version: 66.12
glider: 204
mission: 15
dive: 187
start: 4 5 115 16 46 7
data:
$ID,204
$MISSION,15
$DIVE,187
$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,51
$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
$GPS1,050415,163704,1412.2471,14524.5264,41,0.7,41,1.0,0.8,259.5,11,10.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-67.2
$GPS2,050415,164556,1412.1711,14524.4473,8,0.9,8,1.0,0.0,112.1,9,13.4
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.1,69624,-16.9,-10.000,-20.51,2373
$D_GRID,1556
$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,-155.7,200,2627,802,800,0.0,0.0,0,146,0.00,0.00,-46.80,0.000,16386,0.000,0.000,198,2626,2056,2034,2078,0,0,0,0,0,0,26.13,28.83,26.21
$GC,148,-0.81,-155.7,200,2627,2033,2080,3.0,-5.1,7,206,11.88,2.12,-37.53,0.000,18948,0.226,0.037,3009,1209,3474,3447,3501,0,0,0,0,0,0,25.48,25.25,25.81
$GC,417,-0.81,-155.7,3008,1210,3449,3503,59.2,-22.5,49,431,0.00,2.12,0.00,0.000,1030,0.000,0.033,3000,2596,3475,3448,3502,0,0,0,0,0,0,26.07,26.01,26.10
$GC,725,-0.81,-155.7,3001,2597,3448,3503,127.6,-20.9,80,733,0.00,1.73,0.00,0.000,260,0.000,0.043,2992,3693,3475,3448,3502,0,0,0,0,0,0,26.08,25.93,26.14
$GC,827,-0.81,-155.7,2992,3693,3448,3504,147.3,-18.3,90,836,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2579,3476,3449,3504,0,0,0,0,0,0,26.17,26.15,26.19
$GC,1140,-0.81,-155.7,2999,2578,3450,3505,198.7,-15.2,121,1147,0.00,1.77,0.00,0.000,260,0.000,0.044,2991,3694,3477,3450,3505,0,0,0,0,0,0,26.22,25.98,26.28
$GC,1371,-0.81,-155.7,2992,3695,3450,3507,233.3,-15.9,129,1379,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2597,3478,3450,3506,0,0,0,0,0,0,26.22,26.20,26.23
$GC,1683,-0.81,-155.7,2998,2598,3453,3507,277.9,-13.7,140,1690,0.00,2.03,0.00,0.000,516,0.000,0.027,3008,1234,3478,3451,3506,0,0,0,0,0,0,26.22,26.09,26.28
$GC,1764,-0.81,-155.7,3007,1234,3454,3507,285.8,-13.6,142,1772,0.00,2.08,0.00,0.000,1030,0.000,0.031,2999,2602,3479,3452,3506,0,0,0,0,0,0,26.15,26.08,26.17
$GC,2069,-0.81,-155.7,3000,2602,3451,3506,322.9,-11.5,152,2078,0.00,1.73,0.00,0.000,260,0.000,0.043,2991,3697,3479,3452,3506,0,0,0,0,0,0,26.22,25.99,26.27
$GC,2117,-0.81,-155.7,2992,3697,3451,3506,326.7,-11.6,153,2124,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2590,3478,3452,3505,0,0,0,0,0,0,26.24,26.19,26.25
$GC,2433,-0.81,-155.7,2999,2590,3452,3501,363.8,-10.3,164,2441,0.00,1.70,0.00,0.000,260,0.000,0.043,2991,3692,3475,3451,3500,0,0,0,0,0,0,26.21,25.98,26.29
$GC,2465,-0.81,-155.7,2992,3692,3451,3500,367.0,-10.1,165,2473,0.00,1.52,0.00,0.000,1030,0.000,0.021,3002,2601,3475,3451,3499,0,0,0,0,0,0,26.20,26.17,26.22
$GC,2797,-0.81,-155.7,2997,2602,3453,3497,403.5,-12.4,176,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3474,3451,3497,0,0,0,0,0,0,26.18,26.25,26.25
$GC,3097,-0.81,-155.7,2997,2602,3452,3493,436.3,-9.3,186,3105,0.00,1.70,0.00,0.000,260,0.000,0.044,2991,3693,3471,3450,3492,0,0,0,0,0,0,26.20,25.99,26.26
$GC,3129,-0.81,-155.7,2991,3693,3449,3493,439.7,-9.4,187,3137,0.00,1.55,0.00,0.000,1030,0.000,0.022,2997,2598,3471,3450,3492,0,0,0,0,0,0,26.14,26.12,26.17
$GC,3461,-0.81,-155.7,2998,2599,3447,3490,476.0,-11.4,198,3471,0.00,2.05,0.00,0.000,516,0.000,0.026,3007,1224,3469,3448,3490,0,0,0,0,0,0,26.18,26.06,26.25
