version: 66.12
glider: 178
mission: 20
dive: 107
start: 3 22 115 11 5 30
data:
$ID,178
$MISSION,20
$DIVE,107
$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,49
$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
$GPS1,220315,105854,1214.2310,14428.0654,37,0.9,37,1.8,0.4,181.7,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-73.5
$GPS2,220315,110519,1214.1528,14428.0381,12,1.0,12,1.8,0.3,265.7,7,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,300.2,12087,-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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,153,2476,1244,1228,0.0,0.0,0,191,0.00,0.00,-84.62,0.000,16386,0.000,0.000,144,2476,3459,3511,3408,0,0,0,0,0,0,26.20,28.83,26.26
$GC,193,-0.68,-175.2,145,2476,3511,3411,3.5,-10.3,13,225,10.45,2.05,-6.50,0.000,18692,0.247,0.055,2544,3772,3965,3996,3935,0,0,0,0,0,0,25.77,24.79,26.10
$GC,345,-0.68,-175.2,2544,3772,3996,3942,74.8,-31.9,34,352,0.00,2.03,0.00,0.000,1030,0.000,0.025,2549,2421,3968,3995,3941,0,0,0,0,0,0,26.27,26.23,26.28
$GC,656,-0.68,-175.2,2548,2418,3997,3944,164.9,-27.4,65,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2417,3969,3995,3943,0,0,0,0,0,0,26.29,26.35,26.34
$GC,977,-0.68,-175.2,2548,2418,3997,3948,224.1,-14.7,87,985,0.00,2.15,0.00,0.000,260,0.000,0.044,2541,3772,3971,3995,3948,0,0,0,0,0,0,26.32,26.25,26.38
$GC,1074,-0.68,-175.2,2540,3772,3997,3950,236.5,-14.1,90,1082,0.00,2.00,0.00,0.000,1030,0.000,0.024,2542,2432,3972,3995,3949,0,0,0,0,0,0,26.38,26.34,26.39
$GC,1392,-0.68,-175.2,2543,2430,3995,3952,280.3,-13.9,101,1399,0.00,2.15,0.00,0.000,260,0.000,0.046,2535,3769,3973,3995,3951,0,0,0,0,0,0,26.34,26.26,26.40
$GC,1439,-0.68,-175.2,2534,3770,3997,3948,285.0,-14.1,102,1446,0.00,1.98,0.00,0.000,1030,0.000,0.025,2535,2450,3973,3995,3951,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1756,-0.68,-175.2,2532,2448,3995,3952,326.5,-13.1,113,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2448,3973,3995,3952,0,0,0,0,0,0,26.34,26.41,26.40
$GC,2056,-0.68,-175.2,2536,2448,3995,3952,367.9,-13.3,123,2064,0.00,2.12,0.00,0.000,516,0.000,0.032,2535,1067,3973,3995,3951,0,0,0,0,0,0,26.34,26.31,26.40
$GC,2114,-0.68,-175.2,2534,1067,3997,3952,375.2,-12.8,125,2122,0.12,2.15,0.00,0.000,3078,0.154,0.032,2558,2448,3973,3995,3951,0,0,0,0,0,0,26.12,26.29,26.27
$GC,2441,-0.68,-175.2,2557,2450,3997,3947,405.9,-9.2,136,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2449,3970,3995,3945,0,0,0,0,0,0,26.29,26.36,26.34
$GC,2741,-0.68,-175.2,2557,2450,3997,3942,435.8,-10.0,146,2753,0.00,2.10,0.00,0.000,260,0.000,0.050,2551,3770,3967,3994,3941,0,0,0,0,0,0,26.31,26.24,26.37
$GC,2783,-0.68,-175.2,2551,3770,3994,3940,438.9,-9.9,147,2790,0.00,2.00,0.00,0.000,1030,0.000,0.027,2551,2441,3967,3995,3940,0,0,0,0,0,0,26.38,26.35,26.39
$GC,3100,-0.68,-175.2,2552,2442,3995,3935,465.8,-7.2,158,3108,0.00,2.10,0.00,0.000,516,0.000,0.032,2551,1074,3964,3994,3934,0,0,0,0,0,0,26.33,26.28,26.39
$GC,3148,-0.68,-175.2,2551,1075,3993,3934,468.2,-7.1,159,3155,0.00,2.17,0.00,0.000,1030,0.000,0.032,2542,2456,3963,3994,3933,0,0,0,0,0,0,26.34,26.27,26.36
