version: 66.12
glider: 178
mission: 20
dive: 178
start: 4 6 115 17 39 40
data:
$ID,178
$MISSION,20
$DIVE,178
$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,58
$R_STBD_OVSHOOT,41
$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
$GPS1,060415,173024,1212.1462,14348.5352,65,1.0,65,1.6,0.2,310.9,8,7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-74.6
$GPS2,060415,173929,1212.1417,14348.5518,13,1.2,17,1.6,0.8,353.3,7,8.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.2,157406,-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,-175.2,120,2467,1242,1229,0.0,0.0,0,178,0.00,0.00,-76.30,0.000,16386,0.000,0.000,120,2467,3203,3246,3161,0,0,0,0,0,0,26.22,28.83,26.29
$GC,181,-0.68,-175.2,121,2470,3247,3162,3.4,-8.4,10,213,10.70,2.08,-11.82,0.000,18692,0.245,0.054,2546,3779,3962,3998,3927,0,0,0,0,0,0,25.58,25.40,25.96
$GC,272,-0.68,-175.2,2546,3780,3998,3934,44.0,-35.5,24,290,0.00,2.00,0.00,0.000,1030,0.000,0.023,2549,2437,3964,3996,3933,0,0,0,0,0,0,26.15,26.10,26.17
$GC,595,-0.68,-175.2,2550,2435,3995,3936,144.8,-27.8,56,610,0.00,2.12,0.00,0.000,260,0.000,0.044,2542,3772,3965,3995,3936,0,0,0,0,0,0,26.18,26.01,26.25
$GC,634,-0.68,-175.2,2545,3773,3994,3938,152.2,-21.7,59,647,0.00,1.95,0.00,0.000,1030,0.000,0.023,2547,2445,3966,3995,3938,0,0,0,0,0,0,26.29,26.25,26.30
$GC,951,-0.68,-175.2,2547,2442,3994,3942,205.2,-16.1,89,959,0.00,2.10,0.00,0.000,516,0.000,0.029,2547,1065,3967,3994,3941,0,0,0,0,0,0,26.30,26.17,26.36
$GC,994,-0.68,-175.2,2546,1066,3998,3943,210.7,-16.5,90,1002,0.00,2.15,0.00,0.000,1030,0.000,0.029,2539,2456,3968,3994,3942,0,0,0,0,0,0,26.24,26.17,26.27
$GC,1317,-0.68,-175.2,2537,2456,3994,3946,262.3,-15.5,101,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2456,3969,3994,3945,0,0,0,0,0,0,26.31,26.38,26.36
$GC,1616,-0.68,-175.2,2539,2456,3996,3946,306.5,-14.1,111,1625,0.00,2.15,0.00,0.000,516,0.000,0.031,2536,1064,3969,3994,3945,0,0,0,0,0,0,26.30,26.16,26.35
$GC,1679,-0.68,-175.2,2540,1065,3994,3946,314.7,-13.5,113,1687,0.00,2.15,0.00,0.000,1030,0.000,0.031,2530,2446,3969,3994,3945,0,0,0,0,0,0,26.22,26.16,26.25
$GC,2012,-0.68,-175.2,2529,2446,3996,3944,353.9,-11.3,124,2021,0.00,2.12,0.00,0.000,260,0.000,0.047,2520,3779,3969,3995,3943,0,0,0,0,0,0,26.29,26.06,26.37
$GC,2141,-0.68,-175.2,2521,3780,3993,3942,367.4,-11.0,128,2151,0.10,1.95,0.00,0.000,3078,0.119,0.024,2553,2451,3966,3994,3938,0,0,0,0,0,0,25.94,26.27,26.00
$GC,2466,-0.68,-175.2,2552,2452,3995,3938,394.3,-8.2,139,2475,0.00,2.12,0.00,0.000,516,0.000,0.031,2555,1075,3965,3993,3937,0,0,0,0,0,0,26.28,26.13,26.34
$GC,2509,-0.68,-175.2,2553,1076,3995,3938,397.3,-8.3,140,2517,0.00,2.15,0.00,0.000,1030,0.000,0.031,2550,2453,3965,3994,3937,0,0,0,0,0,0,26.20,26.14,26.23
$GC,2832,-0.68,-175.2,2550,2453,3993,3930,428.7,-9.3,151,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2453,3960,3991,3929,0,0,0,0,0,0,26.26,26.33,26.32
$GC,3132,-0.68,-175.2,2550,2454,3993,3923,453.9,-8.2,161,3140,0.00,2.15,0.00,0.000,516,0.000,0.031,2550,1070,3958,3993,3923,0,0,0,0,0,0,26.26,26.10,26.33
$GC,3180,-0.68,-175.2,2550,1069,3993,3922,456.7,-8.3,162,3188,0.00,2.15,0.00,0.000,1030,0.000,0.032,2543,2445,3958,3994,3922,0,0,0,0,0,0,26.09,26.02,26.12
