version: 66.12
glider: 178
mission: 20
dive: 169
start: 4 4 115 19 51 35
data:
$ID,178
$MISSION,20
$DIVE,169
$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,53
$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
$GPS1,040415,194436,1153.7794,14337.5068,55,0.9,55,1.7,0.6,219.1,9,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-73.9
$GPS2,040415,195124,1153.7894,14337.4424,9,1.1,13,1.7,0.2,59.3,7,7.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,14.7,196845,-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,-175.2,120,2480,1244,1224,0.0,0.0,0,181,0.00,0.00,-79.28,0.000,16386,0.000,0.000,120,2480,3226,3274,3179,0,0,0,0,0,0,26.25,28.83,26.31
$GC,184,-0.68,-175.2,121,2480,3274,3181,3.1,-8.4,12,216,10.77,2.08,-11.90,0.000,18692,0.246,0.059,2544,3746,3964,3998,3931,0,0,0,0,0,0,25.59,24.44,25.98
$GC,310,-0.68,-175.2,2545,3746,3995,3939,52.9,-33.3,34,322,0.00,1.98,0.00,0.000,1030,0.000,0.024,2548,2420,3966,3995,3938,0,0,0,0,0,0,26.25,26.21,26.27
$GC,617,-0.68,-175.2,2549,2418,3994,3941,145.3,-24.3,65,625,0.00,2.17,0.00,0.000,260,0.000,0.044,2541,3761,3967,3994,3941,0,0,0,0,0,0,26.28,26.09,26.34
$GC,665,-0.68,-175.2,2542,3762,3994,3942,154.9,-22.7,69,677,0.00,1.98,0.00,0.000,1030,0.000,0.024,2541,2445,3971,3995,3948,0,0,0,0,0,0,26.22,26.18,26.25
$GC,982,-0.68,-175.2,2540,2443,3996,3946,215.3,-16.8,95,994,0.00,2.10,0.00,0.000,516,0.000,0.030,2544,1071,3970,3995,3946,0,0,0,0,0,0,26.29,26.17,26.35
$GC,1008,-0.68,-175.2,2545,1068,3994,3946,215.3,-16.8,95,1019,0.00,2.12,0.00,0.000,1030,0.000,0.031,2538,2444,3970,3995,3946,0,0,0,0,0,0,26.23,26.17,26.25
$GC,1314,-0.68,-175.2,2536,2445,3997,3949,266.1,-16.8,106,1322,0.00,2.12,0.00,0.000,260,0.000,0.046,2527,3768,3971,3995,3947,0,0,0,0,0,0,26.28,26.08,26.34
$GC,1351,-0.68,-175.2,2526,3770,3996,3954,270.8,-16.9,107,1359,0.12,1.95,0.00,0.000,3078,0.155,0.024,2556,2446,3971,3995,3947,0,0,0,0,0,0,25.97,26.26,26.10
$GC,1669,-0.68,-175.2,2555,2447,3997,3949,306.4,-8.7,118,1680,0.00,2.15,0.00,0.000,260,0.000,0.047,2549,3772,3971,3995,3948,0,0,0,0,0,0,26.29,26.08,26.35
$GC,1694,-0.68,-175.2,2548,3773,3997,3949,306.4,-8.7,118,1706,0.00,1.95,0.00,0.000,1030,0.000,0.024,2549,2456,3971,3995,3948,0,0,0,0,0,0,26.28,26.24,26.30
$GC,1999,-0.68,-175.2,2550,2455,3995,3948,337.0,-9.6,129,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2454,3971,3995,3947,0,0,0,0,0,0,26.27,26.34,26.34
$GC,2301,-0.68,-175.2,2548,2454,3997,3945,368.9,-10.8,139,2310,0.00,2.10,0.00,0.000,516,0.000,0.031,2548,1078,3969,3995,3944,0,0,0,0,0,0,26.27,26.15,26.33
$GC,2320,-0.68,-175.2,2550,1079,3995,3945,368.9,-10.8,139,2328,0.00,2.15,0.00,0.000,1030,0.000,0.033,2543,2453,3969,3995,3944,0,0,0,0,0,0,26.21,26.13,26.24
$GC,2625,-0.68,-175.2,2542,2455,3997,3939,402.8,-10.2,149,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2453,3966,3995,3938,0,0,0,0,0,0,26.25,26.32,26.32
$GC,2925,-0.68,-175.2,2544,2453,3994,3934,432.1,-9.6,159,2933,0.00,2.15,0.00,0.000,260,0.000,0.048,2533,3776,3963,3994,3933,0,0,0,0,0,0,26.27,26.02,26.33
$GC,2953,-0.68,-175.2,2534,3777,3994,3933,434.8,-9.7,160,2963,0.00,2.00,0.00,0.000,1030,0.000,0.026,2533,2445,3963,3994,3932,0,0,0,0,0,0,26.23,26.20,26.25
