version: 66.12
glider: 178
mission: 20
dive: 52
start: 3 10 115 16 33 48
data:
$ID,178
$MISSION,20
$DIVE,52
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$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,148
$AH0_10V,95
$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,-46.597843
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,100315,162706,1301.1053,14517.6348,26,1.1,26,1.7,0.9,229.4,7,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-70.1
$GPS2,100315,163335,1301.0449,14517.5625,10,1.2,26,1.7,0.3,206.5,7,8.7
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,156.6,97464,-17.8,-10.000,-20.71,2479
$D_GRID,1020
$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,-0.71,-175.2,124,2463,902,887,0.0,0.0,0,195,0.00,0.00,-93.70,0.000,16386,0.000,0.000,121,2461,3266,3313,3220,0,0,0,0,0,0,26.94,28.83,27.01
$GC,197,-0.71,-175.2,124,2463,3313,3221,3.6,-12.4,14,222,10.10,2.08,-6.68,0.000,18692,0.250,0.061,2534,3763,3660,3727,3593,0,0,0,0,0,0,26.46,25.71,26.73
$GC,409,-0.71,-175.2,2534,3763,3731,3594,86.5,-35.1,44,417,0.00,1.95,0.00,0.000,1030,0.000,0.025,2537,2429,3663,3732,3594,0,0,0,0,0,0,26.96,26.92,26.97
$GC,714,-0.71,-175.2,2538,2427,3735,3594,163.7,-19.7,74,721,0.00,2.05,0.00,0.000,516,0.000,0.031,2543,1055,3664,3736,3593,0,0,0,0,0,0,27.20,27.01,27.27
$GC,771,-0.71,-175.2,2543,1056,3737,3595,173.4,-16.5,79,779,0.00,2.10,0.00,0.000,1030,0.000,0.034,2535,2440,3666,3738,3594,0,0,0,0,0,0,27.07,27.01,27.09
$GC,1084,-0.71,-175.2,2534,2442,3743,3596,225.2,-16.8,100,1091,0.00,2.08,0.00,0.000,516,0.000,0.031,2535,1052,3668,3741,3595,0,0,0,0,0,0,27.29,27.10,27.35
$GC,1131,-0.71,-175.2,2534,1053,3742,3596,229.3,-16.1,101,1139,0.00,2.10,0.00,0.000,1030,0.000,0.035,2526,2451,3668,3741,3595,0,0,0,0,0,0,27.15,27.09,27.17
$GC,1436,-0.71,-175.2,2527,2452,3743,3593,271.1,-11.8,111,1447,0.00,2.05,0.00,0.000,516,0.000,0.031,2526,1061,3670,3744,3596,0,0,0,0,0,0,27.33,27.15,27.41
$GC,1461,-0.71,-175.2,2525,1062,3745,3597,271.1,-11.8,111,1472,0.12,2.10,0.00,0.000,3078,0.171,0.034,2546,2461,3670,3744,3596,0,0,0,0,0,0,27.01,27.13,27.15
$GC,1767,-0.71,-175.2,2545,2462,3745,3597,308.5,-11.2,122,1778,0.00,2.08,0.00,0.000,516,0.000,0.033,2547,1061,3670,3744,3597,0,0,0,0,0,0,27.38,27.19,27.44
$GC,1827,-0.71,-175.2,2548,1062,3743,3597,315.4,-11.3,124,1835,0.00,2.10,0.00,0.000,1030,0.000,0.036,2540,2459,3670,3744,3597,0,0,0,0,0,0,27.24,27.17,27.26
$GC,2155,-0.71,-175.2,2541,2460,3740,3597,352.8,-11.5,135,2164,0.00,2.05,0.00,0.000,260,0.000,0.051,2527,3782,3668,3740,3597,0,0,0,0,0,0,27.41,27.17,27.48
$GC,2214,-0.71,-175.2,2529,3782,3741,3596,357.1,-11.7,136,2226,0.00,1.95,0.00,0.000,1030,0.000,0.027,2530,2436,3668,3740,3596,0,0,0,0,0,0,27.30,27.27,27.32
$GC,2519,-0.71,-175.2,2530,2434,3736,3597,396.2,-11.7,147,2529,0.00,2.03,0.00,0.000,516,0.000,0.034,2530,1066,3665,3735,3596,0,0,0,0,0,0,27.43,27.24,27.50
$GC,2578,-0.71,-175.2,2529,1067,3736,3597,400.4,-11.9,148,2588,0.00,2.10,0.00,0.000,1030,0.000,0.037,2524,2459,3665,3734,3596,0,0,0,0,0,0,27.29,27.22,27.32
$GC,2883,-0.71,-175.2,2523,2460,3731,3595,439.1,-11.3,159,2894,0.00,2.00,0.00,0.000,260,0.000,0.052,2513,3770,3662,3729,3595,0,0,0,0,0,0,27.44,27.22,27.51
