version: 66.12
glider: 204
mission: 15
dive: 122
start: 3 24 115 3 42 32
data:
$ID,204
$MISSION,15
$DIVE,122
$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,85
$R_STBD_OVSHOOT,35
$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
$GPS1,240315,033304,1419.9065,14629.8467,40,0.8,40,1.2,0.6,273.7,10,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.5
$GPS2,240315,034221,1419.9196,14629.7510,7,0.9,7,1.2,0.0,260.6,9,13.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,76.9,48022,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-175.2,182,2611,805,797,0.0,0.0,0,146,0.00,0.00,-46.83,0.000,16386,0.000,0.000,181,2610,2062,2037,2087,0,0,0,0,0,0,26.16,28.83,26.21
$GC,148,-0.80,-175.2,182,2610,2038,2087,3.1,-5.2,7,205,11.77,2.08,-38.90,0.000,18948,0.229,0.041,3011,1224,3556,3529,3583,0,0,0,0,0,0,25.70,24.44,25.99
$GC,229,-0.80,-175.2,3010,1223,3530,3584,15.3,-22.5,19,236,0.00,2.15,0.00,0.000,1030,0.000,0.031,3002,2603,3556,3529,3584,0,0,0,0,0,0,26.13,26.10,26.15
$GC,543,-0.80,-175.2,3002,2604,3531,3584,99.6,-27.3,63,550,0.00,1.67,0.00,0.000,260,0.000,0.044,2994,3701,3556,3529,3584,0,0,0,0,0,0,26.22,26.09,26.27
$GC,638,-0.80,-175.2,2994,3701,3531,3584,125.4,-27.4,72,648,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2586,3557,3530,3585,0,0,0,0,0,0,26.26,26.23,26.27
$GC,944,-0.80,-175.2,3001,2586,3534,3586,189.3,-18.6,103,954,0.00,2.00,0.00,0.000,516,0.000,0.024,3005,1224,3558,3532,3585,0,0,0,0,0,0,26.17,26.13,26.22
$GC,968,-0.80,-175.2,3006,1229,3534,3586,193.5,-18.2,105,976,0.00,2.10,0.00,0.000,1030,0.000,0.031,2997,2611,3558,3533,3584,0,0,0,0,0,0,26.22,26.16,26.25
$GC,1280,-0.80,-175.2,2998,2611,3534,3587,244.3,-16.1,118,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2611,3560,3534,3586,0,0,0,0,0,0,26.25,26.32,26.31
$GC,1580,-0.80,-175.2,2997,2611,3536,3586,289.8,-14.9,128,1588,0.00,1.65,0.00,0.000,260,0.000,0.044,2989,3693,3560,3534,3586,0,0,0,0,0,0,26.25,26.13,26.29
$GC,1631,-0.80,-175.2,2989,3694,3536,3586,295.1,-15.1,129,1639,0.00,1.55,0.00,0.000,1030,0.000,0.021,2996,2595,3560,3535,3586,0,0,0,0,0,0,26.29,26.28,26.31
$GC,1943,-0.80,-175.2,2997,2593,3535,3587,344.6,-14.7,140,1953,0.00,1.98,0.00,0.000,516,0.000,0.024,3006,1236,3560,3535,3586,0,0,0,0,0,0,26.25,26.20,26.30
$GC,1987,-0.80,-175.2,3006,1237,3536,3587,348.7,-14.3,141,1996,0.00,2.08,0.00,0.000,1030,0.000,0.031,2994,2603,3560,3535,3585,0,0,0,0,0,0,26.24,26.17,26.26
$GC,2300,-0.80,-175.2,2998,2606,3535,3585,391.1,-12.8,152,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2605,3558,3534,3583,0,0,0,0,0,0,26.20,26.27,26.27
$GC,2600,-0.80,-175.2,2998,2607,3535,3581,428.6,-12.1,162,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2605,3556,3533,3579,0,0,0,0,0,0,26.25,26.32,26.30
$GC,2900,-0.80,-175.2,2997,2605,3532,3576,464.4,-12.0,172,2907,0.00,1.67,0.00,0.000,260,0.000,0.044,2989,3695,3553,3530,3576,0,0,0,0,0,0,26.24,26.09,26.29
$GC,2981,-0.80,-175.2,2989,3695,3530,3575,472.0,-12.3,174,2988,0.00,1.52,0.00,0.000,1030,0.000,0.021,2996,2605,3552,3529,3575,0,0,0,0,0,0,26.27,26.25,26.28
$GC,3292,-0.80,-175.2,2996,2606,3526,3573,510.6,-11.1,185,3299,0.00,2.05,0.00,0.000,516,0.000,0.024,3006,1213,3548,3525,3571,0,0,0,0,0,0,26.23,26.17,26.29
