version: 66.12
glider: 178
mission: 18
dive: 216
start: 11 8 114 16 33 26
data:
$ID,178
$MISSION,18
$DIVE,216
$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,-1
$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,41
$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
$GPS1,081114,162544,1257.392,14433.989,57,0.8,77,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-79.1
$GPS2,081114,163315,1257.485,14433.907,9,0.8,29,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,4.4,23235,-17.3,-11.000,-20.18,2764
$D_GRID,2554
$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,-0.84,-214.1,153,2143,1463,1441,0.0,0.0,0,174,0.00,0.00,-68.10,0.000,16386,0.000,0.000,150,2145,3304,3355,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,176,-0.84,-214.1,151,2145,3357,3257,3.4,-10.9,10,206,10.75,2.22,-8.20,0.000,18692,0.243,0.056,2585,3554,3925,3982,3869,0,0,0,0,0,0,25.44,26.16,26.40
$GC,298,-0.72,-214.1,2585,3553,3988,3870,66.2,-33.6,28,307,0.20,2.10,0.00,0.000,3078,0.173,0.028,2633,2159,3929,3988,3870,0,0,0,0,0,0,25.75,26.25,28.83
$GC,612,-0.68,-214.1,2633,2155,3998,3870,130.0,-18.7,59,622,0.00,2.20,0.00,0.000,516,0.000,0.036,2633,745,3932,3996,3869,0,0,0,0,0,0,28.83,26.20,28.83
$GC,666,-0.68,-214.1,2633,745,3998,3871,138.0,-13.9,64,674,0.00,2.15,0.00,0.000,1030,0.000,0.031,2625,2145,3934,3997,3871,0,0,0,0,0,0,28.83,26.22,28.83
$GC,971,-0.68,-214.1,2626,2147,4001,3874,177.1,-12.7,94,985,0.00,2.25,0.00,0.000,260,0.000,0.045,2614,3561,3936,4000,3873,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1169,-0.68,-214.1,2614,3561,4001,3874,199.8,-11.7,113,1181,0.12,2.12,0.00,0.000,3078,0.145,0.025,2648,2130,3937,4000,3874,0,0,0,0,0,0,26.04,26.31,28.83
$GC,1475,-0.72,-214.1,2647,2130,4002,3874,232.4,-10.1,124,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2130,3937,4001,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-0.76,-214.1,2647,2129,4002,3874,261.0,-9.0,134,1786,0.00,2.28,0.00,0.000,260,0.000,0.046,2640,3556,3937,4000,3874,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1825,-0.80,-214.1,2640,3556,4001,3873,263.9,-9.0,135,1833,0.00,2.12,0.00,0.000,1030,0.000,0.025,2640,2150,3936,3999,3874,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2131,-0.84,-214.1,2640,2148,3999,3876,295.1,-9.5,145,2141,0.12,2.25,0.00,0.000,4356,0.087,0.043,2561,3562,3935,3996,3874,0,0,0,0,0,0,26.26,26.12,28.83
$GC,2161,-0.87,-214.1,2561,3562,3997,3874,298.5,-9.8,146,2168,0.00,2.12,0.00,0.000,1030,0.000,0.027,2561,2150,3935,3996,3874,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2494,-0.85,-214.1,2562,2148,3993,3876,346.6,-15.1,157,2504,0.12,2.28,0.00,0.000,2308,0.162,0.044,2587,3557,3932,3990,3874,0,0,0,0,0,0,25.97,26.05,28.83
$GC,2558,-0.85,-214.1,2588,3557,3991,3875,354.6,-13.7,159,2567,0.00,2.15,0.00,0.000,1030,0.000,0.028,2587,2143,3932,3990,3874,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2891,-0.85,-214.1,2588,2141,3986,3875,393.0,-11.6,170,2900,0.00,2.15,0.00,0.000,516,0.000,0.037,2586,762,3928,3984,3873,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2924,-0.85,-214.1,2588,762,3985,3873,396.9,-12.0,171,2932,0.00,2.17,0.00,0.000,1030,0.000,0.033,2580,2156,3928,3984,3873,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3251,-0.85,-214.1,2581,2158,3982,3872,438.6,-12.2,182,3259,0.00,2.22,0.00,0.000,260,0.000,0.048,2570,3553,3925,3980,3870,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