version: 66.12
glider: 204
mission: 15
dive: 175
start: 4 3 115 4 35 27
data:
$ID,204
$MISSION,15
$DIVE,175
$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,-4
$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,80
$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
$GPS1,030415,042928,1436.6733,14536.3926,38,0.9,38,0.9,0.5,253.2,8,11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-69.7
$GPS2,030415,043515,1436.6302,14536.3291,14,0.8,14,0.9,0.0,238.5,10,6.7
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.3,119709,-16.9,-10.000,-20.51,2373
$D_GRID,1806
$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,-155.7,194,2613,801,800,0.0,0.0,0,158,0.00,0.00,-57.25,0.000,16386,0.000,0.000,192,2612,2356,2316,2396,0,0,0,0,0,0,26.20,28.83,26.26
$GC,159,-0.81,-155.7,192,2613,2318,2397,3.3,-3.2,9,204,11.88,2.12,-24.48,0.000,18948,0.228,0.041,3009,1225,3476,3447,3505,0,0,0,0,0,0,25.53,24.22,25.86
$GC,295,-0.81,-155.7,3010,1225,3448,3502,33.2,-23.1,33,305,0.00,2.10,0.00,0.000,1030,0.000,0.032,3001,2600,3476,3448,3505,0,0,0,0,0,0,26.10,26.04,26.13
$GC,605,-0.81,-155.7,3000,2601,3450,3506,113.4,-26.1,70,613,0.00,1.67,0.00,0.000,260,0.000,0.044,2992,3694,3477,3448,3506,0,0,0,0,0,0,26.20,26.01,26.25
$GC,722,-0.81,-155.7,2992,3695,3446,3507,139.5,-21.9,81,735,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2586,3477,3448,3506,0,0,0,0,0,0,26.15,26.13,26.17
$GC,1029,-0.81,-155.7,2999,2587,3452,3507,190.6,-14.8,112,1036,0.00,2.00,0.00,0.000,516,0.000,0.025,3008,1230,3478,3450,3507,0,0,0,0,0,0,26.23,26.12,26.28
$GC,1090,-0.81,-155.7,3007,1231,3453,3508,199.4,-15.6,117,1101,0.00,2.10,0.00,0.000,1030,0.000,0.031,3000,2611,3479,3451,3507,0,0,0,0,0,0,26.15,26.08,26.18
$GC,1395,-0.81,-155.7,2999,2612,3453,3508,246.2,-15.2,128,1404,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3703,3480,3452,3508,0,0,0,0,0,0,26.21,26.01,26.27
$GC,1628,-0.81,-155.7,2992,3705,3452,3508,277.8,-13.7,135,1635,0.00,1.55,0.00,0.000,1030,0.000,0.023,2998,2612,3480,3452,3508,0,0,0,0,0,0,26.17,26.15,26.18
$GC,1940,-0.81,-155.7,2998,2612,3453,3509,322.0,-13.1,146,1947,0.00,2.08,0.00,0.000,516,0.000,0.024,3008,1204,3480,3452,3508,0,0,0,0,0,0,26.22,26.13,26.29
$GC,2011,-0.81,-155.7,3009,1204,3451,3508,329.2,-12.8,148,2019,0.00,2.12,0.00,0.000,1030,0.000,0.029,2999,2606,3480,3452,3508,0,0,0,0,0,0,26.15,26.08,26.17
$GC,2323,-0.81,-155.7,2999,2607,3455,3507,369.6,-12.6,159,2330,0.00,1.67,0.00,0.000,260,0.000,0.045,2992,3693,3479,3452,3506,0,0,0,0,0,0,26.22,25.99,26.27
$GC,2354,-0.81,-155.7,2990,3694,3453,3507,373.8,-12.9,160,2361,0.00,1.55,0.00,0.000,1030,0.000,0.022,2995,2589,3482,3452,3512,0,0,0,0,0,0,26.18,26.15,26.20
$GC,2685,-0.81,-155.7,2996,2589,3451,3501,411.0,-10.5,171,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2589,3476,3452,3500,0,0,0,0,0,0,26.21,26.28,26.27
$GC,2985,-0.81,-155.7,2994,2589,3453,3498,445.1,-11.4,181,2993,0.00,2.03,0.00,0.000,516,0.000,0.025,3003,1223,3473,3451,3496,0,0,0,0,0,0,26.20,26.06,26.27
$GC,3012,-0.81,-155.7,2999,1224,3452,3497,448.2,-11.6,182,3020,0.00,2.10,0.00,0.000,1030,0.000,0.030,2995,2601,3473,3451,3496,0,0,0,0,0,0,26.08,26.02,26.13
