version: 66.12
glider: 178
mission: 18
dive: 50
start: 10 5 114 21 19 2
data:
$ID,178
$MISSION,18
$DIVE,50
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,350
$N_FILEKB,4
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,051014,210726,1323.680,14509.542,48,1.0,68,1.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-70.2
$GPS2,051014,211851,1323.688,14509.666,12,1.6,32,1.6
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.9,142594,-18.8,-10.000,-21.60,2227
$D_GRID,1866
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-155.7,124,2133,1505,1494,0.0,0.0,0,87,0.00,0.00,-70.90,0.000,16386,0.000,0.000,124,2135,3420,3469,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.77,-155.7,124,2135,3471,3373,4.5,-14.6,10,109,10.75,2.22,-4.05,0.000,18692,0.252,0.056,2602,3569,3685,3743,3628,0,0,0,0,0,0,26.10,26.48,26.79
$GC,213,-0.66,-155.7,2603,3570,3752,3629,62.2,-30.9,31,225,0.22,2.12,0.00,0.000,3078,0.183,0.033,2658,2161,3690,3752,3628,0,0,0,0,0,0,26.33,26.60,28.83
$GC,525,-0.63,-155.7,2658,2158,3759,3628,124.1,-14.2,62,529,0.00,2.12,0.00,0.000,516,0.000,0.037,2659,753,3692,3757,3627,0,0,0,0,0,0,28.83,26.78,28.83
$GC,573,-0.63,-155.7,2659,753,3760,3627,130.6,-14.4,66,581,0.00,2.17,0.00,0.000,1030,0.000,0.034,2653,2159,3693,3759,3628,0,0,0,0,0,0,28.83,26.79,28.83
$GC,878,-0.63,-155.7,2654,2160,3763,3629,174.5,-13.4,97,882,0.00,2.20,0.00,0.000,260,0.000,0.047,2642,3558,3695,3763,3628,0,0,0,0,0,0,28.83,26.86,28.83
$GC,898,-0.63,-155.7,2643,3559,3763,3629,177.0,-12.8,99,902,0.00,2.10,0.00,0.000,1030,0.000,0.028,2642,2151,3695,3763,3628,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1209,-0.63,-155.7,2643,2147,3767,3628,209.8,-10.4,124,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2147,3697,3766,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1512,-0.63,-155.7,2643,2148,3768,3629,244.6,-11.3,134,1518,0.00,2.17,0.00,0.000,260,0.000,0.048,2637,3563,3697,3767,3627,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1558,-0.63,-155.7,2638,3563,3768,3628,247.8,-11.1,135,1562,0.08,2.12,0.00,0.000,3078,0.132,0.029,2664,2139,3697,3767,3628,0,0,0,0,0,0,26.86,27.06,28.83
$GC,1871,-0.67,-155.7,2664,2136,3769,3630,278.7,-9.6,146,1874,0.00,2.17,0.00,0.000,260,0.000,0.048,2655,3557,3697,3767,3628,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1894,-0.71,-155.7,2656,3558,3768,3628,281.2,-9.8,147,1898,0.00,2.05,0.00,0.000,1030,0.000,0.030,2655,2154,3697,3766,3628,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2224,-0.75,-155.7,2656,2147,3764,3629,311.1,-8.7,158,2228,0.00,2.10,0.00,0.000,516,0.000,0.039,2655,748,3696,3763,3629,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2249,-0.79,-155.7,2656,750,3764,3629,311.1,-8.7,158,2257,0.08,2.15,0.00,0.000,5126,0.063,0.034,2594,2146,3695,3762,3628,0,0,0,0,0,0,27.03,27.08,28.83
$GC,2554,-0.79,-155.7,2597,2146,3759,3628,347.6,-11.1,169,2557,0.00,2.20,0.00,0.000,260,0.000,0.050,2586,3553,3693,3758,3628,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2588,-0.79,-155.7,2587,3554,3757,3629,351.1,-11.3,170,2593,0.00,2.12,0.00,0.000,1030,0.000,0.031,2586,2142,3692,3757,3628,0,0,0,0,0,0,28.83,27.14,28.83
$GC,2915,-0.79,-155.7,2587,2141,3752,3629,392.4,-12.5,181,2919,0.12,2.10,0.00,0.000,2564,0.174,0.044,2622,756,3688,3750,3627,0,0,0,0,0,0,26.94,26.18,28.83
