version: 66.12
glider: 178
mission: 20
dive: 48
start: 3 9 115 20 55 18
data:
$ID,178
$MISSION,20
$DIVE,48
$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,0.00420903
$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,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,38
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090315,204852,1312.1335,14514.0889,25,1.4,41,1.7,0.3,119.1,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-72.6
$GPS2,090315,205507,1312.1042,14514.0703,12,1.3,12,1.7,1.0,214.3,8,9.8
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,155.8,118895,-17.8,-10.000,-20.71,2479
$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,-0.71,-175.2,123,2465,905,890,0.0,0.0,0,194,0.00,0.00,-92.70,0.000,16386,0.000,0.000,124,2465,3231,3280,3182,0,0,0,0,0,0,26.92,28.83,26.99
$GC,196,-0.71,-175.2,123,2465,3282,3184,3.2,-10.6,15,221,10.07,2.15,-7.43,0.000,18948,0.250,0.043,2541,1031,3658,3727,3590,0,0,0,0,0,0,26.46,26.25,26.72
$GC,340,-0.71,-175.2,2542,1032,3730,3592,57.6,-32.7,41,351,0.00,2.15,0.00,0.000,1030,0.000,0.037,2534,2437,3661,3731,3591,0,0,0,0,0,0,26.90,26.84,26.91
$GC,655,-0.71,-175.2,2533,2437,3736,3591,149.0,-26.3,72,663,0.00,2.05,0.00,0.000,260,0.000,0.049,2524,3775,3662,3733,3591,0,0,0,0,0,0,27.18,26.96,27.24
$GC,723,-0.71,-175.2,2524,3775,3741,3592,167.4,-26.8,78,735,0.00,1.98,0.00,0.000,1030,0.000,0.025,2523,2405,3662,3734,3591,0,0,0,0,0,0,27.08,27.05,27.10
$GC,1053,-0.71,-175.2,2524,2403,3739,3593,223.9,-13.9,101,1060,0.00,2.12,0.00,0.000,260,0.000,0.047,2515,3779,3666,3740,3593,0,0,0,0,0,0,27.29,27.05,27.34
$GC,1084,-0.71,-175.2,2516,3780,3740,3593,228.5,-13.6,102,1093,0.15,1.90,0.00,0.000,3078,0.174,0.026,2553,2458,3666,3740,3593,0,0,0,0,0,0,26.94,27.14,27.09
$GC,1419,-0.71,-175.2,2553,2460,3742,3594,273.2,-13.5,113,1427,0.00,2.03,0.00,0.000,260,0.000,0.050,2545,3776,3667,3742,3593,0,0,0,0,0,0,27.35,27.12,27.41
$GC,1441,-0.71,-175.2,2544,3777,3744,3593,273.2,-13.5,113,1449,0.00,1.92,0.00,0.000,1030,0.000,0.028,2545,2451,3667,3742,3593,0,0,0,0,0,0,27.22,27.19,27.24
$GC,1754,-0.71,-175.2,2546,2449,3742,3594,309.2,-9.8,124,1762,0.00,2.08,0.00,0.000,516,0.000,0.039,2545,1059,3668,3742,3595,0,0,0,0,0,0,27.38,27.13,27.44
$GC,1921,-0.71,-175.2,2545,1056,3742,3594,322.8,-8.8,129,1929,0.00,2.12,0.00,0.000,1030,0.000,0.036,2538,2460,3666,3740,3593,0,0,0,0,0,0,27.25,27.20,27.27
$GC,2234,-0.71,-175.2,2538,2461,3739,3594,358.6,-11.4,140,2242,0.00,2.03,0.00,0.000,260,0.000,0.051,2528,3779,3665,3737,3593,0,0,0,0,0,0,27.42,27.19,27.48
$GC,2311,-0.71,-175.2,2529,3780,3736,3593,365.4,-11.6,142,2319,0.00,1.92,0.00,0.000,1030,0.000,0.028,2528,2448,3664,3736,3592,0,0,0,0,0,0,27.31,27.27,27.33
$GC,2624,-0.71,-175.2,2527,2447,3733,3593,406.1,-12.6,153,2632,0.00,2.08,0.00,0.000,516,0.000,0.035,2528,1058,3662,3731,3593,0,0,0,0,0,0,27.44,27.24,27.51
$GC,2671,-0.71,-175.2,2527,1058,3732,3593,410.1,-12.4,154,2679,0.12,2.10,0.00,0.000,3078,0.170,0.035,2549,2457,3660,3729,3592,0,0,0,0,0,0,27.11,27.24,27.25
$GC,2984,-0.71,-175.2,2550,2457,3727,3592,441.1,-8.5,165,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2457,3659,3728,3591,0,0,0,0,0,0,27.46,27.53,27.52
$GC,3284,-0.71,-175.2,2548,2457,3726,3590,465.3,-8.1,175,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2457,3657,3725,3589,0,0,0,0,0,0,27.47,27.55,27.53
