version: 66.12
glider: 178
mission: 20
dive: 134
start: 3 28 115 7 6 47
data:
$ID,178
$MISSION,20
$DIVE,134
$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,52
$R_STBD_OVSHOOT,43
$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
$GPS1,280315,065953,1112.5647,14430.3428,24,0.9,41,2.0,0.5,176.7,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-73.1
$GPS2,280315,070636,1112.5474,14430.2598,9,0.9,20,2.0,1.1,319.1,9,7.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,301.5,121958,-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,-175.2,122,2462,1244,1227,0.0,0.0,0,185,0.00,0.00,-83.43,0.000,16386,0.000,0.000,121,2462,3479,3535,3424,0,0,0,0,0,0,26.19,28.83,26.26
$GC,187,-0.68,-175.2,121,2463,3537,3426,5.6,-12.4,10,215,10.62,2.10,-7.00,0.000,18692,0.246,0.056,2541,3764,3967,3996,3938,0,0,0,0,0,0,25.70,24.66,25.89
$GC,367,-0.68,-175.2,2542,3765,3995,3943,73.6,-29.5,33,376,0.00,2.00,0.00,0.000,1030,0.000,0.023,2548,2427,3969,3995,3943,0,0,0,0,0,0,26.27,26.21,26.28
$GC,680,-0.68,-175.2,2548,2425,3995,3945,158.0,-26.2,64,689,0.00,2.17,0.00,0.000,260,0.000,0.044,2540,3772,3970,3995,3945,0,0,0,0,0,0,26.25,26.15,26.31
$GC,714,-0.68,-175.2,2539,3773,3997,3946,165.7,-23.4,67,721,0.00,1.98,0.00,0.000,1030,0.000,0.024,2544,2446,3970,3995,3945,0,0,0,0,0,0,26.29,26.27,26.31
$GC,1039,-0.68,-175.2,2545,2442,3995,3952,217.2,-13.8,91,1050,0.00,2.12,0.00,0.000,260,0.000,0.044,2536,3767,3973,3995,3951,0,0,0,0,0,0,26.30,26.20,26.36
$GC,1079,-0.68,-175.2,2536,3768,3997,3953,221.4,-13.5,92,1087,0.00,1.98,0.00,0.000,1030,0.000,0.024,2537,2444,3973,3995,3952,0,0,0,0,0,0,26.34,26.31,26.35
$GC,1397,-0.68,-175.2,2537,2442,3995,3955,267.2,-13.2,103,1405,0.00,2.10,0.00,0.000,516,0.000,0.031,2537,1068,3975,3996,3954,0,0,0,0,0,0,26.31,26.24,26.37
$GC,1460,-0.68,-175.2,2537,1068,3995,3955,275.4,-13.2,105,1468,0.12,2.15,0.00,0.000,3078,0.152,0.031,2559,2445,3974,3995,3954,0,0,0,0,0,0,26.03,26.23,26.17
$GC,1793,-0.68,-175.2,2558,2446,3997,3955,310.1,-9.0,116,1802,0.00,2.12,0.00,0.000,260,0.000,0.047,2552,3769,3975,3996,3954,0,0,0,0,0,0,26.29,26.16,26.36
$GC,1842,-0.68,-175.2,2552,3769,3995,3955,312.9,-8.8,117,1850,0.00,2.00,0.00,0.000,1030,0.000,0.025,2552,2444,3975,3996,3954,0,0,0,0,0,0,26.32,26.29,26.34
$GC,2155,-0.68,-175.2,2550,2442,3997,3952,345.4,-10.6,128,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2441,3974,3996,3952,0,0,0,0,0,0,26.29,26.36,26.35
$GC,2454,-0.68,-175.2,2551,2442,3997,3947,373.1,-8.5,138,2462,0.00,2.12,0.00,0.000,516,0.000,0.032,2551,1066,3972,3995,3950,0,0,0,0,0,0,26.30,26.21,26.36
$GC,2486,-0.68,-175.2,2552,1067,3995,3946,375.4,-8.5,139,2494,0.00,2.17,0.00,0.000,1030,0.000,0.031,2544,2450,3970,3995,3945,0,0,0,0,0,0,26.28,26.21,26.30
$GC,2809,-0.68,-175.2,2547,2450,3990,3941,408.8,-10.7,150,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2450,3967,3995,3940,0,0,0,0,0,0,26.29,26.36,26.35
$GC,3108,-0.68,-175.2,2544,2450,3994,3935,440.3,-10.2,160,3116,0.00,2.12,0.00,0.000,260,0.000,0.048,2534,3776,3964,3994,3934,0,0,0,0,0,0,26.29,26.13,26.34
$GC,3130,-0.68,-175.2,2533,3782,3995,3935,440.3,-10.2,160,3140,0.00,2.03,0.00,0.000,1030,0.000,0.026,2534,2445,3961,3989,3934,0,0,0,0,0,0,26.31,26.27,26.32
