version: 66.12
glider: 178
mission: 20
dive: 132
start: 3 27 115 20 37 28
data:
$ID,178
$MISSION,20
$DIVE,132
$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,41
$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
$GPS1,270315,203029,1114.0508,14433.1191,42,1.1,42,2.0,0.6,336.5,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-75.2
$GPS2,270315,203717,1114.0544,14433.0889,12,1.2,28,2.0,0.4,72.9,7,7.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.5,5407,-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,-175.2,122,2431,1243,1228,0.0,0.0,0,187,0.00,0.00,-86.07,0.000,16386,0.000,0.000,121,2430,3554,3620,3489,0,0,0,0,0,0,26.20,28.83,26.26
$GC,189,-0.68,-175.2,121,2431,3619,3489,5.0,-13.6,11,213,10.77,2.12,-5.85,0.000,18948,0.249,0.041,2557,1041,3964,3997,3932,0,0,0,0,0,0,25.67,25.40,25.89
$GC,318,-0.68,-175.2,2556,1042,3997,3940,54.5,-25.0,30,336,0.00,2.22,0.00,0.000,1030,0.000,0.034,2549,2449,3967,3995,3939,0,0,0,0,0,0,26.20,26.13,26.23
$GC,631,-0.68,-175.2,2548,2450,3997,3942,142.9,-23.8,61,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,3968,3995,3942,0,0,0,0,0,0,26.25,26.31,26.31
$GC,933,-0.68,-175.2,2550,2450,3995,3947,200.4,-17.5,91,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,3970,3995,3946,0,0,0,0,0,0,26.29,26.36,26.35
$GC,1232,-0.68,-175.2,2548,2450,3997,3951,242.1,-10.6,101,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,3972,3995,3950,0,0,0,0,0,0,26.29,26.36,26.35
$GC,1532,-0.68,-175.2,2548,2450,3997,3951,271.9,-11.0,111,1540,0.00,2.12,0.00,0.000,260,0.000,0.049,2539,3768,3973,3995,3951,0,0,0,0,0,0,26.30,26.16,26.36
$GC,1560,-0.68,-175.2,2538,3768,3997,3952,271.9,-11.0,111,1570,0.00,2.00,0.00,0.000,1030,0.000,0.025,2539,2430,3973,3996,3951,0,0,0,0,0,0,26.34,26.30,26.35
$GC,1865,-0.68,-175.2,2538,2428,3997,3957,319.7,-13.6,122,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2428,3972,3995,3950,0,0,0,0,0,0,26.32,26.39,26.38
$GC,2165,-0.68,-175.2,2538,2428,3998,3949,354.9,-11.8,132,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2427,3971,3995,3948,0,0,0,0,0,0,26.29,26.37,26.36
$GC,2465,-0.68,-175.2,2538,2427,3998,3944,389.0,-10.5,142,2473,0.00,2.10,0.00,0.000,516,0.000,0.033,2540,1064,3968,3995,3942,0,0,0,0,0,0,26.29,26.20,26.36
$GC,2492,-0.68,-175.2,2538,1061,3997,3944,389.0,-10.5,142,2502,0.00,2.20,0.00,0.000,1030,0.000,0.034,2530,2455,3968,3995,3942,0,0,0,0,0,0,26.24,26.17,26.26
$GC,2798,-0.68,-175.2,2530,2455,3994,3938,424.5,-11.0,153,2806,0.12,2.12,0.00,0.000,2308,0.171,0.048,2556,3775,3966,3994,3938,0,0,0,0,0,0,25.98,26.12,26.06
$GC,2826,-0.68,-175.2,2555,3775,3996,3938,424.5,-11.0,153,2836,0.00,2.00,0.00,0.000,1030,0.000,0.026,2556,2440,3965,3994,3937,0,0,0,0,0,0,26.32,26.27,26.32
$GC,3131,-0.68,-175.2,2555,2438,3996,3931,455.5,-9.2,164,3139,0.00,2.12,0.00,0.000,516,0.000,0.032,2556,1060,3962,3994,3931,0,0,0,0,0,0,26.30,26.19,26.39
$GC,3174,-0.68,-175.2,2556,1061,3994,3931,458.4,-9.2,165,3182,0.00,2.20,0.00,0.000,1030,0.000,0.032,2549,2452,3962,3994,3930,0,0,0,0,0,0,26.25,26.18,26.27
