version: 66.12
glider: 178
mission: 20
dive: 175
start: 4 6 115 1 23 32
data:
$ID,178
$MISSION,20
$DIVE,175
$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,56
$R_STBD_OVSHOOT,37
$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
$GPS1,060415,011628,1205.3600,14343.1348,68,1.7,90,1.6,0.7,331.1,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-73.6
$GPS2,060415,012321,1205.4249,14343.1152,9,1.1,17,1.6,0.9,25.7,8,8.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,46.6,173135,-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,-175.2,120,2449,1245,1225,0.0,0.0,0,185,0.00,0.00,-79.60,0.000,16386,0.000,0.000,120,2449,3297,3343,3252,0,0,0,0,0,0,26.24,28.83,26.30
$GC,187,-0.68,-175.2,121,2449,3342,3254,3.4,-8.3,11,226,10.77,0.00,-8.70,0.000,18694,0.245,0.000,2551,2447,3967,3994,3941,0,0,0,0,0,0,25.56,24.68,25.77
$GC,532,-0.68,-175.2,2550,2447,3996,3946,131.5,-22.8,48,548,0.00,2.10,0.00,0.000,260,0.000,0.045,2544,3767,3969,3993,3945,0,0,0,0,0,0,26.20,26.07,26.27
$GC,599,-0.68,-175.2,2545,3769,3994,3946,146.2,-21.0,54,606,0.00,2.00,0.00,0.000,1030,0.000,0.023,2547,2427,3970,3994,3946,0,0,0,0,0,0,26.31,26.27,26.32
$GC,924,-0.68,-175.2,2548,2425,3994,3957,205.1,-15.2,84,932,0.00,2.05,0.00,0.000,516,0.000,0.028,2551,1067,3972,3994,3950,0,0,0,0,0,0,26.31,26.19,26.36
$GC,976,-0.68,-175.2,2550,1067,3995,3951,209.2,-15.2,85,988,0.00,2.15,0.00,0.000,1030,0.000,0.031,2544,2450,3970,3990,3950,0,0,0,0,0,0,26.25,26.19,26.29
$GC,1282,-0.68,-175.2,2544,2451,3994,3953,252.2,-12.4,96,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2450,3974,3995,3953,0,0,0,0,0,0,26.29,26.36,26.35
$GC,1582,-0.68,-175.2,2544,2451,3995,3954,290.0,-13.2,106,1590,0.00,2.12,0.00,0.000,260,0.000,0.046,2534,3776,3974,3995,3953,0,0,0,0,0,0,26.31,26.10,26.36
$GC,1610,-0.68,-175.2,2533,3777,3994,3954,293.6,-13.2,107,1617,0.00,1.98,0.00,0.000,1030,0.000,0.024,2534,2435,3974,3995,3953,0,0,0,0,0,0,26.30,26.27,26.32
$GC,1937,-0.68,-175.2,2533,2433,3997,3954,333.9,-12.6,118,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2432,3974,3995,3953,0,0,0,0,0,0,26.28,26.35,26.34
$GC,2237,-0.68,-175.2,2534,2432,3995,3949,371.7,-11.6,128,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2432,3972,3995,3949,0,0,0,0,0,0,26.29,26.36,26.35
$GC,2537,-0.68,-175.2,2534,2432,3995,3945,406.3,-11.4,138,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2432,3969,3995,3944,0,0,0,0,0,0,26.28,26.36,26.34
$GC,2837,-0.68,-175.2,2533,2433,3996,3940,439.6,-10.9,148,2845,0.00,2.17,0.00,0.000,260,0.000,0.046,2524,3769,3966,3994,3938,0,0,0,0,0,0,26.28,26.03,26.34
$GC,2869,-0.68,-175.2,2525,3769,3993,3939,442.6,-10.8,149,2877,0.15,1.98,0.00,0.000,3078,0.142,0.026,2563,2449,3966,3994,3938,0,0,0,0,0,0,25.89,26.23,26.03
$GC,3192,-0.68,-175.2,2562,2450,3995,3932,471.7,-8.7,160,3199,0.00,2.15,0.00,0.000,516,0.000,0.030,2564,1062,3962,3993,3931,0,0,0,0,0,0,26.27,26.12,26.33
$GC,3234,-0.68,-175.2,2566,1063,3993,3931,474.0,-8.5,161,3242,0.00,2.17,0.00,0.000,1030,0.000,0.031,2559,2452,3962,3994,3930,0,0,0,0,0,0,26.15,26.08,26.18
$GC,3547,-0.68,-175.2,2560,2453,3993,3925,498.9,-7.3,172,3558,0.00,2.12,0.00,0.000,516,0.000,0.030,2559,1072,3958,3993,3924,0,0,0,0,0,0,26.26,26.10,26.32
$GC,3603,-0.68,-175.2,2558,1073,3995,3924,501.2,-7.3,173,3613,0.00,2.20,0.00,0.000,1030,0.000,0.032,2553,2457,3958,3993,3923,0,0,0,0,0,0,26.16,26.08,26.19
