version: 66.12
glider: 204
mission: 15
dive: 39
start: 3 7 115 15 59 5
data:
$ID,204
$MISSION,15
$DIVE,39
$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,78
$R_STBD_OVSHOOT,40
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,070315,154835,1333.4125,14506.6934,33,0.7,33,1.1,0.6,167.9,10,14.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.3
$GPS2,070315,155855,1333.2906,14506.6914,7,0.7,7,1.1,0.0,78.5,11,11.0
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,78.6,134703,-15.8,-10.000,-19.55,2669
$D_GRID,1275
$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,93,-0.80,-175.2,203,2618,799,791,0.0,0.0,0,151,0.00,0.00,-54.92,0.000,16386,0.000,0.000,203,2619,2305,2261,2349,0,0,0,0,0,0,26.80,28.83,26.87
$GC,153,-0.80,-175.2,203,2619,2260,2349,3.2,-4.3,9,198,11.35,2.03,-26.90,0.000,19204,0.233,0.039,3010,1215,3558,3533,3584,0,0,0,0,0,0,26.32,26.10,26.46
$GC,223,-0.80,-175.2,3010,1216,3528,3587,20.6,-31.2,21,230,0.00,2.10,0.00,0.000,1030,0.000,0.034,3000,2588,3556,3527,3585,0,0,0,0,0,0,26.66,26.63,26.68
$GC,535,-0.80,-175.2,3001,2590,3528,3586,116.9,-30.1,62,539,0.00,2.03,0.00,0.000,516,0.000,0.027,3005,1212,3556,3527,3585,0,0,0,0,0,0,27.02,26.81,27.07
$GC,550,-0.80,-175.2,3006,1212,3528,3587,119.9,-30.4,63,558,0.00,2.10,0.00,0.000,1030,0.000,0.034,2997,2598,3555,3526,3585,0,0,0,0,0,0,26.83,26.80,26.86
$GC,855,-0.80,-175.2,2997,2598,3530,3585,190.5,-17.1,94,859,0.00,2.03,0.00,0.000,516,0.000,0.025,3005,1211,3557,3529,3585,0,0,0,0,0,0,27.11,26.92,27.17
$GC,910,-0.80,-175.2,3005,1211,3530,3587,199.2,-17.2,99,918,0.00,2.10,0.00,0.000,1030,0.000,0.034,2997,2601,3558,3530,3586,0,0,0,0,0,0,26.93,26.90,26.96
$GC,1216,-0.80,-175.2,2996,2602,3532,3591,252.0,-15.8,110,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2601,3562,3531,3593,0,0,0,0,0,0,27.19,27.25,27.24
$GC,1515,-0.80,-175.2,2997,2602,3533,3591,297.9,-15.4,120,1519,0.00,1.65,0.00,0.000,260,0.000,0.044,2988,3694,3561,3532,3590,0,0,0,0,0,0,27.22,26.98,27.29
$GC,1535,-0.80,-175.2,2988,3694,3533,3590,297.9,-15.4,120,1539,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2577,3560,3532,3589,0,0,0,0,0,0,27.12,27.09,27.13
$GC,1845,-0.80,-175.2,2996,2578,3532,3589,338.6,-11.3,131,1849,0.00,1.70,0.00,0.000,260,0.000,0.044,2988,3701,3558,3531,3586,0,0,0,0,0,0,27.25,27.01,27.29
$GC,1870,-0.80,-175.2,2988,3700,3533,3586,338.6,-11.3,131,1878,0.00,1.55,0.00,0.000,1030,0.000,0.023,2995,2607,3558,3531,3586,0,0,0,0,0,0,27.14,27.11,27.15
$GC,2175,-0.80,-175.2,2995,2607,3533,3581,375.6,-11.4,142,2180,0.00,1.65,0.00,0.000,260,0.000,0.043,2987,3695,3556,3531,3581,0,0,0,0,0,0,27.27,27.03,27.33
$GC,2235,-0.80,-175.2,2988,3696,3532,3582,382.6,-11.7,144,2242,0.00,1.52,0.00,0.000,1030,0.000,0.021,2995,2589,3556,3532,3581,0,0,0,0,0,0,27.16,27.13,27.16
$GC,2566,-0.80,-175.2,2995,2594,3529,3576,421.4,-12.4,155,2570,0.00,1.95,0.00,0.000,516,0.000,0.025,3005,1231,3552,3528,3576,0,0,0,0,0,0,27.28,27.08,27.34
$GC,2626,-0.80,-175.2,3005,1231,3528,3576,428.8,-12.3,157,2630,0.00,2.05,0.00,0.000,1030,0.000,0.032,2996,2600,3551,3526,3576,0,0,0,0,0,0,27.10,27.07,27.13
$GC,2956,-0.80,-175.2,2996,2600,3524,3572,468.3,-11.3,168,2962,0.00,1.62,0.00,0.000,260,0.000,0.044,2988,3683,3547,3523,3572,0,0,0,0,0,0,27.29,27.05,27.36
$GC,3016,-0.80,-175.2,2987,3687,3523,3572,474.7,-10.8,170,3020,0.00,1.52,0.00,0.000,1030,0.000,0.022,2995,2598,3546,3522,3571,0,0,0,0,0,0,27.19,27.16,27.20