$GC,2963,-0.79,-155.7,2622,756,3752,3628,395.8,-12.2,182,2968,0.00,2.15,0.00,0.000,1030,0.000,0.036,2616,2150,3689,3750,3628,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3274,-0.79,-155.7,2617,2150,3745,3628,429.0,-9.4,193,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2150,3686,3744,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-0.79,-155.7,2617,2151,3741,3627,456.0,-9.3,203,3579,0.00,2.17,0.00,0.000,260,0.000,0.053,2606,3565,3683,3740,3627,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3624,-0.79,-155.7,2606,3560,3740,3626,459.0,-9.5,204,3628,0.00,2.12,0.00,0.000,1030,0.000,0.032,2606,2155,3683,3739,3627,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3934,-0.79,-155.7,2607,2153,3736,3626,494.8,-11.3,215,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2152,3680,3735,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4234,-0.79,-155.7,2607,2153,3730,3623,527.1,-10.4,225,4238,0.00,2.15,0.00,0.000,516,0.000,0.043,2607,760,3676,3730,3622,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4258,-0.79,-155.7,2606,760,3732,3621,527.1,-10.4,225,4266,0.00,2.15,0.00,0.000,1030,0.000,0.037,2598,2148,3675,3730,3621,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4564,-0.79,-155.7,2594,2146,3729,3618,561.7,-10.6,236,4568,0.00,2.22,0.00,0.000,260,0.000,0.054,2587,3549,3672,3727,3618,0,0,0,0,0,0,28.83,27.06,28.83
$GC,4599,-0.79,-155.7,2588,3549,3728,3618,565.1,-10.8,237,4603,0.00,2.12,0.00,0.000,1030,0.000,0.033,2586,2146,3672,3726,3618,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4924,-0.79,-155.7,2588,2142,3725,3617,602.4,-11.4,248,4928,0.00,2.15,0.00,0.000,516,0.000,0.044,2587,755,3670,3723,3617,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4989,-0.79,-155.7,2588,756,3723,3618,609.5,-11.6,250,4993,0.10,2.17,0.00,0.000,3078,0.149,0.039,2610,2148,3669,3723,3616,0,0,0,0,0,0,26.85,27.10,28.83
$GC,5315,-0.81,-155.7,2611,2150,3721,3616,641.6,-9.3,261,5318,0.00,2.20,0.00,0.000,260,0.000,0.060,2602,3561,3667,3720,3614,0,0,0,0,0,0,28.83,26.95,28.83
$GC,5339,-0.83,-155.7,2603,3562,3721,3615,643.9,-9.2,262,5343,0.00,2.12,0.00,0.000,1030,0.000,0.034,2602,2148,3667,3720,3614,0,0,0,0,0,0,28.83,27.17,28.83
$GC,5671,-0.83,-155.7,2602,2146,3717,3613,674.2,-9.1,273,5675,0.00,2.15,0.00,0.000,516,0.000,0.044,2602,745,3664,3716,3612,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5719,-0.83,-155.7,2602,745,3717,3612,676.4,-8.9,274,5726,0.00,2.20,0.00,0.000,1030,0.000,0.044,2593,2155,3663,3716,3611,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6024,-0.83,-155.7,2593,2155,3716,3610,705.4,-8.6,285,6028,0.00,2.22,0.00,0.000,260,0.000,0.056,2583,3555,3662,3714,3610,0,0,0,0,0,0,28.83,27.02,28.83
$GC,6059,-0.83,-155.7,2584,3556,3714,3611,708.1,-8.7,286,6063,0.00,2.15,0.00,0.000,1030,0.000,0.034,2583,2146,3661,3713,3610,0,0,0,0,0,0,28.83,27.16,28.83
$GC,6384,-0.83,-155.7,2583,2142,3713,3608,737.0,-9.0,297,6388,0.00,2.17,0.00,0.000,516,0.000,0.045,2583,748,3659,3711,3608,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6414,-0.83,-155.7,2584,747,3719,3608,739.9,-9.2,298,6419,0.00,2.20,0.00,0.000,1030,0.000,0.041,2572,2153,3659,3711,3607,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6744,-0.83,-155.7,2573,2153,3710,3605,773.5,-10.6,309,6749,0.12,2.22,0.00,0.000,2308,0.188,0.056,2594,3548,3657,3709,3606,0,0,0,0,0,0,26.94,26.99,28.83
