version: 66.12
glider: 178
mission: 18
dive: 169
start: 10 30 114 15 2 8
data:
$ID,178
$MISSION,18
$DIVE,169
$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,300
$T_MISSION,330
$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,220
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,301014,145456,1153.401,14407.682,28,0.9,48,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-74.9
$GPS2,301014,150157,1153.337,14407.686,13,0.9,33,1.8
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,23.7,175720,-17.3,-11.000,-20.18,2764
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.84,-214.1,158,2135,1287,1274,0.0,0.0,0,186,0.00,0.00,-81.22,0.000,16386,0.000,0.000,157,2135,3517,3572,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,188,-0.84,-214.1,157,2137,3575,3457,3.7,-11.9,12,208,10.68,0.00,-5.07,0.000,18694,0.246,0.000,2590,2138,3922,3977,3868,0,0,0,0,0,0,25.55,28.83,26.36
$GC,514,-0.75,-214.1,2591,2138,3991,3872,124.6,-22.6,50,530,0.12,2.15,0.00,0.000,2564,0.193,0.036,2624,764,3930,3990,3871,0,0,0,0,0,0,25.91,26.20,28.83
$GC,614,-0.72,-214.1,2624,764,3994,3871,142.6,-16.2,59,625,0.00,2.15,0.00,0.000,1030,0.000,0.031,2616,2147,3931,3992,3870,0,0,0,0,0,0,28.83,26.22,28.83
$GC,919,-0.72,-214.1,2617,2148,3999,3872,197.4,-16.0,90,928,0.00,2.22,0.00,0.000,260,0.000,0.044,2606,3557,3934,3998,3870,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1027,-0.72,-214.1,2606,3557,4001,3873,209.5,-13.7,94,1042,0.08,2.08,0.00,0.000,3078,0.128,0.026,2631,2148,3935,3998,3873,0,0,0,0,0,0,26.03,26.31,28.83
$GC,1338,-0.72,-214.1,2631,2148,4002,3874,238.3,-7.1,105,1347,0.00,2.22,0.00,0.000,260,0.000,0.043,2622,3557,3937,4000,3874,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1432,-0.74,-214.1,2622,3557,4001,3874,245.4,-7.7,108,1443,0.00,2.08,0.00,0.000,1030,0.000,0.026,2622,2158,3937,4000,3874,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1758,-0.74,-214.1,2622,2154,4002,3874,277.8,-10.0,119,1766,0.00,2.20,0.00,0.000,516,0.000,0.036,2622,746,3936,3999,3874,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1801,-0.76,-214.1,2623,747,4001,3875,281.4,-10.1,120,1809,0.00,2.17,0.00,0.000,1030,0.000,0.031,2613,2152,3934,3994,3874,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2124,-0.76,-214.1,2614,2154,3997,3875,317.0,-10.4,131,2133,0.00,2.25,0.00,0.000,260,0.000,0.047,2603,3562,3935,3996,3874,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2158,-0.76,-214.1,2604,3562,3996,3874,320.1,-10.4,132,2166,0.00,2.15,0.00,0.000,1030,0.000,0.028,2603,2139,3934,3995,3873,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2481,-0.76,-214.1,2604,2133,3990,3875,352.4,-9.4,143,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2134,3931,3989,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2781,-0.76,-214.1,2604,2136,3984,3875,384.5,-11.8,153,2788,0.00,2.28,0.00,0.000,260,0.000,0.047,2593,3555,3928,3983,3873,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2823,-0.76,-214.1,2594,3554,3982,3874,387.7,-11.9,154,2832,0.12,2.12,0.00,0.000,3078,0.148,0.029,2626,2154,3927,3982,3873,0,0,0,0,0,0,25.99,26.25,28.83
