version: 66.12
glider: 178
mission: 20
dive: 97
start: 3 20 115 6 20 49
data:
$ID,178
$MISSION,20
$DIVE,97
$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,41
$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
$GPS1,200315,061344,1213.8553,14447.0830,95,0.8,95,1.8,0.4,0.7,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-74.9
$GPS2,200315,062037,1213.8824,14447.0586,11,1.0,11,1.8,0.0,277.7,8,8.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,267.2,46301,-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,-175.2,150,2465,1241,1228,0.0,0.0,0,174,0.00,0.00,-77.80,0.000,16386,0.000,0.000,147,2464,3244,3285,3203,0,0,0,0,0,0,26.20,28.83,26.27
$GC,176,-0.68,-175.2,152,2464,3288,3204,3.6,-12.7,13,207,10.40,2.20,-11.62,0.000,18948,0.247,0.044,2562,1053,3966,3998,3934,0,0,0,0,0,0,25.80,24.85,26.13
$GC,381,-0.68,-175.2,2563,1054,3994,3941,68.5,-24.7,46,399,0.00,2.17,0.00,0.000,1030,0.000,0.034,2555,2443,3968,3996,3941,0,0,0,0,0,0,26.22,26.19,26.24
$GC,694,-0.68,-175.2,2555,2444,3995,3943,154.0,-19.5,77,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2443,3969,3996,3942,0,0,0,0,0,0,26.32,26.39,26.38
$GC,997,-0.68,-175.2,2554,2444,3997,3948,199.5,-13.9,107,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2443,3972,3996,3948,0,0,0,0,0,0,26.34,26.41,26.40
$GC,1307,-0.68,-175.2,2555,2444,3996,3951,236.2,-10.9,118,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2443,3973,3996,3951,0,0,0,0,0,0,26.34,26.40,26.39
$GC,1607,-0.68,-175.2,2555,2444,3996,3953,271.4,-12.3,128,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2443,3973,3996,3950,0,0,0,0,0,0,26.36,26.44,26.42
$GC,1907,-0.68,-175.2,2555,2444,3999,3952,305.2,-10.6,138,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2443,3973,3996,3951,0,0,0,0,0,0,26.36,26.43,26.42
$GC,2207,-0.68,-175.2,2554,2444,3997,3948,335.8,-10.3,148,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2443,3971,3996,3947,0,0,0,0,0,0,26.36,26.44,26.43
$GC,2508,-0.68,-175.2,2555,2444,3995,3943,363.8,-8.7,158,2519,0.00,2.17,0.00,0.000,260,0.000,0.052,2544,3782,3969,3996,3942,0,0,0,0,0,0,26.36,26.27,26.41
$GC,2528,-0.68,-175.2,2545,3782,3995,3942,363.8,-8.7,158,2536,0.00,2.05,0.00,0.000,1030,0.000,0.027,2544,2432,3968,3996,3941,0,0,0,0,0,0,26.41,26.38,26.42
$GC,2833,-0.68,-175.2,2544,2431,3996,3938,391.7,-8.8,168,2841,0.00,2.12,0.00,0.000,516,0.000,0.032,2544,1060,3965,3994,3937,0,0,0,0,0,0,26.36,26.32,26.43
$GC,2886,-0.68,-175.2,2543,1061,3996,3936,394.2,-8.9,169,2897,0.00,2.20,0.00,0.000,1030,0.000,0.034,2537,2456,3964,3994,3935,0,0,0,0,0,0,26.38,26.32,26.39
$GC,3191,-0.68,-175.2,2537,2456,3996,3929,428.3,-10.7,180,3199,0.00,2.10,0.00,0.000,260,0.000,0.049,2528,3773,3961,3994,3928,0,0,0,0,0,0,26.35,26.27,26.41
$GC,3223,-0.68,-175.2,2527,3774,3996,3927,431.7,-11.1,181,3231,0.12,2.03,0.00,0.000,3078,0.155,0.026,2558,2438,3960,3994,3927,0,0,0,0,0,0,26.15,26.38,26.28
$GC,3546,-0.68,-175.2,2557,2439,3995,3922,464.7,-10.2,192,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2438,3958,3995,3921,0,0,0,0,0,0,26.34,26.41,26.40
$GC,3846,-0.68,-175.2,2558,2439,3994,3917,493.2,-9.4,202,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2438,3955,3994,3916,0,0,0,0,0,0,26.34,26.41,26.40
