version: 66.12
glider: 178
mission: 18
dive: 120
start: 10 20 114 18 5 32
data:
$ID,178
$MISSION,18
$DIVE,120
$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,63
$R_STBD_OVSHOOT,37
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,201014,175820,1148.978,14425.716,38,0.9,58,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-76.4
$GPS2,201014,180521,1149.005,14425.620,9,0.8,29,1.9
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,144.5,71652,-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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,158,2123,1487,1461,0.0,0.0,0,164,0.00,0.00,-70.95,0.000,16386,0.000,0.000,156,2124,3438,3490,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-0.77,-155.7,157,2126,3491,3390,4.8,-19.1,12,186,10.68,2.12,-3.65,0.000,18948,0.246,0.051,2612,752,3684,3741,3627,0,0,0,0,0,0,25.66,24.92,26.25
$GC,292,-0.65,-155.7,2612,752,3750,3628,62.2,-35.8,33,307,0.17,2.17,0.00,0.000,3078,0.173,0.034,2651,2144,3688,3750,3627,0,0,0,0,0,0,25.82,26.11,28.83
$GC,602,-0.65,-155.7,2651,2146,3757,3629,120.0,-14.3,64,616,0.00,2.22,0.00,0.000,260,0.000,0.045,2642,3567,3692,3757,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,645,-0.65,-155.7,2642,3567,3758,3627,126.5,-14.9,68,653,0.00,2.15,0.00,0.000,1030,0.000,0.027,2642,2155,3692,3758,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,950,-0.65,-155.7,2643,2151,3764,3628,170.8,-12.7,98,964,0.00,2.17,0.00,0.000,516,0.000,0.035,2642,753,3695,3763,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1009,-0.65,-155.7,2642,753,3765,3628,177.3,-12.1,103,1021,0.00,2.17,0.00,0.000,1030,0.000,0.031,2636,2156,3696,3765,3628,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1336,-0.65,-155.7,2637,2157,3766,3628,214.4,-11.2,128,1345,0.00,2.20,0.00,0.000,260,0.000,0.045,2625,3561,3698,3768,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1359,-0.65,-155.7,2626,3561,3767,3628,214.4,-11.2,128,1370,0.12,2.15,0.00,0.000,3078,0.145,0.027,2658,2141,3697,3768,3627,0,0,0,0,0,0,26.03,26.25,28.83
$GC,1665,-0.74,-155.7,2659,2139,3770,3628,240.1,-7.1,139,1675,0.00,2.22,0.00,0.000,260,0.000,0.044,2655,3552,3698,3768,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1710,-0.81,-155.7,2655,3553,3769,3628,242.3,-7.4,140,1718,0.15,2.12,0.00,0.000,5126,0.076,0.026,2575,2147,3698,3768,3628,0,0,0,0,0,0,26.20,26.25,28.83
$GC,2022,-0.81,-155.7,2575,2145,3767,3629,271.8,-8.9,151,2034,0.12,2.22,0.00,0.000,2308,0.160,0.044,2601,3555,3697,3766,3628,0,0,0,0,0,0,25.97,26.13,28.83
$GC,2148,-0.81,-155.7,2601,3557,3766,3629,282.3,-8.6,155,2156,0.00,2.12,0.00,0.000,1030,0.000,0.027,2601,2142,3696,3765,3628,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2471,-0.81,-155.7,2602,2145,3764,3629,309.6,-9.1,166,2479,0.00,2.25,0.00,0.000,260,0.000,0.046,2593,3547,3695,3762,3628,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2523,-0.81,-155.7,2593,3548,3762,3629,312.2,-9.3,167,2534,0.00,2.12,0.00,0.000,1030,0.000,0.027,2593,2152,3694,3761,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2828,-0.81,-155.7,2593,2151,3758,3629,347.1,-10.8,178,2839,0.00,2.15,0.00,0.000,516,0.000,0.037,2593,759,3692,3757,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2859,-0.81,-155.7,2593,759,3758,3628,350.5,-11.0,179,2867,0.00,2.17,0.00,0.000,1030,0.000,0.032,2583,2160,3692,3757,3628,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3194,-0.81,-155.7,2585,2160,3752,3628,383.9,-9.2,190,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2160,3689,3750,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,-0.81,-155.7,2584,2160,3747,3627,417.5,-11.1,200,3499,0.00,2.22,0.00,0.000,260,0.000,0.048,2573,3558,3686,3745,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3558,-0.81,-155.7,2574,3560,3745,3629,424.3,-11.5,202,3566,0.12,2.17,0.00,0.000,3078,0.159,0.029,2602,2148,3688,3744,3632,0,0,0,0,0,0,25.92,26.20,28.83
$GC,3875,-0.81,-155.7,2602,2145,3740,3627,457.1,-9.9,213,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2144,3683,3740,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4175,-0.81,-155.7,2602,2145,3737,3625,484.2,-8.7,223,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2143,3680,3736,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,-0.81,-155.7,2602,2144,3734,3621,508.7,-8.2,233,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2143,3677,3733,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4775,-0.81,-155.7,2602,2143,3731,3618,533.1,-8.3,243,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2143,3673,3729,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,-0.81,-155.7,2602,2144,3728,3616,557.1,-7.9,253,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2144,3671,3726,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-0.81,-155.7,2603,2145,3725,3617,581.6,-8.4,263,5383,0.00,2.28,0.00,0.000,260,0.000,0.050,2594,3548,3669,3723,3616,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5407,-0.81,-155.7,2593,3550,3724,3617,583.9,-8.5,264,5415,0.00,2.17,0.00,0.000,1030,0.000,0.031,2593,2152,3669,3723,3616,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5735,-0.81,-155.7,2594,2149,3721,3613,613.6,-8.9,275,5747,0.00,2.22,0.00,0.000,516,0.000,0.041,2594,754,3666,3720,3613,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5762,-0.81,-155.7,2594,754,3721,3613,613.6,-8.9,275,5773,0.00,2.22,0.00,0.000,1030,0.000,0.034,2585,2147,3666,3720,3613,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6067,-0.81,-155.7,2585,2148,3720,3611,643.4,-9.0,286,6079,0.00,2.30,0.00,0.000,260,0.000,0.050,2575,3560,3664,3719,3610,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6108,-0.81,-155.7,2575,3561,3719,3611,646.3,-9.1,287,6116,0.12,2.20,0.00,0.000,3078,0.158,0.031,2604,2143,3664,3718,3610,0,0,0,0,0,0,25.76,25.75,28.83
