version: 66.12
glider: 178
mission: 18
dive: 156
start: 10 27 114 21 11 39
data:
$ID,178
$MISSION,18
$DIVE,156
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,271014,210426,1126.896,14401.974,82,1.1,102,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-75.9
$GPS2,271014,211127,1126.843,14401.886,12,1.2,32,1.9
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S7
$TGT_LATLONG,1142.700,14330.200
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,291.3,64529,-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,-155.7,160,2144,1612,1625,0.0,0.0,0,159,0.00,0.00,-64.75,0.000,16386,0.000,0.000,160,2144,3438,3490,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.77,-155.7,161,2145,3491,3389,5.0,-20.0,11,181,10.80,2.22,-3.62,0.000,18692,0.246,0.054,2602,3563,3685,3743,3628,0,0,0,0,0,0,25.54,26.11,26.29
$GC,315,-0.69,-155.7,2603,3564,3755,3628,68.1,-24.7,35,325,0.17,2.17,0.00,0.000,3078,0.175,0.028,2641,2146,3691,3754,3628,0,0,0,0,0,0,25.75,26.16,28.83
$GC,630,-0.69,-155.7,2644,2142,3762,3628,125.6,-13.6,66,638,0.00,2.28,0.00,0.000,260,0.000,0.044,2635,3567,3694,3761,3628,0,0,0,0,0,0,28.83,26.10,28.83
$GC,667,-0.69,-155.7,2636,3568,3763,3629,129.8,-13.3,69,678,0.00,2.17,0.00,0.000,1030,0.000,0.026,2636,2138,3695,3762,3628,0,0,0,0,0,0,28.83,26.19,28.83
$GC,972,-0.69,-155.7,2636,2136,3769,3629,168.9,-11.7,100,986,0.00,2.15,0.00,0.000,516,0.000,0.035,2635,746,3698,3768,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1070,-0.69,-155.7,2636,747,3769,3632,179.4,-11.2,109,1082,0.00,2.20,0.00,0.000,1030,0.000,0.030,2625,2165,3700,3769,3631,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1376,-0.69,-155.7,2626,2166,3773,3632,213.9,-10.8,132,1384,0.00,2.20,0.00,0.000,260,0.000,0.045,2615,3562,3701,3772,3631,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1439,-0.69,-155.7,2616,3564,3773,3632,220.8,-11.0,134,1447,0.12,2.15,0.00,0.000,3078,0.148,0.026,2647,2138,3701,3772,3631,0,0,0,0,0,0,25.97,26.23,28.83
$GC,1777,-0.73,-155.7,2647,2135,3774,3633,251.7,-8.8,145,1785,0.00,2.25,0.00,0.000,260,0.000,0.044,2639,3552,3702,3773,3631,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1845,-0.77,-155.7,2640,3554,3774,3633,257.8,-8.8,147,1852,0.00,2.12,0.00,0.000,1030,0.000,0.027,2639,2143,3702,3772,3632,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2172,-0.81,-155.7,2639,2140,3771,3627,286.9,-8.4,158,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2139,3700,3770,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,-0.85,-155.7,2640,2139,3767,3631,312.8,-8.6,168,2483,0.12,2.15,0.00,0.000,4612,0.088,0.036,2572,769,3698,3765,3631,0,0,0,0,0,0,26.17,26.09,28.83
$GC,2552,-0.85,-155.7,2573,770,3764,3632,319.9,-10.1,170,2560,0.12,2.17,0.00,0.000,3078,0.174,0.034,2591,2149,3697,3763,3631,0,0,0,0,0,0,25.84,26.13,28.83
$GC,2857,-0.85,-155.7,2592,2149,3759,3631,355.4,-10.4,180,2865,0.00,2.28,0.00,0.000,260,0.000,0.047,2583,3568,3694,3758,3631,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2920,-0.85,-155.7,2584,3568,3757,3632,361.6,-10.5,182,2928,0.00,2.15,0.00,0.000,1030,0.000,0.028,2583,2154,3694,3757,3631,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3242,-0.85,-155.7,2584,2150,3751,3631,399.5,-11.8,193,3250,0.00,2.22,0.00,0.000,516,0.000,0.038,2583,749,3690,3750,3631,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3289,-0.85,-155.7,2584,752,3749,3631,402.7,-11.7,194,3297,0.00,2.22,0.00,0.000,1030,0.000,0.034,2575,2160,3690,3749,3631,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3602,-0.85,-155.7,2576,2161,3746,3630,434.8,-8.9,205,3610,0.00,2.22,0.00,0.000,260,0.000,0.049,2565,3554,3687,3745,3629,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3660,-0.85,-155.7,2565,3555,3744,3629,437.9,-9.0,206,3670,0.12,2.17,0.00,0.000,3078,0.164,0.028,2593,2138,3686,3744,3629,0,0,0,0,0,0,25.84,26.15,28.83
