version: 66.12
glider: 178
mission: 20
dive: 104
start: 3 21 115 19 30 58
data:
$ID,178
$MISSION,20
$DIVE,104
$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,49
$R_STBD_OVSHOOT,46
$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
$GPS1,210315,192136,1214.1753,14433.7754,32,1.0,32,1.8,0.0,254.7,9,8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-73.8
$GPS2,210315,193047,1214.1863,14433.7314,12,1.8,28,1.8,0.6,273.4,8,9.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,280.9,22233,-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,-175.2,143,2470,1245,1225,0.0,0.0,0,190,0.00,0.00,-90.53,0.000,16386,0.000,0.000,142,2470,3745,3777,3713,0,0,0,0,0,0,26.22,28.83,26.28
$GC,192,-0.68,-175.2,144,2470,3777,3716,6.1,-15.8,12,211,10.48,2.03,-3.00,0.000,18692,0.248,0.052,2542,3779,3966,3993,3939,0,0,0,0,0,0,25.79,24.82,26.11
$GC,311,-0.68,-175.2,2543,3780,3993,3951,66.7,-33.6,30,324,0.00,2.03,0.00,0.000,1030,0.000,0.024,2548,2428,3968,3993,3944,0,0,0,0,0,0,26.27,26.23,26.29
$GC,618,-0.68,-175.2,2547,2425,3994,3947,153.4,-21.6,61,626,0.00,2.10,0.00,0.000,516,0.000,0.030,2555,1061,3969,3993,3946,0,0,0,0,0,0,26.30,26.27,26.36
$GC,665,-0.68,-175.2,2554,1058,3995,3947,161.2,-18.8,65,679,0.00,2.15,0.00,0.000,1030,0.000,0.031,2547,2440,3969,3992,3946,0,0,0,0,0,0,26.33,26.27,26.35
$GC,974,-0.68,-175.2,2546,2441,3995,3953,210.2,-15.4,92,981,0.00,2.10,0.00,0.000,260,0.000,0.047,2537,3769,3972,3993,3952,0,0,0,0,0,0,26.33,26.25,26.39
$GC,1056,-0.68,-175.2,2538,3769,3993,3954,219.6,-15.6,94,1066,0.00,1.98,0.00,0.000,1030,0.000,0.025,2537,2441,3973,3994,3953,0,0,0,0,0,0,26.37,26.34,26.38
$GC,1361,-0.68,-175.2,2536,2442,3996,3955,266.5,-14.6,105,1369,0.00,2.15,0.00,0.000,260,0.000,0.047,2527,3775,3974,3994,3954,0,0,0,0,0,0,26.34,26.27,26.40
$GC,1403,-0.68,-175.2,2526,3775,3996,3954,270.3,-14.4,106,1411,0.12,1.98,0.00,0.000,3078,0.155,0.024,2556,2447,3974,3994,3954,0,0,0,0,0,0,26.14,26.34,26.28
$GC,1716,-0.68,-175.2,2556,2448,3997,3955,308.2,-10.1,117,1723,0.00,2.10,0.00,0.000,516,0.000,0.031,2561,1076,3974,3994,3954,0,0,0,0,0,0,26.34,26.32,26.41
$GC,1758,-0.68,-175.2,2560,1077,3996,3955,310.7,-9.2,118,1765,0.00,2.15,0.00,0.000,1030,0.000,0.031,2554,2460,3974,3994,3954,0,0,0,0,0,0,26.36,26.30,26.39
$GC,2075,-0.68,-175.2,2553,2461,3997,3954,334.8,-8.8,129,2086,0.00,2.10,0.00,0.000,260,0.000,0.048,2543,3767,3973,3995,3952,0,0,0,0,0,0,26.36,26.26,26.41
$GC,2116,-0.68,-175.2,2544,3769,3995,3953,337.7,-9.0,130,2123,0.00,1.98,0.00,0.000,1030,0.000,0.027,2544,2456,3973,3995,3952,0,0,0,0,0,0,26.40,26.36,26.41
$GC,2432,-0.68,-175.2,2543,2456,3996,3947,371.5,-11.2,141,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2456,3970,3995,3946,0,0,0,0,0,0,26.34,26.41,26.40
$GC,2733,-0.68,-175.2,2544,2456,3994,3942,405.5,-11.6,151,2740,0.00,2.15,0.00,0.000,260,0.000,0.049,2534,3776,3967,3994,3941,0,0,0,0,0,0,26.34,26.27,26.39
$GC,2760,-0.68,-175.2,2534,3777,3994,3942,408.7,-11.7,152,2767,0.00,1.98,0.00,0.000,1030,0.000,0.028,2534,2450,3968,3995,3941,0,0,0,0,0,0,26.37,26.34,26.38
$GC,3087,-0.68,-175.2,2534,2450,3996,3935,447.2,-11.1,163,3096,0.00,2.15,0.00,0.000,516,0.000,0.032,2535,1064,3964,3994,3934,0,0,0,0,0,0,26.32,26.27,26.37