$GC,3530,-0.81,-155.7,3008,1224,3446,3490,483.4,-11.5,200,3538,0.00,2.12,0.00,0.000,1030,0.000,0.030,2995,2602,3468,3447,3490,0,0,0,0,0,0,26.10,26.04,26.13
$GC,3852,-0.81,-155.7,2999,2603,3444,3486,522.6,-12.6,211,3859,0.00,1.70,0.00,0.000,260,0.000,0.043,2990,3701,3465,3444,3486,0,0,0,0,0,0,26.18,25.94,26.25
$GC,3883,-0.81,-155.7,2990,3702,3445,3486,527.0,-13.0,212,3890,0.00,1.58,0.00,0.000,1030,0.000,0.024,2995,2610,3464,3443,3485,0,0,0,0,0,0,26.16,26.12,26.17
$GC,4215,-0.81,-155.7,2994,2610,3442,3484,570.9,-12.7,223,4223,0.00,1.75,0.00,0.000,260,0.000,0.044,2994,3696,3461,3439,3484,0,0,0,0,0,0,26.15,25.92,26.20
$GC,4252,-0.81,-155.7,2988,3697,3439,3483,575.0,-12.5,224,4260,0.00,1.62,0.00,0.000,1030,0.000,0.023,2994,2588,3461,3439,3483,0,0,0,0,0,0,26.16,26.11,26.14
$GC,4579,-0.81,-155.7,2995,2589,3435,3479,611.7,-10.1,235,4588,0.00,1.73,0.00,0.000,260,0.000,0.044,2987,3691,3458,3436,3480,0,0,0,0,0,0,26.13,25.83,26.19
$GC,4612,-0.81,-155.7,2988,3692,3435,3480,615.3,-10.2,236,4619,0.00,1.55,0.00,0.000,1030,0.000,0.024,2993,2596,3457,3435,3479,0,0,0,0,0,0,26.12,26.09,26.13
$GC,4943,-0.81,-155.7,2994,2596,3432,3474,653.7,-12.2,247,4953,0.00,2.08,0.00,0.000,516,0.000,0.027,3002,1229,3454,3432,3477,0,0,0,0,0,0,26.10,25.97,26.16
$GC,4967,-0.81,-155.7,3002,1227,3434,3477,653.7,-12.2,247,4975,0.00,2.12,0.00,0.000,1030,0.000,0.031,2994,2603,3454,3432,3477,0,0,0,0,0,0,26.03,25.96,26.06
$GC,5272,-0.81,-155.7,2993,2603,3431,3475,691.8,-10.8,257,5281,0.00,1.70,0.00,0.000,260,0.000,0.044,2985,3693,3452,3429,3475,0,0,0,0,0,0,26.13,25.86,26.20
$GC,5305,-0.81,-155.7,2984,3693,3430,3475,695.3,-10.6,258,5312,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2589,3451,3428,3474,0,0,0,0,0,0,26.12,26.08,26.12
$GC,5637,-0.81,-155.7,2992,2590,3428,3473,727.9,-9.8,269,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2589,3449,3426,3472,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5936,-0.81,-155.7,2993,2589,3424,3472,756.9,-9.7,279,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3448,3425,3471,0,0,0,0,0,0,26.11,26.17,26.17
$GC,6237,-0.81,-155.7,2991,2590,3424,3470,785.7,-9.7,289,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2589,3445,3422,3469,0,0,0,0,0,0,26.09,26.16,26.14
$GC,6536,-0.81,-155.7,2992,2590,3423,3468,815.4,-10.2,299,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3444,3421,3467,0,0,0,0,0,0,26.08,26.16,26.15
$GC,6836,-0.81,-155.7,2993,2589,3420,3465,845.7,-10.1,309,6845,0.00,2.08,0.00,0.000,516,0.000,0.026,2999,1210,3444,3424,3465,0,0,0,0,0,0,26.06,25.91,26.12
$GC,6873,-0.81,-155.7,2998,1211,3421,3465,848.4,-10.1,310,6881,0.00,2.17,0.00,0.000,1030,0.000,0.031,2994,2605,3442,3419,3465,0,0,0,0,0,0,25.96,25.89,25.99
$GC,7191,-0.81,-155.7,2990,2606,3419,3464,879.6,-9.1,321,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2605,3440,3417,3463,0,0,0,0,0,0,26.06,26.13,26.12
$GC,7491,-0.81,-155.7,2990,2606,3416,3463,907.3,-9.3,331,7499,0.00,2.12,0.00,0.000,516,0.000,0.027,2999,1209,3438,3415,3462,0,0,0,0,0,0,26.05,25.87,26.10
$GC,7553,-0.81,-155.7,3000,1209,3414,3462,913.0,-9.2,333,7561,0.00,2.20,0.00,0.000,1030,0.000,0.032,2990,2605,3438,3414,3463,0,0,0,0,0,0,25.91,25.84,25.95
