version: 66.12
glider: 178
mission: 20
dive: 156
start: 4 1 115 23 57 35
data:
$ID,178
$MISSION,20
$DIVE,156
$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,54
$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,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
$GPS1,010415,234829,1136.3160,14342.9521,64,0.9,64,1.8,0.3,257.0,9,6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-74.4
$GPS2,010415,235724,1136.2167,14342.8184,8,0.9,13,1.8,0.6,111.3,8,7.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,292.1,25402,-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,-175.2,122,2460,1243,1229,0.0,0.0,0,178,0.00,0.00,-80.28,0.000,16386,0.000,0.000,121,2460,3306,3350,3263,0,0,0,0,0,0,26.22,28.83,26.29
$GC,180,-0.68,-175.2,122,2461,3350,3265,4.2,-14.8,13,206,10.70,2.08,-10.32,0.000,18692,0.248,0.058,2545,3770,3964,3997,3931,0,0,0,0,0,0,25.64,24.53,26.02
$GC,410,-0.68,-175.2,2544,3771,3996,3942,87.1,-31.7,45,418,0.00,2.00,0.00,0.000,1030,0.000,0.024,2549,2427,3967,3994,3940,0,0,0,0,0,0,26.27,26.22,26.29
$GC,715,-0.68,-175.2,2550,2428,3994,3943,160.2,-20.3,75,730,0.00,2.08,0.00,0.000,516,0.000,0.029,2555,1072,3968,3994,3943,0,0,0,0,0,0,26.27,26.19,26.33
$GC,805,-0.68,-175.2,2556,1072,3994,3945,176.4,-16.6,83,815,0.00,2.15,0.00,0.000,1030,0.000,0.033,2548,2448,3969,3994,3945,0,0,0,0,0,0,26.23,26.17,26.27
$GC,1130,-0.68,-175.2,2548,2448,3994,3948,227.7,-15.3,104,1138,0.00,2.12,0.00,0.000,260,0.000,0.047,2538,3775,3971,3994,3948,0,0,0,0,0,0,26.29,26.09,26.35
$GC,1227,-0.68,-175.2,2537,3778,3996,3949,241.4,-14.9,107,1235,0.00,1.98,0.00,0.000,1030,0.000,0.024,2538,2447,3971,3994,3949,0,0,0,0,0,0,26.30,26.26,26.32
$GC,1555,-0.68,-175.2,2538,2445,3994,3950,285.2,-12.3,118,1566,0.00,2.08,0.00,0.000,516,0.000,0.031,2538,1076,3972,3995,3949,0,0,0,0,0,0,26.28,26.18,26.33
$GC,1616,-0.68,-175.2,2537,1076,3996,3950,292.4,-11.8,120,1624,0.00,2.15,0.00,0.000,1030,0.000,0.034,2530,2450,3972,3994,3950,0,0,0,0,0,0,26.24,26.16,26.26
$GC,1948,-0.68,-175.2,2529,2451,3996,3950,334.0,-12.2,131,1958,0.00,2.12,0.00,0.000,260,0.000,0.049,2519,3778,3972,3995,3949,0,0,0,0,0,0,26.29,26.08,26.34
$GC,1993,-0.68,-175.2,2521,3778,3994,3949,337.7,-12.1,132,2002,0.15,2.00,0.00,0.000,3078,0.142,0.024,2559,2446,3971,3994,3949,0,0,0,0,0,0,25.96,26.27,26.10
$GC,2308,-0.68,-175.2,2559,2447,3994,3945,366.6,-8.2,143,2315,0.00,2.12,0.00,0.000,516,0.000,0.031,2561,1074,3970,3995,3945,0,0,0,0,0,0,26.26,26.15,26.32
$GC,2379,-0.68,-175.2,2559,1075,3996,3945,371.1,-7.5,145,2387,0.00,2.17,0.00,0.000,1030,0.000,0.032,2554,2453,3969,3994,3944,0,0,0,0,0,0,26.21,26.13,26.24
$GC,2703,-0.68,-175.2,2555,2454,3993,3938,399.4,-9.5,156,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3966,3994,3938,0,0,0,0,0,0,26.27,26.34,26.34
$GC,3002,-0.68,-175.2,2553,2454,3995,3933,428.5,-9.7,166,3010,0.00,2.15,0.00,0.000,516,0.000,0.032,2554,1073,3962,3993,3931,0,0,0,0,0,0,26.26,26.13,26.33
$GC,3029,-0.68,-175.2,2553,1073,3995,3932,428.5,-9.7,166,3040,0.00,2.20,0.00,0.000,1030,0.000,0.034,2547,2456,3962,3993,3931,0,0,0,0,0,0,26.19,26.11,26.22
