version: 66.12
glider: 178
mission: 20
dive: 152
start: 4 1 115 3 56 12
data:
$ID,178
$MISSION,20
$DIVE,152
$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,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
$GPS1,010415,034924,1132.0297,14351.0830,74,1.3,74,1.8,0.3,318.7,7,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-75.2
$GPS2,010415,035601,1131.9930,14351.1299,14,1.3,14,1.8,0.2,237.2,7,9.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,306.0,42383,-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,-175.2,122,2460,1241,1230,0.0,0.0,0,175,0.00,0.00,-78.40,0.000,16386,0.000,0.000,120,2460,3259,3306,3213,0,0,0,0,0,0,26.17,28.83,26.23
$GC,177,-0.68,-175.2,120,2460,3308,3216,4.0,-15.2,13,208,10.62,2.12,-11.00,0.000,19204,0.245,0.058,2542,3769,3963,3998,3928,0,0,0,0,0,0,25.65,24.53,26.02
$GC,348,-0.68,-175.2,2543,3769,3995,3940,69.0,-31.6,40,358,0.00,2.03,0.00,0.000,1030,0.000,0.024,2547,2423,3967,3995,3939,0,0,0,0,0,0,26.25,26.20,26.27
$GC,654,-0.68,-175.2,2546,2421,3997,3943,153.4,-20.2,71,662,0.00,2.17,0.00,0.000,260,0.000,0.044,2540,3772,3968,3995,3941,0,0,0,0,0,0,26.27,26.10,26.33
$GC,711,-0.68,-175.2,2539,3773,3997,3944,164.0,-18.6,76,725,0.00,2.00,0.00,0.000,1030,0.000,0.024,2542,2433,3969,3995,3943,0,0,0,0,0,0,26.27,26.24,26.28
$GC,1032,-0.68,-175.2,2543,2433,3995,3949,213.7,-15.2,102,1041,0.00,2.08,0.00,0.000,516,0.000,0.029,2545,1071,3971,3995,3948,0,0,0,0,0,0,26.26,26.17,26.32
$GC,1130,-0.68,-175.2,2546,1071,3995,3950,225.1,-12.6,105,1138,0.00,2.15,0.00,0.000,1030,0.000,0.031,2538,2446,3972,3995,3950,0,0,0,0,0,0,26.24,26.17,26.26
$GC,1453,-0.68,-175.2,2537,2446,3997,3952,268.6,-13.5,116,1461,0.00,2.12,0.00,0.000,260,0.000,0.047,2528,3775,3973,3996,3951,0,0,0,0,0,0,26.28,26.08,26.34
$GC,1515,-0.68,-175.2,2524,3776,3998,3952,276.0,-13.2,118,1523,0.12,1.98,0.00,0.000,3078,0.152,0.024,2558,2445,3973,3996,3951,0,0,0,0,0,0,25.98,26.25,26.11
$GC,1838,-0.68,-175.2,2558,2445,3997,3951,313.4,-11.7,129,1846,0.00,2.12,0.00,0.000,516,0.000,0.031,2560,1069,3973,3996,3951,0,0,0,0,0,0,26.28,26.17,26.34
$GC,1911,-0.68,-175.2,2561,1069,3996,3951,320.1,-11.5,131,1918,0.00,2.17,0.00,0.000,1030,0.000,0.032,2553,2453,3973,3995,3951,0,0,0,0,0,0,26.22,26.15,26.25
$GC,2223,-0.68,-175.2,2552,2453,3997,3947,351.9,-8.6,142,2232,0.00,2.12,0.00,0.000,260,0.000,0.048,2543,3773,3970,3995,3946,0,0,0,0,0,0,26.26,26.06,26.32
$GC,2296,-0.68,-175.2,2544,3774,3995,3946,357.3,-8.5,144,2304,0.00,2.00,0.00,0.000,1030,0.000,0.024,2543,2444,3970,3995,3946,0,0,0,0,0,0,26.29,26.25,26.30
$GC,2613,-0.68,-175.2,2544,2439,3995,3942,386.2,-9.2,155,2622,0.00,2.12,0.00,0.000,516,0.000,0.031,2544,1065,3968,3995,3941,0,0,0,0,0,0,26.26,26.15,26.32
$GC,2667,-0.68,-175.2,2544,1065,3994,3941,389.3,-9.2,156,2679,0.00,2.17,0.00,0.000,1030,0.000,0.031,2535,2458,3967,3995,3940,0,0,0,0,0,0,26.20,26.13,26.24
$GC,2976,-0.68,-175.2,2534,2458,3996,3935,425.7,-12.0,167,2987,0.00,2.10,0.00,0.000,260,0.000,0.047,2525,3763,3964,3994,3935,0,0,0,0,0,0,26.24,26.05,26.30
$GC,3027,-0.68,-175.2,2526,3764,3994,3934,429.6,-12.1,168,3035,0.12,2.00,0.00,0.000,3078,0.152,0.026,2555,2439,3963,3994,3933,0,0,0,0,0,0,25.93,26.23,26.06
$GC,3340,-0.68,-175.2,2555,2440,3994,3927,462.8,-9.3,179,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2439,3960,3994,3927,0,0,0,0,0,0,26.25,26.31,26.30
