version: 66.12
glider: 178
mission: 18
dive: 198
start: 11 5 114 8 3 8
data:
$ID,178
$MISSION,18
$DIVE,198
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,64
$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,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
$GPS1,051114,075555,1236.855,14423.614,28,1.1,48,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-73.4
$GPS2,051114,080257,1236.867,14423.589,9,1.0,29,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,41.9,63665,-17.3,-11.000,-20.18,2764
$D_GRID,1552
$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,-0.84,-214.1,146,2126,1104,1091,0.0,0.0,0,189,0.00,0.00,-87.53,0.000,16386,0.000,0.000,146,2125,3567,3614,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,191,-0.84,-214.1,146,2125,3612,3526,5.1,-16.7,12,216,10.85,2.10,-4.78,0.000,18948,0.246,0.043,2598,753,3922,3971,3874,0,0,0,0,0,0,25.47,26.22,26.39
$GC,231,-0.38,-214.1,2599,755,3978,3876,34.5,-69.6,16,244,0.60,2.20,0.00,0.000,3078,0.200,0.034,2739,2156,3926,3978,3874,0,0,0,0,0,0,25.57,26.19,28.83
$GC,550,-0.43,-214.1,2739,2156,3987,3874,92.8,-9.6,49,554,0.00,2.15,0.00,0.000,516,0.000,0.036,2739,769,3930,3986,3874,0,0,0,0,0,0,28.83,26.28,28.83
$GC,581,-0.49,-214.1,2739,770,3987,3876,95.5,-8.7,52,584,0.00,2.15,0.00,0.000,1030,0.000,0.031,2738,2156,3930,3986,3875,0,0,0,0,0,0,28.83,26.31,28.83
$GC,885,-0.56,-214.1,2739,2156,3991,3874,117.8,-8.4,82,889,0.15,2.20,0.00,0.000,4356,0.074,0.046,2651,3551,3931,3989,3874,0,0,0,0,0,0,26.39,26.26,28.83
$GC,920,-0.59,-214.1,2651,3551,3990,3875,121.5,-11.3,85,927,0.00,2.12,0.00,0.000,1030,0.000,0.026,2651,2157,3932,3990,3874,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1225,-0.59,-214.1,2652,2154,3993,3876,164.2,-10.9,116,1229,0.00,2.20,0.00,0.000,260,0.000,0.044,2641,3557,3934,3993,3875,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1285,-0.61,-214.1,2642,3558,3994,3875,171.0,-11.3,122,1289,0.08,2.15,0.00,0.000,3078,0.115,0.026,2668,2139,3933,3993,3874,0,0,0,0,0,0,26.17,26.41,28.83
$GC,1595,-0.65,-214.1,2668,2135,3998,3874,199.9,-10.6,153,1599,0.00,2.22,0.00,0.000,260,0.000,0.044,2663,3551,3935,3996,3874,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1675,-0.70,-214.1,2664,3552,3997,3876,206.5,-10.9,156,1679,0.00,2.12,0.00,0.000,1030,0.000,0.025,2663,2156,3935,3996,3874,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1985,-0.74,-214.1,2664,2153,3997,3876,236.2,-8.0,167,1989,0.00,2.15,0.00,0.000,516,0.000,0.036,2664,753,3935,3996,3874,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2010,-0.79,-214.1,2664,754,3997,3876,236.2,-8.0,167,2017,0.12,2.15,0.00,0.000,5126,0.084,0.031,2582,2153,3935,3996,3874,0,0,0,0,0,0,26.32,26.34,28.83
$GC,2315,-0.79,-214.1,2582,2153,3997,3874,271.1,-10.0,178,2319,0.12,2.15,0.00,0.000,2564,0.167,0.035,2612,760,3935,3996,3874,0,0,0,0,0,0,26.12,26.31,28.83
