version: 66.12
glider: 178
mission: 18
dive: 59
start: 10 7 114 19 31 50
data:
$ID,178
$MISSION,18
$DIVE,59
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,350
$N_FILEKB,4
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,071014,192725,1302.785,14516.162,10,0.9,10,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-75.9
$GPS2,071014,193139,1302.815,14516.158,10,0.9,30,1.7
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,142.1,102190,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-155.7,163,2128,1616,1625,0.0,0.0,0,82,0.00,0.00,-65.47,0.000,16386,0.000,0.000,162,2127,3384,3434,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.77,-155.7,163,2126,3436,3336,3.9,-13.0,11,104,10.10,2.15,-4.80,0.000,18948,0.241,0.050,2612,756,3686,3746,3627,0,0,0,0,0,0,26.26,26.69,26.99
$GC,148,-0.62,-155.7,2613,756,3752,3628,35.6,-35.9,23,155,0.20,2.15,0.00,0.000,3078,0.181,0.034,2667,2144,3689,3751,3628,0,0,0,0,0,0,26.38,26.71,28.83
$GC,459,-0.58,-155.7,2669,2146,3755,3629,104.6,-18.8,59,463,0.00,2.20,0.00,0.000,260,0.000,0.046,2659,3553,3691,3754,3628,0,0,0,0,0,0,28.83,26.82,28.83
$GC,509,-0.55,-155.7,2659,3553,3755,3628,113.1,-17.0,64,514,0.10,2.10,0.00,0.000,3078,0.142,0.028,2691,2149,3691,3755,3628,0,0,0,0,0,0,26.67,26.92,28.83
$GC,819,-0.55,-155.7,2692,2147,3760,3629,156.6,-12.5,95,824,0.00,2.12,0.00,0.000,516,0.000,0.036,2691,757,3693,3758,3628,0,0,0,0,0,0,28.83,26.94,28.83
$GC,894,-0.58,-155.7,2692,757,3760,3628,164.3,-10.7,102,901,0.00,2.12,0.00,0.000,1030,0.000,0.032,2686,2152,3693,3759,3628,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1200,-0.62,-155.7,2685,2154,3763,3630,192.9,-9.4,133,1203,0.00,2.15,0.00,0.000,260,0.000,0.047,2675,3567,3695,3762,3629,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1290,-0.67,-155.7,2676,3567,3763,3628,201.4,-9.1,142,1294,0.00,2.10,0.00,0.000,1030,0.000,0.028,2675,2151,3694,3762,3627,0,0,0,0,0,0,28.83,27.09,28.83
$GC,1620,-0.71,-155.7,2675,2147,3764,3629,229.3,-7.9,153,1624,0.10,2.12,0.00,0.000,4612,0.109,0.037,2616,721,3695,3762,3629,0,0,0,0,0,0,27.17,27.06,28.83
$GC,1710,-0.73,-155.7,2616,721,3763,3628,239.6,-10.8,156,1713,0.00,2.17,0.00,0.000,1030,0.000,0.032,2607,2149,3696,3763,3629,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2039,-0.73,-155.7,2608,2149,3764,3628,281.0,-12.1,167,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2149,3695,3762,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,-0.73,-155.7,2608,2149,3760,3628,316.2,-11.8,177,2344,0.00,2.20,0.00,0.000,260,0.000,0.049,2597,3558,3693,3758,3628,0,0,0,0,0,0,28.83,27.06,28.83
$GC,2394,-0.73,-155.7,2597,3558,3759,3628,319.9,-12.1,178,2401,0.10,2.12,0.00,0.000,3078,0.133,0.029,2630,2137,3692,3757,3628,0,0,0,0,0,0,26.91,27.18,28.83
$GC,2700,-0.75,-155.7,2631,2136,3754,3630,350.9,-8.9,189,2703,0.00,2.08,0.00,0.000,516,0.000,0.041,2630,754,3690,3753,3628,0,0,0,0,0,0,28.83,27.11,28.83
$GC,2805,-0.78,-155.7,2630,756,3752,3630,359.5,-9.4,192,2808,0.00,2.12,0.00,0.000,1030,0.000,0.034,2623,2156,3689,3750,3628,0,0,0,0,0,0,28.83,27.13,28.83
$GC,3120,-0.80,-155.7,2623,2156,3746,3628,389.3,-9.2,203,3124,0.00,2.17,0.00,0.000,260,0.000,0.050,2612,3576,3686,3744,3628,0,0,0,0,0,0,28.83,27.07,28.83
$GC,3220,-0.83,-155.7,2612,3577,3742,3629,398.2,-9.6,206,3224,0.00,2.15,0.00,0.000,1030,0.000,0.031,2616,2146,3685,3742,3628,0,0,0,0,0,0,28.83,27.20,28.83
