version: 66.12
glider: 204
mission: 15
dive: 180
start: 4 4 115 6 12 33
data:
$ID,204
$MISSION,15
$DIVE,180
$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,78
$R_STBD_OVSHOOT,46
$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
$GPS1,040415,060634,1424.7313,14530.2598,35,0.9,35,1.0,0.0,0.0,8,16.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.3
$GPS2,040415,061221,1424.6792,14530.1367,9,0.8,9,1.0,0.9,249.2,10,13.2
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,204.1,94931,-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,-155.7,185,2620,803,801,0.0,0.0,0,152,0.00,0.00,-52.47,0.000,16386,0.000,0.000,186,2619,2227,2193,2262,0,0,0,0,0,0,26.17,28.83,26.22
$GC,154,-0.81,-155.7,185,2620,2197,2263,3.5,-5.9,8,202,11.90,2.15,-27.88,0.000,18948,0.227,0.040,3008,1219,3476,3448,3504,0,0,0,0,0,0,25.51,24.18,25.69
$GC,385,-0.81,-155.7,3009,1219,3449,3506,53.2,-23.0,49,399,0.00,2.08,0.00,0.000,1030,0.000,0.033,2999,2585,3477,3449,3505,0,0,0,0,0,0,26.01,25.97,26.03
$GC,695,-0.81,-155.7,3000,2585,3449,3506,127.6,-22.7,80,701,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2584,3477,3449,3505,0,0,0,0,0,0,26.20,26.26,26.25
$GC,996,-0.81,-155.7,3000,2585,3451,3508,187.8,-18.1,110,1003,0.00,1.73,0.00,0.000,260,0.000,0.047,2991,3701,3479,3451,3507,0,0,0,0,0,0,26.20,25.95,26.26
$GC,1217,-0.81,-155.7,2990,3702,3453,3509,220.3,-15.6,123,1226,0.00,1.58,0.00,0.000,1030,0.000,0.022,2998,2586,3479,3451,3508,0,0,0,0,0,0,26.21,26.17,26.22
$GC,1540,-0.81,-155.7,3000,2586,3455,3509,268.1,-12.8,134,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2586,3481,3454,3508,0,0,0,0,0,0,26.21,26.28,26.27
$GC,1840,-0.81,-155.7,2999,2586,3454,3508,302.2,-11.8,144,1848,0.00,1.73,0.00,0.000,260,0.000,0.044,2991,3694,3481,3454,3508,0,0,0,0,0,0,26.22,25.97,26.27
$GC,1882,-0.81,-155.7,2990,3695,3455,3509,306.1,-12.1,145,1889,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2586,3481,3454,3508,0,0,0,0,0,0,26.22,26.20,26.25
$GC,2203,-0.81,-155.7,2998,2587,3453,3507,348.6,-12.4,156,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2586,3480,3454,3507,0,0,0,0,0,0,26.23,26.29,26.29
$GC,2503,-0.81,-155.7,2998,2587,3453,3503,381.8,-11.2,166,2511,0.00,2.03,0.00,0.000,516,0.000,0.024,3008,1216,3477,3453,3502,0,0,0,0,0,0,26.20,26.10,26.26
$GC,2539,-0.81,-155.7,3006,1217,3455,3503,384.8,-11.0,167,2547,0.00,2.12,0.00,0.000,1030,0.000,0.031,2999,2603,3477,3454,3501,0,0,0,0,0,0,26.09,26.03,26.13
$GC,2856,-0.81,-155.7,3000,2601,3452,3498,415.5,-8.9,178,2865,0.00,1.73,0.00,0.000,260,0.000,0.044,2991,3689,3475,3453,3497,0,0,0,0,0,0,26.20,25.96,26.25
$GC,2898,-0.81,-155.7,2991,3689,3453,3497,418.6,-8.9,179,2906,0.00,1.58,0.00,0.000,1030,0.000,0.023,2997,2610,3475,3453,3497,0,0,0,0,0,0,26.18,26.16,26.20
$GC,3220,-0.81,-155.7,2996,2611,3451,3494,458.2,-12.7,190,3228,0.00,2.08,0.00,0.000,516,0.000,0.025,3007,1215,3471,3450,3493,0,0,0,0,0,0,26.22,26.06,26.25
$GC,3262,-0.81,-155.7,3006,1215,3451,3494,461.5,-12.8,191,3270,0.00,2.15,0.00,0.000,1030,0.000,0.031,2998,2610,3471,3449,3493,0,0,0,0,0,0,26.07,26.00,26.10
