version: 66.12
glider: 178
mission: 20
dive: 123
start: 3 25 115 21 58 47
data:
$ID,178
$MISSION,20
$DIVE,123
$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,54
$R_STBD_OVSHOOT,52
$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
$GPS1,250315,214936,1137.9469,14429.3594,34,0.9,40,1.9,0.7,247.7,10,7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-74.1
$GPS2,250315,215836,1137.8925,14429.3350,8,1.1,19,1.9,0.2,109.0,9,7.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,177.6,49884,-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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,120,2474,1247,1229,0.0,0.0,0,193,0.00,0.00,-86.97,0.000,16386,0.000,0.000,120,2473,3618,3667,3570,0,0,0,0,0,0,26.20,28.83,26.27
$GC,195,-0.68,-175.2,120,2474,3668,3574,4.8,-13.6,12,223,10.77,2.20,-4.07,0.000,18948,0.250,0.039,2557,1049,3964,3995,3934,0,0,0,0,0,0,25.72,25.43,25.93
$GC,353,-0.68,-175.2,2556,1050,3995,3940,75.9,-30.1,30,364,0.00,2.17,0.00,0.000,1030,0.000,0.036,2549,2437,3967,3994,3940,0,0,0,0,0,0,26.25,26.18,26.27
$GC,658,-0.68,-175.2,2548,2435,3995,3942,165.2,-20.1,61,667,0.00,2.15,0.00,0.000,260,0.000,0.046,2539,3785,3967,3994,3941,0,0,0,0,0,0,26.29,26.18,26.35
$GC,696,-0.68,-175.2,2538,3786,3996,3943,171.1,-17.9,64,706,0.00,2.00,0.00,0.000,1030,0.000,0.024,2544,2437,3968,3994,3942,0,0,0,0,0,0,26.33,26.31,26.34
$GC,1021,-0.68,-175.2,2544,2435,3994,3948,226.0,-17.4,87,1029,0.00,2.10,0.00,0.000,516,0.000,0.033,2544,1059,3971,3994,3948,0,0,0,0,0,0,26.31,26.26,26.36
$GC,1038,-0.68,-175.2,2543,1060,3999,3948,226.0,-17.4,87,1046,0.00,2.17,0.00,0.000,1030,0.000,0.033,2537,2459,3971,3994,3948,0,0,0,0,0,0,26.32,26.25,26.34
$GC,1344,-0.68,-175.2,2535,2460,3996,3950,275.0,-14.8,97,1352,0.00,2.10,0.00,0.000,260,0.000,0.047,2526,3772,3971,3994,3949,0,0,0,0,0,0,26.30,26.21,26.37
$GC,1401,-0.68,-175.2,2525,3772,3996,3950,279.9,-14.8,98,1412,0.12,1.98,0.00,0.000,3078,0.157,0.024,2556,2433,3972,3994,3950,0,0,0,0,0,0,26.08,26.33,26.22
$GC,1707,-0.68,-175.2,2557,2433,3995,3950,319.2,-10.3,109,1714,0.00,2.08,0.00,0.000,516,0.000,0.032,2561,1073,3971,3994,3949,0,0,0,0,0,0,26.32,26.27,26.38
$GC,1743,-0.68,-175.2,2561,1074,3994,3950,322.0,-10.4,110,1751,0.00,2.15,0.00,0.000,1030,0.000,0.034,2553,2453,3972,3995,3949,0,0,0,0,0,0,26.31,26.24,26.33
$GC,2061,-0.68,-175.2,2552,2454,3997,3948,356.6,-10.2,121,2069,0.00,2.15,0.00,0.000,516,0.000,0.032,2553,1073,3971,3995,3947,0,0,0,0,0,0,26.32,26.25,26.39
$GC,2083,-0.68,-175.2,2554,1075,3994,3948,356.6,-10.2,121,2091,0.00,2.15,0.00,0.000,1030,0.000,0.034,2544,2452,3970,3994,3947,0,0,0,0,0,0,26.32,26.25,26.34
$GC,2389,-0.68,-175.2,2543,2454,3996,3942,389.0,-10.4,131,2397,0.00,2.12,0.00,0.000,260,0.000,0.049,2534,3770,3968,3994,3942,0,0,0,0,0,0,26.32,26.18,26.38
$GC,2461,-0.68,-175.2,2535,3771,3994,3941,395.5,-11.1,133,2469,0.00,1.98,0.00,0.000,1030,0.000,0.025,2534,2445,3966,3993,3940,0,0,0,0,0,0,26.36,26.33,26.37
$GC,2774,-0.68,-175.2,2534,2445,3995,3936,436.3,-12.3,144,2785,0.00,2.10,0.00,0.000,516,0.000,0.031,2534,1070,3963,3993,3934,0,0,0,0,0,0,26.28,26.25,26.35
$GC,2809,-0.68,-175.2,2533,1071,3995,3935,440.1,-12.3,145,2817,0.12,2.17,0.00,0.000,3078,0.156,0.034,2556,2450,3963,3993,3934,0,0,0,0,0,0,26.04,26.22,26.22
