version: 66.12
glider: 204
mission: 15
dive: 161
start: 3 31 115 11 41 30
data:
$ID,204
$MISSION,15
$DIVE,161
$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,84
$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,22.5
$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
$GPS1,310315,113521,1507.4738,14558.1494,26,1.3,40,0.9,0.7,254.0,7,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.4
$GPS2,310315,114055,1507.4882,14558.1426,7,0.8,7,0.9,0.0,0.0,10,24.9
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,311.6,11775,-17.3,-11.000,-20.71,2428
$D_GRID,2274
$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,-175.2,192,2611,807,805,0.0,0.0,0,154,0.00,0.00,-51.05,0.000,16386,0.000,0.000,190,2612,2182,2149,2215,0,0,0,0,0,0,26.15,28.83,26.22
$GC,156,-0.85,-175.2,192,2612,2151,2215,3.2,-3.4,5,216,11.85,1.70,-29.30,0.000,18692,0.230,0.059,2981,3697,3555,3527,3583,0,0,0,0,0,0,25.56,25.34,25.75
$GC,412,-0.85,-175.2,2982,3697,3529,3585,70.7,-28.5,39,424,0.00,1.55,0.00,0.000,1030,0.000,0.021,2988,2585,3557,3529,3585,0,0,0,0,0,0,26.15,26.14,26.17
$GC,728,-0.85,-175.2,2987,2586,3533,3586,149.2,-19.6,70,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2585,3558,3531,3585,0,0,0,0,0,0,26.15,26.22,26.21
$GC,1040,-0.85,-175.2,2989,2586,3534,3586,207.2,-18.2,99,1048,0.00,1.75,0.00,0.000,260,0.000,0.044,2981,3688,3560,3534,3586,0,0,0,0,0,0,26.22,26.03,26.27
$GC,1097,-0.85,-175.2,2980,3689,3536,3582,213.3,-18.4,100,1108,0.00,1.52,0.00,0.000,1030,0.000,0.021,2988,2585,3560,3534,3587,0,0,0,0,0,0,26.23,26.21,26.25
$GC,1403,-0.85,-175.2,2987,2586,3537,3588,273.6,-17.5,111,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2585,3561,3536,3587,0,0,0,0,0,0,26.22,26.29,26.28
$GC,1702,-0.85,-175.2,2988,2586,3537,3589,319.3,-14.2,121,1710,0.00,2.00,0.00,0.000,516,0.000,0.025,2995,1227,3562,3536,3588,0,0,0,0,0,0,26.22,26.13,26.27
$GC,1754,-0.85,-175.2,2995,1227,3535,3588,322.8,-13.9,122,1764,0.00,2.10,0.00,0.000,1030,0.000,0.032,2986,2605,3562,3536,3588,0,0,0,0,0,0,26.16,26.09,26.20
$GC,2059,-0.85,-175.2,2985,2606,3537,3588,368.4,-14.0,133,2067,0.00,1.67,0.00,0.000,260,0.000,0.046,2978,3693,3561,3536,3587,0,0,0,0,0,0,26.22,26.02,26.27
$GC,2110,-0.85,-175.2,2977,3694,3536,3588,373.0,-14.1,134,2118,0.00,1.52,0.00,0.000,1030,0.000,0.021,2984,2591,3561,3536,3587,0,0,0,0,0,0,26.25,26.22,26.26
$GC,2423,-0.85,-175.2,2984,2593,3537,3586,417.1,-12.6,145,2431,0.00,2.00,0.00,0.000,516,0.000,0.024,2995,1229,3560,3536,3585,0,0,0,0,0,0,26.22,26.13,26.28
$GC,2474,-0.85,-175.2,2995,1230,3535,3586,420.8,-12.4,146,2482,0.00,2.10,0.00,0.000,1030,0.000,0.030,2986,2614,3560,3535,3585,0,0,0,0,0,0,26.15,26.09,26.17
$GC,2780,-0.85,-175.2,2987,2614,3535,3583,457.2,-11.3,156,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2614,3558,3535,3582,0,0,0,0,0,0,26.18,26.26,26.25
$GC,3080,-0.85,-175.2,2986,2615,3532,3581,493.9,-12.4,166,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2615,3556,3533,3580,0,0,0,0,0,0,26.17,26.23,26.22
$GC,3380,-0.85,-175.2,2985,2615,3531,3577,530.0,-11.8,176,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2614,3553,3530,3576,0,0,0,0,0,0,26.19,26.26,26.25
$GC,3680,-0.85,-175.2,2985,2615,3528,3575,565.2,-11.8,186,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2614,3550,3526,3574,0,0,0,0,0,0,26.20,26.27,26.26
