version: 66.12
glider: 178
mission: 18
dive: 143
start: 10 25 114 2 13 15
data:
$ID,178
$MISSION,18
$DIVE,143
$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,41
$R_STBD_OVSHOOT,38
$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
$GPS1,251014,020526,1112.109,14433.113,77,99.0,97,2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-76.8
$GPS2,251014,021303,1112.094,14433.073,13,99.0,33,2.1
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,164.9,2030,-20.6,-10.000,-23.25,1851
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.77,-127.5,161,2140,1598,1629,0.0,0.0,0,166,0.00,0.00,-64.60,0.000,16386,0.000,0.000,160,2139,3409,3460,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,168,-0.77,-127.5,161,2140,3461,3358,4.5,-11.3,7,198,10.95,2.28,-2.40,0.000,18692,0.249,0.054,2603,3553,3572,3651,3493,0,0,0,0,0,0,25.58,26.09,26.25
$GC,424,-0.69,-127.5,2604,3553,3662,3493,90.8,-25.2,37,435,0.17,2.17,0.00,0.000,3078,0.174,0.028,2645,2133,3577,3662,3492,0,0,0,0,0,0,25.79,26.18,28.83
$GC,729,-0.69,-127.5,2645,2130,3670,3492,140.1,-12.2,68,737,0.00,2.15,0.00,0.000,516,0.000,0.036,2646,752,3580,3669,3492,0,0,0,0,0,0,28.83,26.17,28.83
$GC,872,-0.71,-127.5,2646,752,3673,3494,157.5,-12.5,82,880,0.00,2.17,0.00,0.000,1030,0.000,0.031,2641,2157,3583,3673,3494,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1185,-0.75,-133.8,2642,2158,3678,3494,191.8,-9.7,113,1193,0.00,2.20,0.00,0.000,516,0.000,0.035,2641,748,3585,3677,3493,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1282,-0.78,-133.8,2641,747,3680,3491,200.9,-10.2,121,1290,0.00,2.15,0.00,0.000,1030,0.000,0.031,2641,2147,3585,3678,3493,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1600,-0.84,-148.4,2642,2149,3679,3494,230.8,-9.2,132,1610,0.12,2.22,0.00,0.000,4356,0.091,0.044,2562,3553,3586,3679,3493,0,0,0,0,0,0,26.20,26.13,28.83
$GC,1660,-0.84,-148.4,2562,3554,3679,3494,237.9,-10.2,134,1668,0.15,2.12,0.00,0.000,3078,0.158,0.026,2598,2135,3586,3679,3493,0,0,0,0,0,0,25.91,26.25,28.83
$GC,1988,-0.84,-148.4,2598,2132,3679,3494,276.0,-11.2,145,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2131,3585,3679,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.84,-148.4,2599,2131,3676,3494,306.7,-10.1,155,2296,0.00,2.30,0.00,0.000,260,0.000,0.045,2590,3558,3583,3675,3492,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2320,-0.84,-148.4,2590,3558,3676,3493,309.7,-10.2,156,2328,0.00,2.15,0.00,0.000,1030,0.000,0.028,2590,2157,3583,3674,3492,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2642,-0.84,-148.4,2590,2154,3671,3489,348.7,-12.0,167,2650,0.00,2.20,0.00,0.000,516,0.000,0.037,2590,750,3580,3669,3492,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2709,-0.84,-148.4,2590,750,3670,3493,355.4,-11.7,169,2717,0.00,2.17,0.00,0.000,1030,0.000,0.032,2582,2148,3579,3667,3492,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3032,-0.85,-154.2,2582,2150,3662,3494,390.2,-9.7,180,3039,0.00,2.20,0.00,0.000,516,0.000,0.037,2582,758,3577,3662,3492,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3138,-0.86,-155.7,2582,758,3661,3492,398.7,-9.8,183,3152,0.00,2.17,0.00,0.000,1030,0.000,0.033,2573,2149,3575,3659,3492,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3449,-0.86,-155.7,2573,2151,3655,3493,431.6,-10.1,194,3457,0.00,2.22,0.00,0.000,516,0.000,0.038,2573,750,3573,3654,3492,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3486,-0.86,-155.7,2573,750,3654,3492,434.6,-10.3,195,3495,0.00,2.22,0.00,0.000,1030,0.000,0.034,2564,2152,3572,3653,3492,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3805,-0.86,-155.7,2566,2153,3649,3492,467.9,-9.9,206,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2153,3568,3648,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4104,-0.86,-155.7,2565,2152,3645,3488,498.5,-10.3,216,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2152,3566,3644,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4404,-0.86,-155.7,2565,2153,3640,3486,530.0,-10.4,226,4412,0.00,2.25,0.00,0.000,516,0.000,0.041,2565,753,3563,3640,3486,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4446,-0.86,-155.7,2566,754,3640,3487,533.1,-10.5,227,4458,0.15,2.22,0.00,0.000,3078,0.172,0.035,2595,2160,3562,3639,3486,0,0,0,0,0,0,25.72,26.05,28.83
$GC,4764,-0.88,-155.7,2596,2161,3638,3485,561.1,-8.0,238,4772,0.00,2.28,0.00,0.000,260,0.000,0.050,2587,3554,3560,3637,3483,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4826,-0.91,-155.7,2588,3555,3636,3485,566.5,-8.4,240,4834,0.00,2.20,0.00,0.000,1030,0.000,0.031,2587,2137,3559,3636,3483,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5159,-0.91,-155.7,2588,2136,3633,3482,597.1,-9.4,251,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2134,3557,3633,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5459,-0.91,-155.7,2588,2135,3632,3480,624.7,-8.9,261,5470,0.00,2.20,0.00,0.000,516,0.000,0.041,2587,755,3554,3630,3478,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5494,-0.91,-155.7,2587,755,3632,3479,627.7,-9.1,262,5501,0.00,2.22,0.00,0.000,1030,0.000,0.036,2578,2156,3554,3629,3479,