$GC,3640,-0.68,-175.2,2554,2440,3996,3923,487.8,-8.1,189,3648,0.00,2.10,0.00,0.000,516,0.000,0.031,2555,1076,3957,3994,3921,0,0,0,0,0,0,26.25,26.10,26.30
$GC,3687,-0.68,-175.2,2556,1076,3993,3921,490.1,-8.1,190,3695,0.00,2.17,0.00,0.000,1030,0.000,0.032,2551,2449,3957,3994,3921,0,0,0,0,0,0,26.18,26.11,26.22
$GC,3993,-0.68,-175.2,2552,2450,3994,3916,517.7,-8.7,200,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2450,3954,3994,3915,0,0,0,0,0,0,26.22,26.29,26.29
$GC,4293,-0.68,-175.2,2551,2451,3993,3912,542.7,-8.2,210,4301,0.00,2.15,0.00,0.000,516,0.000,0.030,2551,1066,3954,3993,3915,0,0,0,0,0,0,26.22,26.10,26.27
$GC,4320,-0.68,-175.2,2550,1067,3995,3911,542.7,-8.2,210,4331,0.00,2.20,0.00,0.000,1030,0.000,0.034,2543,2449,3951,3993,3910,0,0,0,0,0,0,26.09,26.02,26.13
$GC,4625,-0.68,-175.2,2544,2450,3992,3908,574.2,-10.1,221,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2449,3949,3991,3907,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4925,-0.68,-175.2,2542,2450,3991,3907,608.8,-12.1,231,4934,0.00,2.17,0.00,0.000,516,0.000,0.031,2543,1068,3947,3990,3905,0,0,0,0,0,0,26.20,26.06,26.27
$GC,4948,-0.68,-175.2,2542,1068,3991,3906,608.8,-12.1,231,4958,0.00,2.20,0.00,0.000,1030,0.000,0.034,2537,2456,3947,3990,3905,0,0,0,0,0,0,26.12,26.04,26.15
$GC,5253,-0.68,-175.2,2537,2457,3987,3904,649.2,-12.0,242,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2456,3945,3987,3904,0,0,0,0,0,0,26.17,26.25,26.23
$GC,5553,-0.68,-175.2,2536,2460,3987,3903,681.7,-10.5,252,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2457,3943,3986,3901,0,0,0,0,0,0,26.20,26.28,26.27
$GC,5854,-0.68,-175.2,2536,2457,3985,3901,711.4,-9.6,262,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2456,3941,3983,3900,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6153,-0.68,-175.2,2536,2457,3984,3899,739.6,-9.2,272,6163,0.00,2.17,0.00,0.000,516,0.000,0.031,2536,1078,3940,3982,3898,0,0,0,0,0,0,26.18,26.04,26.25
$GC,6208,-0.68,-175.2,2536,1079,3979,3898,742.7,-9.2,273,6215,0.00,2.20,0.00,0.000,1030,0.000,0.035,2532,2450,3939,3981,3898,0,0,0,0,0,0,26.14,26.03,26.14
$GC,6513,-0.68,-175.2,2533,2451,3981,3897,772.3,-9.1,283,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2450,3938,3981,3896,0,0,0,0,0,0,26.19,26.25,26.25
$GC,6813,-0.68,-175.2,2531,2451,3981,3896,800.1,-9.3,293,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2450,3937,3979,3895,0,0,0,0,0,0,26.17,26.22,26.22
$GC,7113,-0.68,-175.2,2531,2451,3980,3894,827.2,-9.1,303,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2450,3935,3978,3893,0,0,0,0,0,0,26.17,26.25,26.23
$GC,7413,-0.68,-175.2,2528,2451,3977,3892,854.9,-9.2,313,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2450,3934,3977,3892,0,0,0,0,0,0,26.15,26.21,26.20
$GC,7713,-0.68,-175.2,2532,2451,3976,3891,883.8,-9.7,323,7722,0.00,2.17,0.00,0.000,516,0.000,0.031,2531,1077,3933,3976,3890,0,0,0,0,0,0,26.14,26.01,26.20
$GC,7746,-0.68,-175.2,2532,1078,3975,3891,887.1,-9.8,324,7756,0.00,2.22,0.00,0.000,1030,0.000,0.035,2529,2460,3933,3977,3890,0,0,0,0,0,0,26.07,25.99,26.10
$GC,8076,-0.68,-175.2,2527,2462,3976,3889,920.6,-10.2,335,8088,0.12,2.20,0.00,0.000,2564,0.168,0.028,2563,1055,3931,3974,3888,0,0,0,0,0,0,25.74,25.89,25.82
$GC,8102,-0.68,-175.2,2563,1055,3974,3889,920.6,-10.2,335,8112,0.00,2.25,0.00,0.000,1030,0.000,0.034,2559,2454,3931,3975,3888,0,0,0,0,0,0,26.06,25.98,26.09