$GC,3539,-0.83,-155.7,2613,2145,3739,3626,431.9,-10.6,217,3543,0.00,2.15,0.00,0.000,516,0.000,0.041,2612,752,3682,3738,3626,0,0,0,0,0,0,28.83,27.12,28.83
$GC,3559,-0.83,-155.7,2613,752,3738,3627,431.9,-10.6,217,3563,0.00,2.15,0.00,0.000,1030,0.000,0.035,2604,2148,3681,3737,3626,0,0,0,0,0,0,28.83,27.13,28.83
$GC,3869,-0.83,-155.7,2604,2148,3735,3622,468.4,-11.0,228,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2147,3678,3733,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4169,-0.83,-155.7,2604,2149,3730,3620,498.8,-10.0,238,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2148,3674,3730,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.83,-155.7,2605,2149,3726,3618,526.5,-8.9,248,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2148,3671,3725,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4769,-0.83,-155.7,2604,2149,3723,3617,551.2,-8.1,258,4774,0.00,2.17,0.00,0.000,516,0.000,0.043,2604,749,3668,3722,3615,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4794,-0.83,-155.7,2604,748,3723,3615,551.2,-8.1,258,4801,0.00,2.17,0.00,0.000,1030,0.000,0.037,2594,2146,3667,3721,3614,0,0,0,0,0,0,28.83,27.12,28.83
$GC,5100,-0.83,-155.7,2595,2147,3720,3612,579.4,-8.6,269,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2147,3663,3718,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5399,-0.83,-155.7,2595,2148,3716,3611,606.8,-9.3,279,5403,0.00,2.17,0.00,0.000,516,0.000,0.043,2594,752,3662,3715,3610,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5474,-0.83,-155.7,2595,758,3716,3614,612.9,-9.8,281,5478,0.00,2.17,0.00,0.000,1030,0.000,0.039,2584,2151,3661,3714,3609,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5789,-0.83,-155.7,2586,2152,3712,3608,646.8,-10.3,292,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2151,3659,3711,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.83,-155.7,2586,2152,3709,3607,678.3,-10.5,302,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2151,3657,3708,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,-0.83,-155.7,2586,2150,3707,3603,710.2,-10.6,312,6393,0.00,2.17,0.00,0.000,516,0.000,0.044,2585,758,3655,3706,3604,0,0,0,0,0,0,28.83,27.07,28.83
$GC,6434,-0.83,-155.7,2586,759,3706,3605,713.5,-10.8,313,6438,0.00,2.17,0.00,0.000,1030,0.000,0.040,2577,2148,3654,3705,3603,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6749,-0.83,-155.7,2577,2148,3704,3602,749.8,-10.8,324,6754,0.00,2.25,0.00,0.000,260,0.000,0.055,2566,3556,3652,3703,3602,0,0,0,0,0,0,28.83,26.98,28.83
$GC,6779,-0.83,-155.7,2567,3557,3703,3603,753.3,-11.0,325,6783,0.10,2.12,0.00,0.000,3078,0.148,0.034,2597,2156,3652,3703,3602,0,0,0,0,0,0,26.84,27.19,28.83
$GC,7110,-0.83,-155.7,2597,2152,3702,3600,784.3,-9.1,336,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2152,3650,3701,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7409,-0.83,-155.7,2597,2152,3700,3598,811.3,-8.9,346,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2152,3648,3699,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.83,-155.7,2597,2152,3698,3597,837.1,-8.5,356,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2152,3646,3696,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,-0.83,-155.7,2596,2152,3698,3595,859.8,-7.3,366,8014,0.00,2.20,0.00,0.000,516,0.000,0.046,2597,750,3645,3695,3595,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8034,-0.83,-155.7,2597,750,3697,3594,859.8,-7.3,366,8041,0.00,2.20,0.00,0.000,1030,0.000,0.041,2590,2152,3645,3695,3595,0,0,0,0,0,0,28.83,27.04,28.83