$GC,3335,-0.68,-175.2,2548,2456,3993,3926,460.0,-9.4,177,3344,0.00,2.15,0.00,0.000,260,0.000,0.050,2537,3773,3959,3994,3925,0,0,0,0,0,0,26.23,26.01,26.29
$GC,3358,-0.68,-175.2,2536,3775,3995,3925,460.0,-9.4,177,3366,0.00,2.00,0.00,0.000,1030,0.000,0.025,2537,2451,3958,3993,3924,0,0,0,0,0,0,26.26,26.22,26.27
$GC,3671,-0.68,-175.2,2536,2450,3996,3919,493.9,-9.9,188,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2449,3955,3993,3918,0,0,0,0,0,0,26.22,26.29,26.28
$GC,3971,-0.68,-175.2,2538,2449,3993,3914,524.2,-10.1,198,3980,0.00,2.12,0.00,0.000,516,0.000,0.031,2537,1074,3953,3994,3912,0,0,0,0,0,0,26.22,26.09,26.28
$GC,4005,-0.68,-175.2,2538,1074,3993,3912,527.4,-10.2,199,4017,0.00,2.15,0.00,0.000,1030,0.000,0.032,2530,2456,3952,3993,3912,0,0,0,0,0,0,26.12,26.10,26.15
$GC,4332,-0.68,-175.2,2530,2452,3991,3909,563.5,-11.0,210,4340,0.00,2.12,0.00,0.000,260,0.000,0.048,2520,3770,3949,3991,3908,0,0,0,0,0,0,26.23,25.99,26.29
$GC,4354,-0.68,-175.2,2519,3771,3992,3909,563.5,-11.0,210,4363,0.15,2.00,0.00,0.000,3078,0.143,0.026,2557,2451,3949,3990,3908,0,0,0,0,0,0,25.86,26.20,25.99
$GC,4667,-0.68,-175.2,2558,2451,3989,3906,594.7,-9.0,221,4676,0.00,2.15,0.00,0.000,516,0.000,0.032,2560,1071,3947,3989,3905,0,0,0,0,0,0,26.20,26.06,26.26
$GC,4695,-0.68,-175.2,2559,1072,3990,3906,594.7,-9.0,221,4706,0.00,2.17,0.00,0.000,1030,0.000,0.033,2559,2452,3946,3988,3905,0,0,0,0,0,0,26.14,26.07,26.17
$GC,5001,-0.68,-175.2,2560,2451,3986,3904,622.1,-7.9,232,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2451,3944,3986,3903,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5300,-0.68,-175.2,2560,2452,3984,3901,644.9,-7.5,242,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2452,3942,3984,3901,0,0,0,0,0,0,26.21,26.27,26.27
$GC,5601,-0.68,-175.2,2560,2452,3982,3899,667.3,-7.5,252,5609,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1064,3940,3983,3898,0,0,0,0,0,0,26.20,26.04,26.26
$GC,5628,-0.68,-175.2,2560,1065,3982,3898,667.3,-7.5,252,5638,0.00,2.22,0.00,0.000,1030,0.000,0.033,2554,2457,3940,3982,3898,0,0,0,0,0,0,26.10,26.01,26.13
$GC,5933,-0.68,-175.2,2553,2458,3983,3897,692.1,-7.4,263,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2457,3938,3981,3896,0,0,0,0,0,0,26.20,26.25,26.25
$GC,6234,-0.68,-175.2,2554,2458,3979,3896,715.5,-7.9,273,6243,0.00,2.20,0.00,0.000,516,0.000,0.031,2554,1068,3937,3979,3895,0,0,0,0,0,0,26.18,26.03,26.24
$GC,6273,-0.68,-175.2,2554,1068,3978,3896,718.0,-8.0,274,6281,0.00,2.22,0.00,0.000,1030,0.000,0.034,2547,2457,3936,3978,3895,0,0,0,0,0,0,26.10,26.03,26.14
$GC,6591,-0.68,-175.2,2546,2458,3980,3894,747.2,-9.2,285,6599,0.00,2.15,0.00,0.000,260,0.000,0.050,2540,3773,3935,3977,3893,0,0,0,0,0,0,26.15,25.93,26.21
$GC,6624,-0.68,-175.2,2539,3774,3979,3894,750.3,-9.2,286,6631,0.00,2.03,0.00,0.000,1030,0.000,0.027,2540,2446,3935,3977,3893,0,0,0,0,0,0,26.18,26.15,26.20
$GC,6956,-0.68,-175.2,2540,2447,3977,3892,783.5,-10.2,297,6966,0.00,2.15,0.00,0.000,516,0.000,0.032,2540,1067,3933,3976,3891,0,0,0,0,0,0,26.16,26.01,26.22
