version: 66.12
glider: 178
mission: 20
dive: 148
start: 3 31 115 6 49 16
data:
$ID,178
$MISSION,20
$DIVE,148
$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,52
$R_STBD_OVSHOOT,35
$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
$GPS1,310315,064146,1127.9330,14358.9463,38,99.0,78,1.9,1.0,357.6,4,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-72.4
$GPS2,310315,064905,1128.0925,14358.8135,19,0.8,59,1.9,1.0,353.1,9,8.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,300.9,58078,-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,-175.2,121,2453,1245,1228,0.0,0.0,0,180,0.00,0.00,-74.60,0.000,16386,0.000,0.000,120,2452,3210,3250,3171,0,0,0,0,0,0,26.22,28.83,26.29
$GC,182,-0.68,-175.2,120,2453,3254,3172,3.3,-8.3,8,222,10.95,2.10,-10.32,0.000,18692,0.252,0.057,2541,3772,3963,3999,3928,0,0,0,0,0,0,25.67,25.46,25.88
$GC,383,-0.68,-175.2,2540,3772,3998,3936,83.0,-33.7,30,399,0.00,2.03,0.00,0.000,1030,0.000,0.024,2546,2427,3965,3996,3935,0,0,0,0,0,0,26.25,26.20,26.27
$GC,694,-0.68,-175.2,2545,2425,3996,3941,161.2,-22.2,61,711,0.00,2.08,0.00,0.000,516,0.000,0.028,2550,1067,3967,3995,3940,0,0,0,0,0,0,26.21,26.13,26.27
$GC,800,-0.68,-175.2,2549,1068,3996,3942,177.6,-13.2,71,813,0.00,2.17,0.00,0.000,1030,0.000,0.032,2542,2453,3968,3995,3941,0,0,0,0,0,0,26.25,26.18,26.28
$GC,1131,-0.68,-175.2,2543,2454,3994,3946,229.1,-14.5,92,1138,0.00,2.10,0.00,0.000,260,0.000,0.046,2532,3770,3970,3995,3946,0,0,0,0,0,0,26.28,26.13,26.36
$GC,1162,-0.68,-175.2,2533,3771,3995,3946,233.3,-14.6,93,1170,0.00,2.00,0.00,0.000,1030,0.000,0.023,2532,2427,3970,3995,3946,0,0,0,0,0,0,26.31,26.27,26.31
$GC,1485,-0.68,-175.2,2531,2426,3997,3947,280.6,-12.9,104,1495,0.00,2.08,0.00,0.000,516,0.000,0.030,2532,1074,3970,3995,3946,0,0,0,0,0,0,26.27,26.20,26.34
$GC,1515,-0.68,-175.2,2531,1074,3997,3947,284.3,-12.6,105,1525,0.15,2.17,0.00,0.000,3078,0.143,0.034,2561,2458,3970,3995,3946,0,0,0,0,0,0,25.96,26.18,26.12
$GC,1845,-0.68,-175.2,2561,2459,3997,3947,316.8,-10.2,116,1855,0.00,2.12,0.00,0.000,260,0.000,0.053,2554,3773,3970,3995,3945,0,0,0,0,0,0,26.22,25.86,26.27
$GC,1924,-0.68,-175.2,2554,3774,3995,3946,323.2,-10.0,118,1932,0.00,1.98,0.00,0.000,1030,0.000,0.024,2554,2460,3970,3995,3946,0,0,0,0,0,0,26.30,26.28,26.32
$GC,2242,-0.68,-175.2,2553,2458,3997,3942,354.0,-8.5,129,2250,0.00,2.15,0.00,0.000,516,0.000,0.031,2554,1065,3968,3995,3941,0,0,0,0,0,0,26.28,26.17,26.34
$GC,2290,-0.68,-175.2,2553,1066,3996,3942,356.3,-8.4,130,2298,0.00,2.20,0.00,0.000,1030,0.000,0.033,2544,2457,3968,3995,3941,0,0,0,0,0,0,26.22,26.15,26.25
$GC,2595,-0.68,-175.2,2544,2458,3996,3936,385.6,-9.5,140,2605,0.00,2.12,0.00,0.000,260,0.000,0.049,2535,3782,3964,3994,3935,0,0,0,0,0,0,26.27,26.08,26.33
$GC,2669,-0.68,-175.2,2536,3783,3993,3934,391.3,-9.5,142,2678,0.00,2.03,0.00,0.000,1030,0.000,0.026,2535,2451,3963,3994,3933,0,0,0,0,0,0,26.29,26.26,26.31
$GC,2987,-0.68,-175.2,2534,2449,3996,3927,423.1,-10.3,153,2997,0.00,2.12,0.00,0.000,516,0.000,0.031,2535,1064,3960,3994,3926,0,0,0,0,0,0,26.27,26.15,26.32
$GC,3027,-0.68,-175.2,2534,1064,3995,3927,426.4,-10.5,154,3035,0.12,2.20,0.00,0.000,3078,0.153,0.033,2556,2459,3960,3994,3926,0,0,0,0,0,0,25.90,26.10,26.05
