version: 66.12
glider: 204
mission: 15
dive: 192
start: 4 6 115 17 47 34
data:
$ID,204
$MISSION,15
$DIVE,192
$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,85
$R_STBD_OVSHOOT,41
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,060415,174122,1402.9132,14518.9531,39,0.9,39,1.0,0.9,245.6,8,21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.2
$GPS2,060415,174723,1402.9203,14518.8604,5,0.7,5,1.0,0.5,328.9,12,37.9
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,209.2,49824,-16.9,-10.000,-20.51,2373
$D_GRID,1700
$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,-155.7,191,2610,805,807,0.0,0.0,0,147,0.00,0.00,-47.53,0.000,16386,0.000,0.000,190,2609,2072,2051,2094,0,0,0,0,0,0,26.19,28.83,26.26
$GC,149,-0.81,-155.7,190,2610,2052,2095,3.2,-6.0,7,205,11.90,2.12,-34.75,0.000,18948,0.229,0.039,3007,1223,3476,3450,3503,0,0,0,0,0,0,25.55,24.10,25.72
$GC,347,-0.81,-155.7,3008,1224,3449,3505,44.7,-24.2,42,358,0.00,2.12,0.00,0.000,1030,0.000,0.032,2999,2604,3477,3450,3504,0,0,0,0,0,0,26.03,25.95,26.06
$GC,662,-0.81,-155.7,3005,2605,3450,3505,118.9,-19.4,75,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2604,3477,3450,3505,0,0,0,0,0,0,26.17,26.21,26.21
$GC,963,-0.81,-155.7,3000,2605,3453,3506,174.4,-15.4,105,973,0.00,1.70,0.00,0.000,260,0.000,0.046,2991,3701,3479,3453,3506,0,0,0,0,0,0,26.13,25.84,26.19
$GC,982,-0.81,-155.7,2990,3702,3455,3507,176.6,-15.1,106,992,0.00,1.55,0.00,0.000,1030,0.000,0.022,2997,2610,3479,3453,3506,0,0,0,0,0,0,26.15,26.12,26.16
$GC,1287,-0.81,-155.7,2996,2610,3454,3508,222.3,-14.1,127,1297,0.00,2.08,0.00,0.000,516,0.000,0.024,3006,1207,3480,3454,3507,0,0,0,0,0,0,26.14,26.03,26.20
$GC,1416,-0.81,-155.7,3005,1208,3457,3508,237.5,-12.2,131,1427,0.00,2.12,0.00,0.000,1030,0.000,0.031,2997,2606,3481,3456,3507,0,0,0,0,0,0,26.06,25.98,26.08
$GC,1741,-0.81,-155.7,2996,2605,3457,3508,275.9,-11.5,142,1750,0.00,2.08,0.00,0.000,516,0.000,0.025,3005,1212,3481,3455,3508,0,0,0,0,0,0,26.15,26.03,26.21
$GC,1778,-0.81,-155.7,3005,1212,3458,3508,279.6,-11.4,143,1791,0.00,2.15,0.00,0.000,1030,0.000,0.033,2993,2598,3482,3457,3508,0,0,0,0,0,0,26.03,25.95,26.06
$GC,2105,-0.81,-155.7,2998,2599,3455,3508,323.0,-12.6,154,2112,0.00,1.70,0.00,0.000,260,0.000,0.044,2989,3701,3480,3455,3506,0,0,0,0,0,0,26.17,25.92,26.23
$GC,2175,-0.81,-155.7,2989,3702,3455,3506,330.5,-12.4,156,2183,0.00,1.58,0.00,0.000,1030,0.000,0.023,2994,2590,3480,3455,3505,0,0,0,0,0,0,26.15,26.12,26.17
$GC,2497,-0.81,-155.7,2994,2591,3456,3500,371.0,-12.7,167,2505,0.00,2.03,0.00,0.000,516,0.000,0.024,3004,1219,3477,3455,3500,0,0,0,0,0,0,26.17,26.03,26.22
$GC,2529,-0.81,-155.7,3006,1219,3455,3500,374.5,-12.7,168,2537,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2605,3477,3455,3500,0,0,0,0,0,0,26.06,25.99,26.09
$GC,2856,-0.81,-155.7,2994,2606,3456,3497,412.9,-11.1,179,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2606,3476,3455,3497,0,0,0,0,0,0,26.14,26.20,26.20
$GC,3156,-0.81,-155.7,2994,2606,3453,3495,445.7,-10.7,189,3163,0.00,2.08,0.00,0.000,516,0.000,0.025,3004,1224,3472,3452,3493,0,0,0,0,0,0,26.15,26.00,26.21
$GC,3192,-0.81,-155.7,3003,1220,3452,3494,448.4,-10.5,190,3200,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2602,3472,3451,3493,0,0,0,0,0,0,26.05,25.98,26.08