$GC,3496,-0.68,-175.2,2548,2453,3996,3926,490.2,-9.8,176,3504,0.00,2.12,0.00,0.000,260,0.000,0.050,2539,3764,3959,3994,3924,0,0,0,0,0,0,26.27,26.09,26.33
$GC,3528,-0.68,-175.2,2538,3765,3996,3924,493.5,-9.8,177,3536,0.00,1.98,0.00,0.000,1030,0.000,0.027,2539,2450,3959,3994,3924,0,0,0,0,0,0,26.29,26.26,26.31
$GC,3861,-0.68,-175.2,2540,2448,3994,3919,530.7,-11.8,188,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2447,3956,3994,3918,0,0,0,0,0,0,26.26,26.32,26.32
$GC,4161,-0.68,-175.2,2538,2448,3995,3914,568.7,-12.9,198,4169,0.00,2.12,0.00,0.000,516,0.000,0.032,2540,1071,3953,3994,3913,0,0,0,0,0,0,26.25,26.17,26.32
$GC,4193,-0.68,-175.2,2540,1071,3993,3913,572.3,-13.0,199,4201,0.00,2.20,0.00,0.000,1030,0.000,0.034,2530,2453,3952,3993,3912,0,0,0,0,0,0,26.21,26.14,26.23
$GC,4521,-0.68,-175.2,2531,2454,3991,3909,614.7,-12.2,210,4531,0.00,2.17,0.00,0.000,516,0.000,0.031,2530,1062,3950,3992,3909,0,0,0,0,0,0,26.14,26.07,26.21
$GC,4550,-0.68,-175.2,2529,1063,3993,3909,618.2,-11.9,211,4558,0.15,2.22,0.00,0.000,3078,0.148,0.034,2559,2457,3950,3991,3909,0,0,0,0,0,0,25.88,26.11,26.05
$GC,4878,-0.68,-175.2,2559,2457,3992,3907,644.5,-7.6,222,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2457,3947,3989,3906,0,0,0,0,0,0,26.20,26.27,26.25
$GC,5178,-0.68,-175.2,2560,2457,3988,3905,667.4,-7.7,232,5186,0.00,2.15,0.00,0.000,260,0.000,0.051,2552,3770,3945,3987,3904,0,0,0,0,0,0,26.24,26.03,26.29
$GC,5230,-0.68,-175.2,2551,3771,3989,3905,669.6,-7.7,233,5241,0.00,2.00,0.00,0.000,1030,0.000,0.027,2552,2440,3945,3987,3904,0,0,0,0,0,0,26.25,26.21,26.26
$GC,5536,-0.68,-175.2,2553,2441,3986,3903,694.7,-7.4,244,5546,0.00,2.12,0.00,0.000,516,0.000,0.032,2552,1070,3944,3986,3902,0,0,0,0,0,0,26.25,26.10,26.29
$GC,5561,-0.68,-175.2,2553,1070,3985,3902,694.7,-7.4,244,5572,0.00,2.20,0.00,0.000,1030,0.000,0.034,2545,2452,3944,3986,3902,0,0,0,0,0,0,26.17,26.09,26.20
$GC,5866,-0.68,-175.2,2543,2453,3986,3901,720.9,-8.0,255,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2452,3941,3984,3899,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6166,-0.68,-175.2,2543,2453,3984,3899,747.9,-9.6,265,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2451,3940,3982,3898,0,0,0,0,0,0,26.23,26.29,26.29
$GC,6466,-0.68,-175.2,2544,2452,3981,3897,777.0,-9.5,275,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2451,3939,3981,3897,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6766,-0.68,-175.2,2544,2452,3981,3897,803.8,-8.6,285,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2452,3937,3980,3895,0,0,0,0,0,0,26.19,26.27,26.25
$GC,7066,-0.68,-175.2,2545,2452,3978,3895,827.5,-7.6,295,7076,0.00,2.17,0.00,0.000,516,0.000,0.033,2544,1068,3935,3977,3894,0,0,0,0,0,0,26.17,26.05,26.23
$GC,7096,-0.68,-175.2,2542,1069,3980,3895,829.8,-7.4,296,7104,0.00,2.22,0.00,0.000,1030,0.000,0.037,2539,2446,3936,3978,3894,0,0,0,0,0,0,26.09,26.01,26.13
$GC,7424,-0.68,-175.2,2539,2450,3971,3893,854.7,-7.7,307,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2449,3934,3977,3892,0,0,0,0,0,0,26.16,26.22,26.22
