version: 66.12
glider: 204
mission: 15
dive: 172
start: 4 2 115 13 54 34
data:
$ID,204
$MISSION,15
$DIVE,172
$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,300
$T_MISSION,330
$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,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,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,73
$R_STBD_OVSHOOT,50
$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
$GPS1,020415,134534,1445.8859,14541.0967,26,0.8,26,0.9,0.0,0.0,11,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.9
$GPS2,020415,135417,1445.8881,14540.9961,4,0.7,4,0.9,0.0,0.0,12,-1.0
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,205.8,138802,-17.3,-11.000,-20.71,2428
$D_GRID,1206
$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,-0.85,-175.2,197,2629,800,807,0.0,0.0,0,143,0.00,0.00,-46.22,0.000,16386,0.000,0.000,196,2628,2043,2017,2070,0,0,0,0,0,0,26.19,28.83,26.25
$GC,145,-0.85,-175.2,196,2629,2020,2071,3.3,-5.6,7,203,11.88,2.12,-37.80,0.000,18948,0.231,0.040,2998,1202,3555,3529,3582,0,0,0,0,0,0,25.56,24.20,25.90
$GC,304,-0.85,-175.2,2998,1202,3530,3583,33.9,-23.5,36,314,0.00,2.12,0.00,0.000,1030,0.000,0.032,2989,2593,3557,3531,3583,0,0,0,0,0,0,26.13,26.06,26.16
$GC,618,-0.85,-175.2,2989,2593,3526,3584,115.2,-25.1,73,627,0.00,1.70,0.00,0.000,260,0.000,0.044,2980,3705,3557,3531,3583,0,0,0,0,0,0,26.20,26.01,26.25
$GC,711,-0.85,-175.2,2981,3705,3530,3584,140.4,-28.2,82,720,0.00,1.58,0.00,0.000,1030,0.000,0.021,2984,2585,3557,3530,3584,0,0,0,0,0,0,26.22,26.18,26.22
$GC,1025,-0.85,-175.2,2987,2585,3533,3585,198.4,-18.1,113,1039,0.00,2.00,0.00,0.000,516,0.000,0.025,2996,1220,3559,3533,3585,0,0,0,0,0,0,26.23,26.12,26.28
$GC,1182,-0.85,-175.2,2997,1220,3534,3586,221.8,-14.8,119,1194,0.00,2.10,0.00,0.000,1030,0.000,0.030,2987,2604,3559,3535,3584,0,0,0,0,0,0,26.15,26.08,26.18
$GC,1508,-0.85,-175.2,2986,2604,3537,3586,273.5,-14.8,130,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2604,3561,3536,3586,0,0,0,0,0,0,26.23,26.29,26.29
$GC,1808,-0.85,-175.2,2987,2605,3534,3585,315.8,-12.8,140,1815,0.00,1.67,0.00,0.000,260,0.000,0.044,2979,3695,3560,3535,3585,0,0,0,0,0,0,26.24,26.01,26.29
$GC,1914,-0.85,-175.2,2978,3696,3537,3586,328.5,-13.5,143,1923,0.00,1.58,0.00,0.000,1030,0.000,0.021,2986,2596,3560,3535,3585,0,0,0,0,0,0,26.23,26.21,26.24
$GC,2232,-0.85,-175.2,2986,2596,3534,3586,377.4,-13.2,154,2241,0.00,2.03,0.00,0.000,516,0.000,0.025,2996,1228,3560,3535,3585,0,0,0,0,0,0,26.23,26.13,26.29
$GC,2315,-0.85,-175.2,2997,1227,3535,3585,384.4,-12.0,156,2323,0.00,2.10,0.00,0.000,1030,0.000,0.030,2987,2609,3560,3535,3585,0,0,0,0,0,0,26.16,26.09,26.19
$GC,2627,-0.85,-175.2,2987,2610,3534,3582,426.8,-13.4,167,2635,0.00,2.08,0.00,0.000,516,0.000,0.026,2996,1221,3557,3534,3581,0,0,0,0,0,0,26.25,26.11,26.28
$GC,2654,-0.85,-175.2,2997,1221,3534,3582,426.8,-13.4,167,2665,0.00,2.10,0.00,0.000,1030,0.000,0.030,2987,2601,3557,3534,3581,0,0,0,0,0,0,26.13,26.06,26.15
$GC,2959,-0.85,-175.2,2986,2602,3534,3578,472.0,-13.2,178,2967,0.00,2.05,0.00,0.000,516,0.000,0.024,2997,1222,3554,3532,3577,0,0,0,0,0,0,26.20,26.08,26.26
$GC,2986,-0.85,-175.2,2997,1223,3532,3577,472.0,-13.2,178,2996,0.00,2.10,0.00,0.000,1030,0.000,0.030,2988,2601,3554,3531,3577,0,0,0,0,0,0,26.14,26.08,26.17