$GC,3343,-0.80,-175.2,3006,1213,3525,3571,513.4,-11.0,186,3353,0.00,2.12,0.00,0.000,1030,0.000,0.031,3003,2603,3547,3524,3571,0,0,0,0,0,0,26.20,26.14,26.23
$GC,3648,-0.80,-175.2,2997,2603,3522,3568,546.7,-10.2,197,3656,0.00,2.05,0.00,0.000,516,0.000,0.024,3006,1226,3544,3521,3568,0,0,0,0,0,0,26.22,26.13,26.28
$GC,3685,-0.80,-175.2,3005,1225,3522,3568,549.9,-10.0,198,3693,0.00,2.10,0.00,0.000,1030,0.000,0.029,2997,2602,3544,3520,3568,0,0,0,0,0,0,26.19,26.13,26.21
$GC,4007,-0.80,-175.2,2997,2602,3519,3564,581.1,-9.3,209,4015,0.00,1.73,0.00,0.000,260,0.000,0.044,2988,3693,3540,3517,3564,0,0,0,0,0,0,26.20,26.06,26.26
$GC,4049,-0.80,-175.2,2989,3694,3518,3565,584.3,-9.3,210,4056,0.00,1.58,0.00,0.000,1030,0.000,0.022,2994,2608,3540,3517,3564,0,0,0,0,0,0,26.22,26.21,26.25
$GC,4370,-0.80,-175.2,2994,2609,3514,3563,616.3,-10.0,221,4378,0.00,2.08,0.00,0.000,516,0.000,0.024,3004,1206,3537,3514,3561,0,0,0,0,0,0,26.20,26.13,26.25
$GC,4407,-0.80,-175.2,3004,1205,3514,3561,619.1,-10.1,222,4414,0.00,2.15,0.00,0.000,1030,0.000,0.029,2995,2609,3537,3513,3561,0,0,0,0,0,0,26.10,26.05,26.13
$GC,4723,-0.80,-175.2,2995,2612,3511,3558,655.4,-11.7,233,4731,0.00,2.10,0.00,0.000,516,0.000,0.026,3004,1233,3534,3510,3558,0,0,0,0,0,0,26.18,26.09,26.25
$GC,4755,-0.80,-175.2,3004,1221,3511,3558,659.3,-11.7,234,4763,0.00,2.12,0.00,0.000,1030,0.000,0.030,2995,2608,3534,3510,3558,0,0,0,0,0,0,26.15,26.08,26.17
$GC,5082,-0.80,-175.2,2994,2607,3508,3555,697.9,-11.9,245,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2607,3531,3507,3555,0,0,0,0,0,0,26.17,26.25,26.23
$GC,5382,-0.80,-175.2,2995,2609,3506,3554,733.1,-11.5,255,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2608,3529,3505,3553,0,0,0,0,0,0,26.16,26.23,26.22
$GC,5682,-0.80,-175.2,2996,2609,3504,3552,765.6,-10.5,265,5690,0.00,1.70,0.00,0.000,260,0.000,0.045,2986,3699,3527,3503,3551,0,0,0,0,0,0,26.16,25.96,26.22
$GC,5718,-0.80,-175.2,2987,3699,3505,3550,769.1,-10.5,266,5727,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2600,3527,3503,3551,0,0,0,0,0,0,26.17,26.13,26.18
$GC,6045,-0.80,-175.2,2994,2601,3501,3550,803.6,-10.6,277,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2600,3525,3501,3549,0,0,0,0,0,0,26.15,26.21,26.20
$GC,6346,-0.80,-175.2,2993,2601,3500,3549,835.5,-10.7,287,6354,0.00,2.08,0.00,0.000,516,0.000,0.026,3003,1212,3522,3498,3547,0,0,0,0,0,0,26.17,26.03,26.22
$GC,6378,-0.80,-175.2,3003,1213,3499,3548,839.0,-10.7,288,6389,0.00,2.15,0.00,0.000,1030,0.000,0.032,2994,2602,3522,3498,3547,0,0,0,0,0,0,26.08,26.01,26.10
$GC,6708,-0.80,-175.2,2994,2603,3498,3546,873.8,-10.6,299,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3521,3497,3545,0,0,0,0,0,0,26.09,26.19,26.15
$GC,7008,-0.80,-175.2,2994,2604,3496,3545,905.7,-10.5,309,7016,0.00,2.10,0.00,0.000,516,0.000,0.025,3002,1206,3519,3495,3544,0,0,0,0,0,0,26.12,25.99,26.17
$GC,7055,-0.80,-175.2,3003,1205,3495,3543,909.2,-10.6,310,7063,0.00,2.17,0.00,0.000,1030,0.000,0.030,2993,2611,3519,3494,3544,0,0,0,0,0,0,26.02,25.95,26.05
$GC,7367,-0.80,-175.2,2994,2613,3494,3543,944.0,-10.7,321,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2611,3516,3492,3541,0,0,0,0,0,0,26.10,26.17,26.16