$GC,6427,-0.84,-155.7,2605,2140,3716,3611,674.0,-8.4,298,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2139,3662,3715,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6726,-0.86,-155.7,2604,2139,3716,3608,698.4,-8.1,308,6737,0.00,2.30,0.00,0.000,260,0.000,0.050,2596,3555,3660,3713,3608,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6781,-0.89,-155.7,2597,3556,3713,3609,700.9,-8.1,309,6791,0.00,2.20,0.00,0.000,1030,0.000,0.031,2602,2145,3660,3712,3608,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7086,-0.89,-155.7,2596,2141,3712,3609,728.4,-8.4,320,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2143,3658,3711,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7386,-0.89,-155.7,2596,2144,3711,3606,753.8,-8.4,330,7394,0.00,2.30,0.00,0.000,260,0.000,0.050,2586,3553,3657,3709,3605,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7414,-0.89,-155.7,2587,3555,3710,3606,756.4,-8.5,331,7422,0.00,2.20,0.00,0.000,1030,0.000,0.031,2586,2147,3657,3709,3605,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7742,-0.89,-155.7,2586,2144,3709,3604,785.2,-8.5,342,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2144,3655,3707,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8041,-0.89,-155.7,2586,2144,3707,3603,809.0,-7.7,352,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2143,3656,3706,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8341,-0.89,-155.7,2586,2143,3705,3602,831.8,-7.7,362,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2143,3652,3704,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8642,-0.89,-155.7,2586,2144,3704,3602,855.6,-8.0,372,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2143,3652,3703,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8941,-0.89,-155.7,2587,2143,3703,3602,878.8,-7.8,382,8949,0.00,2.33,0.00,0.000,260,0.000,0.051,2577,3554,3650,3701,3599,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8973,-0.89,-155.7,2577,3555,3702,3601,881.0,-7.9,383,8981,0.00,2.20,0.00,0.000,1030,0.000,0.032,2577,2154,3650,3701,3600,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9301,-0.89,-155.7,2577,2153,3701,3600,909.3,-8.8,394,9313,0.00,2.33,0.00,0.000,260,0.000,0.051,2569,3561,3649,3700,3598,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9327,-0.89,-155.7,2569,3562,3700,3600,909.3,-8.8,394,9338,0.00,2.22,0.00,0.000,1030,0.000,0.032,2569,2149,3649,3700,3599,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9634,-0.89,-155.7,2569,2149,3700,3599,942.0,-10.0,405,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2148,3648,3699,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9933,-0.89,-155.7,2569,2147,3699,3596,973.6,-10.7,415,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2146,3647,3698,3597,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10111,begin apogee
$GC,10115,-0.13,0.0,2567,2267,3698,3596,992.6,-10.5,421,10255,0.85,0.00,132.12,1.284,10246,0.133,0.000,2822,2267,3046,3082,3010,0,0,0,0,0,0,25.62,28.83,23.94
$STATE,10256,end apogee,CONTROL_FINISHED_OK
$STATE,10256,begin climb
$GC,10257,0.77,155.7,2823,2267,3083,3008,997.4,0.0,425,10410,0.82,2.45,140.65,1.260,10500,0.047,0.051,3133,3651,2411,2455,2368,0,0,0,0,0,0,24.94,24.32,23.47
$GC,10484,0.68,155.7,3133,3651,2444,2364,976.8,14.1,432,10492,0.22,2.30,0.00,0.000,5126,0.181,0.029,3091,2239,2403,2443,2363,0,0,0,0,0,0,24.90,25.17,28.83
$GC,10797,0.64,155.7,3092,2237,2442,2358,931.0,13.7,443,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2235,2399,2442,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11097,0.60,155.7,3092,2236,2441,2357,889.2,14.2,453,11108,0.00,2.30,0.00,0.000,260,0.000,0.049,3092,3645,2398,2440,2356,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11143,0.55,155.7,3092,3647,2439,2357,884.4,14.4,454,11154,0.17,2.17,0.00,0.000,5126,0.181,0.029,3054,2246,2397,2440,2355,0,0,0,0,0,0,25.72,26.08,28.83
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$STATE,18855,end climb,SURFACE_DEPTH_REACHED
$STATE,18855,begin surface coast
$FINISH,-0.7,1.021423
$STATE,18886,end surface coast,CONTROL_FINISHED_OK
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$XPDR_PINGS,3
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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,18858.39 8054.95
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$10V_AH,10.05,33.326
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228456
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