version: 66.12
glider: 178
mission: 18
dive: 52
start: 10 6 114 7 26 9
data:
$ID,178
$MISSION,18
$DIVE,52
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,350
$N_FILEKB,4
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,061014,071755,1318.714,14511.122,65,1.0,85,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-75.1
$GPS2,061014,072557,1318.671,14511.146,9,1.0,29,1.6
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,143.2,132925,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.77,-155.7,137,2139,1613,1613,0.0,0.0,0,76,0.00,0.00,-59.53,0.000,16386,0.000,0.000,135,2139,3193,3240,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.77,-155.7,136,2140,3242,3148,3.2,-12.0,10,103,10.35,2.15,-8.23,0.000,18948,0.243,0.051,2617,755,3683,3747,3619,0,0,0,0,0,0,26.13,25.64,26.86
$GC,147,-0.64,-155.7,2617,754,3751,3624,34.3,-35.0,23,158,0.20,2.15,0.00,0.000,3078,0.189,0.036,2656,2143,3686,3749,3624,0,0,0,0,0,0,26.32,26.58,28.83
$GC,462,-0.59,-155.7,2657,2146,3755,3625,110.3,-17.8,58,470,0.00,2.12,0.00,0.000,516,0.000,0.037,2656,755,3689,3755,3624,0,0,0,0,0,0,28.83,26.77,28.83
$GC,519,-0.57,-155.7,2657,754,3758,3621,118.8,-16.4,63,530,0.12,2.15,0.00,0.000,3078,0.171,0.034,2681,2162,3690,3757,3624,0,0,0,0,0,0,26.60,26.79,28.83
$GC,824,-0.60,-155.7,2681,2163,3764,3626,157.4,-11.7,94,833,0.00,2.15,0.00,0.000,260,0.000,0.047,2673,3555,3693,3762,3624,0,0,0,0,0,0,28.83,26.84,28.83
$GC,903,-0.63,-155.7,2673,3555,3765,3625,165.3,-10.3,101,913,0.00,2.08,0.00,0.000,1030,0.000,0.028,2672,2144,3694,3764,3624,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1208,-0.67,-155.7,2673,2141,3768,3626,198.3,-10.4,132,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2141,3696,3766,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,-0.70,-155.7,2674,2141,3769,3626,227.7,-8.6,144,1536,0.00,2.20,0.00,0.000,260,0.000,0.049,2669,3555,3696,3767,3626,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1616,-0.75,-155.7,2669,3555,3768,3626,234.8,-8.3,147,1626,0.12,2.08,0.00,0.000,5126,0.093,0.028,2598,2143,3696,3767,3626,0,0,0,0,0,0,27.03,27.08,28.83
$GC,1946,-0.75,-155.7,2598,2140,3768,3628,275.7,-12.3,158,1954,0.12,2.08,0.00,0.000,2564,0.173,0.036,2634,759,3696,3767,3626,0,0,0,0,0,0,26.92,27.05,28.83
$GC,1968,-0.75,-155.7,2635,760,3768,3627,275.7,-12.3,158,1978,0.00,2.10,0.00,0.000,1030,0.000,0.034,2627,2149,3696,3767,3626,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2273,-0.75,-155.7,2628,2149,3767,3626,311.7,-11.0,169,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2149,3695,3765,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2574,-0.77,-155.7,2628,2150,3764,3627,342.9,-9.7,179,2583,0.00,2.15,0.00,0.000,260,0.000,0.050,2617,3555,3694,3762,3626,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2637,-0.79,-155.7,2618,3555,3763,3626,348.9,-9.4,181,2645,0.00,2.08,0.00,0.000,1030,0.000,0.031,2617,2148,3691,3757,3626,0,0,0,0,0,0,28.83,27.16,28.83
$GC,2970,-0.79,-155.7,2618,2146,3756,3627,377.4,-8.1,192,2980,0.00,2.10,0.00,0.000,516,0.000,0.041,2617,754,3691,3756,3626,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3034,-0.79,-155.7,2618,755,3756,3626,382.8,-8.2,194,3042,0.00,2.10,0.00,0.000,1030,0.000,0.035,2609,2148,3690,3754,3626,0,0,0,0,0,0,28.83,27.11,28.83
