version: 66.12
glider: 178
mission: 20
dive: 70
start: 3 14 115 10 29 17
data:
$ID,178
$MISSION,20
$DIVE,70
$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,47
$R_STBD_OVSHOOT,48
$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
$GPS1,140315,101953,1218.1014,14530.5215,43,1.0,61,2.0,0.7,34.2,7,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-68.4
$GPS2,140315,102906,1218.0360,14530.4238,34,1.0,34,2.0,0.9,247.1,8,6.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,169.2,14489,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,119,2466,1246,1225,0.0,0.0,0,174,0.00,0.00,-73.78,0.000,16386,0.000,0.000,120,2466,3224,3269,3180,0,0,0,0,0,0,26.26,28.83,26.32
$GC,177,-0.68,-175.2,121,2466,3268,3182,3.6,-10.1,9,212,10.55,2.22,-10.62,0.000,18948,0.250,0.042,2553,1036,3965,3999,3931,0,0,0,0,0,0,25.96,25.69,26.13
$GC,341,-0.68,-175.2,2553,1037,3998,3939,63.5,-29.3,31,352,0.00,2.17,0.00,0.000,1030,0.000,0.034,2546,2441,3967,3997,3938,0,0,0,0,0,0,26.39,26.33,26.39
$GC,647,-0.68,-175.2,2545,2442,3998,3942,153.2,-19.8,62,660,0.00,2.15,0.00,0.000,516,0.000,0.029,2547,1044,3968,3996,3941,0,0,0,0,0,0,26.37,26.39,26.44
$GC,704,-0.68,-175.2,2546,1045,3997,3943,163.2,-19.0,67,716,0.00,2.17,0.00,0.000,1030,0.000,0.034,2540,2452,3968,3995,3942,0,0,0,0,0,0,26.44,26.39,26.46
$GC,1031,-0.68,-175.2,2539,2453,3997,3947,222.3,-17.5,92,1040,0.00,2.08,0.00,0.000,260,0.000,0.048,2529,3772,3971,3996,3946,0,0,0,0,0,0,26.39,26.39,26.47
$GC,1070,-0.68,-175.2,2530,3773,3997,3948,227.6,-17.6,93,1077,0.00,1.98,0.00,0.000,1030,0.000,0.024,2530,2428,3971,3996,3947,0,0,0,0,0,0,26.48,26.44,26.48
$GC,1387,-0.68,-175.2,2531,2425,3996,3949,270.8,-12.1,104,1395,0.00,2.08,0.00,0.000,516,0.000,0.031,2530,1066,3972,3996,3948,0,0,0,0,0,0,26.43,26.43,26.48
$GC,1444,-0.68,-175.2,2531,1067,3995,3949,278.8,-13.3,106,1454,0.15,2.15,0.00,0.000,3078,0.148,0.034,2561,2456,3972,3996,3949,0,0,0,0,0,0,26.32,26.43,26.44
$GC,1774,-0.68,-175.2,2560,2457,3998,3949,316.7,-11.4,117,1785,0.00,2.10,0.00,0.000,260,0.000,0.050,2554,3775,3972,3996,3949,0,0,0,0,0,0,26.43,26.41,26.49
$GC,1869,-0.68,-175.2,2553,3775,3998,3950,327.4,-11.9,120,1878,0.00,1.98,0.00,0.000,1030,0.000,0.025,2554,2437,3972,3996,3949,0,0,0,0,0,0,26.50,26.47,26.51
$GC,2197,-0.68,-175.2,2553,2435,3998,3946,362.1,-10.0,131,2205,0.00,2.10,0.00,0.000,516,0.000,0.033,2554,1063,3970,3996,3945,0,0,0,0,0,0,26.42,26.44,26.48
$GC,2250,-0.68,-175.2,2553,1061,3997,3945,365.4,-9.9,132,2258,0.00,2.17,0.00,0.000,1030,0.000,0.034,2544,2460,3970,3997,3944,0,0,0,0,0,0,26.48,26.44,26.50
$GC,2555,-0.68,-175.2,2544,2461,3996,3940,398.2,-10.4,142,2564,0.00,2.15,0.00,0.000,516,0.000,0.032,2543,1071,3967,3995,3939,0,0,0,0,0,0,26.43,26.44,26.49
$GC,2609,-0.68,-175.2,2544,1071,3994,3939,401.9,-10.7,143,2616,0.00,2.15,0.00,0.000,1030,0.000,0.036,2536,2450,3966,3995,3937,0,0,0,0,0,0,26.48,26.43,26.50
$GC,2914,-0.68,-175.2,2535,2451,3996,3932,438.4,-10.9,153,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2450,3962,3994,3931,0,0,0,0,0,0,26.42,26.49,26.48
$GC,3214,-0.68,-175.2,2537,2451,3995,3926,469.6,-10.5,163,3222,0.00,2.15,0.00,0.000,516,0.000,0.032,2536,1066,3960,3995,3925,0,0,0,0,0,0,26.41,26.43,26.48
$GC,3241,-0.68,-175.2,2537,1067,3995,3925,472.5,-10.6,164,3250,0.12,2.17,0.00,0.000,3078,0.158,0.035,2557,2457,3962,3995,3929,0,0,0,0,0,0,26.30,26.38,26.43