$GC,3436,-0.68,-175.2,2534,2444,3994,3929,472.5,-9.5,171,3446,0.00,2.12,0.00,0.000,516,0.000,0.032,2534,1066,3960,3994,3927,0,0,0,0,0,0,26.27,26.17,26.33
$GC,3475,-0.68,-175.2,2535,1067,3994,3927,476.0,-9.5,172,3483,0.12,2.20,0.00,0.000,3078,0.153,0.033,2556,2455,3959,3993,3925,0,0,0,0,0,0,25.97,26.16,26.12
$GC,3799,-0.68,-175.2,2556,2455,3995,3922,502.6,-8.7,183,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2454,3957,3994,3920,0,0,0,0,0,0,26.27,26.34,26.32
$GC,4098,-0.68,-175.2,2557,2455,3993,3917,529.4,-8.9,193,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2455,3958,3994,3922,0,0,0,0,0,0,26.27,26.35,26.34
$GC,4398,-0.68,-175.2,2556,2455,3995,3912,554.4,-8.1,203,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2454,3952,3993,3912,0,0,0,0,0,0,26.24,26.31,26.29
$GC,4698,-0.68,-175.2,2557,2456,3991,3909,577.6,-7.6,213,4710,0.00,2.15,0.00,0.000,516,0.000,0.032,2557,1064,3950,3991,3909,0,0,0,0,0,0,26.23,26.13,26.29
$GC,4734,-0.68,-175.2,2557,1065,3990,3909,580.1,-7.8,214,4744,0.00,2.20,0.00,0.000,1030,0.000,0.034,2551,2458,3949,3990,3908,0,0,0,0,0,0,26.20,26.13,26.23
$GC,5059,-0.68,-175.2,2550,2457,3991,3911,609.4,-9.1,225,5067,0.00,2.20,0.00,0.000,516,0.000,0.031,2551,1063,3947,3989,3906,0,0,0,0,0,0,26.24,26.12,26.30
$GC,5102,-0.68,-175.2,2552,1064,3988,3907,612.0,-9.0,226,5110,0.00,2.20,0.00,0.000,1030,0.000,0.033,2543,2458,3947,3988,3906,0,0,0,0,0,0,26.19,26.12,26.22
$GC,5415,-0.68,-175.2,2542,2459,3988,3905,642.9,-9.6,237,5422,0.00,2.15,0.00,0.000,260,0.000,0.050,2533,3773,3944,3986,3903,0,0,0,0,0,0,26.20,26.02,26.26
$GC,5462,-0.68,-175.2,2533,3774,3986,3904,645.7,-9.6,238,5469,0.00,2.03,0.00,0.000,1030,0.000,0.027,2533,2449,3945,3986,3904,0,0,0,0,0,0,26.24,26.19,26.25
$GC,5768,-0.68,-175.2,2532,2447,3986,3902,680.2,-10.8,248,5779,0.00,2.17,0.00,0.000,260,0.000,0.050,2524,3774,3943,3984,3902,0,0,0,0,0,0,26.22,26.01,26.27
$GC,5799,-0.68,-175.2,2524,3774,3982,3902,683.7,-10.8,249,5806,0.15,2.03,0.00,0.000,3078,0.147,0.027,2561,2445,3942,3983,3902,0,0,0,0,0,0,25.87,26.20,26.03
$GC,6127,-0.68,-175.2,2562,2446,3982,3895,712.6,-8.7,260,6138,0.00,2.15,0.00,0.000,516,0.000,0.032,2561,1069,3940,3982,3899,0,0,0,0,0,0,26.13,26.10,26.18
$GC,6192,-0.68,-175.2,2560,1070,3984,3900,718.1,-9.0,262,6200,0.00,2.20,0.00,0.000,1030,0.000,0.033,2557,2453,3940,3982,3899,0,0,0,0,0,0,26.16,26.08,26.19
$GC,6515,-0.68,-175.2,2558,2453,3981,3898,747.0,-8.5,273,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2452,3939,3982,3897,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6815,-0.68,-175.2,2557,2453,3980,3897,770.6,-7.5,283,6826,0.00,2.15,0.00,0.000,260,0.000,0.050,2547,3776,3938,3980,3896,0,0,0,0,0,0,26.18,25.97,26.24
$GC,6846,-0.68,-175.2,2547,3777,3978,3897,773.0,-7.4,284,6854,0.00,2.03,0.00,0.000,1030,0.000,0.027,2547,2440,3937,3979,3896,0,0,0,0,0,0,26.19,26.15,26.20
$GC,7180,-0.68,-175.2,2546,2440,3982,3895,798.0,-7.4,295,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2439,3936,3978,3895,0,0,0,0,0,0,26.18,26.26,26.25