$GC,7724,-0.68,-175.2,2539,2450,3976,3891,877.8,-7.6,317,7734,0.00,2.20,0.00,0.000,260,0.000,0.052,2528,3782,3933,3976,3891,0,0,0,0,0,0,26.15,25.96,26.20
$GC,7764,-0.68,-175.2,2527,3783,3977,3892,880.4,-7.8,318,7771,0.12,2.03,0.00,0.000,3078,0.151,0.027,2559,2456,3933,3976,3890,0,0,0,0,0,0,25.85,26.15,25.99
$GC,8086,-0.68,-175.2,2558,2457,3977,3890,903.8,-7.4,329,8095,0.00,2.17,0.00,0.000,516,0.000,0.033,2560,1066,3932,3975,3890,0,0,0,0,0,0,26.17,26.03,26.22
$GC,8119,-0.68,-175.2,2561,1067,3975,3890,906.6,-7.7,330,8127,0.00,2.22,0.00,0.000,1030,0.000,0.036,2559,2453,3932,3975,3889,0,0,0,0,0,0,26.08,26.01,26.11
$GC,8447,-0.68,-175.2,2559,2454,3975,3889,932.9,-8.3,341,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3931,3974,3888,0,0,0,0,0,0,26.13,26.20,26.20
$GC,8747,-0.68,-175.2,2560,2454,3973,3888,956.1,-7.4,351,8754,0.00,2.20,0.00,0.000,516,0.000,0.033,2559,1068,3930,3974,3887,0,0,0,0,0,0,26.15,26.02,26.21
$GC,8774,-0.68,-175.2,2559,1068,3975,3888,956.1,-7.4,351,8785,0.00,2.25,0.00,0.000,1030,0.000,0.037,2559,2456,3930,3973,3887,0,0,0,0,0,0,26.08,26.00,26.12
$GC,9079,-0.68,-175.2,2560,2456,3972,3887,979.1,-6.6,362,9087,0.00,2.20,0.00,0.000,516,0.000,0.031,2559,1068,3929,3973,3886,0,0,0,0,0,0,26.15,26.02,26.21
$GC,9107,-0.68,-175.2,2559,1064,3974,3887,979.1,-6.6,362,9118,0.00,2.25,0.00,0.000,1030,0.000,0.037,2557,2452,3929,3972,3886,0,0,0,0,0,0,26.09,26.01,26.10
$STATE,9260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9264,-0.11,0.0,2559,2088,3973,3887,990.5,-6.1,368,9410,0.57,0.00,138.57,1.311,10246,0.109,0.000,2739,2087,3281,3320,3242,0,0,0,0,0,0,25.77,24.60,23.81
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9411,begin climb
$GC,9412,0.68,175.2,2738,2088,3321,3241,995.5,0.0,372,9584,0.73,2.38,158.27,1.295,10756,0.052,0.037,3014,736,2563,2610,2517,0,0,0,0,0,0,24.82,24.19,23.43
$GC,9669,0.72,196.7,3014,737,2605,2511,990.1,9.2,381,9699,0.00,2.22,19.67,1.196,9222,0.000,0.029,3015,2108,2475,2522,2428,0,0,0,0,0,0,25.30,25.25,24.13
$GC,10014,0.72,196.7,3015,2114,2518,2418,945.1,12.6,393,10024,0.00,2.22,0.00,0.000,516,0.000,0.037,3025,723,2469,2518,2421,0,0,0,0,0,0,26.08,26.03,26.14
$GC,10114,0.72,196.7,3025,723,2517,2420,933.3,13.0,396,10122,0.00,2.17,0.00,0.000,1030,0.000,0.030,3025,2100,2468,2518,2419,0,0,0,0,0,0,26.16,26.10,26.18
$GC,10432,0.72,196.7,3026,2101,2516,2420,890.1,13.0,407,10441,0.00,2.25,0.00,0.000,260,0.000,0.046,3025,3503,2468,2517,2419,0,0,0,0,0,0,26.22,26.10,26.28
$GC,10481,0.72,196.7,3025,3504,2517,2420,885.6,13.3,408,10489,0.00,2.15,0.00,0.000,1030,0.000,0.024,3035,2115,2468,2517,2419,0,0,0,0,0,0,26.24,26.19,26.26
$GC,10794,0.72,196.7,3036,2116,2515,2419,836.2,15.2,419,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2116,2466,2515,2418,0,0,0,0,0,0,26.22,26.29,26.29
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$STATE,17854,end climb,SURFACE_DEPTH_REACHED
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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
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