version: 66.12
glider: 204
mission: 15
dive: 130
start: 3 25 115 18 58 34
data:
$ID,204
$MISSION,15
$DIVE,130
$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,86
$R_STBD_OVSHOOT,37
$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
$GPS1,250315,185234,1422.0240,14650.0674,31,0.8,31,1.3,0.0,0.0,10,11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.1
$GPS2,250315,185823,1422.0205,14650.0186,6,0.8,6,1.3,0.8,262.7,11,15.0
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N6
$TGT_LATLONG,1422.920,14656.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,66.1,11461,-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,-175.2,170,2614,806,800,0.0,0.0,0,145,0.00,0.00,-45.47,0.000,16386,0.000,0.000,170,2613,2019,1993,2046,0,0,0,0,0,0,26.13,28.83,26.19
$GC,147,-0.80,-175.2,171,2613,1994,2045,3.2,-5.7,7,204,11.88,2.08,-39.62,0.000,18948,0.229,0.038,3008,1227,3555,3528,3582,0,0,0,0,0,0,25.63,25.36,25.79
$GC,268,-0.80,-175.2,3009,1229,3530,3583,25.0,-25.6,25,281,0.00,2.10,0.00,0.000,1030,0.000,0.032,3000,2604,3555,3529,3582,0,0,0,0,0,0,26.13,26.06,26.15
$GC,580,-0.80,-175.2,3000,2604,3530,3580,111.6,-24.7,64,588,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3695,3555,3529,3582,0,0,0,0,0,0,26.11,25.98,26.17
$GC,676,-0.80,-175.2,2991,3694,3531,3583,134.8,-23.6,73,688,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2590,3556,3529,3583,0,0,0,0,0,0,26.23,26.20,26.24
$GC,983,-0.80,-175.2,2998,2590,3534,3584,193.6,-17.8,104,991,0.00,2.00,0.00,0.000,516,0.000,0.025,3007,1229,3559,3533,3585,0,0,0,0,0,0,26.22,26.15,26.27
$GC,1089,-0.80,-175.2,3007,1229,3535,3584,209.4,-18.1,109,1103,0.00,2.10,0.00,0.000,1030,0.000,0.032,2998,2608,3559,3533,3585,0,0,0,0,0,0,26.14,26.08,26.17
$GC,1400,-0.80,-175.2,3003,2610,3535,3587,260.6,-14.4,120,1411,0.00,2.05,0.00,0.000,516,0.000,0.026,3008,1228,3559,3534,3585,0,0,0,0,0,0,26.21,26.16,26.27
$GC,1430,-0.80,-175.2,3007,1228,3536,3585,264.9,-14.2,121,1441,0.00,2.08,0.00,0.000,1030,0.000,0.029,2999,2604,3559,3534,3585,0,0,0,0,0,0,26.18,26.12,26.21
$GC,1765,-0.80,-175.2,2999,2604,3536,3585,312.6,-13.9,132,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2604,3559,3534,3585,0,0,0,0,0,0,26.17,26.24,26.23
$GC,2065,-0.80,-175.2,2999,2604,3531,3585,350.2,-12.2,142,2073,0.00,2.05,0.00,0.000,516,0.000,0.026,3007,1226,3559,3534,3585,0,0,0,0,0,0,26.22,26.13,26.29
$GC,2096,-0.80,-175.2,3008,1227,3535,3587,353.3,-12.1,143,2105,0.00,2.08,0.00,0.000,1030,0.000,0.030,2999,2601,3559,3534,3585,0,0,0,0,0,0,26.20,26.13,26.22
$GC,2423,-0.80,-175.2,2999,2602,3536,3583,393.9,-12.6,154,2433,0.00,1.73,0.00,0.000,260,0.000,0.044,2990,3695,3558,3534,3582,0,0,0,0,0,0,26.20,26.04,26.25
$GC,2472,-0.80,-175.2,2991,3696,3535,3582,398.2,-12.6,155,2480,0.00,1.52,0.00,0.000,1030,0.000,0.021,2996,2600,3557,3534,3581,0,0,0,0,0,0,26.25,26.22,26.26
$GC,2789,-0.80,-175.2,2996,2599,3533,3577,437.0,-11.3,166,2800,0.00,2.03,0.00,0.000,516,0.000,0.025,3005,1229,3554,3531,3577,0,0,0,0,0,0,26.21,26.13,26.25
$GC,2839,-0.80,-175.2,3005,1229,3532,3576,440.0,-10.9,167,2846,0.00,2.10,0.00,0.000,1030,0.000,0.030,2997,2609,3554,3531,3577,0,0,0,0,0,0,26.18,26.10,26.20
