version: 66.12
glider: 204
mission: 15
dive: 190
start: 4 6 115 7 45 55
data:
$ID,204
$MISSION,15
$DIVE,190
$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,-3
$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,41
$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
$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
$GPS1,060415,073835,1407.0957,14521.4346,39,1.0,39,1.0,1.1,249.0,8,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.4
$GPS2,060415,074544,1407.0673,14521.3203,5,1.0,5,1.0,1.0,265.7,8,87.5
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.9,58659,-16.9,-10.000,-20.51,2373
$D_GRID,1701
$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,-155.7,195,2619,803,807,0.0,0.0,0,159,0.00,0.00,-55.70,0.000,16386,0.000,0.000,193,2619,2306,2272,2341,0,0,0,0,0,0,26.86,28.83,26.91
$GC,161,-0.81,-155.7,193,2619,2274,2342,3.1,-3.4,8,211,11.68,1.70,-24.25,0.000,18692,0.226,0.063,2994,3690,3476,3448,3504,0,0,0,0,0,0,25.63,24.48,26.02
$GC,434,-0.81,-155.7,2993,3691,3450,3506,71.2,-24.5,50,443,0.00,1.50,0.00,0.000,1030,0.000,0.021,3001,2579,3477,3448,3506,0,0,0,0,0,0,26.82,26.79,26.84
$GC,747,-0.81,-155.7,3002,2574,3449,3506,138.4,-20.0,81,754,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2574,3478,3450,3506,0,0,0,0,0,0,27.11,27.17,27.16
$GC,1049,-0.81,-155.7,3002,2575,3452,3507,191.8,-16.5,111,1056,0.00,1.73,0.00,0.000,260,0.000,0.045,2994,3691,3479,3453,3506,0,0,0,0,0,0,27.15,26.62,27.21
$GC,1130,-0.81,-155.7,2993,3692,3454,3508,202.4,-16.6,117,1137,0.00,1.50,0.00,0.000,1030,0.000,0.021,3001,2608,3479,3452,3507,0,0,0,0,0,0,26.95,26.93,26.96
$GC,1441,-0.81,-155.7,3002,2609,3454,3508,246.8,-12.8,128,1448,0.00,1.62,0.00,0.000,260,0.000,0.046,2993,3690,3481,3454,3508,0,0,0,0,0,0,27.18,26.63,27.24
$GC,1487,-0.81,-155.7,2993,3691,3456,3508,251.3,-13.3,129,1496,0.00,1.50,0.00,0.000,1030,0.000,0.021,3001,2574,3481,3454,3508,0,0,0,0,0,0,26.98,26.95,26.99
$GC,1806,-0.81,-155.7,3000,2575,3456,3508,295.1,-12.2,140,1814,0.00,1.92,0.00,0.000,516,0.000,0.028,3009,1238,3480,3454,3507,0,0,0,0,0,0,27.19,26.79,27.24
$GC,1883,-0.81,-155.7,3009,1238,3454,3508,302.3,-11.8,142,1891,0.00,2.03,0.00,0.000,1030,0.000,0.034,2999,2602,3481,3454,3508,0,0,0,0,0,0,26.82,26.74,26.85
$GC,2200,-0.81,-155.7,2998,2603,3455,3506,340.8,-12.2,153,2208,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3694,3479,3453,3505,0,0,0,0,0,0,27.20,26.65,27.25
$GC,2247,-0.81,-155.7,2992,3695,3454,3505,345.2,-12.7,154,2254,0.00,1.50,0.00,0.000,1030,0.000,0.022,2995,2589,3478,3454,3503,0,0,0,0,0,0,26.98,26.95,27.00
$GC,2563,-0.81,-155.7,2994,2589,3454,3499,386.3,-11.8,165,2574,0.00,1.95,0.00,0.000,516,0.000,0.025,3004,1224,3475,3453,3498,0,0,0,0,0,0,27.20,26.84,27.25
$GC,2613,-0.81,-155.7,3002,1224,3455,3499,389.9,-11.5,166,2621,0.00,2.05,0.00,0.000,1030,0.000,0.031,2995,2609,3476,3454,3499,0,0,0,0,0,0,26.83,26.77,26.86
$GC,2918,-0.81,-155.7,2993,2610,3453,3496,425.2,-10.9,176,2926,0.00,1.62,0.00,0.000,260,0.000,0.044,2987,3693,3472,3451,3494,0,0,0,0,0,0,27.20,26.65,27.25
$GC,3060,-0.81,-155.7,2987,3693,3450,3494,439.1,-11.5,180,3068,0.00,1.50,0.00,0.000,1030,0.000,0.024,2993,2598,3471,3450,3493,0,0,0,0,0,0,26.97,26.94,26.99
