version: 66.12
glider: 204
mission: 15
dive: 185
start: 4 5 115 6 33 11
data:
$ID,204
$MISSION,15
$DIVE,185
$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,74
$R_STBD_OVSHOOT,34
$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
$GPS1,050415,062723,1415.5256,14525.2930,40,0.8,40,1.0,0.8,260.5,10,13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-65.0
$GPS2,050415,063259,1415.4639,14525.1738,13,0.8,13,1.0,1.0,224.3,10,6.2
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,191.4,75682,-16.9,-10.000,-20.51,2373
$D_GRID,1569
$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,-155.7,191,2608,807,802,0.0,0.0,0,145,0.00,0.00,-45.65,0.000,16386,0.000,0.000,191,2610,2028,2006,2051,0,0,0,0,0,0,26.14,28.83,26.20
$GC,147,-0.81,-155.7,193,2611,2006,2052,3.0,-4.1,7,208,11.88,2.12,-41.38,0.000,18948,0.227,0.037,3008,1214,3475,3447,3504,0,0,0,0,0,0,25.48,25.31,25.66
$GC,342,-0.81,-155.7,3010,1214,3449,3505,40.0,-24.9,41,355,0.00,2.15,0.00,0.000,1030,0.000,0.034,3000,2610,3476,3448,3504,0,0,0,0,0,0,26.10,26.02,26.12
$GC,657,-0.81,-155.7,2999,2611,3450,3505,117.0,-23.6,75,664,0.00,1.67,0.00,0.000,260,0.000,0.046,2991,3697,3476,3449,3504,0,0,0,0,0,0,26.19,25.96,26.25
$GC,703,-0.81,-155.7,2992,3697,3448,3505,126.9,-24.4,79,713,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2585,3477,3450,3505,0,0,0,0,0,0,26.20,26.17,26.21
$GC,1008,-0.81,-155.7,2997,2586,3452,3507,179.5,-14.4,110,1017,0.00,1.73,0.00,0.000,260,0.000,0.045,2991,3695,3478,3451,3506,0,0,0,0,0,0,26.11,25.87,26.17
$GC,1112,-0.81,-155.7,2995,3696,3450,3507,196.8,-18.3,120,1119,0.00,1.58,0.00,0.000,1030,0.000,0.021,2998,2598,3479,3451,3507,0,0,0,0,0,0,26.16,26.15,26.18
$GC,1433,-0.81,-155.7,2997,2598,3455,3508,251.2,-15.6,132,1441,0.00,2.03,0.00,0.000,516,0.000,0.027,3008,1230,3481,3454,3508,0,0,0,0,0,0,26.22,26.10,26.27
$GC,1525,-0.81,-155.7,3008,1230,3453,3508,264.6,-15.4,135,1536,0.00,2.12,0.00,0.000,1030,0.000,0.033,2999,2613,3481,3455,3507,0,0,0,0,0,0,26.10,26.03,26.14
$GC,1850,-0.81,-155.7,3000,2613,3453,3508,309.9,-13.0,146,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2613,3481,3455,3508,0,0,0,0,0,0,26.22,26.28,26.27
$GC,2150,-0.81,-155.7,2998,2614,3456,3508,344.5,-11.4,156,2158,0.00,2.08,0.00,0.000,516,0.000,0.027,3008,1229,3481,3455,3507,0,0,0,0,0,0,26.21,26.08,26.27
$GC,2227,-0.81,-155.7,3008,1230,3453,3507,351.0,-11.1,158,2235,0.00,2.10,0.00,0.000,1030,0.000,0.031,2999,2605,3480,3454,3507,0,0,0,0,0,0,26.13,26.06,26.16
$GC,2533,-0.81,-155.7,2998,2605,3456,3504,390.7,-12.6,168,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2604,3478,3454,3503,0,0,0,0,0,0,26.20,26.27,26.26
$GC,2832,-0.81,-155.7,2998,2606,3456,3499,423.1,-10.3,178,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2604,3476,3454,3498,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3133,-0.81,-155.7,2998,2605,3454,3495,454.6,-11.0,188,3141,0.00,2.08,0.00,0.000,516,0.000,0.026,3008,1221,3473,3452,3494,0,0,0,0,0,0,26.17,26.05,26.24
$GC,3204,-0.81,-155.7,3008,1221,3450,3495,461.7,-11.3,190,3213,0.00,2.12,0.00,0.000,1030,0.000,0.031,2999,2602,3472,3450,3494,0,0,0,0,0,0,26.10,26.03,26.13
