version: 66.12
glider: 178
mission: 20
dive: 153
start: 4 1 115 8 18 52
data:
$ID,178
$MISSION,20
$DIVE,153
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,010415,081205,1132.6060,14349.1094,31,1.0,31,1.8,0.8,196.9,7,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-74.5
$GPS2,010415,081841,1132.5371,14349.1465,12,1.1,31,1.8,0.5,176.5,7,8.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,318.4,38737,-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,-175.2,120,2454,1242,1230,0.0,0.0,0,179,0.00,0.00,-82.55,0.000,16386,0.000,0.000,120,2453,3381,3430,3333,0,0,0,0,0,0,26.21,28.83,26.26
$GC,181,-0.68,-175.2,122,2454,3430,3334,4.5,-17.1,14,206,10.75,2.12,-8.75,0.000,18692,0.249,0.057,2542,3772,3965,3998,3932,0,0,0,0,0,0,25.63,25.44,26.02
$GC,311,-0.68,-175.2,2542,3773,3997,3942,59.7,-32.5,35,324,0.00,2.03,0.00,0.000,1030,0.000,0.024,2547,2428,3968,3995,3941,0,0,0,0,0,0,26.25,26.21,26.26
$GC,619,-0.68,-175.2,2547,2425,3994,3943,141.4,-22.0,66,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2424,3968,3995,3942,0,0,0,0,0,0,26.27,26.34,26.33
$GC,921,-0.68,-175.2,2548,2425,3995,3948,194.1,-15.4,96,934,0.00,2.15,0.00,0.000,260,0.000,0.044,2540,3763,3971,3995,3948,0,0,0,0,0,0,26.29,26.12,26.34
$GC,938,-0.68,-175.2,2539,3763,3997,3949,195.4,-14.5,97,949,0.00,1.98,0.00,0.000,1030,0.000,0.024,2541,2435,3971,3995,3948,0,0,0,0,0,0,26.29,26.25,26.32
$GC,1264,-0.68,-175.2,2539,2433,3996,3958,244.3,-13.6,110,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2432,3973,3995,3951,0,0,0,0,0,0,26.30,26.36,26.35
$GC,1564,-0.68,-175.2,2540,2433,3998,3953,281.1,-11.3,120,1572,0.00,2.17,0.00,0.000,260,0.000,0.046,2530,3775,3973,3995,3952,0,0,0,0,0,0,26.30,26.10,26.36
$GC,1601,-0.68,-175.2,2530,3772,3995,3952,284.5,-11.4,121,1609,0.00,1.98,0.00,0.000,1030,0.000,0.024,2530,2458,3973,3995,3952,0,0,0,0,0,0,26.29,26.27,26.32
$GC,1918,-0.68,-175.2,2531,2457,3995,3953,326.4,-12.6,132,1924,0.12,0.00,0.00,0.000,2054,0.159,0.000,2559,2453,3974,3996,3952,0,0,0,0,0,0,25.98,26.16,26.10
$GC,2219,-0.68,-175.2,2560,2455,3995,3950,353.1,-8.4,142,2230,0.00,2.12,0.00,0.000,516,0.000,0.031,2561,1066,3972,3995,3949,0,0,0,0,0,0,26.27,26.17,26.33
$GC,2264,-0.68,-175.2,2562,1067,3995,3949,356.0,-8.6,143,2273,0.00,2.17,0.00,0.000,1030,0.000,0.031,2554,2453,3971,3995,3948,0,0,0,0,0,0,26.22,26.16,26.25
$GC,2577,-0.68,-175.2,2553,2454,3997,3944,385.5,-9.2,154,2587,0.00,2.17,0.00,0.000,516,0.000,0.031,2554,1065,3969,3996,3942,0,0,0,0,0,0,26.27,26.15,26.34
$GC,2609,-0.68,-175.2,2555,1066,3995,3943,388.4,-9.3,155,2617,0.00,2.17,0.00,0.000,1030,0.000,0.031,2544,2458,3968,3995,3942,0,0,0,0,0,0,26.21,26.13,26.24
$GC,2942,-0.68,-175.2,2545,2458,3994,3937,420.3,-9.1,166,2951,0.00,2.12,0.00,0.000,260,0.000,0.048,2535,3773,3965,3994,3937,0,0,0,0,0,0,26.22,26.04,26.28
$GC,3001,-0.68,-175.2,2535,3773,3993,3936,423.3,-9.0,167,3011,0.00,2.00,0.00,0.000,1030,0.000,0.026,2535,2450,3964,3994,3935,0,0,0,0,0,0,26.28,26.25,26.29
$GC,3306,-0.68,-175.2,2534,2447,3995,3930,452.0,-8.7,178,3317,0.00,2.12,0.00,0.000,516,0.000,0.031,2535,1068,3961,3993,3929,0,0,0,0,0,0,26.23,26.13,26.29
