version: 66.12
glider: 204
mission: 15
dive: 186
start: 4 5 115 11 45 50
data:
$ID,204
$MISSION,15
$DIVE,186
$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,73
$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
$GPS1,050415,113952,1414.1488,14524.4893,39,1.0,39,1.0,0.0,0.0,8,12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.3
$GPS2,050415,114539,1414.0792,14524.4004,9,0.8,9,1.0,1.4,221.5,11,16.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,190.3,72768,-16.9,-10.000,-20.51,2373
$D_GRID,1453
$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,-155.7,195,2612,802,804,0.0,0.0,0,147,0.00,0.00,-47.80,0.000,16386,0.000,0.000,195,2611,2083,2053,2114,0,0,0,0,0,0,26.14,28.83,26.20
$GC,149,-0.81,-155.7,197,2612,2052,2115,3.1,-4.4,7,213,11.80,1.73,-36.45,0.000,19204,0.224,0.062,2994,3691,3475,3448,3502,0,0,0,0,0,0,25.48,24.11,25.81
$GC,447,-0.81,-155.7,2993,3692,3450,3506,71.3,-26.1,50,457,0.00,1.55,0.00,0.000,1030,0.000,0.021,3000,2578,3476,3448,3505,0,0,0,0,0,0,26.20,26.17,26.21
$GC,752,-0.81,-155.7,3000,2579,3451,3505,142.3,-21.9,81,760,0.00,1.75,0.00,0.000,260,0.000,0.045,2994,3707,3477,3450,3505,0,0,0,0,0,0,26.20,25.96,26.25
$GC,986,-0.81,-155.7,2993,3707,3451,3507,191.0,-18.3,104,995,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2609,3477,3449,3506,0,0,0,0,0,0,26.09,26.06,26.10
$GC,1319,-0.81,-155.7,3000,2610,3454,3508,243.5,-16.4,119,1327,0.00,1.70,0.00,0.000,260,0.000,0.046,2994,3700,3479,3451,3507,0,0,0,0,0,0,26.12,25.89,26.17
$GC,1552,-0.81,-155.7,2993,3701,3454,3509,274.5,-14.3,126,1563,0.00,1.55,0.00,0.000,1030,0.000,0.022,3001,2594,3480,3453,3508,0,0,0,0,0,0,26.22,26.19,26.24
$GC,1867,-0.81,-155.7,3000,2592,3455,3509,317.8,-13.0,137,1875,0.00,1.73,0.00,0.000,260,0.000,0.047,2994,3694,3480,3453,3508,0,0,0,0,0,0,26.20,25.98,26.25
$GC,1964,-0.81,-155.7,2993,3695,3456,3509,330.7,-13.6,140,1972,0.00,1.58,0.00,0.000,1030,0.000,0.021,3000,2597,3481,3454,3508,0,0,0,0,0,0,26.21,26.20,26.23
$GC,2291,-0.81,-155.7,3000,2597,3455,3507,372.1,-11.6,151,2299,0.00,2.03,0.00,0.000,516,0.000,0.026,3008,1230,3480,3454,3506,0,0,0,0,0,0,26.20,26.03,26.25
$GC,2368,-0.81,-155.7,3008,1231,3455,3507,378.6,-11.3,153,2376,0.00,2.10,0.00,0.000,1030,0.000,0.031,3000,2603,3479,3453,3506,0,0,0,0,0,0,26.13,26.06,26.15
$GC,2673,-0.81,-155.7,2999,2604,3455,3500,414.3,-10.8,163,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2603,3476,3453,3499,0,0,0,0,0,0,26.16,26.22,26.22
$GC,2974,-0.81,-155.7,2999,2604,3455,3496,444.3,-9.9,173,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2601,3474,3453,3496,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3274,-0.81,-155.7,3000,2604,3448,3492,475.1,-9.8,183,3281,0.00,2.08,0.00,0.000,516,0.000,0.025,3008,1214,3470,3449,3492,0,0,0,0,0,0,26.18,26.06,26.25
$GC,3345,-0.81,-155.7,3008,1215,3450,3493,481.3,-9.9,185,3353,0.00,2.15,0.00,0.000,1030,0.000,0.032,3000,2605,3470,3449,3492,0,0,0,0,0,0,26.08,26.01,26.11
$GC,3662,-0.81,-155.7,2999,2606,3448,3489,515.8,-11.0,196,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2605,3467,3447,3488,0,0,0,0,0,0,26.17,26.25,26.23
$GC,3962,-0.81,-155.7,2999,2606,3444,3486,551.0,-11.9,206,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2605,3464,3443,3485,0,0,0,0,0,0,26.15,26.22,26.21
