_BANK,2
$24V_AH,23.13,68.857
$10V_AH,9.81,40.281
$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
$DEVICE_SECS,23.975,141.275,525.375,12.900,0.000,0.000,0.000,252.950,0.500,0.000,6.395,0.000,13186.676,605.929,3236.687,137.094,0.000,2311.956,0.000,1804.526,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,140.234,0.000,0.000,0.000
$MEM,248616
$DATA_FILE_SIZE,36775,812
$CAP_FILE_SIZE,154617,0
$CFSIZE,1024393216,999555072
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