$GC,3361,-0.68,-175.2,2535,1068,3993,3929,454.6,-8.8,179,3372,0.12,2.20,0.00,0.000,3078,0.151,0.033,2557,2455,3961,3994,3928,0,0,0,0,0,0,25.86,26.06,26.00
$GC,3667,-0.68,-175.2,2557,2456,3993,3923,481.5,-8.4,190,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2456,3958,3994,3923,0,0,0,0,0,0,26.22,26.29,26.28
$GC,3967,-0.68,-175.2,2556,2456,3996,3919,507.6,-8.7,200,3977,0.00,2.15,0.00,0.000,516,0.000,0.031,2556,1067,3956,3994,3918,0,0,0,0,0,0,26.22,26.10,26.29
$GC,3997,-0.68,-175.2,2556,1068,3996,3919,510.5,-8.9,201,4005,0.00,2.20,0.00,0.000,1030,0.000,0.034,2552,2452,3955,3994,3917,0,0,0,0,0,0,26.15,26.07,26.17
$GC,4330,-0.68,-175.2,2552,2452,3993,3912,542.1,-9.9,212,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2452,3952,3993,3912,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4629,-0.68,-175.2,2552,2452,3991,3910,571.3,-9.6,222,4637,0.00,2.17,0.00,0.000,516,0.000,0.031,2551,1062,3947,3991,3904,0,0,0,0,0,0,26.21,26.08,26.26
$GC,4672,-0.68,-175.2,2552,1059,3990,3908,573.9,-9.5,223,4680,0.00,2.22,0.00,0.000,1030,0.000,0.033,2543,2463,3949,3990,3909,0,0,0,0,0,0,26.14,26.07,26.17
$GC,4984,-0.68,-175.2,2544,2458,3990,3907,602.3,-8.0,234,4992,0.00,2.17,0.00,0.000,516,0.000,0.032,2543,1069,3947,3989,3906,0,0,0,0,0,0,26.20,26.06,26.26
$GC,5016,-0.68,-175.2,2542,1070,3990,3907,604.5,-7.9,235,5025,0.00,2.20,0.00,0.000,1030,0.000,0.034,2537,2446,3947,3988,3906,0,0,0,0,0,0,26.13,26.04,26.15
$GC,5345,-0.68,-175.2,2536,2447,3988,3905,630.9,-7.9,246,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2446,3945,3987,3904,0,0,0,0,0,0,26.15,26.22,26.20
$GC,5645,-0.68,-175.2,2536,2447,3986,3904,654.5,-8.0,256,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2446,3943,3984,3903,0,0,0,0,0,0,26.18,26.25,26.24
$GC,5945,-0.68,-175.2,2536,2447,3984,3902,680.6,-9.2,266,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2446,3942,3983,3901,0,0,0,0,0,0,26.17,26.25,26.23
$GC,6245,-0.68,-175.2,2536,2446,3984,3900,710.7,-10.2,276,6254,0.00,2.17,0.00,0.000,516,0.000,0.033,2537,1065,3940,3982,3899,0,0,0,0,0,0,26.20,26.04,26.26
$GC,6269,-0.68,-175.2,2536,1066,3983,3900,710.7,-10.2,276,6279,0.00,2.22,0.00,0.000,1030,0.000,0.036,2530,2448,3943,3987,3899,0,0,0,0,0,0,26.08,25.99,26.12
$GC,6574,-0.68,-175.2,2531,2449,3980,3897,745.2,-10.4,287,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2449,3938,3980,3897,0,0,0,0,0,0,26.15,26.22,26.21
$GC,6875,-0.68,-175.2,2531,2449,3978,3896,773.5,-9.0,297,6885,0.00,2.17,0.00,0.000,516,0.000,0.033,2530,1065,3937,3978,3896,0,0,0,0,0,0,26.17,26.02,26.22
$GC,6907,-0.68,-175.2,2531,1066,3978,3895,776.2,-8.8,298,6918,0.10,2.20,0.00,0.000,3078,0.129,0.036,2554,2444,3937,3978,3897,0,0,0,0,0,0,25.76,26.00,25.84
$GC,7237,-0.68,-175.2,2553,2445,3979,3896,797.6,-6.0,309,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2445,3936,3977,3895,0,0,0,0,0,0,26.15,26.22,26.22
$GC,7538,-0.68,-175.2,2553,2445,3978,3894,816.6,-6.4,319,7549,0.00,2.20,0.00,0.000,260,0.000,0.052,2547,3777,3934,3976,3893,0,0,0,0,0,0,26.14,25.91,26.20
