version: 66.12
glider: 178
mission: 20
dive: 87
start: 3 18 115 1 57 4
data:
$ID,178
$MISSION,20
$DIVE,87
$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,51
$R_STBD_OVSHOOT,40
$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
$GPS1,180315,015004,1213.2024,14504.1660,35,1.2,63,1.9,0.3,302.5,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-74.7
$GPS2,180315,015653,1213.2437,14504.1436,11,1.0,33,1.9,0.4,98.0,8,8.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,260.1,77233,-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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,130,2472,1242,1230,0.0,0.0,0,192,0.00,0.00,-86.15,0.000,16386,0.000,0.000,128,2471,3580,3617,3543,0,0,0,0,0,0,26.23,28.83,26.30
$GC,194,-0.68,-175.2,129,2472,3617,3545,4.8,-12.4,9,223,10.73,2.17,-4.62,0.000,18948,0.252,0.040,2559,1040,3965,3996,3934,0,0,0,0,0,0,25.86,25.59,26.05
$GC,362,-0.68,-175.2,2559,1040,3996,3941,74.5,-28.2,27,372,0.00,2.20,0.00,0.000,1030,0.000,0.036,2552,2448,3968,3995,3941,0,0,0,0,0,0,26.32,26.25,26.34
$GC,667,-0.68,-175.2,2551,2449,3996,3943,157.3,-19.8,58,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2449,3969,3995,3943,0,0,0,0,0,0,26.32,26.38,26.37
$GC,979,-0.68,-175.2,2552,2449,3995,3948,204.6,-13.9,87,989,0.00,2.17,0.00,0.000,516,0.000,0.031,2554,1040,3971,3995,3947,0,0,0,0,0,0,26.36,26.35,26.41
$GC,998,-0.68,-175.2,2555,1040,3995,3948,204.6,-13.9,87,1006,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2457,3971,3995,3947,0,0,0,0,0,0,26.39,26.34,26.41
$GC,1304,-0.68,-175.2,2547,2458,3994,3950,255.6,-16.3,97,1312,0.00,2.08,0.00,0.000,260,0.000,0.048,2537,3774,3972,3995,3949,0,0,0,0,0,0,26.37,26.32,26.44
$GC,1406,-0.68,-175.2,2536,3775,3996,3950,268.8,-14.4,100,1414,0.00,2.00,0.00,0.000,1030,0.000,0.024,2537,2429,3973,3997,3950,0,0,0,0,0,0,26.43,26.40,26.44
$GC,1729,-0.68,-175.2,2537,2425,3995,3950,314.5,-12.6,111,1736,0.00,2.08,0.00,0.000,516,0.000,0.031,2537,1070,3972,3995,3950,0,0,0,0,0,0,26.39,26.37,26.44
$GC,1761,-0.68,-175.2,2536,1070,3997,3951,318.3,-12.3,112,1769,0.12,2.17,0.00,0.000,3078,0.155,0.034,2558,2455,3972,3994,3950,0,0,0,0,0,0,26.22,26.35,26.36
$GC,2094,-0.68,-175.2,2559,2456,3995,3950,350.0,-9.3,123,2103,0.00,2.12,0.00,0.000,260,0.000,0.050,2551,3776,3972,3995,3949,0,0,0,0,0,0,26.37,26.32,26.44
$GC,2137,-0.68,-175.2,2550,3777,3997,3949,353.1,-9.2,124,2146,0.00,2.00,0.00,0.000,1030,0.000,0.024,2551,2443,3971,3995,3948,0,0,0,0,0,0,26.44,26.41,26.46
$GC,2460,-0.68,-175.2,2551,2441,3995,3944,388.1,-11.3,135,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2441,3969,3995,3944,0,0,0,0,0,0,26.39,26.45,26.44
$GC,2760,-0.68,-175.2,2551,2441,3994,3939,421.4,-11.0,145,2768,0.00,2.12,0.00,0.000,516,0.000,0.031,2550,1064,3966,3994,3938,0,0,0,0,0,0,26.37,26.36,26.44
$GC,2833,-0.68,-175.2,2551,1064,3993,3938,428.2,-11.0,147,2840,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2458,3966,3994,3938,0,0,0,0,0,0,26.41,26.34,26.42
$GC,3150,-0.68,-175.2,2541,2459,3996,3931,463.5,-10.6,158,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2458,3962,3994,3930,0,0,0,0,0,0,26.36,26.44,26.43
$GC,3450,-0.68,-175.2,2541,2459,3996,3925,492.8,-9.4,168,3460,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1064,3959,3994,3924,0,0,0,0,0,0,26.37,26.34,26.44
$GC,3485,-0.68,-175.2,2542,1066,3994,3925,495.7,-9.3,169,3493,0.00,2.20,0.00,0.000,1030,0.000,0.034,2532,2455,3959,3994,3924,0,0,0,0,0,0,26.39,26.33,26.41