$GC,3522,-0.81,-155.7,2998,2603,3453,3492,500.0,-12.0,201,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3469,3448,3491,0,0,0,0,0,0,26.17,26.24,26.23
$GC,3822,-0.81,-155.7,3000,2603,3446,3489,535.3,-11.1,211,3829,0.00,1.70,0.00,0.000,260,0.000,0.045,2991,3694,3467,3447,3488,0,0,0,0,0,0,26.16,25.90,26.22
$GC,3903,-0.81,-155.7,2991,3694,3445,3488,542.0,-11.0,213,3910,0.00,1.55,0.00,0.000,1030,0.000,0.024,2995,2610,3466,3445,3487,0,0,0,0,0,0,26.15,26.11,26.16
$GC,4214,-0.81,-155.7,2994,2611,3443,3486,570.1,-7.5,224,4221,0.00,1.70,0.00,0.000,260,0.000,0.044,2988,3693,3463,3441,3485,0,0,0,0,0,0,26.10,25.89,26.15
$GC,4246,-0.81,-155.7,2989,3693,3440,3485,572.6,-7.5,225,4253,0.00,1.58,0.00,0.000,1030,0.000,0.023,2993,2590,3462,3440,3485,0,0,0,0,0,0,26.11,26.08,26.13
$GC,4577,-0.81,-155.7,2994,2590,3438,3482,601.7,-9.7,236,4589,0.00,2.03,0.00,0.000,516,0.000,0.025,3003,1224,3460,3438,3482,0,0,0,0,0,0,26.13,25.99,26.18
$GC,4608,-0.81,-155.7,3003,1224,3437,3482,604.9,-9.9,237,4616,0.00,2.12,0.00,0.000,1030,0.000,0.031,2994,2601,3459,3436,3482,0,0,0,0,0,0,26.00,25.92,26.03
$GC,4935,-0.81,-155.7,2995,2601,3433,3479,638.0,-10.4,248,4943,0.00,1.75,0.00,0.000,260,0.000,0.045,2986,3691,3456,3434,3478,0,0,0,0,0,0,26.13,25.86,26.18
$GC,4987,-0.81,-155.7,2987,3692,3433,3478,641.4,-10.3,249,4994,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2590,3456,3434,3478,0,0,0,0,0,0,26.11,26.08,26.13
$GC,5298,-0.81,-155.7,2993,2590,3431,3477,677.4,-11.2,260,5306,0.00,1.75,0.00,0.000,260,0.000,0.045,2986,3694,3453,3431,3475,0,0,0,0,0,0,26.11,25.84,26.17
$GC,5319,-0.81,-155.7,2985,3694,3431,3476,677.4,-11.2,260,5326,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2605,3453,3431,3476,0,0,0,0,0,0,26.09,26.06,26.10
$GC,5631,-0.81,-155.7,2993,2605,3428,3471,712.1,-10.7,271,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2605,3451,3428,3474,0,0,0,0,0,0,26.10,26.17,26.17
$GC,5931,-0.81,-155.7,2994,2605,3427,3472,745.0,-11.3,281,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2604,3449,3427,3472,0,0,0,0,0,0,26.08,26.18,26.15
$GC,6231,-0.81,-155.7,2992,2605,3427,3472,776.6,-10.2,291,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2604,3451,3425,3477,0,0,0,0,0,0,26.10,26.17,26.15
$GC,6531,-0.81,-155.7,2992,2605,3426,3470,808.3,-10.5,301,6538,0.00,1.73,0.00,0.000,260,0.000,0.047,2985,3691,3446,3423,3469,0,0,0,0,0,0,26.06,25.75,26.13
$GC,6577,-0.81,-155.7,2986,3692,3423,3469,811.7,-10.6,302,6584,0.00,1.62,0.00,0.000,1030,0.000,0.024,2992,2604,3446,3423,3469,0,0,0,0,0,0,26.02,26.01,26.04
$GC,6893,-0.81,-155.7,2991,2605,3423,3468,845.0,-10.1,313,6902,0.00,2.10,0.00,0.000,516,0.000,0.027,3002,1213,3445,3422,3468,0,0,0,0,0,0,26.05,25.88,26.11
$GC,6931,-0.81,-155.7,3002,1213,3421,3469,847.6,-10.0,314,6938,0.00,2.17,0.00,0.000,1030,0.000,0.034,2993,2601,3444,3421,3468,0,0,0,0,0,0,25.91,25.84,25.94
$GC,7248,-0.81,-155.7,2993,2601,3420,3465,878.0,-9.3,325,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2601,3442,3420,3465,0,0,0,0,0,0,26.05,26.12,26.10
$GC,7548,-0.81,-155.7,2992,2602,3420,3465,906.5,-9.2,335,7556,0.00,1.77,0.00,0.000,260,0.000,0.047,2984,3721,3442,3419,3465,0,0,0,0,0,0,26.02,25.72,26.08