$GC,7479,-0.68,-175.2,2546,2441,3979,3894,821.4,-7.9,305,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2440,3935,3977,3893,0,0,0,0,0,0,26.17,26.23,26.23
$GC,7779,-0.68,-175.2,2548,2440,3976,3892,846.5,-8.5,315,7790,0.00,2.10,0.00,0.000,516,0.000,0.032,2547,1081,3933,3975,3891,0,0,0,0,0,0,26.17,26.06,26.23
$GC,7810,-0.68,-175.2,2548,1082,3975,3893,849.3,-8.5,316,7817,0.00,2.20,0.00,0.000,1030,0.000,0.033,2541,2456,3934,3976,3892,0,0,0,0,0,0,26.10,26.03,26.13
$GC,8138,-0.68,-175.2,2541,2457,3977,3892,877.4,-8.4,327,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3932,3975,3890,0,0,0,0,0,0,26.11,26.20,26.18
$GC,8437,-0.68,-175.2,2541,2457,3974,3890,900.2,-7.4,337,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3931,3974,3889,0,0,0,0,0,0,26.15,26.23,26.22
$GC,8737,-0.68,-175.2,2541,2457,3974,3891,921.1,-6.9,347,8747,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1073,3930,3973,3888,0,0,0,0,0,0,26.16,26.02,26.22
$GC,8757,-0.68,-175.2,2540,1074,3976,3889,921.1,-6.9,347,8764,0.00,2.22,0.00,0.000,1030,0.000,0.034,2535,2456,3930,3973,3888,0,0,0,0,0,0,26.09,26.01,26.12
$GC,9062,-0.68,-175.2,2536,2457,3971,3888,946.2,-7.8,357,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2457,3929,3972,3887,0,0,0,0,0,0,26.10,26.19,26.17
$GC,9362,-0.68,-175.2,2534,2458,3973,3888,968.9,-7.3,367,9373,0.00,2.17,0.00,0.000,516,0.000,0.031,2535,1076,3928,3970,3886,0,0,0,0,0,0,26.15,26.01,26.22
$GC,9397,-0.68,-175.2,2534,1076,3972,3887,971.0,-7.3,368,9405,0.00,2.22,0.00,0.000,1030,0.000,0.034,2533,2458,3928,3971,3886,0,0,0,0,0,0,26.08,26.00,26.10
$STATE,9658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9658,begin apogee
$GC,9662,-0.11,0.0,2532,2101,3971,3887,991.4,-7.7,377,9807,0.68,0.00,138.57,1.310,10246,0.119,0.000,2738,2096,3279,3318,3240,0,0,0,0,0,0,25.71,24.59,23.81
$STATE,9808,end apogee,CONTROL_FINISHED_OK
$STATE,9808,begin climb
$GC,9810,0.68,175.2,2737,2097,3318,3239,996.2,0.0,381,9982,0.73,2.55,157.02,1.291,11012,0.044,0.042,3013,3512,2563,2610,2517,0,0,0,0,0,0,24.82,24.19,23.42
$GC,10116,0.68,175.2,3013,3512,2599,2515,978.8,13.9,392,10124,0.00,2.22,0.00,0.000,1030,0.000,0.023,3023,2109,2555,2599,2511,0,0,0,0,0,0,25.60,25.56,25.61
$GC,10444,0.68,175.2,3023,2110,2599,2511,934.6,13.1,403,10452,0.00,2.25,0.00,0.000,516,0.000,0.035,3034,697,2553,2597,2510,0,0,0,0,0,0,26.12,26.07,26.18
$GC,10486,0.68,175.2,3033,696,2597,2510,930.1,13.2,404,10495,0.15,2.20,0.00,0.000,5126,0.179,0.025,3000,2110,2552,2596,2508,0,0,0,0,0,0,25.83,26.10,26.06
$GC,10805,0.68,175.2,3000,2111,2597,2509,891.3,11.4,415,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2109,2551,2595,2508,0,0,0,0,0,0,26.21,26.28,26.27
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$STATE,18180,end climb,SURFACE_DEPTH_REACHED
$STATE,18180,begin surface coast
$FINISH,-0.0,1.022010
$STATE,18200,end surface coast,CONTROL_FINISHED_OK
$STATE,18200,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18218.51 7873.26
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$PA_DISK_BANK,1
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$10V_AH,10.20,28.824
$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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