3288,-0.85,-214.1,2570,3553,3980,3872,442.0,-12.1,183,3297,0.00,2.15,0.00,0.000,1030,0.000,0.028,2570,2144,3924,3979,3870,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3612,-0.85,-214.1,2570,2141,3977,3867,476.5,-9.6,194,3621,0.00,2.17,0.00,0.000,516,0.000,0.038,2572,757,3921,3975,3868,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3656,-0.85,-214.1,2570,759,3976,3868,479.6,-9.8,195,3664,0.15,2.20,0.00,0.000,3078,0.149,0.034,2597,2160,3921,3975,3867,0,0,0,0,0,0,25.84,26.13,28.83
$GC,3969,-0.85,-214.1,2598,2160,3974,3865,508.8,-9.1,206,3980,0.00,2.28,0.00,0.000,260,0.000,0.050,2589,3560,3918,3972,3865,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4010,-0.85,-214.1,2590,3560,3972,3865,511.6,-9.1,207,4017,0.00,2.15,0.00,0.000,1030,0.000,0.029,2589,2149,3918,3971,3865,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4327,-0.85,-214.1,2590,2145,3970,3862,542.3,-9.2,218,4335,0.00,2.28,0.00,0.000,260,0.000,0.049,2581,3553,3914,3968,3861,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4365,-0.85,-214.1,2581,3553,3969,3861,545.2,-9.1,219,4372,0.00,2.15,0.00,0.000,1030,0.000,0.029,2581,2145,3914,3967,3861,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4687,-0.85,-214.1,2581,2141,3965,3860,578.7,-10.8,230,4697,0.00,2.30,0.00,0.000,260,0.000,0.048,2572,3555,3912,3964,3860,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4717,-0.85,-214.1,2573,3556,3964,3862,582.0,-10.9,231,4725,0.00,2.15,0.00,0.000,1030,0.000,0.030,2573,2151,3911,3963,3860,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5045,-0.85,-214.1,2573,2148,3962,3858,620.5,-11.7,242,5055,0.00,2.17,0.00,0.000,516,0.000,0.039,2573,759,3908,3960,3856,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5079,-0.85,-214.1,2573,760,3962,3858,624.1,-11.7,243,5087,0.00,2.20,0.00,0.000,1030,0.000,0.034,2566,2153,3906,3956,3856,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5402,-0.85,-214.1,2566,2155,3958,3855,660.9,-10.8,254,5408,0.12,0.00,0.00,0.000,2054,0.170,0.000,2594,2154,3905,3957,3854,0,0,0,0,0,0,25.86,28.83,28.83
$GC,5702,-0.88,-214.1,2595,2154,3957,3853,687.7,-8.9,264,5712,0.00,2.28,0.00,0.000,260,0.000,0.050,2586,3560,3903,3955,3852,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5757,-0.90,-214.1,2586,3560,3956,3852,690.4,-8.9,265,5768,0.00,2.17,0.00,0.000,1030,0.000,0.030,2586,2146,3903,3955,3852,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6063,-0.90,-214.1,2587,2146,3955,3851,720.9,-9.1,276,6073,0.00,2.20,0.00,0.000,516,0.000,0.040,2586,762,3901,3953,3850,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6088,-0.90,-214.1,2587,762,3954,3850,720.9,-9.1,276,6099,0.00,2.20,0.00,0.000,1030,0.000,0.036,2579,2147,3901,3953,3850,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6393,-0.90,-214.1,2580,2149,3952,3849,749.9,-8.7,287,6403,0.00,2.30,0.00,0.000,260,0.000,0.050,2572,3558,3899,3951,3848,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6463,-0.90,-214.1,2568,3559,3951,3848,754.9,-8.6,289,6473,0.00,2.17,0.00,0.000,1030,0.000,0.031,2568,2148,3899,3950,3848,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6783,-0.90,-214.1,2569,2148,3950,3849,784.9,-9.3,300,6791,0.00,2.30,0.00,0.000,260,0.000,0.050,2559,3554,3898,3949,3847,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6805,-0.90,-214.1,2559,3555,3948,3848,784.9,-9.3,300,6815,0.00,2.17,0.00,0.000,1030,0.000,0.031,2560,2