version: 66.12
glider: 204
mission: 15
dive: 179
start: 4 4 115 1 4 31
data:
$ID,204
$MISSION,15
$DIVE,179
$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,73
$R_STBD_OVSHOOT,54
$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
$GPS1,040415,005804,1427.3060,14530.7305,39,1.0,39,1.0,0.9,280.7,7,16.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-65.0
$GPS2,040415,010419,1427.2551,14530.6055,47,0.9,47,1.0,1.0,234.9,8,3.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,189.1,99603,-16.9,-10.000,-20.51,2373
$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,-0.81,-155.7,187,2630,802,807,0.0,0.0,0,151,0.00,0.00,-51.70,0.000,16386,0.000,0.000,187,2630,2204,2169,2239,0,0,0,0,0,0,26.20,28.83,26.27
$GC,153,-0.81,-155.7,188,2629,2169,2239,3.2,-4.6,8,203,11.90,2.12,-30.77,0.000,18948,0.228,0.039,3009,1206,3475,3448,3503,0,0,0,0,0,0,25.52,24.18,25.85
$GC,359,-0.81,-155.7,3009,1206,3451,3505,46.5,-22.9,46,369,0.00,2.10,0.00,0.000,1030,0.000,0.032,3001,2582,3477,3449,3505,0,0,0,0,0,0,26.12,26.04,26.14
$GC,668,-0.81,-155.7,3000,2582,3451,3507,123.7,-22.4,78,678,0.00,1.73,0.00,0.000,260,0.000,0.046,2992,3700,3477,3449,3505,0,0,0,0,0,0,26.19,25.97,26.25
$GC,692,-0.81,-155.7,2991,3701,3451,3506,128.8,-21.2,80,699,0.00,1.58,0.00,0.000,1030,0.000,0.021,2999,2583,3477,3449,3506,0,0,0,0,0,0,26.16,26.13,26.17
$GC,1003,-0.81,-155.7,3000,2583,3450,3507,194.0,-21.0,111,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2582,3478,3451,3506,0,0,0,0,0,0,26.20,26.25,26.24
$GC,1313,-0.81,-155.7,3000,2583,3453,3508,245.6,-14.7,124,1321,0.00,2.03,0.00,0.000,516,0.000,0.026,3006,1213,3480,3453,3508,0,0,0,0,0,0,26.25,26.08,26.30
$GC,1410,-0.81,-155.7,3007,1213,3455,3507,258.8,-14.5,127,1420,0.00,2.12,0.00,0.000,1030,0.000,0.034,2997,2601,3483,3460,3507,0,0,0,0,0,0,26.10,26.03,26.13
$GC,1735,-0.81,-155.7,2997,2602,3455,3508,302.0,-12.1,138,1743,0.00,2.05,0.00,0.000,516,0.000,0.024,3006,1220,3481,3455,3508,0,0,0,0,0,0,26.22,26.12,26.28
$GC,1802,-0.81,-155.7,3005,1220,3456,3508,308.7,-11.5,140,1810,0.00,2.12,0.00,0.000,1030,0.000,0.032,2997,2610,3481,3454,3508,0,0,0,0,0,0,26.14,26.06,26.17
$GC,2124,-0.81,-155.7,2997,2611,3455,3508,348.7,-12.8,151,2131,0.00,1.67,0.00,0.000,260,0.000,0.045,2989,3697,3480,3454,3507,0,0,0,0,0,0,26.20,26.01,26.25
$GC,2175,-0.81,-155.7,2988,3698,3456,3507,352.9,-13.0,152,2182,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2589,3480,3454,3507,0,0,0,0,0,0,26.23,26.20,26.23
$GC,2486,-0.81,-155.7,2995,2590,3456,3503,393.8,-12.0,163,2494,0.00,1.77,0.00,0.000,260,0.000,0.046,2989,3694,3478,3454,3502,0,0,0,0,0,0,26.21,25.99,26.27
$GC,2513,-0.81,-155.7,2988,3695,3455,3502,393.8,-12.0,163,2523,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2590,3478,3454,3502,0,0,0,0,0,0,26.22,26.20,26.24
$GC,2818,-0.81,-155.7,2996,2591,3454,3498,436.5,-13.4,174,2826,0.00,2.03,0.00,0.000,516,0.000,0.027,3005,1231,3476,3454,3498,0,0,0,0,0,0,26.21,26.08,26.27
$GC,2870,-0.81,-155.7,3005,1232,3453,3498,440.0,-13.4,175,2880,0.00,2.12,0.00,0.000,1030,0.000,0.034,2997,2605,3475,3453,3497,0,0,0,0,0,0,26.09,26.02,26.13
$GC,3176,-0.81,-155.7,2995,2607,3451,3495,482.2,-12.4,186,3184,0.00,1.70,0.00,0.000,260,0.000,0.047,2988,3695,3472,3450,3494,0,0,0,0,0,0,26.20,25.95,26.26
