version: 66.12
glider: 204
mission: 15
dive: 134
start: 3 26 115 14 44 56
data:
$ID,204
$MISSION,15
$DIVE,134
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,4
$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,82
$R_STBD_OVSHOOT,57
$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
$GPS1,260315,143834,1426.0927,14650.6348,45,0.8,45,1.3,0.0,0.0,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-63.5
$GPS2,260315,144446,1426.0298,14650.5830,7,0.8,7,1.3,0.6,202.4,10,10.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,316.5,132934,-15.8,-10.000,-19.55,2669
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-175.2,198,2629,803,802,0.0,0.0,0,153,0.00,0.00,-53.25,0.000,16386,0.000,0.000,196,2624,2229,2198,2261,0,0,0,0,0,0,26.11,28.83,26.17
$GC,155,-0.80,-175.2,197,2624,2199,2261,3.3,-5.5,8,211,11.85,1.62,-29.20,0.000,18692,0.231,0.061,2997,3675,3555,3528,3582,0,0,0,0,0,0,25.61,25.32,25.77
$GC,358,-0.80,-175.2,2997,3675,3530,3583,54.2,-28.3,39,372,0.00,1.52,0.00,0.000,1030,0.000,0.021,3003,2581,3556,3529,3583,0,0,0,0,0,0,26.14,26.11,26.15
$GC,666,-0.80,-175.2,3002,2582,3532,3585,129.7,-21.6,70,675,0.00,1.73,0.00,0.000,260,0.000,0.043,2996,3671,3557,3531,3583,0,0,0,0,0,0,26.14,26.07,26.18
$GC,829,-0.80,-175.2,2995,3672,3532,3585,166.3,-21.3,86,836,0.00,1.50,0.00,0.000,1030,0.000,0.021,3002,2585,3558,3531,3585,0,0,0,0,0,0,26.21,26.18,26.22
$GC,1150,-0.80,-175.2,3002,2586,3535,3586,225.0,-15.6,108,1159,0.00,2.00,0.00,0.000,516,0.000,0.024,3008,1231,3559,3534,3584,0,0,0,0,0,0,26.20,26.14,26.25
$GC,1223,-0.80,-175.2,3008,1230,3537,3585,234.6,-16.1,110,1230,0.00,2.05,0.00,0.000,1030,0.000,0.031,2999,2579,3560,3535,3585,0,0,0,0,0,0,26.17,26.10,26.20
$GC,1539,-0.80,-175.2,3000,2581,3536,3587,282.0,-13.9,121,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2580,3561,3536,3586,0,0,0,0,0,0,26.21,26.28,26.27
$GC,1839,-0.80,-175.2,3000,2579,3537,3585,320.0,-13.1,131,1846,0.00,1.73,0.00,0.000,260,0.000,0.045,2991,3706,3560,3535,3586,0,0,0,0,0,0,26.20,26.05,26.26
$GC,1945,-0.80,-175.2,2991,3706,3537,3585,332.8,-13.8,134,1954,0.00,1.58,0.00,0.000,1030,0.000,0.021,2995,2612,3560,3535,3586,0,0,0,0,0,0,26.21,26.17,26.23
$GC,2263,-0.80,-175.2,2995,2613,3536,3585,378.5,-13.7,145,2272,0.00,2.05,0.00,0.000,516,0.000,0.024,3005,1213,3559,3535,3583,0,0,0,0,0,0,26.17,26.12,26.24
$GC,2346,-0.80,-175.2,3004,1212,3536,3582,386.5,-13.1,147,2354,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2607,3558,3535,3582,0,0,0,0,0,0,26.15,26.08,26.18
$GC,2658,-0.80,-175.2,2996,2609,3534,3581,429.8,-13.4,158,2666,0.00,1.67,0.00,0.000,260,0.000,0.044,2987,3695,3559,3540,3579,0,0,0,0,0,0,26.20,26.02,26.26
$GC,2725,-0.80,-175.2,2988,3696,3534,3579,438.1,-13.3,160,2732,0.00,1.55,0.00,0.000,1030,0.000,0.021,2994,2586,3554,3531,3577,0,0,0,0,0,0,26.21,26.18,26.23
$GC,3051,-0.80,-175.2,2994,2587,3529,3577,480.1,-12.0,171,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2586,3552,3529,3576,0,0,0,0,0,0,26.19,26.26,26.25
$GC,3351,-0.80,-175.2,2994,2587,3526,3573,516.5,-12.3,181,3358,0.00,1.73,0.00,0.000,260,0.000,0.043,2987,3699,3548,3524,3572,0,0,0,0,0,0,26.18,26.01,26.24