$GC,3980,-0.85,-175.2,2985,2615,3525,3572,600.1,-11.5,196,3987,0.00,1.67,0.00,0.000,260,0.000,0.044,2977,3695,3547,3523,3571,0,0,0,0,0,0,26.17,25.96,26.22
$GC,4031,-0.85,-175.2,2978,3695,3523,3571,604.0,-11.6,197,4038,0.00,1.58,0.00,0.000,1030,0.000,0.022,2984,2611,3546,3523,3570,0,0,0,0,0,0,26.17,26.15,26.19
$GC,4343,-0.85,-175.2,2984,2612,3521,3569,642.8,-11.3,208,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2611,3543,3519,3568,0,0,0,0,0,0,26.13,26.18,26.17
$GC,4643,-0.85,-175.2,2985,2611,3516,3565,675.2,-10.5,218,4650,0.00,1.70,0.00,0.000,260,0.000,0.044,2978,3699,3540,3516,3565,0,0,0,0,0,0,26.15,25.94,26.20
$GC,4684,-0.85,-175.2,2978,3699,3516,3564,678.5,-10.5,219,4693,0.00,1.58,0.00,0.000,1030,0.000,0.023,2985,2590,3540,3516,3565,0,0,0,0,0,0,26.14,26.10,26.15
$GC,5007,-0.85,-175.2,2985,2591,3513,3563,714.8,-11.4,230,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2590,3538,3514,3562,0,0,0,0,0,0,26.13,26.20,26.20
$GC,5307,-0.85,-175.2,2984,2591,3513,3562,749.0,-11.3,240,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2590,3536,3511,3561,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5607,-0.85,-175.2,2985,2591,3508,3558,781.5,-10.7,250,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2590,3533,3509,3558,0,0,0,0,0,0,26.10,26.17,26.16
$GC,5907,-0.85,-175.2,2984,2591,3508,3556,812.1,-10.1,260,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2590,3531,3506,3556,0,0,0,0,0,0,26.12,26.20,26.18
$GC,6207,-0.85,-175.2,2986,2590,3504,3554,838.8,-8.4,270,6216,0.00,1.75,0.00,0.000,260,0.000,0.045,2977,3699,3529,3505,3553,0,0,0,0,0,0,26.04,25.84,26.10
$GC,6245,-0.85,-175.2,2977,3700,3507,3554,841.6,-8.4,271,6252,0.00,1.58,0.00,0.000,1030,0.000,0.024,2984,2609,3529,3505,3553,0,0,0,0,0,0,26.09,26.05,26.10
$GC,6571,-0.85,-175.2,2982,2609,3504,3552,871.3,-9.4,282,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2608,3527,3503,3551,0,0,0,0,0,0,26.06,26.13,26.12
$GC,6871,-0.85,-175.2,2985,2609,3501,3551,900.1,-9.6,292,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2608,3525,3501,3550,0,0,0,0,0,0,26.03,26.10,26.09
$GC,7171,-0.85,-175.2,2984,2609,3501,3550,929.4,-10.0,302,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2608,3524,3500,3549,0,0,0,0,0,0,26.07,26.14,26.13
$GC,7471,-0.85,-175.2,2985,2615,3498,3548,962.3,-11.3,312,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2608,3523,3498,3548,0,0,0,0,0,0,26.06,26.13,26.12
$STATE,7740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7740,begin apogee
$GC,7743,-0.17,0.0,2986,2405,3498,3548,992.3,-11.1,321,7896,0.80,0.00,141.40,1.249,10246,0.148,0.000,3212,2403,2835,2809,2862,0,0,0,0,0,0,25.47,24.54,23.69
$STATE,7897,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7898,0.85,175.2,3214,2404,2807,2861,1000.4,0.0,326,8059,1.12,2.17,149.80,1.192,10500,0.128,0.041,3525,3690,2119,2114,2124,0,0,0,0,0,0,24.68,23.91,23.30
$GC,8244,0.93,232.0,3524,3690,2111,2114,989.4,8.6,337,8301,0.12,1.85,47.65,1.203,11270,0.155,0.022,3564,2423,1893,1892,1894,0,0,0,0,0,0,25.53,25.81,24.14
$GC,8605,0.93,232.0,3565,2423,1881,1884,947.3,11.2,350,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2423,1878,1880,1877,0,0,0,0,0,0,26.11,26.17,26.17