$GC,3283,-0.68,-175.2,2534,2441,3993,3927,471.1,-11.2,171,3294,0.00,2.15,0.00,0.000,516,0.000,0.031,2533,1064,3959,3994,3925,0,0,0,0,0,0,26.22,26.10,26.29
$GC,3308,-0.68,-175.2,2532,1064,3995,3926,471.1,-11.2,171,3320,0.12,2.17,0.00,0.000,3078,0.154,0.033,2555,2450,3959,3994,3925,0,0,0,0,0,0,25.86,26.08,26.01
$GC,3614,-0.68,-175.2,2555,2451,3994,3919,500.1,-8.0,182,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2450,3956,3994,3918,0,0,0,0,0,0,26.17,26.25,26.23
$GC,3914,-0.68,-175.2,2555,2451,3996,3915,522.9,-7.5,192,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2450,3954,3994,3914,0,0,0,0,0,0,26.24,26.30,26.29
$GC,4214,-0.68,-175.2,2554,2451,3995,3916,543.9,-6.8,202,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2450,3951,3993,3909,0,0,0,0,0,0,26.20,26.27,26.27
$GC,4514,-0.68,-175.2,2555,2451,3993,3907,565.1,-7.2,212,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2451,3948,3991,3906,0,0,0,0,0,0,26.21,26.28,26.25
$GC,4815,-0.68,-175.2,2557,2451,3989,3904,587.3,-7.6,222,4826,0.00,2.15,0.00,0.000,516,0.000,0.031,2555,1064,3946,3989,3904,0,0,0,0,0,0,26.17,26.02,26.24
$GC,4860,-0.68,-175.2,2556,1064,3988,3904,589.8,-7.6,223,4870,0.00,2.22,0.00,0.000,1030,0.000,0.034,2551,2459,3946,3988,3904,0,0,0,0,0,0,26.10,26.03,26.13
$GC,5180,-0.68,-175.2,2552,2460,3986,3901,617.7,-8.7,234,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2460,3943,3986,3901,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5480,-0.68,-175.2,2551,2460,3982,3899,643.9,-8.6,244,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2460,3941,3984,3899,0,0,0,0,0,0,26.21,26.27,26.25
$GC,5780,-0.68,-175.2,2552,2460,3982,3897,669.9,-8.6,254,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2460,3939,3982,3896,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6080,-0.68,-175.2,2550,2461,3983,3896,695.7,-8.6,264,6087,0.00,2.17,0.00,0.000,516,0.000,0.031,2551,1068,3938,3981,3896,0,0,0,0,0,0,26.20,26.01,26.25
$GC,6122,-0.68,-175.2,2551,1069,3982,3896,698.1,-8.6,265,6129,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2452,3938,3981,3895,0,0,0,0,0,0,26.08,26.00,26.11
$GC,6434,-0.68,-175.2,2547,2454,3979,3894,725.3,-8.0,276,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2453,3936,3979,3893,0,0,0,0,0,0,26.18,26.25,26.24
$GC,6734,-0.68,-175.2,2546,2455,3979,3891,749.9,-8.3,286,6742,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1065,3934,3977,3891,0,0,0,0,0,0,26.17,26.00,26.22
$GC,6781,-0.68,-175.2,2546,1065,3979,3892,752.3,-8.4,287,6789,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2450,3935,3977,3893,0,0,0,0,0,0,26.03,25.96,26.07
$GC,7087,-0.68,-175.2,2547,2451,3976,3890,779.0,-8.1,297,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3932,3976,3889,0,0,0,0,0,0,26.14,26.23,26.20
$GC,7386,-0.68,-175.2,2545,2451,3978,3889,802.8,-7.7,307,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3931,3974,3888,0,0,0,0,0,0,26.17,26.24,26.23
$GC,7687,-0.68,-175.2,2546,2450,3974,3887,825.2,-7.3,317,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3928,3970,3887,0,0,0,0,0,0,26.15,26.22,26.22