$GC,6990,-0.68,-175.2,2539,1068,3977,3891,786.9,-10.4,298,6998,0.00,2.20,0.00,0.000,1030,0.000,0.034,2537,2457,3933,3976,3890,0,0,0,0,0,0,26.09,26.01,26.12
$GC,7318,-0.68,-175.2,2538,2457,3973,3890,822.3,-10.7,309,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2457,3931,3974,3889,0,0,0,0,0,0,26.15,26.22,26.20
$GC,7618,-0.68,-175.2,2538,2458,3973,3888,852.7,-9.9,319,7626,0.00,2.17,0.00,0.000,516,0.000,0.032,2537,1072,3930,3973,3888,0,0,0,0,0,0,26.20,26.01,26.26
$GC,7641,-0.68,-175.2,2536,1073,3974,3888,852.7,-9.9,319,7651,0.00,2.20,0.00,0.000,1030,0.000,0.034,2533,2455,3930,3973,3887,0,0,0,0,0,0,26.06,25.99,26.09
$GC,7946,-0.68,-175.2,2533,2456,3974,3888,881.5,-8.4,330,7954,0.00,2.20,0.00,0.000,516,0.000,0.031,2533,1069,3929,3972,3886,0,0,0,0,0,0,26.19,26.00,26.25
$GC,7973,-0.68,-175.2,2534,1069,3971,3887,881.5,-8.4,330,7984,0.00,2.22,0.00,0.000,1030,0.000,0.034,2532,2453,3928,3971,3886,0,0,0,0,0,0,26.07,25.98,26.10
$GC,8279,-0.68,-175.2,2532,2453,3972,3886,908.7,-8.2,341,8287,0.00,2.20,0.00,0.000,516,0.000,0.031,2533,1066,3927,3970,3885,0,0,0,0,0,0,26.14,26.00,26.20
$GC,8317,-0.68,-175.2,2532,1067,3972,3886,911.5,-8.2,342,8326,0.00,2.22,0.00,0.000,1030,0.000,0.034,2533,2450,3928,3970,3887,0,0,0,0,0,0,26.04,25.96,26.08
$GC,8641,-0.68,-175.2,2533,2450,3969,3885,937.8,-8.0,353,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2450,3927,3970,3884,0,0,0,0,0,0,26.15,26.20,26.21
$GC,8941,-0.68,-175.2,2532,2451,3971,3883,961.9,-8.0,363,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2450,3925,3969,3882,0,0,0,0,0,0,26.15,26.22,26.22
$GC,9241,-0.68,-175.2,2533,2451,3967,3882,986.0,-8.2,373,9251,0.00,2.17,0.00,0.000,516,0.000,0.032,2533,1070,3924,3968,3881,0,0,0,0,0,0,26.13,25.98,26.19
$GC,9265,-0.68,-175.2,2533,1071,3967,3882,986.0,-8.2,373,9276,0.00,2.22,0.00,0.000,1030,0.000,0.036,2533,2449,3924,3968,3881,0,0,0,0,0,0,26.06,25.97,26.09
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9300,begin apogee
$GC,9304,-0.11,0.0,2532,2106,3969,3882,990.9,-8.1,375,9455,0.68,0.00,138.85,1.305,10246,0.117,0.000,2740,2103,3276,3315,3238,0,0,0,0,0,0,25.68,24.54,23.70
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9457,0.68,175.2,2740,2104,3319,3238,997.5,0.0,380,9628,0.73,2.35,158.73,1.294,11012,0.044,0.034,3026,721,2563,2610,2517,0,0,0,0,0,0,24.83,24.18,23.35
$GC,9852,0.68,175.2,3025,722,2602,2509,971.5,13.4,392,9863,0.00,2.20,0.00,0.000,1030,0.000,0.028,3026,2114,2554,2600,2508,0,0,0,0,0,0,25.93,25.87,25.95
$GC,10168,0.68,175.2,3026,2115,2599,2506,926.1,13.9,403,10176,0.00,2.25,0.00,0.000,516,0.000,0.034,3036,716,2552,2598,2506,0,0,0,0,0,0,26.20,26.10,26.26
$GC,10205,0.68,175.2,3034,716,2600,2507,922.3,13.8,404,10214,0.15,2.17,0.00,0.000,5126,0.181,0.028,3002,2112,2551,2597,2506,0,0,0,0,0,0,25.82,26.13,26.05
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$STATE,18410,end climb,SURFACE_DEPTH_REACHED
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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
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