$GC,3137,-0.80,-214.1,2626,2151,3978,3872,415.7,-7.3,165,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2150,3924,3978,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3437,-0.84,-214.1,2626,2151,3976,3869,437.6,-7.8,175,3448,0.00,2.22,0.00,0.000,260,0.000,0.048,2617,3554,3920,3974,3867,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3463,-0.87,-214.1,2617,3556,3975,3869,437.6,-7.8,175,3474,0.00,2.15,0.00,0.000,1030,0.000,0.029,2617,2143,3920,3974,3867,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3768,-0.91,-214.1,2618,2143,3971,3867,466.9,-8.8,186,3774,0.12,0.00,0.00,0.000,4102,0.090,0.000,2559,2142,3917,3970,3865,0,0,0,0,0,0,26.17,28.83,28.83
$GC,4068,-0.91,-214.1,2560,2141,3966,3863,500.6,-11.2,196,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2141,3914,3965,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-0.91,-214.1,2560,2141,3966,3860,536.2,-12.1,206,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2141,3911,3963,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4668,-0.91,-214.1,2559,2141,3961,3858,572.0,-11.9,216,4675,0.00,2.30,0.00,0.000,260,0.000,0.050,2551,3552,3908,3959,3858,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4705,-0.91,-214.1,2552,3553,3959,3860,575.1,-11.9,217,4713,0.00,2.17,0.00,0.000,1030,0.000,0.036,2551,2147,3908,3958,3858,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5027,-0.91,-214.1,2551,2144,3955,3857,615.4,-11.9,228,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2143,3905,3956,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5327,-0.91,-214.1,2551,2144,3954,3855,651.5,-12.1,238,5335,0.00,2.30,0.00,0.000,260,0.000,0.050,2541,3551,3903,3953,3853,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5369,-0.91,-214.1,2541,3551,3954,3853,655.8,-12.4,239,5378,0.15,2.17,0.00,0.000,3078,0.158,0.031,2577,2144,3903,3953,3853,0,0,0,0,0,0,25.75,26.10,28.83
$GC,5692,-0.91,-214.1,2578,2141,3953,3850,694.3,-11.8,250,5700,0.00,2.22,0.00,0.000,516,0.000,0.041,2577,749,3901,3952,3851,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5720,-0.91,-214.1,2578,750,3952,3851,697.6,-11.8,251,5728,0.00,2.25,0.00,0.000,1030,0.000,0.037,2571,2153,3900,3951,3850,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6048,-0.91,-214.1,2571,2154,3951,3848,738.6,-12.7,262,6059,0.00,2.28,0.00,0.000,260,0.000,0.051,2561,3553,3898,3948,3848,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6072,-0.91,-214.1,2562,3554,3949,3849,738.6,-12.7,262,6083,0.00,2.17,0.00,0.000,1030,0.000,0.032,2561,2149,3898,3948,3848,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6378,-0.91,-214.1,2561,2146,3946,3846,781.8,-12.8,273,6389,0.00,2.20,0.00,0.000,516,0.000,0.041,2561,752,3896,3946,3846,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6403,-0.91,-214.1,2562,753,3946,3848,781.8,-12.8,273,6413,0.00,2.25,0.00,0.000,1030,0.000,0.037,2557,2151,3895,3945,3846,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6709,-0.91,-214.1,2558,2153,3945,3845,822.4,-12.1,284,6716,0.00,2.30,0.00,0.000,260,0.000,0.052,2547,3553,3894,3944,3844,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6756,-0.91,-214.1,2547,3555,3944,3845,825.8,-12.0,285,6764,0.12,2.17,0.00,0.000,3078,0.158,0.032,2575,2152,3894,3944,3844,0,0,0,0,0,0,25.76,26.06,28.83
