version: 66.12
glider: 178
mission: 20
dive: 142
start: 3 30 115 0 40 59
data:
$ID,178
$MISSION,20
$DIVE,142
$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,57
$R_STBD_OVSHOOT,44
$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
$GPS1,300315,003359,1121.0632,14412.7686,92,1.0,92,1.9,1.0,218.6,8,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-71.0
$GPS2,300315,004048,1121.0114,14412.6660,9,1.4,14,1.9,0.4,227.3,7,9.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,296.2,86417,-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,-175.2,119,2468,1243,1228,0.0,0.0,0,183,0.00,0.00,-77.28,0.000,16386,0.000,0.000,120,2468,3262,3310,3214,0,0,0,0,0,0,26.20,28.83,26.26
$GC,185,-0.68,-175.2,119,2468,3312,3216,3.4,-9.4,9,222,10.85,2.10,-9.93,0.000,18692,0.251,0.060,2544,3772,3966,3997,3935,0,0,0,0,0,0,25.65,24.59,26.02
$GC,341,-0.68,-175.2,2544,3772,3995,3941,64.4,-30.2,29,354,0.00,2.03,0.00,0.000,1030,0.000,0.024,2549,2442,3967,3995,3940,0,0,0,0,0,0,26.17,26.15,26.17
$GC,648,-0.68,-175.2,2549,2440,3996,3943,152.7,-25.5,60,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2439,3968,3995,3942,0,0,0,0,0,0,26.27,26.34,26.34
$GC,949,-0.68,-175.2,2547,2439,3997,3948,204.4,-13.6,88,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2439,3971,3995,3947,0,0,0,0,0,0,26.30,26.36,26.35
$GC,1249,-0.68,-175.2,2549,2439,3995,3951,244.4,-14.1,98,1257,0.00,2.12,0.00,0.000,516,0.000,0.031,2558,1061,3973,3995,3951,0,0,0,0,0,0,26.31,26.22,26.36
$GC,1302,-0.68,-175.2,2557,1061,3997,3952,248.1,-14.4,99,1313,0.00,2.17,0.00,0.000,1030,0.000,0.032,2550,2450,3973,3995,3952,0,0,0,0,0,0,26.27,26.21,26.30
$GC,1608,-0.68,-175.2,2549,2451,3997,3953,288.7,-11.7,110,1618,0.00,2.17,0.00,0.000,516,0.000,0.031,2549,1054,3973,3995,3952,0,0,0,0,0,0,26.29,26.20,26.36
$GC,1633,-0.68,-175.2,2551,1055,3995,3952,288.7,-11.7,110,1643,0.00,2.20,0.00,0.000,1030,0.000,0.033,2541,2453,3973,3996,3951,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1938,-0.68,-175.2,2542,2453,3995,3951,327.1,-11.6,121,1945,0.00,2.12,0.00,0.000,260,0.000,0.048,2531,3770,3973,3995,3951,0,0,0,0,0,0,26.29,26.13,26.36
$GC,1965,-0.68,-175.2,2530,3771,3997,3951,330.4,-11.7,122,1973,0.00,2.00,0.00,0.000,1030,0.000,0.026,2531,2449,3973,3995,3951,0,0,0,0,0,0,26.28,26.25,26.29
$GC,2293,-0.68,-175.2,2532,2446,3995,3946,370.8,-12.2,133,2302,0.00,2.15,0.00,0.000,516,0.000,0.032,2531,1060,3970,3995,3946,0,0,0,0,0,0,26.20,26.10,26.27
$GC,2346,-0.68,-175.2,2532,1059,3995,3946,374.6,-11.7,134,2355,0.15,2.20,0.00,0.000,3078,0.144,0.034,2561,2450,3970,3995,3945,0,0,0,0,0,0,25.96,26.17,26.12
$GC,2659,-0.68,-175.2,2562,2450,3995,3940,403.5,-8.2,145,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2450,3967,3995,3940,0,0,0,0,0,0,26.29,26.35,26.34
$GC,2960,-0.68,-175.2,2560,2451,3996,3936,424.3,-6.6,155,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2450,3964,3995,3934,0,0,0,0,0,0,26.25,26.32,26.32
$GC,3259,-0.68,-175.2,2560,2451,3996,3927,447.1,-8.1,165,3267,0.00,2.20,0.00,0.000,516,0.000,0.033,2561,1055,3960,3994,3927,0,0,0,0,0,0,26.27,26.16,26.33
$GC,3307,-0.68,-175.2,2560,1056,3996,3927,450.0,-8.2,166,3315,0.00,2.22,0.00,0.000,1030,0.000,0.035,2554,2450,3960,3994,3926,0,0,0,0,0,0,26.22,26.14,26.25
$GC,3620,-0.68,-175.2,2554,2453,3994,3921,478.1,-8.7,177,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3957,3994,3921,0,0,0,0,0,0,26.25,26.32,26.31
