version: 66.12
glider: 178
mission: 20
dive: 138
start: 3 29 115 4 15 13
data:
$ID,178
$MISSION,20
$DIVE,138
$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,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
$GPS1,290315,040506,1116.7230,14421.2402,77,0.8,77,2.0,0.6,216.3,9,6.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-72.7
$GPS2,290315,041502,1116.7115,14421.1484,11,1.1,12,2.0,0.2,138.7,7,8.2
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,305.4,103738,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,120,2464,1257,1230,0.0,0.0,0,182,0.00,0.00,-81.57,0.000,16386,0.000,0.000,120,2463,3418,3466,3370,0,0,0,0,0,0,26.20,28.83,26.26
$GC,184,-0.68,-175.2,120,2464,3468,3372,4.5,-13.0,11,211,10.73,2.10,-8.18,0.000,18692,0.249,0.058,2544,3771,3963,3998,3929,0,0,0,0,0,0,25.71,25.44,26.06
$GC,304,-0.68,-175.2,2543,3773,3997,3938,51.7,-30.0,29,323,0.00,2.03,0.00,0.000,1030,0.000,0.024,2549,2424,3966,3996,3937,0,0,0,0,0,0,26.25,26.22,26.27
$GC,617,-0.68,-175.2,2549,2422,3994,3940,136.7,-21.4,60,627,0.00,2.08,0.00,0.000,516,0.000,0.031,2552,1062,3966,3994,3939,0,0,0,0,0,0,26.27,26.21,26.33
$GC,686,-0.68,-175.2,2551,1064,3996,3942,149.6,-18.8,66,697,0.00,2.15,0.00,0.000,1030,0.000,0.032,2544,2441,3967,3994,3940,0,0,0,0,0,0,26.28,26.22,26.31
$GC,992,-0.68,-175.2,2545,2441,3994,3946,210.0,-16.2,93,1000,0.00,2.10,0.00,0.000,260,0.000,0.047,2534,3770,3970,3995,3945,0,0,0,0,0,0,26.30,26.16,26.36
$GC,1065,-0.68,-175.2,2534,3771,3996,3947,218.0,-14.1,95,1075,0.00,1.98,0.00,0.000,1030,0.000,0.024,2534,2442,3970,3994,3946,0,0,0,0,0,0,26.33,26.30,26.35
$GC,1385,-0.68,-175.2,2534,2441,3996,3948,261.3,-13.0,106,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2440,3971,3995,3948,0,0,0,0,0,0,26.32,26.39,26.37
$GC,1685,-0.68,-175.2,2533,2441,3997,3943,295.1,-12.7,116,1693,0.00,2.10,0.00,0.000,516,0.000,0.036,2534,1066,3971,3995,3947,0,0,0,0,0,0,26.32,26.22,26.36
$GC,1722,-0.68,-175.2,2533,1067,3997,3948,298.6,-13.0,117,1730,0.15,2.17,0.00,0.000,3078,0.142,0.033,2565,2453,3971,3995,3948,0,0,0,0,0,0,26.01,26.22,26.16
$GC,2040,-0.68,-175.2,2566,2453,3995,3946,333.5,-10.4,128,2047,0.00,2.10,0.00,0.000,260,0.000,0.048,2557,3774,3970,3995,3945,0,0,0,0,0,0,26.31,26.14,26.36
$GC,2091,-0.68,-175.2,2557,3774,3997,3945,336.4,-10.5,129,2103,0.00,1.98,0.00,0.000,1030,0.000,0.025,2557,2458,3969,3995,3944,0,0,0,0,0,0,26.34,26.31,26.35
$GC,2397,-0.68,-175.2,2556,2459,3996,3940,370.3,-9.7,140,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2459,3967,3995,3939,0,0,0,0,0,0,26.29,26.36,26.35
$GC,2697,-0.68,-175.2,2558,2458,3994,3934,396.2,-8.3,150,2705,0.00,2.15,0.00,0.000,516,0.000,0.032,2557,1060,3963,3994,3933,0,0,0,0,0,0,26.29,26.20,26.35
$GC,2734,-0.68,-175.2,2558,1060,3993,3933,398.6,-8.5,151,2742,0.00,2.20,0.00,0.000,1030,0.000,0.032,2550,2456,3963,3994,3932,0,0,0,0,0,0,26.25,26.17,26.29
$GC,3057,-0.68,-175.2,2549,2457,3996,3933,431.4,-10.8,162,3064,0.00,2.12,0.00,0.000,260,0.000,0.048,2540,3785,3960,3994,3926,0,0,0,0,0,0,26.27,26.10,26.33
$GC,3089,-0.68,-175.2,2539,3786,3996,3927,435.2,-11.1,163,3097,0.00,2.03,0.00,0.000,1030,0.000,0.028,2539,2438,3960,3994,3926,0,0,0,0,0,0,26.30,26.27,26.32