$GC,3460,-0.68,-175.2,2543,2456,3994,3926,496.3,-9.3,170,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2455,3960,3994,3926,0,0,0,0,0,0,26.32,26.38,26.37
$GC,3760,-0.68,-175.2,2543,2457,3994,3921,525.8,-9.7,180,3768,0.00,2.12,0.00,0.000,260,0.000,0.049,2532,3769,3958,3994,3922,0,0,0,0,0,0,26.32,26.20,26.37
$GC,3782,-0.68,-175.2,2531,3770,3996,3921,525.8,-9.7,180,3793,0.00,2.00,0.00,0.000,1030,0.000,0.028,2532,2456,3957,3994,3920,0,0,0,0,0,0,26.36,26.32,26.36
$GC,4088,-0.68,-175.2,2531,2455,3996,3916,564.9,-12.9,191,4095,0.00,2.17,0.00,0.000,516,0.000,0.033,2532,1060,3954,3994,3915,0,0,0,0,0,0,26.31,26.25,26.37
$GC,4135,-0.68,-175.2,2533,1061,3993,3915,568.7,-13.2,192,4143,0.15,2.20,0.00,0.000,3078,0.154,0.033,2562,2448,3954,3994,3914,0,0,0,0,0,0,26.06,26.25,26.22
$GC,4440,-0.68,-175.2,2561,2449,3995,3911,607.2,-11.6,202,4451,0.00,2.15,0.00,0.000,516,0.000,0.031,2562,1069,3951,3993,3910,0,0,0,0,0,0,26.29,26.25,26.36
$GC,4476,-0.68,-175.2,2561,1069,3994,3910,611.0,-11.7,203,4483,0.00,2.20,0.00,0.000,1030,0.000,0.034,2557,2457,3951,3993,3909,0,0,0,0,0,0,26.29,26.22,26.32
$GC,4798,-0.68,-175.2,2556,2457,3992,3906,644.9,-9.4,214,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2457,3948,3990,3906,0,0,0,0,0,0,26.29,26.36,26.35
$GC,5098,-0.68,-175.2,2556,2457,3990,3904,665.8,-6.2,224,5107,0.00,2.12,0.00,0.000,260,0.000,0.052,2546,3770,3946,3988,3904,0,0,0,0,0,0,26.27,26.15,26.33
$GC,5121,-0.68,-175.2,2546,3771,3989,3905,665.8,-6.2,224,5131,0.00,2.03,0.00,0.000,1030,0.000,0.027,2547,2442,3944,3988,3900,0,0,0,0,0,0,26.32,26.28,26.33
$GC,5427,-0.68,-175.2,2547,2437,3988,3903,683.6,-5.2,235,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2439,3944,3986,3903,0,0,0,0,0,0,26.26,26.33,26.32
$GC,5726,-0.68,-175.2,2546,2440,3985,3901,703.8,-7.7,245,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2440,3942,3984,3900,0,0,0,0,0,0,26.27,26.34,26.33
$GC,6026,-0.68,-175.2,2547,2440,3982,3899,733.4,-10.4,255,6034,0.00,2.15,0.00,0.000,516,0.000,0.034,2547,1066,3940,3982,3898,0,0,0,0,0,0,26.28,26.19,26.33
$GC,6070,-0.68,-175.2,2548,1067,3982,3899,736.9,-10.6,256,6078,0.00,2.20,0.00,0.000,1030,0.000,0.034,2542,2449,3940,3982,3898,0,0,0,0,0,0,26.25,26.17,26.27
$GC,6393,-0.68,-175.2,2542,2450,3980,3896,774.1,-11.1,267,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3938,3981,3896,0,0,0,0,0,0,26.25,26.32,26.31
$GC,6693,-0.68,-175.2,2541,2450,3980,3896,804.4,-9.5,277,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2449,3937,3979,3895,0,0,0,0,0,0,26.23,26.30,26.29
$GC,6993,-0.68,-175.2,2541,2451,3978,3894,828.0,-7.1,287,7002,0.00,2.17,0.00,0.000,516,0.000,0.032,2542,1061,3935,3977,3893,0,0,0,0,0,0,26.24,26.14,26.29
$GC,7027,-0.68,-175.2,2541,1062,3979,3894,830.0,-7.0,288,7037,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2462,3935,3977,3893,0,0,0,0,0,0,26.21,26.14,26.24
$GC,7352,-0.68,-175.2,2541,2457,3976,3891,852.8,-7.2,299,7359,0.00,2.15,0.00,0.000,260,0.000,0.053,2540,3770,3933,3976,3891,0,0,0,0,0,0,26.22,26.05,26.29
