version: 66.12
glider: 178
mission: 20
dive: 57
start: 3 11 115 16 53 25
data:
$ID,178
$MISSION,20
$DIVE,57
$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,55
$R_STBD_OVSHOOT,33
$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
$GPS1,110315,164653,1249.8405,14521.4961,38,0.9,38,1.8,0.6,281.0,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-72.7
$GPS2,110315,165313,1249.8823,14521.4424,15,0.9,15,1.8,0.2,231.3,8,6.8
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,160.6,75664,-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,-175.2,121,2450,908,891,0.0,0.0,0,197,0.00,0.00,-95.15,0.000,16386,0.000,0.000,120,2450,3356,3405,3308,0,0,0,0,0,0,26.94,28.83,27.00
$GC,199,-0.71,-175.2,121,2452,3408,3309,4.5,-12.9,13,220,10.07,2.12,-4.70,0.000,18948,0.249,0.047,2551,1052,3660,3722,3599,0,0,0,0,0,0,26.44,25.65,26.72
$GC,316,-0.71,-175.2,2550,1052,3731,3600,52.8,-30.5,35,332,0.00,2.15,0.00,0.000,1030,0.000,0.036,2543,2457,3664,3729,3599,0,0,0,0,0,0,26.88,26.82,26.90
$GC,626,-0.71,-175.2,2542,2458,3733,3600,135.8,-21.5,66,641,0.00,2.03,0.00,0.000,260,0.000,0.047,2533,3779,3665,3732,3599,0,0,0,0,0,0,27.17,26.94,27.24
$GC,645,-0.71,-175.2,2533,3779,3732,3600,137.8,-21.9,67,656,0.00,1.95,0.00,0.000,1030,0.000,0.025,2534,2428,3665,3732,3598,0,0,0,0,0,0,27.05,27.02,27.08
$GC,951,-0.71,-175.2,2533,2425,3740,3600,197.5,-14.1,98,965,0.00,2.00,0.00,0.000,516,0.000,0.031,2537,1073,3670,3738,3602,0,0,0,0,0,0,27.27,27.07,27.32
$GC,984,-0.71,-175.2,2538,1074,3738,3600,202.2,-14.3,101,992,0.00,2.08,0.00,0.000,1030,0.000,0.034,2530,2454,3669,3739,3599,0,0,0,0,0,0,27.12,27.05,27.14
$GC,1317,-0.71,-175.2,2531,2455,3741,3599,244.7,-11.8,112,1328,0.00,2.03,0.00,0.000,516,0.000,0.031,2530,1072,3670,3742,3599,0,0,0,0,0,0,27.33,27.13,27.39
$GC,1487,-0.71,-175.2,2531,1072,3742,3600,260.9,-10.5,117,1502,0.00,2.08,0.00,0.000,1030,0.000,0.035,2523,2450,3671,3743,3600,0,0,0,0,0,0,27.20,27.14,27.22
$GC,1798,-0.71,-175.2,2522,2451,3744,3600,303.7,-14.2,128,1808,0.00,2.03,0.00,0.000,260,0.000,0.050,2513,3771,3670,3742,3599,0,0,0,0,0,0,27.39,27.15,27.45
$GC,1847,-0.71,-175.2,2512,3773,3743,3600,308.1,-14.2,129,1855,0.15,1.90,0.00,0.000,3078,0.168,0.028,2550,2456,3670,3742,3599,0,0,0,0,0,0,27.03,27.24,27.18
$GC,2152,-0.71,-175.2,2551,2456,3740,3599,349.3,-11.6,139,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2456,3669,3740,3599,0,0,0,0,0,0,27.41,27.48,27.47
$GC,2455,-0.71,-175.2,2551,2456,3735,3598,382.1,-10.3,149,2465,0.00,2.08,0.00,0.000,516,0.000,0.036,2555,1066,3667,3735,3599,0,0,0,0,0,0,27.43,27.23,27.50
$GC,2571,-0.71,-175.2,2556,1066,3733,3599,391.5,-9.8,152,2584,0.00,2.08,0.00,0.000,1030,0.000,0.037,2548,2450,3665,3733,3597,0,0,0,0,0,0,27.27,27.23,27.29
$GC,2880,-0.71,-175.2,2547,2450,3731,3596,419.8,-8.3,163,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2450,3662,3730,3595,0,0,0,0,0,0,27.45,27.53,27.51
$GC,3180,-0.71,-175.2,2548,2451,3728,3593,448.4,-10.0,173,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2450,3659,3726,3592,0,0,0,0,0,0,27.46,27.54,27.53
$GC,3480,-0.71,-175.2,2547,2451,3725,3592,477.5,-9.5,183,3487,0.00,2.08,0.00,0.000,516,0.000,0.036,2548,1064,3656,3723,3590,0,0,0,0,0,0,27.47,27.26,27.53
$GC,3537,-0.71,-175.2,2549,1070,3722,3590,482.9,-9.5,185,3545,0.00,2.12,0.00,0.000,1030,0.000,0.037,2541,2454,3656,3723,3590,0,0,0,0,0,0,27.32,27.26,27.34