$GC,4262,-0.81,-155.7,2999,2606,3441,3484,586.6,-12.1,216,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2605,3461,3439,3483,0,0,0,0,0,0,26.13,26.20,26.19
$GC,4562,-0.81,-155.7,3000,2605,3436,3481,623.8,-12.2,226,4569,0.00,1.73,0.00,0.000,260,0.000,0.046,2991,3703,3457,3436,3479,0,0,0,0,0,0,26.15,25.84,26.20
$GC,4593,-0.81,-155.7,2991,3704,3437,3480,627.5,-12.1,227,4600,0.00,1.58,0.00,0.000,1030,0.000,0.025,2994,2613,3457,3435,3479,0,0,0,0,0,0,26.11,26.07,26.13
$GC,4924,-0.81,-155.7,2993,2613,3433,3477,666.9,-11.6,238,4934,0.00,1.73,0.00,0.000,260,0.000,0.046,2987,3704,3454,3433,3476,0,0,0,0,0,0,26.13,25.85,26.18
$GC,4973,-0.81,-155.7,2986,3704,3433,3477,670.9,-11.6,239,4980,0.00,1.60,0.00,0.000,1030,0.000,0.025,2993,2596,3454,3432,3476,0,0,0,0,0,0,26.13,26.07,26.15
$GC,5289,-0.81,-155.7,2992,2597,3430,3475,709.4,-11.5,250,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3451,3429,3474,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5589,-0.81,-155.7,2992,2597,3428,3473,743.3,-11.1,260,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3449,3426,3472,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5889,-0.81,-155.7,2994,2597,3425,3472,775.5,-10.9,270,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3448,3425,3471,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6189,-0.81,-155.7,2990,2597,3422,3469,806.9,-10.8,280,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3446,3424,3469,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6489,-0.81,-155.7,2992,2597,3423,3469,840.4,-11.1,290,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3445,3422,3468,0,0,0,0,0,0,26.02,26.10,26.08
$GC,6789,-0.81,-155.7,2992,2597,3422,3466,872.6,-10.1,300,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3442,3420,3465,0,0,0,0,0,0,26.07,26.13,26.12
$GC,7090,-0.81,-155.7,2992,2597,3420,3465,899.2,-8.7,310,7098,0.00,2.10,0.00,0.000,516,0.000,0.028,2999,1216,3441,3418,3464,0,0,0,0,0,0,26.03,25.86,26.09
$GC,7106,-0.81,-155.7,2998,1217,3419,3465,899.2,-8.7,310,7114,0.00,2.17,0.00,0.000,1030,0.000,0.032,2990,2603,3440,3417,3464,0,0,0,0,0,0,25.91,25.84,25.95
$GC,7419,-0.81,-155.7,2991,2603,3414,3463,928.7,-9.3,321,7427,0.00,1.73,0.00,0.000,260,0.000,0.046,2979,3694,3439,3415,3463,0,0,0,0,0,0,25.96,25.74,26.05
$GC,7441,-0.81,-155.7,2981,3695,3418,3464,928.7,-9.3,321,7449,0.00,1.60,0.00,0.000,1030,0.000,0.024,2988,2590,3440,3415,3466,0,0,0,0,0,0,26.01,25.97,26.03
$GC,7753,-0.81,-155.7,2988,2591,3415,3463,959.7,-9.0,332,7761,0.00,1.77,0.00,0.000,260,0.000,0.047,2981,3702,3437,3413,3462,0,0,0,0,0,0,25.99,25.72,26.04
$GC,7785,-0.81,-155.7,2980,3703,3416,3463,962.8,-9.0,333,7792,0.00,1.60,0.00,0.000,1030,0.000,0.026,2988,2612,3438,3414,3462,0,0,0,0,0,0,25.98,25.94,26.00
$STATE,8115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8115,begin apogee
$GC,8119,-0.17,0.0,2989,2407,3414,3462,991.7,-8.6,344,8253,0.77,0.00,125.80,1.268,10246,0.146,0.000,3209,2405,2836,2810,2863,0,0,0,0,0,0,25.27,24.50,23.53
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8255,0.81,155.7,3208,2405,2809,2864,995.8,0.0,348,8404,1.05,2.33,135.12,1.246,10756,0.126,0.029,3530,1032,2199,2191,2207,0,0,0,0,0,0,24.67,24.01,23.05
$GC,8558,0.90,220.6,3529,1032,2186,2201,987.8,7.2,358,8624,0.12,2.20,55.40,1.231,11270,0.166,0.031,3554,2421,1935,1933,1937,0,0,0,0,0,0,25.44,25.66,23.84