$GC,3584,-0.71,-175.2,2550,2457,3721,3587,481.5,-4.6,185,3594,0.00,2.10,0.00,0.000,516,0.000,0.037,2549,1066,3653,3721,3586,0,0,0,0,0,0,27.47,27.29,27.54
$GC,3634,-0.71,-175.2,2550,1066,3720,3586,482.9,-4.7,186,3641,0.00,2.10,0.00,0.000,1030,0.000,0.037,2542,2457,3652,3720,3585,0,0,0,0,0,0,27.34,27.27,27.36
$GC,3939,-0.71,-175.2,2541,2458,3720,3583,507.6,-9.5,196,3947,0.00,2.08,0.00,0.000,516,0.000,0.036,2542,1062,3651,3722,3581,0,0,0,0,0,0,27.48,27.29,27.55
$GC,3981,-0.71,-175.2,2541,1063,3718,3582,510.7,-10.1,197,3989,0.00,2.10,0.00,0.000,1030,0.000,0.037,2532,2453,3649,3716,3582,0,0,0,0,0,0,27.34,27.28,27.36
$GC,4293,-0.71,-175.2,2532,2454,3714,3579,547.6,-11.0,208,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2454,3646,3714,3578,0,0,0,0,0,0,27.48,27.56,27.55
$GC,4593,-0.71,-175.2,2529,2454,3710,3578,578.0,-9.8,218,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2453,3644,3710,3578,0,0,0,0,0,0,27.49,27.57,27.55
$GC,4894,-0.71,-175.2,2532,2454,3707,3577,605.2,-8.9,228,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2454,3641,3707,3576,0,0,0,0,0,0,27.49,27.57,27.56
$GC,5193,-0.71,-175.2,2533,2455,3704,3574,630.8,-8.3,238,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2459,3639,3704,3574,0,0,0,0,0,0,27.50,27.58,27.57
$GC,5493,-0.71,-175.2,2531,2454,3704,3572,657.5,-9.4,248,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2454,3637,3703,3572,0,0,0,0,0,0,27.48,27.58,27.56
$GC,5794,-0.71,-175.2,2531,2454,3701,3570,686.8,-9.7,258,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2454,3634,3700,3569,0,0,0,0,0,0,27.51,27.58,27.57
$GC,6093,-0.71,-175.2,2531,2454,3700,3568,712.1,-8.0,268,6101,0.00,2.10,0.00,0.000,516,0.000,0.037,2532,1067,3632,3698,3567,0,0,0,0,0,0,27.51,27.31,27.58
$GC,6146,-0.71,-175.2,2530,1068,3699,3567,714.5,-8.0,269,6157,0.00,2.10,0.00,0.000,1030,0.000,0.040,2523,2449,3632,3698,3567,0,0,0,0,0,0,27.36,27.32,27.39
$GC,6451,-0.71,-175.2,2523,2450,3698,3566,740.3,-7.9,280,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2450,3630,3696,3565,0,0,0,0,0,0,27.51,27.58,27.57
$GC,6751,-0.71,-175.2,2523,2450,3695,3565,766.4,-9.0,290,6759,0.00,2.10,0.00,0.000,516,0.000,0.038,2524,1067,3629,3694,3564,0,0,0,0,0,0,27.51,27.30,27.57
$GC,6808,-0.71,-175.2,2524,1067,3694,3564,771.6,-9.2,292,6817,0.15,2.10,0.00,0.000,3078,0.171,0.040,2553,2451,3628,3693,3564,0,0,0,0,0,0,27.16,27.29,27.30
$GC,7141,-0.71,-175.2,2552,2451,3693,3563,797.4,-8.0,303,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2451,3627,3692,3562,0,0,0,0,0,0,27.51,27.58,27.57
$GC,7441,-0.71,-175.2,2555,2451,3691,3562,822.6,-8.6,313,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2450,3626,3690,3562,0,0,0,0,0,0,27.51,27.58,27.57
$GC,7742,-0.71,-175.2,2551,2451,3686,3561,847.5,-8.2,323,7750,0.00,2.10,0.00,0.000,516,0.000,0.038,2553,1068,3624,3687,3561,0,0,0,0,0,0,27.51,27.30,27.57
$GC,7765,-0.71,-175.2,2554,1068,3688,3562,847.5,-8.2,323,7773,0.00,2.10,0.00,0.000,1030,0.000,0.041,2547,2451,3624,3688,3560,0,0,0,0,0,0,27.36,27.29,27.39
$GC,8077,-0.71,-175.2,2547,2452,3688,3561,875.6,-8.7,334,8086,0.00,2.05,0.00,0.000,260,0.000,0.056,2538,3771,3623,3687,3560,0,0,0,0,0,0,27.50,27.26,27.57
$GC,8120,-0.71,-175.2,2532,3771,3688,3560,878.3,-8.6,335,8128,0.00,1.95,0.00,0.000,1030,0.000,0.029,2537,2434,3623,3686,3560,0,0,0,0,0,0,27.40,27.36,27.41
$GC,8443,-0.71,-175.2,2537,2435,3686,3559,903.3,-7.0,346,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2435,3621,3685,3558,0,0,0,0,0,0,27.51,27.58,27.56
