version: 66.12
glider: 178
mission: 20
dive: 86
start: 3 17 115 20 38 12
data:
$ID,178
$MISSION,20
$DIVE,86
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,170315,203136,1212.6071,14505.6162,39,0.9,39,1.9,0.2,62.1,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-74.9
$GPS2,170315,203801,1212.6100,14505.5830,11,1.0,11,1.9,0.2,91.3,8,8.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,273.4,79908,-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,-175.2,132,2466,1244,1227,0.0,0.0,0,181,0.00,0.00,-78.90,0.000,16386,0.000,0.000,129,2466,3211,3253,3169,0,0,0,0,0,0,26.22,28.83,26.29
$GC,183,-0.68,-175.2,129,2466,3255,3171,3.1,-10.5,10,218,10.68,2.20,-12.43,0.000,18948,0.251,0.041,2555,1047,3964,3998,3931,0,0,0,0,0,0,25.87,25.59,26.05
$GC,301,-0.68,-175.2,2556,1047,3996,3938,45.3,-27.8,27,319,0.00,2.20,0.00,0.000,1030,0.000,0.036,2548,2444,3968,3996,3940,0,0,0,0,0,0,26.25,26.19,26.27
$GC,624,-0.68,-175.2,2546,2445,3998,3942,147.5,-23.4,59,639,0.00,2.15,0.00,0.000,260,0.000,0.047,2537,3780,3968,3996,3941,0,0,0,0,0,0,26.31,26.27,26.37
$GC,653,-0.68,-175.2,2537,3783,3998,3942,152.3,-20.6,61,665,0.00,2.03,0.00,0.000,1030,0.000,0.024,2543,2424,3968,3996,3940,0,0,0,0,0,0,26.39,26.35,26.39
$GC,971,-0.68,-175.2,2544,2421,3995,3945,213.5,-14.8,87,979,0.00,2.08,0.00,0.000,516,0.000,0.031,2544,1064,3971,3996,3946,0,0,0,0,0,0,26.36,26.36,26.41
$GC,1013,-0.68,-175.2,2545,1061,3995,3947,218.2,-14.3,88,1023,0.00,2.17,0.00,0.000,1030,0.000,0.034,2537,2458,3971,3996,3946,0,0,0,0,0,0,26.39,26.34,26.41
$GC,1333,-0.68,-175.2,2538,2459,3995,3949,270.1,-16.0,99,1343,0.00,2.08,0.00,0.000,260,0.000,0.049,2526,3772,3972,3996,3949,0,0,0,0,0,0,26.38,26.33,26.44
$GC,1422,-0.68,-175.2,2526,3772,3999,3949,280.8,-16.9,101,1435,0.12,1.98,0.00,0.000,3078,0.157,0.025,2557,2449,3976,4003,3949,0,0,0,0,0,0,26.19,26.36,26.32
$GC,1729,-0.68,-175.2,2557,2449,3996,3950,316.1,-8.9,112,1737,0.00,2.12,0.00,0.000,516,0.000,0.032,2561,1066,3972,3995,3949,0,0,0,0,0,0,26.39,26.38,26.44
$GC,1767,-0.68,-175.2,2560,1066,3998,3951,319.0,-8.6,113,1774,0.00,2.17,0.00,0.000,1030,0.000,0.034,2554,2453,3973,3997,3949,0,0,0,0,0,0,26.42,26.36,26.44
$GC,2089,-0.68,-175.2,2552,2454,3997,3949,348.0,-9.3,124,2096,0.00,2.10,0.00,0.000,260,0.000,0.050,2544,3772,3972,3996,3948,0,0,0,0,0,0,26.39,26.32,26.44
$GC,2131,-0.68,-175.2,2543,3772,3995,3948,351.0,-9.2,125,2138,0.00,1.98,0.00,0.000,1030,0.000,0.026,2544,2449,3972,3996,3948,0,0,0,0,0,0,26.44,26.41,26.45
$GC,2453,-0.68,-175.2,2542,2447,3998,3944,382.5,-9.7,136,2461,0.00,2.12,0.00,0.000,516,0.000,0.032,2543,1068,3969,3996,3943,0,0,0,0,0,0,26.38,26.37,26.44
$GC,2481,-0.68,-175.2,2544,1068,3996,3944,385.6,-9.9,137,2489,0.00,2.17,0.00,0.000,1030,0.000,0.035,2537,2450,3969,3996,3943,0,0,0,0,0,0,26.41,26.35,26.43
$GC,2813,-0.68,-175.2,2536,2451,3996,3938,424.5,-12.0,148,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2450,3966,3995,3938,0,0,0,0,0,0,26.39,26.46,26.45
$GC,3113,-0.68,-175.2,2537,2451,3994,3931,457.6,-10.6,158,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2455,3962,3995,3930,0,0,0,0,0,0,26.36,26.44,26.43