$GC,7374,-0.68,-175.2,2540,3770,3977,3891,852.8,-7.2,299,7381,0.00,2.03,0.00,0.000,1030,0.000,0.028,2541,2453,3933,3976,3890,0,0,0,0,0,0,26.25,26.22,26.27
$GC,7679,-0.68,-175.2,2541,2451,3971,3890,877.9,-8.0,309,7690,0.00,2.15,0.00,0.000,516,0.000,0.034,2541,1065,3932,3974,3890,0,0,0,0,0,0,26.20,26.12,26.26
$GC,7719,-0.68,-175.2,2540,1066,3976,3890,880.4,-8.1,310,7727,0.00,2.20,0.00,0.000,1030,0.000,0.035,2534,2449,3931,3974,3889,0,0,0,0,0,0,26.20,26.13,26.22
$GC,8037,-0.68,-175.2,2534,2450,3973,3889,910.7,-9.6,321,8045,0.00,2.17,0.00,0.000,516,0.000,0.032,2534,1061,3930,3973,3888,0,0,0,0,0,0,26.21,26.11,26.27
$GC,8059,-0.68,-175.2,2533,1062,3975,3889,910.7,-9.6,321,8069,0.12,2.22,0.00,0.000,3078,0.157,0.036,2557,2447,3930,3973,3888,0,0,0,0,0,0,25.92,26.12,26.08
$GC,8365,-0.68,-175.2,2558,2448,3973,3887,935.9,-7.3,332,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2447,3929,3973,3886,0,0,0,0,0,0,26.20,26.27,26.26
$GC,8664,-0.68,-175.2,2558,2449,3972,3886,958.6,-7.7,342,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2448,3929,3972,3886,0,0,0,0,0,0,26.17,26.25,26.22
$GC,8964,-0.68,-175.2,2556,2449,3972,3885,981.1,-7.5,352,8972,0.00,2.20,0.00,0.000,516,0.000,0.033,2557,1063,3927,3970,3884,0,0,0,0,0,0,26.21,26.09,26.25
$GC,9002,-0.68,-175.2,2558,1064,3970,3885,983.2,-7.6,353,9010,0.00,2.25,0.00,0.000,1030,0.000,0.036,2557,2456,3927,3971,3884,0,0,0,0,0,0,26.15,26.08,26.18
$STATE,9108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9108,begin apogee
$GC,9112,-0.11,0.0,2558,2106,3970,3879,992.1,-7.4,357,9257,0.57,0.00,137.88,1.307,10246,0.111,0.000,2740,2096,3280,3319,3241,0,0,0,0,0,0,25.88,24.75,24.00
$STATE,9258,end apogee,CONTROL_FINISHED_OK
$STATE,9258,begin climb
$GC,9260,0.68,175.2,2739,2097,3320,3240,998.8,0.0,361,9432,0.73,2.40,157.02,1.291,10756,0.050,0.037,3021,724,2561,2608,2515,0,0,0,0,0,0,24.95,24.23,23.50
$GC,9657,0.68,175.2,3021,724,2600,2506,976.7,12.0,375,9665,0.00,2.22,0.00,0.000,1030,0.000,0.029,3021,2107,2550,2600,2501,0,0,0,0,0,0,25.82,25.77,25.84
$GC,9979,0.68,175.2,3020,2108,2600,2503,935.4,12.9,386,9987,0.00,2.25,0.00,0.000,260,0.000,0.045,3021,3502,2550,2598,2502,0,0,0,0,0,0,26.13,26.07,26.20
$GC,10006,0.68,175.2,3020,3503,2601,2503,935.4,12.9,386,10017,0.00,2.15,0.00,0.000,1030,0.000,0.024,3031,2111,2549,2598,2501,0,0,0,0,0,0,26.19,26.15,26.20
$GC,10312,0.68,175.2,3030,2111,2598,2503,890.3,13.6,397,10318,0.12,0.00,0.00,0.000,4102,0.200,0.000,3006,2111,2548,2595,2502,0,0,0,0,0,0,25.94,26.20,26.15
$GC,10612,0.68,175.2,3006,2111,2595,2502,852.8,12.6,407,10623,0.00,2.25,0.00,0.000,516,0.000,0.036,3014,696,2548,2595,2501,0,0,0,0,0,0,26.21,26.17,26.27
$GC,10662,0.68,175.2,3015,697,2594,2501,849.0,12.6,408,10670,0.00,2.22,0.00,0.000,1030,0.000,0.028,3014,2111,2548,2595,2501,0,0,0,0,0,0,26.25,26.18,26.27
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$STATE,17931,end climb,SURFACE_DEPTH_REACHED
$STATE,17931,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17979.87 7781.42
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