version: 66.12
glider: 178
mission: 20
dive: 170
start: 4 5 115 1 14 54
data:
$ID,178
$MISSION,20
$DIVE,170
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,050415,010806,1155.4891,14338.4023,66,0.9,66,1.7,0.6,117.9,8,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-72.9
$GPS2,050415,011443,1155.5404,14338.3320,12,1.0,12,1.7,0.6,233.2,7,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,22.0,193241,-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,-175.2,121,2459,1246,1226,0.0,0.0,0,185,0.00,0.00,-83.35,0.000,16386,0.000,0.000,121,2459,3400,3449,3352,0,0,0,0,0,0,26.22,28.83,26.29
$GC,187,-0.68,-175.2,120,2460,3450,3354,4.7,-11.5,12,216,10.75,2.17,-8.40,0.000,18948,0.247,0.038,2556,1028,3964,3996,3933,0,0,0,0,0,0,25.60,25.44,25.81
$GC,238,-0.68,-175.2,2557,1028,3995,3938,33.5,-49.0,19,248,0.00,2.25,0.00,0.000,1030,0.000,0.036,2549,2449,3966,3995,3938,0,0,0,0,0,0,26.19,26.12,26.22
$GC,553,-0.68,-175.2,2548,2450,3996,3942,130.4,-24.6,55,562,0.00,2.12,0.00,0.000,260,0.000,0.046,2539,3778,3967,3994,3941,0,0,0,0,0,0,26.27,26.08,26.35
$GC,726,-0.68,-175.2,2537,3778,3996,3945,164.9,-17.5,72,742,0.00,2.00,0.00,0.000,1030,0.000,0.024,2539,2423,3969,3994,3944,0,0,0,0,0,0,26.29,26.25,26.30
$GC,1037,-0.68,-175.2,2538,2421,3997,3949,214.4,-15.4,97,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2420,3971,3995,3948,0,0,0,0,0,0,26.28,26.35,26.34
$GC,1337,-0.68,-175.2,2538,2421,3996,3951,257.8,-14.3,107,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2420,3972,3995,3950,0,0,0,0,0,0,26.28,26.34,26.34
$GC,1636,-0.68,-175.2,2537,2421,3995,3951,292.2,-10.4,117,1644,0.00,2.17,0.00,0.000,260,0.000,0.047,2531,3772,3972,3995,3950,0,0,0,0,0,0,26.29,26.06,26.35
$GC,1664,-0.68,-175.2,2529,3773,3997,3951,295.0,-10.6,118,1671,0.00,1.98,0.00,0.000,1030,0.000,0.024,2531,2447,3973,3995,3951,0,0,0,0,0,0,26.29,26.26,26.30
$GC,1991,-0.68,-175.2,2530,2445,3997,3951,334.2,-11.8,129,2001,0.00,2.12,0.00,0.000,516,0.000,0.031,2528,1068,3972,3995,3950,0,0,0,0,0,0,26.18,26.04,26.25
$GC,2020,-0.68,-175.2,2536,1067,3995,3950,334.2,-11.8,129,2030,0.15,2.20,0.00,0.000,3078,0.142,0.033,2562,2459,3972,3995,3950,0,0,0,0,0,0,25.91,26.14,26.06
$GC,2325,-0.68,-175.2,2563,2460,3994,3947,368.3,-10.6,140,2333,0.00,2.12,0.00,0.000,260,0.000,0.048,2555,3772,3970,3995,3946,0,0,0,0,0,0,26.27,26.02,26.34
$GC,2378,-0.68,-175.2,2555,3772,3995,3946,371.2,-10.6,141,2388,0.00,2.00,0.00,0.000,1030,0.000,0.025,2555,2451,3970,3995,3945,0,0,0,0,0,0,26.29,26.25,26.30
$GC,2683,-0.68,-175.2,2555,2449,3993,3941,403.3,-9.0,152,2691,0.00,2.12,0.00,0.000,516,0.000,0.031,2553,1069,3967,3995,3940,0,0,0,0,0,0,26.27,26.11,26.33
$GC,2711,-0.68,-175.2,2554,1071,3996,3942,405.8,-8.9,153,2718,0.00,2.17,0.00,0.000,1030,0.000,0.034,2547,2456,3967,3995,3940,0,0,0,0,0,0,26.17,26.08,26.20
$GC,3039,-0.68,-175.2,2546,2457,3996,3935,433.8,-8.6,164,3050,0.00,2.15,0.00,0.000,516,0.000,0.032,2546,1066,3964,3994,3934,0,0,0,0,0,0,26.22,26.10,26.27
$GC,3064,-0.68,-175.2,2546,1066,3995,3934,433.8,-8.6,164,3075,0.00,2.20,0.00,0.000,1030,0.000,0.034,2540,2450,3963,3994,3933,0,0,0,0,0,0,26.16,26.08,26.20