$GC,2345,-0.79,-214.1,2611,760,3997,3874,273.4,-9.4,179,2350,0.00,2.17,0.00,0.000,1030,0.000,0.031,2605,2145,3935,3996,3875,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2675,-0.79,-214.1,2606,2146,3995,3876,303.3,-10.5,190,2680,0.00,2.22,0.00,0.000,260,0.000,0.047,2595,3555,3933,3993,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2705,-0.79,-214.1,2596,3557,3994,3876,306.8,-10.9,191,2709,0.00,2.15,0.00,0.000,1030,0.000,0.027,2595,2154,3934,3993,3875,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3035,-0.79,-214.1,2595,2151,3988,3876,347.2,-12.1,202,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2149,3931,3988,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3335,-0.79,-214.1,2596,2150,3983,3876,380.5,-10.9,212,3340,0.00,2.25,0.00,0.000,260,0.000,0.047,2585,3561,3928,3982,3874,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3390,-0.79,-214.1,2582,3562,3983,3875,384.0,-11.3,213,3397,0.08,2.20,0.00,0.000,3078,0.124,0.028,2609,2136,3928,3982,3874,0,0,0,0,0,0,26.13,26.36,28.83
$GC,3695,-0.82,-214.1,2610,2136,3979,3873,420.1,-10.9,224,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2135,3924,3977,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3995,-0.85,-214.1,2611,2136,3975,3870,450.7,-9.9,234,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2135,3922,3975,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,-0.88,-214.1,2610,2135,3971,3867,477.1,-8.4,244,4299,0.00,2.17,0.00,0.000,516,0.000,0.040,2610,765,3918,3970,3867,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4321,-0.91,-214.1,2610,765,3971,3866,477.1,-8.4,244,4327,0.00,2.20,0.00,0.000,1030,0.000,0.034,2605,2159,3918,3970,3866,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4625,-0.94,-214.1,2606,2159,3966,3863,508.2,-9.7,255,4629,0.12,2.22,0.00,0.000,4356,0.091,0.050,2540,3551,3913,3964,3863,0,0,0,0,0,0,26.29,26.09,28.83
$GC,4665,-0.94,-214.1,2541,3552,3965,3864,511.3,-10.2,256,4669,0.00,2.15,0.00,0.000,1030,0.000,0.030,2541,2155,3913,3964,3862,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4980,-0.94,-214.1,2541,2152,3963,3860,558.4,-14.8,267,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2151,3910,3962,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,-0.94,-214.1,2541,2151,3959,3859,601.9,-14.5,277,5284,0.00,2.25,0.00,0.000,516,0.000,0.041,2540,759,3907,3957,3858,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5305,-0.94,-214.1,2541,760,3958,3859,601.9,-14.5,277,5312,0.10,2.22,0.00,0.000,3078,0.146,0.036,2561,2140,3907,3957,3857,0,0,0,0,0,0,25.84,26.16,28.83
$GC,5610,-0.94,-214.1,2561,2142,3955,3856,642.9,-11.8,288,5614,0.00,2.30,0.00,0.000,260,0.000,0.052,2553,3555,3904,3954,3854,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5645,-0.94,-214.1,2553,3557,3955,3857,646.6,-11.8,289,5649,0.00,2.20,0.00,0.000,1030,0.000,0.031,2553,2156,3904,3953,3855,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5970,-0.94,-214.1,2554,2154,3953,3854,685.1,-11.3,300,5974,0.00,2.22,0.00,0.000,516,0.000,0.041,2553,749,3902,3952,3853,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6010,-0.94,-214.1,2554,749,3953,3853,688.7,-11.4,301,6014,0.00,2.28,0.00,0.000,1030,0.000,0.037,2544,2152,3902,3952,3852,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6330,-0.94,-214.1,2545,2153,3950,3850,727.1,-11.7,312,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2152,3899,3949,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,-0.94,-214.1,2545,2153,3947,3850,760.9,-10.9,322,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2152,3897,3946,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6930,-0.94,-214.1,2545,2153,3946,3849,796.2,-12.2,332,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2151,3896,3945,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,-0.94,-214.1,2543,2152,3943,3845,833.3,-12.4,342,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2152,3893,3941,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-0.94,-214.1,2545,2152,3941,3843,871.7,-12.6,352,7534,0.00,2.30,0.00,0.000,260,0.000,0.054,2534,3554,3891,3940,3843,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7575,-0.94,-214.1,2534,3554,3940,3843,874.9,-12.6,353,7579,0.10,2.22,0.00,0.000,3078,0.135,0.033,2564,2153,3891,3939,3843,0,0,0,0,0,0,25.76,26.10,28.83