$GC,3373,-0.81,-155.7,2994,2599,3448,3491,476.2,-10.6,191,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2598,3469,3448,3491,0,0,0,0,0,0,27.20,27.27,27.25
$GC,3673,-0.81,-155.7,2993,2598,3446,3489,507.0,-10.3,201,3680,0.00,2.00,0.00,0.000,516,0.000,0.027,3003,1215,3466,3445,3488,0,0,0,0,0,0,27.20,26.79,27.26
$GC,3724,-0.81,-155.7,3004,1216,3443,3489,509.7,-10.4,202,3735,0.00,2.08,0.00,0.000,1030,0.000,0.032,2994,2602,3465,3443,3488,0,0,0,0,0,0,26.79,26.72,26.84
$GC,4029,-0.81,-155.7,2993,2603,3442,3486,544.8,-10.4,213,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3462,3440,3485,0,0,0,0,0,0,27.20,27.27,27.25
$GC,4332,-0.81,-155.7,2994,2603,3439,3483,577.0,-10.6,223,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3459,3437,3482,0,0,0,0,0,0,27.20,27.27,27.25
$GC,4629,-0.81,-155.7,2995,2603,3433,3480,611.3,-11.4,233,4638,0.00,1.65,0.00,0.000,260,0.000,0.045,2986,3696,3456,3434,3478,0,0,0,0,0,0,27.20,26.59,27.26
$GC,4697,-0.81,-155.7,2986,3696,3433,3479,619.2,-12.1,235,4705,0.00,1.52,0.00,0.000,1030,0.000,0.024,2993,2591,3455,3433,3478,0,0,0,0,0,0,26.94,26.90,26.96
$GC,5024,-0.81,-155.7,2993,2591,3432,3477,659.2,-12.1,246,5035,0.00,2.00,0.00,0.000,516,0.000,0.028,3003,1210,3453,3431,3476,0,0,0,0,0,0,27.20,26.75,27.25
$GC,5049,-0.81,-155.7,3002,1210,3431,3477,659.2,-12.1,246,5060,0.00,2.10,0.00,0.000,1030,0.000,0.032,2994,2608,3453,3430,3476,0,0,0,0,0,0,26.77,26.69,26.80
$GC,5354,-0.81,-155.7,2995,2609,3427,3475,697.1,-11.2,257,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2608,3451,3428,3474,0,0,0,0,0,0,27.19,27.26,27.25
$GC,5655,-0.81,-155.7,2993,2609,3427,3472,727.6,-9.9,267,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2608,3448,3425,3472,0,0,0,0,0,0,27.19,27.26,27.25
$GC,5956,-0.81,-155.7,2996,2609,3426,3472,757.1,-10.0,277,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2609,3448,3425,3471,0,0,0,0,0,0,27.19,27.26,27.25
$GC,6255,-0.81,-155.7,2994,2609,3423,3470,786.7,-10.2,287,6264,0.00,1.67,0.00,0.000,260,0.000,0.046,2985,3702,3445,3422,3469,0,0,0,0,0,0,27.19,26.53,27.24
$GC,6288,-0.81,-155.7,2986,3703,3422,3470,790.1,-10.2,288,6295,0.00,1.52,0.00,0.000,1030,0.000,0.026,2992,2613,3445,3422,3468,0,0,0,0,0,0,26.90,26.86,26.92
$GC,6620,-0.81,-155.7,2993,2613,3421,3469,821.7,-9.0,299,6628,0.00,1.65,0.00,0.000,260,0.000,0.046,2985,3693,3444,3421,3468,0,0,0,0,0,0,27.19,26.52,27.24
$GC,6657,-0.81,-155.7,2985,3694,3422,3469,824.9,-9.1,300,6665,0.00,1.55,0.00,0.000,1030,0.000,0.025,2991,2583,3444,3421,3468,0,0,0,0,0,0,26.91,26.87,26.93
$GC,6984,-0.81,-155.7,2990,2583,3421,3462,851.2,-7.4,311,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2583,3442,3419,3465,0,0,0,0,0,0,27.19,27.26,27.24
$GC,7284,-0.81,-155.7,2990,2584,3420,3465,873.7,-7.8,321,7291,0.00,1.70,0.00,0.000,260,0.000,0.045,2984,3694,3440,3417,3464,0,0,0,0,0,0,27.19,26.50,27.24
$GC,7355,-0.81,-155.7,2983,3695,3418,3465,878.7,-8.0,323,7362,0.00,1.52,0.00,0.000,1030,0.000,0.025,2990,2600,3440,3417,3464,0,0,0,0,0,0,26.89,26.86,26.91
$GC,7676,-0.81,-155.7,2991,2600,3414,3464,904.4,-7.8,334,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2600,3439,3415,3463,0,0,0,0,0,0,27.18,27.25,27.24
$GC,7976,-0.81,-155.7,2990,2601,3416,3463,928.9,-8.3,344,7984,0.00,1.67,0.00,0.000,260,0.000,0.046,2984,3693,3438,3414,3462,0,0,0,0,0,0,27.18,26.47,27.24