$GC,3920,-0.68,-175.2,2554,2453,3993,3916,506.4,-9.8,187,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2453,3954,3994,3915,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4220,-0.68,-175.2,2555,2453,3993,3911,537.0,-10.2,197,4228,0.00,2.17,0.00,0.000,516,0.000,0.034,2554,1065,3955,4000,3911,0,0,0,0,0,0,26.22,26.11,26.28
$GC,4247,-0.68,-175.2,2555,1065,3993,3911,539.8,-10.1,198,4257,0.00,2.22,0.00,0.000,1030,0.000,0.036,2544,2454,3951,3993,3910,0,0,0,0,0,0,26.17,26.10,26.21
$GC,4577,-0.68,-175.2,2544,2455,3993,3908,571.5,-9.1,209,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2454,3949,3991,3907,0,0,0,0,0,0,26.20,26.25,26.25
$GC,4877,-0.68,-175.2,2543,2455,3991,3906,598.6,-8.9,219,4887,0.00,2.20,0.00,0.000,516,0.000,0.034,2544,1066,3947,3990,3905,0,0,0,0,0,0,26.23,26.10,26.29
$GC,4942,-0.68,-175.2,2545,1067,3988,3906,604.4,-9.0,221,4950,0.00,2.22,0.00,0.000,1030,0.000,0.037,2537,2454,3946,3988,3904,0,0,0,0,0,0,26.15,26.06,26.18
$GC,5275,-0.68,-175.2,2537,2454,3988,3904,634.1,-8.8,232,5284,0.00,2.17,0.00,0.000,516,0.000,0.034,2537,1066,3944,3986,3902,0,0,0,0,0,0,26.19,26.08,26.25
$GC,5304,-0.68,-175.2,2536,1067,3988,3904,634.1,-8.8,232,5314,0.00,2.22,0.00,0.000,1030,0.000,0.037,2530,2450,3944,3986,3903,0,0,0,0,0,0,26.14,26.06,26.17
$GC,5609,-0.68,-175.2,2530,2451,3984,3901,666.7,-10.2,243,5617,0.12,2.17,0.00,0.000,2564,0.166,0.032,2563,1066,3942,3984,3900,0,0,0,0,0,0,25.84,25.99,25.92
$GC,5642,-0.68,-175.2,2564,1067,3984,3901,669.6,-9.9,244,5649,0.00,2.22,0.00,0.000,1030,0.000,0.037,2559,2450,3942,3984,3900,0,0,0,0,0,0,26.13,26.04,26.16
$GC,5969,-0.68,-175.2,2560,2450,3982,3897,695.8,-7.9,255,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,3939,3982,3897,0,0,0,0,0,0,26.10,26.17,26.16
$GC,6269,-0.68,-175.2,2560,2450,3981,3897,719.7,-8.0,265,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,3939,3982,3896,0,0,0,0,0,0,26.20,26.26,26.25
$GC,6569,-0.68,-175.2,2558,2450,3981,3896,745.0,-8.7,275,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2450,3937,3980,3895,0,0,0,0,0,0,26.19,26.25,26.25
$GC,6869,-0.68,-175.2,2559,2451,3980,3894,770.7,-8.5,285,6879,0.00,2.20,0.00,0.000,516,0.000,0.034,2559,1056,3935,3978,3893,0,0,0,0,0,0,26.18,26.04,26.25
$GC,6904,-0.68,-175.2,2558,1057,3980,3894,773.3,-8.5,286,6914,0.00,2.25,0.00,0.000,1030,0.000,0.037,2553,2451,3935,3977,3893,0,0,0,0,0,0,26.10,26.01,26.13
$GC,7229,-0.68,-175.2,2554,2452,3977,3892,801.7,-8.5,297,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2451,3933,3977,3890,0,0,0,0,0,0,26.17,26.23,26.22
$GC,7529,-0.68,-175.2,2553,2452,3978,3890,827.5,-8.5,307,7539,0.00,2.20,0.00,0.000,516,0.000,0.034,2558,1061,3933,3976,3890,0,0,0,0,0,0,26.17,26.01,26.22
$GC,7559,-0.68,-175.2,2552,1062,3977,3891,830.1,-8.5,308,7567,0.00,2.25,0.00,0.000,1030,0.000,0.036,2545,2454,3933,3976,3890,0,0,0,0,0,0,26.04,25.95,26.07
$GC,7887,-0.68,-175.2,2547,2455,3974,3889,859.9,-9.2,319,7896,0.00,2.20,0.00,0.000,516,0.000,0.034,2546,1063,3932,3975,3889,0,0,0,0,0,0,26.06,25.94,26.12
$GC,7930,-0.68,-175.2,2545,1064,3976,3889,863.0,-9.2,320,7939,0.00,2.25,0.00,0.000,1030,0.000,0.037,2541,2457,3932,3976,3888,0,0,0,0,0,0,26.09,26.00,26.12
$GC,8253,-0.68,-175.2,2542,2457,3968,3888,893.8,-9.1,331,8261,0.00,2.22,0.00,0.000,516,0.000,0.033,2541,1059,3930,3973,3887,0,0,0,0,0,0,26.16,25.99,26.22