$GC,4145,-0.68,-175.2,2559,2439,3993,3911,520.7,-9.0,212,4153,0.00,2.15,0.00,0.000,516,0.000,0.033,2560,1060,3951,3993,3910,0,0,0,0,0,0,26.34,26.29,26.39
$GC,4188,-0.68,-175.2,2561,1061,3993,3911,523.1,-9.0,213,4196,0.00,2.20,0.00,0.000,1030,0.000,0.033,2554,2452,3951,3993,3910,0,0,0,0,0,0,26.34,26.28,26.37
$GC,4500,-0.68,-175.2,2553,2453,3993,3908,552.8,-8.9,224,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3948,3991,3906,0,0,0,0,0,0,26.32,26.39,26.38
$GC,4800,-0.68,-175.2,2553,2453,3991,3906,577.7,-8.1,234,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3947,3989,3905,0,0,0,0,0,0,26.33,26.39,26.39
$GC,5101,-0.68,-175.2,2555,2453,3987,3904,601.0,-7.8,244,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3945,3987,3903,0,0,0,0,0,0,26.28,26.34,26.33
$GC,5400,-0.68,-175.2,2553,2453,3987,3901,626.0,-8.8,254,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3943,3985,3901,0,0,0,0,0,0,26.30,26.37,26.36
$GC,5700,-0.68,-175.2,2553,2453,3984,3899,654.8,-9.9,264,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3941,3983,3899,0,0,0,0,0,0,26.28,26.35,26.34
$GC,6001,-0.68,-175.2,2553,2453,3984,3897,685.4,-10.1,274,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3939,3982,3896,0,0,0,0,0,0,26.28,26.36,26.34
$GC,6300,-0.68,-175.2,2553,2453,3982,3896,713.5,-9.0,284,6308,0.00,2.20,0.00,0.000,516,0.000,0.032,2554,1056,3937,3980,3895,0,0,0,0,0,0,26.29,26.23,26.36
$GC,6338,-0.68,-175.2,2560,1057,3982,3896,716.0,-8.9,285,6346,0.00,2.22,0.00,0.000,1030,0.000,0.034,2547,2452,3937,3979,3895,0,0,0,0,0,0,26.27,26.20,26.28
$GC,6655,-0.68,-175.2,2546,2454,3980,3894,743.7,-8.0,296,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2453,3935,3978,3893,0,0,0,0,0,0,26.27,26.34,26.34
$GC,6956,-0.68,-175.2,2546,2454,3979,3893,767.8,-8.2,306,6965,0.00,2.20,0.00,0.000,516,0.000,0.031,2547,1057,3934,3978,3891,0,0,0,0,0,0,26.26,26.21,26.32
$GC,6995,-0.68,-175.2,2548,1058,3976,3891,770.4,-8.3,307,7003,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2449,3934,3977,3891,0,0,0,0,0,0,26.27,26.20,26.29
$GC,7313,-0.68,-175.2,2540,2450,3978,3890,798.5,-8.7,318,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2449,3932,3976,3889,0,0,0,0,0,0,26.26,26.32,26.32
$GC,7613,-0.68,-175.2,2540,2450,3976,3890,824.3,-8.5,328,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2449,3931,3975,3888,0,0,0,0,0,0,26.25,26.32,26.31
$GC,7914,-0.68,-175.2,2542,2449,3974,3888,849.6,-8.5,338,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2449,3930,3974,3887,0,0,0,0,0,0,26.24,26.30,26.30
$GC,8213,-0.68,-175.2,2541,2450,3973,3887,874.8,-8.2,348,8221,0.00,2.20,0.00,0.000,516,0.000,0.033,2541,1061,3929,3973,3886,0,0,0,0,0,0,26.24,26.17,26.29
$GC,8236,-0.68,-175.2,2542,1061,3972,3887,874.8,-8.2,348,8243,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2447,3929,3972,3886,0,0,0,0,0,0,26.22,26.15,26.25
$GC,8548,-0.68,-175.2,2542,2448,3971,3886,901.2,-7.8,359,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2448,3928,3972,3885,0,0,0,0,0,0,26.22,26.29,26.27
$GC,8848,-0.68,-175.2,2540,2448,3972,3884,924.4,-7.9,369,8856,0.00,2.20,0.00,0.000,516,0.000,0.033,2541,1058,3927,3971,3883,0,0,0,0,0,0,26.24,26.15,26.29