$GC,3413,-0.68,-175.2,2536,2451,3996,3926,490.9,-11.6,168,3423,0.00,2.17,0.00,0.000,516,0.000,0.032,2536,1061,3959,3994,3924,0,0,0,0,0,0,26.35,26.35,26.41
$GC,3442,-0.68,-175.2,2537,1061,3995,3925,490.9,-11.6,168,3452,0.12,2.20,0.00,0.000,3078,0.158,0.036,2557,2449,3959,3995,3924,0,0,0,0,0,0,26.20,26.33,26.34
$GC,3747,-0.68,-175.2,2556,2450,3996,3918,526.8,-10.3,179,3755,0.00,2.15,0.00,0.000,260,0.000,0.052,2550,3772,3956,3995,3918,0,0,0,0,0,0,26.37,26.29,26.44
$GC,3781,-0.68,-175.2,2549,3772,3996,3918,530.2,-10.2,180,3790,0.00,2.00,0.00,0.000,1030,0.000,0.026,2550,2446,3956,3994,3918,0,0,0,0,0,0,26.42,26.36,26.43
$GC,4110,-0.68,-175.2,2549,2446,3996,3912,561.7,-9.2,191,4118,0.00,2.12,0.00,0.000,516,0.000,0.032,2546,1068,3950,3995,3906,0,0,0,0,0,0,26.34,26.33,26.41
$GC,4163,-0.68,-175.2,2550,1067,3994,3911,564.5,-9.0,192,4171,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2453,3952,3994,3910,0,0,0,0,0,0,26.39,26.32,26.41
$GC,4475,-0.68,-175.2,2540,2455,3994,3908,592.6,-8.5,203,4484,0.00,2.17,0.00,0.000,516,0.000,0.032,2542,1064,3949,3992,3907,0,0,0,0,0,0,26.36,26.32,26.42
$GC,4513,-0.68,-175.2,2542,1064,3991,3907,595.4,-8.5,204,4521,0.00,2.20,0.00,0.000,1030,0.000,0.035,2534,2452,3949,3991,3907,0,0,0,0,0,0,26.37,26.31,26.39
$GC,4836,-0.68,-175.2,2533,2453,3991,3905,625.4,-9.4,215,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2452,3947,3989,3905,0,0,0,0,0,0,26.34,26.41,26.40
$GC,5136,-0.68,-175.2,2535,2453,3988,3903,654.1,-9.5,225,5143,0.00,2.12,0.00,0.000,260,0.000,0.051,2524,3772,3944,3987,3902,0,0,0,0,0,0,26.35,26.25,26.39
$GC,5168,-0.68,-175.2,2523,3773,3986,3903,656.8,-9.5,226,5176,0.15,2.00,0.00,0.000,3078,0.151,0.026,2562,2448,3944,3987,3902,0,0,0,0,0,0,26.12,26.34,26.27
$GC,5491,-0.68,-175.2,2561,2449,3987,3900,679.8,-6.6,237,5498,0.00,2.15,0.00,0.000,516,0.000,0.031,2563,1064,3942,3985,3899,0,0,0,0,0,0,26.32,26.29,26.38
$GC,5538,-0.68,-175.2,2564,1063,3983,3900,682.0,-6.7,238,5546,0.00,2.20,0.00,0.000,1030,0.000,0.033,2559,2452,3942,3985,3899,0,0,0,0,0,0,26.34,26.28,26.36
$GC,5856,-0.68,-175.2,2560,2453,3982,3897,704.7,-7.1,249,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2452,3940,3983,3897,0,0,0,0,0,0,26.31,26.39,26.38
$GC,6156,-0.68,-175.2,2560,2452,3982,3897,726.8,-7.4,259,6164,0.00,2.17,0.00,0.000,516,0.000,0.033,2559,1068,3938,3982,3895,0,0,0,0,0,0,26.28,26.27,26.34
$GC,6178,-0.68,-175.2,2560,1068,3981,3896,726.8,-7.4,259,6188,0.00,2.20,0.00,0.000,1030,0.000,0.036,2553,2449,3938,3982,3895,0,0,0,0,0,0,26.32,26.26,26.34
$GC,6484,-0.68,-175.2,2554,2450,3980,3894,752.7,-8.0,270,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2449,3936,3979,3893,0,0,0,0,0,0,26.30,26.37,26.36
$GC,6783,-0.68,-175.2,2552,2450,3981,3893,778.4,-8.9,280,6792,0.00,2.15,0.00,0.000,516,0.000,0.032,2553,1066,3935,3979,3891,0,0,0,0,0,0,26.30,26.25,26.36
$GC,6811,-0.68,-175.2,2554,1065,3978,3896,778.4,-8.9,280,6821,0.00,2.20,0.00,0.000,1030,0.000,0.037,2546,2454,3934,3978,3891,0,0,0,0,0,0,26.31,26.24,26.33
