version: 66.12
glider: 178
mission: 18
dive: 162
start: 10 29 114 4 9 32
data:
$ID,178
$MISSION,18
$DIVE,162
$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,49
$R_STBD_OVSHOOT,38
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,291014,040214,1139.034,14401.942,38,0.9,58,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-76.7
$GPS2,291014,040921,1139.109,14401.925,11,0.9,31,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,35.8,203913,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$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,-0.77,-155.7,158,2136,1569,1547,0.0,0.0,0,158,0.00,0.00,-60.97,0.000,16386,0.000,0.000,158,2136,3175,3223,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.77,-155.7,159,2137,3225,3130,3.1,-9.6,9,186,10.85,2.25,-8.32,0.000,18692,0.247,0.058,2614,3551,3684,3749,3620,0,0,0,0,0,0,25.53,26.10,26.31
$GC,410,-0.70,-155.7,2614,3552,3759,3623,86.0,-26.0,45,423,0.00,2.15,0.00,0.000,1030,0.000,0.028,2614,2144,3690,3758,3622,0,0,0,0,0,0,28.83,26.20,28.83
$GC,717,-0.66,-155.7,2614,2141,3765,3626,147.5,-17.2,76,732,0.12,2.20,0.00,0.000,2308,0.174,0.041,2640,3545,3694,3765,3624,0,0,0,0,0,0,25.84,26.10,28.83
$GC,746,-0.64,-155.7,2642,3546,3765,3626,151.3,-16.3,78,756,0.00,2.12,0.00,0.000,1030,0.000,0.026,2640,2148,3694,3765,3624,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1052,-0.64,-155.7,2641,2146,3770,3628,190.8,-13.5,109,1066,0.00,2.22,0.00,0.000,260,0.000,0.044,2635,3552,3698,3770,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1106,-0.64,-155.7,2635,3554,3771,3628,198.0,-13.4,114,1122,0.00,2.12,0.00,0.000,1030,0.000,0.026,2635,2141,3698,3769,3628,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1426,-0.64,-155.7,2635,2140,3773,3626,238.3,-12.0,126,1435,0.00,2.15,0.00,0.000,516,0.000,0.036,2635,755,3699,3772,3627,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1509,-0.66,-155.7,2635,755,3773,3627,245.8,-11.9,128,1517,0.12,2.17,0.00,0.000,3078,0.155,0.030,2658,2158,3699,3772,3627,0,0,0,0,0,0,25.97,26.20,28.83
$GC,1822,-0.70,-155.7,2658,2158,3772,3627,272.2,-6.6,139,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2158,3699,3771,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.75,-155.7,2658,2158,3769,3627,287.2,-5.0,149,2133,0.00,2.20,0.00,0.000,260,0.000,0.046,2650,3551,3697,3767,3627,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2212,-0.80,-155.7,2650,3551,3768,3627,292.9,-6.0,152,2223,0.12,2.12,0.00,0.000,5126,0.086,0.028,2583,2144,3696,3766,3627,0,0,0,0,0,0,26.18,26.26,28.83
$GC,2548,-0.80,-155.7,2584,2140,3764,3627,331.1,-11.5,163,2556,0.00,2.15,0.00,0.000,516,0.000,0.037,2583,759,3695,3763,3627,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2581,-0.80,-155.7,2584,759,3764,3627,334.6,-11.2,164,2591,0.15,2.17,0.00,0.000,3078,0.152,0.033,2610,2157,3695,3763,3627,0,0,0,0,0,0,25.86,26.13,28.83
$GC,2912,-0.82,-155.7,2611,2157,3758,3627,361.5,-8.2,175,2923,0.00,2.22,0.00,0.000,260,0.000,0.047,2602,3553,3692,3757,3627,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2993,-0.85,-155.7,2602,3554,3757,3628,367.1,-8.6,177,3001,0.00,2.12,0.00,0.000,1030,0.000,0.028,2602,2150,3693,3755,3632,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3298,-0.85,-155.7,2603,2148,3750,3628,398.1,-9.9,187,3308,0.00,2.20,0.00,0.000,516,0.000,0.039,2602,750,3688,3749,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3378,-0.85,-155.7,2603,750,3750,3627,404.1,-9.9,189,3386,0.00,2.20,0.00,0.000,1030,0.000,0.034,2594,2154,3690,3753,3627,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3683,-0.85,-155.7,2595,2156,3745,3627,433.7,-8.6,199,3691,0.00,2.20,0.00,0.000,516,0.000,0.038,2594,761,3684,3743,3626,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3721,-0.85,-155.7,2595,760,3744,3626,436.6,-8.5,200,3728,0.00,2.17,0.00,0.000,1030,0.000,0.034,2585,2148,3683,3742,3625,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4043,-0.85,-155.7,2585,2148,3740,3623,466.3,-9.5,211,4053,0.00,2.25,0.00,0.000,260,0.000,0.050,2574,3554,3681,3739,3623,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4078,-0.85,-155.7,2575,3554,3739,3622,469.5,-9.9,212,4086,0.00,2.15,0.00,0.000,1030,0.000,0.029,2574,2154,3680,3737,3623,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4405,-0.85,-155.7,2575,2151,3735,3621,505.2,-10.7,223,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2150,3677,3734,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4706,-0.85,-155.7,2575,2151,3732,3619,536.3,-10.4,233,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2150,3674,3731,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,-0.85,-155.7,2575,2151,3730,3618,567.8,-10.6,243,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2150,3672,3728,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,-0.85,-155.7,2574,2150,3727,3615,598.1,-9.8,253,5313,0.00,2.20,0.00,0.000,516,0.000,0.041,2574,758,3670,3725,3615,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5358,-0.85,-155.7,2574,758,3726,3614,600.7,-9.7,254,5368,0.00,2.25,0.00,0.000,1030,0.000,0.037,2567,2157,3669,3724,3614,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5662,-0.85,-155.7,2568,2157,3723,3612,633.1,-9.9,265,5671,0.12,2.25,0.00,0.000,2564,0.180,0.039,2599,753,3667,3722,3613,0,0,0,0,0,0,25.77,25.97,28.83
