version: 66.12
glider: 178
mission: 20
dive: 65
start: 3 13 115 8 34 28
data:
$ID,178
$MISSION,20
$DIVE,65
$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,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,48
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,130315,082735,1231.3577,14527.6445,30,1.1,30,1.9,0.8,295.1,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-71.8
$GPS2,130315,083417,1231.3674,14527.5820,8,1.5,30,1.9,0.3,83.9,7,8.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,175.1,39703,-16.5,-10.000,-23.13,2699
$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,-0.68,-175.2,123,2483,1245,1222,0.0,0.0,0,183,0.00,0.00,-81.75,0.000,16386,0.000,0.000,122,2483,3382,3430,3334,0,0,0,0,0,0,26.29,28.83,26.36
$GC,185,-0.68,-175.2,121,2483,3433,3335,4.6,-15.3,13,214,10.48,2.20,-8.82,0.000,18948,0.249,0.043,2554,1046,3965,3999,3931,0,0,0,0,0,0,26.05,25.76,26.21
$GC,331,-0.68,-175.2,2554,1047,3999,3939,60.6,-29.9,34,341,0.00,2.15,0.00,0.000,1030,0.000,0.035,2547,2432,3967,3997,3938,0,0,0,0,0,0,26.40,26.36,26.41
$GC,636,-0.68,-175.2,2548,2433,3996,3941,155.0,-21.3,65,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2432,3968,3996,3941,0,0,0,0,0,0,26.41,26.48,26.47
$GC,937,-0.68,-175.2,2548,2432,3996,3946,212.8,-18.5,91,945,0.00,2.10,0.00,0.000,516,0.000,0.034,2547,1044,3971,3996,3946,0,0,0,0,0,0,26.44,26.45,26.49
$GC,985,-0.68,-175.2,2548,1045,3995,3947,218.9,-18.7,92,992,0.00,2.20,0.00,0.000,1030,0.000,0.034,2540,2455,3971,3996,3946,0,0,0,0,0,0,26.48,26.44,26.50
$GC,1297,-0.68,-175.2,2539,2455,3998,3949,266.3,-14.1,103,1305,0.00,2.15,0.00,0.000,516,0.000,0.031,2540,1041,3972,3996,3948,0,0,0,0,0,0,26.44,26.46,26.51
$GC,1329,-0.68,-175.2,2540,1041,3996,3949,270.3,-14.3,104,1337,0.00,2.17,0.00,0.000,1030,0.000,0.034,2530,2450,3972,3996,3948,0,0,0,0,0,0,26.51,26.46,26.51
$GC,1651,-0.68,-175.2,2530,2450,3996,3948,319.4,-15.5,115,1659,0.12,2.10,0.00,0.000,2308,0.176,0.048,2556,3775,3972,3996,3948,0,0,0,0,0,0,26.35,26.44,26.43
$GC,1684,-0.68,-175.2,2556,3775,3996,3949,322.8,-14.8,116,1691,0.00,2.00,0.00,0.000,1030,0.000,0.025,2556,2426,3972,3996,3948,0,0,0,0,0,0,26.52,26.49,26.53
$GC,2011,-0.68,-175.2,2557,2425,3996,3949,354.6,-9.7,127,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2423,3972,3996,3948,0,0,0,0,0,0,26.45,26.52,26.51
$GC,2311,-0.68,-175.2,2555,2425,3998,3945,386.8,-10.5,137,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2423,3970,3997,3944,0,0,0,0,0,0,26.42,26.50,26.49
$GC,2611,-0.68,-175.2,2557,2424,3996,3939,415.6,-9.4,147,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2423,3967,3996,3938,0,0,0,0,0,0,26.46,26.53,26.52
$GC,2911,-0.68,-175.2,2555,2424,3997,3933,447.1,-11.1,157,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2423,3963,3995,3932,0,0,0,0,0,0,26.45,26.53,26.51
$GC,3211,-0.68,-175.2,2555,2424,3999,3927,480.4,-10.7,167,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2423,3961,3996,3926,0,0,0,0,0,0,26.45,26.52,26.51
$GC,3511,-0.68,-175.2,2556,2424,3995,3920,510.8,-10.2,177,3519,0.00,2.10,0.00,0.000,516,0.000,0.034,2556,1066,3957,3996,3918,0,0,0,0,0,0,26.45,26.46,26.51
$GC,3553,-0.68,-175.2,2555,1067,3998,3919,514.1,-10.2,178,3562,0.00,2.17,0.00,0.000,1030,0.000,0.035,2550,2451,3957,3996,3918,0,0,0,0,0,0,26.50,26.44,26.51