$GC,3328,-0.81,-155.7,2988,3696,3451,3493,500.9,-12.2,191,3336,0.00,1.55,0.00,0.000,1030,0.000,0.022,2993,2609,3470,3448,3492,0,0,0,0,0,0,26.18,26.15,26.20
$GC,3661,-0.81,-155.7,2993,2608,3446,3491,538.1,-11.2,202,3670,0.00,2.10,0.00,0.000,516,0.000,0.024,3003,1205,3468,3447,3490,0,0,0,0,0,0,26.18,26.05,26.24
$GC,3734,-0.81,-155.7,3001,1205,3449,3490,545.0,-11.2,204,3742,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2605,3467,3446,3489,0,0,0,0,0,0,26.08,26.01,26.11
$GC,4051,-0.81,-155.7,2995,2606,3443,3486,576.9,-9.3,215,4059,0.00,1.75,0.00,0.000,260,0.000,0.045,2986,3699,3464,3443,3486,0,0,0,0,0,0,26.17,25.92,26.22
$GC,4087,-0.81,-155.7,2984,3700,3444,3486,580.1,-9.4,216,4095,0.00,1.62,0.00,0.000,1030,0.000,0.024,2994,2593,3464,3443,3485,0,0,0,0,0,0,26.11,26.10,26.13
$GC,4414,-0.81,-155.7,2993,2594,3439,3484,611.4,-9.5,227,4422,0.00,2.08,0.00,0.000,516,0.000,0.027,3002,1207,3461,3439,3484,0,0,0,0,0,0,26.13,25.98,26.19
$GC,4451,-0.81,-155.7,3001,1208,3440,3485,614.1,-9.8,228,4459,0.00,2.15,0.00,0.000,1030,0.000,0.032,2994,2601,3461,3438,3484,0,0,0,0,0,0,26.06,25.98,26.09
$GC,4773,-0.81,-155.7,2993,2601,3437,3481,648.8,-10.8,239,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3457,3435,3480,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5073,-0.81,-155.7,2993,2601,3435,3478,681.1,-10.8,249,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3455,3433,3477,0,0,0,0,0,0,26.14,26.20,26.20
$GC,5373,-0.81,-155.7,2994,2601,3430,3476,707.3,-7.6,259,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2600,3453,3430,3476,0,0,0,0,0,0,26.12,26.19,26.18
$GC,5673,-0.81,-155.7,2993,2601,3430,3475,727.8,-6.9,269,5681,0.00,1.73,0.00,0.000,260,0.000,0.045,2985,3702,3450,3428,3473,0,0,0,0,0,0,26.11,25.81,26.17
$GC,5710,-0.81,-155.7,2986,3703,3427,3473,730.2,-7.2,270,5717,0.00,1.60,0.00,0.000,1030,0.000,0.025,2991,2603,3450,3427,3473,0,0,0,0,0,0,26.08,26.05,26.10
$GC,6037,-0.81,-155.7,2991,2598,3425,3472,758.0,-9.2,281,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2598,3451,3425,3478,0,0,0,0,0,0,26.03,26.10,26.09
$GC,6336,-0.81,-155.7,2991,2598,3425,3471,789.5,-11.0,291,6346,0.00,1.75,0.00,0.000,260,0.000,0.046,2983,3700,3447,3424,3470,0,0,0,0,0,0,26.07,25.79,26.12
$GC,6370,-0.81,-155.7,2984,3700,3424,3470,793.2,-11.1,292,6377,0.00,1.60,0.00,0.000,1030,0.000,0.025,2990,2596,3447,3424,3470,0,0,0,0,0,0,26.03,25.99,26.04
$GC,6701,-0.81,-155.7,2990,2597,3424,3469,829.9,-10.8,303,6712,0.00,2.10,0.00,0.000,516,0.000,0.028,2999,1207,3445,3422,3468,0,0,0,0,0,0,26.07,25.90,26.13
$GC,6731,-0.81,-155.7,3000,1208,3422,3469,833.1,-10.9,304,6739,0.00,2.17,0.00,0.000,1030,0.000,0.032,2991,2600,3444,3421,3468,0,0,0,0,0,0,25.89,25.82,25.93
$GC,7063,-0.81,-155.7,2991,2601,3420,3466,868.5,-10.3,315,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2601,3443,3420,3466,0,0,0,0,0,0,25.91,25.98,25.97
$GC,7363,-0.81,-155.7,2989,2601,3419,3465,895.0,-8.4,325,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2601,3439,3414,3464,0,0,0,0,0,0,26.08,26.15,26.16
$GC,7663,-0.81,-155.7,2991,2601,3415,3464,921.2,-9.0,335,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2600,3439,3415,3463,0,0,0,0,0,0,26.05,26.11,26.10