$GC,3344,-0.68,-175.2,2557,2460,3994,3920,455.0,-8.4,165,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2459,3956,3994,3919,0,0,0,0,0,0,26.26,26.32,26.32
$GC,3644,-0.68,-175.2,2555,2460,3996,3915,477.6,-7.4,175,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2459,3954,3994,3914,0,0,0,0,0,0,26.23,26.30,26.29
$GC,3944,-0.68,-175.2,2557,2461,3994,3909,500.0,-7.4,185,3955,0.00,2.17,0.00,0.000,516,0.000,0.031,2557,1065,3951,3994,3908,0,0,0,0,0,0,26.22,26.12,26.28
$GC,3984,-0.68,-175.2,2557,1065,3993,3908,502.2,-7.4,186,3992,0.00,2.22,0.00,0.000,1030,0.000,0.034,2550,2458,3950,3993,3908,0,0,0,0,0,0,26.17,26.09,26.20
$GC,4302,-0.68,-175.2,2551,2461,3992,3906,528.7,-8.3,197,4309,0.00,2.12,0.00,0.000,260,0.000,0.050,2541,3773,3948,3992,3904,0,0,0,0,0,0,26.23,26.01,26.29
$GC,4334,-0.68,-175.2,2541,3774,3993,3906,531.5,-8.4,198,4341,0.00,2.03,0.00,0.000,1030,0.000,0.026,2541,2434,3948,3991,3905,0,0,0,0,0,0,26.24,26.20,26.25
$GC,4666,-0.68,-175.2,2542,2431,3989,3903,563.9,-10.1,209,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2431,3946,3989,3903,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4967,-0.68,-175.2,2542,2431,3987,3901,595.0,-10.4,219,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2430,3943,3986,3901,0,0,0,0,0,0,26.17,26.24,26.22
$GC,5266,-0.68,-175.2,2542,2431,3985,3899,625.1,-10.2,229,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2430,3941,3985,3898,0,0,0,0,0,0,26.21,26.28,26.27
$GC,5566,-0.68,-175.2,2541,2431,3985,3897,655.2,-10.0,239,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2429,3939,3983,3896,0,0,0,0,0,0,26.19,26.25,26.25
$GC,5866,-0.68,-175.2,2542,2431,3982,3895,684.8,-9.8,249,5876,0.00,2.15,0.00,0.000,516,0.000,0.031,2541,1061,3938,3981,3895,0,0,0,0,0,0,26.17,26.06,26.23
$GC,5896,-0.68,-175.2,2541,1061,3983,3895,687.6,-9.6,250,5904,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2453,3938,3982,3895,0,0,0,0,0,0,26.11,26.06,26.15
$GC,6224,-0.68,-175.2,2542,2453,3979,3893,717.3,-9.0,261,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2453,3936,3980,3892,0,0,0,0,0,0,26.16,26.22,26.21
$GC,6524,-0.68,-175.2,2542,2454,3978,3891,745.6,-9.5,271,6534,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1066,3934,3978,3891,0,0,0,0,0,0,26.10,26.05,26.16
$GC,6559,-0.68,-175.2,2540,1067,3980,3892,748.9,-9.5,272,6568,0.00,2.22,0.00,0.000,1030,0.000,0.034,2534,2459,3934,3978,3890,0,0,0,0,0,0,26.10,26.02,26.13
$GC,6889,-0.68,-175.2,2535,2459,3977,3889,781.9,-10.0,283,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2459,3933,3977,3889,0,0,0,0,0,0,26.15,26.20,26.20
$GC,7188,-0.68,-175.2,2535,2461,3975,3886,809.3,-8.8,293,7197,0.00,2.20,0.00,0.000,516,0.000,0.031,2534,1068,3931,3976,3887,0,0,0,0,0,0,26.17,26.06,26.24
$GC,7231,-0.68,-175.2,2533,1068,3977,3889,812.2,-8.8,294,7239,0.00,2.22,0.00,0.000,1030,0.000,0.034,2531,2456,3931,3975,3887,0,0,0,0,0,0,26.09,26.01,26.13
$GC,7555,-0.68,-175.2,2532,2457,3974,3887,839.2,-8.2,305,7565,0.00,2.15,0.00,0.000,260,0.000,0.050,2521,3771,3930,3974,3887,0,0,0,0,0,0,26.15,25.94,26.21
