version: 66.12
glider: 178
mission: 20
dive: 163
start: 4 3 115 12 50 5
data:
$ID,178
$MISSION,20
$DIVE,163
$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,53
$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
$GPS1,030415,124306,1142.8253,14330.7764,35,1.0,35,1.7,0.3,138.6,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-67.7
$GPS2,030415,124954,1142.8291,14330.8340,24,1.0,29,1.7,0.5,91.0,9,7.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.6,220375,-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,-175.2,121,2467,1244,1224,0.0,0.0,0,184,0.00,0.00,-82.18,0.000,16386,0.000,0.000,121,2466,3332,3378,3287,0,0,0,0,0,0,26.24,28.83,26.31
$GC,187,-0.68,-175.2,121,2467,3382,3288,3.8,-8.8,12,212,10.65,2.08,-9.65,0.000,18692,0.244,0.058,2543,3766,3966,3997,3936,0,0,0,0,0,0,25.60,24.47,25.98
$GC,289,-0.68,-175.2,2543,3766,3995,3942,52.7,-41.2,30,299,0.00,1.98,0.00,0.000,1030,0.000,0.024,2548,2434,3968,3995,3942,0,0,0,0,0,0,26.21,26.17,26.23
$GC,594,-0.68,-175.2,2548,2432,3994,3944,144.8,-25.4,61,604,0.00,2.10,0.00,0.000,516,0.000,0.029,2552,1059,3969,3995,3944,0,0,0,0,0,0,26.25,26.15,26.31
$GC,679,-0.68,-175.2,2550,1060,3996,3946,161.6,-17.6,69,687,0.00,2.15,0.00,0.000,1030,0.000,0.031,2544,2448,3972,3995,3950,0,0,0,0,0,0,26.21,26.13,26.24
$GC,1003,-0.68,-175.2,2544,2449,3994,3951,214.9,-16.3,95,1010,0.00,2.12,0.00,0.000,260,0.000,0.046,2533,3778,3972,3995,3950,0,0,0,0,0,0,26.26,26.04,26.32
$GC,1069,-0.68,-175.2,2534,3777,3995,3951,224.3,-15.2,97,1078,0.00,2.00,0.00,0.000,1030,0.000,0.023,2534,2443,3973,3995,3951,0,0,0,0,0,0,26.29,26.26,26.30
$GC,1397,-0.68,-175.2,2534,2440,3996,3954,268.6,-11.7,108,1409,0.00,2.15,0.00,0.000,260,0.000,0.047,2526,3770,3973,3995,3952,0,0,0,0,0,0,26.26,26.03,26.32
$GC,1453,-0.68,-175.2,2526,3772,3995,3954,272.9,-12.4,109,1464,0.12,2.00,0.00,0.000,3078,0.154,0.024,2555,2437,3974,3995,3953,0,0,0,0,0,0,25.98,26.25,26.09
$GC,1759,-0.68,-175.2,2554,2438,3997,3953,308.2,-10.3,120,1767,0.00,2.10,0.00,0.000,516,0.000,0.032,2557,1072,3974,3995,3953,0,0,0,0,0,0,26.27,26.15,26.34
$GC,1786,-0.68,-175.2,2556,1073,3997,3953,311.1,-10.4,121,1796,0.00,2.17,0.00,0.000,1030,0.000,0.034,2550,2453,3974,3996,3952,0,0,0,0,0,0,26.21,26.13,26.24
$GC,2116,-0.68,-175.2,2550,2453,3997,3952,349.4,-12.0,132,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2453,3971,3995,3947,0,0,0,0,0,0,26.23,26.31,26.30
$GC,2417,-0.68,-175.2,2551,2454,3995,3947,379.7,-9.7,142,2425,0.00,2.15,0.00,0.000,260,0.000,0.048,2540,3776,3970,3995,3946,0,0,0,0,0,0,26.26,26.03,26.32
$GC,2454,-0.68,-175.2,2540,3777,3997,3947,382.9,-9.7,143,2462,0.00,1.98,0.00,0.000,1030,0.000,0.025,2541,2458,3970,3995,3946,0,0,0,0,0,0,26.27,26.23,26.28
$GC,2776,-0.68,-175.2,2540,2457,3998,3942,416.7,-10.5,154,2784,0.00,2.17,0.00,0.000,516,0.000,0.032,2540,1056,3967,3995,3940,0,0,0,0,0,0,26.24,26.10,26.29
$GC,2829,-0.68,-175.2,2540,1056,3996,3941,419.5,-10.3,155,2839,0.00,2.22,0.00,0.000,1030,0.000,0.033,2535,2459,3967,3994,3940,0,0,0,0,0,0,26.19,26.11,26.22
$GC,3136,-0.68,-175.2,2534,2460,3995,3937,451.1,-9.5,166,3146,0.00,2.12,0.00,0.000,260,0.000,0.050,2524,3772,3964,3994,3934,0,0,0,0,0,0,26.21,25.99,26.27