$GC,5695,-0.85,-155.7,2599,753,3723,3612,635.9,-10.0,266,5703,0.00,2.22,0.00,0.000,1030,0.000,0.036,2592,2153,3667,3722,3612,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6023,-0.85,-155.7,2593,2155,3721,3611,667.5,-10.0,277,6033,0.00,2.30,0.00,0.000,260,0.000,0.051,2582,3562,3664,3718,3610,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6057,-0.85,-155.7,2582,3562,3721,3610,670.8,-10.4,278,6069,0.00,2.20,0.00,0.000,1030,0.000,0.031,2582,2142,3664,3719,3610,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6383,-0.85,-155.7,2582,2139,3718,3609,708.4,-11.6,289,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2138,3663,3717,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,-0.85,-155.7,2582,2138,3716,3607,741.9,-11.2,299,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2139,3660,3715,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6983,-0.85,-155.7,2582,2140,3713,3607,775.5,-11.3,309,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2139,3659,3713,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7283,-0.85,-155.7,2582,2140,3713,3606,808.1,-10.6,319,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2138,3658,3711,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7584,-0.85,-155.7,2581,2139,3712,3604,837.6,-9.4,329,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2139,3656,3710,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7883,-0.85,-155.7,2582,2140,3709,3603,864.4,-8.8,339,7891,0.00,2.35,0.00,0.000,260,0.000,0.051,2572,3560,3655,3708,3602,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7925,-0.85,-155.7,2573,3561,3709,3603,867.0,-8.9,340,7935,0.00,2.22,0.00,0.000,1030,0.000,0.032,2572,2147,3655,3708,3603,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8240,-0.85,-155.7,2572,2144,3708,3601,899.4,-9.8,351,8250,0.00,2.25,0.00,0.000,516,0.000,0.042,2572,752,3651,3706,3596,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8290,-0.85,-155.7,2572,752,3707,3601,902.4,-9.8,352,8298,0.12,2.25,0.00,0.000,3078,0.171,0.037,2592,2165,3653,3706,3601,0,0,0,0,0,0,25.63,25.89,28.83
$GC,8596,-0.87,-155.7,2593,2161,3706,3601,931.9,-8.9,362,8604,0.00,2.28,0.00,0.000,260,0.000,0.051,2583,3556,3652,3705,3600,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8638,-0.89,-155.7,2585,3556,3706,3601,935.0,-9.0,363,8646,0.00,2.20,0.00,0.000,1030,0.000,0.032,2584,2148,3652,3704,3600,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8961,-0.89,-155.7,2584,2147,3704,3601,966.4,-9.5,374,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2145,3651,3703,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9229,begin apogee
$GC,9233,-0.13,0.0,2583,2252,3704,3598,991.8,-9.5,383,9374,0.80,0.00,133.07,1.288,10246,0.129,0.000,2822,2252,3046,3082,3010,0,0,0,0,0,0,25.48,28.83,23.66
$STATE,9375,end apogee,CONTROL_FINISHED_OK
$STATE,9375,begin climb
$GC,9376,0.77,155.7,2822,2252,3083,3008,995.4,0.0,387,9526,0.82,0.00,142.75,1.268,10502,0.050,0.000,3128,2252,2411,2455,2367,0,0,0,0,0,0,24.82,28.83,23.20
$GC,9801,0.71,155.7,3128,2252,2445,2356,937.9,17.2,402,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2252,2399,2443,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10101,0.65,155.7,3129,2253,2442,2356,885.4,17.4,412,10109,0.17,2.25,0.00,0.000,4612,0.190,0.040,3091,841,2396,2442,2350,0,0,0,0,0,0,25.75,26.09,28.83
$GC,10149,0.60,155.7,3091,842,2442,2353,880.7,17.3,413,10158,0.00,2.25,0.00,0.000,1030,0.000,0.035,3091,2255,2397,2441,2353,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10454,0.57,155.7,3091,2254,2442,2352,831.4,15.0,423,10462,0.12,2.28,0.00,0.000,4356,0.199,0.050,3060,3654,2396,2440,2352,0,0,0,0,0,0,25.79,26.06,28.83
$GC,10492,0.53,155.7,3060,3655,2439,2353,827.3,14.9,424,10499,0.00,2.20,0.00,0.000,1030,0.000,0.031,3068,2241,2396,2440,2352,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10809,0.53,155.7,3069,2238,2439,2353,782.2,13.7,435,10817,0.00,2.20,0.00,0.000,516,0.000,0.041,3078,851,2395,2439,2351,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10846,0.53,155.7,3079,850,2440,2349,778.4,13.7,436,10855,0.15,2.25,0.00,0.000,5126,0.177,0.035,3044,2259,2394,2438,2350,0,0,0,0,0,0,25.76,26.08,28.83
$GC,11164,0.53,155.7,3044,2261,2438,2351,739.6,11.4,447,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2260,2394,2438,2350,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17833,end climb,SURFACE_DEPTH_REACHED
$STATE,17833,begin surface coast
$FINISH,-0.2,1.021264
$STATE,17859,end surface coast,CONTROL_FINISHED_OK
$STATE,17860,begin surface
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$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,17887.98 7984.35
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$10V_AH,9.99,36.344
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$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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