version: 66.12
glider: 178
mission: 20
dive: 62
start: 3 12 115 17 20 31
data:
$ID,178
$MISSION,20
$DIVE,62
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$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,500
$N_FILEKB,8
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$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,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$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,49
$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,1.0
$GPS1,120315,171353,1238.4470,14525.4111,22,0.8,39,1.9,0.4,260.3,8,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-70.0
$GPS2,120315,172019,1238.4458,14525.3584,10,1.0,10,1.9,0.8,275.5,7,7.9
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,164.4,53385,-17.8,-10.000,-20.71,2479
$D_GRID,1020
$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,-0.71,-175.2,122,2477,903,893,0.0,0.0,0,205,0.00,0.00,-98.62,0.000,16386,0.000,0.000,122,2477,3526,3592,3460,0,0,0,0,0,0,26.94,28.83,27.01
$GC,207,-0.71,-175.2,122,2478,3595,3463,4.4,-10.6,13,233,10.05,2.17,-1.65,0.000,18948,0.246,0.044,2551,1043,3661,3720,3602,0,0,0,0,0,0,26.45,25.63,26.62
$GC,319,-0.71,-175.2,2550,1044,3728,3603,60.3,-30.3,28,329,0.00,2.10,0.00,0.000,1030,0.000,0.035,2543,2426,3664,3726,3602,0,0,0,0,0,0,26.89,26.82,26.92
$GC,624,-0.71,-175.2,2544,2427,3729,3603,156.3,-25.8,59,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2426,3665,3729,3602,0,0,0,0,0,0,27.18,27.25,27.24
$GC,946,-0.71,-175.2,2544,2426,3735,3603,203.8,-12.5,89,955,0.00,2.03,0.00,0.000,516,0.000,0.031,2545,1059,3667,3736,3599,0,0,0,0,0,0,27.27,27.08,27.34
$GC,994,-0.71,-175.2,2546,1059,3732,3603,207.3,-12.1,90,1002,0.00,2.12,0.00,0.000,1030,0.000,0.034,2538,2456,3669,3737,3602,0,0,0,0,0,0,27.13,27.06,27.13
$GC,1307,-0.71,-175.2,2539,2457,3739,3603,245.4,-12.1,101,1315,0.00,2.03,0.00,0.000,260,0.000,0.047,2527,3775,3671,3740,3602,0,0,0,0,0,0,27.34,27.10,27.40
$GC,1340,-0.71,-175.2,2527,3776,3741,3603,249.5,-12.3,102,1347,0.00,1.95,0.00,0.000,1030,0.000,0.025,2528,2417,3671,3740,3602,0,0,0,0,0,0,27.22,27.19,27.24
$GC,1672,-0.71,-175.2,2527,2415,3748,3603,290.5,-12.5,113,1683,0.00,2.00,0.00,0.000,516,0.000,0.033,2527,1066,3671,3740,3602,0,0,0,0,0,0,27.38,27.17,27.44
$GC,1767,-0.71,-175.2,2528,1066,3739,3602,301.1,-12.0,116,1778,0.10,2.10,0.00,0.000,3078,0.138,0.034,2550,2457,3670,3739,3602,0,0,0,0,0,0,27.03,27.18,27.12
$GC,2093,-0.71,-175.2,2549,2457,3736,3603,331.8,-9.3,127,2102,0.00,2.08,0.00,0.000,516,0.000,0.032,2555,1066,3668,3735,3602,0,0,0,0,0,0,27.41,27.21,27.47
$GC,2136,-0.71,-175.2,2556,1066,3734,3603,335.0,-9.6,128,2144,0.00,2.10,0.00,0.000,1030,0.000,0.035,2548,2455,3668,3734,3602,0,0,0,0,0,0,27.27,27.20,27.29
$GC,2459,-0.71,-175.2,2546,2456,3731,3601,371.5,-10.9,139,2468,0.00,2.05,0.00,0.000,260,0.000,0.050,2538,3775,3665,3730,3600,0,0,0,0,0,0,27.43,27.19,27.50
$GC,2498,-0.71,-175.2,2537,3775,3731,3601,374.9,-10.9,140,2506,0.00,1.90,0.00,0.000,1030,0.000,0.028,2538,2449,3664,3729,3599,0,0,0,0,0,0,27.32,27.27,27.34
$GC,2815,-0.71,-175.2,2539,2447,3727,3596,409.9,-10.3,151,2823,0.00,2.05,0.00,0.000,516,0.000,0.033,2538,1059,3660,3726,3595,0,0,0,0,0,0,27.45,27.24,27.51