$GC,3132,-0.68,-175.2,2556,2450,3993,3927,472.5,-9.3,156,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3959,3993,3926,0,0,0,0,0,0,26.30,26.37,26.36
$GC,3432,-0.68,-175.2,2556,2450,3993,3922,498.7,-8.6,166,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3957,3993,3921,0,0,0,0,0,0,26.29,26.35,26.34
$GC,3732,-0.68,-175.2,2555,2451,3995,3916,525.0,-8.6,176,3740,0.00,2.15,0.00,0.000,516,0.000,0.032,2557,1069,3954,3993,3915,0,0,0,0,0,0,26.29,26.21,26.35
$GC,3790,-0.68,-175.2,2555,1070,3995,3915,527.7,-8.5,177,3800,0.00,2.20,0.00,0.000,1030,0.000,0.035,2551,2451,3953,3993,3914,0,0,0,0,0,0,26.26,26.18,26.29
$GC,4095,-0.68,-175.2,2552,2452,3991,3910,557.6,-9.6,188,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2451,3950,3991,3910,0,0,0,0,0,0,26.26,26.33,26.32
$GC,4395,-0.68,-175.2,2550,2452,3991,3907,587.0,-9.8,198,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3947,3989,3906,0,0,0,0,0,0,26.29,26.36,26.35
$GC,4695,-0.68,-175.2,2552,2452,3986,3905,615.7,-9.7,208,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2451,3946,3987,3905,0,0,0,0,0,0,26.27,26.34,26.33
$GC,4995,-0.68,-175.2,2550,2452,3986,3904,644.2,-9.3,218,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2451,3943,3984,3903,0,0,0,0,0,0,26.26,26.32,26.32
$GC,5295,-0.68,-175.2,2549,2452,3984,3901,670.2,-8.3,228,5305,0.00,2.15,0.00,0.000,516,0.000,0.032,2551,1066,3941,3982,3900,0,0,0,0,0,0,26.24,26.15,26.29
$GC,5325,-0.68,-175.2,2552,1067,3982,3901,672.6,-8.2,229,5333,0.00,2.20,0.00,0.000,1030,0.000,0.035,2544,2455,3941,3982,3900,0,0,0,0,0,0,26.22,26.14,26.24
$GC,5658,-0.68,-175.2,2545,2457,3980,3898,702.2,-9.2,240,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3939,3981,3897,0,0,0,0,0,0,26.24,26.31,26.29
$GC,5959,-0.68,-175.2,2545,2457,3978,3897,729.6,-9.0,250,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3937,3979,3896,0,0,0,0,0,0,26.25,26.32,26.31
$GC,6258,-0.68,-175.2,2544,2457,3977,3894,756.5,-9.0,260,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3936,3977,3895,0,0,0,0,0,0,26.22,26.29,26.28
$GC,6559,-0.68,-175.2,2543,2457,3978,3894,784.9,-9.6,270,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3934,3976,3893,0,0,0,0,0,0,26.24,26.30,26.29
$GC,6859,-0.68,-175.2,2544,2457,3974,3891,813.9,-9.4,280,6868,0.00,2.17,0.00,0.000,516,0.000,0.032,2543,1068,3932,3974,3890,0,0,0,0,0,0,26.20,26.12,26.26
$GC,6888,-0.68,-175.2,2544,1069,3974,3891,813.9,-9.4,280,6898,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2452,3932,3974,3890,0,0,0,0,0,0,26.16,26.08,26.19
$GC,7193,-0.68,-175.2,2540,2453,3975,3890,843.1,-8.4,291,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3931,3973,3889,0,0,0,0,0,0,26.20,26.27,26.26
$GC,7493,-0.68,-175.2,2543,2452,3972,3889,868.2,-8.6,301,7504,0.00,2.15,0.00,0.000,516,0.000,0.032,2541,1069,3930,3972,3888,0,0,0,0,0,0,26.17,26.09,26.23
$GC,7518,-0.68,-175.2,2542,1069,3972,3888,868.2,-8.6,301,7528,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2451,3933,3979,3888,0,0,0,0,0,0,26.14,26.06,26.17
$GC,7823,-0.68,-175.2,2542,2452,3970,3887,899.3,-10.0,312,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2451,3928,3970,3886,0,0,0,0,0,0,26.15,26.23,26.22