$GC,3877,-0.68,-175.2,2549,2452,3997,3913,546.0,-9.0,189,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3954,3996,3912,0,0,0,0,0,0,26.44,26.51,26.51
$GC,4177,-0.68,-175.2,2549,2452,3996,3908,572.0,-8.6,199,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3950,3994,3907,0,0,0,0,0,0,26.44,26.50,26.50
$GC,4477,-0.68,-175.2,2550,2452,3992,3905,597.3,-8.5,209,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3948,3993,3904,0,0,0,0,0,0,26.44,26.50,26.49
$GC,4777,-0.68,-175.2,2549,2452,3993,3903,623.8,-8.9,219,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3946,3990,3902,0,0,0,0,0,0,26.44,26.51,26.50
$GC,5077,-0.68,-175.2,2551,2452,3988,3900,649.6,-8.5,229,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3943,3988,3899,0,0,0,0,0,0,26.42,26.49,26.48
$GC,5377,-0.68,-175.2,2549,2451,3988,3898,674.5,-8.2,239,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3941,3986,3897,0,0,0,0,0,0,26.41,26.48,26.48
$GC,5677,-0.68,-175.2,2550,2452,3979,3896,698.6,-7.9,249,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3939,3984,3895,0,0,0,0,0,0,26.41,26.48,26.48
$GC,5978,-0.68,-175.2,2551,2452,3982,3894,724.5,-8.8,259,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3938,3983,3893,0,0,0,0,0,0,26.39,26.46,26.45
$GC,6277,-0.68,-175.2,2549,2452,3983,3893,751.3,-9.1,269,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3936,3981,3892,0,0,0,0,0,0,26.39,26.46,26.46
$GC,6577,-0.68,-175.2,2550,2452,3979,3891,778.4,-9.0,279,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2451,3933,3976,3890,0,0,0,0,0,0,26.38,26.45,26.44
$GC,6877,-0.68,-175.2,2549,2452,3980,3889,805.3,-8.7,289,6885,0.00,2.15,0.00,0.000,516,0.000,0.033,2549,1063,3933,3978,3888,0,0,0,0,0,0,26.37,26.38,26.43
$GC,6909,-0.68,-175.2,2549,1064,3979,3889,807.8,-8.7,290,6918,0.00,2.17,0.00,0.000,1030,0.000,0.037,2546,2446,3933,3978,3888,0,0,0,0,0,0,26.41,26.36,26.43
$GC,7238,-0.68,-175.2,2545,2447,3985,3888,836.0,-8.5,301,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2446,3932,3977,3887,0,0,0,0,0,0,26.36,26.42,26.41
$GC,7538,-0.68,-175.2,2545,2447,3978,3887,862.3,-8.6,311,7547,0.00,2.15,0.00,0.000,260,0.000,0.055,2537,3776,3930,3975,3886,0,0,0,0,0,0,26.36,26.32,26.43
$GC,7562,-0.68,-175.2,2537,3776,3975,3887,862.3,-8.6,311,7572,0.00,2.00,0.00,0.000,1030,0.000,0.028,2537,2438,3930,3975,3885,0,0,0,0,0,0,26.43,26.39,26.44
$GC,7868,-0.68,-175.2,2536,2439,3976,3885,892.6,-9.2,322,7875,0.00,2.10,0.00,0.000,516,0.000,0.034,2537,1075,3929,3974,3884,0,0,0,0,0,0,26.37,26.34,26.43
$GC,7890,-0.68,-175.2,2538,1076,3974,3885,892.6,-9.2,322,7900,0.00,2.17,0.00,0.000,1030,0.000,0.037,2533,2455,3929,3974,3884,0,0,0,0,0,0,26.40,26.34,26.44
$GC,8195,-0.68,-175.2,2533,2455,3975,3883,923.9,-9.5,333,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2455,3927,3973,3882,0,0,0,0,0,0,26.34,26.41,26.40
$GC,8495,-0.68,-175.2,2534,2455,3973,3882,952.3,-9.2,343,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2454,3927,3973,3881,0,0,0,0,0,0,26.34,26.41,26.41
$GC,8795,-0.68,-175.2,2530,2456,3973,3882,980.1,-9.2,353,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2455,3926,3971,3881,0,0,0,0,0,0,26.34,26.41,26.40
$STATE,8913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8913,begin apogee