$GC,3190,-0.68,-175.2,2524,3773,3995,3933,454.2,-9.6,167,3201,0.15,2.00,0.00,0.000,3078,0.144,0.026,2562,2441,3963,3993,3933,0,0,0,0,0,0,25.87,26.21,26.01
$GC,3496,-0.68,-175.2,2563,2442,3992,3927,480.9,-8.0,178,3506,0.00,2.12,0.00,0.000,516,0.000,0.033,2564,1072,3960,3994,3927,0,0,0,0,0,0,26.25,26.07,26.32
$GC,3540,-0.68,-175.2,2565,1072,3993,3928,483.7,-8.0,179,3550,0.00,2.20,0.00,0.000,1030,0.000,0.034,2560,2456,3960,3994,3926,0,0,0,0,0,0,26.12,26.05,26.15
$GC,3865,-0.68,-175.2,2561,2456,3993,3921,507.9,-7.0,190,3875,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1070,3957,3994,3920,0,0,0,0,0,0,26.21,26.06,26.27
$GC,3904,-0.68,-175.2,2558,1071,3995,3920,510.0,-7.0,191,3914,0.00,2.20,0.00,0.000,1030,0.000,0.034,2553,2460,3959,4000,3919,0,0,0,0,0,0,26.12,26.05,26.15
$GC,4225,-0.68,-175.2,2551,2461,3996,3915,533.6,-7.3,202,4234,0.00,2.15,0.00,0.000,260,0.000,0.051,2544,3772,3954,3994,3914,0,0,0,0,0,0,26.22,25.94,26.27
$GC,4253,-0.68,-175.2,2542,3773,3994,3915,533.6,-7.3,202,4264,0.00,2.00,0.00,0.000,1030,0.000,0.027,2544,2454,3953,3993,3914,0,0,0,0,0,0,26.20,26.17,26.22
$GC,4558,-0.68,-175.2,2543,2452,3994,3911,559.7,-7.7,213,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2451,3950,3991,3910,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4858,-0.68,-175.2,2544,2452,3990,3909,583.0,-7.9,223,4866,0.00,2.15,0.00,0.000,516,0.000,0.031,2544,1063,3948,3990,3907,0,0,0,0,0,0,26.17,26.03,26.23
$GC,4901,-0.68,-175.2,2543,1064,3991,3908,585.3,-8.0,224,4909,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2453,3948,3989,3907,0,0,0,0,0,0,26.09,26.01,26.13
$GC,5214,-0.68,-175.2,2541,2453,3988,3906,614.7,-9.5,235,5222,0.00,2.17,0.00,0.000,260,0.000,0.050,2532,3779,3946,3987,3905,0,0,0,0,0,0,26.17,25.91,26.24
$GC,5246,-0.68,-175.2,2531,3780,3988,3906,617.8,-9.6,236,5255,0.00,2.03,0.00,0.000,1030,0.000,0.027,2531,2441,3946,3987,3905,0,0,0,0,0,0,26.18,26.15,26.20
$GC,5580,-0.68,-175.2,2532,2439,3984,3904,651.7,-10.5,247,5588,0.00,2.12,0.00,0.000,516,0.000,0.033,2532,1075,3944,3985,3903,0,0,0,0,0,0,26.17,26.01,26.23
$GC,5648,-0.68,-175.2,2532,1075,3983,3903,658.5,-10.7,249,5656,0.00,2.20,0.00,0.000,1030,0.000,0.035,2530,2460,3943,3984,3902,0,0,0,0,0,0,26.08,26.00,26.11
$GC,5971,-0.68,-175.2,2529,2460,3984,3901,692.8,-10.6,260,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2460,3941,3983,3900,0,0,0,0,0,0,26.13,26.20,26.19
$GC,6271,-0.68,-175.2,2529,2460,3984,3900,723.5,-10.2,270,6277,0.12,0.00,0.00,0.000,2054,0.165,0.000,2558,2459,3940,3982,3899,0,0,0,0,0,0,25.80,26.00,25.94
$GC,6571,-0.68,-175.2,2558,2460,3982,3897,747.8,-8.0,280,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2459,3938,3981,3896,0,0,0,0,0,0,26.20,26.26,26.23
$GC,6871,-0.68,-175.2,2560,2460,3979,3896,772.3,-8.2,290,6882,0.00,2.20,0.00,0.000,516,0.000,0.032,2559,1074,3937,3979,3895,0,0,0,0,0,0,26.15,25.97,26.21
$GC,6917,-0.68,-175.2,2559,1075,3978,3896,774.9,-8.2,291,6927,0.00,2.20,0.00,0.000,1030,0.000,0.035,2559,2453,3936,3978,3895,0,0,0,0,0,0,26.05,25.98,26.08
$GC,7232,-0.68,-175.2,2558,2454,3978,3895,801.7,-8.0,302,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3935,3977,3894,0,0,0,0,0,0,26.16,26.22,26.22