$GC,8123,-0.68,-175.2,2540,2452,3971,3886,928.7,-9.6,322,8131,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1065,3928,3970,3886,0,0,0,0,0,0,26.20,26.06,26.26
$GC,8146,-0.68,-175.2,2542,1065,3969,3886,928.7,-9.6,322,8154,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2460,3926,3970,3883,0,0,0,0,0,0,26.13,26.05,26.15
$GC,8459,-0.68,-175.2,2540,2460,3970,3885,958.5,-8.5,333,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2459,3926,3969,3884,0,0,0,0,0,0,26.19,26.26,26.25
$GC,8759,-0.68,-175.2,2542,2460,3968,3883,981.8,-7.7,343,8768,0.00,2.17,0.00,0.000,516,0.000,0.033,2541,1072,3925,3968,3883,0,0,0,0,0,0,26.15,26.05,26.21
$GC,8783,-0.68,-175.2,2542,1073,3967,3883,981.8,-7.7,343,8794,0.00,2.20,0.00,0.000,1030,0.000,0.037,2541,2450,3925,3968,3883,0,0,0,0,0,0,26.10,26.02,26.13
$STATE,8877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8877,begin apogee
$GC,8881,-0.11,0.0,2541,2101,3969,3884,991.1,-7.6,347,9026,0.65,0.00,137.65,1.307,10246,0.117,0.000,2741,2100,3279,3318,3240,0,0,0,0,0,0,25.77,24.68,23.91
$STATE,9026,end apogee,CONTROL_FINISHED_OK
$STATE,9026,begin climb
$GC,9028,0.68,175.2,2742,2101,3317,3238,995.8,0.0,351,9198,0.73,2.38,156.90,1.291,10756,0.048,0.033,3021,721,2563,2609,2517,0,0,0,0,0,0,24.89,24.04,23.49
$GC,9323,0.68,175.2,3021,721,2602,2510,982.2,13.0,361,9335,0.00,2.22,0.00,0.000,1030,0.000,0.029,3021,2107,2554,2600,2509,0,0,0,0,0,0,25.55,25.49,25.56
$GC,9627,0.68,175.2,3022,2107,2598,2508,934.1,14.3,372,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2106,2552,2598,2506,0,0,0,0,0,0,26.10,26.17,26.17
$GC,9927,0.68,175.2,3022,2106,2596,2506,892.6,13.7,382,9935,0.00,2.25,0.00,0.000,260,0.000,0.045,3022,3506,2550,2596,2505,0,0,0,0,0,0,26.20,26.11,26.27
$GC,9950,0.68,175.2,3022,3506,2596,2506,892.6,13.7,382,9960,0.12,2.15,0.00,0.000,5126,0.195,0.024,3006,2108,2550,2596,2505,0,0,0,0,0,0,25.90,26.20,26.12
$GC,10255,0.68,175.2,3005,2109,2596,2506,851.6,11.8,393,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2108,2550,2595,2505,0,0,0,0,0,0,26.17,26.25,26.24
$GC,10555,0.68,175.2,3007,2108,2594,2505,819.6,10.3,403,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2108,2550,2597,2504,0,0,0,0,0,0,26.22,26.29,26.29
$GC,10855,0.71,190.6,3007,2108,2593,2504,790.9,9.4,413,10877,0.00,2.25,12.68,1.070,8708,0.000,0.036,3015,704,2501,2546,2456,0,0,0,0,0,0,26.20,25.98,25.13
$GC,10901,0.73,204.0,3015,704,2544,2454,787.8,9.5,414,10924,0.00,2.20,13.38,1.065,9222,0.000,0.026,3021,2114,2446,2493,2400,0,0,0,0,0,0,26.10,26.03,24.95
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$STATE,17076,end climb,SURFACE_DEPTH_REACHED
$STATE,17076,begin surface coast
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$STATE,17086,end surface coast,CONTROL_FINISHED_OK
$STATE,17086,begin surface
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$HUMID,42.36
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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,17076.17 7280.03
$PA_BOOTCOUNT,342
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$10V_AH,10.22,28.003
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229920
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$CFSIZE,260034560,247799808
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