$GC,3574,-0.68,-175.2,2558,2458,3995,3918,501.9,-8.8,175,3583,0.00,2.10,0.00,0.000,260,0.000,0.052,2550,3773,3955,3994,3917,0,0,0,0,0,0,26.41,26.38,26.47
$GC,3603,-0.68,-175.2,2548,3774,3997,3918,501.9,-8.8,175,3613,0.00,1.98,0.00,0.000,1030,0.000,0.027,2550,2442,3957,3995,3919,0,0,0,0,0,0,26.47,26.45,26.48
$GC,3908,-0.68,-175.2,2549,2443,3997,3911,534.0,-9.7,186,3916,0.00,2.12,0.00,0.000,516,0.000,0.032,2549,1067,3952,3995,3910,0,0,0,0,0,0,26.40,26.41,26.45
$GC,3941,-0.68,-175.2,2550,1067,3994,3911,537.3,-9.8,187,3948,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2460,3952,3994,3910,0,0,0,0,0,0,26.45,26.39,26.46
$GC,4268,-0.68,-175.2,2541,2461,3994,3907,570.2,-10.0,198,4277,0.00,2.12,0.00,0.000,260,0.000,0.051,2532,3781,3949,3992,3906,0,0,0,0,0,0,26.39,26.36,26.46
$GC,4306,-0.68,-175.2,2531,3782,3993,3907,573.7,-10.0,199,4315,0.00,2.00,0.00,0.000,1030,0.000,0.027,2532,2445,3948,3991,3906,0,0,0,0,0,0,26.47,26.44,26.48
$GC,4635,-0.68,-175.2,2532,2446,3989,3905,608.8,-10.5,210,4647,0.00,2.10,0.00,0.000,516,0.000,0.032,2531,1077,3946,3989,3903,0,0,0,0,0,0,26.38,26.39,26.44
$GC,4711,-0.68,-175.2,2531,1078,3989,3904,615.2,-10.5,212,4720,0.15,2.15,0.00,0.000,3078,0.151,0.034,2561,2453,3945,3988,3903,0,0,0,0,0,0,26.25,26.36,26.38
$GC,5025,-0.68,-175.2,2562,2453,3986,3900,641.4,-7.7,223,5033,0.00,2.12,0.00,0.000,260,0.000,0.050,2554,3781,3944,3986,3902,0,0,0,0,0,0,26.39,26.34,26.48
$GC,5053,-0.68,-175.2,2554,3783,3985,3900,643.7,-7.9,224,5060,0.00,2.00,0.00,0.000,1030,0.000,0.028,2554,2442,3943,3986,3900,0,0,0,0,0,0,26.45,26.41,26.46
$GC,5380,-0.68,-175.2,2553,2444,3986,3898,671.3,-8.4,235,5390,0.00,2.12,0.00,0.000,516,0.000,0.033,2554,1066,3939,3983,3896,0,0,0,0,0,0,26.34,26.34,26.40
$GC,5409,-0.68,-175.2,2555,1066,3983,3897,671.3,-8.4,235,5420,0.00,2.17,0.00,0.000,1030,0.000,0.034,2546,2457,3940,3983,3897,0,0,0,0,0,0,26.42,26.36,26.44
$GC,5715,-0.68,-175.2,2546,2457,3984,3896,700.9,-8.7,246,5726,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1065,3938,3982,3895,0,0,0,0,0,0,26.36,26.35,26.43
$GC,5745,-0.68,-175.2,2547,1066,3982,3896,703.6,-8.7,247,5753,0.00,2.17,0.00,0.000,1030,0.000,0.034,2538,2453,3939,3982,3896,0,0,0,0,0,0,26.41,26.35,26.43
$GC,6078,-0.68,-175.2,2538,2454,3982,3894,732.2,-8.3,258,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2453,3936,3980,3893,0,0,0,0,0,0,26.36,26.43,26.41
$GC,6379,-0.68,-175.2,2539,2453,3978,3892,757.1,-8.4,268,6389,0.00,2.12,0.00,0.000,516,0.000,0.031,2539,1070,3934,3978,3891,0,0,0,0,0,0,26.34,26.34,26.41
$GC,6419,-0.68,-175.2,2538,1071,3979,3892,759.8,-8.5,269,6427,0.00,2.17,0.00,0.000,1030,0.000,0.034,2530,2456,3934,3978,3891,0,0,0,0,0,0,26.41,26.35,26.42
$GC,6737,-0.68,-175.2,2529,2457,3979,3890,791.0,-9.9,280,6745,0.00,2.15,0.00,0.000,260,0.000,0.050,2521,3781,3933,3977,3889,0,0,0,0,0,0,26.35,26.29,26.41
$GC,6760,-0.68,-175.2,2519,3781,3978,3889,791.0,-9.9,280,6768,0.15,2.00,0.00,0.000,3078,0.148,0.028,2555,2449,3933,3977,3889,0,0,0,0,0,0,26.19,26.37,26.34
$GC,7065,-0.68,-175.2,2557,2450,3978,3888,818.1,-7.9,290,7077,0.00,2.10,0.00,0.000,516,0.000,0.033,2560,1075,3931,3975,3887,0,0,0,0,0,0,26.33,26.32,26.39
$GC,7122,-0.68,-175.2,2560,1075,3974,3888,820.7,-7.9,291,7132,0.00,2.17,0.00,0.000,1030,0.000,0.034,2560,2460,3931,3975,3887,0,0,0,0,0,0,26.38,26.32,26.40
