version: 66.12
glider: 204
mission: 15
dive: 188
start: 4 5 115 21 39 52
data:
$ID,204
$MISSION,15
$DIVE,188
$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,72
$R_STBD_OVSHOOT,36
$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
$GPS1,050415,213404,1411.4438,14522.7900,37,1.1,37,1.0,0.6,270.8,7,14.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.9
$GPS2,050415,213940,1411.4648,14522.7080,11,0.7,11,1.0,0.0,304.9,12,15.4
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,190.4,67094,-16.9,-10.000,-20.51,2373
$D_GRID,1455
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.81,-155.7,191,2615,813,808,0.0,0.0,0,154,0.00,0.00,-53.60,0.000,16386,0.000,0.000,189,2615,2262,2225,2300,0,0,0,0,0,0,26.15,28.83,26.21
$GC,156,-0.81,-155.7,189,2615,2228,2301,3.3,-3.7,8,200,11.93,2.10,-27.88,0.000,18948,0.228,0.038,3010,1211,3474,3448,3501,0,0,0,0,0,0,25.48,25.32,25.64
$GC,366,-0.81,-155.7,3009,1211,3450,3503,45.5,-18.9,44,381,0.00,2.15,0.00,0.000,1030,0.000,0.033,3001,2604,3475,3449,3502,0,0,0,0,0,0,25.98,25.92,26.01
$GC,680,-0.81,-155.7,3002,2605,3449,3501,116.5,-23.1,76,689,0.00,1.70,0.00,0.000,260,0.000,0.045,2993,3707,3476,3449,3503,0,0,0,0,0,0,26.16,25.97,26.21
$GC,723,-0.81,-155.7,2993,3707,3449,3505,126.0,-21.5,80,730,0.00,1.58,0.00,0.000,1030,0.000,0.021,3000,2584,3476,3449,3504,0,0,0,0,0,0,26.21,26.16,26.20
$GC,1034,-0.81,-155.7,3001,2584,3450,3506,179.9,-16.5,111,1041,0.00,1.73,0.00,0.000,260,0.000,0.045,2993,3694,3477,3450,3505,0,0,0,0,0,0,26.17,25.98,26.23
$GC,1265,-0.81,-155.7,2992,3696,3453,3508,215.6,-17.1,126,1274,0.00,1.52,0.00,0.000,1030,0.000,0.021,3000,2599,3479,3451,3507,0,0,0,0,0,0,26.21,26.19,26.22
$GC,1578,-0.81,-155.7,3001,2599,3453,3508,263.1,-13.5,137,1585,0.00,1.70,0.00,0.000,260,0.000,0.044,2993,3695,3480,3453,3508,0,0,0,0,0,0,26.20,25.98,26.25
$GC,1679,-0.81,-155.7,2992,3699,3455,3508,276.2,-14.6,140,1687,0.00,1.58,0.00,0.000,1030,0.000,0.021,3000,2600,3480,3453,3507,0,0,0,0,0,0,26.20,26.19,26.22
$GC,2001,-0.81,-155.7,3000,2600,3453,3508,316.7,-12.3,151,2008,0.00,1.70,0.00,0.000,260,0.000,0.044,2993,3694,3480,3453,3507,0,0,0,0,0,0,26.20,25.98,26.26
$GC,2101,-0.81,-155.7,2993,3695,3454,3508,327.8,-12.2,154,2109,0.00,1.55,0.00,0.000,1030,0.000,0.022,3000,2588,3480,3453,3507,0,0,0,0,0,0,26.21,26.18,26.22
$GC,2423,-0.81,-155.7,3000,2590,3453,3505,365.8,-12.0,165,2431,0.00,2.03,0.00,0.000,516,0.000,0.024,3010,1222,3479,3453,3506,0,0,0,0,0,0,26.20,26.08,26.26
$GC,2525,-0.81,-155.7,3009,1222,3455,3504,376.2,-11.3,168,2533,0.00,2.12,0.00,0.000,1030,0.000,0.031,3001,2609,3478,3453,3503,0,0,0,0,0,0,26.11,26.04,26.14
$GC,2842,-0.81,-155.7,3000,2611,3455,3498,414.5,-11.9,179,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2610,3475,3453,3498,0,0,0,0,0,0,26.16,26.24,26.22
$GC,3142,-0.81,-155.7,3001,2610,3450,3494,446.8,-10.5,189,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2610,3471,3450,3493,0,0,0,0,0,0,26.18,26.25,26.24
$GC,3442,-0.81,-155.7,3000,2611,3450,3492,478.9,-10.9,199,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2610,3470,3449,3491,0,0,0,0,0,0,26.15,26.22,26.21