$GC,8929,0.90,220.6,3554,2422,1925,1923,945.3,11.3,371,8938,0.00,2.03,0.00,0.000,260,0.000,0.046,3545,3695,1925,1926,1924,0,0,0,0,0,0,26.10,25.97,26.15
$GC,9007,0.90,220.6,3545,3696,1924,1923,937.8,11.4,373,9015,0.00,1.88,0.00,0.000,1030,0.000,0.024,3553,2411,1924,1925,1924,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9324,0.90,220.6,3555,2407,1923,1922,900.9,11.5,384,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2407,1922,1923,1921,0,0,0,0,0,0,26.17,26.24,26.23
$GC,9624,0.90,221.5,3554,2407,1922,1921,870.0,10.0,394,9632,0.00,2.05,0.00,0.000,260,0.000,0.045,3546,3694,1921,1923,1920,0,0,0,0,0,0,26.17,25.96,26.23
$GC,9651,0.90,221.5,3545,3694,1923,1921,867.0,10.2,395,9659,0.00,1.88,0.00,0.000,1030,0.000,0.025,3553,2416,1921,1923,1919,0,0,0,0,0,0,26.15,26.11,26.17
$GC,9983,0.93,243.0,3554,2413,1922,1920,835.9,9.1,406,10009,0.00,0.00,18.50,1.154,8198,0.000,0.000,3553,2412,1849,1848,1850,0,0,0,0,0,0,26.13,25.62,24.65
$GC,10283,0.93,243.0,3553,2413,1841,1839,802.1,11.9,416,10290,0.00,2.05,0.00,0.000,260,0.000,0.046,3545,3694,1838,1839,1838,0,0,0,0,0,0,26.06,25.93,26.11
$GC,10314,0.93,243.0,3544,3694,1840,1839,798.7,12.2,417,10322,0.00,1.88,0.00,0.000,1030,0.000,0.025,3553,2419,1838,1839,1838,0,0,0,0,0,0,26.13,26.10,26.15
$GC,10641,0.93,243.0,3554,2418,1839,1838,758.9,11.8,428,10650,0.00,2.12,0.00,0.000,516,0.000,0.031,3564,1040,1837,1838,1837,0,0,0,0,0,0,26.11,25.98,26.17
$GC,10664,0.93,243.0,3563,1030,1839,1834,758.9,11.8,428,10672,0.00,2.15,0.00,0.000,1030,0.000,0.031,3554,2421,1837,1837,1837,0,0,0,0,0,0,26.07,26.01,26.11
$GC,10969,0.93,243.0,3554,2422,1839,1838,720.7,11.6,438,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2421,1837,1837,1837,0,0,0,0,0,0,26.11,26.18,26.17
$GC,11269,0.94,249.4,3555,2422,1837,1837,689.8,9.7,448,11281,0.00,2.03,1.42,0.210,8452,0.000,0.044,3551,3693,1823,1828,1819,0,0,0,0,0,0,26.11,25.46,25.27
$GC,11370,0.94,249.4,3544,3693,1848,1825,680.3,10.3,451,11380,0.00,1.88,1.17,0.220,9222,0.000,0.025,3553,2422,1822,1828,1817,0,0,0,0,0,0,26.08,26.05,25.35
$GC,11690,0.98,275.8,3553,2423,1847,1824,649.5,8.9,462,11728,0.00,2.05,28.50,1.044,8452,0.000,0.046,3545,3693,1708,1710,1707,0,0,0,0,0,0,26.08,25.56,24.58
$GC,11808,0.99,280.0,3545,3693,1707,1702,640.2,9.8,465,11819,0.12,1.90,0.00,0.000,3078,0.132,0.024,3596,2413,1703,1705,1701,0,0,0,0,0,0,25.69,25.89,25.82
$GC,12112,0.99,280.0,3595,2414,1705,1700,599.6,12.9,476,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,2413,1701,1703,1699,0,0,0,0,0,0,26.08,26.15,26.14
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$STATE,17361,end climb,SURFACE_DEPTH_REACHED
$STATE,17361,begin surface coast
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$STATE,17375,end surface coast,CONTROL_FINISHED_OK
$STATE,17375,begin surface
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$IRIDIUM_FIX,1407.51,14524.91,310108,010750
$TT8_MAMPS,0.050932,0.050932
$HUMID,36.92
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17370.18 7322.77
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$PA_DISK_BANK,2
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$10V_AH,9.97,37.849
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.328,0.000,0.000,0.000
$MEM,248648
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