$GC,2922,-0.71,-175.2,2537,1060,3727,3596,419.5,-10.5,154,2932,0.00,2.12,0.00,0.000,1030,0.000,0.035,2528,2456,3659,3725,3594,0,0,0,0,0,0,27.30,27.23,27.32
$GC,3242,-0.71,-175.2,2525,2457,3722,3592,453.7,-10.3,165,3250,0.00,2.10,0.00,0.000,516,0.000,0.034,2528,1060,3656,3721,3591,0,0,0,0,0,0,27.46,27.26,27.53
$GC,3264,-0.71,-175.2,2531,1061,3725,3592,453.7,-10.3,165,3275,0.12,2.10,0.00,0.000,3078,0.169,0.036,2548,2453,3655,3720,3590,0,0,0,0,0,0,27.10,27.24,27.24
$GC,3570,-0.71,-175.2,2547,2453,3720,3590,485.2,-9.3,176,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2453,3653,3718,3588,0,0,0,0,0,0,27.46,27.54,27.53
$GC,3869,-0.71,-175.2,2547,2454,3716,3587,515.1,-10.2,186,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2453,3650,3714,3586,0,0,0,0,0,0,27.48,27.55,27.54
$GC,4170,-0.71,-175.2,2549,2454,3712,3583,545.1,-9.9,196,4178,0.00,2.10,0.00,0.000,516,0.000,0.034,2548,1065,3647,3711,3583,0,0,0,0,0,0,27.48,27.27,27.55
$GC,4233,-0.71,-175.2,2547,1061,3713,3583,551.0,-9.7,198,4241,0.00,2.12,0.00,0.000,1030,0.000,0.036,2541,2452,3646,3710,3583,0,0,0,0,0,0,27.33,27.26,27.35
$GC,4566,-0.71,-175.2,2541,2453,3706,3580,579.9,-8.2,209,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3642,3706,3579,0,0,0,0,0,0,27.48,27.56,27.55
$GC,4866,-0.71,-175.2,2541,2453,3705,3579,603.6,-7.8,219,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3641,3704,3578,0,0,0,0,0,0,27.49,27.56,27.55
$GC,5166,-0.71,-175.2,2541,2453,3705,3577,628.0,-8.0,229,5174,0.00,2.10,0.00,0.000,516,0.000,0.034,2541,1059,3639,3703,3576,0,0,0,0,0,0,27.50,27.28,27.56
$GC,5234,-0.71,-175.2,2542,1059,3702,3577,633.3,-8.3,231,5243,0.00,2.10,0.00,0.000,1030,0.000,0.036,2531,2451,3639,3702,3576,0,0,0,0,0,0,27.33,27.27,27.36
$GC,5559,-0.71,-175.2,2531,2452,3701,3576,663.2,-9.3,242,5567,0.00,2.10,0.00,0.000,516,0.000,0.034,2532,1058,3636,3699,3574,0,0,0,0,0,0,27.49,27.28,27.55
$GC,5611,-0.71,-175.2,2532,1059,3698,3575,666.3,-9.3,243,5619,0.00,2.12,0.00,0.000,1030,0.000,0.037,2523,2451,3637,3699,3575,0,0,0,0,0,0,27.34,27.26,27.36
$GC,5924,-0.71,-175.2,2524,2456,3697,3568,699.0,-10.0,254,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2452,3634,3697,3572,0,0,0,0,0,0,27.49,27.57,27.55
$GC,6224,-0.71,-175.2,2522,2452,3696,3571,729.0,-9.9,264,6232,0.00,2.08,0.00,0.000,516,0.000,0.035,2523,1062,3633,3695,3571,0,0,0,0,0,0,27.50,27.28,27.56
$GC,6252,-0.71,-175.2,2523,1063,3694,3572,729.0,-9.9,264,6262,0.15,2.10,0.00,0.000,3078,0.168,0.037,2553,2450,3632,3695,3570,0,0,0,0,0,0,27.09,27.27,27.25
$GC,6557,-0.71,-175.2,2551,2450,3696,3569,755.6,-7.6,275,6565,0.00,2.10,0.00,0.000,516,0.000,0.034,2556,1061,3631,3694,3569,0,0,0,0,0,0,27.50,27.27,27.55
$GC,6604,-0.71,-175.2,2553,1061,3693,3569,758.2,-7.6,276,6612,0.00,2.10,0.00,0.000,1030,0.000,0.037,2547,2451,3631,3693,3569,0,0,0,0,0,0,27.33,27.26,27.35
$GC,6917,-0.71,-175.2,2547,2452,3693,3567,783.1,-7.4,287,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3629,3692,3567,0,0,0,0,0,0,27.49,27.57,27.55
$GC,7217,-0.71,-175.2,2545,2451,3691,3567,803.2,-6.5,297,7225,0.00,2.08,0.00,0.000,516,0.000,0.034,2546,1063,3627,3689,3565,0,0,0,0,0,0,27.49,27.27,27.59
