version: 66.12
glider: 204
mission: 15
dive: 193
start: 4 6 115 22 59 41
data:
$ID,204
$MISSION,15
$DIVE,193
$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,78
$R_STBD_OVSHOOT,40
$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
$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
$GPS1,060415,225334,1400.9720,14517.1631,34,1.0,34,1.0,0.5,311.2,8,13.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.4
$GPS2,060415,225930,1400.9840,14517.1064,8,0.8,8,1.0,0.7,308.2,10,24.0
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,191.6,45262,-16.9,-10.000,-20.51,2373
$D_GRID,1660
$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,-155.7,192,2610,808,802,0.0,0.0,0,147,0.00,0.00,-47.70,0.000,16386,0.000,0.000,191,2611,2094,2073,2115,0,0,0,0,0,0,26.11,28.83,26.19
$GC,149,-0.81,-155.7,192,2611,2072,2117,3.2,-5.2,7,206,11.68,2.10,-33.97,0.000,18948,0.222,0.037,3008,1212,3473,3446,3500,0,0,0,0,0,0,25.48,25.28,25.64
$GC,344,-0.81,-155.7,3004,1212,3447,3500,42.3,-22.6,39,357,0.00,2.12,0.00,0.000,1030,0.000,0.034,2999,2597,3473,3447,3500,0,0,0,0,0,0,26.02,25.94,26.05
$GC,661,-0.81,-155.7,2998,2598,3450,3501,113.4,-19.1,73,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2596,3474,3448,3500,0,0,0,0,0,0,26.13,26.20,26.19
$GC,963,-0.81,-155.7,2999,2597,3451,3503,172.4,-16.2,103,971,0.00,1.73,0.00,0.000,260,0.000,0.045,2991,3689,3476,3450,3502,0,0,0,0,0,0,26.17,25.91,26.22
$GC,1045,-0.81,-155.7,2991,3689,3449,3504,187.6,-19.2,111,1052,0.00,1.58,0.00,0.000,1030,0.000,0.021,2997,2594,3476,3449,3504,0,0,0,0,0,0,26.13,26.12,26.15
$GC,1356,-0.81,-155.7,2998,2593,3450,3506,235.0,-13.8,126,1367,0.00,2.03,0.00,0.000,516,0.000,0.025,3008,1226,3478,3451,3505,0,0,0,0,0,0,26.14,26.05,26.18
$GC,1391,-0.81,-155.7,3008,1227,3452,3505,239.5,-14.0,127,1399,0.00,2.12,0.00,0.000,1030,0.000,0.032,2999,2602,3478,3452,3505,0,0,0,0,0,0,26.06,25.98,26.09
$GC,1713,-0.81,-155.7,2997,2603,3454,3506,290.9,-15.8,138,1720,0.00,1.67,0.00,0.000,260,0.000,0.043,2990,3694,3478,3452,3505,0,0,0,0,0,0,26.18,25.94,26.24
$GC,1734,-0.81,-155.7,2990,3695,3454,3506,290.9,-15.8,138,1741,0.00,1.55,0.00,0.000,1030,0.000,0.022,2995,2590,3478,3452,3505,0,0,0,0,0,0,26.17,26.14,26.18
$GC,2045,-0.81,-155.7,2994,2590,3454,3505,336.7,-12.7,149,2053,0.00,2.03,0.00,0.000,516,0.000,0.024,3004,1215,3480,3452,3508,0,0,0,0,0,0,26.15,26.06,26.21
$GC,2102,-0.81,-155.7,3004,1216,3452,3505,343.1,-11.5,151,2110,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2610,3478,3452,3504,0,0,0,0,0,0,26.06,25.99,26.09
$GC,2429,-0.81,-155.7,2996,2610,3452,3500,380.0,-11.5,162,2439,0.00,2.08,0.00,0.000,516,0.000,0.025,3004,1225,3475,3452,3499,0,0,0,0,0,0,26.14,26.01,26.19
$GC,2459,-0.81,-155.7,3003,1226,3454,3500,383.4,-11.3,163,2467,0.00,2.12,0.00,0.000,1030,0.000,0.030,2995,2610,3476,3453,3499,0,0,0,0,0,0,26.06,25.98,26.09
$GC,2786,-0.81,-155.7,2995,2611,3452,3495,419.8,-11.0,174,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2610,3472,3451,3494,0,0,0,0,0,0,26.16,26.23,26.22
$GC,3086,-0.81,-155.7,2996,2611,3450,3493,450.6,-9.8,184,3095,0.00,2.10,0.00,0.000,516,0.000,0.026,3003,1216,3470,3448,3492,0,0,0,0,0,0,26.13,26.00,26.18
$GC,3154,-0.81,-155.7,3003,1217,3450,3493,456.2,-9.4,186,3163,0.00,2.15,0.00,0.000,1030,0.000,0.031,2995,2604,3470,3448,3492,0,0,0,0,0,0,26.03,25.96,26.06