$GC,7559,-0.68,-175.2,2547,3777,3976,3894,816.6,-6.4,319,7566,0.00,2.05,0.00,0.000,1030,0.000,0.028,2547,2449,3934,3976,3893,0,0,0,0,0,0,26.17,26.13,26.18
$GC,7864,-0.68,-175.2,2546,2447,3977,3893,840.7,-7.6,329,7874,0.00,2.17,0.00,0.000,516,0.000,0.033,2547,1057,3933,3975,3892,0,0,0,0,0,0,26.16,26.00,26.22
$GC,7889,-0.68,-175.2,2548,1057,3974,3892,840.7,-7.6,329,7899,0.00,2.25,0.00,0.000,1030,0.000,0.036,2539,2450,3933,3975,3892,0,0,0,0,0,0,26.06,25.98,26.10
$GC,8194,-0.68,-175.2,2542,2451,3973,3890,867.6,-8.5,340,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3932,3974,3890,0,0,0,0,0,0,26.17,26.25,26.24
$GC,8494,-0.68,-175.2,2541,2451,3975,3892,894.0,-8.9,350,8502,0.00,2.22,0.00,0.000,516,0.000,0.032,2541,1055,3931,3973,3889,0,0,0,0,0,0,26.16,26.01,26.22
$GC,8528,-0.68,-175.2,2541,1056,3975,3890,897.0,-8.9,351,8537,0.00,2.25,0.00,0.000,1030,0.000,0.036,2542,2452,3931,3973,3889,0,0,0,0,0,0,26.06,25.98,26.09
$GC,8857,-0.68,-175.2,2541,2453,3975,3889,926.0,-8.9,362,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3930,3973,3888,0,0,0,0,0,0,26.10,26.17,26.15
$GC,9157,-0.68,-175.2,2540,2453,3972,3888,953.1,-9.1,372,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3929,3971,3887,0,0,0,0,0,0,26.11,26.17,26.16
$GC,9459,-0.68,-175.2,2540,2453,3972,3888,980.6,-9.2,382,9470,0.00,2.20,0.00,0.000,516,0.000,0.033,2541,1061,3928,3970,3887,0,0,0,0,0,0,26.14,25.97,26.20
$GC,9510,-0.68,-175.2,2540,1062,3971,3888,983.6,-9.1,383,9518,0.00,2.25,0.00,0.000,1030,0.000,0.036,2541,2451,3926,3971,3882,0,0,0,0,0,0,26.04,25.96,26.08
$STATE,9581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9581,begin apogee
$GC,9585,-0.11,0.0,2541,2091,3972,3886,992.0,-9.1,386,9737,0.65,0.00,139.60,1.294,10246,0.117,0.000,2740,2085,3277,3317,3238,0,0,0,0,0,0,25.69,24.32,23.70
$STATE,9738,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9739,0.68,175.2,2740,2086,3318,3238,1000.5,0.0,391,9910,0.70,2.53,158.90,1.285,11012,0.048,0.044,3005,3509,2564,2610,2518,0,0,0,0,0,0,24.78,24.17,23.35
$GC,10025,0.71,190.0,3004,3510,2602,2517,991.9,9.4,399,10047,0.00,2.22,13.98,1.149,9222,0.000,0.023,3015,2110,2505,2550,2460,0,0,0,0,0,0,25.52,25.47,24.26
$GC,10357,0.71,190.0,3015,2110,2546,2453,945.9,13.1,411,10365,0.00,2.22,0.00,0.000,516,0.000,0.036,3026,697,2498,2545,2452,0,0,0,0,0,0,26.13,26.06,26.20
$GC,10424,0.71,190.0,3025,697,2546,2451,938.3,13.1,413,10435,0.00,2.22,0.00,0.000,1030,0.000,0.027,3026,2110,2497,2544,2450,0,0,0,0,0,0,26.14,26.08,26.16
$GC,10745,0.71,190.0,3027,2110,2543,2450,895.1,12.8,424,10753,0.00,2.25,0.00,0.000,260,0.000,0.044,3026,3509,2496,2542,2450,0,0,0,0,0,0,26.20,26.07,26.27
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$STATE,18543,end climb,SURFACE_DEPTH_REACHED
$STATE,18543,begin surface coast
$FINISH,0.2,1.022033
$STATE,18563,end surface coast,CONTROL_FINISHED_OK
$STATE,18563,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18594.39 8084.38
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$10V_AH,10.16,30.254
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