$GC,7987,-0.68,-175.2,2547,2451,3972,3887,847.4,-7.3,327,7999,0.00,2.15,0.00,0.000,516,0.000,0.031,2546,1068,3928,3971,3886,0,0,0,0,0,0,26.13,25.98,26.20
$GC,8023,-0.68,-175.2,2545,1069,3974,3886,849.8,-7.4,328,8031,0.00,2.22,0.00,0.000,1030,0.000,0.035,2547,2458,3929,3972,3886,0,0,0,0,0,0,26.03,25.95,26.07
$GC,8346,-0.68,-175.2,2545,2459,3974,3885,874.3,-7.5,339,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3928,3971,3885,0,0,0,0,0,0,26.13,26.20,26.19
$GC,8647,-0.68,-175.2,2545,2459,3972,3884,898.0,-8.1,349,8656,0.00,2.17,0.00,0.000,516,0.000,0.030,2546,1068,3927,3971,3883,0,0,0,0,0,0,26.14,25.97,26.20
$GC,8671,-0.68,-175.2,2546,1069,3970,3883,898.0,-8.1,349,8681,0.00,2.22,0.00,0.000,1030,0.000,0.036,2546,2458,3926,3970,3883,0,0,0,0,0,0,26.03,25.94,26.06
$GC,8976,-0.68,-175.2,2546,2459,3970,3882,924.9,-8.2,360,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3926,3970,3882,0,0,0,0,0,0,26.14,26.21,26.20
$GC,9276,-0.68,-175.2,2546,2459,3969,3882,949.3,-7.9,370,9285,0.00,2.17,0.00,0.000,516,0.000,0.030,2546,1069,3925,3969,3882,0,0,0,0,0,0,26.16,25.96,26.22
$GC,9299,-0.68,-175.2,2545,1070,3970,3881,949.3,-7.9,370,9307,0.00,2.22,0.00,0.000,1030,0.000,0.036,2546,2458,3925,3969,3881,0,0,0,0,0,0,26.06,25.95,26.07
$GC,9611,-0.68,-175.2,2545,2459,3970,3881,974.1,-7.3,381,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3924,3968,3881,0,0,0,0,0,0,26.11,26.19,26.17
$STATE,9850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9850,begin apogee
$GC,9854,-0.11,0.0,2546,2092,3969,3881,991.3,-7.2,389,10006,0.62,0.00,139.05,1.299,10246,0.111,0.000,2738,2091,3278,3318,3239,0,0,0,0,0,0,25.56,24.47,23.59
$STATE,10007,end apogee,CONTROL_FINISHED_OK
$STATE,10007,begin climb
$GC,10008,0.68,175.2,2738,2092,3319,3239,998.3,0.0,394,10180,0.73,2.47,159.05,1.292,11012,0.047,0.041,3010,3507,2563,2610,2517,0,0,0,0,0,0,24.75,23.89,23.27
$GC,10319,0.68,175.2,3011,3508,2598,2514,984.3,11.9,403,10329,0.00,2.17,0.00,0.000,1030,0.000,0.023,3021,2112,2555,2598,2513,0,0,0,0,0,0,25.70,25.62,25.71
$GC,10634,0.68,175.2,3022,2113,2596,2510,942.2,12.7,414,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2112,2552,2596,2509,0,0,0,0,0,0,26.17,26.24,26.24
$GC,10934,0.68,175.2,3020,2113,2597,2509,905.4,12.3,424,10943,0.00,2.22,0.00,0.000,516,0.000,0.034,3031,707,2551,2594,2508,0,0,0,0,0,0,26.25,26.12,26.31
$GC,10958,0.68,175.2,3032,709,2594,2507,905.4,12.3,424,10971,0.12,2.17,0.00,0.000,5126,0.182,0.026,3005,2113,2550,2594,2507,0,0,0,0,0,0,25.85,26.15,26.06
$GC,11264,0.68,175.2,3005,2114,2594,2507,867.4,11.3,435,11272,0.00,2.22,0.00,0.000,260,0.000,0.042,3005,3497,2550,2594,2507,0,0,0,0,0,0,26.22,26.05,26.29
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$STATE,18851,end climb,SURFACE_DEPTH_REACHED
$STATE,18851,begin surface coast
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$STATE,18861,end surface coast,CONTROL_FINISHED_OK
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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,18856.64 8138.26
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