$GC,8890,-0.68,-175.2,2542,1058,3970,3884,926.7,-8.0,370,8898,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2456,3926,3970,3883,0,0,0,0,0,0,26.19,26.12,26.21
$GC,9203,-0.68,-175.2,2546,2458,3971,3883,952.6,-8.1,381,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2457,3925,3970,3881,0,0,0,0,0,0,26.20,26.27,26.27
$GC,9503,-0.68,-175.2,2543,2457,3969,3882,976.6,-7.9,391,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3925,3969,3881,0,0,0,0,0,0,26.20,26.27,26.29
$STATE,9681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9681,begin apogee
$GC,9685,-0.11,0.0,2541,2093,3970,3881,991.0,-8.1,397,9830,0.65,0.00,137.57,1.306,10246,0.119,0.000,2741,2092,3280,3320,3241,0,0,0,0,0,0,25.90,24.79,24.06
$STATE,9830,end apogee,CONTROL_FINISHED_OK
$STATE,9830,begin climb
$GC,9832,0.68,175.2,2742,2092,3318,3241,996.6,0.0,401,10001,0.70,2.35,156.80,1.291,11012,0.045,0.036,3015,723,2562,2608,2517,0,0,0,0,0,0,25.01,24.08,23.53
$GC,10216,0.68,175.2,3014,723,2599,2509,975.1,12.7,414,10227,0.00,2.22,0.00,0.000,1030,0.000,0.029,3015,2106,2553,2598,2508,0,0,0,0,0,0,25.77,25.72,25.79
$GC,10521,0.68,175.2,3016,2107,2598,2506,933.2,12.5,425,10531,0.00,2.30,0.00,0.000,260,0.000,0.045,3015,3517,2552,2598,2506,0,0,0,0,0,0,26.12,26.05,26.18
$GC,10566,0.68,175.2,3014,3518,2599,2506,929.2,12.6,426,10574,0.00,2.17,0.00,0.000,1030,0.000,0.024,3026,2109,2551,2598,2505,0,0,0,0,0,0,26.17,26.14,26.19
$GC,10878,0.68,175.2,3026,2109,2595,2506,884.6,13.7,437,10886,0.00,2.22,0.00,0.000,516,0.000,0.035,3035,708,2550,2595,2505,0,0,0,0,0,0,26.22,26.17,26.28
$GC,10955,0.68,175.2,3037,708,2594,2503,876.7,13.9,439,10963,0.15,2.20,0.00,0.000,5126,0.184,0.028,3003,2107,2548,2594,2503,0,0,0,0,0,0,25.96,26.19,26.17
$GC,11260,0.68,175.2,3003,2108,2589,2503,835.9,12.2,449,11270,0.00,2.28,0.00,0.000,260,0.000,0.045,3003,3507,2548,2594,2502,0,0,0,0,0,0,26.22,26.15,26.29
$GC,11300,0.68,175.2,3002,3507,2596,2503,831.7,12.5,450,11308,0.00,2.17,0.00,0.000,1030,0.000,0.023,3011,2090,2548,2594,2502,0,0,0,0,0,0,26.27,26.23,26.27
$GC,11617,0.68,175.2,3010,2091,2595,2503,789.6,12.8,461,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2090,2547,2593,2502,0,0,0,0,0,0,26.22,26.29,26.29
$GC,11917,0.68,175.2,3010,2091,2593,2503,751.5,12.7,471,11925,0.00,2.30,0.00,0.000,260,0.000,0.044,3012,3499,2547,2592,2502,0,0,0,0,0,0,26.23,26.14,26.30
$GC,11944,0.68,175.2,3010,3499,2594,2503,751.5,12.7,471,11955,0.00,2.15,0.00,0.000,1030,0.000,0.024,3022,2104,2547,2592,2502,0,0,0,0,0,0,26.26,26.22,26.27
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$STATE,18952,end climb,SURFACE_DEPTH_REACHED
$STATE,18952,begin surface coast
$FINISH,-0.3,1.021967
$STATE,18977,end surface coast,CONTROL_FINISHED_OK
$STATE,18977,begin surface
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$IRIDIUM_FIX,1207.91,14452.88,140108,143122
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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,6972.86 3093.66
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$10V_AH,10.20,26.099
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
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$CFSIZE,260034560,249950208
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