$GC,3339,-0.81,-155.7,2994,2602,3450,3493,484.0,-10.9,193,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3470,3448,3492,0,0,0,0,0,0,26.17,26.25,26.24
$GC,3639,-0.81,-155.7,2996,2601,3446,3490,518.3,-11.1,203,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3467,3446,3489,0,0,0,0,0,0,26.18,26.25,26.25
$GC,3939,-0.81,-155.7,2996,2601,3442,3487,548.9,-9.9,213,3946,0.00,1.70,0.00,0.000,260,0.000,0.044,2987,3697,3464,3443,3486,0,0,0,0,0,0,26.18,25.91,26.23
$GC,4050,-0.81,-155.7,2988,3698,3441,3486,558.3,-10.3,216,4059,0.00,1.60,0.00,0.000,1030,0.000,0.024,2994,2612,3463,3441,3485,0,0,0,0,0,0,26.15,26.13,26.16
$GC,4363,-0.81,-155.7,2995,2613,3439,3484,589.8,-9.2,227,4371,0.00,2.10,0.00,0.000,516,0.000,0.026,3004,1205,3460,3438,3483,0,0,0,0,0,0,26.17,26.03,26.22
$GC,4460,-0.81,-155.7,3003,1206,3438,3484,597.6,-9.1,230,4468,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2601,3459,3436,3483,0,0,0,0,0,0,26.07,26.00,26.10
$GC,4777,-0.81,-155.7,2996,2601,3434,3480,629.2,-9.8,241,4785,0.00,1.75,0.00,0.000,260,0.000,0.044,2986,3694,3456,3434,3479,0,0,0,0,0,0,26.15,25.90,26.20
$GC,4814,-0.81,-155.7,2987,3695,3434,3479,632.8,-10.2,242,4822,0.00,1.62,0.00,0.000,1030,0.000,0.023,2994,2590,3456,3434,3479,0,0,0,0,0,0,26.12,26.10,26.14
$GC,5141,-0.81,-155.7,2993,2590,3432,3477,666.8,-10.1,253,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2590,3453,3431,3476,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5441,-0.81,-155.7,2995,2590,3428,3475,698.0,-10.6,263,5448,0.00,1.75,0.00,0.000,260,0.000,0.045,2985,3698,3451,3428,3475,0,0,0,0,0,0,26.09,25.85,26.16
$GC,5487,-0.81,-155.7,2987,3699,3427,3475,701.3,-10.5,264,5495,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2611,3450,3427,3474,0,0,0,0,0,0,26.10,26.07,26.13
$GC,5804,-0.81,-155.7,2992,2611,3427,3473,738.8,-11.9,275,5812,0.00,2.10,0.00,0.000,516,0.000,0.026,3003,1222,3448,3425,3472,0,0,0,0,0,0,26.12,25.96,26.17
$GC,5846,-0.81,-155.7,3003,1209,3426,3472,742.8,-12.2,276,5854,0.00,2.17,0.00,0.000,1030,0.000,0.031,2995,2598,3448,3425,3472,0,0,0,0,0,0,26.01,25.94,26.03
$GC,6163,-0.81,-155.7,2994,2599,3424,3472,780.3,-11.0,287,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2598,3447,3423,3471,0,0,0,0,0,0,26.11,26.18,26.17
$GC,6463,-0.81,-155.7,2995,2599,3422,3469,810.4,-9.7,297,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2598,3445,3422,3469,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6764,-0.81,-155.7,2995,2599,3420,3468,838.9,-9.6,307,6771,0.00,2.12,0.00,0.000,516,0.000,0.026,3003,1198,3447,3427,3467,0,0,0,0,0,0,26.06,25.91,26.12
$GC,6785,-0.81,-155.7,3004,1198,3419,3468,838.9,-9.6,307,6795,0.00,2.17,0.00,0.000,1030,0.000,0.031,2994,2600,3444,3420,3468,0,0,0,0,0,0,25.96,25.89,25.99
$GC,7091,-0.81,-155.7,2995,2601,3418,3465,869.3,-9.2,318,7099,0.00,1.73,0.00,0.000,260,0.000,0.045,2986,3700,3441,3418,3465,0,0,0,0,0,0,26.07,25.79,26.12
$GC,7143,-0.81,-155.7,2987,3700,3418,3465,872.3,-9.1,319,7150,0.00,1.60,0.00,0.000,1030,0.000,0.025,2993,2598,3441,3418,3464,0,0,0,0,0,0,26.04,26.00,26.06
$GC,7454,-0.81,-155.7,2992,2598,3417,3465,902.0,-9.1,330,7462,0.00,2.12,0.00,0.000,516,0.000,0.028,3003,1208,3439,3415,3464,0,0,0,0,0,0,26.08,25.89,26.13
