version: 66.12
glider: 178
mission: 20
dive: 80
start: 3 16 115 13 40 6
data:
$ID,178
$MISSION,20
$DIVE,80
$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,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,160315,133336,1212.5251,14517.0059,38,0.9,38,1.9,0.8,278.1,10,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-73.0
$GPS2,160315,133955,1212.5588,14517.0049,10,1.1,10,1.9,0.7,123.9,8,8.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,264.9,100543,-16.5,-10.000,-23.13,2699
$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,-0.68,-175.2,122,2481,1244,1222,0.0,0.0,0,186,0.00,0.00,-83.80,0.000,16386,0.000,0.000,122,2480,3426,3475,3377,0,0,0,0,0,0,26.22,28.83,26.29
$GC,188,-0.68,-175.2,123,2480,3476,3379,4.1,-11.3,10,212,10.52,2.20,-7.95,0.000,18948,0.249,0.041,2557,1045,3963,3999,3927,0,0,0,0,0,0,25.89,25.61,26.06
$GC,346,-0.68,-175.2,2557,1045,3996,3936,64.5,-29.5,32,356,0.00,2.20,0.00,0.000,1030,0.000,0.034,2549,2445,3966,3997,3935,0,0,0,0,0,0,26.34,26.29,26.36
$GC,651,-0.68,-175.2,2550,2446,3995,3940,152.8,-22.8,63,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2446,3967,3996,3939,0,0,0,0,0,0,26.30,26.37,26.36
$GC,956,-0.68,-175.2,2549,2446,3995,3945,205.9,-17.4,91,966,0.00,2.12,0.00,0.000,260,0.000,0.047,2539,3779,3970,3996,3945,0,0,0,0,0,0,26.37,26.33,26.44
$GC,1000,-0.68,-175.2,2538,3779,3997,3946,211.8,-17.2,92,1009,0.00,2.00,0.00,0.000,1030,0.000,0.025,2539,2430,3970,3996,3945,0,0,0,0,0,0,26.43,26.39,26.44
$GC,1323,-0.68,-175.2,2538,2428,3997,3948,259.1,-14.8,103,1331,0.00,2.05,0.00,0.000,516,0.000,0.031,2539,1074,3971,3995,3947,0,0,0,0,0,0,26.39,26.39,26.45
$GC,1345,-0.68,-175.2,2538,1073,3997,3948,259.1,-14.8,103,1356,0.00,2.15,0.00,0.000,1030,0.000,0.033,2531,2454,3971,3996,3947,0,0,0,0,0,0,26.43,26.38,26.44
$GC,1651,-0.68,-175.2,2530,2454,3997,3948,302.2,-12.8,114,1661,0.00,2.15,0.00,0.000,516,0.000,0.031,2530,1064,3971,3996,3947,0,0,0,0,0,0,26.39,26.39,26.45
$GC,1700,-0.68,-175.2,2530,1065,3997,3948,306.1,-13.0,115,1709,0.15,2.15,0.00,0.000,3078,0.145,0.034,2559,2448,3971,3996,3947,0,0,0,0,0,0,26.25,26.37,26.39
$GC,2006,-0.68,-175.2,2558,2450,3997,3947,338.6,-9.6,125,2017,0.00,2.10,0.00,0.000,260,0.000,0.050,2552,3764,3971,3996,3946,0,0,0,0,0,0,26.40,26.34,26.46
$GC,2091,-0.68,-175.2,2551,3765,3998,3946,344.6,-9.7,127,2101,0.00,1.98,0.00,0.000,1030,0.000,0.026,2552,2453,3971,3997,3945,0,0,0,0,0,0,26.46,26.43,26.46
$GC,2396,-0.68,-175.2,2551,2452,3997,3942,375.3,-8.8,138,2404,0.00,2.15,0.00,0.000,516,0.000,0.031,2552,1056,3968,3996,3941,0,0,0,0,0,0,26.39,26.40,26.45
$GC,2474,-0.68,-175.2,2552,1056,3995,3941,380.1,-8.6,140,2482,0.00,2.17,0.00,0.000,1030,0.000,0.034,2543,2451,3968,3996,3940,0,0,0,0,0,0,26.44,26.38,26.46
$GC,2779,-0.68,-175.2,2543,2452,3994,3934,411.0,-10.1,150,2788,0.00,2.15,0.00,0.000,516,0.000,0.031,2543,1065,3964,3995,3933,0,0,0,0,0,0,26.37,26.38,26.44
$GC,2807,-0.68,-175.2,2542,1066,3995,3934,411.0,-10.1,150,2818,0.00,2.20,0.00,0.000,1030,0.000,0.036,2536,2456,3963,3995,3932,0,0,0,0,0,0,26.43,26.36,26.44