$GC,3908,-0.68,-175.2,2552,2458,3996,3918,526.4,-7.7,184,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3958,3993,3923,0,0,0,0,0,0,26.26,26.32,26.32
$GC,4208,-0.68,-175.2,2552,2458,3995,3912,552.0,-8.8,194,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3952,3993,3911,0,0,0,0,0,0,26.23,26.30,26.29
$GC,4508,-0.68,-175.2,2554,2457,3990,3909,580.8,-9.9,204,4517,0.00,2.17,0.00,0.000,516,0.000,0.031,2553,1065,3949,3990,3908,0,0,0,0,0,0,26.22,26.06,26.29
$GC,4527,-0.68,-175.2,2553,1066,3989,3909,580.8,-9.9,204,4535,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2458,3949,3990,3908,0,0,0,0,0,0,26.13,26.05,26.15
$GC,4833,-0.68,-175.2,2546,2459,3987,3906,615.5,-10.8,214,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3946,3987,3905,0,0,0,0,0,0,26.22,26.29,26.27
$GC,5133,-0.68,-175.2,2544,2459,3988,3904,647.3,-10.4,224,5144,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1066,3944,3985,3903,0,0,0,0,0,0,26.20,26.04,26.26
$GC,5163,-0.68,-175.2,2547,1067,3985,3904,650.5,-10.3,225,5171,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2456,3944,3985,3903,0,0,0,0,0,0,26.08,26.01,26.12
$GC,5496,-0.68,-175.2,2543,2457,3982,3901,683.9,-10.0,236,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3941,3982,3900,0,0,0,0,0,0,26.17,26.24,26.23
$GC,5796,-0.68,-175.2,2541,2456,3983,3899,713.7,-10.0,246,5809,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1065,3940,3982,3898,0,0,0,0,0,0,26.16,26.01,26.20
$GC,5823,-0.68,-175.2,2542,1066,3981,3898,713.7,-10.0,246,5833,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2451,3938,3980,3897,0,0,0,0,0,0,26.06,25.98,26.10
$GC,6129,-0.68,-175.2,2540,2451,3981,3897,745.5,-9.4,257,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3938,3980,3896,0,0,0,0,0,0,26.20,26.26,26.25
$GC,6429,-0.68,-175.2,2540,2451,3980,3896,771.5,-8.4,267,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3936,3978,3895,0,0,0,0,0,0,26.17,26.25,26.24
$GC,6729,-0.68,-175.2,2541,2451,3978,3894,795.9,-8.2,277,6737,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1063,3934,3976,3893,0,0,0,0,0,0,26.15,25.98,26.22
$GC,6786,-0.68,-175.2,2541,1065,3977,3894,800.6,-8.2,279,6794,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2455,3934,3975,3893,0,0,0,0,0,0,26.03,25.95,26.06
$GC,7114,-0.68,-175.2,2540,2456,3976,3891,826.7,-8.0,290,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3932,3974,3890,0,0,0,0,0,0,26.14,26.21,26.20
$GC,7414,-0.68,-175.2,2542,2456,3973,3889,850.5,-7.9,300,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2456,3930,3973,3888,0,0,0,0,0,0,26.13,26.20,26.19
$GC,7714,-0.68,-175.2,2542,2456,3972,3888,872.6,-7.3,310,7722,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1068,3929,3972,3887,0,0,0,0,0,0,26.19,25.97,26.25
$GC,7747,-0.68,-175.2,2542,1068,3971,3888,874.9,-7.3,311,7756,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2453,3929,3971,3887,0,0,0,0,0,0,26.03,25.95,26.07
$GC,8077,-0.68,-175.2,2542,2453,3970,3887,899.6,-7.6,322,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3928,3970,3887,0,0,0,0,0,0,26.03,26.10,26.08
$GC,8377,-0.68,-175.2,2541,2454,3971,3886,924.2,-8.4,332,8386,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1065,3927,3969,3885,0,0,0,0,0,0,26.17,25.98,26.23