$GC,3292,-0.85,-175.2,2986,2602,3530,3571,509.3,-10.8,189,3300,0.00,1.70,0.00,0.000,260,0.000,0.044,2979,3701,3551,3528,3574,0,0,0,0,0,0,26.21,25.98,26.29
$GC,3314,-0.85,-175.2,2977,3702,3529,3575,509.3,-10.8,189,3322,0.00,1.55,0.00,0.000,1030,0.000,0.024,2986,2614,3550,3527,3574,0,0,0,0,0,0,26.20,26.17,26.21
$GC,3626,-0.85,-175.2,2984,2614,3526,3571,542.5,-9.7,200,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2613,3547,3524,3571,0,0,0,0,0,0,26.20,26.27,26.27
$GC,3926,-0.85,-175.2,2986,2612,3521,3569,575.3,-11.4,210,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2613,3543,3522,3564,0,0,0,0,0,0,26.19,26.25,26.25
$GC,4226,-0.85,-175.2,2985,2614,3526,3566,608.5,-10.5,220,4234,0.00,2.10,0.00,0.000,516,0.000,0.026,2996,1206,3541,3518,3565,0,0,0,0,0,0,26.18,26.01,26.24
$GC,4273,-0.85,-175.2,2997,1207,3517,3565,611.6,-10.3,221,4281,0.00,2.15,0.00,0.000,1030,0.000,0.031,2987,2602,3540,3517,3564,0,0,0,0,0,0,26.08,26.01,26.10
$GC,4585,-0.85,-175.2,2986,2603,3516,3563,641.1,-8.7,232,4593,0.00,1.75,0.00,0.000,260,0.000,0.044,2979,3694,3538,3514,3562,0,0,0,0,0,0,26.10,25.89,26.17
$GC,4632,-0.85,-175.2,2978,3695,3516,3562,643.9,-8.7,233,4639,0.00,1.58,0.00,0.000,1030,0.000,0.023,2986,2589,3537,3514,3561,0,0,0,0,0,0,26.15,26.12,26.17
$GC,4948,-0.85,-175.2,2986,2589,3511,3559,675.7,-10.2,244,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2589,3535,3511,3559,0,0,0,0,0,0,26.15,26.22,26.20
$GC,5248,-0.85,-175.2,2986,2589,3508,3557,711.9,-12.7,254,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2589,3532,3508,3557,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5548,-0.85,-175.2,2985,2590,3508,3555,748.4,-11.6,264,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2589,3530,3506,3554,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5848,-0.85,-175.2,2985,2589,3506,3552,781.4,-11.1,274,5856,0.00,1.75,0.00,0.000,260,0.000,0.044,2978,3693,3528,3505,3551,0,0,0,0,0,0,26.12,25.86,26.17
$GC,5885,-0.85,-175.2,2979,3693,3504,3551,784.9,-11.0,275,5894,0.00,1.58,0.00,0.000,1030,0.000,0.023,2986,2590,3527,3504,3551,0,0,0,0,0,0,26.11,26.08,26.13
$GC,6213,-0.85,-175.2,2987,2591,3502,3550,817.5,-9.5,286,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3525,3502,3549,0,0,0,0,0,0,26.07,26.14,26.13
$GC,6513,-0.85,-175.2,2985,2591,3502,3549,843.7,-8.7,296,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3524,3500,3548,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6813,-0.85,-175.2,2986,2590,3498,3546,870.4,-8.8,306,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3522,3499,3546,0,0,0,0,0,0,26.09,26.15,26.13
$GC,7113,-0.85,-175.2,2985,2591,3498,3545,896.7,-9.0,316,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3520,3497,3544,0,0,0,0,0,0,26.08,26.15,26.13
$GC,7413,-0.85,-175.2,2985,2591,3497,3543,926.3,-10.5,326,7420,0.00,2.05,0.00,0.000,516,0.000,0.025,2996,1227,3519,3495,3544,0,0,0,0,0,0,26.07,25.88,26.13
$GC,7449,-0.85,-175.2,2996,1227,3495,3544,929.2,-10.8,327,7458,0.00,2.15,0.00,0.000,1030,0.000,0.030,2987,2613,3519,3495,3543,0,0,0,0,0,0,25.94,25.86,25.96
$GC,7767,-0.85,-175.2,2986,2613,3494,3542,957.6,-8.1,338,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2613,3518,3494,3542,0,0,0,0,0,0,26.03,26.11,26.10