$GC,3113,-0.68,-175.2,2535,2457,3996,3928,448.0,-11.6,161,3122,0.00,2.17,0.00,0.000,516,0.000,0.032,2536,1061,3960,3995,3926,0,0,0,0,0,0,26.37,26.37,26.44
$GC,3141,-0.68,-175.2,2535,1061,3997,3927,448.0,-11.6,161,3153,0.12,2.20,0.00,0.000,3078,0.158,0.036,2556,2449,3960,3995,3925,0,0,0,0,0,0,26.23,26.36,26.36
$GC,3447,-0.68,-175.2,2556,2449,3997,3920,481.9,-9.8,172,3456,0.00,2.12,0.00,0.000,260,0.000,0.052,2549,3775,3957,3995,3919,0,0,0,0,0,0,26.37,26.32,26.42
$GC,3475,-0.68,-175.2,2548,3776,3996,3919,481.9,-9.8,172,3487,0.00,2.00,0.00,0.000,1030,0.000,0.027,2549,2447,3957,3995,3919,0,0,0,0,0,0,26.43,26.41,26.44
$GC,3780,-0.68,-175.2,2548,2447,3996,3914,515.2,-9.5,183,3788,0.00,2.12,0.00,0.000,516,0.000,0.031,2549,1068,3953,3995,3912,0,0,0,0,0,0,26.39,26.36,26.44
$GC,3843,-0.68,-175.2,2548,1068,3996,3912,520.9,-9.3,185,3851,0.00,2.17,0.00,0.000,1030,0.000,0.036,2541,2450,3953,3995,3911,0,0,0,0,0,0,26.40,26.34,26.41
$GC,4176,-0.68,-175.2,2540,2450,3995,3908,550.7,-9.0,196,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3950,3993,3907,0,0,0,0,0,0,26.36,26.44,26.42
$GC,4476,-0.68,-175.2,2542,2450,3990,3906,578.3,-9.2,206,4484,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1061,3947,3990,3905,0,0,0,0,0,0,26.34,26.34,26.40
$GC,4513,-0.68,-175.2,2542,1061,3989,3905,581.0,-9.5,207,4521,0.00,2.20,0.00,0.000,1030,0.000,0.037,2534,2457,3947,3990,3905,0,0,0,0,0,0,26.39,26.32,26.41
$GC,4831,-0.68,-175.2,2533,2458,3990,3903,612.9,-9.8,218,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2457,3943,3987,3900,0,0,0,0,0,0,26.35,26.41,26.41
$GC,5131,-0.68,-175.2,2533,2458,3987,3901,641.6,-9.6,228,5140,0.00,2.17,0.00,0.000,516,0.000,0.032,2534,1068,3942,3986,3899,0,0,0,0,0,0,26.34,26.32,26.40
$GC,5175,-0.68,-175.2,2533,1069,3987,3900,644.9,-9.5,229,5184,0.12,2.17,0.00,0.000,3078,0.161,0.037,2557,2450,3942,3985,3899,0,0,0,0,0,0,26.16,26.31,26.31
$GC,5499,-0.68,-175.2,2557,2451,3983,3897,670.2,-7.4,240,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2450,3939,3983,3896,0,0,0,0,0,0,26.36,26.41,26.39
$GC,5799,-0.68,-175.2,2557,2455,3982,3896,692.5,-7.4,250,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3938,3982,3895,0,0,0,0,0,0,26.32,26.39,26.37
$GC,6099,-0.68,-175.2,2557,2451,3980,3894,715.8,-8.0,260,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2450,3936,3980,3893,0,0,0,0,0,0,26.31,26.38,26.37
$GC,6399,-0.68,-175.2,2556,2452,3981,3892,740.2,-8.2,270,6407,0.00,2.15,0.00,0.000,516,0.000,0.032,2556,1068,3934,3978,3891,0,0,0,0,0,0,26.33,26.28,26.39
$GC,6426,-0.68,-175.2,2557,1068,3978,3891,740.2,-8.2,270,6436,0.00,2.20,0.00,0.000,1030,0.000,0.037,2553,2458,3934,3978,3891,0,0,0,0,0,0,26.34,26.27,26.36
$GC,6732,-0.68,-175.2,2552,2459,3979,3890,767.8,-8.1,281,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2458,3933,3977,3890,0,0,0,0,0,0,26.32,26.39,26.38
$GC,7031,-0.68,-175.2,2553,2459,3975,3889,792.4,-8.1,291,7039,0.00,2.20,0.00,0.000,516,0.000,0.032,2553,1059,3932,3976,3888,0,0,0,0,0,0,26.30,26.27,26.36
$GC,7073,-0.68,-175.2,2552,1060,3977,3888,794.8,-8.2,292,7081,0.00,2.22,0.00,0.000,1030,0.000,0.037,2546,2452,3932,3976,3888,0,0,0,0,0,0,26.32,26.25,26.33