$GC,3865,-0.71,-175.2,2540,2455,3721,3587,511.5,-8.4,196,3875,0.00,2.08,0.00,0.000,516,0.000,0.036,2541,1065,3652,3719,3586,0,0,0,0,0,0,27.48,27.27,27.54
$GC,3894,-0.71,-175.2,2538,1066,3726,3587,511.5,-8.4,196,3906,0.00,2.10,0.00,0.000,1030,0.000,0.037,2531,2456,3652,3719,3586,0,0,0,0,0,0,27.33,27.27,27.35
$GC,4199,-0.71,-175.2,2530,2457,3717,3586,542.4,-9.5,207,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2457,3652,3719,3585,0,0,0,0,0,0,27.48,27.55,27.54
$GC,4499,-0.71,-175.2,2529,2457,3713,3583,572.3,-9.8,217,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2457,3647,3712,3582,0,0,0,0,0,0,27.48,27.56,27.55
$GC,4799,-0.71,-175.2,2531,2457,3709,3580,600.8,-9.5,227,4807,0.00,2.10,0.00,0.000,516,0.000,0.036,2531,1066,3644,3710,3579,0,0,0,0,0,0,27.49,27.29,27.55
$GC,4842,-0.71,-175.2,2532,1066,3709,3579,604.0,-9.5,228,4851,0.00,2.10,0.00,0.000,1030,0.000,0.037,2522,2451,3644,3709,3579,0,0,0,0,0,0,27.34,27.27,27.36
$GC,5166,-0.71,-175.2,2521,2453,3708,3578,637.0,-10.0,239,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2453,3642,3707,3578,0,0,0,0,0,0,27.49,27.57,27.55
$GC,5466,-0.71,-175.2,2521,2453,3705,3577,667.7,-10.4,249,5474,0.00,2.08,0.00,0.000,516,0.000,0.036,2522,1068,3640,3704,3576,0,0,0,0,0,0,27.49,27.29,27.55
$GC,5499,-0.71,-175.2,2523,1064,3703,3575,671.2,-10.6,250,5507,0.15,2.10,0.00,0.000,3078,0.168,0.038,2552,2453,3640,3704,3576,0,0,0,0,0,0,27.12,27.27,27.27
$GC,5827,-0.71,-175.2,2550,2454,3704,3575,701.5,-9.3,261,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2453,3638,3703,3574,0,0,0,0,0,0,27.49,27.57,27.55
$GC,6127,-0.71,-175.2,2551,2454,3702,3573,729.5,-9.2,271,6134,0.00,2.08,0.00,0.000,516,0.000,0.034,2552,1064,3636,3700,3572,0,0,0,0,0,0,27.50,27.29,27.56
$GC,6189,-0.71,-175.2,2552,1064,3699,3573,734.9,-9.2,273,6196,0.00,2.12,0.00,0.000,1030,0.000,0.037,2545,2461,3635,3699,3572,0,0,0,0,0,0,27.34,27.27,27.36
$GC,6516,-0.71,-175.2,2547,2462,3698,3571,764.3,-8.5,284,6524,0.00,2.08,0.00,0.000,516,0.000,0.035,2545,1071,3634,3698,3570,0,0,0,0,0,0,27.49,27.29,27.56
$GC,6563,-0.71,-175.2,2544,1071,3699,3571,766.7,-8.5,285,6571,0.00,2.10,0.00,0.000,1030,0.000,0.038,2538,2454,3633,3697,3570,0,0,0,0,0,0,27.34,27.27,27.36
$GC,6868,-0.71,-175.2,2539,2455,3696,3569,794.3,-8.6,295,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2454,3632,3696,3569,0,0,0,0,0,0,27.50,27.58,27.56
$GC,7169,-0.71,-175.2,2537,2455,3695,3568,821.3,-9.0,305,7177,0.00,2.08,0.00,0.000,516,0.000,0.036,2538,1072,3630,3694,3567,0,0,0,0,0,0,27.50,27.29,27.56
$GC,7222,-0.71,-175.2,2537,1072,3696,3568,824.3,-9.0,306,7229,0.00,2.12,0.00,0.000,1030,0.000,0.038,2530,2456,3630,3694,3567,0,0,0,0,0,0,27.34,27.27,27.36
$GC,7527,-0.71,-175.2,2528,2457,3695,3567,855.2,-9.6,316,7537,0.00,2.08,0.00,0.000,516,0.000,0.036,2530,1074,3629,3693,3566,0,0,0,0,0,0,27.50,27.29,27.56
$GC,7602,-0.71,-175.2,2528,1074,3694,3566,861.0,-9.5,318,7610,0.00,2.10,0.00,0.000,1030,0.000,0.037,2520,2458,3628,3692,3565,0,0,0,0,0,0,27.34,27.27,27.36
$GC,7920,-0.71,-175.2,2521,2459,3690,3565,892.0,-9.2,329,7928,0.00,2.10,0.00,0.000,516,0.000,0.034,2521,1070,3627,3691,3564,0,0,0,0,0,0,27.50,27.28,27.56
$GC,7962,-0.71,-175.2,2522,1070,3690,3565,894.7,-9.2,330,7973,0.15,2.10,0.00,0.000,3078,0.168,0.038,2550,2453,3626,3690,3563,0,0,0,0,0,0,27.10,27.27,27.26