$GC,7590,-0.68,-175.2,2522,3772,3973,3887,841.8,-8.2,306,7598,0.15,2.03,0.00,0.000,3078,0.144,0.026,2559,2442,3930,3974,3887,0,0,0,0,0,0,25.79,26.15,25.92
$GC,7913,-0.68,-175.2,2558,2444,3975,3885,861.9,-6.1,317,7920,0.00,2.15,0.00,0.000,516,0.000,0.032,2559,1070,3928,3973,3884,0,0,0,0,0,0,26.15,26.01,26.20
$GC,7945,-0.68,-175.2,2559,1073,3970,3885,863.7,-6.1,318,7952,0.00,2.20,0.00,0.000,1030,0.000,0.034,2559,2454,3928,3973,3884,0,0,0,0,0,0,26.06,25.98,26.09
$GC,8272,-0.68,-175.2,2559,2455,3971,3883,883.8,-6.2,329,8282,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1069,3927,3972,3882,0,0,0,0,0,0,26.06,26.02,26.11
$GC,8302,-0.68,-175.2,2558,1070,3973,3884,883.8,-6.2,329,8312,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2460,3927,3972,3882,0,0,0,0,0,0,26.08,25.99,26.11
$GC,8607,-0.68,-175.2,2561,2456,3974,3882,906.9,-7.3,340,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2455,3926,3971,3882,0,0,0,0,0,0,26.18,26.25,26.24
$GC,8907,-0.68,-175.2,2558,2456,3972,3882,930.0,-7.9,350,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2455,3925,3970,3881,0,0,0,0,0,0,26.13,26.20,26.18
$GC,9207,-0.68,-175.2,2560,2456,3969,3881,953.9,-7.9,360,9215,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1068,3924,3969,3880,0,0,0,0,0,0,26.14,26.03,26.20
$GC,9235,-0.68,-175.2,2559,1069,3969,3881,953.9,-7.9,360,9245,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2449,3924,3969,3880,0,0,0,0,0,0,26.01,25.90,26.01
$GC,9540,-0.68,-175.2,2558,2451,3964,3880,979.2,-7.3,371,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,3923,3968,3879,0,0,0,0,0,0,26.13,26.20,26.19
$STATE,9688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9688,begin apogee
$GC,9693,-0.11,0.0,2559,2099,3963,3880,990.2,-7.3,376,9838,0.57,0.00,138.07,1.304,10246,0.109,0.000,2739,2098,3280,3319,3241,0,0,0,0,0,0,25.73,24.54,23.72
$STATE,9839,end apogee,CONTROL_FINISHED_OK
$STATE,9839,begin climb
$GC,9840,0.68,175.2,2738,2098,3320,3240,996.6,0.0,380,10013,0.73,2.50,158.57,1.292,10500,0.049,0.042,3009,3497,2563,2610,2517,0,0,0,0,0,0,24.77,24.17,23.37
$GC,10083,0.72,194.5,3008,3498,2604,2516,991.7,9.3,389,10109,0.00,2.22,18.48,1.190,9222,0.000,0.024,3019,2115,2486,2533,2439,0,0,0,0,0,0,25.23,25.19,23.99
$GC,10407,0.72,194.5,3020,2121,2525,2426,949.7,12.7,399,10417,0.00,2.25,0.00,0.000,516,0.000,0.035,3030,703,2477,2525,2430,0,0,0,0,0,0,26.09,26.02,26.15
$GC,10447,0.72,194.5,3031,703,2524,2428,945.6,12.8,400,10455,0.00,2.22,0.00,0.000,1030,0.000,0.027,3030,2114,2478,2528,2428,0,0,0,0,0,0,26.13,26.07,26.15
$GC,10764,0.72,194.5,3029,2115,2525,2428,904.7,12.1,411,10772,0.00,2.25,0.00,0.000,260,0.000,0.043,3029,3510,2475,2523,2427,0,0,0,0,0,0,26.21,26.09,26.27
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$STATE,18023,end climb,SURFACE_DEPTH_REACHED
$STATE,18023,begin surface coast
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$STATE,18039,end surface coast,CONTROL_FINISHED_OK
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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,18064.33 7838.59
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