$GC,7249,-0.71,-175.2,2545,1064,3691,3566,805.2,-6.6,298,7257,0.00,2.10,0.00,0.000,1030,0.000,0.037,2538,2450,3627,3690,3565,0,0,0,0,0,0,27.33,27.25,27.36
$GC,7572,-0.71,-175.2,2538,2451,3690,3564,828.9,-7.7,309,7581,0.00,2.08,0.00,0.000,516,0.000,0.035,2538,1065,3626,3689,3564,0,0,0,0,0,0,27.49,27.27,27.56
$GC,7606,-0.71,-175.2,2537,1065,3690,3564,831.3,-7.7,310,7614,0.00,2.10,0.00,0.000,1030,0.000,0.037,2529,2450,3626,3688,3564,0,0,0,0,0,0,27.33,27.25,27.35
$GC,7928,-0.71,-175.2,2530,2451,3687,3563,857.8,-8.3,321,7937,0.00,2.10,0.00,0.000,516,0.000,0.034,2530,1062,3625,3687,3563,0,0,0,0,0,0,27.50,27.27,27.54
$GC,7977,-0.71,-175.2,2529,1063,3688,3563,860.5,-8.1,322,7986,0.00,2.12,0.00,0.000,1030,0.000,0.037,2525,2461,3624,3686,3563,0,0,0,0,0,0,27.33,27.25,27.34
$GC,8296,-0.71,-175.2,2520,2462,3688,3563,888.6,-8.3,333,8305,0.12,2.08,0.00,0.000,2564,0.172,0.032,2556,1063,3623,3686,3561,0,0,0,0,0,0,27.11,27.25,27.19
$GC,8344,-0.71,-175.2,2556,1064,3686,3562,891.0,-8.1,334,8352,0.00,2.10,0.00,0.000,1030,0.000,0.037,2551,2451,3624,3686,3562,0,0,0,0,0,0,27.32,27.24,27.34
$GC,8657,-0.71,-175.2,2551,2452,3685,3562,912.9,-6.5,345,8666,0.00,2.10,0.00,0.000,516,0.000,0.035,2551,1063,3623,3685,3562,0,0,0,0,0,0,27.49,27.26,27.55
$GC,8695,-0.71,-175.2,2552,1064,3685,3562,915.3,-6.5,346,8702,0.00,2.12,0.00,0.000,1030,0.000,0.037,2542,2452,3623,3685,3562,0,0,0,0,0,0,27.34,27.24,27.34
$GC,9022,-0.71,-175.2,2544,2452,3684,3561,938.4,-7.2,357,9031,0.00,2.05,0.00,0.000,516,0.000,0.034,2543,1071,3622,3684,3561,0,0,0,0,0,0,27.49,27.27,27.55
$GC,9077,-0.71,-175.2,2542,1071,3685,3562,940.7,-7.2,358,9087,0.00,2.10,0.00,0.000,1030,0.000,0.037,2542,2453,3622,3684,3561,0,0,0,0,0,0,27.32,27.24,27.34
$GC,9383,-0.71,-175.2,2545,2453,3685,3560,964.0,-7.1,369,9391,0.00,2.10,0.00,0.000,516,0.000,0.035,2541,1068,3621,3683,3560,0,0,0,0,0,0,27.49,27.26,27.55
$GC,9431,-0.71,-175.2,2542,1068,3682,3560,966.5,-7.2,370,9439,0.00,2.10,0.00,0.000,1030,0.000,0.038,2542,2450,3621,3682,3560,0,0,0,0,0,0,27.32,27.24,27.34
$STATE,9742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9742,begin apogee
$GC,9746,-0.11,0.0,2541,2101,3684,3559,991.7,-8.0,381,9898,0.62,0.00,144.27,1.311,10246,0.132,0.000,2740,2096,2941,2987,2896,0,0,0,0,0,0,27.05,25.19,24.46
$STATE,9899,end apogee,CONTROL_FINISHED_OK
$STATE,9899,begin climb
$GC,9901,0.71,175.2,2740,2096,2987,2895,996.1,0.0,386,10066,0.75,2.30,153.27,1.297,10756,0.050,0.039,3034,723,2226,2275,2177,0,0,0,0,0,0,25.49,24.89,24.16
$GC,10116,0.71,175.2,3033,723,2272,2172,976.3,13.6,393,10127,0.00,2.22,0.00,0.000,1030,0.000,0.030,3034,2101,2220,2270,2171,0,0,0,0,0,0,25.72,25.66,25.74
$GC,10432,0.71,175.2,3034,2102,2264,2165,923.4,16.3,404,10440,0.00,2.28,0.00,0.000,260,0.000,0.049,3034,3507,2214,2264,2165,0,0,0,0,0,0,26.65,26.43,26.72
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$STATE,17360,end climb,SURFACE_DEPTH_REACHED
$STATE,17360,begin surface coast
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$STATE,17375,end surface coast,CONTROL_FINISHED_OK
$STATE,17375,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17398.66 7456.80
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$10V_AH,9.98,22.774
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