$GC,3346,-0.80,-175.2,2995,2600,3519,3570,510.3,-11.4,181,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2599,3543,3519,3568,0,0,0,0,0,0,27.31,27.38,27.36
$GC,3646,-0.80,-175.2,2995,2600,3516,3565,547.3,-12.7,191,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2599,3540,3515,3565,0,0,0,0,0,0,27.32,27.39,27.38
$GC,3949,-0.80,-175.2,2995,2600,3513,3564,584.8,-12.0,201,3951,0.00,1.62,0.00,0.000,260,0.000,0.047,2988,3692,3537,3512,3563,0,0,0,0,0,0,27.32,27.06,27.39
$GC,3985,-0.80,-175.2,2988,3694,3512,3563,588.2,-11.7,202,3990,0.00,1.55,0.00,0.000,1030,0.000,0.023,2994,2589,3537,3512,3562,0,0,0,0,0,0,27.21,27.18,27.22
$GC,4306,-0.80,-175.2,2994,2590,3509,3559,627.1,-11.7,213,4310,0.00,1.67,0.00,0.000,260,0.000,0.044,2988,3692,3534,3509,3559,0,0,0,0,0,0,27.33,27.07,27.39
$GC,4340,-0.80,-175.2,2987,3691,3509,3558,630.9,-11.8,214,4346,0.00,1.55,0.00,0.000,1030,0.000,0.023,2994,2589,3533,3508,3558,0,0,0,0,0,0,27.20,27.18,27.22
$GC,4666,-0.80,-175.2,2990,2589,3503,3555,670.4,-12.0,225,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3530,3505,3555,0,0,0,0,0,0,27.33,27.40,27.39
$GC,4966,-0.80,-175.2,2995,2591,3504,3555,705.9,-11.7,235,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2590,3527,3502,3553,0,0,0,0,0,0,27.33,27.41,27.39
$GC,5266,-0.80,-175.2,2995,2590,3503,3549,741.7,-12.0,245,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2591,3526,3501,3551,0,0,0,0,0,0,27.33,27.41,27.39
$GC,5566,-0.80,-175.2,2995,2590,3500,3550,777.8,-12.4,255,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3524,3499,3549,0,0,0,0,0,0,27.33,27.41,27.39
$GC,5866,-0.80,-175.2,2994,2590,3498,3548,813.2,-11.6,265,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2589,3522,3497,3547,0,0,0,0,0,0,27.34,27.41,27.40
$GC,6166,-0.80,-175.2,2995,2591,3497,3546,848.1,-11.9,275,6170,0.00,1.70,0.00,0.000,260,0.000,0.046,2988,3694,3520,3495,3545,0,0,0,0,0,0,27.34,27.05,27.40
$GC,6196,-0.80,-175.2,2988,3697,3496,3544,851.7,-11.8,276,6200,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2607,3519,3495,3544,0,0,0,0,0,0,27.22,27.18,27.23
$GC,6526,-0.80,-175.2,2994,2608,3494,3544,890.8,-11.9,287,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2606,3518,3493,3543,0,0,0,0,0,0,27.34,27.41,27.39
$GC,6826,-0.80,-175.2,2994,2607,3493,3542,924.1,-10.9,297,6830,0.00,1.65,0.00,0.000,260,0.000,0.045,2987,3686,3516,3491,3542,0,0,0,0,0,0,27.34,27.05,27.40
$GC,6850,-0.80,-175.2,2987,3686,3492,3543,924.1,-10.9,297,6858,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2594,3517,3492,3542,0,0,0,0,0,0,27.21,27.18,27.22
$GC,7156,-0.80,-175.2,2994,2589,3491,3541,957.4,-9.6,308,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3515,3490,3541,0,0,0,0,0,0,27.33,27.41,27.40
$GC,7456,-0.80,-175.2,2993,2589,3490,3539,988.1,-10.7,318,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3514,3489,3540,0,0,0,0,0,0,27.34,27.41,27.40
$STATE,7485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7485,begin apogee
$GC,7488,-0.17,0.0,2995,2420,3489,3539,991.4,-10.7,319,7624,0.73,0.00,133.57,1.314,10246,0.161,0.000,3208,2421,2839,2814,2864,0,0,0,0,0,0,26.79,25.12,24.41
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7625,begin climb
$GC,7626,0.80,175.2,3208,2420,2811,2858,996.6,0.0,323,7776,1.05,2.22,141.75,1.261,10756,0.142,0.028,3526,1039,2117,2114,2121,0,0,0,0,0,0,25.22,24.84,24.13
