version: 66.12
glider: 178
mission: 18
dive: 112
start: 10 19 114 1 22 2
data:
$ID,178
$MISSION,18
$DIVE,112
$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,330
$T_MISSION,370
$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,160
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,191014,011455,1209.595,14422.389,35,0.9,55,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-76.0
$GPS2,191014,012151,1209.596,14422.303,8,0.9,28,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.0,110246,-18.8,-10.000,-21.60,2227
$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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,157,2127,1400,1388,0.0,0.0,0,164,0.00,0.00,-70.55,0.000,16386,0.000,0.000,157,2127,3343,3391,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-0.77,-155.7,158,2127,3393,3299,4.3,-16.2,12,191,10.73,2.17,-5.20,0.000,18948,0.249,0.050,2613,765,3686,3746,3627,0,0,0,0,0,0,25.69,26.13,26.24
$GC,353,-0.70,-155.7,2614,766,3754,3628,76.3,-28.7,40,361,0.15,2.15,0.00,0.000,3078,0.174,0.033,2640,2148,3690,3754,3627,0,0,0,0,0,0,25.88,26.13,28.83
$GC,657,-0.70,-155.7,2640,2149,3762,3627,124.8,-12.9,70,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2149,3693,3761,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.70,-155.7,2640,2150,3767,3628,169.6,-14.9,100,972,0.00,2.15,0.00,0.000,516,0.000,0.037,2640,766,3696,3766,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1001,-0.70,-155.7,2640,766,3767,3627,174.8,-12.0,104,1009,0.00,2.15,0.00,0.000,1030,0.000,0.031,2635,2166,3696,3766,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1307,-0.70,-155.7,2635,2166,3769,3627,210.8,-12.1,128,1317,0.00,2.20,0.00,0.000,260,0.000,0.044,2622,3558,3698,3768,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1411,-0.70,-155.7,2624,3559,3769,3629,220.4,-10.6,131,1420,0.00,2.12,0.00,0.000,1030,0.000,0.027,2624,2159,3698,3768,3628,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1729,-0.70,-155.7,2624,2157,3769,3629,252.7,-9.0,142,1737,0.00,2.17,0.00,0.000,516,0.000,0.037,2623,756,3698,3769,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1786,-0.70,-155.7,2624,756,3770,3628,258.4,-9.3,144,1794,0.00,2.15,0.00,0.000,1030,0.000,0.031,2615,2151,3698,3769,3628,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2119,-0.70,-155.7,2616,2152,3769,3630,295.2,-11.4,155,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2151,3698,3768,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2418,-0.70,-155.7,2616,2152,3767,3629,327.7,-10.3,165,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2151,3696,3765,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-0.72,-155.7,2615,2152,3762,3629,357.4,-9.7,175,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2151,3694,3761,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-0.74,-155.7,2616,2151,3756,3628,385.3,-9.1,185,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2151,3691,3754,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,-0.77,-155.7,2613,2152,3751,3629,413.2,-9.4,195,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2151,3688,3749,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.80,-155.7,2616,2151,3745,3627,440.7,-9.0,205,3630,0.00,2.22,0.00,0.000,260,0.000,0.050,2605,3554,3685,3743,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3655,-0.83,-155.7,2605,3554,3744,3626,443.5,-9.0,206,3664,0.00,2.15,0.00,0.000,1030,0.000,0.030,2605,2154,3685,3743,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3979,-0.85,-155.7,2605,2149,3740,3620,475.0,-9.5,217,3987,0.00,2.22,0.00,0.000,516,0.000,0.040,2605,746,3679,3738,3620,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4046,-0.87,-155.7,2605,746,3738,3624,480.7,-9.6,219,4054,0.00,2.20,0.00,0.000,1030,0.000,0.034,2595,2148,3680,3737,3623,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4369,-0.87,-155.7,2596,2150,3735,3621,515.4,-10.7,230,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2148,3677,3734,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.87,-155.7,2596,2149,3730,3619,547.7,-10.8,240,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2148,3674,3730,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.87,-155.7,2596,2149,3728,3618,578.0,-9.8,250,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2148,3672,3727,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.87,-155.7,2596,2148,3725,3615,606.0,-9.1,260,5277,0.00,2.28,0.00,0.000,260,0.000,0.051,2585,3553,3669,3724,3615,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5301,-0.87,-155.7,2586,3554,3724,3616,609.1,-9.2,261,5309,0.00,2.20,0.00,0.000,1030,0.000,0.031,2586,2142,3669,3723,3615,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5629,-0.87,-155.7,2586,2138,3721,3614,640.0,-9.6,272,5640,0.00,2.20,0.00,0.000,516,0.000,0.041,2585,756,3665,3720,3611,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5664,-0.87,-155.7,2586,757,3720,3614,643.2,-9.8,273,5672,0.00,2.22,0.00,0.000,1030,0.000,0.037,2577,2155,3666,3720,3612,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5992,-0.87,-155.7,2578,2155,3718,3611,677.0,-10.2,284,6004,0.00,2.25,0.00,0.000,516,0.000,0.041,2577,750,3664,3717,3611,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6018,-0.87,-155.7,2578,751,3718,3612,677.0,-10.2,284,6029,0.00,2.22,0.00,0.000,1030,0.000,0.037,2569,2153,3663,3717,3610,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6323,-0.87,-155.7,2570,2154,3715,3610,713.8,-11.3,295,6331,0.00,2.28,0.00,0.000,260,0.000,0.052,2559,3561,3661,3714,3609,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6375,-0.87,-155.7,2559,3561,3715,3609,717.1,-11.5,296,6386,0.12,2.20,0.00,0.000,3078,0.165,0.032,2587,2147,3661,3714,3609,0,0,0,0,0,0,25.82,26.10,28.83