$GC,7427,-0.68,-175.2,2558,2460,3976,3887,847.7,-8.4,302,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2460,3930,3974,3886,0,0,0,0,0,0,26.34,26.41,26.39
$GC,7727,-0.68,-175.2,2560,2460,3973,3886,874.4,-9.0,312,7735,0.00,2.15,0.00,0.000,516,0.000,0.032,2559,1071,3928,3973,3884,0,0,0,0,0,0,26.33,26.32,26.39
$GC,7764,-0.68,-175.2,2559,1072,3974,3885,877.0,-9.2,313,7772,0.00,2.17,0.00,0.000,1030,0.000,0.034,2553,2457,3928,3973,3884,0,0,0,0,0,0,26.36,26.30,26.37
$GC,8081,-0.68,-175.2,2552,2457,3974,3883,907.7,-9.4,324,8089,0.00,2.17,0.00,0.000,516,0.000,0.033,2553,1065,3926,3971,3882,0,0,0,0,0,0,26.32,26.30,26.38
$GC,8109,-0.68,-175.2,2552,1066,3973,3883,910.2,-9.4,325,8119,0.00,2.17,0.00,0.000,1030,0.000,0.034,2546,2451,3926,3971,3882,0,0,0,0,0,0,26.35,26.29,26.36
$GC,8439,-0.68,-175.2,2545,2452,3969,3882,941.3,-9.1,336,8450,0.00,2.17,0.00,0.000,516,0.000,0.032,2546,1067,3926,3971,3881,0,0,0,0,0,0,26.30,26.28,26.36
$GC,8470,-0.68,-175.2,2546,1068,3970,3882,944.0,-9.1,337,8477,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2450,3925,3970,3881,0,0,0,0,0,0,26.34,26.28,26.36
$GC,8797,-0.68,-175.2,2540,2451,3971,3881,972.5,-8.2,348,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3925,3970,3880,0,0,0,0,0,0,26.27,26.32,26.32
$STATE,9035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9035,begin apogee
$GC,9039,-0.11,0.0,2542,2097,3970,3880,990.4,-7.3,356,9191,0.65,0.00,137.65,1.305,10246,0.121,0.000,2743,2096,3278,3319,3237,0,0,0,0,0,0,26.13,24.95,24.25
$STATE,9192,end apogee,CONTROL_FINISHED_OK
$STATE,9192,begin climb
$GC,9194,0.68,175.2,2743,2096,3321,3237,995.1,0.0,361,9361,0.70,2.42,155.12,1.294,11012,0.047,0.042,3013,3510,2564,2610,2518,0,0,0,0,0,0,25.27,24.43,23.88
$GC,9565,0.68,175.2,3014,3511,2597,2515,964.0,15.9,373,9573,0.00,2.17,0.00,0.000,1030,0.000,0.024,3024,2107,2556,2597,2515,0,0,0,0,0,0,25.91,25.87,25.91
$GC,9878,0.68,175.2,3022,2108,2597,2511,915.3,14.3,384,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2107,2553,2595,2511,0,0,0,0,0,0,26.17,26.25,26.25
$GC,10178,0.68,175.2,3024,2107,2594,2511,873.8,13.5,394,10189,0.00,2.20,0.00,0.000,516,0.000,0.037,3034,703,2551,2594,2509,0,0,0,0,0,0,26.26,26.26,26.33
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$STATE,17984,end climb,SURFACE_DEPTH_REACHED
$STATE,17984,begin surface coast
$FINISH,-0.8,1.022113
$STATE,18015,end surface coast,CONTROL_FINISHED_OK
$STATE,18015,begin surface
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$IRIDIUM_FIX,1212.33,14530.85,080108,234820
$TT8_MAMPS,0.053179,0.053179
$HUMID,39.76
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.00
$XPDR_PINGS,1
$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,18000.37 7851.90
$PA_BOOTCOUNT,287
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$PA_HOME,0.03/0.052/1.764/1.622
$PA_DISK_BANK,0
$24V_AH,23.88,12.808
$10V_AH,10.21,24.110
$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
$DEVICE_SECS,20.950,165.300,531.350,15.000,0.000,0.000,0.000,356.550,0.250,18674.451,36.994,0.000,14215.008,616.485,3540.670,212.430,0.000,2539.853,0.000,1907.610,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,561.908,0.000,0.000,0.000,0.000,0.000,18674.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229908
$DATA_FILE_SIZE,36815,827
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$CFSIZE,260034560,252157952
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