$GC,8743,-0.71,-175.2,2539,2435,3684,3558,923.6,-6.7,356,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2435,3621,3685,3557,0,0,0,0,0,0,27.51,27.58,27.56
$GC,9043,-0.71,-175.2,2537,2435,3685,3557,941.7,-5.9,366,9051,0.00,2.03,0.00,0.000,516,0.000,0.037,2537,1075,3619,3684,3554,0,0,0,0,0,0,27.51,27.30,27.57
$GC,9080,-0.71,-175.2,2538,1076,3683,3556,943.5,-6.1,367,9088,0.00,2.10,0.00,0.000,1030,0.000,0.037,2533,2460,3619,3683,3556,0,0,0,0,0,0,27.38,27.29,27.39
$GC,9397,-0.71,-175.2,2532,2460,3684,3556,966.2,-7.1,378,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2459,3618,3682,3555,0,0,0,0,0,0,27.51,27.58,27.57
$GC,9697,-0.71,-175.2,2532,2460,3683,3555,987.7,-7.1,388,9705,0.00,2.08,0.00,0.000,516,0.000,0.035,2533,1072,3617,3681,3554,0,0,0,0,0,0,27.51,27.31,27.58
$GC,9725,-0.71,-175.2,2531,1072,3683,3555,987.7,-7.1,388,9735,0.00,2.10,0.00,0.000,1030,0.000,0.039,2526,2455,3619,3681,3557,0,0,0,0,0,0,27.36,27.29,27.38
$STATE,9758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9758,begin apogee
$GC,9763,-0.11,0.0,2526,2104,3683,3554,992.0,-7.0,390,9914,0.68,0.00,144.12,1.309,10246,0.134,0.000,2739,2103,2941,2987,2896,0,0,0,0,0,0,27.13,25.18,24.42
$STATE,9915,end apogee,CONTROL_FINISHED_OK
$STATE,9915,begin climb
$GC,9917,0.71,175.2,2740,2104,2985,2894,993.3,0.0,395,10083,0.75,2.30,153.48,1.286,10756,0.054,0.041,3030,730,2225,2275,2175,0,0,0,0,0,0,25.46,24.94,24.18
$GC,10132,0.71,175.2,3030,731,2270,2172,968.6,15.8,402,10140,0.00,2.20,0.00,0.000,1030,0.000,0.031,3031,2101,2220,2269,2171,0,0,0,0,0,0,25.74,25.68,25.76
$GC,10444,0.71,175.2,3029,2102,2265,2165,913.8,16.2,413,10452,0.00,2.25,0.00,0.000,260,0.000,0.047,3030,3513,2214,2264,2164,0,0,0,0,0,0,26.66,26.44,26.73
$GC,10481,0.71,175.2,3031,3514,2263,2164,909.1,16.3,414,10490,0.12,2.12,0.00,0.000,5126,0.190,0.029,3014,2116,2213,2263,2163,0,0,0,0,0,0,26.37,26.54,26.53
$GC,10805,0.71,175.2,3013,2116,2263,2162,864.0,13.0,425,10813,0.00,2.22,0.00,0.000,260,0.000,0.047,3014,3504,2211,2262,2161,0,0,0,0,0,0,26.95,26.72,27.02
$GC,10837,0.71,175.2,3013,3505,2263,2162,860.2,13.2,426,10845,0.00,2.15,0.00,0.000,1030,0.000,0.028,3022,2093,2211,2261,2161,0,0,0,0,0,0,26.84,26.79,26.86
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$STATE,17444,end climb,SURFACE_DEPTH_REACHED
$STATE,17444,begin surface coast
$FINISH,-0.5,1.022106
$STATE,17469,end surface coast,CONTROL_FINISHED_OK
$STATE,17469,begin surface
$SM_CCo,17484,61.92,0.062,0,0,902,500.17
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$IRIDIUM_FIX,1305.38,14503.02,040108,052458
$TT8_MAMPS,0.160286,0.160286
$HUMID,38.81
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.00
$XPDR_PINGS,2
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17500.69 7931.56
$PA_BOOTCOUNT,264
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.047/1.764/1.627
$PA_DISK_BANK,0
$24V_AH,24.18,7.250
$10V_AH,9.98,12.256
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.250,131.975,436.350,61.925,0.000,0.000,0.000,260.750,0.500,0.000,16.239,0.000,14101.920,610.101,3001.655,195.006,0.000,2199.944,0.000,1658.905,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,141.641,0.000,0.000,0.000
$MEM,230008
$DATA_FILE_SIZE,33477,808
$CAP_FILE_SIZE,149115,0
$CFSIZE,260034560,253935616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,100315,014835,1308.871,14514.475,29,1.0,29,1.7,0.4,225.3,7,8.0