$GC,7117,-0.68,-175.2,2547,2455,3977,3890,809.2,-9.1,291,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2454,3933,3977,3890,0,0,0,0,0,0,26.28,26.35,26.34
$GC,7416,-0.68,-175.2,2545,2455,3978,3890,835.0,-8.4,301,7426,0.00,2.17,0.00,0.000,516,0.000,0.032,2546,1068,3932,3976,3889,0,0,0,0,0,0,26.27,26.23,26.34
$GC,7446,-0.68,-175.2,2546,1068,3975,3889,837.4,-8.2,302,7454,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2462,3932,3976,3889,0,0,0,0,0,0,26.29,26.22,26.31
$GC,7779,-0.68,-175.2,2541,2463,3976,3888,864.0,-7.8,313,7789,0.00,2.15,0.00,0.000,260,0.000,0.053,2532,3773,3931,3975,3887,0,0,0,0,0,0,26.27,26.16,26.33
$GC,7808,-0.68,-175.2,2531,3774,3979,3888,864.0,-7.8,313,7818,0.00,2.00,0.00,0.000,1030,0.000,0.027,2532,2439,3930,3974,3887,0,0,0,0,0,0,26.32,26.28,26.33
$GC,8113,-0.68,-175.2,2534,2440,3972,3887,892.0,-8.5,324,8122,0.00,2.12,0.00,0.000,516,0.000,0.032,2532,1078,3928,3974,3882,0,0,0,0,0,0,26.27,26.22,26.34
$GC,8161,-0.68,-175.2,2533,1079,3973,3887,894.9,-8.6,325,8169,0.12,2.20,0.00,0.000,3078,0.158,0.035,2556,2455,3929,3973,3886,0,0,0,0,0,0,26.03,26.20,26.19
$GC,8475,-0.68,-175.2,2555,2456,3975,3885,919.1,-7.3,336,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2455,3928,3973,3884,0,0,0,0,0,0,26.25,26.31,26.30
$GC,8774,-0.68,-175.2,2556,2456,3972,3884,941.5,-7.4,346,8782,0.00,2.17,0.00,0.000,516,0.000,0.031,2556,1074,3927,3972,3883,0,0,0,0,0,0,26.25,26.21,26.31
$GC,8832,-0.68,-175.2,2555,1074,3973,3883,945.8,-7.6,348,8841,0.00,2.20,0.00,0.000,1030,0.000,0.036,2555,2452,3927,3972,3882,0,0,0,0,0,0,26.25,26.18,26.27
$GC,9162,-0.68,-175.2,2558,2453,3970,3882,970.5,-7.5,359,9172,0.00,2.15,0.00,0.000,260,0.000,0.052,2549,3773,3926,3970,3882,0,0,0,0,0,0,26.22,26.13,26.28
$GC,9192,-0.68,-175.2,2548,3774,3971,3883,972.8,-7.5,360,9200,0.00,2.00,0.00,0.000,1030,0.000,0.027,2549,2439,3926,3970,3882,0,0,0,0,0,0,26.28,26.25,26.29
$STATE,9403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9404,begin apogee
$GC,9408,-0.11,0.0,2547,2095,3972,3881,990.0,-8.2,367,9552,0.62,0.00,137.68,1.307,10246,0.114,0.000,2743,2094,3279,3319,3240,0,0,0,0,0,0,25.98,24.85,24.13
$STATE,9553,end apogee,CONTROL_FINISHED_OK
$STATE,9553,begin climb
$GC,9555,0.68,175.2,2744,2094,3319,3238,996.5,0.0,371,9723,0.73,2.33,155.90,1.296,11012,0.044,0.034,3025,724,2563,2610,2517,0,0,0,0,0,0,25.08,24.12,23.61
$GC,9947,0.68,175.2,3024,725,2602,2508,972.5,12.6,385,9955,0.00,2.20,0.00,0.000,1030,0.000,0.028,3025,2106,2554,2600,2508,0,0,0,0,0,0,25.82,25.77,25.84
$GC,10269,0.68,175.2,3025,2106,2598,2506,931.6,12.3,396,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2106,2552,2599,2505,0,0,0,0,0,0,26.13,26.20,26.19
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$STATE,18541,end climb,SURFACE_DEPTH_REACHED
$STATE,18541,begin surface coast
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$STATE,18562,end surface coast,CONTROL_FINISHED_OK
$STATE,18562,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18581.25 7970.71
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$10V_AH,10.27,25.282
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
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