$GC,3493,-0.68,-175.2,2544,2447,3993,3916,485.6,-8.6,173,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2446,3954,3994,3915,0,0,0,0,0,0,26.25,26.32,26.32
$GC,3793,-0.68,-175.2,2544,2447,3993,3909,510.2,-8.3,183,3801,0.00,2.17,0.00,0.000,260,0.000,0.050,2533,3776,3951,3994,3909,0,0,0,0,0,0,26.23,25.96,26.29
$GC,3825,-0.68,-175.2,2532,3777,3994,3910,512.6,-8.3,184,3833,0.00,2.00,0.00,0.000,1030,0.000,0.025,2533,2438,3951,3993,3909,0,0,0,0,0,0,26.25,26.21,26.25
$GC,4147,-0.68,-175.2,2533,2439,3992,3906,542.1,-9.0,195,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2437,3948,3991,3905,0,0,0,0,0,0,26.25,26.32,26.30
$GC,4448,-0.68,-175.2,2532,2438,3990,3904,570.3,-9.6,205,4457,0.00,2.12,0.00,0.000,516,0.000,0.032,2533,1071,3945,3988,3903,0,0,0,0,0,0,26.21,25.98,26.27
$GC,4478,-0.68,-175.2,2532,1072,3989,3904,573.1,-9.6,206,4488,0.12,2.20,0.00,0.000,3078,0.151,0.033,2556,2454,3944,3987,3902,0,0,0,0,0,0,25.82,26.04,25.96
$GC,4808,-0.68,-175.2,2556,2456,3985,3899,599.3,-7.8,217,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2455,3942,3985,3899,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5108,-0.68,-175.2,2554,2456,3984,3897,622.7,-7.9,227,5119,0.00,2.12,0.00,0.000,516,0.000,0.031,2556,1086,3939,3983,3896,0,0,0,0,0,0,26.20,26.01,26.25
$GC,5153,-0.68,-175.2,2557,1086,3982,3897,625.2,-8.0,228,5163,0.00,2.17,0.00,0.000,1030,0.000,0.033,2556,2449,3939,3982,3896,0,0,0,0,0,0,26.09,26.02,26.12
$GC,5468,-0.68,-175.2,2557,2451,3981,3895,650.6,-7.5,239,5478,0.00,2.15,0.00,0.000,516,0.000,0.031,2556,1079,3938,3982,3894,0,0,0,0,0,0,26.18,26.01,26.24
$GC,5523,-0.68,-175.2,2555,1078,3982,3895,652.9,-7.5,240,5533,0.00,2.20,0.00,0.000,1030,0.000,0.034,2553,2453,3936,3980,3893,0,0,0,0,0,0,26.06,26.00,26.08
$GC,5828,-0.68,-175.2,2552,2453,3987,3891,677.2,-7.3,251,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2453,3934,3978,3891,0,0,0,0,0,0,26.20,26.27,26.27
$GC,6128,-0.68,-175.2,2552,2454,3979,3890,697.9,-6.9,261,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2453,3933,3977,3889,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6428,-0.68,-175.2,2553,2454,3977,3888,717.9,-6.8,271,6436,0.00,2.17,0.00,0.000,516,0.000,0.031,2553,1070,3931,3975,3887,0,0,0,0,0,0,26.20,25.98,26.26
$GC,6485,-0.68,-175.2,2552,1067,3976,3888,720.3,-7.0,272,6496,0.00,2.22,0.00,0.000,1030,0.000,0.034,2548,2457,3930,3974,3887,0,0,0,0,0,0,26.06,25.98,26.09
$GC,6791,-0.68,-175.2,2548,2458,3973,3887,744.8,-7.9,283,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2457,3929,3973,3886,0,0,0,0,0,0,26.17,26.24,26.23
$GC,7091,-0.68,-175.2,2547,2459,3974,3885,769.2,-8.2,293,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2458,3928,3973,3884,0,0,0,0,0,0,26.12,26.20,26.20
$GC,7391,-0.68,-175.2,2547,2458,3972,3882,794.4,-8.4,303,7402,0.00,2.15,0.00,0.000,516,0.000,0.031,2547,1080,3927,3972,3882,0,0,0,0,0,0,26.12,25.98,26.18
$GC,7431,-0.68,-175.2,2548,1080,3970,3882,797.1,-8.5,304,7439,0.00,2.17,0.00,0.000,1030,0.000,0.034,2546,2450,3926,3970,3882,0,0,0,0,0,0,26.06,25.98,26.10
$GC,7749,-0.68,-175.2,2545,2451,3971,3881,826.1,-8.7,315,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3925,3969,3881,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8049,-0.68,-175.2,2547,2451,3968,3881,851.8,-8.4,325,8059,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1066,3921,3963,3880,0,0,0,0,0,0,26.15,25.96,26.20