$GC,3813,-0.68,-175.2,2533,2456,3993,3918,528.6,-10.2,180,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2455,3955,3994,3917,0,0,0,0,0,0,26.34,26.41,26.41
$GC,4113,-0.68,-175.2,2533,2456,3993,3913,560.6,-11.0,190,4122,0.00,2.15,0.00,0.000,516,0.000,0.031,2532,1062,3952,3993,3912,0,0,0,0,0,0,26.36,26.33,26.42
$GC,4137,-0.68,-175.2,2533,1062,3992,3913,560.6,-11.0,190,4148,0.15,2.17,0.00,0.000,3078,0.151,0.035,2562,2451,3952,3992,3912,0,0,0,0,0,0,26.17,26.32,26.32
$GC,4443,-0.68,-175.2,2561,2452,3993,3909,591.4,-9.2,201,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2451,3950,3991,3909,0,0,0,0,0,0,26.36,26.43,26.41
$GC,4743,-0.68,-175.2,2561,2452,3990,3907,617.7,-8.3,211,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2452,3947,3988,3906,0,0,0,0,0,0,26.34,26.41,26.40
$GC,5044,-0.68,-175.2,2562,2452,3986,3905,640.2,-7.3,221,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2452,3945,3986,3904,0,0,0,0,0,0,26.32,26.39,26.39
$GC,5343,-0.68,-175.2,2561,2452,3985,3903,661.1,-7.0,231,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2451,3946,3991,3902,0,0,0,0,0,0,26.34,26.41,26.39
$GC,5643,-0.68,-175.2,2562,2452,3982,3900,682.6,-7.5,241,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2451,3940,3981,3900,0,0,0,0,0,0,26.32,26.39,26.39
$GC,5943,-0.68,-175.2,2562,2452,3981,3898,706.0,-7.9,251,5951,0.00,2.17,0.00,0.000,516,0.000,0.032,2562,1067,3939,3981,3897,0,0,0,0,0,0,26.32,26.27,26.37
$GC,5975,-0.68,-175.2,2563,1068,3980,3897,708.2,-7.8,252,5983,0.00,2.20,0.00,0.000,1030,0.000,0.036,2559,2459,3938,3980,3897,0,0,0,0,0,0,26.33,26.25,26.35
$GC,6298,-0.68,-175.2,2558,2461,3980,3897,733.9,-7.8,263,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2459,3937,3979,3896,0,0,0,0,0,0,26.30,26.37,26.36
$GC,6599,-0.68,-175.2,2559,2460,3976,3895,757.8,-8.0,273,6609,0.00,2.20,0.00,0.000,516,0.000,0.033,2561,1053,3935,3977,3894,0,0,0,0,0,0,26.28,26.25,26.34
$GC,6643,-0.68,-175.2,2559,1054,3977,3895,760.2,-8.0,274,6651,0.00,2.22,0.00,0.000,1030,0.000,0.037,2553,2455,3935,3977,3894,0,0,0,0,0,0,26.31,26.24,26.33
$GC,6961,-0.68,-175.2,2552,2456,3977,3893,786.9,-7.9,285,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2455,3933,3975,3892,0,0,0,0,0,0,26.29,26.36,26.34
$GC,7261,-0.68,-175.2,2552,2456,3976,3892,811.6,-8.5,295,7268,0.00,2.15,0.00,0.000,260,0.000,0.052,2543,3772,3932,3974,3890,0,0,0,0,0,0,26.29,26.17,26.35
$GC,7288,-0.68,-175.2,2544,3772,3974,3891,814.2,-8.7,296,7296,0.00,2.03,0.00,0.000,1030,0.000,0.027,2543,2435,3932,3974,3890,0,0,0,0,0,0,26.32,26.29,26.34
$GC,7616,-0.68,-175.2,2544,2435,3972,3890,844.6,-9.2,307,7625,0.00,2.12,0.00,0.000,516,0.000,0.033,2543,1069,3931,3973,3889,0,0,0,0,0,0,26.25,26.22,26.32
$GC,7644,-0.68,-175.2,2542,1067,3975,3890,844.6,-9.2,307,7654,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2456,3931,3973,3889,0,0,0,0,0,0,26.26,26.20,26.29
$GC,7950,-0.68,-175.2,2542,2456,3971,3888,874.8,-8.9,318,7957,0.00,2.17,0.00,0.000,516,0.000,0.032,2542,1073,3929,3971,3888,0,0,0,0,0,0,26.28,26.22,26.34
$GC,7982,-0.68,-175.2,2541,1074,3973,3888,877.2,-8.8,319,7990,0.00,2.20,0.00,0.000,1030,0.000,0.037,2541,2458,3929,3971,3887,0,0,0,0,0,0,26.26,26.20,26.28
$GC,8304,-0.68,-175.2,2542,2458,3970,3887,903.3,-7.7,330,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2458,3928,3970,3887,0,0,0,0,0,0,26.25,26.32,26.32