$GC,8917,-0.11,0.0,2534,2102,3971,3880,991.1,-9.2,357,9070,0.68,0.00,137.88,1.304,10246,0.121,0.000,2743,2099,3278,3320,3236,0,0,0,0,0,0,26.20,24.97,24.27
$STATE,9070,end apogee,CONTROL_FINISHED_OK
$STATE,9070,begin climb
$GC,9072,0.68,175.2,2743,2100,3321,3237,998.6,0.0,362,9239,0.70,2.33,155.20,1.295,11012,0.046,0.036,3021,725,2563,2609,2517,0,0,0,0,0,0,25.30,24.51,23.98
$GC,9434,0.68,175.2,3020,726,2601,2509,973.7,13.7,374,9442,0.00,2.22,0.00,0.000,1030,0.000,0.031,3021,2109,2555,2602,2508,0,0,0,0,0,0,25.93,25.89,25.94
$GC,9751,0.68,175.2,3021,2110,2597,2506,927.4,14.0,385,9759,0.00,2.25,0.00,0.000,260,0.000,0.048,3021,3503,2548,2597,2500,0,0,0,0,0,0,26.20,26.19,26.27
$GC,9788,0.68,175.2,3021,3503,2597,2505,923.4,14.1,386,9797,0.12,2.12,0.00,0.000,5126,0.197,0.025,3006,2110,2553,2601,2505,0,0,0,0,0,0,26.08,26.25,26.25
$GC,10106,0.68,175.2,3005,2111,2597,2506,877.5,13.8,397,10114,0.00,2.22,0.00,0.000,516,0.000,0.036,3014,700,2550,2595,2506,0,0,0,0,0,0,26.31,26.32,26.37
$GC,10134,0.68,175.2,3013,701,2596,2504,873.8,13.8,398,10142,0.00,2.17,0.00,0.000,1030,0.000,0.028,3014,2104,2548,2594,2503,0,0,0,0,0,0,26.36,26.32,26.38
$GC,10466,0.68,175.2,3014,2106,2596,2504,828.2,13.1,409,10475,0.00,2.25,0.00,0.000,260,0.000,0.047,3014,3501,2548,2594,2503,0,0,0,0,0,0,26.34,26.32,26.41
$GC,10519,0.68,175.2,3014,3502,2596,2503,823.7,13.1,410,10527,0.00,2.12,0.00,0.000,1030,0.000,0.025,3025,2102,2548,2594,2502,0,0,0,0,0,0,26.40,26.36,26.41
$GC,10825,0.68,175.2,3025,2102,2592,2503,782.5,12.4,420,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2101,2547,2592,2503,0,0,0,0,0,0,26.34,26.41,26.40
$GC,11125,0.68,175.2,3025,2102,2590,2503,745.9,12.3,430,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2101,2547,2591,2503,0,0,0,0,0,0,26.34,26.41,26.41
$GC,11424,0.68,175.2,3023,2102,2592,2503,708.0,12.9,440,11432,0.00,2.20,0.00,0.000,516,0.000,0.037,3035,704,2546,2590,2502,0,0,0,0,0,0,26.34,26.33,26.40
$GC,11456,0.68,175.2,3034,705,2592,2502,704.4,13.0,441,11465,0.15,2.17,0.00,0.000,5126,0.189,0.028,3002,2108,2545,2590,2501,0,0,0,0,0,0,26.17,26.34,26.34
$GC,11779,0.68,175.2,3002,2109,2590,2502,666.5,11.3,452,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2108,2545,2590,2501,0,0,0,0,0,0,26.34,26.41,26.40
$GC,12079,0.68,175.2,3001,2109,2590,2502,635.9,10.0,462,12087,0.00,2.25,0.00,0.000,260,0.000,0.045,3002,3504,2545,2590,2501,0,0,0,0,0,0,26.34,26.29,26.40
$GC,12121,0.68,175.2,3001,3505,2591,2502,632.8,10.3,463,12130,0.00,2.15,0.00,0.000,1030,0.000,0.025,3010,2092,2545,2589,2501,0,0,0,0,0,0,26.38,26.34,26.39
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$STATE,17440,end climb,SURFACE_DEPTH_REACHED
$STATE,17440,begin surface coast
$FINISH,-0.8,1.022094
$STATE,17461,end surface coast,CONTROL_FINISHED_OK
$STATE,17461,begin surface
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$IRIDIUM_FIX,1229.99,14514.24,070108,165333
$TT8_MAMPS,0.053179,0.053179
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$XPDR_PINGS,1
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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,17476.56 7575.27
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$10V_AH,10.32,23.734
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$FG_AHR_10Vo,0.000
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