version: 66.12
glider: 204
mission: 15
dive: 194
start: 4 7 115 3 58 42
data:
$ID,204
$MISSION,15
$DIVE,194
$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,79
$R_STBD_OVSHOOT,53
$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
$GPS1,070415,035235,1358.8022,14516.9600,25,1.4,25,1.0,0.6,290.3,5,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.1
$GPS2,070415,035831,1358.8173,14516.9277,20,0.8,20,1.0,1.0,232.4,10,8.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.4,41467,-16.9,-10.000,-20.51,2373
$D_GRID,1736
$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,-155.7,194,2629,743,717,0.0,0.0,0,147,0.00,0.00,-46.75,0.000,16386,0.000,0.000,194,2629,1986,1956,2016,0,0,0,0,0,0,26.15,28.83,26.22
$GC,149,-0.81,-155.7,195,2629,1957,2016,3.2,-5.9,7,213,11.77,2.15,-38.35,0.000,18948,0.224,0.039,3006,1229,3475,3449,3502,0,0,0,0,0,0,25.44,24.12,25.62
$GC,362,-0.81,-155.7,3005,1225,3451,3503,45.1,-23.2,42,372,0.00,2.08,0.00,0.000,1030,0.000,0.032,2998,2583,3476,3449,3503,0,0,0,0,0,0,26.07,25.99,26.10
$GC,678,-0.81,-155.7,2997,2583,3450,3504,118.1,-19.9,75,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2583,3476,3450,3503,0,0,0,0,0,0,26.17,26.24,26.23
$GC,979,-0.81,-155.7,2999,2584,3451,3505,178.3,-20.4,105,987,0.00,1.75,0.00,0.000,260,0.000,0.046,2990,3687,3478,3451,3505,0,0,0,0,0,0,26.21,25.96,26.26
$GC,1211,-0.81,-155.7,2990,3688,3451,3507,217.5,-15.5,119,1220,0.00,1.58,0.00,0.000,1030,0.000,0.021,2995,2590,3478,3451,3506,0,0,0,0,0,0,26.17,26.15,26.17
$GC,1525,-0.81,-155.7,2996,2591,3453,3507,267.6,-13.8,130,1532,0.00,2.03,0.00,0.000,516,0.000,0.026,3004,1219,3480,3454,3507,0,0,0,0,0,0,26.22,26.09,26.27
$GC,1556,-0.81,-155.7,3003,1218,3456,3507,270.9,-13.7,131,1564,0.00,2.12,0.00,0.000,1030,0.000,0.033,2996,2608,3480,3454,3506,0,0,0,0,0,0,26.13,26.06,26.15
$GC,1883,-0.81,-155.7,2996,2608,3455,3507,312.0,-12.4,142,1894,0.00,1.73,0.00,0.000,260,0.000,0.044,2987,3693,3481,3455,3507,0,0,0,0,0,0,26.10,25.88,26.16
$GC,1952,-0.81,-155.7,2988,3693,3455,3507,320.3,-12.7,144,1960,0.00,1.52,0.00,0.000,1030,0.000,0.021,2994,2598,3481,3455,3507,0,0,0,0,0,0,26.21,26.18,26.22
$GC,2280,-0.81,-155.7,2995,2598,3454,3507,361.5,-11.1,155,2287,0.00,2.05,0.00,0.000,516,0.000,0.025,3004,1220,3480,3455,3505,0,0,0,0,0,0,26.18,26.09,26.24
$GC,2328,-0.81,-155.7,3005,1222,3454,3506,365.0,-11.0,156,2335,0.00,2.10,0.00,0.000,1030,0.000,0.030,2995,2604,3480,3455,3506,0,0,0,0,0,0,26.13,26.06,26.16
$GC,2644,-0.81,-155.7,2996,2610,3454,3500,402.1,-11.5,167,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3477,3454,3500,0,0,0,0,0,0,26.20,26.27,26.26
$GC,2944,-0.81,-155.7,2995,2604,3454,3497,438.1,-12.0,177,2952,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3702,3475,3454,3496,0,0,0,0,0,0,26.20,25.92,26.25
$GC,3020,-0.81,-155.7,2986,3703,3456,3495,445.4,-11.9,179,3028,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2612,3473,3453,3494,0,0,0,0,0,0,26.17,26.14,26.19
$GC,3337,-0.81,-155.7,2994,2613,3449,3492,481.5,-10.7,190,3345,0.00,2.08,0.00,0.000,516,0.000,0.025,3004,1212,3470,3450,3491,0,0,0,0,0,0,26.17,26.06,26.24
$GC,3408,-0.81,-155.7,3003,1213,3451,3493,487.5,-10.7,192,3416,0.00,2.15,0.00,0.000,1030,0.000,0.032,2995,2603,3470,3449,3492,0,0,0,0,0,0,26.07,26.00,26.10