$GC,7885,-0.94,-214.1,2565,2153,3938,3842,912.3,-10.7,364,7889,0.00,2.22,0.00,0.000,516,0.000,0.042,2564,758,3889,3938,3841,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7910,-0.94,-214.1,2565,757,3939,3841,912.3,-10.7,364,7917,0.00,2.28,0.00,0.000,1030,0.000,0.039,2559,2165,3889,3937,3841,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8215,-0.94,-214.1,2560,2165,3937,3840,946.0,-9.9,375,8219,0.00,2.28,0.00,0.000,260,0.000,0.054,2549,3561,3887,3935,3840,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8285,-0.94,-214.1,2550,3567,3936,3848,951.9,-9.9,377,8290,0.00,2.25,0.00,0.000,1030,0.000,0.033,2549,2147,3888,3935,3842,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8606,-0.94,-214.1,2549,2144,3935,3839,981.8,-8.8,388,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2143,3886,3934,3839,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8723,begin apogee
$GC,8728,-0.13,0.0,2549,2263,3934,3839,991.7,-8.2,392,8915,0.93,0.00,184.88,1.277,10246,0.128,0.000,2826,2262,3046,3086,3007,0,0,0,0,0,0,25.45,28.83,23.22
$STATE,8916,end apogee,CONTROL_FINISHED_OK
$STATE,8916,begin climb
$GC,8918,0.84,214.1,2827,2262,3086,3005,993.5,0.0,398,9125,0.88,2.50,197.38,1.253,10500,0.044,0.050,3148,3644,2171,2213,2130,0,0,0,0,0,0,24.58,24.22,22.96
$GC,9250,0.77,214.1,3148,3645,2203,2130,942.2,21.4,409,9254,0.12,2.25,0.00,0.000,5126,0.161,0.031,3123,2254,2164,2201,2128,0,0,0,0,0,0,25.40,25.70,28.83
$GC,9565,0.73,214.1,3124,2252,2202,2124,883.6,17.3,420,9569,0.00,2.28,0.00,0.000,260,0.000,0.052,3123,3649,2161,2200,2123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9600,0.68,214.1,3124,3650,2200,2124,878.1,17.5,421,9604,0.12,2.22,0.00,0.000,5126,0.158,0.031,3095,2242,2160,2199,2122,0,0,0,0,0,0,25.96,26.31,28.83
$GC,9926,0.66,214.1,3095,2238,2199,2121,826.2,15.3,432,9929,0.00,2.22,0.00,0.000,516,0.000,0.044,3103,846,2159,2198,2121,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9950,0.64,214.1,3104,847,2198,2121,822.2,15.3,433,9954,0.00,2.25,0.00,0.000,1030,0.000,0.037,3102,2240,2158,2198,2119,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10281,0.61,214.1,3103,2240,2198,2119,771.5,15.5,444,10285,0.15,2.30,0.00,0.000,4356,0.177,0.050,3063,3662,2158,2197,2119,0,0,0,0,0,0,25.94,26.17,28.83
$GC,10305,0.59,214.1,3064,3663,2196,2120,767.7,15.5,445,10309,0.00,2.22,0.00,0.000,1030,0.000,0.031,3071,2250,2158,2197,2119,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,16614,end climb,SURFACE_DEPTH_REACHED
$STATE,16614,begin surface coast
$FINISH,-0.4,1.021277
$STATE,16634,end surface coast,CONTROL_FINISHED_OK
$STATE,16634,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,16663.91 16190.07
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$10V_AH,9.98,38.926
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$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$MEM,262848
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