$GC,8407,-0.68,-175.2,2560,2457,3973,3895,947.1,-8.0,346,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3931,3974,3888,0,0,0,0,0,0,26.17,26.25,26.23
$GC,8708,-0.68,-175.2,2554,2454,3973,3888,970.0,-7.5,356,8716,0.00,2.17,0.00,0.000,516,0.000,0.030,2559,1066,3929,3972,3887,0,0,0,0,0,0,26.13,25.99,26.20
$GC,8735,-0.68,-175.2,2558,1067,3971,3888,970.0,-7.5,356,8745,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2451,3929,3972,3887,0,0,0,0,0,0,26.03,25.94,26.06
$STATE,9009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9009,begin apogee
$GC,9013,-0.11,0.0,2561,2101,3971,3887,991.8,-7.2,366,9164,0.60,0.00,139.12,1.300,10246,0.109,0.000,2746,2100,3278,3318,3238,0,0,0,0,0,0,25.70,24.32,23.70
$STATE,9165,end apogee,CONTROL_FINISHED_OK
$STATE,9165,begin climb
$GC,9167,0.68,175.2,2746,2101,3318,3237,999.5,0.0,371,9337,0.70,2.38,157.45,1.289,11012,0.044,0.034,3017,739,2564,2612,2517,0,0,0,0,0,0,24.81,24.16,23.37
$GC,9392,0.91,300.4,3016,739,2608,2512,997.8,5.2,378,9516,0.17,2.25,113.05,1.267,11270,0.086,0.025,3081,2113,2054,2102,2007,0,0,0,0,0,0,25.03,25.07,23.40
$GC,9820,0.91,300.4,3081,2113,2093,1997,913.3,20.1,393,9828,0.00,2.25,0.00,0.000,260,0.000,0.042,3081,3507,2044,2092,1997,0,0,0,0,0,0,26.07,25.96,26.13
$GC,9848,0.91,300.4,3083,3508,2089,1997,907.5,20.4,394,9858,0.00,2.15,0.00,0.000,1030,0.000,0.024,3093,2119,2043,2090,1996,0,0,0,0,0,0,26.12,26.08,26.14
$GC,10178,0.91,300.4,3094,2120,2088,1997,838.8,20.9,405,10189,0.00,2.22,0.00,0.000,516,0.000,0.036,3104,708,2042,2088,1996,0,0,0,0,0,0,26.20,26.15,26.27
$GC,10233,0.91,300.4,3105,709,2088,1996,832.2,21.1,406,10244,0.12,2.17,0.00,0.000,5126,0.195,0.026,3078,2098,2041,2088,1995,0,0,0,0,0,0,25.88,26.18,26.10
$GC,10539,0.91,300.4,3079,2100,2087,1995,766.6,19.6,417,10546,0.00,2.28,0.00,0.000,260,0.000,0.044,3078,3508,2041,2088,1994,0,0,0,0,0,0,26.23,26.08,26.30
$GC,10571,0.91,300.4,3080,3508,2089,1995,760.9,19.7,418,10581,0.00,2.17,0.00,0.000,1030,0.000,0.023,3086,2101,2040,2087,1994,0,0,0,0,0,0,26.25,26.20,26.27
$GC,10897,0.91,300.4,3087,2101,2086,1995,693.9,20.1,429,10906,0.00,2.22,0.00,0.000,516,0.000,0.036,3097,704,2040,2086,1994,0,0,0,0,0,0,26.23,26.11,26.29
$GC,10936,0.91,300.4,3098,704,2086,1994,687.8,20.1,430,10944,0.00,2.20,0.00,0.000,1030,0.000,0.026,3097,2107,2040,2086,1994,0,0,0,0,0,0,26.22,26.15,26.25
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$GC,12756,0.91,300.4,3071,2102,2086,1993,336.3,16.5,491,12766,0.00,2.20,0.00,0.000,516,0.000,0.034,3080,702,2038,2084,1992,0,0,0,0,0,0,26.15,26.02,26.23
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$GC,14258,1.05,381.3,3071,2113,2079,1990,118.1,6.9,582,14334,0.12,2.30,65.75,0.698,10500,0.094,0.041,3125,3494,1723,1764,1682,0,0,0,0,0,0,25.99,25.54,24.91
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$STATE,15210,end climb,SURFACE_DEPTH_REACHED
$STATE,15210,begin surface coast
$FINISH,0.0,1.022003
$STATE,15230,end surface coast,CONTROL_FINISHED_OK
$STATE,15230,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,15256.17 6847.14
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$10V_AH,10.15,30.179
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229928
$DATA_FILE_SIZE,30091,717
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$CFSIZE,260034560,245428224
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