$GC,6774,-0.83,-155.7,2595,3549,3709,3607,776.4,-10.6,310,6778,0.00,2.12,0.00,0.000,1030,0.000,0.035,2594,2157,3657,3708,3606,0,0,0,0,0,0,28.83,27.15,28.83
$GC,7104,-0.83,-155.7,2594,2155,3708,3606,809.4,-10.2,321,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2153,3656,3707,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7404,-0.83,-155.7,2594,2152,3707,3604,840.0,-10.1,331,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2152,3653,3705,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7704,-0.83,-155.7,2594,2152,3703,3602,870.0,-10.0,341,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2152,3653,3704,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8005,-0.83,-155.7,2595,2154,3704,3602,898.9,-9.5,351,8008,0.00,2.17,0.00,0.000,516,0.000,0.047,2594,743,3652,3703,3601,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8029,-0.83,-155.7,2594,744,3703,3603,898.9,-9.5,351,8036,0.00,2.20,0.00,0.000,1030,0.000,0.044,2585,2144,3652,3702,3602,0,0,0,0,0,0,28.83,27.06,28.83
$GC,8334,-0.83,-155.7,2585,2144,3701,3601,932.1,-10.1,362,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2144,3650,3701,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8634,-0.83,-155.7,2585,2144,3701,3599,961.8,-9.9,372,8638,0.00,2.22,0.00,0.000,260,0.000,0.057,2574,3562,3649,3699,3599,0,0,0,0,0,0,28.83,26.95,28.83
$GC,8674,-0.83,-155.7,2575,3560,3700,3599,964.5,-10.0,373,8678,0.00,2.17,0.00,0.000,1030,0.000,0.036,2574,2145,3649,3699,3599,0,0,0,0,0,0,28.83,27.13,28.83
$STATE,8898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8898,begin apogee
$GC,8901,-0.13,0.0,2574,2265,3699,3598,990.6,-10.9,381,9033,0.80,0.00,128.50,1.278,10246,0.140,0.000,2820,2265,3046,3085,3008,0,0,0,0,0,0,26.65,28.83,24.39
$STATE,9034,end apogee,CONTROL_FINISHED_OK
$STATE,9034,begin climb
$GC,9035,0.77,155.7,2821,2270,3084,3007,994.3,0.0,385,9180,0.82,2.38,137.52,1.271,10500,0.051,0.054,3129,3645,2411,2455,2367,0,0,0,0,0,0,25.34,24.94,24.10
$GC,9220,0.68,155.7,3128,3646,2447,2366,980.5,11.5,391,9224,0.17,2.28,0.00,0.000,5126,0.176,0.031,3084,2248,2404,2445,2364,0,0,0,0,0,0,25.35,25.52,28.83
$GC,9532,0.64,155.7,3080,2246,2442,2357,931.3,14.4,402,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2245,2399,2442,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9830,0.60,155.7,3083,2245,2442,2357,884.4,16.0,412,9834,0.00,2.20,0.00,0.000,516,0.000,0.044,3093,846,2398,2441,2355,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9874,0.57,155.7,3093,840,2442,2353,880.5,16.0,413,9879,0.12,2.22,0.00,0.000,5126,0.174,0.038,3057,2243,2397,2441,2353,0,0,0,0,0,0,26.34,26.60,28.83
$GC,10185,0.57,155.7,3058,2243,2441,2351,833.2,14.1,424,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2243,2396,2440,2352,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17860,end climb,SURFACE_DEPTH_REACHED
$STATE,17860,begin surface coast
$FINISH,-0.1,1.021720
$STATE,17877,end surface coast,CONTROL_FINISHED_OK
$STATE,17877,begin surface
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$IRIDIUM_FIX,1316.45,14509.74,051014,210904
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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
$PA_UPTIME,110026.53 46197.35
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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