version: 66.12
glider: 204
mission: 15
dive: 75
start: 3 14 115 18 35 22
data:
$ID,204
$MISSION,15
$DIVE,75
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,4
$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,89
$R_STBD_OVSHOOT,38
$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
$GPS1,140315,182935,1315.4651,14611.0293,27,0.8,27,1.4,1.1,21.2,11,15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.2
$GPS2,140315,183511,1315.4473,14610.9805,8,0.8,8,1.4,0.5,264.7,11,18.4
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N5
$TGT_LATLONG,1411.520,14537.140
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,330.7,120317,-15.8,-10.000,-19.55,2669
$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,-0.80,-175.2,203,2609,714,680,0.0,0.0,0,159,0.00,0.00,-59.30,0.000,16386,0.000,0.000,202,2610,2296,2271,2321,0,0,0,0,0,0,26.18,28.83,26.25
$GC,161,-0.80,-175.2,203,2610,2272,2322,3.1,-5.0,7,205,11.52,1.70,-28.02,0.000,18692,0.229,0.063,3002,3702,3556,3528,3584,0,0,0,0,0,0,25.89,24.85,26.12
$GC,260,-0.80,-175.2,3002,3704,3529,3587,23.6,-23.5,22,266,0.00,1.55,0.00,0.000,1030,0.000,0.022,3005,2589,3557,3529,3585,0,0,0,0,0,0,26.26,26.22,26.26
$GC,573,-0.80,-175.2,3005,2588,3530,3585,105.1,-27.0,63,580,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2588,3557,3529,3585,0,0,0,0,0,0,26.25,26.31,26.30
$GC,874,-0.80,-175.2,3005,2588,3532,3586,174.5,-17.9,93,884,0.00,1.98,0.00,0.000,516,0.000,0.024,3009,1227,3558,3531,3586,0,0,0,0,0,0,26.29,26.29,26.34
$GC,932,-0.80,-175.2,3009,1228,3533,3587,183.8,-17.3,98,943,0.00,2.08,0.00,0.000,1030,0.000,0.030,3000,2612,3559,3533,3585,0,0,0,0,0,0,26.33,26.27,26.35
$GC,1238,-0.80,-175.2,3000,2611,3535,3589,231.7,-14.9,115,1248,0.00,1.65,0.00,0.000,260,0.000,0.044,2992,3705,3561,3533,3590,0,0,0,0,0,0,26.31,26.28,26.36
$GC,1321,-0.80,-175.2,2992,3705,3535,3590,240.9,-14.5,117,1329,0.00,1.52,0.00,0.000,1030,0.000,0.021,2995,2602,3562,3534,3590,0,0,0,0,0,0,26.38,26.34,26.39
$GC,1633,-0.80,-175.2,2995,2602,3535,3591,287.5,-13.6,128,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2602,3562,3534,3590,0,0,0,0,0,0,26.33,26.39,26.39
$GC,1933,-0.80,-175.2,2996,2603,3533,3591,329.2,-13.8,138,1940,0.00,1.67,0.00,0.000,260,0.000,0.043,2988,3701,3561,3534,3589,0,0,0,0,0,0,26.33,26.28,26.39
$GC,1974,-0.80,-175.2,2988,3701,3536,3589,333.4,-13.6,139,1981,0.00,1.52,0.00,0.000,1030,0.000,0.023,2995,2609,3561,3534,3588,0,0,0,0,0,0,26.39,26.36,26.40
$GC,2294,-0.80,-175.2,2995,2608,3535,3583,377.8,-14.1,150,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2609,3558,3534,3583,0,0,0,0,0,0,26.33,26.40,26.39
$GC,2594,-0.80,-175.2,2995,2610,3534,3580,418.7,-13.3,160,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2608,3556,3533,3579,0,0,0,0,0,0,26.32,26.40,26.39
$GC,2894,-0.80,-175.2,2995,2609,3530,3577,454.6,-11.4,170,2903,0.00,2.05,0.00,0.000,516,0.000,0.024,3005,1205,3552,3529,3576,0,0,0,0,0,0,26.32,26.32,26.38
$GC,2946,-0.80,-175.2,3005,1204,3529,3576,458.2,-11.4,171,2954,0.00,2.12,0.00,0.000,1030,0.000,0.029,2996,2604,3551,3527,3576,0,0,0,0,0,0,26.36,26.31,26.38
$GC,3252,-0.80,-175.2,2995,2607,3525,3574,494.6,-11.1,181,3259,0.00,1.70,0.00,0.000,260,0.000,0.044,2988,3691,3548,3525,3572,0,0,0,0,0,0,26.27,26.26,26.34
