version: 66.12
glider: 178
mission: 18
dive: 187
start: 11 3 114 3 47 20
data:
$ID,178
$MISSION,18
$DIVE,187
$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,-2
$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,58
$R_STBD_OVSHOOT,35
$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
$GPS1,031114,034013,1226.079,14418.642,36,0.9,56,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-76.5
$GPS2,031114,034709,1226.130,14418.687,12,0.9,32,1.7
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,50.1,85248,-17.3,-11.000,-20.18,2764
$D_GRID,1000
$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,-0.84,-214.1,163,2141,1383,1370,0.0,0.0,0,174,0.00,0.00,-72.80,0.000,16386,0.000,0.000,162,2142,3404,3452,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,176,-0.84,-214.1,163,2142,3454,3356,4.8,-15.1,11,203,10.55,2.20,-7.45,0.000,19204,0.241,0.047,2599,750,3924,3980,3868,0,0,0,0,0,0,25.51,26.20,26.37
$GC,414,-0.76,-214.1,2600,750,3988,3869,80.4,-23.0,40,427,0.12,2.17,0.00,0.000,3078,0.179,0.032,2619,2151,3928,3987,3869,0,0,0,0,0,0,25.95,26.24,28.83
$GC,721,-0.73,-214.1,2620,2151,3995,3869,141.0,-15.5,71,730,0.00,2.22,0.00,0.000,260,0.000,0.045,2611,3560,3931,3993,3869,0,0,0,0,0,0,28.83,26.20,28.83
$GC,749,-0.70,-214.1,2612,3560,3995,3869,144.3,-14.5,73,761,0.12,2.12,0.00,0.000,3078,0.155,0.026,2641,2151,3931,3994,3869,0,0,0,0,0,0,26.04,26.32,28.83
$GC,1055,-0.70,-214.1,2643,2149,3999,3870,186.6,-13.4,104,1065,0.00,2.15,0.00,0.000,516,0.000,0.034,2642,762,3933,3998,3869,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1084,-0.70,-214.1,2642,762,4000,3870,189.8,-13.2,106,1094,0.00,2.15,0.00,0.000,1030,0.000,0.030,2641,2152,3934,3999,3870,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1400,-0.72,-214.1,2642,2152,4001,3871,233.9,-13.5,122,1407,0.00,2.20,0.00,0.000,260,0.000,0.045,2637,3555,3938,4000,3877,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1427,-0.75,-214.1,2638,3556,4000,3872,237.4,-13.4,123,1437,0.00,2.12,0.00,0.000,1030,0.000,0.025,2638,2144,3935,4000,3871,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1757,-0.78,-214.1,2638,2142,4001,3872,270.8,-8.6,134,1768,0.00,2.22,0.00,0.000,260,0.000,0.045,2628,3545,3936,4001,3871,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1818,-0.81,-214.1,2633,3545,4001,3871,275.3,-7.7,136,1827,0.00,2.10,0.00,0.000,1030,0.000,0.027,2627,2150,3935,4000,3870,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2148,-0.84,-214.1,2629,2147,4000,3870,296.2,-6.9,147,2159,0.00,2.20,0.00,0.000,260,0.000,0.046,2619,3554,3934,3998,3871,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2188,-0.87,-214.1,2620,3555,3998,3872,298.4,-7.1,148,2196,0.00,2.12,0.00,0.000,1030,0.000,0.027,2619,2151,3934,3997,3871,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2506,-0.90,-214.1,2619,2149,3994,3872,328.0,-9.9,159,2511,0.12,0.00,0.00,0.000,4102,0.086,0.000,2559,2147,3932,3993,3871,0,0,0,0,0,0,26.28,28.83,28.83