$GC,3117,-0.68,-175.2,2535,1065,3994,3935,450.3,-10.8,164,3125,0.15,2.17,0.00,0.000,3078,0.153,0.033,2563,2457,3964,3994,3934,0,0,0,0,0,0,26.10,26.27,26.25
$GC,3450,-0.68,-175.2,2564,2458,3994,3927,477.2,-7.4,175,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2457,3960,3994,3926,0,0,0,0,0,0,26.32,26.39,26.39
$GC,3750,-0.68,-175.2,2563,2458,3993,3922,499.8,-7.6,185,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2457,3957,3994,3921,0,0,0,0,0,0,26.32,26.39,26.38
$GC,4050,-0.68,-175.2,2562,2458,3996,3918,522.7,-7.5,195,4058,0.00,2.15,0.00,0.000,260,0.000,0.051,2556,3779,3955,3994,3916,0,0,0,0,0,0,26.32,26.20,26.39
$GC,4072,-0.68,-175.2,2557,3779,3993,3917,522.7,-7.5,195,4080,0.00,2.03,0.00,0.000,1030,0.000,0.028,2556,2446,3955,3994,3916,0,0,0,0,0,0,26.37,26.32,26.38
$GC,4385,-0.68,-175.2,2557,2446,3992,3912,545.7,-6.6,206,4394,0.00,2.12,0.00,0.000,516,0.000,0.033,2556,1069,3952,3993,3911,0,0,0,0,0,0,26.29,26.25,26.34
$GC,4429,-0.68,-175.2,2555,1069,3994,3912,548.0,-6.7,207,4437,0.00,2.20,0.00,0.000,1030,0.000,0.034,2550,2454,3951,3992,3911,0,0,0,0,0,0,26.32,26.24,26.34
$GC,4751,-0.68,-175.2,2550,2455,3989,3910,574.7,-8.7,218,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2454,3949,3990,3908,0,0,0,0,0,0,26.30,26.36,26.36
$GC,5051,-0.68,-175.2,2551,2455,3988,3907,601.2,-8.6,228,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2455,3947,3988,3906,0,0,0,0,0,0,26.27,26.34,26.34
$GC,5352,-0.68,-175.2,2550,2455,3987,3905,626.7,-8.5,238,5361,0.00,2.15,0.00,0.000,516,0.000,0.032,2550,1072,3945,3986,3904,0,0,0,0,0,0,26.28,26.22,26.34
$GC,5376,-0.68,-175.2,2549,1073,3988,3905,626.7,-8.5,238,5386,0.00,2.20,0.00,0.000,1030,0.000,0.035,2542,2452,3945,3986,3904,0,0,0,0,0,0,26.28,26.20,26.30
$GC,5681,-0.68,-175.2,2541,2452,3985,3904,659.9,-10.5,249,5689,0.00,2.15,0.00,0.000,260,0.000,0.050,2532,3772,3943,3984,3903,0,0,0,0,0,0,26.28,26.16,26.34
$GC,5709,-0.68,-175.2,2533,3772,3983,3903,663.0,-10.7,250,5716,0.00,2.00,0.00,0.000,1030,0.000,0.028,2532,2446,3943,3983,3903,0,0,0,0,0,0,26.32,26.28,26.32
$GC,6036,-0.68,-175.2,2533,2442,3982,3903,700.1,-10.9,261,6043,0.00,2.15,0.00,0.000,516,0.000,0.034,2532,1065,3941,3982,3901,0,0,0,0,0,0,26.26,26.21,26.32
$GC,6078,-0.68,-175.2,2533,1065,3982,3901,703.6,-10.7,262,6086,0.12,2.20,0.00,0.000,3078,0.161,0.035,2555,2455,3941,3982,3900,0,0,0,0,0,0,26.01,26.19,26.17
$GC,6396,-0.68,-175.2,2562,2456,3981,3900,730.6,-7.7,273,6407,0.00,2.15,0.00,0.000,260,0.000,0.052,2548,3772,3939,3981,3898,0,0,0,0,0,0,26.26,26.13,26.32
$GC,6421,-0.68,-175.2,2547,3773,3983,3899,730.6,-7.7,273,6432,0.00,2.03,0.00,0.000,1030,0.000,0.028,2548,2447,3939,3981,3898,0,0,0,0,0,0,26.29,26.27,26.31
$GC,6727,-0.68,-175.2,2548,2449,3979,3904,756.5,-7.8,284,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2447,3941,3986,3896,0,0,0,0,0,0,26.26,26.33,26.32
$GC,7027,-0.68,-175.2,2548,2448,3977,3896,781.6,-8.5,294,7034,0.00,2.15,0.00,0.000,516,0.000,0.033,2548,1062,3936,3978,3895,0,0,0,0,0,0,26.25,26.17,26.30
$GC,7054,-0.68,-175.2,2548,1063,3981,3896,784.1,-8.6,295,7062,0.00,2.20,0.00,0.000,1030,0.000,0.034,2542,2453,3936,3977,3895,0,0,0,0,0,0,26.22,26.15,26.25
$GC,7382,-0.68,-175.2,2542,2454,3977,3894,814.1,-9.4,306,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2453,3935,3977,3893,0,0,0,0,0,0,26.20,26.27,26.26