$GC,3515,-0.81,-155.7,2995,2603,3448,3491,480.9,-9.9,201,3522,0.00,2.08,0.00,0.000,516,0.000,0.024,3003,1229,3469,3449,3490,0,0,0,0,0,0,26.15,26.01,26.21
$GC,3571,-0.81,-155.7,3004,1217,3448,3491,484.1,-10.0,202,3582,0.00,2.12,0.00,0.000,1030,0.000,0.031,2995,2601,3469,3448,3490,0,0,0,0,0,0,26.04,25.97,26.07
$GC,3876,-0.81,-155.7,2994,2602,3447,3488,518.8,-10.9,213,3884,0.00,1.70,0.00,0.000,260,0.000,0.044,2986,3693,3466,3445,3487,0,0,0,0,0,0,26.13,25.84,26.20
$GC,3948,-0.81,-155.7,2985,3694,3447,3486,526.0,-11.2,215,3955,0.00,1.58,0.00,0.000,1030,0.000,0.023,2993,2589,3465,3445,3486,0,0,0,0,0,0,26.13,26.08,26.15
$GC,4269,-0.81,-155.7,2992,2589,3442,3485,561.6,-10.2,226,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2588,3462,3441,3484,0,0,0,0,0,0,26.13,26.19,26.18
$GC,4570,-0.81,-155.7,2992,2589,3440,3483,588.7,-8.7,236,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2588,3460,3438,3482,0,0,0,0,0,0,26.11,26.21,26.17
$GC,4870,-0.81,-155.7,2993,2594,3435,3479,615.4,-9.0,246,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2588,3457,3435,3479,0,0,0,0,0,0,26.09,26.15,26.15
$GC,5170,-0.81,-155.7,2991,2589,3428,3477,641.6,-8.8,256,5177,0.00,2.05,0.00,0.000,516,0.000,0.026,3003,1221,3454,3432,3476,0,0,0,0,0,0,26.10,25.94,26.15
$GC,5196,-0.81,-155.7,3003,1222,3432,3477,644.1,-8.9,257,5204,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2605,3454,3432,3477,0,0,0,0,0,0,25.92,25.84,25.96
$GC,5523,-0.81,-155.7,2995,2605,3429,3475,672.8,-8.7,268,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2605,3451,3429,3474,0,0,0,0,0,0,26.09,26.16,26.15
$GC,5823,-0.81,-155.7,2993,2606,3429,3473,699.0,-9.1,278,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2605,3449,3427,3472,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6123,-0.81,-155.7,2994,2605,3426,3472,725.9,-9.0,288,6131,0.00,1.73,0.00,0.000,260,0.000,0.045,2986,3701,3449,3426,3472,0,0,0,0,0,0,26.10,25.77,26.15
$GC,6160,-0.81,-155.7,2986,3701,3425,3472,729.0,-9.2,289,6168,0.00,1.60,0.00,0.000,1030,0.000,0.025,2992,2604,3449,3426,3472,0,0,0,0,0,0,26.01,25.98,26.02
$GC,6487,-0.81,-155.7,2992,2605,3426,3471,762.6,-10.2,300,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2604,3447,3424,3470,0,0,0,0,0,0,26.03,26.10,26.09
$GC,6787,-0.81,-155.7,2993,2605,3422,3469,793.4,-10.1,310,6798,0.00,2.10,0.00,0.000,516,0.000,0.026,3002,1197,3445,3422,3469,0,0,0,0,0,0,26.04,25.89,26.10
$GC,6827,-0.81,-155.7,3002,1198,3422,3469,796.4,-10.0,311,6835,0.00,2.20,0.00,0.000,1030,0.000,0.031,2993,2601,3445,3422,3468,0,0,0,0,0,0,25.93,25.86,25.95
$GC,7145,-0.81,-155.7,2994,2602,3421,3468,828.0,-9.5,322,7153,0.00,1.73,0.00,0.000,260,0.000,0.045,2984,3697,3444,3421,3467,0,0,0,0,0,0,26.05,25.72,26.10
$GC,7172,-0.81,-155.7,2985,3697,3421,3467,828.0,-9.5,322,7185,0.00,1.60,0.00,0.000,1030,0.000,0.024,2991,2590,3443,3420,3467,0,0,0,0,0,0,26.01,25.98,26.03
$GC,7477,-0.81,-155.7,2992,2590,3419,3465,858.8,-9.0,333,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2590,3442,3420,3465,0,0,0,0,0,0,26.08,26.12,26.10
$GC,7778,-0.81,-155.7,2991,2591,3420,3465,884.3,-8.3,343,7785,0.00,1.80,0.00,0.000,260,0.000,0.045,2984,3707,3441,3418,3464,0,0,0,0,0,0,26.01,25.70,26.07
$GC,7814,-0.81,-155.7,2985,3708,3418,3467,887.0,-8.2,344,7823,0.00,1.65,0.00,0.000,1030,0.000,0.024,2991,2609,3441,3418,3464,0,0,0,0,0,0,25.95,25.94,25.97