$GC,8296,-0.68,-175.2,2542,1060,3973,3888,896.1,-9.1,332,8303,0.00,2.25,0.00,0.000,1030,0.000,0.037,2541,2450,3930,3973,3887,0,0,0,0,0,0,26.06,25.96,26.08
$GC,8608,-0.68,-175.2,2542,2452,3972,3887,922.4,-7.7,343,8616,0.00,2.20,0.00,0.000,516,0.000,0.032,2541,1062,3929,3972,3886,0,0,0,0,0,0,26.15,26.01,26.21
$GC,8635,-0.68,-175.2,2541,1061,3974,3887,922.4,-7.7,343,8645,0.00,2.25,0.00,0.000,1030,0.000,0.037,2547,2450,3929,3972,3886,0,0,0,0,0,0,25.99,25.91,26.03
$GC,8941,-0.68,-175.2,2540,2451,3972,3886,947.9,-7.4,354,8950,0.00,2.17,0.00,0.000,516,0.000,0.032,2541,1066,3928,3971,3885,0,0,0,0,0,0,26.17,26.00,26.23
$GC,8975,-0.68,-175.2,2541,1067,3973,3886,950.2,-7.5,355,8985,0.00,2.22,0.00,0.000,1030,0.000,0.037,2542,2455,3926,3971,3882,0,0,0,0,0,0,26.06,25.97,26.09
$GC,9300,-0.68,-175.2,2541,2456,3972,3884,975.0,-7.6,366,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2455,3927,3970,3884,0,0,0,0,0,0,26.14,26.21,26.20
$STATE,9538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9538,begin apogee
$GC,9542,-0.11,0.0,2543,2094,3969,3884,992.1,-7.0,374,9693,0.65,0.00,139.02,1.299,10246,0.118,0.000,2740,2093,3277,3317,3238,0,0,0,0,0,0,25.70,24.56,23.75
$STATE,9694,end apogee,CONTROL_FINISHED_OK
$STATE,9694,begin climb
$GC,9696,0.68,175.2,2740,2094,3319,3238,997.8,0.0,379,9865,0.73,2.38,158.12,1.287,10756,0.053,0.037,3015,725,2563,2610,2517,0,0,0,0,0,0,24.81,24.18,23.39
$GC,9875,1.04,372.0,3016,725,2609,2516,997.3,2.5,385,10067,0.30,2.33,179.10,1.265,11270,0.067,0.028,3121,2108,1761,1807,1716,0,0,0,0,0,0,24.60,24.59,23.44
$GC,10382,1.04,372.0,3121,2108,1796,1711,865.4,27.1,402,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2108,1753,1797,1710,0,0,0,0,0,0,26.04,26.11,26.10
$GC,10682,1.04,372.0,3120,2109,1797,1711,784.6,27.3,412,10692,0.00,2.22,0.00,0.000,516,0.000,0.035,3132,721,1752,1794,1710,0,0,0,0,0,0,26.23,26.15,26.29
$GC,10742,1.04,372.0,3132,721,1795,1710,768.6,27.1,414,10750,0.00,2.17,0.00,0.000,1030,0.000,0.032,3132,2096,1752,1795,1709,0,0,0,0,0,0,26.22,26.16,26.26
$GC,11069,1.04,372.0,3131,2097,1795,1710,681.1,26.7,425,11080,0.00,2.28,0.00,0.000,260,0.000,0.047,3132,3503,1751,1794,1709,0,0,0,0,0,0,26.22,26.13,26.29
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$STATE,14339,end climb,SURFACE_DEPTH_REACHED
$STATE,14339,begin surface coast
$FINISH,-1.1,1.022003
$STATE,14364,end surface coast,CONTROL_FINISHED_OK
$STATE,14364,begin surface
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$IRIDIUM_FIX,1115.06,14412.91,240108,084710
$TT8_MAMPS,0.050932,0.050932
$HUMID,43.10
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.50
$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,14396.49 6203.22
$PA_BOOTCOUNT,361
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.04/0.068/1.764/1.606
$PA_DISK_BANK,1
$24V_AH,23.39,47.668
$10V_AH,10.18,29.413
$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
$DEVICE_SECS,21.200,119.175,476.250,57.600,0.000,0.000,0.000,286.525,0.000,14900.580,17.021,0.000,11341.005,594.799,2724.071,172.254,0.000,2068.312,0.000,1373.801,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,458.608,0.000,0.000,0.000,0.000,0.000,14900.811,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229996
$DATA_FILE_SIZE,30138,674
$CAP_FILE_SIZE,128893,0
$CFSIZE,260034560,246247424
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,300315,044330,1122.322,14410.599,91,0.9,91,1.9,0.6,254.6,9,6.5