$GC,2805,-0.90,-214.1,2558,2143,3988,3871,372.7,-15.1,169,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2147,3928,3987,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,-0.90,-214.1,2559,2148,3983,3872,414.1,-13.5,179,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2147,3924,3978,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3405,-0.90,-214.1,2559,2147,3980,3869,452.6,-12.6,189,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2146,3923,3978,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-0.90,-214.1,2559,2147,3975,3868,485.7,-10.2,199,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2147,3920,3974,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4006,-0.90,-214.1,2559,2148,3971,3866,515.7,-10.4,209,4015,0.00,2.30,0.00,0.000,260,0.000,0.050,2548,3555,3917,3970,3865,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4035,-0.90,-214.1,2547,3556,3966,3864,519.0,-10.6,210,4043,0.12,2.17,0.00,0.000,3078,0.155,0.031,2579,2147,3916,3968,3864,0,0,0,0,0,0,25.95,26.23,28.83
$GC,4364,-0.90,-214.1,2579,2143,3966,3860,550.6,-10.1,221,4374,0.00,2.25,0.00,0.000,260,0.000,0.050,2570,3545,3911,3964,3859,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4389,-0.90,-214.1,2571,3546,3965,3860,550.6,-10.1,221,4399,0.00,2.15,0.00,0.000,1030,0.000,0.031,2570,2142,3912,3964,3860,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4693,-0.90,-214.1,2571,2139,3963,3858,586.9,-11.2,232,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2139,3910,3963,3858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,-0.90,-214.1,2571,2141,3960,3857,621.1,-11.4,242,5001,0.00,2.30,0.00,0.000,260,0.000,0.050,2559,3549,3906,3958,3855,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5016,-0.90,-214.1,2561,3549,3959,3855,621.1,-11.4,242,5024,0.00,2.17,0.00,0.000,1030,0.000,0.031,2560,2152,3906,3958,3855,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5328,-0.90,-214.1,2560,2150,3957,3855,656.0,-9.9,253,5336,0.00,2.20,0.00,0.000,516,0.000,0.041,2560,753,3904,3956,3853,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5351,-0.90,-214.1,2560,753,3956,3853,656.0,-9.9,253,5359,0.00,2.20,0.00,0.000,1030,0.000,0.037,2559,2141,3904,3955,3853,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5663,-0.90,-214.1,2560,2142,3953,3852,686.6,-9.0,264,5673,0.00,2.30,0.00,0.000,260,0.000,0.052,2547,3556,3901,3953,3850,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5708,-0.90,-214.1,2550,3556,3952,3850,690.1,-9.1,265,5716,0.12,2.20,0.00,0.000,3078,0.158,0.031,2580,2149,3901,3952,3850,0,0,0,0,0,0,25.84,26.15,28.83
$GC,6031,-0.90,-214.1,2579,2141,3952,3848,716.0,-7.6,276,6040,0.00,2.33,0.00,0.000,260,0.000,0.052,2571,3557,3898,3949,3848,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6056,-0.90,-214.1,2572,3557,3951,3848,716.0,-7.6,276,6066,0.00,2.20,0.00,0.000,1030,0.000,0.031,2572,2144,3899,3950,3848,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6361,-0.90,-214.1,2573,2142,3949,3848,740.5,-6.8,287,6369,0.00,2.33,0.00,0.000,260,0.000,0.052,2562,3561,3897,3948,3846,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6388,-0.90,-214.1,2561,3562,3948,3842,742.2,-6.6,288,6396,0.00,2.20,0.00,0.000,1030,0.000,0.032,2562,2153,3895,3945,3846,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6716,-0.90,-214.1,2562,2151,3947,3846,765.4,-7.5,299,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2149,3894,3945,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7016,-0.90,-214.1,2562,2150,3945,3844,791.0,-9.0,309,7025,0.00,2.33,0.00,0.000,260,0.000,0.054,2559,3557,3893,3944,3842,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7044,-0.90,-214.1,2560,3558,3943,3844,791.0,-9.0,309,7057,0.00,2.20,0.00,0.000,1030,0.000,0.035,2559,2149,3893,3945,3842,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7350,-0.90,-214.1,2560,2147,3942,3843,824.4,-