$GC,3575,-0.81,-155.7,2999,2612,3448,3490,503.7,-13.1,202,3582,0.00,2.10,0.00,0.000,516,0.000,0.027,3007,1230,3470,3448,3493,0,0,0,0,0,0,26.17,26.03,26.23
$GC,3616,-0.81,-155.7,3007,1219,3447,3489,507.8,-13.2,203,3624,0.00,2.15,0.00,0.000,1030,0.000,0.031,2998,2601,3468,3447,3490,0,0,0,0,0,0,26.08,26.00,26.10
$GC,3933,-0.81,-155.7,2999,2602,3444,3487,545.2,-10.4,214,3943,0.00,2.10,0.00,0.000,516,0.000,0.026,3007,1206,3465,3444,3486,0,0,0,0,0,0,26.16,26.03,26.22
$GC,3972,-0.81,-155.7,3006,1206,3445,3487,548.1,-10.1,215,3981,0.00,2.15,0.00,0.000,1030,0.000,0.031,2997,2602,3464,3442,3486,0,0,0,0,0,0,26.03,25.97,26.06
$GC,4290,-0.81,-155.7,2997,2602,3441,3484,581.7,-10.1,226,4297,0.00,2.10,0.00,0.000,516,0.000,0.026,3006,1225,3462,3440,3484,0,0,0,0,0,0,26.15,26.01,26.20
$GC,4346,-0.81,-155.7,3006,1216,3440,3485,585.1,-10.0,227,4356,0.00,2.15,0.00,0.000,1030,0.000,0.032,2998,2603,3461,3439,3483,0,0,0,0,0,0,26.07,25.97,26.08
$GC,4651,-0.81,-155.7,2998,2603,3435,3481,618.0,-10.3,238,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3457,3435,3480,0,0,0,0,0,0,26.14,26.21,26.20
$GC,4951,-0.81,-155.7,2998,2603,3433,3478,646.5,-9.2,248,4959,0.00,2.10,0.00,0.000,516,0.000,0.026,3006,1212,3455,3433,3477,0,0,0,0,0,0,26.12,25.97,26.16
$GC,4979,-0.81,-155.7,3005,1213,3434,3478,649.0,-9.3,249,4987,0.00,2.17,0.00,0.000,1030,0.000,0.033,2998,2608,3455,3432,3478,0,0,0,0,0,0,25.96,25.87,25.99
$GC,5313,-0.81,-155.7,2998,2608,3429,3476,676.4,-8.0,260,5321,0.00,1.73,0.00,0.000,260,0.000,0.047,2989,3704,3452,3429,3475,0,0,0,0,0,0,26.12,25.81,26.17
$GC,5345,-0.81,-155.7,2990,3704,3429,3475,679.3,-8.3,261,5352,0.00,1.60,0.00,0.000,1030,0.000,0.025,2995,2608,3452,3429,3475,0,0,0,0,0,0,26.08,26.04,26.10
$GC,5677,-0.81,-155.7,2995,2609,3427,3474,707.4,-8.2,272,5687,0.00,2.12,0.00,0.000,516,0.000,0.026,3004,1184,3449,3427,3472,0,0,0,0,0,0,26.10,25.96,26.15
$GC,5721,-0.81,-155.7,3003,1185,3427,3473,709.9,-8.3,273,5729,0.00,2.22,0.00,0.000,1030,0.000,0.032,2995,2610,3452,3426,3478,0,0,0,0,0,0,25.98,25.91,26.01
$GC,6033,-0.81,-155.7,2994,2611,3427,3472,737.5,-8.5,284,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2611,3447,3424,3471,0,0,0,0,0,0,26.09,26.16,26.14
$GC,6333,-0.81,-155.7,2994,2612,3422,3469,765.8,-9.9,294,6341,0.00,1.73,0.00,0.000,260,0.000,0.047,2987,3702,3446,3423,3469,0,0,0,0,0,0,26.08,25.75,26.14
$GC,6369,-0.81,-155.7,2988,3702,3422,3469,769.3,-10.1,295,6377,0.00,1.62,0.00,0.000,1030,0.000,0.026,2994,2591,3445,3422,3468,0,0,0,0,0,0,26.04,26.00,26.06
$GC,6696,-0.81,-155.7,2994,2592,3423,3469,804.0,-10.3,306,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2591,3443,3419,3468,0,0,0,0,0,0,26.05,26.11,26.10
$GC,6996,-0.81,-155.7,2994,2588,3420,3466,834.4,-10.4,316,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2591,3443,3420,3466,0,0,0,0,0,0,26.05,26.11,26.10
$GC,7296,-0.81,-155.7,2994,2591,3417,3465,864.4,-10.1,326,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2591,3439,3418,3461,0,0,0,0,0,0,26.06,26.12,26.11
$GC,7596,-0.81,-155.7,2993,2592,3417,3465,896.6,-11.0,336,7604,0.00,1.77,0.00,0.000,260,0.000,0.047,2986,3700,3439,3415,3463,0,0,0,0,0,0,26.05,25.70,26.08
