version: 66.12
glider: 178
mission: 20
dive: 109
start: 3 22 115 21 47 34
data:
$ID,178
$MISSION,20
$DIVE,109
$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,700.08618
$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,47
$R_STBD_OVSHOOT,57
$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
$GPS1,220315,213128,1214.8286,14424.7852,36,1.7,41,1.7,0.3,245.8,8,8.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-51.3
$GPS2,220315,214723,1214.6976,14424.6084,20,1.9,60,1.7,0.4,257.8,7,11.2
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,297.5,5833,-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,-175.2,118,2477,1250,1224,0.0,0.0,0,160,0.00,0.00,-57.80,0.000,16386,0.000,0.000,118,2477,2877,2903,2852,0,0,0,0,0,0,26.30,28.83,26.36
$GC,162,-0.68,-175.2,119,2477,2904,2853,3.3,-8.2,9,234,9.75,2.17,-52.80,0.000,19204,0.220,0.041,2555,1027,3961,4000,3923,0,0,0,0,0,0,25.98,25.53,26.19
$GC,458,-0.68,-175.2,2555,1025,3997,3929,36.7,-25.6,64,468,0.00,2.20,0.00,0.000,1030,0.000,0.035,2546,2427,3962,3996,3929,0,0,0,0,0,0,26.36,26.29,26.38
$GC,768,-0.68,-175.2,2545,2428,3997,3929,128.0,-22.8,99,782,0.00,2.12,0.00,0.000,516,0.000,0.029,2547,1046,3962,3996,3929,0,0,0,0,0,0,26.28,26.32,26.36
$GC,993,-0.68,-175.2,2546,1046,3998,3932,170.1,-17.3,121,1001,0.00,2.20,0.00,0.000,1030,0.000,0.034,2540,2451,3963,3996,3931,0,0,0,0,0,0,26.36,26.30,26.39
$GC,1298,-0.68,-175.2,2539,2450,3997,3938,220.6,-16.0,143,1307,0.00,2.10,0.00,0.000,260,0.000,0.049,2530,3774,3965,3994,3937,0,0,0,0,0,0,26.36,26.29,26.41
$GC,1397,-0.68,-175.2,2530,3775,3994,3939,233.7,-14.2,146,1405,0.00,2.03,0.00,0.000,1030,0.000,0.024,2530,2412,3966,3995,3938,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1725,-0.68,-175.2,2528,2410,3997,3941,278.6,-12.8,157,1732,0.12,0.00,0.00,0.000,2054,0.160,0.000,2560,2409,3967,3995,3940,0,0,0,0,0,0,26.17,26.35,26.31
$GC,2025,-0.68,-175.2,2560,2409,3994,3941,315.1,-12.8,167,2033,0.00,2.22,0.00,0.000,260,0.000,0.050,2552,3783,3967,3995,3940,0,0,0,0,0,0,26.37,26.28,26.43
$GC,2108,-0.68,-175.2,2553,3784,3993,3940,322.5,-12.1,169,2115,0.00,1.98,0.00,0.000,1030,0.000,0.026,2552,2460,3967,3995,3939,0,0,0,0,0,0,26.42,26.39,26.44
$GC,2414,-0.68,-175.2,2553,2458,3994,3937,355.8,-9.8,179,2422,0.00,2.15,0.00,0.000,516,0.000,0.031,2552,1060,3965,3995,3936,0,0,0,0,0,0,26.37,26.34,26.43
$GC,2466,-0.68,-175.2,2553,1061,3995,3936,359.3,-9.9,180,2474,0.00,2.17,0.00,0.000,1030,0.000,0.034,2544,2452,3964,3994,3935,0,0,0,0,0,0,26.39,26.32,26.41
$GC,2779,-0.68,-175.2,2544,2452,3995,3929,393.8,-10.0,191,2788,0.00,2.12,0.00,0.000,260,0.000,0.050,2533,3772,3961,3995,3927,0,0,0,0,0,0,26.37,26.28,26.43
$GC,2818,-0.68,-175.2,2532,3772,3997,3928,396.8,-9.9,192,2826,0.00,2.00,0.00,0.000,1030,0.000,0.025,2534,2438,3960,3995,3926,0,0,0,0,0,0,26.41,26.39,26.42
$GC,3135,-0.68,-175.2,2534,2437,3995,3919,431.0,-10.8,203,3143,0.00,2.17,0.00,0.000,260,0.000,0.050,2524,3776,3957,3995,3919,0,0,0,0,0,0,26.37,26.27,26.43
$GC,3158,-0.68,-175.2,2524,3777,3994,3919,431.0,-10.8,203,3166,0.15,2.00,0.00,0.000,3078,0.146,0.026,2562,2442,3956,3995,3918,0,0,0,0,0,0,26.15,26.39,26.29