10.5,320,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2145,3891,3941,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7650,-0.90,-214.1,2560,2146,3934,3842,857.1,-11.2,330,7661,0.00,2.33,0.00,0.000,260,0.000,0.054,2559,3555,3889,3938,3840,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7690,-0.90,-214.1,2560,3556,3939,3842,860.5,-11.0,331,7698,0.00,2.20,0.00,0.000,1030,0.000,0.033,2559,2145,3889,3938,3840,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8008,-0.90,-214.1,2560,2143,3938,3841,896.5,-10.8,342,8018,0.00,2.35,0.00,0.000,260,0.000,0.054,2559,3557,3887,3936,3839,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8033,-0.90,-214.1,2560,3557,3937,3839,896.5,-10.8,342,8044,0.00,2.22,0.00,0.000,1030,0.000,0.035,2560,2153,3887,3936,3839,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8338,-0.90,-214.1,2560,2150,3936,3838,932.2,-10.8,353,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2150,3886,3935,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8638,-0.90,-214.1,2560,2151,3935,3839,966.7,-11.8,363,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2149,3885,3934,3837,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8847,begin apogee
$GC,8851,-0.13,0.0,2561,2265,3934,3838,992.9,-12.6,370,9044,0.88,0.00,184.85,1.281,10246,0.122,0.000,2826,2264,3046,3085,3007,0,0,0,0,0,0,25.51,28.83,23.22
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9046,0.84,214.1,2825,2265,3085,3006,1004.2,0.0,376,9258,0.88,2.55,198.30,1.271,10500,0.041,0.052,3152,3658,2170,2212,2128,0,0,0,0,0,0,24.58,24.19,22.99
$GC,9383,0.75,214.1,3152,3658,2201,2129,968.8,18.7,387,9394,0.20,2.25,0.00,0.000,5126,0.174,0.031,3115,2252,2164,2199,2129,0,0,0,0,0,0,25.32,25.63,28.83
$GC,9688,0.71,214.1,3115,2250,2200,2125,916.4,15.6,398,9696,0.00,2.25,0.00,0.000,516,0.000,0.044,3124,846,2162,2200,2124,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9746,0.67,214.1,3125,847,2200,2124,907.4,15.7,400,9755,0.15,2.25,0.00,0.000,5126,0.167,0.038,3088,2261,2161,2200,2123,0,0,0,0,0,0,25.94,26.20,28.83
$GC,10075,0.64,214.1,3088,2261,2199,2122,862.1,13.8,411,10086,0.00,2.25,0.00,0.000,260,0.000,0.054,3088,3652,2159,2197,2122,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10120,0.62,214.1,3088,3653,2198,2122,857.6,14.1,412,10128,0.00,2.20,0.00,0.000,1030,0.000,0.032,3096,2243,2159,2197,2122,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10433,0.59,214.1,3096,2242,2196,2124,810.3,14.3,423,10443,0.12,2.22,0.00,0.000,4612,0.186,0.041,3072,850,2159,2196,2122,0,0,0,0,0,0,25.92,26.17,28.83
$GC,10488,0.57,214.1,3072,850,2197,2121,806.3,14.0,424,10498,0.00,2.22,0.00,0.000,1030,0.000,0.037,3073,2257,2158,2196,2121,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10793,0.57,214.1,3073,2259,2197,2122,762.5,13.9,435,10803,0.00,2.30,0.00,0.000,260,0.000,0.053,3072,3659,2157,2195,2120,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,16504,end climb,SURFACE_DEPTH_REACHED
$STATE,16504,begin surface coast
$FINISH,-0.2,1.021314
$STATE,16524,end surface coast,CONTROL_FINISHED_OK
$STATE,16524,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,16554.26 7379.40
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$10V_AH,9.96,38.145
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$FG_AHR_10Vo,0.000
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$MEM,228512
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