$GC,8013,-0.81,-155.7,2982,3693,3416,3463,931.7,-8.5,345,8021,0.00,1.52,0.00,0.000,1030,0.000,0.025,2991,2604,3437,3413,3462,0,0,0,0,0,0,26.89,26.84,26.90
$GC,8340,-0.81,-155.7,2990,2604,3414,3462,960.4,-8.6,356,8348,0.00,2.05,0.00,0.000,516,0.000,0.028,3001,1204,3436,3412,3461,0,0,0,0,0,0,27.18,26.67,27.24
$GC,8374,-0.81,-155.7,3000,1201,3414,3462,963.2,-8.6,357,8383,0.00,2.12,0.00,0.000,1030,0.000,0.032,2992,2602,3437,3412,3462,0,0,0,0,0,0,26.69,26.61,26.72
$STATE,8701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8701,begin apogee
$GC,8705,-0.17,0.0,2993,2424,3411,3461,992.5,-9.0,368,8841,0.75,0.00,126.72,1.238,10246,0.146,0.000,3211,2421,2838,2810,2866,0,0,0,0,0,0,25.66,24.74,23.63
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8843,0.81,155.7,3212,2422,2804,2861,997.7,0.0,372,8989,1.05,2.33,134.57,1.220,10756,0.125,0.028,3536,1028,2197,2189,2206,0,0,0,0,0,0,25.03,24.17,23.10
$GC,9163,0.95,256.7,3535,1028,2182,2197,992.3,5.6,383,9260,0.17,2.15,85.62,1.216,11270,0.157,0.031,3575,2420,1786,1786,1787,0,0,0,0,0,0,25.74,26.07,23.76
$GC,9574,0.95,256.7,3574,2420,1778,1772,949.7,11.0,397,9582,0.00,1.98,0.00,0.000,260,0.000,0.046,3567,3691,1773,1776,1771,0,0,0,0,0,0,26.74,26.33,26.81
$GC,9636,0.95,256.7,3567,3692,1776,1771,942.3,11.4,399,9644,0.00,1.83,0.00,0.000,1030,0.000,0.024,3575,2410,1772,1775,1770,0,0,0,0,0,0,26.62,26.58,26.65
$GC,9963,0.95,256.7,3576,2405,1773,1768,902.3,12.7,410,9971,0.00,2.00,0.00,0.000,260,0.000,0.045,3567,3692,1770,1773,1768,0,0,0,0,0,0,26.97,26.49,27.04
$GC,10005,0.95,256.7,3568,3693,1773,1768,898.0,12.8,411,10014,0.00,1.80,0.00,0.000,1030,0.000,0.024,3576,2423,1770,1773,1768,0,0,0,0,0,0,26.79,26.74,26.79
$GC,10328,0.95,256.7,3576,2422,1772,1767,855.0,12.4,422,10335,0.00,1.98,0.00,0.000,260,0.000,0.044,3568,3693,1770,1773,1767,0,0,0,0,0,0,27.05,26.53,27.12
$GC,10359,0.95,256.7,3567,3694,1771,1768,851.6,12.2,423,10367,0.00,1.83,0.00,0.000,1030,0.000,0.025,3577,2409,1770,1773,1767,0,0,0,0,0,0,26.84,26.80,26.86
$GC,10687,0.95,256.7,3576,2406,1774,1767,811.9,11.5,434,10694,0.00,1.98,0.00,0.000,260,0.000,0.044,3569,3693,1769,1772,1766,0,0,0,0,0,0,27.10,26.54,27.17
$GC,10753,0.95,256.7,3568,3693,1774,1767,804.9,11.8,436,10761,0.00,1.83,0.00,0.000,1030,0.000,0.024,3578,2409,1769,1772,1766,0,0,0,0,0,0,26.85,26.84,26.89
$GC,11075,0.95,256.7,3577,2406,1773,1767,766.6,11.4,447,11083,0.00,2.00,0.00,0.000,260,0.000,0.044,3570,3696,1768,1771,1766,0,0,0,0,0,0,27.13,26.54,27.19
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$STATE,18356,end climb,SURFACE_DEPTH_REACHED
$STATE,18357,begin surface coast
$FINISH,0.9,1.004371
$STATE,18377,end surface coast,CONTROL_FINISHED_OK
$STATE,18377,begin surface
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$IRIDIUM_FIX,1403.06,14523.07,310108,210646
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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,18372.79 7701.21
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$10V_AH,9.83,39.543
$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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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,140.481,0.000,0.000,0.000
$MEM,248688
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