$GC,8094,-0.68,-175.2,2545,1064,3969,3880,854.3,-8.4,326,8103,0.00,2.20,0.00,0.000,1030,0.000,0.035,2545,2449,3924,3968,3880,0,0,0,0,0,0,26.01,25.93,26.05
$GC,8408,-0.68,-175.2,2545,2450,3968,3880,880.1,-7.6,337,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3922,3966,3879,0,0,0,0,0,0,26.15,26.22,26.20
$GC,8707,-0.68,-175.2,2545,2450,3966,3878,901.7,-7.0,347,8716,0.00,2.15,0.00,0.000,516,0.000,0.031,2546,1078,3922,3965,3879,0,0,0,0,0,0,26.15,25.90,26.20
$GC,8740,-0.68,-175.2,2547,1084,3965,3878,904.0,-7.0,348,8750,0.00,2.20,0.00,0.000,1030,0.000,0.035,2546,2457,3921,3965,3877,0,0,0,0,0,0,26.01,25.91,26.03
$GC,9071,-0.68,-175.2,2545,2457,3966,3877,926.5,-6.7,359,9082,0.00,2.20,0.00,0.000,516,0.000,0.031,2546,1073,3920,3964,3876,0,0,0,0,0,0,26.08,25.94,26.14
$GC,9096,-0.68,-175.2,2545,1073,3966,3877,926.5,-6.7,359,9106,0.00,2.20,0.00,0.000,1030,0.000,0.035,2546,2453,3920,3964,3876,0,0,0,0,0,0,25.98,25.92,26.04
$GC,9402,-0.68,-175.2,2547,2454,3964,3875,948.7,-6.6,370,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2453,3919,3964,3875,0,0,0,0,0,0,26.13,26.20,26.19
$GC,9702,-0.68,-175.2,2545,2453,3965,3875,968.6,-6.9,380,9710,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1067,3919,3964,3874,0,0,0,0,0,0,26.16,25.94,26.22
$GC,9729,-0.68,-175.2,2547,1070,3963,3875,968.6,-6.9,380,9739,0.00,2.22,0.00,0.000,1030,0.000,0.035,2546,2449,3918,3963,3874,0,0,0,0,0,0,25.96,25.88,25.99
$STATE,10005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10005,begin apogee
$GC,10010,-0.11,0.0,2547,2107,3963,3874,990.8,-7.7,390,10158,0.62,0.00,138.55,1.299,10246,0.111,0.000,2739,2102,3278,3318,3239,0,0,0,0,0,0,25.61,24.46,23.56
$STATE,10159,end apogee,CONTROL_FINISHED_OK
$STATE,10159,begin climb
$GC,10161,0.68,175.2,2737,2103,3318,3239,998.6,0.0,395,10334,0.73,2.38,160.32,1.291,11012,0.044,0.034,3020,717,2563,2610,2517,0,0,0,0,0,0,24.75,23.85,23.21
$GC,10558,0.68,175.2,3019,718,2602,2509,975.6,12.1,407,10568,0.00,2.20,0.00,0.000,1030,0.000,0.028,3020,2109,2553,2600,2507,0,0,0,0,0,0,25.98,25.94,26.00
$GC,10874,0.68,175.2,3021,2109,2599,2506,936.2,11.7,418,10884,0.00,2.25,0.00,0.000,516,0.000,0.037,3030,714,2551,2598,2505,0,0,0,0,0,0,26.21,26.13,26.27
$GC,10978,0.68,175.2,3029,715,2600,2506,925.6,11.7,421,10986,0.00,2.17,0.00,0.000,1030,0.000,0.028,3030,2110,2551,2597,2505,0,0,0,0,0,0,26.24,26.17,26.27
$GC,11291,0.68,175.2,3030,2111,2599,2505,888.3,11.2,432,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2110,2550,2597,2504,0,0,0,0,0,0,26.25,26.33,26.32
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$STATE,19501,end climb,SURFACE_DEPTH_REACHED
$STATE,19501,begin surface coast
$FINISH,0.4,1.021909
$STATE,19526,end surface coast,CONTROL_FINISHED_OK
$STATE,19526,begin surface
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$IRIDIUM_FIX,1205.71,14351.06,010208,065854
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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
$PA_UPTIME,19558.19 8372.36
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$PA_DISK_BANK,2
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$10V_AH,10.17,32.111
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229928
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