$GC,8142,-0.81,-155.7,2990,2609,3417,3464,913.0,-7.5,355,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2610,3439,3416,3463,0,0,0,0,0,0,25.97,26.03,26.03
$GC,8442,-0.81,-155.7,2993,2610,3414,3464,935.8,-7.5,365,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2609,3438,3414,3462,0,0,0,0,0,0,26.04,26.09,26.09
$GC,8742,-0.81,-155.7,2991,2609,3415,3463,957.8,-7.0,375,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2609,3437,3414,3461,0,0,0,0,0,0,26.01,26.08,26.07
$GC,9042,-0.81,-155.7,2992,2609,3413,3462,979.8,-7.3,385,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2609,3437,3413,3461,0,0,0,0,0,0,26.01,26.08,26.07
$STATE,9190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9190,begin apogee
$GC,9194,-0.17,0.0,2990,2414,3412,3461,991.4,-7.8,390,9327,0.77,0.00,125.60,1.224,10246,0.147,0.000,3213,2412,2839,2811,2868,0,0,0,0,0,0,25.34,24.56,23.58
$STATE,9328,end apogee,CONTROL_FINISHED_OK
$STATE,9328,begin climb
$GC,9329,0.81,155.7,3213,2412,2805,2862,995.2,0.0,394,9478,1.05,2.35,135.02,1.209,10756,0.127,0.029,3531,1032,2197,2188,2206,0,0,0,0,0,0,24.73,24.03,23.06
$GC,9562,0.98,276.6,3532,1032,2179,2198,992.2,4.8,402,9678,0.20,2.22,104.45,1.200,11270,0.145,0.030,3581,2423,1709,1710,1709,0,0,0,0,0,0,25.06,25.25,23.16
$GC,9972,0.98,276.6,3581,2423,1697,1692,945.0,12.0,416,9980,0.00,2.03,0.00,0.000,260,0.000,0.046,3582,3691,1693,1695,1691,0,0,0,0,0,0,26.07,25.91,26.13
$GC,10064,0.98,276.6,3582,3692,1695,1692,933.5,13.0,419,10075,0.00,1.88,0.00,0.000,1030,0.000,0.024,3591,2408,1693,1695,1691,0,0,0,0,0,0,26.13,26.09,26.13
$GC,10389,0.98,276.6,3592,2406,1694,1690,893.5,12.1,430,10397,0.00,2.05,0.00,0.000,260,0.000,0.045,3591,3700,1691,1694,1689,0,0,0,0,0,0,26.15,25.97,26.22
$GC,10446,0.98,276.6,3591,3701,1692,1690,889.4,12.2,431,10456,0.00,1.88,0.00,0.000,1030,0.000,0.025,3599,2426,1691,1694,1689,0,0,0,0,0,0,26.17,26.14,26.20
$GC,10751,0.98,276.6,3600,2426,1692,1688,847.9,12.5,442,10759,0.00,2.03,0.00,0.000,260,0.000,0.044,3599,3695,1690,1693,1688,0,0,0,0,0,0,26.15,25.92,26.20
$GC,10793,0.98,276.6,3600,3696,1692,1688,844.3,12.7,443,10800,0.00,1.88,0.00,0.000,1030,0.000,0.024,3609,2414,1690,1693,1688,0,0,0,0,0,0,26.14,26.10,26.16
$GC,11104,0.98,276.6,3608,2412,1693,1688,804.2,11.9,454,11112,0.00,2.08,0.00,0.000,260,0.000,0.047,3609,3695,1689,1691,1688,0,0,0,0,0,0,26.15,25.87,26.21
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$STATE,18249,end climb,SURFACE_DEPTH_REACHED
$STATE,18249,begin surface coast
$FINISH,0.9,1.012935
$STATE,18275,end surface coast,CONTROL_FINISHED_OK
$STATE,18275,begin surface
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$IRIDIUM_FIX,1354.17,14519.42,010208,070920
$TT8_MAMPS,0.055426,0.055426
$HUMID,37.43
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.40
$XPDR_PINGS,0
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,18262.04 7710.30
$PA_BOOTCOUNT,997
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$PA_HOME,0.06/0.107/1.856/1.655
$PA_DISK_BANK,2
$24V_AH,23.06,69.334
$10V_AH,9.86,40.372
$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,23.220,0.000,0.000,0.000,0.000,0.000,106.296,0.000,0.000,0.000
$MEM,248708
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$CFSIZE,1024393216,999456768
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$GPS,060415,225334,1400.972,14517.163,34,1.0,34,1.0,0.5,311.2,8,13.2