$GC,8905,0.96,250.4,3564,2424,1880,1876,915.8,10.2,360,8930,0.00,2.08,15.40,1.183,8452,0.000,0.043,3556,3693,1813,1814,1813,0,0,0,0,0,0,26.16,25.82,24.86
$GC,8955,0.99,268.8,3557,3693,1811,1809,912.7,10.2,361,8981,0.00,1.85,16.65,1.173,9222,0.000,0.023,3565,2412,1740,1742,1738,0,0,0,0,0,0,26.02,25.99,24.60
$GC,9295,0.99,268.8,3566,2412,1734,1729,872.4,11.4,373,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2412,1731,1734,1728,0,0,0,0,0,0,26.14,26.21,26.20
$GC,9595,0.99,268.8,3566,2412,1733,1727,837.5,11.7,383,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2412,1729,1733,1726,0,0,0,0,0,0,26.15,26.23,26.22
$GC,9895,0.99,268.8,3564,2413,1734,1727,803.4,11.5,393,9903,0.00,2.05,0.00,0.000,260,0.000,0.045,3556,3700,1729,1732,1726,0,0,0,0,0,0,26.18,25.98,26.24
$GC,9951,0.99,268.8,3557,3701,1732,1727,799.6,11.5,394,9962,0.00,1.85,0.00,0.000,1030,0.000,0.024,3565,2427,1729,1732,1726,0,0,0,0,0,0,26.18,26.15,26.20
$GC,10257,0.99,268.8,3566,2428,1732,1726,760.7,11.9,405,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2427,1728,1732,1725,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10557,0.99,268.8,3564,2428,1734,1726,725.3,11.8,415,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2427,1728,1732,1724,0,0,0,0,0,0,26.12,26.19,26.18
$GC,10857,0.99,268.8,3566,2427,1732,1725,688.3,12.5,425,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2427,1728,1732,1725,0,0,0,0,0,0,26.11,26.18,26.17
$GC,11157,0.99,268.8,3564,2427,1733,1726,651.0,12.2,435,11164,0.00,2.00,0.00,0.000,260,0.000,0.044,3556,3691,1728,1731,1725,0,0,0,0,0,0,26.09,25.88,26.15
$GC,11198,0.99,268.8,3557,3691,1731,1725,647.7,12.1,436,11206,0.00,1.85,0.00,0.000,1030,0.000,0.023,3565,2421,1728,1731,1725,0,0,0,0,0,0,26.10,26.08,26.13
$GC,11510,0.99,271.5,3566,2421,1731,1725,610.7,10.9,447,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2420,1728,1731,1725,0,0,0,0,0,0,26.08,26.15,26.14
$GC,11810,1.04,307.4,3566,2421,1730,1725,581.2,9.5,457,11853,0.12,2.03,33.33,0.998,10500,0.117,0.042,3612,3691,1583,1580,1586,0,0,0,0,0,0,25.84,25.28,24.70
$GC,11917,1.04,307.4,3613,3691,1576,1573,570.3,11.7,460,11925,0.00,1.88,0.00,0.000,1030,0.000,0.023,3621,2417,1574,1576,1572,0,0,0,0,0,0,25.89,25.85,25.90
$GC,12229,1.04,307.4,3619,2414,1576,1569,526.1,13.7,471,12239,0.00,2.05,0.00,0.000,260,0.000,0.044,3614,3704,1571,1574,1569,0,0,0,0,0,0,26.05,25.89,26.11
$GC,12282,1.04,307.4,3613,3702,1576,1569,521.0,14.0,472,12290,0.00,1.90,0.00,0.000,1030,0.000,0.024,3623,2418,1571,1574,1569,0,0,0,0,0,0,26.09,26.06,26.11
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$STATE,16653,end climb,SURFACE_DEPTH_REACHED
$STATE,16653,begin surface coast
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$STATE,16663,end surface coast,CONTROL_FINISHED_OK
$STATE,16663,begin surface
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$IRIDIUM_FIX,1500.99,14604.35,260108,010311
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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,16694.62 6982.53
$PA_BOOTCOUNT,966
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$10V_AH,10.03,36.021
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$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,238716
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