$GC,3720,-0.81,-155.7,2994,2603,3449,3488,522.3,-10.5,203,3728,0.00,1.70,0.00,0.000,260,0.000,0.044,2986,3696,3467,3447,3488,0,0,0,0,0,0,26.17,25.91,26.22
$GC,3792,-0.81,-155.7,2985,3697,3449,3486,529.1,-10.6,205,3799,0.00,1.58,0.00,0.000,1030,0.000,0.023,2993,2590,3467,3447,3487,0,0,0,0,0,0,26.15,26.13,26.17
$GC,4113,-0.81,-155.7,2992,2590,3444,3486,564.4,-10.6,216,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3463,3442,3484,0,0,0,0,0,0,26.15,26.22,26.22
$GC,4414,-0.81,-155.7,2994,2590,3439,3481,593.9,-9.8,226,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3460,3439,3481,0,0,0,0,0,0,26.13,26.20,26.18
$GC,4714,-0.81,-155.7,2994,2587,3436,3479,623.2,-10.0,236,4721,0.00,2.05,0.00,0.000,516,0.000,0.026,3003,1222,3457,3436,3479,0,0,0,0,0,0,26.13,25.98,26.19
$GC,4765,-0.81,-155.7,3003,1223,3436,3479,626.1,-10.1,237,4775,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2608,3456,3435,3478,0,0,0,0,0,0,26.02,25.95,26.05
$GC,5071,-0.81,-155.7,2995,2609,3432,3476,657.4,-9.2,248,5078,0.00,1.70,0.00,0.000,260,0.000,0.046,2985,3693,3454,3432,3476,0,0,0,0,0,0,26.12,25.82,26.18
$GC,5117,-0.81,-155.7,2986,3692,3432,3476,660.3,-9.1,249,5124,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2598,3453,3432,3475,0,0,0,0,0,0,26.12,26.10,26.14
$GC,5434,-0.81,-155.7,2992,2598,3431,3474,689.6,-9.0,260,5443,0.00,1.77,0.00,0.000,260,0.000,0.046,2986,3689,3451,3429,3473,0,0,0,0,0,0,26.12,25.81,26.17
$GC,5462,-0.81,-155.7,2986,3689,3429,3473,689.6,-9.0,260,5472,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2590,3451,3429,3473,0,0,0,0,0,0,26.11,26.08,26.13
$GC,5767,-0.81,-155.7,2994,2591,3426,3472,719.7,-9.2,271,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3449,3427,3472,0,0,0,0,0,0,26.10,26.16,26.15
$GC,6067,-0.81,-155.7,2993,2591,3425,3471,746.2,-8.8,281,6074,0.00,1.77,0.00,0.000,260,0.000,0.045,2985,3707,3447,3425,3470,0,0,0,0,0,0,26.07,25.75,26.13
$GC,6099,-0.81,-155.7,2984,3707,3427,3470,749.0,-8.9,282,6107,0.00,1.62,0.00,0.000,1030,0.000,0.024,2992,2613,3448,3426,3470,0,0,0,0,0,0,26.03,26.01,26.04
$GC,6431,-0.81,-155.7,2992,2614,3422,3470,779.2,-9.2,293,6441,0.00,2.12,0.00,0.000,516,0.000,0.027,3002,1205,3445,3423,3468,0,0,0,0,0,0,26.08,25.91,26.14
$GC,6475,-0.81,-155.7,3001,1206,3424,3469,782.5,-9.2,294,6485,0.00,2.17,0.00,0.000,1030,0.000,0.031,2993,2603,3445,3423,3468,0,0,0,0,0,0,25.93,25.86,25.96
$GC,6799,-0.81,-155.7,2992,2603,3423,3466,814.0,-9.4,305,6806,0.00,1.75,0.00,0.000,260,0.000,0.045,2984,3686,3443,3421,3466,0,0,0,0,0,0,26.06,25.75,26.12
$GC,6846,-0.81,-155.7,2985,3687,3420,3466,816.9,-9.4,306,6853,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2591,3443,3421,3465,0,0,0,0,0,0,26.03,26.01,26.06
$GC,7162,-0.81,-155.7,2992,2590,3419,3469,849.2,-10.0,317,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2590,3442,3420,3464,0,0,0,0,0,0,26.05,26.12,26.10
$GC,7462,-0.81,-155.7,2991,2591,3420,3465,881.7,-11.3,327,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2590,3441,3418,3464,0,0,0,0,0,0,25.94,25.99,25.99
$GC,7762,-0.81,-155.7,2992,2590,3415,3463,914.8,-10.9,337,7770,0.00,2.10,0.00,0.000,516,0.000,0.027,3000,1208,3439,3415,3463,0,0,0,0,0,0,26.03,25.84,26.09
$GC,7825,-0.81,-155.7,3001,1208,3414,3463,921.5,-10.8,339,7832,0.00,2.17,0.00,0.000,1030,0.000,0.031,2990,2601,3438,3415,3462,0,0,0,0,0,0,25.88,25.81,25.91