$GC,8278,-0.71,-175.2,2550,2453,3692,3563,918.8,-6.9,341,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2452,3626,3690,3562,0,0,0,0,0,0,27.50,27.57,27.56
$GC,8578,-0.71,-175.2,2550,2453,3689,3563,938.9,-6.6,351,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2452,3625,3689,3562,0,0,0,0,0,0,27.49,27.58,27.56
$GC,8878,-0.71,-175.2,2550,2453,3687,3562,959.7,-7.0,361,8886,0.00,2.10,0.00,0.000,516,0.000,0.036,2550,1066,3625,3688,3562,0,0,0,0,0,0,27.50,27.28,27.56
$GC,8910,-0.71,-175.2,2549,1067,3688,3563,961.9,-7.2,362,8918,0.00,2.10,0.00,0.000,1030,0.000,0.038,2544,2450,3624,3687,3562,0,0,0,0,0,0,27.33,27.27,27.36
$GC,9238,-0.71,-175.2,2545,2451,3686,3562,988.8,-8.2,373,9246,0.00,2.08,0.00,0.000,516,0.000,0.036,2544,1071,3623,3686,3561,0,0,0,0,0,0,27.50,27.28,27.56
$GC,9265,-0.71,-175.2,2545,1071,3686,3562,988.8,-8.2,373,9276,0.00,2.10,0.00,0.000,1030,0.000,0.039,2542,2452,3623,3686,3561,0,0,0,0,0,0,27.34,27.26,27.36
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9299,begin apogee
$GC,9303,-0.11,0.0,2542,2090,3685,3562,994.0,-8.3,375,9457,0.62,0.00,144.98,1.314,10246,0.129,0.000,2741,2090,2942,2988,2896,0,0,0,0,0,0,27.10,25.18,24.45
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9459,0.71,175.2,2742,2090,2987,2895,999.1,0.0,380,9627,0.73,2.35,153.80,1.299,10756,0.049,0.039,3030,724,2225,2275,2176,0,0,0,0,0,0,25.48,24.90,24.18
$GC,9646,0.71,175.2,3029,724,2273,2173,983.7,11.8,386,9654,0.00,2.22,0.00,0.000,1030,0.000,0.031,3031,2103,2224,2276,2172,0,0,0,0,0,0,25.51,25.45,25.53
$GC,9963,0.71,175.2,3031,2104,2265,2165,930.4,16.0,397,9971,0.00,2.25,0.00,0.000,260,0.000,0.047,3030,3506,2214,2265,2164,0,0,0,0,0,0,26.63,26.41,26.70
$GC,10015,0.71,175.2,3030,3507,2265,2164,925.7,16.2,398,10026,0.12,2.10,0.00,0.000,5126,0.191,0.026,3014,2117,2213,2262,2164,0,0,0,0,0,0,26.36,26.54,26.53
$GC,10322,0.71,175.2,3015,2117,2264,2162,876.5,14.3,409,10332,0.00,2.20,0.00,0.000,260,0.000,0.044,3014,3501,2212,2262,2162,0,0,0,0,0,0,26.94,26.72,27.01
$GC,10346,0.71,175.2,3015,3502,2261,2162,876.5,14.3,409,10356,0.00,2.10,0.00,0.000,1030,0.000,0.027,3022,2101,2211,2262,2161,0,0,0,0,0,0,26.86,26.79,26.86
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$STATE,16836,end climb,SURFACE_DEPTH_REACHED
$STATE,16837,begin surface coast
$FINISH,0.4,1.022112
$STATE,16858,end surface coast,CONTROL_FINISHED_OK
$STATE,16858,begin surface
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$IRIDIUM_FIX,1243.25,14519.69,060108,012525
$TT8_MAMPS,0.160286,0.160286
$HUMID,39.52
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$XPDR_PINGS,0
$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,16891.35 7324.19
$PA_BOOTCOUNT,274
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$PA_HOME,0.03/0.049/1.764/1.625
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$10V_AH,9.96,18.970
$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
$DEVICE_SECS,20.450,140.450,437.875,61.550,0.000,0.000,0.000,261.150,0.000,0.000,18.312,0.000,13377.479,601.654,3130.841,193.780,0.000,2264.013,0.000,1690.046,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.171,0.000,0.000,0.000
$MEM,229988
$DATA_FILE_SIZE,33399,780
$CAP_FILE_SIZE,151118,0
$CFSIZE,260034560,253214720
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$GPS,110315,213636,1247.662,14522.324,33,0.9,33,1.8,0.4,58.2,9,6.8