$GC,3463,-0.68,-175.2,2562,2443,3997,3913,459.1,-8.3,213,3474,0.00,2.12,0.00,0.000,516,0.000,0.031,2568,1068,3953,3995,3911,0,0,0,0,0,0,26.34,26.32,26.41
$GC,3494,-0.68,-175.2,2567,1068,3997,3912,461.8,-8.4,214,3502,0.00,2.17,0.00,0.000,1030,0.000,0.033,2562,2452,3953,3995,3911,0,0,0,0,0,0,26.37,26.30,26.39
$GC,3827,-0.68,-175.2,2560,2453,3996,3905,496.0,-11.2,225,3836,0.00,2.12,0.00,0.000,260,0.000,0.050,2552,3769,3949,3995,3904,0,0,0,0,0,0,26.34,26.24,26.40
$GC,3861,-0.68,-175.2,2553,3769,3994,3904,500.2,-11.6,226,3868,0.00,2.00,0.00,0.000,1030,0.000,0.027,2552,2441,3949,3994,3904,0,0,0,0,0,0,26.39,26.36,26.40
$GC,4188,-0.68,-175.2,2550,2442,3988,3900,541.1,-12.1,237,4196,0.00,2.12,0.00,0.000,516,0.000,0.032,2552,1067,3946,3993,3899,0,0,0,0,0,0,26.29,26.24,26.34
$GC,4215,-0.68,-175.2,2553,1067,3992,3900,541.1,-12.1,237,4225,0.00,2.17,0.00,0.000,1030,0.000,0.034,2544,2450,3945,3992,3899,0,0,0,0,0,0,26.34,26.28,26.37
$GC,4521,-0.68,-175.2,2544,2450,3990,3896,576.7,-9.7,248,4528,0.00,2.15,0.00,0.000,260,0.000,0.051,2534,3775,3942,3989,3896,0,0,0,0,0,0,26.34,26.22,26.40
$GC,4567,-0.68,-175.2,2533,3775,3990,3897,579.0,-9.3,249,4575,0.00,2.00,0.00,0.000,1030,0.000,0.027,2534,2448,3940,3988,3892,0,0,0,0,0,0,26.39,26.35,26.39
$GC,4874,-0.68,-175.2,2535,2454,3986,3893,602.9,-6.4,259,4884,0.00,2.12,0.00,0.000,516,0.000,0.031,2534,1064,3939,3986,3892,0,0,0,0,0,0,26.32,26.27,26.37
$GC,4908,-0.68,-175.2,2534,1064,3984,3893,605.1,-6.5,260,4918,0.12,2.17,0.00,0.000,3078,0.158,0.033,2556,2449,3939,3986,3892,0,0,0,0,0,0,26.06,26.25,26.22
$GC,5238,-0.68,-175.2,2557,2449,3983,3890,627.3,-7.5,271,5250,0.00,2.10,0.00,0.000,516,0.000,0.031,2556,1079,3936,3983,3889,0,0,0,0,0,0,26.29,26.27,26.35
$GC,5270,-0.68,-175.2,2557,1079,3982,3889,629.9,-7.6,272,5278,0.00,2.17,0.00,0.000,1030,0.000,0.034,2551,2450,3935,3982,3889,0,0,0,0,0,0,26.29,26.22,26.32
$GC,5598,-0.68,-175.2,2552,2450,3981,3887,653.1,-6.5,283,5608,0.00,2.15,0.00,0.000,516,0.000,0.031,2552,1073,3933,3981,3886,0,0,0,0,0,0,26.28,26.25,26.34
$GC,5623,-0.68,-175.2,2552,1073,3981,3887,653.1,-6.5,283,5630,0.00,2.20,0.00,0.000,1030,0.000,0.035,2544,2455,3933,3981,3886,0,0,0,0,0,0,26.30,26.23,26.32
$GC,5935,-0.68,-175.2,2544,2456,3977,3884,676.8,-7.3,294,5943,0.00,2.15,0.00,0.000,260,0.000,0.052,2534,3774,3930,3978,3883,0,0,0,0,0,0,26.29,26.16,26.35
$GC,5968,-0.68,-175.2,2533,3775,3980,3884,679.5,-7.5,295,5977,0.00,2.00,0.00,0.000,1030,0.000,0.028,2534,2450,3930,3978,3883,0,0,0,0,0,0,26.34,26.31,26.35
$GC,6302,-0.68,-175.2,2533,2450,3978,3882,711.0,-9.8,306,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2450,3928,3976,3881,0,0,0,0,0,0,26.29,26.36,26.35
$GC,6601,-0.68,-175.2,2535,2450,3974,3881,743.2,-11.0,316,6610,0.00,2.15,0.00,0.000,260,0.000,0.050,2526,3770,3927,3974,3880,0,0,0,0,0,0,26.28,26.14,26.34
$GC,6629,-0.68,-175.2,2524,3771,3975,3881,743.2,-11.0,316,6641,0.12,1.98,0.00,0.000,3078,0.155,0.028,2556,2455,3926,3974,3879,0,0,0,0,0,0,26.02,26.25,26.17
$GC,6935,-0.68,-175.2,2555,2456,3975,3878,774.0,-8.8,327,6943,0.00,2.15,0.00,0.000,516,0.000,0.032,2556,1067,3925,3973,3877,0,0,0,0,0,0,26.26,26.20,26.32