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5816,-0.91,-155.7,2579,2157,3628,3477,660.0,-10.1,273,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2157,3552,3627,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,-0.91,-155.7,2579,2158,3626,3477,690.2,-10.0,283,6123,0.00,2.28,0.00,0.000,260,0.000,0.051,2568,3554,3549,3624,3475,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6147,-0.91,-155.7,2569,3555,3624,3477,693.1,-10.2,284,6155,0.00,2.17,0.00,0.000,1030,0.000,0.032,2568,2152,3549,3623,3475,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6470,-0.91,-155.7,2569,2149,3622,3476,729.2,-11.1,295,6477,0.00,2.25,0.00,0.000,516,0.000,0.041,2568,752,3547,3621,3474,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6506,-0.91,-155.7,2568,752,3622,3473,732.4,-11.3,296,6515,0.00,2.22,0.00,0.000,1030,0.000,0.037,2559,2147,3547,3621,3474,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6829,-0.91,-155.7,2559,2149,3620,3473,772.1,-11.8,307,6837,0.00,2.25,0.00,0.000,516,0.000,0.041,2559,750,3545,3619,3472,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6871,-0.91,-155.7,2559,755,3619,3474,775.4,-11.8,308,6879,0.00,2.25,0.00,0.000,1030,0.000,0.037,2550,2161,3546,3620,3472,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7184,-0.91,-155.7,2550,2161,3618,3471,813.0,-11.1,319,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2161,3544,3617,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7484,-0.91,-155.7,2550,2161,3616,3470,843.1,-9.7,329,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2161,3542,3614,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,-0.91,-155.7,2551,2161,3616,3469,868.6,-8.1,339,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2161,3541,3613,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8084,-0.91,-155.7,2550,2161,3613,3468,891.2,-7.5,349,8092,0.00,2.28,0.00,0.000,516,0.000,0.043,2550,753,3539,3611,3468,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8126,-0.91,-155.7,2550,755,3612,3469,893.9,-7.7,350,8137,0.15,2.25,0.00,0.000,3078,0.172,0.037,2574,2157,3539,3611,3468,0,0,0,0,0,0,25.59,25.90,28.83
$GC,8451,-0.91,-155.7,2575,2159,3610,3469,916.2,-6.6,361,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2157,3538,3610,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,-0.91,-155.7,2575,2157,3611,3466,937.0,-7.0,371,8761,0.00,2.28,0.00,0.000,260,0.000,0.053,2566,3556,3537,3609,3466,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8786,-0.91,-155.7,2567,3557,3609,3467,939.7,-7.3,372,8793,0.00,2.20,0.00,0.000,1030,0.000,0.034,2566,2148,3537,3609,3466,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9113,-0.91,-155.7,2567,2146,3609,3466,966.6,-8.5,383,9123,0.00,2.33,0.00,0.000,260,0.000,0.053,2557,3561,3536,3607,3466,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9148,-0.91,-155.7,2557,3559,3608,3465,969.4,-8.7,384,9156,0.00,2.22,0.00,0.000,1030,0.000,0.034,2557,2145,3536,3607,3465,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,9384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9384,begin apogee
$GC,9388,-0.13,0.0,2556,2260,3609,3464,992.6,-9.6,392,9509,0.90,0.00,108.80,1.278,10246,0.140,0.000,2820,2260,3044,3085,3004,0,0,0,0,0,0,25.55,28.83,23.98
$STATE,9510,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9512,0.82,155.7,2820,2261,3085,3004,995.9,0.0,396,9668,0.88,2.50,142.48,1.257,10500,0.051,0.051,3144,3649,2409,2452,2367,0,0,0,0,0,0,25.09,24.32,23.39
$GC,9723,0.75,155.7,3144,3650,2445,2366,975.4,14.7,403,9731,0.17,2.28,0.00,0.000,5126,0.187,0.030,3117,2251,2404,2443,2366,0,0,0,0,0,0,24.77,25.06,28.83
$GC,10051,0.71,155.7,3117,2249,2443,2357,926.4,14.5,414,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2249,2399,2441,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10351,0.68,155.7,3117,2248,2441,2356,883.0,14.5,424,10359,0.00,2.25,0.00,0.000,516,0.000,0.041,3125,848,2398,2440,2356,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10418,0.64,155.7,3125,848,2441,2354,874.6,14.6,426,10427,0.17,2.22,0.00,0.000,5126,0.175,0.037,3083,2252,2396,2439,2354,0,0,0,0,0,0,25.67,26.01,28.83
$GC,10736,0.64,155.7,3084,2253,2440,2349,828.9,14.0,437,10747,0.00,2.30,0.00,0.000,260,0.000,0.051,3084,3653,2395,2438,2353,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10771,0.64,155.7,3084,3653,2439,2353,824.4,14.1,438,10779,0.00,2.20,0.00,0.000,1030,0.000,0.032,3092,2240,2395,2438,2353,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11093,0.64,155.7,3093,2237,2437,2354,775.2,15.0,449,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2235,2394,2436,2353,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17528,end climb,SURFACE_DEPTH_REACHED
$STATE,17528,begin surface coast
$FINISH,0.1,1.021205
$STATE,17548,end surface coast,CONTROL_FINISHED_OK
$STATE,17548,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17576.21 7682.62
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$PA_DISK_BANK,0
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$10V_AH,10.02,34.910
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,228452
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