$GC,3144,-0.80,-175.2,2997,2611,3528,3575,472.9,-10.1,177,3151,0.00,1.67,0.00,0.000,260,0.000,0.044,2989,3695,3550,3527,3574,0,0,0,0,0,0,26.20,26.00,26.26
$GC,3195,-0.80,-175.2,2989,3695,3528,3573,476.3,-10.4,178,3203,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2589,3550,3527,3573,0,0,0,0,0,0,26.25,26.22,26.27
$GC,3507,-0.80,-175.2,2996,2590,3523,3571,516.9,-13.3,189,3515,0.00,1.75,0.00,0.000,260,0.000,0.044,2988,3687,3546,3523,3570,0,0,0,0,0,0,26.15,26.01,26.20
$GC,3579,-0.80,-175.2,2988,3687,3524,3569,525.9,-14.1,191,3586,0.00,1.52,0.00,0.000,1030,0.000,0.022,2994,2600,3546,3523,3570,0,0,0,0,0,0,26.22,26.19,26.23
$GC,3899,-0.80,-175.2,2994,2600,3521,3567,570.1,-12.7,202,3908,0.00,2.05,0.00,0.000,516,0.000,0.025,3004,1225,3543,3519,3567,0,0,0,0,0,0,26.19,26.09,26.25
$GC,3956,-0.80,-175.2,3004,1224,3520,3566,574.0,-12.5,203,3967,0.00,2.10,0.00,0.000,1030,0.000,0.030,2995,2602,3540,3514,3567,0,0,0,0,0,0,26.13,26.08,26.17
$GC,4262,-0.80,-175.2,2995,2603,3517,3566,610.7,-10.6,214,4269,0.00,1.67,0.00,0.000,260,0.000,0.043,2987,3691,3539,3516,3563,0,0,0,0,0,0,26.16,25.98,26.22
$GC,4302,-0.80,-175.2,2986,3692,3517,3565,613.7,-10.4,215,4309,0.00,1.55,0.00,0.000,1030,0.000,0.022,2994,2585,3539,3516,3563,0,0,0,0,0,0,26.19,26.16,26.20
$GC,4623,-0.80,-175.2,2993,2588,3514,3562,645.4,-9.4,226,4631,0.00,2.05,0.00,0.000,516,0.000,0.024,3003,1219,3537,3513,3561,0,0,0,0,0,0,26.16,26.07,26.21
$GC,4665,-0.80,-175.2,3003,1219,3514,3561,648.3,-9.3,227,4673,0.00,2.15,0.00,0.000,1030,0.000,0.029,2994,2609,3537,3512,3563,0,0,0,0,0,0,26.11,26.05,26.14
$GC,4987,-0.80,-175.2,2994,2609,3511,3558,679.8,-9.8,238,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3534,3510,3558,0,0,0,0,0,0,26.15,26.22,26.21
$GC,5287,-0.80,-175.2,2995,2609,3508,3556,711.4,-10.7,248,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3532,3508,3556,0,0,0,0,0,0,26.13,26.19,26.18
$GC,5587,-0.80,-175.2,2994,2608,3507,3554,744.5,-11.2,258,5594,0.00,1.70,0.00,0.000,260,0.000,0.045,2986,3698,3530,3506,3554,0,0,0,0,0,0,26.14,25.91,26.20
$GC,5648,-0.80,-175.2,2986,3698,3506,3552,751.6,-11.5,260,5656,0.00,1.60,0.00,0.000,1030,0.000,0.023,2993,2611,3529,3505,3553,0,0,0,0,0,0,26.10,26.08,26.11
$GC,5980,-0.80,-175.2,2993,2612,3503,3552,788.8,-10.9,271,5988,0.00,2.10,0.00,0.000,516,0.000,0.025,3003,1204,3527,3503,3551,0,0,0,0,0,0,26.12,26.01,26.17
$GC,6066,-0.80,-175.2,3003,1204,3504,3551,797.9,-10.7,274,6075,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2601,3529,3502,3556,0,0,0,0,0,0,26.06,25.98,26.08
$GC,6394,-0.80,-175.2,2994,2601,3502,3549,832.4,-10.6,285,6401,0.00,1.75,0.00,0.000,260,0.000,0.044,2985,3694,3525,3501,3549,0,0,0,0,0,0,26.11,25.89,26.17
$GC,6430,-0.80,-175.2,2986,3695,3501,3550,835.9,-10.7,286,6438,0.00,1.60,0.00,0.000,1030,0.000,0.022,2993,2597,3525,3501,3549,0,0,0,0,0,0,26.10,26.09,26.13
$GC,6757,-0.80,-175.2,2993,2598,3499,3549,871.4,-10.6,297,6766,0.00,2.08,0.00,0.000,516,0.000,0.027,3002,1216,3523,3499,3547,0,0,0,0,0,0,26.10,25.98,26.16
$GC,6789,-0.80,-175.2,3003,1217,3499,3548,874.7,-10.6,298,6798,0.00,2.15,0.00,0.000,1030,0.000,0.031,2994,2603,3522,3498,3547,0,0,0,0,0,0,26.01,25.94,26.03
$GC,7117,-0.80,-175.2,2994,2604,3498,3546,908.9,-10.5,309,7124,0.00,1.70,0.00,0.000,260,0.000,0.044,2981,3694,3518,3497,3540,0,0,0,0,0,0,26.10,25.89,26.15
