version: 66.12
glider: 204
mission: 15
dive: 196
start: 4 7 115 14 13 8
data:
$ID,204
$MISSION,15
$DIVE,196
$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,71
$R_STBD_OVSHOOT,45
$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
$GPS1,070415,140636,1354.8752,14514.8994,31,0.7,31,1.0,0.0,0.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.6
$GPS2,070415,141257,1354.8892,14514.9336,6,0.7,6,1.0,0.0,0.0,12,20.2
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,198.7,33357,-16.9,-10.000,-20.51,2373
$D_GRID,1904
$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,-155.7,189,2626,806,811,0.0,0.0,0,150,0.00,0.00,-50.95,0.000,16386,0.000,0.000,187,2625,2189,2154,2225,0,0,0,0,0,0,26.14,28.83,26.20
$GC,152,-0.81,-155.7,187,2625,2159,2223,3.3,-4.4,8,207,12.00,2.17,-30.10,0.000,18948,0.230,0.040,3006,1207,3475,3449,3502,0,0,0,0,0,0,25.48,24.14,25.65
$GC,340,-0.81,-155.7,3005,1208,3451,3505,39.9,-18.2,37,351,0.00,2.12,0.00,0.000,1030,0.000,0.033,2997,2593,3477,3451,3503,0,0,0,0,0,0,26.08,26.01,26.12
$GC,655,-0.81,-155.7,2996,2594,3451,3504,114.4,-22.0,72,663,0.00,1.75,0.00,0.000,260,0.000,0.044,2988,3701,3476,3450,3503,0,0,0,0,0,0,26.19,25.96,26.24
$GC,769,-0.81,-155.7,2988,3702,3452,3505,142.1,-24.8,83,779,0.00,1.58,0.00,0.000,1030,0.000,0.023,2995,2587,3477,3450,3505,0,0,0,0,0,0,26.18,26.12,26.20
$GC,1083,-0.81,-155.7,2994,2587,3454,3506,201.6,-17.0,114,1093,0.00,2.03,0.00,0.000,516,0.000,0.024,3005,1210,3478,3452,3505,0,0,0,0,0,0,26.18,26.06,26.24
$GC,1117,-0.81,-155.7,3004,1209,3454,3506,207.3,-16.7,115,1124,0.00,2.12,0.00,0.000,1030,0.000,0.033,2996,2601,3479,3453,3506,0,0,0,0,0,0,26.10,26.02,26.13
$GC,1444,-0.81,-155.7,2994,2602,3455,3507,259.8,-16.4,126,1451,0.00,1.73,0.00,0.000,260,0.000,0.044,2987,3693,3480,3454,3506,0,0,0,0,0,0,26.11,25.91,26.16
$GC,1510,-0.81,-155.7,2988,3693,3454,3507,269.6,-16.2,128,1517,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2578,3480,3454,3506,0,0,0,0,0,0,26.22,26.19,26.22
$GC,1836,-0.81,-155.7,2995,2576,3455,3507,313.1,-11.9,139,1844,0.00,2.00,0.00,0.000,516,0.000,0.027,3004,1228,3483,3459,3507,0,0,0,0,0,0,26.21,26.08,26.27
$GC,1873,-0.81,-155.7,3003,1230,3456,3508,316.9,-12.0,140,1881,0.00,2.12,0.00,0.000,1030,0.000,0.032,2995,2608,3481,3455,3507,0,0,0,0,0,0,26.11,26.04,26.14
$GC,2200,-0.81,-155.7,2995,2614,3457,3507,359.4,-12.5,151,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2609,3480,3455,3506,0,0,0,0,0,0,26.21,26.28,26.29
$GC,2500,-0.81,-155.7,2995,2609,3456,3503,391.9,-10.9,161,2508,0.00,2.08,0.00,0.000,516,0.000,0.028,3004,1229,3478,3454,3502,0,0,0,0,0,0,26.20,26.06,26.25
$GC,2537,-0.81,-155.7,3005,1229,3454,3502,394.8,-11.0,162,2545,0.00,2.10,0.00,0.000,1030,0.000,0.031,2996,2602,3478,3454,3502,0,0,0,0,0,0,26.10,26.03,26.13
$GC,2860,-0.81,-155.7,2994,2602,3455,3498,426.8,-8.6,173,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3475,3454,3497,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3159,-0.81,-155.7,2995,2603,3454,3494,456.0,-10.4,183,3167,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3701,3472,3452,3493,0,0,0,0,0,0,26.19,25.91,26.25
$GC,3201,-0.81,-155.7,2988,3699,3451,3493,459.6,-10.8,184,3209,0.00,1.55,0.00,0.000,1030,0.000,0.023,2994,2610,3472,3452,3493,0,0,0,0,0,0,26.17,26.14,26.19