$GC,7937,0.87,225.9,3527,1040,2108,2111,986.0,8.0,334,7984,0.00,2.15,41.15,1.268,9222,0.000,0.029,3524,2416,1919,1920,1918,0,0,0,0,0,0,26.02,25.99,24.47
$GC,8293,0.87,225.9,3524,2416,1910,1901,949.4,10.6,346,8297,0.00,2.00,0.00,0.000,260,0.000,0.044,3515,3687,1905,1909,1902,0,0,0,0,0,0,26.55,26.32,26.61
$GC,8354,0.87,225.9,3514,3689,1909,1903,942.6,10.9,348,8358,0.00,1.80,0.00,0.000,1030,0.000,0.023,3523,2404,1905,1909,1902,0,0,0,0,0,0,26.52,26.49,26.53
$GC,8682,0.87,225.9,3523,2401,1907,1900,907.5,10.5,359,8687,0.00,2.00,0.00,0.000,260,0.000,0.044,3514,3685,1903,1906,1900,0,0,0,0,0,0,26.86,26.63,26.92
$GC,8712,0.87,225.9,3514,3685,1908,1900,904.0,10.7,360,8717,0.00,1.83,0.00,0.000,1030,0.000,0.024,3523,2422,1903,1906,1900,0,0,0,0,0,0,26.76,26.74,26.77
$GC,9042,0.87,225.9,3523,2423,1905,1901,868.5,10.6,371,9047,0.00,1.98,0.00,0.000,260,0.000,0.044,3514,3694,1901,1903,1899,0,0,0,0,0,0,26.99,26.75,27.05
$GC,9067,0.87,225.9,3514,3693,1905,1899,868.5,10.6,371,9075,0.00,1.88,0.00,0.000,1030,0.000,0.022,3523,2389,1902,1904,1900,0,0,0,0,0,0,26.89,26.86,26.90
$GC,9372,0.87,225.9,3524,2390,1904,1900,833.8,10.1,382,9376,0.00,2.03,0.00,0.000,260,0.000,0.045,3515,3687,1901,1903,1899,0,0,0,0,0,0,27.06,26.81,27.13
$GC,9427,0.88,229.2,3514,3687,1905,1898,830.8,9.9,383,9435,0.00,1.80,0.00,0.000,1030,0.000,0.023,3523,2419,1899,1901,1898,0,0,0,0,0,0,26.96,26.94,26.97
$GC,9732,0.91,250.4,3522,2419,1903,1898,800.1,9.2,394,9754,0.12,0.00,19.90,1.216,10246,0.168,0.000,3554,2419,1818,1819,1818,0,0,0,0,0,0,26.74,26.27,25.51
$GC,10032,0.91,250.4,3554,2420,1809,1805,768.2,10.5,404,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2419,1805,1808,1803,0,0,0,0,0,0,26.85,26.92,26.91
$GC,10332,0.91,250.4,3554,2419,1809,1802,736.8,10.6,414,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2419,1805,1808,1803,0,0,0,0,0,0,26.98,27.05,27.04
$GC,10632,0.91,250.4,3555,2419,1809,1802,704.7,10.6,424,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2419,1805,1808,1803,0,0,0,0,0,0,27.05,27.13,27.13
$GC,10932,0.91,250.4,3554,2419,1809,1802,672.5,10.5,434,10937,0.00,1.98,0.00,0.000,260,0.000,0.044,3545,3691,1805,1808,1802,0,0,0,0,0,0,27.10,26.86,27.18
$GC,10962,0.91,250.4,3546,3692,1809,1803,669.0,10.7,435,10967,0.00,1.80,0.00,0.000,1030,0.000,0.024,3554,2428,1805,1808,1802,0,0,0,0,0,0,26.99,26.97,27.01
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$STATE,17023,end climb,SURFACE_DEPTH_REACHED
$STATE,17023,begin surface coast
$FINISH,0.6,1.021870
$STATE,17034,end surface coast,CONTROL_FINISHED_OK
$STATE,17034,begin surface
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$IRIDIUM_FIX,1329.75,14513.38,020108,051900
$TT8_MAMPS,0.158039,0.158039
$HUMID,35.50
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$TCM_TEMP,24.60
$XPDR_PINGS,32
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17063.68 7003.22
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$10V_AH,9.96,8.331
$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
$DEVICE_SECS,23.550,109.575,533.675,0.000,0.000,0.000,0.000,427.475,8.000,0.000,8.002,0.000,14131.136,657.588,2859.456,74.147,0.000,2081.504,0.000,1693.801,0.000,0.549,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,140.627,0.000,0.000,0.000
$MEM,229828
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