$GC,8156,-0.81,-155.7,2990,2604,3416,3462,957.3,-10.7,350,8165,0.00,1.77,0.00,0.000,260,0.000,0.046,2982,3721,3438,3414,3462,0,0,0,0,0,0,26.00,25.70,26.06
$GC,8244,-0.81,-155.7,2983,3721,3414,3462,964.0,-10.5,352,8257,0.00,1.65,0.00,0.000,1030,0.000,0.024,2989,2594,3437,3414,3461,0,0,0,0,0,0,25.98,25.91,26.00
$STATE,8488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8488,begin apogee
$GC,8492,-0.17,0.0,2992,2427,3413,3461,990.0,-9.5,361,8626,0.77,0.00,126.18,1.235,10246,0.146,0.000,3210,2426,2837,2810,2865,0,0,0,0,0,0,25.29,24.54,23.54
$STATE,8627,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8628,0.81,155.7,3209,2427,2807,2861,995.2,0.0,365,8777,1.08,2.30,135.80,1.213,10756,0.126,0.028,3536,1029,2197,2189,2206,0,0,0,0,0,0,24.73,24.05,23.06
$GC,8911,0.91,228.6,3537,1029,2179,2197,988.2,6.8,375,8983,0.12,2.20,62.35,1.202,11270,0.165,0.031,3555,2420,1906,1904,1909,0,0,0,0,0,0,25.38,25.60,23.74
$GC,9297,0.91,228.6,3556,2421,1890,1888,947.3,11.0,388,9305,0.00,2.03,0.00,0.000,260,0.000,0.046,3547,3700,1889,1890,1888,0,0,0,0,0,0,26.13,25.98,26.19
$GC,9364,0.91,228.6,3545,3701,1892,1888,940.5,10.9,390,9372,0.00,1.90,0.00,0.000,1030,0.000,0.024,3555,2407,1888,1890,1887,0,0,0,0,0,0,26.17,26.14,26.20
$GC,9686,0.93,238.9,3555,2405,1891,1887,907.8,9.6,401,9698,0.00,2.08,2.35,0.417,8452,0.000,0.044,3547,3689,1867,1872,1862,0,0,0,0,0,0,26.18,25.62,24.10
$GC,9727,0.94,248.7,3547,3690,1885,1869,904.6,9.6,402,9754,0.00,1.88,13.77,1.085,9222,0.000,0.024,3555,2405,1822,1823,1822,0,0,0,0,1,0,26.21,26.18,24.63
$GC,10079,0.97,264.2,3556,2402,1834,1820,870.5,9.3,414,10105,0.00,2.10,17.90,1.114,8708,0.000,0.028,3566,1031,1755,1758,1752,0,0,0,0,0,0,26.15,25.32,24.62
$GC,10144,0.99,280.7,3565,1032,1752,1747,865.1,9.3,415,10169,0.00,2.17,15.48,1.101,9222,0.000,0.031,3556,2424,1690,1691,1689,0,0,0,0,0,0,25.96,25.90,24.47
$GC,10465,0.99,280.7,3557,2424,1682,1678,831.1,10.5,426,10472,0.00,2.03,0.00,0.000,260,0.000,0.046,3547,3701,1680,1682,1678,0,0,0,0,0,0,26.14,25.94,26.20
$GC,10531,0.99,280.7,3547,3702,1682,1678,824.5,10.9,428,10539,0.00,1.88,0.00,0.000,1030,0.000,0.025,3555,2428,1679,1681,1677,0,0,0,0,0,0,26.17,26.13,26.18
$GC,10848,0.99,280.7,3554,2427,1683,1676,789.0,11.2,439,10856,0.00,2.03,0.00,0.000,260,0.000,0.044,3547,3694,1678,1681,1676,0,0,0,0,0,0,26.15,25.96,26.21
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$STATE,17739,end climb,SURFACE_DEPTH_REACHED
$STATE,17739,begin surface coast
$FINISH,0.9,1.021043
$STATE,17760,end surface coast,CONTROL_FINISHED_OK
$STATE,17760,begin surface
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$IRIDIUM_FIX,1354.17,14519.42,010208,172036
$TT8_MAMPS,0.055426,0.055426
$HUMID,37.55
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$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,17741.97 7495.63
$PA_BOOTCOUNT,999
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$PA_HOME,0.06/0.107/1.856/1.655
$PA_DISK_BANK,2
$24V_AH,23.06,70.291
$10V_AH,9.88,40.523
$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,557.181,0.000,0.000,0.000,0.000,0.000,18191.521,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,248692
$DATA_FILE_SIZE,36782,826
$CAP_FILE_SIZE,159507,0
$CFSIZE,1024393216,999260160
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