$GC,3523,-0.81,-155.7,2993,2610,3450,3487,500.1,-12.5,195,3531,0.00,2.10,0.00,0.000,516,0.000,0.024,3004,1217,3469,3449,3489,0,0,0,0,0,0,26.15,26.05,26.21
$GC,3544,-0.81,-155.7,3005,1205,3448,3490,500.1,-12.5,195,3553,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2602,3470,3448,3493,0,0,0,0,0,0,26.04,25.98,26.07
$GC,3850,-0.81,-155.7,2996,2603,3446,3487,537.8,-11.2,205,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3466,3446,3487,0,0,0,0,0,0,26.17,26.23,26.22
$GC,4150,-0.81,-155.7,2996,2603,3442,3485,568.7,-10.0,215,4158,0.00,2.10,0.00,0.000,516,0.000,0.025,3003,1205,3466,3449,3484,0,0,0,0,0,0,26.15,26.01,26.21
$GC,4171,-0.81,-155.7,3004,1205,3441,3485,568.7,-10.0,215,4182,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2601,3462,3441,3484,0,0,0,0,0,0,26.03,25.96,26.07
$GC,4477,-0.81,-155.7,2994,2602,3441,3482,600.9,-9.8,226,4484,0.00,2.10,0.00,0.000,516,0.000,0.024,3003,1204,3460,3439,3481,0,0,0,0,0,0,26.17,26.00,26.22
$GC,4504,-0.81,-155.7,3003,1205,3441,3482,603.5,-9.7,227,4511,0.00,2.17,0.00,0.000,1030,0.000,0.031,2994,2607,3460,3439,3481,0,0,0,0,0,0,26.02,25.94,26.05
$GC,4831,-0.81,-155.7,2995,2607,3435,3479,635.5,-9.9,238,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2607,3457,3436,3478,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5131,-0.81,-155.7,2994,2607,3434,3477,666.4,-9.9,248,5139,0.00,2.12,0.00,0.000,516,0.000,0.027,3003,1206,3454,3433,3476,0,0,0,0,0,0,26.09,25.94,26.15
$GC,5163,-0.81,-155.7,3004,1203,3432,3476,669.5,-9.8,249,5171,0.00,2.17,0.00,0.000,1030,0.000,0.031,2994,2605,3454,3432,3476,0,0,0,0,0,0,25.96,25.88,25.98
$GC,5490,-0.81,-155.7,2993,2605,3431,3474,700.4,-9.6,260,5498,0.00,1.75,0.00,0.000,260,0.000,0.047,2986,3689,3448,3424,3473,0,0,0,0,0,0,26.08,25.78,26.13
$GC,5522,-0.81,-155.7,2983,3689,3425,3473,703.6,-9.7,261,5530,0.00,1.62,0.00,0.000,1030,0.000,0.023,2993,2588,3451,3429,3473,0,0,0,0,0,0,26.09,26.07,26.10
$GC,5854,-0.81,-155.7,2992,2589,3428,3473,734.7,-9.1,272,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2588,3449,3427,3471,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6154,-0.81,-155.7,2993,2589,3424,3471,760.8,-8.7,282,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2588,3447,3425,3470,0,0,0,0,0,0,26.10,26.15,26.15
$GC,6454,-0.81,-155.7,2992,2588,3426,3470,787.9,-9.1,292,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2588,3446,3424,3468,0,0,0,0,0,0,26.08,26.15,26.13
$GC,6754,-0.81,-155.7,2994,2588,3422,3468,815.3,-9.4,302,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2588,3445,3422,3468,0,0,0,0,0,0,26.08,26.15,26.14
$GC,7054,-0.81,-155.7,2993,2588,3420,3466,844.5,-10.1,312,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2588,3443,3421,3466,0,0,0,0,0,0,26.08,26.15,26.14
$GC,7354,-0.81,-155.7,2992,2588,3421,3466,875.1,-10.4,322,7361,0.00,2.08,0.00,0.000,516,0.000,0.026,2998,1224,3441,3419,3464,0,0,0,0,0,0,26.05,25.86,26.10
$GC,7385,-0.81,-155.7,2996,1220,3421,3465,878.7,-10.7,323,7393,0.00,2.17,0.00,0.000,1030,0.000,0.031,2989,2602,3441,3418,3464,0,0,0,0,0,0,25.90,25.83,25.94