$GC,3742,-0.81,-155.7,3000,2611,3448,3489,511.5,-10.8,209,3751,0.00,2.10,0.00,0.000,516,0.000,0.026,3009,1218,3467,3446,3488,0,0,0,0,0,0,26.16,26.03,26.22
$GC,3765,-0.81,-155.7,3009,1218,3445,3489,511.5,-10.8,209,3773,0.00,2.15,0.00,0.000,1030,0.000,0.031,3001,2607,3466,3445,3488,0,0,0,0,0,0,26.06,25.98,26.09
$GC,4077,-0.81,-155.7,2999,2608,3443,3486,548.0,-10.7,220,4085,0.00,2.10,0.00,0.000,516,0.000,0.028,3009,1222,3463,3441,3485,0,0,0,0,0,0,26.13,25.99,26.19
$GC,4104,-0.81,-155.7,3009,1223,3441,3485,548.0,-10.7,220,4114,0.00,2.15,0.00,0.000,1030,0.000,0.031,3000,2614,3463,3441,3485,0,0,0,0,0,0,25.99,25.93,26.02
$GC,4409,-0.81,-155.7,2999,2615,3440,3483,585.4,-10.8,231,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2614,3460,3438,3482,0,0,0,0,0,0,26.10,26.17,26.17
$GC,4709,-0.81,-155.7,3001,2615,3434,3480,617.3,-10.6,241,4717,0.00,1.70,0.00,0.000,260,0.000,0.046,2991,3701,3458,3436,3480,0,0,0,0,0,0,26.13,25.83,26.19
$GC,4756,-0.81,-155.7,2991,3702,3437,3479,620.6,-10.6,242,4763,0.00,1.58,0.00,0.000,1030,0.000,0.025,2995,2613,3457,3435,3479,0,0,0,0,0,0,26.12,26.08,26.14
$GC,5072,-0.81,-155.7,2996,2614,3432,3478,652.5,-9.3,253,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2613,3454,3432,3477,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5372,-0.81,-155.7,2996,2614,3429,3476,680.7,-9.5,263,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2614,3452,3429,3475,0,0,0,0,0,0,26.08,26.14,26.13
$GC,5672,-0.81,-155.7,2994,2615,3430,3474,711.2,-10.3,273,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2613,3450,3427,3473,0,0,0,0,0,0,26.11,26.17,26.17
$GC,5972,-0.81,-155.7,2996,2614,3425,3472,741.7,-10.4,283,5979,0.00,1.73,0.00,0.000,260,0.000,0.046,2988,3700,3448,3425,3472,0,0,0,0,0,0,26.08,25.77,26.14
$GC,6013,-0.81,-155.7,2989,3700,3425,3472,745.1,-10.5,284,6020,0.00,1.60,0.00,0.000,1030,0.000,0.025,2994,2602,3451,3430,3472,0,0,0,0,0,0,26.05,26.00,26.05
$GC,6334,-0.81,-155.7,2994,2603,3424,3471,778.8,-9.9,295,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2603,3447,3424,3470,0,0,0,0,0,0,26.08,26.14,26.13
$GC,6634,-0.81,-155.7,2993,2603,3424,3469,809.9,-10.8,305,6642,0.00,2.10,0.00,0.000,516,0.000,0.027,3003,1211,3445,3423,3468,0,0,0,0,0,0,26.06,25.89,26.12
$GC,6671,-0.81,-155.7,3004,1211,3422,3469,812.9,-10.9,306,6678,0.00,2.17,0.00,0.000,1030,0.000,0.032,2994,2601,3445,3422,3469,0,0,0,0,0,0,25.94,25.85,25.96
$GC,6988,-0.81,-155.7,2995,2602,3421,3468,849.1,-11.3,317,6995,0.00,1.75,0.00,0.000,260,0.000,0.045,2986,3686,3444,3421,3467,0,0,0,0,0,0,26.04,25.76,26.10
$GC,7049,-0.81,-155.7,2985,3687,3423,3467,856.4,-11.6,319,7057,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2592,3443,3421,3466,0,0,0,0,0,0,25.98,25.94,26.00
$GC,7381,-0.81,-155.7,2992,2592,3421,3469,893.3,-10.8,330,7392,0.00,2.05,0.00,0.000,516,0.000,0.028,3002,1225,3442,3419,3465,0,0,0,0,0,0,26.02,25.86,26.08
$GC,7411,-0.81,-155.7,3003,1226,3419,3465,896.4,-10.7,331,7419,0.00,2.15,0.00,0.000,1030,0.000,0.032,2994,2602,3442,3419,3465,0,0,0,0,0,0,25.89,25.83,25.94
$GC,7743,-0.81,-155.7,2994,2603,3417,3464,929.3,-9.7,342,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2603,3440,3417,3464,0,0,0,0,0,0,25.98,26.06,26.03