$GC,7482,-0.81,-155.7,3002,1209,3416,3465,904.4,-9.1,331,7490,0.00,2.17,0.00,0.000,1030,0.000,0.032,2993,2600,3439,3414,3464,0,0,0,0,0,0,25.84,25.77,25.86
$GC,7814,-0.81,-155.7,2993,2601,3416,3463,934.7,-9.3,342,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3438,3414,3462,0,0,0,0,0,0,26.05,26.12,26.11
$GC,8114,-0.81,-155.7,2995,2601,3412,3462,960.9,-8.7,352,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3437,3413,3462,0,0,0,0,0,0,26.05,26.11,26.10
$GC,8414,-0.81,-155.7,2995,2601,3412,3461,986.9,-8.9,362,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2600,3436,3412,3461,0,0,0,0,0,0,26.04,26.10,26.10
$STATE,8473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8473,begin apogee
$GC,8476,-0.17,0.0,2995,2414,3411,3461,992.1,-8.8,364,8608,0.77,0.00,124.55,1.268,10246,0.147,0.000,3212,2412,2839,2812,2867,0,0,0,0,0,0,25.39,24.56,23.63
$STATE,8609,end apogee,CONTROL_FINISHED_OK
$STATE,8609,begin climb
$GC,8610,0.81,155.7,3213,2409,2807,2863,996.3,0.0,368,8757,1.05,2.28,133.90,1.224,10756,0.129,0.029,3531,1039,2198,2190,2206,0,0,0,0,0,0,24.71,24.08,23.18
$GC,8961,0.92,234.0,3530,1039,2183,2199,985.6,6.6,380,9038,0.15,2.17,65.70,1.216,11270,0.164,0.029,3568,2423,1882,1881,1884,0,0,0,0,0,0,25.53,25.82,23.98
$GC,9347,0.92,234.0,3568,2424,1869,1869,944.4,11.4,393,9355,0.00,2.03,0.00,0.000,260,0.000,0.046,3558,3696,1869,1870,1869,0,0,0,0,0,0,26.09,25.96,26.15
$GC,9399,0.92,234.0,3558,3697,1871,1869,940.6,11.6,394,9406,0.00,1.88,0.00,0.000,1030,0.000,0.024,3568,2412,1869,1869,1869,0,0,0,0,0,0,26.17,26.14,26.19
$GC,9704,0.92,234.0,3568,2407,1867,1868,902.7,11.4,404,9712,0.00,2.05,0.00,0.000,260,0.000,0.045,3558,3695,1867,1867,1867,0,0,0,0,0,0,26.20,26.01,26.26
$GC,9731,0.92,234.0,3558,3696,1870,1868,899.4,11.3,405,9739,0.00,1.88,0.00,0.000,1030,0.000,0.024,3568,2415,1867,1868,1867,0,0,0,0,0,0,26.15,26.12,26.15
$GC,10058,0.92,234.0,3569,2411,1866,1867,863.9,10.7,416,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2411,1866,1867,1866,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10358,0.92,234.0,3567,2411,1863,1866,833.4,10.2,426,10366,0.00,2.05,0.00,0.000,260,0.000,0.046,3559,3694,1866,1867,1865,0,0,0,0,0,0,26.13,25.93,26.20
$GC,10400,0.92,234.0,3560,3694,1866,1866,830.0,10.4,427,10408,0.00,1.88,0.00,0.000,1030,0.000,0.025,3568,2416,1866,1867,1866,0,0,0,0,0,0,26.15,26.10,26.16
$GC,10722,0.93,238.2,3569,2413,1866,1865,796.4,9.8,438,10729,0.00,2.03,0.00,0.000,260,0.000,0.045,3559,3691,1865,1866,1865,0,0,0,0,0,0,26.10,25.90,26.16
$GC,10773,0.93,241.1,3558,3692,1868,1865,793.1,9.9,439,10782,0.00,1.88,0.88,0.239,9222,0.000,0.024,3568,2413,1854,1855,1854,0,0,0,0,0,0,26.12,26.08,25.48
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$STATE,17949,end climb,SURFACE_DEPTH_REACHED
$STATE,17949,begin surface coast
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$STATE,17959,end surface coast,CONTROL_FINISHED_OK
$STATE,17960,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17948.08 7645.10
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$PA_DISK_BANK,2
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$10V_AH,9.98,37.026
$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,237848
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