$GC,3283,-0.80,-175.2,2988,3692,3526,3572,498.0,-11.0,182,3291,0.00,1.58,0.00,0.000,1030,0.000,0.022,2992,2590,3548,3525,3571,0,0,0,0,0,0,26.37,26.35,26.38
$GC,3615,-0.80,-175.2,2996,2591,3522,3570,535.1,-11.4,193,3626,0.00,2.00,0.00,0.000,516,0.000,0.025,3004,1225,3545,3521,3569,0,0,0,0,0,0,26.29,26.30,26.36
$GC,3665,-0.80,-175.2,3005,1226,3520,3570,538.4,-11.2,194,3674,0.00,2.08,0.00,0.000,1030,0.000,0.030,2995,2603,3544,3519,3569,0,0,0,0,0,0,26.34,26.29,26.36
$GC,3970,-0.80,-175.2,2992,2602,3518,3565,572.7,-10.5,204,3979,0.00,1.67,0.00,0.000,260,0.000,0.043,2987,3701,3541,3517,3565,0,0,0,0,0,0,26.30,26.25,26.36
$GC,4022,-0.80,-175.2,2987,3701,3517,3564,576.3,-10.7,205,4030,0.00,1.60,0.00,0.000,1030,0.000,0.023,2994,2607,3540,3516,3564,0,0,0,0,0,0,26.35,26.33,26.36
$GC,4333,-0.80,-175.2,2994,2607,3514,3562,610.9,-10.4,216,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2607,3537,3513,3562,0,0,0,0,0,0,26.29,26.36,26.35
$GC,4633,-0.80,-175.2,2994,2608,3511,3562,641.8,-10.1,226,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2607,3535,3510,3561,0,0,0,0,0,0,26.29,26.36,26.34
$GC,4933,-0.80,-175.2,2994,2608,3508,3559,673.4,-10.6,236,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2607,3532,3508,3557,0,0,0,0,0,0,26.27,26.34,26.34
$GC,5233,-0.80,-175.2,2994,2607,3507,3555,706.3,-11.0,246,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2606,3530,3506,3555,0,0,0,0,0,0,26.27,26.34,26.33
$GC,5533,-0.80,-175.2,2995,2608,3505,3554,740.5,-11.6,256,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2606,3528,3504,3552,0,0,0,0,0,0,26.27,26.34,26.32
$GC,5833,-0.80,-175.2,2995,2608,3503,3553,774.5,-11.0,266,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2607,3526,3502,3551,0,0,0,0,0,0,26.23,26.29,26.29
$GC,6133,-0.80,-175.2,2994,2607,3501,3549,806.2,-10.4,276,6145,0.00,2.08,0.00,0.000,516,0.000,0.025,3004,1203,3525,3500,3550,0,0,0,0,0,0,26.23,26.23,26.29
$GC,6173,-0.80,-175.2,3004,1203,3501,3549,809.3,-10.4,277,6182,0.00,2.15,0.00,0.000,1030,0.000,0.030,2995,2604,3524,3499,3549,0,0,0,0,0,0,26.26,26.20,26.28
$GC,6491,-0.80,-175.2,2995,2605,3498,3549,842.1,-10.0,288,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3522,3497,3548,0,0,0,0,0,0,26.25,26.32,26.30
$GC,6791,-0.80,-175.2,2996,2604,3498,3546,871.9,-10.0,298,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3521,3497,3546,0,0,0,0,0,0,26.24,26.31,26.29
$GC,7091,-0.80,-175.2,2995,2604,3496,3545,901.6,-9.8,308,7098,0.00,1.67,0.00,0.000,260,0.000,0.044,2987,3692,3519,3494,3544,0,0,0,0,0,0,26.22,26.13,26.27
$GC,7126,-0.80,-175.2,2987,3693,3492,3544,904.9,-9.9,309,7133,0.00,1.58,0.00,0.000,1030,0.000,0.023,2994,2579,3519,3494,3544,0,0,0,0,0,0,26.26,26.23,26.27
$GC,7452,-0.80,-175.2,2994,2579,3493,3545,937.8,-9.9,320,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2578,3518,3493,3543,0,0,0,0,0,0,26.20,26.27,26.26
$GC,7752,-0.80,-175.2,2994,2579,3493,3544,968.0,-10.2,330,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2578,3515,3492,3539,0,0,0,0,0,0,26.20,26.28,26.27
$STATE,7991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7991,begin apogee
$GC,7994,-0.17,0.0,2996,2427,3491,3543,992.5,-10.1,338,8138,0.75,0.00,136.18,1.292,10246,0.156,0.000,3209,2425,2838,2812,2865,0,0,0,0,0,0,25.92,24.89,24.18