$GC,3370,-0.68,-175.2,2540,2451,3995,3927,462.9,-8.7,175,3377,0.00,2.17,0.00,0.000,260,0.000,0.050,2530,3780,3959,3993,3926,0,0,0,0,0,0,26.25,25.98,26.31
$GC,3392,-0.68,-175.2,2531,3781,3993,3927,462.9,-8.7,175,3402,0.00,2.00,0.00,0.000,1030,0.000,0.025,2530,2453,3960,3994,3926,0,0,0,0,0,0,26.24,26.20,26.25
$GC,3697,-0.68,-175.2,2531,2451,3994,3921,493.1,-9.3,186,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2450,3957,3994,3921,0,0,0,0,0,0,26.19,26.27,26.25
$GC,3997,-0.68,-175.2,2528,2451,3995,3916,522.0,-9.6,196,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2450,3954,3993,3915,0,0,0,0,0,0,26.20,26.27,26.26
$GC,4297,-0.68,-175.2,2530,2451,3992,3911,549.6,-9.1,206,4307,0.00,2.15,0.00,0.000,516,0.000,0.031,2530,1063,3951,3993,3910,0,0,0,0,0,0,26.20,26.06,26.25
$GC,4317,-0.68,-175.2,2531,1064,3991,3911,549.6,-9.1,206,4325,0.15,2.20,0.00,0.000,3078,0.145,0.033,2567,2458,3951,3992,3910,0,0,0,0,0,0,25.79,26.04,25.94
$GC,4622,-0.68,-175.2,2561,2458,3992,3908,573.0,-7.1,216,4630,0.00,2.15,0.00,0.000,260,0.000,0.048,2557,3772,3949,3991,3907,0,0,0,0,0,0,26.22,25.94,26.27
$GC,4639,-0.68,-175.2,2558,3772,3990,3907,573.0,-7.1,216,4647,0.00,2.00,0.00,0.000,1030,0.000,0.026,2557,2441,3948,3990,3907,0,0,0,0,0,0,26.20,26.17,26.22
$GC,4953,-0.68,-175.2,2558,2441,3989,3906,600.4,-8.5,227,4963,0.00,2.12,0.00,0.000,516,0.000,0.031,2557,1061,3946,3988,3905,0,0,0,0,0,0,26.20,26.03,26.26
$GC,4983,-0.68,-175.2,2556,1062,3989,3906,603.2,-8.7,228,4992,0.00,2.20,0.00,0.000,1030,0.000,0.033,2552,2456,3946,3988,3904,0,0,0,0,0,0,26.09,26.01,26.13
$GC,5313,-0.68,-175.2,2553,2456,3986,3903,634.5,-9.6,239,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2456,3944,3986,3902,0,0,0,0,0,0,26.08,26.15,26.14
$GC,5613,-0.68,-175.2,2552,2454,3984,3905,662.1,-9.2,249,5624,0.00,2.12,0.00,0.000,260,0.000,0.049,2542,3772,3942,3984,3900,0,0,0,0,0,0,26.11,25.91,26.17
$GC,5644,-0.68,-175.2,2541,3773,3985,3901,665.1,-9.3,250,5651,0.00,2.00,0.00,0.000,1030,0.000,0.026,2542,2454,3942,3984,3900,0,0,0,0,0,0,26.17,26.14,26.19
$GC,5971,-0.68,-175.2,2543,2451,3981,3899,696.1,-9.4,261,5981,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1067,3943,3982,3904,0,0,0,0,0,0,26.11,26.00,26.17
$GC,6001,-0.68,-175.2,2541,1067,3984,3900,696.1,-9.4,261,6011,0.00,2.22,0.00,0.000,1030,0.000,0.033,2541,2455,3940,3983,3898,0,0,0,0,0,0,26.06,25.98,26.10
$GC,6306,-0.68,-175.2,2541,2456,3982,3897,729.1,-10.0,272,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3938,3981,3896,0,0,0,0,0,0,26.17,26.25,26.24
$GC,6606,-0.68,-175.2,2540,2457,3981,3896,757.9,-9.3,282,6614,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1068,3937,3979,3895,0,0,0,0,0,0,26.17,25.98,26.22
$GC,6639,-0.68,-175.2,2542,1068,3978,3896,760.4,-9.3,283,6648,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2455,3937,3979,3895,0,0,0,0,0,0,26.05,25.97,26.08
$GC,6968,-0.68,-175.2,2542,2456,3977,3894,787.5,-7.5,294,6979,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1069,3935,3978,3893,0,0,0,0,0,0,26.13,25.98,26.18