$GC,3422,-0.68,-175.2,2541,2436,3994,3920,476.2,-12.2,174,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2435,3956,3994,3919,0,0,0,0,0,0,26.28,26.35,26.34
$GC,3722,-0.68,-175.2,2541,2436,3994,3914,509.2,-10.4,184,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2435,3954,3994,3914,0,0,0,0,0,0,26.26,26.34,26.32
$GC,4022,-0.68,-175.2,2541,2436,3992,3910,539.1,-10.0,194,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2435,3951,3993,3909,0,0,0,0,0,0,26.26,26.33,26.32
$GC,4322,-0.68,-175.2,2539,2436,3993,3907,567.1,-9.1,204,4332,0.00,2.12,0.00,0.000,516,0.000,0.032,2540,1059,3948,3991,3906,0,0,0,0,0,0,26.25,26.15,26.32
$GC,4352,-0.68,-175.2,2541,1059,3990,3906,569.8,-9.0,205,4362,0.00,2.20,0.00,0.000,1030,0.000,0.033,2531,2452,3948,3990,3906,0,0,0,0,0,0,26.19,26.11,26.22
$GC,4687,-0.68,-175.2,2531,2453,3990,3904,599.4,-8.8,216,4697,0.00,2.12,0.00,0.000,260,0.000,0.048,2521,3776,3945,3988,3903,0,0,0,0,0,0,26.25,26.05,26.30
$GC,4716,-0.68,-175.2,2520,3777,3989,3904,599.4,-8.8,216,4727,0.15,2.03,0.00,0.000,3078,0.146,0.027,2559,2438,3945,3987,3903,0,0,0,0,0,0,25.90,26.23,26.06
$GC,5022,-0.68,-175.2,2558,2439,3988,3901,625.4,-7.5,227,5030,0.00,2.10,0.00,0.000,516,0.000,0.031,2561,1076,3943,3986,3901,0,0,0,0,0,0,26.24,26.13,26.29
$GC,5049,-0.68,-175.2,2561,1077,3986,3901,625.4,-7.5,227,5059,0.00,2.17,0.00,0.000,1030,0.000,0.032,2555,2451,3943,3986,3900,0,0,0,0,0,0,26.16,26.08,26.19
$GC,5355,-0.68,-175.2,2554,2450,3985,3899,651.2,-7.6,238,5363,0.00,2.15,0.00,0.000,260,0.000,0.049,2545,3776,3941,3984,3898,0,0,0,0,0,0,26.24,26.03,26.29
$GC,5397,-0.68,-175.2,2544,3772,3985,3898,653.8,-7.7,239,5405,0.00,2.00,0.00,0.000,1030,0.000,0.027,2545,2453,3940,3983,3898,0,0,0,0,0,0,26.27,26.23,26.28
$GC,5720,-0.68,-175.2,2546,2453,3982,3896,680.0,-7.9,250,5728,0.00,2.15,0.00,0.000,516,0.000,0.031,2545,1073,3939,3982,3896,0,0,0,0,0,0,26.22,26.09,26.28
$GC,5762,-0.68,-175.2,2546,1068,3982,3896,682.7,-8.0,251,5770,0.00,2.20,0.00,0.000,1030,0.000,0.033,2538,2455,3939,3982,3896,0,0,0,0,0,0,26.17,26.10,26.20
$GC,6080,-0.68,-175.2,2538,2455,3980,3894,709.8,-8.2,262,6087,0.00,2.15,0.00,0.000,516,0.000,0.031,2538,1072,3937,3980,3894,0,0,0,0,0,0,26.20,26.09,26.26
$GC,6117,-0.68,-175.2,2537,1073,3981,3894,712.2,-8.1,263,6125,0.00,2.17,0.00,0.000,1030,0.000,0.034,2530,2452,3936,3979,3893,0,0,0,0,0,0,26.15,26.07,26.17
$GC,6435,-0.68,-175.2,2537,2453,3977,3892,740.0,-8.4,274,6442,0.00,2.15,0.00,0.000,260,0.000,0.049,2520,3772,3934,3978,3891,0,0,0,0,0,0,26.20,25.98,26.26
$GC,6457,-0.68,-175.2,2519,3773,3979,3892,740.0,-8.4,274,6467,0.15,2.03,0.00,0.000,3078,0.145,0.027,2557,2441,3934,3978,3891,0,0,0,0,0,0,25.84,26.18,25.99
$GC,6763,-0.68,-175.2,2559,2441,3977,3890,762.5,-6.8,285,6773,0.00,2.12,0.00,0.000,516,0.000,0.031,2561,1054,3936,3984,3889,0,0,0,0,0,0,26.19,26.08,26.25
$GC,6797,-0.68,-175.2,2560,1055,3978,3890,764.8,-7.0,286,6808,0.00,2.22,0.00,0.000,1030,0.000,0.033,2559,2453,3930,3972,3889,0,0,0,0,0,0,26.12,26.03,26.15
$GC,7123,-0.68,-175.2,2558,2454,3977,3888,789.4,-7.6,297,7131,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1072,3931,3975,3887,0,0,0,0,0,0,26.17,26.06,26.22