$GC,7061,-0.91,-214.1,2576,2149,3941,3843,858.2,-9.5,295,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2148,3892,3941,3843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7361,-0.91,-214.1,2576,2150,3941,3843,884.4,-8.4,305,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2149,3888,3936,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,-0.91,-214.1,2576,2150,3938,3842,909.9,-8.8,315,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2148,3890,3938,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7961,-0.91,-214.1,2575,2148,3937,3839,937.8,-9.5,325,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2148,3887,3936,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,-0.91,-214.1,2576,2150,3935,3839,967.5,-9.8,335,8269,0.00,2.30,0.00,0.000,260,0.000,0.053,2567,3553,3886,3934,3838,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8339,-0.91,-214.1,2568,3553,3935,3839,973.4,-9.9,337,8347,0.00,2.20,0.00,0.000,1030,0.000,0.033,2568,2146,3885,3934,3837,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,8492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8492,begin apogee
$GC,8496,-0.13,0.0,2567,2261,3935,3837,991.0,-10.2,342,8687,0.85,0.00,183.70,1.277,10246,0.126,0.000,2824,2262,3046,3085,3007,0,0,0,0,0,0,25.51,28.83,23.32
$STATE,8688,end apogee,CONTROL_FINISHED_OK
$STATE,8688,begin climb
$GC,8689,0.84,214.1,2825,2263,3085,3006,997.6,0.0,348,8897,0.90,2.47,195.40,1.265,10500,0.043,0.049,3156,3654,2171,2212,2131,0,0,0,0,0,0,24.55,24.21,23.13
$GC,9006,0.75,214.1,3156,3655,2201,2130,949.3,22.8,359,9017,0.22,2.25,0.00,0.000,5126,0.180,0.030,3113,2250,2164,2200,2128,0,0,0,0,0,0,25.16,25.48,28.83
$GC,9332,0.70,214.1,3113,2247,2200,2122,884.5,19.3,370,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2247,2161,2199,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9631,0.65,214.1,3115,2247,2197,2122,827.7,18.7,380,9640,0.12,2.22,0.00,0.000,4612,0.193,0.040,3087,853,2159,2197,2122,0,0,0,0,0,0,25.89,26.17,28.83
$GC,9679,0.61,214.1,3087,853,2197,2121,822.0,18.4,381,9687,0.00,2.20,0.00,0.000,1030,0.000,0.036,3087,2249,2158,2197,2120,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9992,0.58,214.1,3087,2249,2197,2119,766.1,16.9,392,10002,0.12,2.30,0.00,0.000,4356,0.190,0.050,3055,3658,2158,2196,2120,0,0,0,0,0,0,25.89,26.10,28.83
$GC,10012,0.55,214.1,3056,3659,2197,2120,766.1,16.9,392,10019,0.00,2.20,0.00,0.000,1030,0.000,0.031,3063,2252,2157,2196,2119,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10317,0.55,214.1,3063,2249,2196,2120,717.0,14.7,402,10325,0.00,2.22,0.00,0.000,516,0.000,0.042,3073,848,2157,2195,2119,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10385,0.55,214.1,3074,847,2196,2118,707.8,14.5,404,10393,0.00,2.22,0.00,0.000,1030,0.000,0.035,3074,2257,2156,2194,2119,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10707,0.55,214.1,3074,2259,2195,2119,660.2,14.3,415,10715,0.00,2.28,0.00,0.000,516,0.000,0.041,3084,849,2156,2194,2118,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10739,0.55,214.1,3085,850,2195,2119,656.3,14.1,416,10747,0.15,2.22,0.00,0.000,5126,0.168,0.036,3048,2256,2156,2194,2118,0,0,0,0,0,0,25.79,26.10,28.83
$GC,11062,0.56,221.3,3049,2258,2193,2119,619.8,10.7,427,11073,0.00,0.00,5.10,0.759,8198,0.000,0.000,3048,2256,2143,2181,2105,0,0,0,0,0,0,28.83,28.83,24.68
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$STATE,16287,end climb,SURFACE_DEPTH_REACHED
$STATE,16287,begin surface coast
$FINISH,-0.2,1.021420
$STATE,16307,end surface coast,CONTROL_FINISHED_OK
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,16337.68 7349.39
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$10V_AH,9.97,36.845
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$FG_AHR_10Vo,0.000
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$MEM,228476
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