$GC,6999,-0.68,-175.2,2541,1071,3980,3894,789.8,-7.4,295,7008,0.00,2.20,0.00,0.000,1030,0.000,0.034,2541,2450,3935,3978,3893,0,0,0,0,0,0,26.04,25.96,26.08
$GC,7329,-0.68,-175.2,2542,2450,3976,3891,811.3,-6.4,306,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2451,3933,3976,3891,0,0,0,0,0,0,26.03,26.10,26.09
$GC,7629,-0.68,-175.2,2540,2451,3976,3891,829.8,-6.3,316,7640,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1065,3932,3975,3890,0,0,0,0,0,0,26.15,25.98,26.20
$GC,7654,-0.68,-175.2,2540,1066,3976,3891,829.8,-6.3,316,7665,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2450,3932,3974,3890,0,0,0,0,0,0,26.03,25.95,26.07
$GC,7959,-0.68,-175.2,2542,2450,3973,3889,854.1,-8.0,327,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3932,3974,3890,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8260,-0.68,-175.2,2540,2451,3975,3888,881.7,-9.5,337,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3927,3968,3887,0,0,0,0,0,0,26.15,26.22,26.20
$GC,8559,-0.68,-175.2,2540,2451,3975,3887,909.7,-9.4,347,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3929,3972,3887,0,0,0,0,0,0,26.12,26.18,26.17
$GC,8860,-0.68,-175.2,2540,2451,3973,3887,938.0,-9.4,357,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3928,3971,3886,0,0,0,0,0,0,26.14,26.21,26.20
$GC,9160,-0.68,-175.2,2540,2451,3971,3885,964.2,-8.3,367,9170,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1068,3927,3970,3884,0,0,0,0,0,0,26.17,25.96,26.22
$GC,9184,-0.68,-175.2,2542,1069,3969,3885,964.2,-8.3,367,9195,0.00,2.25,0.00,0.000,1030,0.000,0.036,2541,2458,3927,3970,3884,0,0,0,0,0,0,26.02,25.94,26.06
$STATE,9488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9489,begin apogee
$GC,9493,-0.11,0.0,2541,2093,3972,3884,991.2,-8.1,378,9644,0.65,0.00,140.20,1.297,10246,0.114,0.000,2742,2092,3278,3318,3239,0,0,0,0,0,0,25.65,24.48,23.60
$STATE,9645,end apogee,CONTROL_FINISHED_OK
$STATE,9645,begin climb
$GC,9646,0.68,175.2,2743,2093,3316,3238,999.0,0.0,383,9818,0.73,2.50,159.82,1.286,11012,0.044,0.042,3014,3517,2566,2612,2520,0,0,0,0,0,0,24.73,23.90,23.27
$GC,9873,0.98,343.0,3013,3518,2606,2518,997.0,3.6,389,10039,0.22,2.25,153.30,1.264,11270,0.073,0.023,3107,2118,1882,1929,1835,0,0,0,0,0,0,25.03,25.08,23.25
$GC,10359,0.98,343.0,3107,2123,1920,1832,887.6,23.1,406,10368,0.00,2.25,0.00,0.000,516,0.000,0.035,3118,710,1873,1919,1827,0,0,0,0,0,0,26.06,26.01,26.12
$GC,10422,0.98,343.0,3119,710,1918,1827,872.7,23.2,408,10430,0.00,2.17,0.00,0.000,1030,0.000,0.028,3118,2110,1871,1916,1826,0,0,0,0,0,0,26.19,26.13,26.22
$GC,10750,0.98,343.0,3119,2110,1917,1827,795.5,23.4,419,10758,0.00,2.22,0.00,0.000,516,0.000,0.035,3129,709,1871,1917,1826,0,0,0,0,0,0,26.26,26.15,26.32
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$STATE,14931,begin surface coast
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$STATE,14946,end surface coast,CONTROL_FINISHED_OK
$STATE,14946,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,14957.22 6545.00
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