$GC,7386,-0.68,-175.2,2546,2453,3974,3887,823.4,-9.0,303,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2452,3930,3974,3886,0,0,0,0,0,0,26.28,26.35,26.34
$GC,7685,-0.68,-175.2,2545,2453,3976,3887,849.6,-8.5,313,7695,0.00,2.15,0.00,0.000,516,0.000,0.032,2546,1068,3929,3973,3886,0,0,0,0,0,0,26.26,26.25,26.32
$GC,7735,-0.68,-175.2,2547,1068,3973,3886,852.5,-8.5,314,7743,0.00,2.22,0.00,0.000,1030,0.000,0.037,2545,2456,3929,3973,3886,0,0,0,0,0,0,26.31,26.24,26.32
$GC,8048,-0.68,-175.2,2547,2457,3972,3884,879.0,-8.1,325,8057,0.00,2.20,0.00,0.000,516,0.000,0.032,2546,1060,3928,3972,3884,0,0,0,0,0,0,26.28,26.24,26.34
$GC,8078,-0.68,-175.2,2546,1061,3972,3885,881.3,-8.1,326,8085,0.00,2.22,0.00,0.000,1030,0.000,0.037,2542,2453,3927,3972,3883,0,0,0,0,0,0,26.29,26.22,26.31
$GC,8405,-0.68,-175.2,2540,2453,3972,3882,907.6,-8.1,337,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3926,3971,3882,0,0,0,0,0,0,26.26,26.32,26.32
$GC,8705,-0.68,-175.2,2541,2454,3972,3882,932.5,-8.1,347,8714,0.00,2.17,0.00,0.000,516,0.000,0.033,2541,1068,3925,3970,3881,0,0,0,0,0,0,26.25,26.20,26.31
$GC,8743,-0.68,-175.2,2544,1069,3969,3882,935.2,-8.2,348,8751,0.00,2.20,0.00,0.000,1030,0.000,0.037,2539,2453,3925,3970,3881,0,0,0,0,0,0,26.27,26.20,26.29
$GC,9066,-0.68,-175.2,2540,2454,3969,3881,961.5,-8.0,359,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2453,3924,3969,3880,0,0,0,0,0,0,26.25,26.31,26.30
$GC,9366,-0.68,-175.2,2540,2453,3969,3881,984.7,-7.8,369,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2453,3924,3968,3880,0,0,0,0,0,0,26.25,26.32,26.30
$STATE,9454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9454,begin apogee
$GC,9458,-0.11,0.0,2539,2099,3970,3881,991.8,-7.8,372,9603,0.65,0.00,137.50,1.314,10246,0.119,0.000,2740,2098,3279,3319,3239,0,0,0,0,0,0,26.01,24.87,24.16
$STATE,9603,end apogee,CONTROL_FINISHED_OK
$STATE,9604,begin climb
$GC,9605,0.68,175.2,2740,2099,3320,3237,997.0,0.0,376,9771,0.73,0.00,156.05,1.300,10758,0.046,0.000,3017,2098,2564,2610,2519,0,0,0,0,0,0,25.10,24.32,23.65
$GC,10056,0.68,175.2,3016,2100,2602,2510,962.9,12.7,392,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2098,2554,2600,2508,0,0,0,0,0,0,25.89,25.96,25.95
$GC,10356,0.68,175.2,3017,2099,2600,2508,926.9,11.7,402,10364,0.00,2.30,0.00,0.000,260,0.000,0.045,3017,3510,2552,2597,2507,0,0,0,0,0,0,26.14,26.10,26.20
$GC,10424,0.68,175.2,3018,3510,2597,2507,918.8,12.2,404,10431,0.00,2.15,0.00,0.000,1030,0.000,0.024,3028,2114,2552,2597,2507,0,0,0,0,0,0,26.23,26.20,26.25
$GC,10746,0.68,175.2,3027,2115,2597,2508,878.7,12.4,415,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2114,2551,2595,2507,0,0,0,0,0,0,26.24,26.31,26.30
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$STATE,18405,end climb,SURFACE_DEPTH_REACHED
$STATE,18405,begin surface coast
$FINISH,0.1,1.022114
$STATE,18424,end surface coast,CONTROL_FINISHED_OK
$STATE,18424,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18442.92 7910.47
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$10V_AH,10.20,24.843
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