$GC,7667,-0.80,-175.2,2994,2612,3493,3542,976.4,-10.9,331,7675,0.00,2.12,0.00,0.000,516,0.000,0.026,3002,1207,3516,3492,3541,0,0,0,0,0,0,26.09,25.98,26.15
$GC,7714,-0.80,-175.2,3002,1207,3492,3542,979.3,-10.8,332,7724,0.00,2.17,0.00,0.000,1030,0.000,0.031,2993,2602,3516,3491,3541,0,0,0,0,0,0,26.03,25.96,26.06
$STATE,7816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7816,begin apogee
$GC,7820,-0.17,0.0,2994,2406,3492,3540,993.0,-11.2,336,7965,0.77,0.00,137.75,1.280,10246,0.151,0.000,3213,2404,2838,2812,2865,0,0,0,0,0,0,25.60,24.66,23.89
$STATE,7965,end apogee,CONTROL_FINISHED_OK
$STATE,7965,begin climb
$GC,7966,0.80,175.2,3213,2404,2810,2861,999.3,0.0,340,8126,1.05,2.25,147.15,1.211,11012,0.130,0.044,3513,3695,2120,2115,2125,0,0,0,0,0,0,24.82,24.15,23.41
$GC,8300,0.90,245.6,3513,3694,2112,2115,992.0,7.3,352,8371,0.12,1.88,58.38,1.238,11270,0.147,0.021,3551,2408,1835,1835,1835,0,0,0,0,0,0,25.46,25.68,24.07
$GC,8690,0.90,245.6,3552,2408,1828,1823,953.5,10.4,365,8699,0.00,2.08,0.00,0.000,516,0.000,0.030,3562,1048,1824,1826,1823,0,0,0,0,0,0,26.02,26.00,26.08
$GC,8718,0.90,245.6,3562,1050,1826,1824,953.5,10.4,365,8728,0.00,2.12,0.00,0.000,1030,0.000,0.031,3552,2425,1823,1825,1822,0,0,0,0,0,0,26.09,26.03,26.11
$GC,9024,0.90,245.6,3552,2427,1825,1822,917.6,10.9,376,9032,0.00,2.00,0.00,0.000,260,0.000,0.044,3543,3701,1823,1825,1821,0,0,0,0,0,0,26.15,26.06,26.21
$GC,9076,0.90,245.6,3543,3701,1826,1821,913.9,11.0,377,9083,0.00,1.85,0.00,0.000,1030,0.000,0.023,3551,2426,1823,1825,1821,0,0,0,0,0,0,26.21,26.18,26.22
$GC,9381,0.90,245.6,3551,2425,1824,1819,877.6,11.0,387,9389,0.00,2.10,0.00,0.000,516,0.000,0.028,3562,1039,1821,1824,1819,0,0,0,0,0,0,26.16,26.13,26.22
$GC,9412,0.90,245.6,3562,1038,1824,1819,874.5,11.2,388,9420,0.00,2.12,0.00,0.000,1030,0.000,0.028,3552,2426,1820,1822,1818,0,0,0,0,0,0,26.16,26.11,26.19
$GC,9734,0.90,245.6,3552,2427,1824,1820,837.8,11.2,399,9742,0.00,1.98,0.00,0.000,260,0.000,0.044,3543,3688,1820,1822,1819,0,0,0,0,0,0,26.16,26.03,26.22
$GC,9761,0.90,245.6,3543,3688,1823,1818,834.5,11.4,400,9768,0.00,1.85,0.00,0.000,1030,0.000,0.022,3551,2402,1820,1822,1818,0,0,0,0,0,0,26.17,26.15,26.18
$GC,10087,0.90,245.6,3551,2399,1823,1818,798.1,11.1,411,10095,0.00,2.05,0.00,0.000,260,0.000,0.043,3543,3691,1819,1821,1818,0,0,0,0,0,0,26.13,26.01,26.19
$GC,10128,0.90,245.6,3543,3691,1823,1817,795.0,11.0,412,10137,0.00,1.83,0.00,0.000,1030,0.000,0.023,3551,2421,1820,1822,1818,0,0,0,0,0,0,26.15,26.12,26.17
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$STATE,17561,end climb,SURFACE_DEPTH_REACHED
$STATE,17561,begin surface coast
$FINISH,0.9,1.022550
$STATE,17572,end surface coast,CONTROL_FINISHED_OK
$STATE,17572,begin surface
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$IRIDIUM_FIX,1411.96,14630.94,180108,170427
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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,17558.55 7417.48
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$10V_AH,10.07,33.419
$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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$MEM,228968
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