$GC,7146,-0.68,-175.2,2558,1073,3976,3888,789.4,-7.6,297,7154,0.00,2.20,0.00,0.000,1030,0.000,0.034,2553,2452,3931,3975,3887,0,0,0,0,0,0,26.12,26.04,26.15
$GC,7458,-0.68,-175.2,2554,2452,3973,3887,814.9,-7.4,308,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2452,3930,3973,3887,0,0,0,0,0,0,26.16,26.22,26.22
$GC,7759,-0.68,-175.2,2552,2453,3975,3886,835.8,-6.8,318,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3929,3973,3885,0,0,0,0,0,0,26.20,26.26,26.25
$GC,8059,-0.68,-175.2,2554,2452,3971,3884,856.3,-6.9,328,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2452,3927,3971,3884,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8358,-0.68,-175.2,2553,2452,3972,3883,878.4,-7.5,338,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3926,3971,3882,0,0,0,0,0,0,26.16,26.23,26.22
$GC,8659,-0.68,-175.2,2553,2453,3971,3882,902.7,-8.3,348,8667,0.00,2.20,0.00,0.000,516,0.000,0.031,2553,1065,3925,3969,3881,0,0,0,0,0,0,26.15,26.03,26.21
$GC,8681,-0.68,-175.2,2554,1065,3969,3882,902.7,-8.3,348,8689,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2450,3923,3969,3877,0,0,0,0,0,0,26.08,26.00,26.11
$GC,8994,-0.68,-175.2,2547,2451,3969,3881,931.9,-8.8,359,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3924,3968,3880,0,0,0,0,0,0,26.17,26.25,26.23
$GC,9294,-0.68,-175.2,2548,2451,3967,3881,958.4,-8.7,369,9301,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1066,3924,3968,3880,0,0,0,0,0,0,26.15,26.01,26.20
$GC,9322,-0.68,-175.2,2546,1065,3970,3877,961.0,-8.8,370,9332,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2448,3923,3967,3880,0,0,0,0,0,0,26.05,25.96,26.08
$STATE,9650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9650,begin apogee
$GC,9654,-0.11,0.0,2543,2100,3966,3880,990.7,-9.0,381,9805,0.65,0.00,137.68,1.305,10246,0.116,0.000,2742,2100,3278,3319,3237,0,0,0,0,0,0,25.65,24.58,23.80
$STATE,9806,end apogee,CONTROL_FINISHED_OK
$STATE,9806,begin climb
$GC,9808,0.68,175.2,2741,2100,3321,3237,999.0,0.0,386,9979,0.73,2.47,158.02,1.291,11012,0.050,0.043,3011,3515,2564,2611,2517,0,0,0,0,0,0,24.87,24.19,23.42
$GC,10203,0.68,175.2,3011,3515,2600,2513,972.3,14.4,398,10211,0.00,2.17,0.00,0.000,1030,0.000,0.023,3022,2110,2555,2598,2513,0,0,0,0,0,0,25.90,25.86,25.91
$GC,10516,0.68,175.2,3021,2111,2598,2510,925.9,14.2,409,10524,0.00,2.25,0.00,0.000,260,0.000,0.041,3022,3510,2552,2596,2509,0,0,0,0,0,0,26.19,26.08,26.25
$GC,10554,0.68,175.2,3022,3511,2595,2509,921.7,14.4,410,10562,0.15,2.17,0.00,0.000,5126,0.190,0.023,2999,2100,2552,2596,2509,0,0,0,0,0,0,25.82,26.17,26.06
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$STATE,18400,end climb,SURFACE_DEPTH_REACHED
$STATE,18401,begin surface coast
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$STATE,18411,end surface coast,CONTROL_FINISHED_OK
$STATE,18411,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18402.70 8081.99
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$10V_AH,10.20,29.129
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$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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