$GC,8421,-0.68,-175.2,2542,1065,3969,3886,927.3,-8.5,333,8429,0.00,2.22,0.00,0.000,1030,0.000,0.034,2542,2449,3927,3969,3885,0,0,0,0,0,0,26.00,25.93,26.04
$GC,8744,-0.68,-175.2,2541,2449,3968,3884,957.5,-9.3,344,8752,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1074,3925,3968,3883,0,0,0,0,0,0,26.14,25.95,26.20
$GC,8782,-0.68,-175.2,2542,1074,3967,3884,960.7,-9.5,345,8791,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2454,3926,3968,3884,0,0,0,0,0,0,26.01,25.93,26.05
$STATE,9105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9105,begin apogee
$GC,9109,-0.11,0.0,2541,2100,3969,3882,990.8,-9.2,356,9261,0.65,0.00,139.55,1.291,10246,0.114,0.000,2741,2096,3277,3317,3237,0,0,0,0,0,0,25.62,24.26,23.62
$STATE,9262,end apogee,CONTROL_FINISHED_OK
$STATE,9262,begin climb
$GC,9263,0.68,175.2,2743,2097,3317,3237,1000.1,0.0,361,9436,0.73,2.33,160.05,1.281,10756,0.050,0.034,3019,732,2563,2610,2516,0,0,0,0,0,0,24.80,23.89,23.25
$GC,9625,0.68,175.2,3019,733,2601,2507,983.5,12.0,372,9633,0.00,2.20,0.00,0.000,1030,0.000,0.026,3019,2114,2554,2602,2507,0,0,0,0,0,0,25.91,25.85,25.94
$GC,9943,0.68,175.2,3019,2115,2599,2505,943.2,12.5,383,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2114,2552,2600,2504,0,0,0,0,0,0,26.23,26.30,26.29
$GC,10243,0.68,175.2,3019,2115,2604,2503,907.2,12.0,393,10251,0.00,2.22,0.00,0.000,516,0.000,0.036,3029,729,2550,2598,2502,0,0,0,0,0,0,26.27,26.14,26.33
$GC,10280,0.68,175.2,3028,729,2599,2503,903.7,12.0,394,10290,0.00,2.17,0.00,0.000,1030,0.000,0.028,3029,2112,2549,2597,2502,0,0,0,0,0,0,26.23,26.17,26.27
$GC,10604,0.68,175.2,3029,2112,2596,2502,863.3,12.0,405,10612,0.00,2.25,0.00,0.000,260,0.000,0.044,3029,3509,2547,2596,2498,0,0,0,0,0,0,26.25,26.08,26.31
$GC,10636,0.68,175.2,3029,3510,2596,2502,859.6,12.3,406,10645,0.15,2.15,0.00,0.000,5126,0.184,0.024,3006,2111,2549,2596,2502,0,0,0,0,0,0,25.75,26.19,26.00
$GC,10965,0.68,175.2,3007,2111,2595,2502,821.7,11.2,417,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2111,2548,2595,2501,0,0,0,0,0,0,26.19,26.27,26.26
$GC,11265,0.68,175.2,3005,2112,2595,2503,789.1,10.8,427,11275,0.00,2.22,0.00,0.000,516,0.000,0.034,3015,702,2548,2594,2502,0,0,0,0,0,0,26.13,25.97,26.18
$GC,11320,0.68,175.2,3014,703,2595,2502,785.8,10.7,428,11331,0.00,2.20,0.00,0.000,1030,0.000,0.025,3015,2105,2547,2593,2501,0,0,0,0,0,0,26.16,26.09,26.20
$GC,11625,0.68,175.2,3014,2105,2595,2502,750.5,10.6,439,11633,0.00,2.28,0.00,0.000,260,0.000,0.043,3015,3506,2547,2594,2501,0,0,0,0,0,0,26.17,25.99,26.24
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$STATE,18488,end climb,SURFACE_DEPTH_REACHED
$STATE,18488,begin surface coast
$FINISH,0.2,1.021850
$STATE,18504,end surface coast,CONTROL_FINISHED_OK
$STATE,18504,begin surface
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$TT8_MAMPS,0.05243,0.05243
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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,18511.10 7960.71
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$10V_AH,10.16,31.872
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$FG_AHR_10Vo,0.000
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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
$MEM,229952
$DATA_FILE_SIZE,36697,820
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$CFSIZE,260034560,243482624
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