$GC,7533,-0.68,-175.2,2559,2453,3976,3892,824.9,-7.6,312,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3934,3977,3892,0,0,0,0,0,0,26.13,26.20,26.19
$GC,7832,-0.68,-175.2,2559,2454,3975,3892,847.8,-7.7,322,7843,0.00,2.17,0.00,0.000,516,0.000,0.032,2559,1077,3933,3975,3891,0,0,0,0,0,0,26.17,25.98,26.23
$GC,7857,-0.68,-175.2,2559,1072,3974,3891,847.8,-7.7,322,7868,0.00,2.22,0.00,0.000,1030,0.000,0.035,2559,2453,3933,3975,3891,0,0,0,0,0,0,26.05,25.96,26.08
$GC,8163,-0.68,-175.2,2559,2454,3974,3890,874.0,-8.0,333,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3931,3974,3889,0,0,0,0,0,0,26.13,26.20,26.18
$GC,8462,-0.68,-175.2,2558,2454,3975,3890,898.9,-8.5,343,8470,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1071,3930,3973,3888,0,0,0,0,0,0,26.13,25.98,26.19
$GC,8485,-0.68,-175.2,2559,1072,3973,3889,898.9,-8.5,343,8495,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2453,3930,3972,3888,0,0,0,0,0,0,26.03,25.96,26.07
$GC,8790,-0.68,-175.2,2559,2453,3973,3888,927.8,-8.9,354,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3930,3974,3887,0,0,0,0,0,0,26.17,26.24,26.22
$GC,9090,-0.68,-175.2,2558,2453,3973,3888,953.8,-8.5,364,9098,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1069,3928,3971,3886,0,0,0,0,0,0,26.16,25.98,26.22
$GC,9122,-0.68,-175.2,2558,1070,3972,3887,956.3,-8.5,365,9130,0.00,2.22,0.00,0.000,1030,0.000,0.035,2559,2451,3928,3971,3886,0,0,0,0,0,0,26.02,25.95,26.06
$GC,9451,-0.68,-175.2,2559,2451,3970,3886,983.2,-7.9,376,9463,0.00,2.20,0.00,0.000,260,0.000,0.053,2558,3775,3928,3970,3886,0,0,0,0,0,0,26.10,25.84,26.15
$GC,9483,-0.68,-175.2,2558,3776,3972,3886,985.6,-7.8,377,9490,0.00,2.03,0.00,0.000,1030,0.000,0.027,2559,2441,3928,3970,3886,0,0,0,0,0,0,26.12,26.08,26.13
$STATE,9543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9543,begin apogee
$GC,9548,-0.11,0.0,2560,2101,3970,3887,990.3,-7.6,379,9699,0.57,0.00,140.12,1.298,10246,0.108,0.000,2739,2096,3277,3317,3238,0,0,0,0,0,0,25.69,24.23,23.63
$STATE,9700,end apogee,CONTROL_FINISHED_OK
$STATE,9700,begin climb
$GC,9702,0.68,175.2,2739,2097,3317,3238,999.3,0.0,384,9873,0.73,2.45,159.27,1.289,11012,0.044,0.040,3010,3506,2563,2610,2517,0,0,0,0,0,0,24.77,23.91,23.30
$GC,9913,1.00,351.1,3009,3507,2607,2516,997.9,3.3,390,10088,0.25,2.28,159.57,1.271,11270,0.070,0.023,3111,2112,1847,1893,1802,0,0,0,0,0,0,24.91,24.94,23.32
$GC,10383,1.00,351.1,3112,2112,1885,1794,892.9,23.6,406,10391,0.00,2.25,0.00,0.000,516,0.000,0.035,3122,702,1839,1885,1794,0,0,0,0,0,0,26.08,26.01,26.13
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$STATE,15156,end climb,SURFACE_DEPTH_REACHED
$STATE,15156,begin surface coast
$FINISH,0.1,1.022052
$STATE,15178,end surface coast,CONTROL_FINISHED_OK
$STATE,15178,begin surface
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$TT8_MAMPS,0.053179,0.053179
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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,15194.13 6682.43
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$10V_AH,10.15,30.996
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229960
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