$GC,7628,-0.81,-155.7,2987,3701,3417,3464,900.1,-11.2,337,7635,0.00,1.62,0.00,0.000,1030,0.000,0.026,2993,2592,3439,3414,3464,0,0,0,0,0,0,25.99,25.95,26.01
$GC,7959,-0.81,-155.7,2993,2592,3414,3462,938.3,-11.6,348,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2592,3438,3413,3463,0,0,0,0,0,0,26.02,26.09,26.08
$GC,8259,-0.81,-155.7,2994,2592,3413,3462,971.9,-10.7,358,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2592,3437,3413,3462,0,0,0,0,0,0,26.03,26.09,26.08
$STATE,8437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8437,begin apogee
$GC,8441,-0.17,0.0,2993,2425,3414,3462,990.0,-10.0,364,8576,0.77,0.00,125.40,1.258,10246,0.148,0.000,3213,2423,2839,2812,2867,0,0,0,0,0,0,25.36,24.53,23.60
$STATE,8576,end apogee,CONTROL_FINISHED_OK
$STATE,8576,begin climb
$GC,8578,0.81,155.7,3213,2423,2807,2863,995.4,0.0,368,8725,1.08,2.35,135.80,1.246,10756,0.129,0.028,3533,1027,2197,2189,2206,0,0,0,0,0,0,24.68,24.03,23.07
$GC,8850,0.96,258.6,3532,1028,2184,2200,991.6,5.5,377,8948,0.17,2.22,88.22,1.225,11270,0.156,0.031,3570,2429,1781,1779,1783,0,0,0,0,0,0,25.22,25.47,23.50
$GC,9245,0.96,258.6,3570,2429,1770,1765,941.0,13.9,390,9253,0.00,2.00,0.00,0.000,260,0.000,0.047,3561,3691,1768,1772,1764,0,0,0,0,0,0,26.06,25.92,26.12
$GC,9280,0.96,258.6,3561,3692,1772,1767,936.1,14.3,391,9289,0.00,1.88,0.00,0.000,1030,0.000,0.024,3570,2405,1767,1771,1764,0,0,0,0,0,0,26.12,26.09,26.13
$GC,9608,0.96,258.6,3569,2403,1771,1762,888.7,14.3,402,9619,0.00,2.03,0.00,0.000,260,0.000,0.044,3562,3683,1765,1769,1762,0,0,0,0,0,0,26.10,26.01,26.17
$GC,9678,0.96,258.6,3561,3684,1771,1762,879.6,14.6,404,9687,0.00,1.85,0.00,0.000,1030,0.000,0.025,3570,2426,1765,1769,1762,0,0,0,0,0,0,26.17,26.15,26.20
$GC,10001,0.96,258.6,3570,2425,1767,1761,833.0,13.8,415,10008,0.00,2.03,0.00,0.000,260,0.000,0.045,3562,3698,1763,1767,1760,0,0,0,0,0,0,26.15,25.96,26.22
$GC,10027,0.96,258.6,3560,3698,1769,1761,829.2,13.8,416,10035,0.00,1.88,0.00,0.000,1030,0.000,0.026,3570,2418,1763,1767,1760,0,0,0,0,0,0,26.15,26.11,26.17
$GC,10354,0.96,258.6,3570,2415,1766,1759,789.1,11.7,427,10362,0.00,2.05,0.00,0.000,260,0.000,0.046,3561,3695,1762,1766,1759,0,0,0,0,0,0,26.12,25.91,26.18
$GC,10396,0.96,258.6,3562,3696,1766,1760,785.1,11.8,428,10404,0.00,1.88,0.00,0.000,1030,0.000,0.025,3570,2420,1763,1767,1759,0,0,0,0,0,0,26.14,26.10,26.16
$GC,10713,0.96,258.6,3570,2418,1767,1760,750.4,10.4,439,10724,0.00,2.05,0.00,0.000,260,0.000,0.045,3562,3702,1762,1765,1759,0,0,0,0,0,0,26.12,25.89,26.18
$GC,10798,0.96,258.6,3562,3702,1765,1760,743.7,10.6,441,10809,0.00,1.90,0.00,0.000,1030,0.000,0.026,3570,2422,1762,1765,1759,0,0,0,0,0,0,26.10,26.06,26.13
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$STATE,17544,end climb,SURFACE_DEPTH_REACHED
$STATE,17544,begin surface coast
$FINISH,1.0,1.021419
$STATE,17564,end surface coast,CONTROL_FINISHED_OK
$STATE,17564,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17559.79 7447.18
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$10V_AH,9.96,37.411
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$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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