$STATE,8139,end apogee,CONTROL_FINISHED_OK
$STATE,8139,begin climb
$GC,8140,0.80,175.2,3209,2424,2810,2860,997.6,0.0,342,8300,1.05,2.25,145.12,1.310,10756,0.137,0.026,3528,1030,2117,2111,2123,0,0,0,0,0,0,25.03,24.23,23.52
$GC,8449,0.89,235.1,3529,1031,2107,2116,987.7,7.7,353,8513,0.00,2.20,50.47,1.295,9222,0.000,0.029,3523,2423,1875,1874,1876,0,0,0,0,0,0,25.54,25.50,24.08
$GC,8810,0.89,238.7,3524,2425,1868,1865,952.8,9.9,365,8818,0.12,2.00,0.00,0.000,2308,0.185,0.043,3547,3701,1863,1863,1864,0,0,0,0,0,0,25.75,25.90,25.86
$GC,8872,0.89,238.7,3546,3700,1868,1865,945.8,10.8,367,8879,0.00,1.88,0.00,0.000,1030,0.000,0.024,3556,2412,1865,1867,1864,0,0,0,0,0,0,26.06,26.03,26.07
$GC,9193,0.89,238.7,3556,2409,1867,1863,907.5,11.6,378,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2408,1862,1866,1859,0,0,0,0,0,0,26.15,26.22,26.20
$GC,9493,0.89,238.7,3556,2407,1866,1861,873.1,11.4,388,9502,0.00,2.03,0.00,0.000,260,0.000,0.045,3547,3702,1863,1865,1861,0,0,0,0,0,0,26.20,26.15,26.25
$GC,9575,0.89,238.7,3548,3701,1866,1862,866.0,11.8,390,9586,0.00,1.85,0.00,0.000,1030,0.000,0.024,3556,2424,1865,1870,1861,0,0,0,0,0,0,26.27,26.23,26.27
$GC,9881,0.89,238.7,3556,2423,1864,1860,829.3,11.2,401,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2424,1862,1864,1860,0,0,0,0,0,0,26.22,26.29,26.27
$GC,10181,0.89,238.7,3556,2425,1864,1862,796.1,11.0,411,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2423,1860,1863,1857,0,0,0,0,0,0,26.20,26.27,26.26
$GC,10481,0.89,238.7,3555,2424,1866,1860,763.4,10.7,421,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2423,1861,1862,1860,0,0,0,0,0,0,26.21,26.28,26.27
$GC,10781,0.89,238.7,3556,2423,1863,1859,731.4,10.6,431,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2423,1861,1862,1860,0,0,0,0,0,0,26.20,26.26,26.25
$GC,11081,0.89,238.7,3557,2424,1862,1861,700.5,10.5,441,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2423,1860,1861,1859,0,0,0,0,0,0,26.19,26.25,26.25
$GC,11381,0.89,238.7,3556,2424,1862,1860,669.6,10.1,451,11388,0.00,1.98,0.00,0.000,260,0.000,0.044,3547,3693,1863,1868,1859,0,0,0,0,0,0,26.18,26.10,26.24
$GC,11442,0.89,238.7,3547,3694,1862,1861,663.5,10.3,453,11449,0.00,1.85,0.00,0.000,1030,0.000,0.023,3556,2411,1860,1861,1859,0,0,0,0,0,0,26.23,26.21,26.25
$GC,11763,0.92,256.2,3556,2405,1862,1859,632.4,9.3,464,11785,0.00,0.00,16.30,1.113,8198,0.000,0.000,3556,2406,1794,1795,1793,0,0,0,0,0,0,26.17,25.77,25.03
$GC,12063,0.93,262.9,3556,2407,1787,1784,603.5,9.7,474,12075,0.00,2.05,1.88,0.287,8452,0.000,0.044,3548,3702,1771,1777,1766,0,0,0,0,0,0,26.08,25.94,25.34
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$STATE,17636,end climb,SURFACE_DEPTH_REACHED
$STATE,17637,begin surface coast
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$STATE,17647,end surface coast,CONTROL_FINISHED_OK
$STATE,17647,begin surface
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$TT8_MAMPS,0.055426,0.055426
$HUMID,34.72
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17677.05 7379.03
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$10V_AH,10.08,30.072
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229116
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