$GC,3477,-0.81,-155.7,2995,2605,3446,3489,489.6,-11.2,197,3484,0.00,1.70,0.00,0.000,260,0.000,0.045,2986,3695,3467,3446,3488,0,0,0,0,0,0,26.14,25.86,26.20
$GC,3538,-0.81,-155.7,2986,3696,3445,3488,497.0,-11.8,199,3546,0.00,1.55,0.00,0.000,1030,0.000,0.023,2993,2610,3466,3446,3487,0,0,0,0,0,0,26.10,26.06,26.12
$GC,3870,-0.81,-155.7,2992,2611,3437,3486,536.7,-11.9,210,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2610,3462,3440,3485,0,0,0,0,0,0,26.11,26.18,26.17
$GC,4170,-0.81,-155.7,2994,2611,3438,3483,571.7,-11.4,220,4177,0.00,2.10,0.00,0.000,516,0.000,0.025,3003,1207,3460,3439,3482,0,0,0,0,0,0,26.11,25.94,26.17
$GC,4201,-0.81,-155.7,3002,1208,3440,3483,574.6,-11.3,221,4209,0.00,2.17,0.00,0.000,1030,0.000,0.031,2994,2608,3460,3438,3482,0,0,0,0,0,0,25.99,25.92,26.03
$GC,4524,-0.81,-155.7,2995,2609,3434,3479,611.1,-11.5,232,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2608,3457,3435,3479,0,0,0,0,0,0,26.09,26.17,26.15
$GC,4824,-0.81,-155.7,2993,2609,3433,3478,643.3,-10.5,242,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2608,3453,3431,3476,0,0,0,0,0,0,26.13,26.19,26.18
$GC,5124,-0.81,-155.7,2993,2609,3431,3475,673.0,-9.8,252,5131,0.00,1.73,0.00,0.000,260,0.000,0.046,2985,3701,3451,3429,3474,0,0,0,0,0,0,26.09,25.77,26.15
$GC,5155,-0.81,-155.7,2983,3702,3436,3475,676.2,-9.8,253,5162,0.00,1.60,0.00,0.000,1030,0.000,0.025,2993,2611,3451,3428,3474,0,0,0,0,0,0,26.03,25.98,26.04
$GC,5487,-0.81,-155.7,2993,2610,3425,3472,710.7,-11.1,264,5496,0.00,2.12,0.00,0.000,516,0.000,0.026,3001,1215,3447,3425,3470,0,0,0,0,0,0,26.06,25.90,26.11
$GC,5535,-0.81,-155.7,3002,1200,3426,3472,714.5,-11.1,265,5543,0.00,2.20,0.00,0.000,1030,0.000,0.031,2994,2610,3448,3425,3472,0,0,0,0,0,0,25.95,25.87,25.98
$GC,5852,-0.81,-155.7,2994,2610,3423,3472,752.3,-11.6,276,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2610,3447,3423,3471,0,0,0,0,0,0,26.05,26.12,26.10
$GC,6152,-0.81,-155.7,2994,2610,3423,3469,787.8,-11.5,286,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2610,3445,3422,3469,0,0,0,0,0,0,26.06,26.13,26.11
$GC,6452,-0.81,-155.7,2993,2611,3423,3468,820.6,-10.4,296,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2610,3444,3422,3467,0,0,0,0,0,0,26.03,26.12,26.10
$GC,6752,-0.81,-155.7,2994,2610,3420,3466,850.6,-9.9,306,6759,0.00,2.17,0.00,0.000,516,0.000,0.028,3002,1198,3442,3420,3465,0,0,0,0,0,0,26.01,25.79,26.06
$GC,6788,-0.81,-155.7,3002,1196,3419,3466,853.3,-9.9,307,6796,0.00,2.22,0.00,0.000,1030,0.000,0.032,2993,2605,3442,3419,3465,0,0,0,0,0,0,25.89,25.82,25.92
$GC,7106,-0.81,-155.7,2993,2606,3417,3464,886.0,-10.4,318,7114,0.00,1.73,0.00,0.000,260,0.000,0.047,2984,3694,3440,3417,3464,0,0,0,0,0,0,26.05,25.71,26.10
$GC,7143,-0.81,-155.7,2985,3695,3417,3464,889.4,-10.5,319,7150,0.00,1.62,0.00,0.000,1030,0.000,0.024,2992,2583,3441,3418,3464,0,0,0,0,0,0,26.02,25.98,26.03
$GC,7469,-0.81,-155.7,2992,2583,3414,3463,922.6,-9.7,330,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2583,3439,3415,3463,0,0,0,0,0,0,25.99,26.06,26.05
$GC,7769,-0.81,-155.7,2992,2583,3414,3463,951.0,-9.1,340,7776,0.00,1.77,0.00,0.000,260,0.000,0.045,2984,3695,3438,3414,3462,0,0,0,0,0,0,26.01,25.70,26.06