$GC,2918,-0.71,-175.2,2513,3770,3731,3595,442.6,-11.5,160,2927,0.15,1.92,0.00,0.000,3078,0.167,0.028,2552,2445,3661,3729,3594,0,0,0,0,0,0,27.11,27.30,27.25
$GC,3247,-0.71,-175.2,2552,2446,3726,3591,472.7,-8.7,171,3257,0.00,2.05,0.00,0.000,516,0.000,0.034,2554,1068,3658,3726,3591,0,0,0,0,0,0,27.46,27.27,27.53
$GC,3281,-0.71,-175.2,2554,1067,3727,3590,475.8,-8.9,172,3289,0.00,2.10,0.00,0.000,1030,0.000,0.037,2548,2457,3658,3726,3590,0,0,0,0,0,0,27.32,27.25,27.34
$GC,3609,-0.71,-175.2,2547,2458,3723,3588,507.8,-10.1,183,3617,0.00,2.10,0.00,0.000,516,0.000,0.034,2548,1064,3653,3720,3586,0,0,0,0,0,0,27.46,27.27,27.53
$GC,3701,-0.71,-175.2,2549,1064,3720,3587,517.7,-10.6,186,3711,0.00,2.10,0.00,0.000,1030,0.000,0.037,2541,2454,3653,3720,3586,0,0,0,0,0,0,27.33,27.26,27.37
$GC,4031,-0.71,-175.2,2541,2456,3715,3584,554.3,-11.1,197,4041,0.00,2.10,0.00,0.000,516,0.000,0.034,2541,1065,3649,3716,3583,0,0,0,0,0,0,27.47,27.28,27.54
$GC,4085,-0.71,-175.2,2541,1061,3716,3583,558.2,-11.1,198,4093,0.00,2.10,0.00,0.000,1030,0.000,0.037,2531,2451,3649,3716,3583,0,0,0,0,0,0,27.33,27.27,27.37
$GC,4398,-0.71,-175.2,2532,2452,3711,3579,594.1,-10.5,209,4406,0.00,2.10,0.00,0.000,516,0.000,0.035,2531,1063,3646,3712,3580,0,0,0,0,0,0,27.48,27.28,27.55
$GC,4435,-0.71,-175.2,2532,1064,3710,3580,597.6,-10.5,210,4443,0.00,2.10,0.00,0.000,1030,0.000,0.037,2523,2452,3645,3711,3580,0,0,0,0,0,0,27.34,27.27,27.36
$GC,4758,-0.71,-175.2,2522,2453,3710,3578,632.8,-10.9,221,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2452,3643,3709,3578,0,0,0,0,0,0,27.48,27.56,27.55
$GC,5057,-0.71,-175.2,2523,2452,3705,3577,664.9,-10.5,231,5068,0.00,2.08,0.00,0.000,516,0.000,0.035,2522,1064,3640,3705,3576,0,0,0,0,0,0,27.49,27.29,27.55
$GC,5093,-0.71,-175.2,2521,1064,3707,3577,668.4,-10.5,232,5101,0.15,2.10,0.00,0.000,3078,0.170,0.037,2552,2451,3640,3705,3576,0,0,0,0,0,0,27.14,27.27,27.27
$GC,5416,-0.71,-175.2,2552,2452,3703,3575,699.1,-9.5,243,5424,0.00,2.10,0.00,0.000,516,0.000,0.035,2552,1061,3638,3703,3574,0,0,0,0,0,0,27.49,27.29,27.55
$GC,5474,-0.71,-175.2,2551,1061,3699,3574,702.3,-9.4,244,5484,0.00,2.12,0.00,0.000,1030,0.000,0.037,2546,2450,3638,3703,3573,0,0,0,0,0,0,27.35,27.28,27.37
$GC,5779,-0.71,-175.2,2547,2450,3700,3571,734.8,-9.9,255,5790,0.00,2.05,0.00,0.000,516,0.000,0.036,2546,1068,3633,3696,3571,0,0,0,0,0,0,27.49,27.29,27.55
$GC,5814,-0.71,-175.2,2545,1068,3702,3572,737.8,-9.9,256,5822,0.00,2.12,0.00,0.000,1030,0.000,0.039,2538,2453,3635,3700,3570,0,0,0,0,0,0,27.34,27.27,27.37
$GC,6136,-0.71,-175.2,2537,2453,3700,3570,771.8,-10.6,267,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2452,3633,3698,3569,0,0,0,0,0,0,27.49,27.57,27.55
$GC,6437,-0.71,-175.2,2537,2452,3699,3570,803.4,-10.2,277,6444,0.00,2.08,0.00,0.000,516,0.000,0.036,2538,1066,3632,3697,3568,0,0,0,0,0,0,27.50,27.29,27.55
$GC,6474,-0.71,-175.2,2537,1067,3698,3568,806.0,-9.9,278,6483,0.00,2.10,0.00,0.000,1030,0.000,0.038,2530,2451,3632,3697,3568,0,0,0,0,0,0,27.35,27.28,27.37
$GC,6797,-0.71,-175.2,2529,2453,3696,3567,838.3,-9.4,289,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2452,3630,3694,3566,0,0,0,0,0,0,27.50,27.58,27.56
$GC,7097,-0.71,-175.2,2529,2453,3695,3566,864.2,-8.3,299,7106,0.00,2.10,0.00,0.000,516,0.000,0.036,2530,1066,3629,3693,3565,0,0,0,0,0,0,27.50,27.29,27.56