$GC,3407,-0.80,-175.2,2987,3701,3525,3573,520.7,-12.6,182,3417,0.00,1.55,0.00,0.000,1030,0.000,0.023,2994,2603,3548,3525,3571,0,0,0,0,0,0,26.22,26.20,26.24
$GC,3712,-0.80,-175.2,2993,2599,3523,3570,562.4,-12.1,193,3720,0.00,1.70,0.00,0.000,260,0.000,0.043,2987,3693,3546,3522,3570,0,0,0,0,0,0,26.18,25.98,26.25
$GC,3739,-0.80,-175.2,2987,3693,3523,3569,562.4,-12.1,193,3749,0.00,1.55,0.00,0.000,1030,0.000,0.021,2994,2589,3545,3522,3569,0,0,0,0,0,0,26.14,26.12,26.15
$GC,4044,-0.80,-175.2,2993,2589,3521,3567,601.2,-11.6,204,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3543,3519,3567,0,0,0,0,0,0,26.17,26.23,26.23
$GC,4344,-0.80,-175.2,2994,2589,3518,3564,636.5,-11.7,214,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3539,3515,3564,0,0,0,0,0,0,26.14,26.20,26.20
$GC,4644,-0.80,-175.2,2993,2590,3515,3563,669.3,-10.5,224,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3538,3514,3562,0,0,0,0,0,0,26.11,26.17,26.17
$GC,4944,-0.80,-175.2,2993,2589,3513,3560,698.2,-9.4,234,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3535,3511,3560,0,0,0,0,0,0,26.13,26.20,26.19
$GC,5244,-0.80,-175.2,2994,2589,3509,3559,726.3,-9.6,244,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2589,3533,3508,3558,0,0,0,0,0,0,26.11,26.18,26.17
$GC,5544,-0.80,-175.2,2994,2590,3508,3556,756.5,-10.2,254,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3531,3507,3555,0,0,0,0,0,0,25.98,26.04,26.04
$GC,5844,-0.80,-175.2,2994,2589,3507,3553,789.3,-11.1,264,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3527,3501,3553,0,0,0,0,0,0,26.11,26.17,26.17
$GC,6144,-0.80,-175.2,2993,2589,3503,3553,822.9,-11.4,274,6151,0.00,1.75,0.00,0.000,260,0.000,0.044,2986,3693,3527,3503,3551,0,0,0,0,0,0,26.08,25.87,26.14
$GC,6195,-0.80,-175.2,2986,3693,3504,3551,826.4,-11.5,275,6203,0.00,1.60,0.00,0.000,1030,0.000,0.022,2993,2596,3527,3503,3551,0,0,0,0,0,0,26.08,26.06,26.10
$GC,6507,-0.80,-175.2,2994,2598,3501,3551,864.6,-11.4,286,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3525,3500,3550,0,0,0,0,0,0,26.09,26.15,26.15
$GC,6807,-0.80,-175.2,2994,2597,3501,3550,898.5,-11.4,296,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2596,3524,3500,3549,0,0,0,0,0,0,26.08,26.15,26.15
$GC,7107,-0.80,-175.2,2994,2597,3498,3548,933.4,-11.6,306,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3522,3498,3547,0,0,0,0,0,0,26.06,26.13,26.12
$GC,7407,-0.80,-175.2,2993,2597,3498,3547,967.6,-11.3,316,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2596,3521,3497,3545,0,0,0,0,0,0,26.07,26.13,26.13
$STATE,7616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7616,begin apogee
$GC,7620,-0.17,0.0,2995,2430,3496,3545,991.6,-11.5,323,7771,0.77,0.00,139.55,1.280,10246,0.151,0.000,3212,2428,2835,2809,2861,0,0,0,0,0,0,25.55,24.58,23.80
$STATE,7772,end apogee,CONTROL_FINISHED_OK
$STATE,7772,begin climb
$GC,7773,0.80,175.2,3213,2429,2809,2861,1000.4,0.0,328,7934,1.05,2.20,148.07,1.211,10500,0.129,0.043,3515,3687,2119,2115,2124,0,0,0,0,0,0,24.77,24.13,23.35
$GC,8109,0.91,252.2,3516,3686,2112,2114,992.8,7.0,339,8182,0.12,1.88,64.70,1.250,11270,0.150,0.021,3555,2400,1809,1810,1809,0,0,0,0,0,0,25.46,25.71,23.96