$GC,7885,-0.81,-155.7,2989,2606,3415,3462,943.3,-9.0,344,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2605,3437,3413,3461,0,0,0,0,0,0,25.88,25.94,25.94
$GC,8185,-0.81,-155.7,2991,2605,3411,3460,971.9,-9.7,354,8193,0.00,1.73,0.00,0.000,260,0.000,0.047,2981,3694,3436,3412,3460,0,0,0,0,0,0,26.03,25.71,26.09
$GC,8226,-0.81,-155.7,2982,3695,3411,3460,974.8,-9.4,355,8234,0.00,1.58,0.00,0.000,1030,0.000,0.024,2989,2612,3436,3412,3460,0,0,0,0,0,0,26.00,25.96,26.01
$STATE,8397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8397,begin apogee
$GC,8401,-0.17,0.0,2991,2423,3411,3459,991.2,-8.9,361,8534,0.75,0.00,126.22,1.255,10246,0.148,0.000,3207,2421,2838,2811,2865,0,0,0,0,0,0,25.31,24.52,23.54
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8537,0.81,155.7,3208,2422,2804,2860,995.5,0.0,365,8686,1.08,2.35,135.48,1.231,10756,0.127,0.028,3533,1026,2196,2187,2205,0,0,0,0,0,0,24.69,24.03,23.07
$GC,8809,0.93,241.1,3534,1026,2179,2193,989.4,6.3,374,8893,0.15,2.20,73.50,1.215,11270,0.161,0.030,3561,2424,1858,1860,1856,0,0,0,0,0,0,25.29,25.53,23.61
$GC,9207,0.93,241.1,3562,2425,1836,1833,947.9,10.0,388,9215,0.00,2.03,0.00,0.000,260,0.000,0.045,3552,3693,1834,1836,1833,0,0,0,0,0,0,26.10,25.96,26.17
$GC,9259,0.93,241.1,3552,3695,1836,1834,944.4,10.1,389,9266,0.00,1.88,0.00,0.000,1030,0.000,0.024,3561,2411,1834,1836,1833,0,0,0,0,0,0,26.16,26.12,26.17
$GC,9564,0.95,254.5,3560,2407,1838,1830,914.0,9.4,399,9575,0.00,2.10,3.00,0.636,8708,0.000,0.031,3572,1030,1803,1807,1799,0,0,0,0,0,0,26.17,25.73,24.26
$GC,9604,0.97,269.1,3570,1031,1826,1803,911.0,9.4,400,9635,0.00,2.15,16.02,1.048,9222,0.000,0.031,3562,2421,1742,1746,1739,0,0,0,0,1,0,26.15,26.08,24.36
$GC,9954,0.97,269.1,3561,2422,1774,1746,871.6,11.5,412,9966,0.00,2.05,1.83,0.196,8452,0.000,0.045,3553,3687,1744,1754,1734,0,0,0,0,0,0,26.14,25.82,25.49
$GC,9989,0.97,269.1,3553,3687,1767,1741,867.7,11.7,413,10001,0.00,1.85,1.50,0.207,9222,0.000,0.024,3561,2421,1741,1749,1733,0,0,0,0,0,0,26.15,26.13,25.52
$GC,10315,0.97,269.1,3562,2422,1772,1742,828.7,11.9,424,10327,0.00,2.17,1.77,0.194,8708,0.000,0.030,3572,1033,1742,1752,1732,0,0,0,0,0,0,26.15,25.79,25.45
$GC,10371,0.97,269.1,3572,1033,1769,1739,825.1,11.8,425,10382,0.00,2.15,1.50,0.204,9222,0.000,0.030,3562,2427,1739,1747,1732,0,0,0,0,0,0,26.10,26.03,25.48
$GC,10676,0.97,269.1,3561,2428,1774,1741,789.7,10.5,436,10688,0.00,2.08,1.58,0.200,8452,0.000,0.045,3553,3695,1742,1752,1732,0,0,0,0,0,0,26.12,25.73,25.41
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$STATE,17180,end climb,SURFACE_DEPTH_REACHED
$STATE,17180,begin surface coast
$FINISH,1.0,1.011502
$STATE,17196,end surface coast,CONTROL_FINISHED_OK
$STATE,17196,begin surface
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$IRIDIUM_FIX,1405.28,14523.07,310108,060819
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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
$PA_UPTIME,17176.71 7246.16
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$PA_HOME,0.06/0.106/1.856/1.656
$PA_DISK_BANK,2
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$10V_AH,9.96,37.926
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,248652
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