$GC,7713,-0.81,-155.7,2988,2603,3419,3465,912.8,-10.4,334,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2602,3440,3417,3463,0,0,0,0,0,0,26.01,26.08,26.06
$GC,8013,-0.81,-155.7,2988,2603,3416,3463,942.2,-9.6,344,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2601,3438,3415,3462,0,0,0,0,0,0,26.02,26.09,26.08
$GC,8313,-0.81,-155.7,2989,2603,3415,3462,970.8,-9.6,354,8321,0.00,2.10,0.00,0.000,516,0.000,0.026,2996,1220,3437,3414,3461,0,0,0,0,0,0,26.02,25.82,26.07
$GC,8350,-0.81,-155.7,2996,1220,3415,3463,973.2,-9.3,355,8359,0.00,2.17,0.00,0.000,1030,0.000,0.032,2988,2608,3437,3413,3462,0,0,0,0,0,0,25.84,25.77,25.89
$STATE,8547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8547,begin apogee
$GC,8551,-0.17,0.0,2989,2432,3413,3461,992.5,-9.4,362,8685,0.80,0.00,127.30,1.229,10246,0.145,0.000,3213,2430,2836,2807,2865,0,0,0,0,0,0,25.27,24.51,23.51
$STATE,8686,end apogee,CONTROL_FINISHED_OK
$STATE,8686,begin climb
$GC,8687,0.81,155.7,3213,2431,2807,2861,997.4,0.0,366,8835,1.05,2.35,135.70,1.210,10756,0.125,0.029,3533,1040,2197,2188,2206,0,0,0,0,0,0,24.71,24.04,23.04
$GC,8970,0.95,251.3,3533,1040,2179,2197,992.1,5.9,376,9064,0.17,2.17,81.80,1.205,11270,0.150,0.031,3572,2422,1806,1806,1807,0,0,0,0,0,0,25.36,25.61,23.57
$GC,9360,0.95,251.3,3570,2423,1799,1792,949.5,11.4,389,9367,0.00,2.15,0.00,0.000,516,0.000,0.031,3581,1029,1794,1797,1791,0,0,0,0,0,0,26.10,26.03,26.17
$GC,9401,0.95,251.3,3582,1029,1793,1791,946.4,11.4,390,9409,0.00,2.17,0.00,0.000,1030,0.000,0.032,3573,2428,1792,1793,1791,0,0,0,0,0,0,26.10,26.03,26.13
$GC,9713,0.95,251.3,3571,2429,1795,1791,907.3,12.0,401,9721,0.00,2.00,0.00,0.000,260,0.000,0.047,3563,3692,1791,1793,1790,0,0,0,0,0,0,26.17,25.99,26.23
$GC,9785,0.95,251.3,3562,3693,1795,1791,899.4,12.3,403,9792,0.00,1.88,0.00,0.000,1030,0.000,0.024,3572,2403,1791,1793,1790,0,0,0,0,0,0,26.20,26.17,26.22
$GC,10101,0.95,251.3,3571,2401,1793,1791,863.5,10.3,414,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2400,1790,1792,1789,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10401,0.95,251.3,3572,2401,1791,1789,832.6,10.4,424,10409,0.00,2.08,0.00,0.000,260,0.000,0.044,3563,3702,1790,1791,1789,0,0,0,0,0,0,26.15,25.91,26.22
$GC,10459,0.95,251.3,3564,3702,1791,1789,826.6,10.5,426,10467,0.00,1.90,0.00,0.000,1030,0.000,0.025,3572,2427,1790,1791,1789,0,0,0,0,0,0,26.08,26.05,26.10
$GC,10791,0.95,251.3,3572,2427,1791,1789,792.4,10.5,437,10802,0.00,2.00,0.00,0.000,260,0.000,0.045,3564,3688,1789,1791,1788,0,0,0,0,0,0,26.10,25.86,26.17
$GC,10821,0.95,251.3,3564,3689,1791,1788,789.0,10.7,438,10829,0.00,1.88,0.00,0.000,1030,0.000,0.024,3572,2410,1789,1791,1788,0,0,0,0,0,0,26.09,26.05,26.11
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$STATE,17990,end climb,SURFACE_DEPTH_REACHED
$STATE,17990,begin surface coast
$FINISH,0.9,1.001419
$STATE,18016,end surface coast,CONTROL_FINISHED_OK
$STATE,18016,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,18012.58 7608.45
$PA_BOOTCOUNT,1001
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$PA_DISK_BANK,2
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$10V_AH,9.92,40.676
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,248688
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