149,3898,3948,3849,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7111,-0.90,-214.1,2560,2146,3947,3847,819.1,-10.8,311,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2145,3894,3942,3846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7411,-0.90,-214.1,2560,2145,3946,3844,851.7,-10.8,321,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2145,3893,3945,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7711,-0.90,-214.1,2560,2145,3946,3842,881.7,-9.8,331,7720,0.00,2.22,0.00,0.000,516,0.000,0.041,2559,754,3893,3945,3841,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7741,-0.90,-214.1,2559,753,3946,3841,884.7,-9.9,332,7749,0.00,2.22,0.00,0.000,1030,0.000,0.037,2559,2148,3893,3944,3843,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8074,-0.90,-214.1,2559,2149,3942,3841,917.0,-9.6,343,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2149,3891,3941,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8374,-0.90,-214.1,2559,2149,3940,3841,944.6,-9.0,353,8383,0.00,2.33,0.00,0.000,260,0.000,0.053,2557,3558,3889,3938,3841,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8448,-0.90,-214.1,2563,3557,3940,3841,950.1,-9.2,355,8456,0.00,2.20,0.00,0.000,1030,0.000,0.031,2557,2155,3889,3938,3840,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8766,-0.90,-214.1,2558,2153,3937,3841,981.0,-9.5,366,8773,0.00,2.25,0.00,0.000,516,0.000,0.041,2557,747,3888,3937,3840,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8788,-0.90,-214.1,2558,749,3937,3841,981.0,-9.5,366,8799,0.12,2.25,0.00,0.000,3078,0.163,0.037,2577,2152,3887,3936,3839,0,0,0,0,0,0,25.63,25.88,28.83
$STATE,8882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8882,begin apogee
$GC,8886,-0.13,0.0,2577,2262,3938,3839,991.7,-8.9,370,9082,0.80,0.00,188.32,1.284,10246,0.122,0.000,2821,2262,3046,3085,3008,0,0,0,0,0,0,25.47,28.83,23.02
$STATE,9082,end apogee,CONTROL_FINISHED_OK
$STATE,9083,begin climb
$GC,9085,0.84,214.1,2821,2262,3084,3005,999.9,0.0,376,9299,0.90,2.53,200.40,1.265,10756,0.045,0.040,3161,853,2176,2220,2132,0,0,0,0,0,0,24.53,24.15,22.80
$GC,9433,0.78,214.1,3162,854,2205,2125,959.8,17.6,388,9441,0.17,2.25,0.00,0.000,5126,0.164,0.034,3119,2252,2165,2205,2125,0,0,0,0,0,0,25.43,25.69,28.83
$GC,9751,0.74,214.1,3120,2252,2205,2121,908.0,15.9,399,9759,0.00,2.28,0.00,0.000,260,0.000,0.051,3119,3655,2165,2209,2121,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9799,0.69,214.1,3120,3656,2203,2121,902.4,15.9,400,9809,0.15,2.17,0.00,0.000,5126,0.178,0.030,3092,2246,2161,2202,2121,0,0,0,0,0,0,25.91,26.26,28.83
$GC,10114,0.67,214.1,3093,2243,2209,2120,856.4,13.9,411,10122,0.00,2.22,0.00,0.000,516,0.000,0.041,3100,849,2160,2201,2119,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10196,0.67,214.1,3101,848,2202,2118,848.0,14.4,413,10206,0.00,2.22,0.00,0.000,1030,0.000,0.035,3101,2260,2158,2201,2116,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,16714,end climb,SURFACE_DEPTH_REACHED
$STATE,16714,begin surface coast
$FINISH,-0.3,1.021399
$STATE,16735,end surface coast,CONTROL_FINISHED_OK
$STATE,16735,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,16765.46 7638.80
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$10V_AH,9.92,40.154
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$FG_AHR_10Vo,0.000
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$GPS,081114,211456,1259.870,14432.783,38,0.9,58,1.6