$GC,7150,-0.71,-175.2,2531,1066,3692,3565,867.0,-8.3,300,7157,0.00,2.12,0.00,0.000,1030,0.000,0.039,2521,2451,3628,3692,3565,0,0,0,0,0,0,27.35,27.28,27.37
$GC,7462,-0.71,-175.2,2523,2451,3690,3564,894.5,-8.5,311,7472,0.00,2.08,0.00,0.000,516,0.000,0.036,2522,1065,3626,3689,3563,0,0,0,0,0,0,27.50,27.29,27.56
$GC,7502,-0.71,-175.2,2522,1065,3690,3564,897.1,-8.6,312,7510,0.15,2.10,0.00,0.000,3078,0.170,0.039,2551,2449,3626,3690,3563,0,0,0,0,0,0,27.13,27.28,27.28
$GC,7820,-0.71,-175.2,2553,2450,3689,3563,921.3,-7.3,323,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2450,3625,3689,3562,0,0,0,0,0,0,27.50,27.57,27.56
$GC,8120,-0.71,-175.2,2552,2451,3690,3562,943.7,-7.5,333,8127,0.00,2.10,0.00,0.000,516,0.000,0.037,2551,1066,3625,3688,3562,0,0,0,0,0,0,27.50,27.29,27.57
$GC,8162,-0.71,-175.2,2551,1066,3689,3562,945.7,-7.3,334,8169,0.00,2.10,0.00,0.000,1030,0.000,0.039,2546,2452,3625,3688,3562,0,0,0,0,0,0,27.35,27.28,27.37
$GC,8474,-0.71,-175.2,2547,2453,3686,3562,970.0,-7.3,345,8483,0.00,2.08,0.00,0.000,516,0.000,0.037,2546,1070,3624,3687,3561,0,0,0,0,0,0,27.50,27.28,27.56
$GC,8508,-0.71,-175.2,2547,1071,3686,3562,972.5,-7.3,346,8515,0.00,2.12,0.00,0.000,1030,0.000,0.040,2546,2456,3623,3686,3561,0,0,0,0,0,0,27.34,27.27,27.37
$STATE,8748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8748,begin apogee
$GC,8753,-0.11,0.0,2547,2096,3686,3560,990.0,-7.2,354,8905,0.62,0.00,144.73,1.314,10246,0.125,0.000,2746,2095,2942,2988,2896,0,0,0,0,0,0,27.13,25.18,24.43
$STATE,8906,end apogee,CONTROL_FINISHED_OK
$STATE,8906,begin climb
$GC,8908,0.71,175.2,2746,2097,2988,2894,993.7,0.0,359,9071,0.75,0.00,155.65,1.291,10246,0.047,0.000,3029,2095,2227,2277,2178,0,0,0,0,0,0,25.47,24.88,24.18
$GC,9350,0.71,175.2,3027,2097,2269,2166,928.0,17.9,374,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2095,2216,2267,2165,0,0,0,0,0,0,26.55,26.62,26.61
$GC,9650,0.71,175.2,3030,2096,2264,2164,876.5,16.7,384,9661,0.00,2.25,0.00,0.000,260,0.000,0.049,3027,3503,2214,2264,2164,0,0,0,0,0,0,26.87,26.65,26.94
$GC,9681,0.71,175.2,3029,3504,2263,2163,871.0,16.9,385,9689,0.00,2.08,0.00,0.000,1030,0.000,0.027,3039,2117,2213,2263,2163,0,0,0,0,0,0,26.77,26.73,26.79
$GC,10014,0.71,175.2,3038,2118,2263,2164,815.2,16.2,396,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2119,2212,2262,2163,0,0,0,0,0,0,27.05,27.13,27.13
$GC,10313,0.71,175.2,3038,2117,2262,2163,767.1,16.0,406,10321,0.00,2.20,0.00,0.000,260,0.000,0.049,3039,3506,2211,2261,2162,0,0,0,0,0,0,27.15,26.91,27.21
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$STATE,16511,end climb,SURFACE_DEPTH_REACHED
$STATE,16511,begin surface coast
$FINISH,-0.5,1.022206
$STATE,16531,end surface coast,CONTROL_FINISHED_OK
$STATE,16531,begin surface
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$IRIDIUM_FIX,1258.73,14518.43,050108,010857
$TT8_MAMPS,0.160286,0.160286
$HUMID,39.28
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,16570.91 7263.53
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$10V_AH,9.94,15.256
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$FG_AHR_10Vo,0.000
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