$GC,6681,-0.87,-155.7,2587,2147,3713,3608,753.0,-11.0,307,6690,0.00,2.30,0.00,0.000,260,0.000,0.051,2579,3561,3659,3712,3607,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6704,-0.87,-155.7,2579,3561,3713,3606,753.0,-11.0,307,6712,0.00,2.20,0.00,0.000,1030,0.000,0.031,2578,2143,3659,3712,3607,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7016,-0.87,-155.7,2579,2140,3711,3607,791.8,-11.6,318,7024,0.00,2.25,0.00,0.000,516,0.000,0.041,2578,745,3657,3710,3605,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7103,-0.87,-155.7,2580,746,3709,3606,799.4,-12.0,320,7114,0.00,2.22,0.00,0.000,1030,0.000,0.037,2571,2148,3657,3709,3605,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7409,-0.87,-155.7,2571,2148,3709,3604,838.4,-11.6,331,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2148,3656,3708,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.87,-155.7,2571,2148,3708,3602,872.6,-11.2,341,7717,0.00,2.30,0.00,0.000,260,0.000,0.054,2560,3561,3654,3706,3603,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7751,-0.87,-155.7,2561,3562,3708,3600,876.0,-11.2,342,7759,0.12,2.22,0.00,0.000,3078,0.162,0.032,2590,2148,3654,3708,3600,0,0,0,0,0,0,25.77,26.05,28.83
$GC,8064,-0.87,-155.7,2590,2145,3705,3601,909.4,-10.0,353,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2144,3653,3706,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8364,-0.87,-155.7,2591,2145,3704,3601,939.3,-9.9,363,8372,0.00,2.30,0.00,0.000,260,0.000,0.052,2581,3555,3651,3703,3600,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8416,-0.87,-155.7,2582,3556,3704,3601,942.8,-10.1,364,8424,0.00,2.22,0.00,0.000,1030,0.000,0.033,2581,2145,3650,3701,3600,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8721,-0.87,-155.7,2582,2143,3703,3602,976.4,-10.2,374,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2144,3650,3701,3599,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8870,begin apogee
$GC,8874,-0.13,0.0,2581,2261,3702,3598,991.3,-9.9,379,9013,0.80,0.00,132.02,1.268,10246,0.130,0.000,2822,2261,3046,3083,3010,0,0,0,0,0,0,25.67,28.83,24.06
$STATE,9014,end apogee,CONTROL_FINISHED_OK
$STATE,9014,begin climb
$GC,9015,0.77,155.7,2823,2262,3082,3009,995.3,0.0,383,9168,0.82,2.50,139.93,1.253,10500,0.047,0.050,3133,3645,2409,2453,2366,0,0,0,0,0,0,25.03,24.39,23.58
$GC,9222,0.68,155.7,3134,3647,2444,2364,977.6,14.0,390,9230,0.22,2.28,0.00,0.000,5126,0.177,0.030,3091,2244,2403,2443,2363,0,0,0,0,0,0,24.92,25.13,28.83
$GC,9529,0.64,155.7,3091,2241,2443,2356,930.9,13.8,400,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2241,2398,2441,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9828,0.61,155.7,3092,2243,2441,2355,890.1,13.5,410,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2241,2397,2440,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10128,0.57,155.7,3091,2241,2440,2353,849.7,13.3,420,10139,0.12,2.30,0.00,0.000,4356,0.203,0.050,3058,3651,2396,2439,2353,0,0,0,0,0,0,25.80,26.06,28.83
$GC,10204,0.54,155.7,3059,3652,2439,2354,841.5,13.5,422,10212,0.00,2.17,0.00,0.000,1030,0.000,0.031,3066,2249,2395,2438,2353,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10516,0.54,155.7,3067,2247,2431,2353,802.0,12.1,433,10525,0.00,2.22,0.00,0.000,516,0.000,0.041,3077,848,2394,2436,2353,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10589,0.54,155.7,3078,847,2437,2350,794.3,12.2,435,10597,0.15,2.22,0.00,0.000,5126,0.177,0.034,3042,2245,2393,2436,2350,0,0,0,0,0,0,25.78,26.05,28.83
$GC,10907,0.54,155.7,3042,2246,2435,2351,758.1,11.0,446,10916,0.00,2.30,0.00,0.000,260,0.000,0.050,3042,3654,2393,2436,2350,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10950,0.54,155.7,3042,3654,2436,2350,754.2,11.2,447,10960,0.00,2.20,0.00,0.000,1030,0.000,0.031,3050,2239,2392,2435,2350,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11274,0.54,155.7,3051,2236,2434,2351,714.6,11.9,458,11282,0.00,2.33,0.00,0.000,260,0.000,0.052,3047,3654,2391,2433,2350,0,0,0,0,0,0,28.83,25.96,28.83
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$STATE,17767,end climb,SURFACE_DEPTH_REACHED
$STATE,17767,begin surface coast
$FINISH,0.2,1.021203
$STATE,17798,end surface coast,CONTROL_FINISHED_OK
$STATE,17798,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17776.05 7637.92
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$24V_AH,23.58,24.637
$10V_AH,10.12,32.748
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,228460
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$CFSIZE,260034560,248598528
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