$GC,8043,-0.81,-155.7,2992,2604,3418,3464,957.8,-9.5,352,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2602,3439,3416,3463,0,0,0,0,0,0,26.03,26.09,26.08
$GC,8343,-0.81,-155.7,2994,2603,3413,3463,985.0,-8.8,362,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3438,3415,3462,0,0,0,0,0,0,26.01,26.08,26.07
$STATE,8401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8401,begin apogee
$GC,8405,-0.17,0.0,2994,2427,3413,3463,990.4,-8.9,364,8547,0.77,0.00,129.90,1.570,10246,0.148,0.000,3211,2425,2839,2812,2867,0,0,0,0,1,0,25.30,23.94,22.73
$STATE,8548,end apogee,CONTROL_FINISHED_OK
$STATE,8548,begin climb
$GC,8549,0.81,155.7,3211,2426,2823,2872,995.2,0.0,368,8708,1.08,2.22,142.45,1.688,11012,0.125,0.044,3514,3695,2207,2203,2212,0,0,0,0,1,0,24.20,23.69,22.46
$GC,8927,0.88,201.8,3514,3696,2211,2212,983.8,8.0,381,8982,0.00,1.90,42.45,1.175,9222,0.000,0.024,3522,2404,2012,2010,2014,0,0,0,0,0,0,25.95,25.92,24.15
$GC,9278,0.92,230.7,3522,2405,2007,2006,952.6,8.7,393,9313,0.12,2.10,24.42,1.169,10500,0.145,0.044,3551,3695,1895,1895,1895,0,0,0,0,0,0,25.87,25.56,24.53
$GC,9332,0.96,257.9,3552,3695,1893,1892,949.8,8.8,394,9365,0.00,1.90,24.33,1.161,9222,0.000,0.024,3561,2402,1786,1788,1785,0,0,0,0,0,0,25.89,25.86,24.27
$GC,9669,0.96,257.9,3561,2406,1779,1771,911.3,10.4,406,9676,0.00,2.10,0.00,0.000,516,0.000,0.031,3571,1043,1775,1779,1772,0,0,0,0,0,0,26.15,26.10,26.20
$GC,9710,0.96,257.9,3571,1039,1777,1772,908.0,10.4,407,9718,0.00,2.15,0.00,0.000,1030,0.000,0.030,3561,2427,1772,1773,1772,0,0,0,0,0,0,26.16,26.10,26.19
$GC,10027,0.96,257.9,3561,2428,1779,1772,874.5,10.3,418,10035,0.00,2.00,0.00,0.000,260,0.000,0.046,3551,3694,1774,1778,1771,0,0,0,0,0,0,26.18,26.02,26.25
$GC,10059,0.96,257.9,3553,3694,1777,1772,870.8,10.4,419,10066,0.00,1.85,0.00,0.000,1030,0.000,0.024,3561,2426,1774,1777,1771,0,0,0,0,0,0,26.19,26.16,26.21
$GC,10385,0.96,257.9,3559,2425,1778,1771,835.5,10.8,430,10393,0.00,2.03,0.00,0.000,260,0.000,0.044,3552,3695,1773,1776,1771,0,0,0,0,0,0,26.16,25.98,26.22
$GC,10442,0.96,257.9,3552,3696,1776,1771,831.7,10.9,431,10453,0.00,1.88,0.00,0.000,1030,0.000,0.024,3561,2414,1773,1776,1771,0,0,0,0,0,0,26.19,26.15,26.21
$GC,10747,0.96,257.9,3560,2414,1777,1771,796.4,10.7,442,10755,0.00,2.10,0.00,0.000,516,0.000,0.031,3571,1041,1772,1775,1769,0,0,0,0,0,0,26.17,26.03,26.22
$GC,10769,0.96,257.9,3572,1042,1773,1770,796.4,10.7,442,10779,0.00,2.12,0.00,0.000,1030,0.000,0.030,3562,2417,1771,1773,1769,0,0,0,0,0,0,26.09,26.03,26.13
$GC,11075,0.97,263.9,3561,2418,1775,1770,763.6,9.7,453,11086,0.00,1.98,0.00,0.000,260,0.000,0.044,3552,3689,1771,1773,1770,0,0,0,0,0,0,26.10,25.92,26.16
$GC,11144,0.97,263.9,3553,3690,1775,1770,757.2,10.1,455,11153,0.00,1.88,0.00,0.000,1030,0.000,0.024,3560,2409,1771,1773,1769,0,0,0,0,0,0,26.12,26.09,26.13
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$STATE,17969,end climb,SURFACE_DEPTH_REACHED
$STATE,17969,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17979.49 7563.03
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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