$GC,8605,-0.68,-175.2,2543,2459,3969,3886,924.8,-6.9,340,8615,0.00,2.17,0.00,0.000,516,0.000,0.032,2542,1077,3927,3969,3885,0,0,0,0,0,0,26.26,26.19,26.32
$GC,8639,-0.68,-175.2,2541,1078,3971,3886,926.8,-6.9,341,8648,0.00,2.17,0.00,0.000,1030,0.000,0.036,2542,2452,3927,3969,3886,0,0,0,0,0,0,26.25,26.17,26.27
$GC,8962,-0.68,-175.2,2541,2453,3969,3885,947.7,-6.2,352,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2452,3926,3968,3884,0,0,0,0,0,0,26.23,26.30,26.29
$GC,9262,-0.68,-175.2,2542,2452,3967,3883,966.9,-6.5,362,9272,0.00,2.17,0.00,0.000,516,0.000,0.032,2542,1076,3924,3967,3882,0,0,0,0,0,0,26.23,26.17,26.29
$GC,9291,-0.68,-175.2,2542,1073,3967,3883,966.9,-6.5,362,9301,0.00,2.20,0.00,0.000,1030,0.000,0.037,2541,2453,3924,3967,3882,0,0,0,0,0,0,26.24,26.17,26.26
$STATE,9595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9595,begin apogee
$GC,9599,-0.11,0.0,2543,2098,3966,3883,990.5,-7.4,373,9743,0.65,0.00,137.27,1.313,10246,0.119,0.000,2743,2097,3281,3319,3243,0,0,0,0,0,0,25.98,24.84,24.11
$STATE,9744,end apogee,CONTROL_FINISHED_OK
$STATE,9744,begin climb
$GC,9746,0.68,175.2,2742,2098,3321,3242,995.2,0.0,377,9915,0.73,2.45,156.60,1.294,11012,0.051,0.042,3011,3506,2564,2610,2519,0,0,0,0,0,0,25.06,24.12,23.58
$GC,10141,0.68,175.2,3010,3512,2599,2511,966.1,14.2,391,10148,0.00,2.17,0.00,0.000,1030,0.000,0.024,3018,2114,2555,2597,2514,0,0,0,0,0,0,25.82,25.77,25.84
$GC,10468,0.68,175.2,3021,2115,2597,2511,923.7,12.3,402,10476,0.00,2.28,0.00,0.000,260,0.000,0.043,3022,3517,2552,2595,2510,0,0,0,0,0,0,26.11,26.08,26.17
$GC,10616,0.68,175.2,3022,3517,2594,2511,907.6,13.1,406,10627,0.15,2.17,0.00,0.000,5126,0.193,0.025,2999,2102,2552,2595,2510,0,0,0,0,0,0,25.94,26.19,26.15
$GC,10921,0.68,175.2,3000,2102,2592,2510,870.4,10.9,417,10929,0.00,2.22,0.00,0.000,516,0.000,0.037,3008,703,2551,2593,2509,0,0,0,0,0,0,26.23,26.23,26.30
$GC,10943,0.68,175.2,3007,703,2594,2509,870.4,10.9,417,10951,0.00,2.20,0.00,0.000,1030,0.000,0.028,3008,2117,2550,2593,2508,0,0,0,0,0,0,26.27,26.22,26.28
$GC,11256,0.68,175.2,3007,2118,2594,2509,832.2,11.6,428,11264,0.00,2.28,0.00,0.000,516,0.000,0.037,3018,702,2550,2592,2508,0,0,0,0,0,0,26.25,26.20,26.32
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$STATE,18954,end climb,SURFACE_DEPTH_REACHED
$STATE,18954,begin surface coast
$FINISH,0.0,1.021775
$STATE,18979,end surface coast,CONTROL_FINISHED_OK
$STATE,18979,begin surface
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$IRIDIUM_FIX,1205.71,14502.11,120108,100006
$TT8_MAMPS,0.05243,0.05243
$HUMID,39.25
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.60
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$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,19013.96 8121.55
$PA_BOOTCOUNT,304
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$PA_HOME,0.03/0.056/1.764/1.618
$PA_DISK_BANK,0
$24V_AH,23.58,20.947
$10V_AH,10.17,25.359
$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
$DEVICE_SECS,21.325,145.750,453.875,64.325,0.000,0.000,0.000,269.500,0.000,19493.490,35.600,0.000,15236.432,590.523,3414.356,211.815,0.000,2360.893,0.000,1864.039,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,573.980,0.000,0.000,0.000,0.000,0.000,19493.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229964
$DATA_FILE_SIZE,36696,840
$CAP_FILE_SIZE,162680,0
$CFSIZE,260034560,250761216
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