$GC,7825,-0.81,-155.7,2983,3697,3415,3462,953.9,-9.2,341,7837,0.00,1.60,0.00,0.000,1030,0.000,0.024,2992,2590,3438,3414,3462,0,0,0,0,0,0,25.94,25.90,25.95
$GC,8131,-0.81,-155.7,2993,2591,3412,3462,982.3,-8.5,352,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2591,3437,3413,3461,0,0,0,0,0,0,25.96,26.02,26.01
$STATE,8221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8221,begin apogee
$GC,8224,-0.17,0.0,2992,2424,3414,3462,990.0,-8.6,355,8358,0.77,0.00,126.10,1.230,10246,0.147,0.000,3211,2422,2838,2811,2866,0,0,0,0,0,0,25.29,24.52,23.53
$STATE,8359,end apogee,CONTROL_FINISHED_OK
$STATE,8359,begin climb
$GC,8360,0.81,155.7,3210,2423,2808,2862,994.4,0.0,359,8508,1.05,2.30,135.62,1.229,10756,0.125,0.028,3531,1026,2198,2190,2206,0,0,0,0,0,0,24.70,24.01,23.02
$GC,8707,0.91,226.1,3533,1026,2180,2197,983.6,6.9,371,8778,0.12,2.20,59.40,1.213,11270,0.164,0.031,3554,2421,1913,1911,1915,0,0,0,0,0,0,25.58,25.80,23.89
$GC,9087,0.91,226.1,3554,2421,1899,1903,943.8,10.8,384,9095,0.00,2.03,0.00,0.000,260,0.000,0.046,3546,3700,1901,1902,1901,0,0,0,0,0,0,26.13,25.97,26.18
$GC,9164,0.91,226.1,3545,3701,1905,1902,936.5,11.2,386,9172,0.00,1.90,0.00,0.000,1030,0.000,0.025,3554,2411,1899,1902,1897,0,0,0,0,0,0,26.19,26.16,26.20
$GC,9476,0.91,226.1,3555,2406,1900,1900,899.7,11.3,397,9483,0.00,2.08,0.00,0.000,260,0.000,0.045,3545,3706,1900,1901,1900,0,0,0,0,0,0,26.17,25.98,26.23
$GC,9557,0.91,226.1,3547,3707,1901,1900,892.2,11.7,399,9564,0.00,1.90,0.00,0.000,1030,0.000,0.025,3554,2416,1900,1901,1899,0,0,0,0,0,0,26.17,26.15,26.20
$GC,9862,0.91,226.1,3553,2412,1902,1899,857.4,10.3,409,9870,0.00,2.05,0.00,0.000,260,0.000,0.045,3545,3693,1899,1900,1898,0,0,0,0,0,0,26.13,25.93,26.20
$GC,9920,0.91,226.1,3545,3697,1902,1899,851.5,10.3,411,9927,0.00,1.90,0.00,0.000,1030,0.000,0.025,3554,2417,1899,1900,1898,0,0,0,0,0,0,26.11,26.07,26.14
$GC,10251,0.91,226.4,3554,2414,1901,1898,818.8,10.0,422,10262,0.00,2.10,0.00,0.000,516,0.000,0.032,3565,1035,1897,1898,1897,0,0,0,0,0,0,26.13,25.98,26.18
$GC,10317,0.91,227.1,3564,1035,1898,1897,812.8,10.0,424,10324,0.00,2.17,0.00,0.000,1030,0.000,0.031,3555,2438,1897,1897,1897,0,0,0,0,0,0,26.03,25.96,26.06
$GC,10638,0.92,234.9,3556,2439,1897,1897,781.0,9.7,435,10650,0.00,2.05,1.50,0.203,8452,0.000,0.044,3546,3693,1881,1885,1878,0,0,0,0,0,0,26.10,25.65,25.32
$GC,10689,0.94,245.7,3545,3694,1903,1881,778.0,9.5,436,10715,0.00,1.88,13.73,1.048,9222,0.000,0.024,3554,2407,1835,1836,1834,0,0,0,0,1,0,26.08,26.05,24.67
$GC,11026,0.97,267.8,3553,2407,1848,1834,744.8,9.0,448,11061,0.00,2.12,22.70,1.075,8452,0.000,0.044,3546,3688,1742,1744,1740,0,0,0,0,0,0,26.08,25.60,24.58
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$STATE,17443,end climb,SURFACE_DEPTH_REACHED
$STATE,17444,begin surface coast
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$STATE,17454,end surface coast,CONTROL_FINISHED_OK
$STATE,17454,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17484.93 7289.05
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$PA_HOME,0.06/0.107/1.856/1.655
$PA_DISK_BANK,2
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$10V_AH,9.88,40.446
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,248648
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