$GC,3965,-0.85,-155.7,2593,2137,3742,3627,468.8,-9.8,217,3976,0.00,2.15,0.00,0.000,516,0.000,0.039,2593,769,3683,3740,3627,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4026,-0.85,-155.7,2594,770,3741,3627,475.2,-10.1,219,4036,0.00,2.20,0.00,0.000,1030,0.000,0.034,2586,2156,3683,3740,3626,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4355,-0.85,-155.7,2587,2158,3737,3626,510.4,-10.7,230,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2157,3682,3739,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4656,-0.85,-155.7,2587,2157,3734,3621,542.4,-10.6,240,4664,0.00,2.22,0.00,0.000,516,0.000,0.040,2586,763,3677,3733,3622,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4678,-0.85,-155.7,2587,762,3734,3622,542.4,-10.6,240,4686,0.00,2.22,0.00,0.000,1030,0.000,0.035,2577,2159,3675,3732,3619,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4990,-0.85,-155.7,2578,2159,3731,3619,578.0,-10.3,251,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2159,3674,3729,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-0.85,-155.7,2578,2159,3728,3617,607.2,-9.5,261,5300,0.00,2.22,0.00,0.000,516,0.000,0.040,2577,763,3672,3726,3618,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5335,-0.85,-155.7,2578,764,3727,3619,610.0,-9.4,262,5343,0.12,2.20,0.00,0.000,3078,0.177,0.035,2596,2148,3671,3726,3617,0,0,0,0,0,0,25.72,26.01,28.83
$GC,5648,-0.85,-155.7,2597,2150,3726,3617,633.7,-7.0,273,5656,0.00,2.30,0.00,0.000,260,0.000,0.050,2588,3561,3670,3724,3616,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5701,-0.85,-155.7,2589,3561,3724,3616,635.8,-7.1,274,5711,0.00,2.17,0.00,0.000,1030,0.000,0.031,2588,2148,3669,3723,3616,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6006,-0.85,-155.7,2588,2145,3722,3615,663.4,-8.8,285,6014,0.00,2.20,0.00,0.000,516,0.000,0.039,2588,759,3668,3721,3615,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6043,-0.85,-155.7,2589,758,3722,3613,666.5,-9.0,286,6051,0.00,2.22,0.00,0.000,1030,0.000,0.035,2579,2152,3667,3720,3614,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6366,-0.85,-155.7,2580,2153,3720,3613,700.3,-10.5,297,6375,0.00,2.22,0.00,0.000,516,0.000,0.039,2579,758,3665,3719,3612,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6400,-0.85,-155.7,2580,759,3720,3613,703.7,-10.7,298,6408,0.00,2.22,0.00,0.000,1030,0.000,0.035,2570,2149,3665,3719,3612,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6728,-0.85,-155.7,2571,2149,3718,3611,741.0,-11.4,309,6739,0.00,2.28,0.00,0.000,260,0.000,0.050,2560,3553,3661,3711,3611,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6769,-0.85,-155.7,2560,3554,3717,3612,744.6,-11.3,310,6777,0.15,2.20,0.00,0.000,3078,0.157,0.036,2595,2149,3663,3716,3611,0,0,0,0,0,0,25.66,25.98,28.83