$GC,8067,-0.85,-175.2,2986,2614,3493,3541,985.6,-9.4,348,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2613,3516,3492,3541,0,0,0,0,0,0,26.06,26.13,26.11
$STATE,8126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8126,begin apogee
$GC,8129,-0.17,0.0,2988,2428,3491,3541,991.1,-9.2,350,8281,0.80,0.00,140.85,1.261,10246,0.147,0.000,3213,2427,2835,2808,2862,0,0,0,0,0,0,25.42,24.49,23.58
$STATE,8282,end apogee,CONTROL_FINISHED_OK
$STATE,8282,begin climb
$GC,8283,0.85,175.2,3212,2427,2814,2860,997.1,0.0,355,8445,1.10,2.15,149.75,1.208,11012,0.129,0.043,3523,3688,2121,2115,2128,0,0,0,0,0,0,24.65,23.85,23.22
$GC,8549,0.96,253.7,3522,3689,2113,2116,989.3,7.7,364,8626,0.17,1.90,67.38,1.191,11270,0.142,0.022,3582,2409,1802,1802,1802,0,0,0,0,0,0,25.21,25.46,23.69
$GC,8935,0.96,253.7,3581,2410,1793,1786,944.0,12.6,377,8943,0.00,2.05,0.00,0.000,260,0.000,0.045,3581,3696,1788,1792,1785,0,0,0,0,0,0,26.09,25.94,26.15
$GC,9027,0.96,253.7,3582,3696,1791,1786,931.2,14.0,380,9037,0.00,1.85,0.00,0.000,1030,0.000,0.024,3590,2426,1787,1790,1785,0,0,0,0,0,0,26.18,26.11,26.20
$GC,9356,0.96,253.7,3591,2425,1789,1783,889.1,12.5,391,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2425,1786,1790,1783,0,0,0,0,0,0,26.15,26.22,26.21
$GC,9658,0.96,253.7,3590,2425,1790,1783,852.1,12.4,401,9667,0.00,2.00,0.00,0.000,260,0.000,0.044,3590,3691,1785,1788,1782,0,0,0,0,0,0,26.13,25.99,26.19
$GC,9731,0.96,253.7,3589,3692,1790,1783,844.0,12.9,403,9739,0.00,1.85,0.00,0.000,1030,0.000,0.024,3599,2418,1785,1788,1782,0,0,0,0,0,0,26.18,26.15,26.20
$GC,10048,0.96,253.7,3599,2414,1787,1782,803.0,12.0,414,10057,0.00,2.12,0.00,0.000,516,0.000,0.030,3609,1039,1784,1787,1781,0,0,0,0,0,0,26.15,26.04,26.21
$GC,10065,0.96,253.7,3610,1033,1784,1781,803.0,12.0,414,10073,0.00,2.15,0.00,0.000,1030,0.000,0.029,3610,2430,1782,1784,1780,0,0,0,0,0,0,26.09,26.03,26.13
$GC,10383,0.96,253.7,3609,2429,1787,1782,759.5,13.9,425,10390,0.00,2.00,0.00,0.000,260,0.000,0.045,3610,3692,1782,1784,1781,0,0,0,0,0,0,26.12,25.91,26.18
$GC,10440,0.96,253.7,3609,3693,1787,1782,750.7,14.8,427,10448,0.15,1.85,0.00,0.000,5126,0.173,0.024,3583,2420,1782,1784,1780,0,0,0,0,0,0,25.62,26.07,25.84
$GC,10772,0.96,253.7,3583,2421,1783,1781,702.9,14.2,438,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2420,1782,1784,1781,0,0,0,0,0,0,26.03,26.10,26.09
$GC,11072,0.97,258.4,3582,2421,1784,1781,667.3,10.8,448,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2421,1781,1782,1781,0,0,0,0,0,0,26.09,26.16,26.15
$GC,11372,1.04,307.8,3584,2421,1782,1781,638.3,8.9,458,11425,0.00,2.05,44.90,1.031,8452,0.000,0.042,3582,3686,1579,1580,1578,0,0,0,0,0,0,26.08,25.10,24.51
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$STATE,16138,end climb,SURFACE_DEPTH_REACHED
$STATE,16138,begin surface coast
$FINISH,1.0,1.008437
$STATE,16153,end surface coast,CONTROL_FINISHED_OK
$STATE,16153,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,16146.62 6920.79
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$10V_AH,9.98,36.795
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$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,237792
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