$GC,8486,0.91,252.2,3555,2400,1795,1792,952.4,11.3,352,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2400,1795,1799,1791,0,0,0,0,0,0,26.03,26.10,26.09
$GC,8786,0.91,252.2,3555,2401,1798,1790,918.0,11.5,362,8794,0.00,2.05,0.00,0.000,260,0.000,0.041,3546,3704,1793,1797,1790,0,0,0,0,0,0,26.14,26.04,26.20
$GC,8828,0.91,252.2,3546,3704,1799,1790,913.9,11.9,363,8836,0.00,1.85,0.00,0.000,1030,0.000,0.023,3555,2424,1793,1797,1790,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9150,0.91,252.2,3555,2424,1797,1791,875.2,11.6,374,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2423,1792,1796,1789,0,0,0,0,0,0,26.16,26.22,26.22
$GC,9450,0.91,252.2,3555,2422,1796,1788,842.0,10.7,384,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2423,1792,1795,1789,0,0,0,0,0,0,26.15,26.22,26.21
$GC,9750,0.91,252.2,3555,2422,1795,1787,810.4,10.6,394,9758,0.00,2.00,0.00,0.000,260,0.000,0.043,3547,3692,1789,1794,1784,0,0,0,0,0,0,26.12,25.98,26.17
$GC,9791,0.91,252.2,3547,3692,1795,1788,807.2,10.9,395,9799,0.00,1.85,0.00,0.000,1030,0.000,0.021,3556,2409,1791,1794,1788,0,0,0,0,0,0,26.15,26.12,26.15
$GC,10102,0.91,252.2,3556,2405,1794,1789,767.8,12.3,406,10110,0.00,2.03,0.00,0.000,260,0.000,0.043,3543,3693,1790,1793,1787,0,0,0,0,0,0,26.11,25.96,26.17
$GC,10144,0.91,252.2,3546,3693,1794,1786,763.6,12.4,407,10151,0.00,1.85,0.00,0.000,1030,0.000,0.022,3555,2412,1790,1793,1787,0,0,0,0,0,0,26.13,26.10,26.15
$GC,10460,0.91,252.2,3556,2409,1793,1788,725.1,11.5,418,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2407,1790,1793,1787,0,0,0,0,0,0,26.08,26.15,26.14
$GC,10760,0.91,252.2,3555,2407,1793,1787,693.1,10.5,428,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2406,1789,1792,1787,0,0,0,0,0,0,26.07,26.14,26.13
$GC,11060,0.91,252.2,3556,2408,1793,1788,661.6,10.3,438,11068,0.00,2.08,0.00,0.000,516,0.000,0.030,3566,1045,1788,1791,1786,0,0,0,0,0,0,26.06,25.98,26.12
$GC,11082,0.91,252.2,3565,1047,1791,1785,661.6,10.3,438,11092,0.00,2.12,0.00,0.000,1030,0.000,0.030,3556,2423,1788,1790,1786,0,0,0,0,0,0,26.03,25.96,26.06
$GC,11387,0.93,264.0,3556,2424,1791,1787,629.5,9.5,449,11398,0.00,2.03,3.20,0.819,8452,0.000,0.045,3546,3688,1766,1773,1760,0,0,0,0,0,0,26.07,25.91,24.49
$GC,11467,0.93,267.1,3547,3688,1791,1767,623.2,9.9,451,11485,0.00,1.83,9.27,1.071,9222,0.000,0.022,3555,2421,1747,1751,1744,0,0,0,0,0,0,26.09,26.06,24.95
$GC,11810,0.94,275.6,3555,2423,1746,1741,587.7,9.7,463,11820,0.00,0.00,3.90,0.984,8198,0.000,0.000,3556,2422,1715,1718,1713,0,0,0,0,0,0,26.08,25.85,24.59
$GC,12109,0.95,277.5,3555,2422,1741,1720,558.2,9.9,473,12119,0.00,0.00,3.42,0.883,8198,0.000,0.000,3555,2421,1707,1712,1703,0,0,0,0,0,0,26.07,25.85,24.60
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$STATE,17293,end climb,SURFACE_DEPTH_REACHED
$STATE,17293,begin surface coast
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$STATE,17308,end surface coast,CONTROL_FINISHED_OK
$STATE,17308,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17299.95 7230.18
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$10V_AH,10.07,34.296
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$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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