$GC,7963,-0.81,-155.7,2991,2601,3414,3463,951.2,-10.6,345,7974,0.00,2.12,0.00,0.000,516,0.000,0.026,2999,1203,3438,3414,3463,0,0,0,0,0,0,26.04,25.89,26.09
$GC,7993,-0.81,-155.7,2999,1204,3414,3462,954.3,-10.6,346,8001,0.00,2.20,0.00,0.000,1030,0.000,0.031,2990,2609,3438,3414,3463,0,0,0,0,0,0,25.89,25.84,25.91
$GC,8328,-0.81,-155.7,2990,2609,3412,3462,989.1,-10.2,357,8338,0.00,1.73,0.00,0.000,260,0.000,0.047,2981,3698,3436,3412,3461,0,0,0,0,0,0,26.03,25.73,26.08
$STATE,8361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8361,begin apogee
$GC,8367,-0.17,0.0,2991,2408,3413,3462,993.2,-10.4,358,8499,0.77,0.00,125.62,1.262,10246,0.147,0.000,3209,2406,2838,2811,2866,0,0,0,0,0,0,25.35,24.54,23.61
$STATE,8500,end apogee,CONTROL_FINISHED_OK
$STATE,8500,begin climb
$GC,8501,0.81,155.7,3208,2406,2810,2864,999.2,0.0,362,8650,1.05,2.30,134.95,1.251,10756,0.128,0.028,3529,1041,2197,2189,2206,0,0,0,0,0,0,24.70,24.04,23.10
$GC,8824,0.95,254.3,3528,1042,2184,2199,994.1,5.7,373,8917,0.17,2.15,83.60,1.242,11270,0.155,0.030,3570,2421,1801,1801,1802,0,0,0,0,0,0,25.46,25.73,23.70
$GC,9231,0.95,254.3,3570,2421,1786,1784,951.7,11.4,387,9239,0.00,2.03,0.00,0.000,260,0.000,0.047,3561,3699,1785,1788,1783,0,0,0,0,0,0,26.08,25.97,26.15
$GC,9323,0.95,254.3,3561,3700,1789,1783,939.8,12.7,390,9331,0.00,1.88,0.00,0.000,1030,0.000,0.025,3570,2421,1784,1787,1782,0,0,0,0,0,0,26.17,26.14,26.19
$GC,9651,0.95,254.3,3569,2422,1787,1782,898.3,12.6,401,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2420,1783,1785,1781,0,0,0,0,0,0,26.13,26.22,26.20
$GC,9950,0.95,254.3,3571,2421,1784,1780,860.7,12.3,411,9958,0.00,2.03,0.00,0.000,260,0.000,0.045,3561,3695,1783,1785,1781,0,0,0,0,0,0,26.20,25.98,26.25
$GC,9997,0.95,254.3,3562,3696,1784,1781,857.4,12.2,412,10005,0.00,1.88,0.00,0.000,1030,0.000,0.024,3570,2415,1782,1785,1779,0,0,0,0,0,0,26.20,26.16,26.22
$GC,10309,0.95,254.3,3569,2411,1786,1780,819.8,10.8,423,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2411,1781,1783,1779,0,0,0,0,0,0,26.15,26.21,26.22
$GC,10609,0.95,254.9,3571,2411,1782,1779,789.6,10.0,433,10617,0.00,2.05,0.00,0.000,260,0.000,0.046,3562,3692,1780,1783,1778,0,0,0,0,0,0,26.13,25.90,26.19
$GC,10651,0.95,256.4,3561,3693,1785,1779,787.0,9.9,434,10658,0.00,1.88,0.00,0.000,1030,0.000,0.024,3570,2415,1780,1783,1778,0,0,0,0,0,0,26.13,26.10,26.15
$GC,10962,0.95,256.4,3569,2412,1784,1779,753.2,10.6,445,10972,0.00,2.05,0.00,0.000,260,0.000,0.046,3562,3691,1780,1782,1778,0,0,0,0,0,0,26.10,25.89,26.16
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$STATE,18012,end climb,SURFACE_DEPTH_REACHED
$STATE,18012,begin surface coast
$FINISH,1.0,1.020896
$STATE,18028,end surface coast,CONTROL_FINISHED_OK
$STATE,18028,begin surface
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$IRIDIUM_FIX,1420.86,14528.57,290108,142556
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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,18024.41 7669.95
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$10V_AH,9.96,37.337
$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,237964
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