$GC,7575,-0.81,-155.7,2986,3721,3418,3465,906.5,-9.2,335,7586,0.00,1.65,0.00,0.000,1030,0.000,0.025,2991,2601,3441,3418,3464,0,0,0,0,0,0,25.94,25.90,25.95
$GC,7880,-0.81,-155.7,2992,2601,3416,3464,937.8,-9.4,346,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2601,3440,3416,3464,0,0,0,0,0,0,26.06,26.11,26.11
$GC,8180,-0.81,-155.7,2991,2601,3416,3464,969.6,-10.7,356,8188,0.00,1.75,0.00,0.000,260,0.000,0.047,2984,3694,3439,3415,3463,0,0,0,0,0,0,26.02,25.67,26.08
$GC,8216,-0.81,-155.7,2983,3695,3416,3464,972.7,-10.2,357,8224,0.00,1.60,0.00,0.000,1030,0.000,0.025,2991,2593,3438,3415,3462,0,0,0,0,0,0,25.98,25.94,26.00
$STATE,8392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8392,begin apogee
$GC,8395,-0.17,0.0,2992,2428,3416,3463,990.4,-9.7,363,8530,0.77,0.00,125.28,1.246,10246,0.145,0.000,3212,2426,2838,2811,2865,0,0,0,0,0,0,25.31,24.52,23.56
$STATE,8530,end apogee,CONTROL_FINISHED_OK
$STATE,8530,begin climb
$GC,8532,0.81,155.7,3211,2427,2807,2863,995.1,0.0,367,8680,1.05,2.35,134.80,1.235,10756,0.127,0.028,3532,1028,2198,2190,2206,0,0,0,0,0,0,24.70,24.02,23.05
$GC,8904,0.92,231.4,3531,1028,2184,2199,984.4,6.7,380,8977,0.15,2.17,63.95,1.236,11270,0.159,0.031,3561,2418,1895,1893,1897,0,0,0,0,0,0,25.58,25.84,23.90
$GC,9292,0.92,236.1,3561,2419,1884,1880,948.1,9.8,393,9299,0.00,2.03,0.00,0.000,260,0.000,0.046,3553,3698,1881,1882,1880,0,0,0,0,0,0,26.12,25.96,26.17
$GC,9343,0.92,236.1,3554,3698,1882,1880,944.6,10.2,394,9351,0.00,1.90,0.00,0.000,1030,0.000,0.025,3562,2405,1881,1882,1880,0,0,0,0,0,0,26.17,26.13,26.18
$GC,9655,0.92,236.1,3562,2403,1881,1879,908.1,11.2,405,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2402,1879,1881,1878,0,0,0,0,0,0,26.15,26.24,26.22
$GC,9955,0.92,236.1,3563,2403,1880,1878,875.1,10.4,415,9963,0.00,2.05,0.00,0.000,260,0.000,0.044,3553,3700,1878,1879,1877,0,0,0,0,0,0,26.13,25.96,26.19
$GC,9982,0.92,236.1,3553,3700,1879,1878,871.9,10.7,416,9989,0.00,1.90,0.00,0.000,1030,0.000,0.025,3561,2412,1878,1879,1877,0,0,0,0,0,0,26.17,26.13,26.17
$GC,10308,0.92,236.1,3562,2409,1878,1877,834.8,11.8,427,10316,0.00,2.10,0.00,0.000,516,0.000,0.031,3572,1040,1877,1878,1876,0,0,0,0,0,0,26.13,26.02,26.18
$GC,10365,0.92,236.1,3573,1029,1875,1876,831.2,11.6,428,10375,0.00,2.15,0.00,0.000,1030,0.000,0.031,3564,2421,1875,1875,1876,0,0,0,0,0,0,26.08,26.01,26.10
$GC,10670,0.92,236.1,3563,2422,1875,1876,795.2,10.9,439,10679,0.00,2.03,0.00,0.000,260,0.000,0.047,3553,3702,1875,1875,1876,0,0,0,0,0,0,26.14,25.88,26.19
$GC,10733,0.92,236.1,3554,3703,1876,1876,787.9,11.3,441,10741,0.00,1.90,0.00,0.000,1030,0.000,0.025,3562,2421,1876,1876,1876,0,0,0,0,0,0,26.10,26.06,26.12
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$STATE,18291,end climb,SURFACE_DEPTH_REACHED
$STATE,18291,begin surface coast
$FINISH,0.9,1.012655
$STATE,18311,end surface coast,CONTROL_FINISHED_OK
$STATE,18311,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,18298.01 7704.33
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$10V_AH,9.98,37.775
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$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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