$GC,7681,-0.68,-175.2,2541,2454,3978,3893,841.7,-9.3,316,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2453,3934,3976,3892,0,0,0,0,0,0,26.22,26.29,26.29
$GC,7982,-0.68,-175.2,2541,2454,3976,3891,868.7,-8.7,326,7989,0.00,2.17,0.00,0.000,516,0.000,0.033,2542,1064,3932,3973,3891,0,0,0,0,0,0,26.24,26.14,26.30
$GC,8024,-0.68,-175.2,2542,1065,3974,3891,871.0,-8.7,327,8032,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2450,3932,3973,3891,0,0,0,0,0,0,26.20,26.13,26.23
$GC,8337,-0.68,-175.2,2544,2451,3973,3890,901.2,-9.4,338,8344,0.00,2.15,0.00,0.000,260,0.000,0.052,2532,3772,3929,3969,3889,0,0,0,0,0,0,26.22,26.06,26.29
$GC,8384,-0.68,-175.2,2531,3773,3975,3890,904.2,-9.4,339,8391,0.00,2.03,0.00,0.000,1030,0.000,0.028,2532,2446,3931,3973,3889,0,0,0,0,0,0,26.26,26.23,26.27
$GC,8696,-0.68,-175.2,2532,2447,3972,3888,935.3,-9.5,350,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2446,3930,3972,3888,0,0,0,0,0,0,26.17,26.26,26.25
$GC,8996,-0.68,-175.2,2532,2446,3971,3888,964.9,-10.1,360,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2446,3929,3972,3887,0,0,0,0,0,0,26.20,26.27,26.25
$STATE,9264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9264,begin apogee
$GC,9269,-0.11,0.0,2531,2108,3973,3887,992.8,-10.3,369,9414,0.68,0.00,137.88,1.306,10246,0.118,0.000,2739,2104,3280,3319,3242,0,0,0,0,0,0,25.85,24.76,24.02
$STATE,9415,end apogee,CONTROL_FINISHED_OK
$STATE,9415,begin climb
$GC,9417,0.68,175.2,2738,2105,3320,3241,1000.3,0.0,373,9588,0.73,2.45,156.73,1.295,10756,0.051,0.036,3017,716,2562,2608,2517,0,0,0,0,0,0,24.98,24.23,23.51
$GC,9714,0.68,175.2,3017,717,2600,2510,994.0,10.3,383,9724,0.00,2.25,0.00,0.000,1030,0.000,0.027,3017,2107,2554,2600,2508,0,0,0,0,0,0,25.52,25.47,25.53
$GC,10020,0.68,175.2,3017,2108,2598,2507,953.3,12.4,394,10029,0.00,2.25,0.00,0.000,516,0.000,0.037,3027,721,2552,2598,2506,0,0,0,0,0,0,26.05,26.02,26.11
$GC,10099,0.68,175.2,3026,722,2598,2507,945.7,12.4,396,10107,0.00,2.20,0.00,0.000,1030,0.000,0.028,3027,2110,2550,2595,2505,0,0,0,0,0,0,26.15,26.09,26.16
$GC,10404,0.68,175.2,3026,2107,2597,2504,905.3,12.2,406,10414,0.00,2.25,0.00,0.000,260,0.000,0.044,3026,3512,2550,2595,2505,0,0,0,0,0,0,26.19,26.14,26.25
$GC,10448,0.68,175.2,3026,3513,2596,2506,900.9,12.3,407,10459,0.15,2.17,0.00,0.000,5126,0.189,0.025,3005,2110,2550,2595,2505,0,0,0,0,0,0,25.91,26.20,26.14
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$STATE,18258,end climb,SURFACE_DEPTH_REACHED
$STATE,18258,begin surface coast
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$STATE,18278,end surface coast,CONTROL_FINISHED_OK
$STATE,18278,begin surface
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$IRIDIUM_FIX,1207.91,14432.10,160108,084959
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$XPDR_PINGS,1
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18303.72 7923.99
$PA_BOOTCOUNT,323
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$PA_DISK_BANK,1
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$10V_AH,10.16,26.616
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229896
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$CFSIZE,260034560,249356288
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