$GC,6977,-0.68,-175.2,2557,1068,3972,3877,776.8,-8.6,328,6985,0.00,2.20,0.00,0.000,1030,0.000,0.034,2552,2452,3925,3973,3877,0,0,0,0,0,0,26.26,26.19,26.28
$GC,7300,-0.68,-175.2,2551,2454,3973,3875,805.1,-8.3,339,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2453,3920,3971,3870,0,0,0,0,0,0,26.26,26.33,26.32
$GC,7600,-0.68,-175.2,2551,2454,3972,3874,827.7,-7.1,349,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2453,3921,3970,3873,0,0,0,0,0,0,26.25,26.31,26.30
$GC,7900,-0.68,-175.2,2552,2454,3968,3873,848.7,-7.1,359,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2452,3920,3969,3872,0,0,0,0,0,0,26.25,26.32,26.30
$GC,8200,-0.68,-175.2,2553,2453,3967,3870,872.7,-8.6,369,8208,0.00,2.17,0.00,0.000,516,0.000,0.032,2552,1062,3918,3966,3870,0,0,0,0,0,0,26.25,26.15,26.31
$GC,8228,-0.68,-175.2,2551,1062,3968,3871,872.7,-8.6,369,8240,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2453,3918,3966,3871,0,0,0,0,0,0,26.17,26.10,26.19
$GC,8533,-0.68,-175.2,2545,2454,3966,3870,904.0,-9.5,380,8542,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1063,3915,3962,3869,0,0,0,0,0,0,26.23,26.14,26.30
$GC,8561,-0.68,-175.2,2545,1064,3966,3870,904.0,-9.5,380,8571,0.00,2.22,0.00,0.000,1030,0.000,0.035,2542,2451,3916,3965,3868,0,0,0,0,0,0,26.20,26.12,26.22
$GC,8866,-0.68,-175.2,2542,2452,3964,3868,934.7,-8.9,391,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3916,3964,3868,0,0,0,0,0,0,26.23,26.33,26.29
$GC,9166,-0.68,-175.2,2542,2452,3963,3867,958.3,-7.4,401,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3915,3964,3867,0,0,0,0,0,0,26.17,26.27,26.24
$GC,9467,-0.68,-175.2,2542,2452,3962,3867,977.9,-6.1,411,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3913,3962,3865,0,0,0,0,0,0,26.21,26.28,26.27
$STATE,9705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9705,begin apogee
$GC,9709,-0.11,0.0,2542,2099,3961,3866,991.5,-5.5,419,9853,0.65,0.00,135.32,1.303,10246,0.120,0.000,2740,2098,3278,3319,3238,0,0,0,0,0,0,25.86,24.79,24.05
$STATE,9854,end apogee,CONTROL_FINISHED_OK
$STATE,9854,begin climb
$GC,9856,0.68,175.2,2740,2099,3320,3238,994.2,0.0,423,10025,0.73,2.45,156.20,1.282,11012,0.050,0.041,3012,3510,2563,2610,2517,0,0,0,0,0,0,25.00,24.09,23.55
$GC,10249,0.68,175.2,3012,3511,2598,2513,958.3,15.3,437,10257,0.00,2.17,0.00,0.000,1030,0.000,0.024,3019,2116,2554,2596,2512,0,0,0,0,0,0,25.87,25.81,25.88
$GC,10572,0.68,175.2,3023,2117,2595,2510,915.4,12.2,448,10580,0.00,2.25,0.00,0.000,260,0.000,0.042,3022,3509,2552,2595,2509,0,0,0,0,0,0,26.17,26.09,26.22
$GC,10599,0.68,175.2,3023,3510,2595,2509,911.9,12.2,449,10607,0.15,2.17,0.00,0.000,5126,0.192,0.024,3000,2101,2551,2595,2508,0,0,0,0,0,0,25.89,26.17,26.10
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$STATE,18852,end climb,SURFACE_DEPTH_REACHED
$STATE,18852,begin surface coast
$FINISH,0.2,1.021989
$STATE,18879,end surface coast,CONTROL_FINISHED_OK
$STATE,18879,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18999.88 8456.14
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$10V_AH,10.18,26.991
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$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
$MEM,229920
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