$GC,8339,-0.83,-155.7,2591,2153,3695,3594,883.8,-7.3,377,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2152,3643,3694,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8640,-0.83,-155.7,2591,2154,3693,3593,905.3,-7.0,387,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2152,3642,3693,3591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8939,-0.83,-155.7,2590,2152,3693,3591,927.5,-7.4,397,8944,0.00,2.20,0.00,0.000,516,0.000,0.045,2590,755,3641,3691,3592,0,0,0,0,0,0,28.83,27.01,28.83
$GC,9014,-0.83,-155.7,2591,755,3692,3591,932.0,-7.6,399,9018,0.00,2.20,0.00,0.000,1030,0.000,0.041,2582,2152,3641,3691,3591,0,0,0,0,0,0,28.83,27.01,28.83
$GC,9329,-0.83,-155.7,2583,2152,3691,3591,958.4,-8.3,410,9334,0.00,2.25,0.00,0.000,260,0.000,0.057,2572,3553,3640,3690,3590,0,0,0,0,0,0,28.83,26.89,28.83
$GC,9369,-0.83,-155.7,2574,3554,3690,3592,961.2,-8.7,411,9374,0.08,2.15,0.00,0.000,3078,0.148,0.035,2596,2149,3639,3689,3590,0,0,0,0,0,0,26.77,27.09,28.83
$GC,9690,-0.83,-155.7,2597,2148,3690,3591,988.6,-8.4,422,9693,0.00,2.25,0.00,0.000,260,0.000,0.057,2588,3561,3639,3689,3590,0,0,0,0,0,0,28.83,26.86,28.83
$GC,9714,-0.83,-155.7,2588,3561,3690,3590,988.6,-8.4,422,9721,0.00,2.17,0.00,0.000,1030,0.000,0.036,2588,2147,3639,3688,3590,0,0,0,0,0,0,28.83,27.08,28.83
$STATE,9748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9748,begin apogee
$GC,9752,-0.13,0.0,2588,2267,3689,3591,994.1,-8.8,424,9880,0.75,0.00,125.55,1.289,10246,0.134,0.000,2820,2266,3048,3086,3010,0,0,0,0,0,0,26.54,28.83,24.41
$STATE,9881,end apogee,CONTROL_FINISHED_OK
$STATE,9881,begin climb
$GC,9882,0.77,155.7,2819,2266,3086,3009,997.9,0.0,428,10028,0.85,2.38,138.05,1.276,10500,0.047,0.052,3137,3651,2409,2452,2367,0,0,0,0,0,0,25.38,24.97,24.12
$GC,10040,0.74,193.7,3137,3652,2449,2368,988.3,8.2,433,10082,0.17,2.28,34.40,1.228,13318,0.194,0.031,3110,2248,2255,2296,2214,0,0,0,0,0,0,25.13,25.30,24.15
$GC,10381,0.69,193.7,3111,2250,2287,2205,930.5,16.0,445,10384,0.00,2.30,0.00,0.000,260,0.000,0.054,3109,3649,2245,2287,2204,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10424,0.65,193.7,3110,3650,2285,2205,925.9,16.3,446,10428,0.12,2.20,0.00,0.000,5126,0.173,0.033,3082,2252,2244,2284,2204,0,0,0,0,0,0,26.08,26.36,28.83
$GC,10735,0.62,193.7,3082,2250,2285,2202,876.2,14.9,457,10738,0.00,2.22,0.00,0.000,516,0.000,0.045,3091,846,2242,2283,2202,0,0,0,0,0,0,28.83,26.58,28.83
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$STATE,17626,end climb,SURFACE_DEPTH_REACHED
$STATE,17626,begin surface coast
$FINISH,0.1,1.021648
$STATE,17656,end surface coast,CONTROL_FINISHED_OK
$STATE,17656,begin surface
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$IRIDIUM_FIX,1256.52,14828.77,071014,192330
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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,18367.01 18084.92
$PA_BOOTCOUNT,65
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$10V_AH,10.02,13.964
$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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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,107.722,0.000,0.000,0.000
$MEM,228612
$DATA_FILE_SIZE,36671,865
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$CFSIZE,260034560,253247488
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