$GC,7086,-0.87,-155.7,2596,2146,3716,3609,776.5,-9.4,321,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2146,3662,3716,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7387,-0.89,-155.7,2596,2147,3714,3610,803.9,-8.9,331,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2146,3660,3713,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7686,-0.91,-155.7,2596,2147,3712,3608,830.2,-8.7,341,7694,0.00,2.33,0.00,0.000,260,0.000,0.050,2587,3553,3658,3711,3606,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7734,-0.93,-155.7,2588,3552,3712,3606,833.1,-8.7,342,7741,0.00,2.20,0.00,0.000,1030,0.000,0.031,2587,2148,3659,3711,3607,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8046,-0.93,-155.7,2587,2144,3712,3604,860.9,-8.2,353,8056,0.00,2.25,0.00,0.000,516,0.000,0.040,2583,749,3657,3711,3604,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8070,-0.93,-155.7,2587,748,3712,3604,860.9,-8.2,353,8081,0.00,2.25,0.00,0.000,1030,0.000,0.035,2579,2148,3658,3711,3606,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8376,-0.93,-155.7,2579,2148,3710,3603,889.9,-8.7,364,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2148,3656,3709,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8676,-0.93,-155.7,2579,2148,3709,3604,916.5,-8.9,374,8684,0.00,2.33,0.00,0.000,260,0.000,0.051,2568,3554,3656,3708,3604,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8703,-0.93,-155.7,2569,3555,3708,3605,919.2,-9.0,375,8711,0.00,2.20,0.00,0.000,1030,0.000,0.031,2568,2153,3655,3707,3604,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9036,-0.93,-155.7,2569,2150,3707,3603,951.0,-9.4,386,9045,0.00,2.25,0.00,0.000,516,0.000,0.039,2568,747,3654,3706,3603,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9070,-0.93,-155.7,2568,747,3707,3603,954.2,-9.4,387,9077,0.00,2.25,0.00,0.000,1030,0.000,0.037,2559,2150,3654,3705,3603,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9397,-0.93,-155.7,2560,2150,3706,3602,984.4,-9.0,398,9408,0.00,2.30,0.00,0.000,260,0.000,0.052,2549,3558,3653,3704,3602,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9428,-0.93,-155.7,2550,3559,3705,3601,987.3,-9.2,399,9439,0.00,2.20,0.00,0.000,1030,0.000,0.032,2549,2151,3653,3704,3602,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,9457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9457,begin apogee
$GC,9461,-0.13,0.0,2549,2269,3705,3602,990.2,-9.3,400,9602,0.95,0.00,133.85,1.294,10246,0.142,0.000,2824,2269,3046,3082,3010,0,0,0,0,0,0,25.46,28.83,23.66
$STATE,9603,end apogee,CONTROL_FINISHED_OK
$STATE,9603,begin climb
$GC,9604,0.77,155.7,2825,2271,3082,3010,992.2,0.0,404,9756,0.82,0.00,143.95,1.268,10502,0.052,0.000,3127,2269,2411,2455,2368,0,0,0,0,0,0,24.79,28.83,23.23
$GC,10031,0.71,155.7,3128,2269,2444,2356,929.3,18.0,419,10037,0.12,0.00,0.00,0.000,4102,0.197,0.000,3101,2269,2400,2443,2357,0,0,0,0,0,0,25.62,28.83,28.83
$GC,10331,0.67,155.7,3102,2269,2443,2354,881.9,15.5,429,10341,0.00,2.28,0.00,0.000,516,0.000,0.037,3110,848,2397,2441,2354,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,17938,end climb,SURFACE_DEPTH_REACHED
$STATE,17939,begin surface coast
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$STATE,17959,end surface coast,CONTROL_FINISHED_OK
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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,17987.78 8015.15
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$10V_AH,9.99,35.902
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