$GC,7153,-0.80,-175.2,2985,3695,3497,3546,912.3,-10.4,310,7161,0.00,1.55,0.00,0.000,1030,0.000,0.022,2992,2602,3521,3497,3545,0,0,0,0,0,0,26.10,26.06,26.12
$GC,7480,-0.80,-175.2,2992,2603,3496,3545,946.7,-10.2,321,7487,0.00,2.08,0.00,0.000,516,0.000,0.026,3002,1236,3520,3496,3544,0,0,0,0,0,0,26.06,25.96,26.12
$GC,7545,-0.80,-175.2,3002,1225,3496,3544,953.2,-10.4,323,7554,0.00,2.12,0.00,0.000,1030,0.000,0.030,2993,2602,3518,3494,3543,0,0,0,0,0,0,26.01,25.94,26.03
$GC,7872,-0.80,-175.2,2994,2603,3494,3543,989.2,-10.9,334,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2602,3517,3493,3542,0,0,0,0,0,0,26.06,26.12,26.11
$STATE,7901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7902,begin apogee
$GC,7905,-0.17,0.0,2994,2424,3493,3542,992.5,-10.8,335,8057,0.77,0.00,141.68,1.275,10246,0.152,0.000,3212,2423,2835,2809,2861,0,0,0,0,0,0,25.54,24.38,23.80
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8059,0.80,175.2,3213,2424,2809,2861,1000.6,0.0,340,8219,1.08,2.20,148.20,1.223,10500,0.132,0.043,3514,3684,2120,2115,2125,0,0,0,0,0,0,24.77,24.13,23.32
$GC,8368,0.88,233.5,3513,3685,2112,2116,992.6,7.8,350,8426,0.00,1.88,49.25,1.265,9222,0.000,0.022,3522,2412,1886,1886,1886,0,0,0,0,0,0,25.62,25.59,24.02
$GC,8746,0.90,241.7,3523,2413,1876,1874,955.6,9.7,363,8756,0.12,0.00,2.25,0.471,10246,0.147,0.000,3554,2411,1853,1855,1852,0,0,0,0,0,0,25.79,25.75,24.34
$GC,9045,0.90,241.7,3554,2413,1881,1858,921.4,11.7,373,9057,0.00,2.12,1.50,0.221,8708,0.000,0.030,3564,1045,1855,1863,1848,0,0,0,0,0,0,26.13,25.89,25.45
$GC,9070,0.90,241.7,3564,1045,1875,1849,921.4,11.7,373,9081,0.00,2.12,0.88,0.253,9222,0.000,0.030,3555,2430,1856,1863,1849,0,0,0,0,0,0,26.15,26.09,25.65
$GC,9376,0.90,241.7,3555,2432,1882,1853,881.8,11.8,384,9386,0.00,1.98,1.17,0.221,8452,0.000,0.041,3545,3694,1856,1865,1848,0,0,0,0,0,0,26.12,25.79,25.63
$GC,9420,0.90,241.7,3544,3694,1878,1849,878.1,11.9,385,9430,0.00,1.85,1.17,0.229,9222,0.000,0.022,3554,2406,1852,1857,1847,0,0,0,0,0,0,26.19,26.16,25.56
$GC,9734,0.90,241.7,3554,2406,1880,1852,839.9,11.3,396,9741,0.00,0.00,1.25,0.217,8198,0.000,0.000,3553,2405,1854,1863,1846,0,0,0,0,0,0,26.14,25.84,25.56
$GC,10034,0.90,241.7,3553,2405,1881,1850,806.5,10.9,406,10042,0.00,0.00,1.20,0.220,8198,0.000,0.000,3553,2405,1851,1857,1846,0,0,0,0,0,0,26.11,25.83,25.56
$GC,10334,0.90,241.7,3554,2401,1879,1849,774.2,10.6,416,10344,0.00,2.03,1.10,0.223,8452,0.000,0.042,3545,3690,1856,1866,1846,0,0,0,0,0,0,26.12,25.70,25.55
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$STATE,17582,end climb,SURFACE_DEPTH_REACHED
$STATE,17582,begin surface coast
$FINISH,1.0,1.022491
$STATE,17591,end surface coast,CONTROL_FINISHED_OK
$STATE,17592,begin surface
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$IRIDIUM_FIX,1414.18,14650.08,200108,082026
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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,17571.93 7410.26
$PA_BOOTCOUNT,935
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$PA_DISK_BANK,1
$24V_AH,23.32,42.443
$10V_AH,10.09,34.008
$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,229004
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