$GC,3366,-0.79,-155.7,2610,2148,3750,3625,413.5,-10.5,205,3377,0.00,2.17,0.00,0.000,260,0.000,0.051,2598,3564,3687,3748,3626,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3421,-0.79,-155.7,2598,3564,3748,3626,417.4,-10.7,206,3429,0.00,2.08,0.00,0.000,1030,0.000,0.032,2598,2153,3685,3746,3625,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3726,-0.79,-155.7,2598,2150,3742,3626,453.7,-10.7,216,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2149,3683,3741,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4026,-0.79,-155.7,2598,2150,3739,3624,482.7,-9.3,226,4034,0.00,2.17,0.00,0.000,260,0.000,0.053,2588,3555,3680,3737,3623,0,0,0,0,0,0,28.83,27.05,28.83
$GC,4073,-0.79,-155.7,2589,3556,3737,3624,485.2,-9.3,227,4081,0.00,2.10,0.00,0.000,1030,0.000,0.033,2588,2151,3679,3736,3623,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4385,-0.79,-155.7,2589,2149,3733,3621,517.4,-9.6,238,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2148,3676,3733,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,-0.79,-155.7,2588,2147,3730,3617,548.3,-10.8,248,4693,0.00,2.15,0.00,0.000,516,0.000,0.045,2587,746,3673,3729,3618,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4717,-0.79,-155.7,2588,745,3731,3617,551.1,-10.8,249,4725,0.12,2.17,0.00,0.000,3078,0.181,0.039,2612,2160,3673,3729,3617,0,0,0,0,0,0,26.86,27.10,28.83
$GC,5045,-0.81,-155.7,2612,2160,3727,3616,580.5,-8.5,260,5052,0.00,2.17,0.00,0.000,260,0.000,0.055,2603,3551,3671,3726,3616,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5071,-0.83,-155.7,2604,3551,3734,3616,580.5,-8.5,260,5082,0.00,2.08,0.00,0.000,1030,0.000,0.034,2604,2151,3670,3725,3615,0,0,0,0,0,0,28.83,27.17,28.83
$GC,5376,-0.83,-155.7,2604,2147,3725,3613,611.2,-9.6,271,5388,0.00,2.15,0.00,0.000,516,0.000,0.044,2603,755,3668,3722,3614,0,0,0,0,0,0,28.83,27.06,28.83
$GC,5412,-0.83,-155.7,2604,755,3724,3613,614.4,-9.7,272,5420,0.00,2.15,0.00,0.000,1030,0.000,0.039,2595,2152,3667,3722,3613,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5734,-0.83,-155.7,2595,2153,3720,3613,647.7,-10.3,283,5742,0.00,2.20,0.00,0.000,260,0.000,0.055,2585,3557,3665,3719,3611,0,0,0,0,0,0,28.83,27.01,28.83
$GC,5761,-0.83,-155.7,2585,3558,3720,3612,647.7,-10.3,283,5771,0.00,2.12,0.00,0.000,1030,0.000,0.037,2585,2148,3665,3719,3611,0,0,0,0,0,0,28.83,27.15,28.83
$GC,6067,-0.83,-155.7,2585,2145,3718,3610,684.3,-11.2,294,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2145,3663,3716,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-0.83,-155.7,2585,2143,3716,3608,716.8,-10.8,304,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2144,3661,3715,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6667,-0.83,-155.7,2585,2146,3713,3608,749.2,-10.7,314,6675,0.00,2.22,0.00,0.000,260,0.000,0.056,2574,3567,3659,3712,3606,0,0,0,0,0,0,28.83,27.02,28.83
$GC,6699,-0.83,-155.7,2575,3568,3719,3607,752.8,-10.8,315,6707,0.00,2.15,0.00,0.000,1030,0.000,0.035,2574,2141,3659,3712,3606,0,0,0,0,0,0,28.83,27.15,28.83
$GC,7026,-0.83,-155.7,2574,2139,3711,3607,787.1,-10.2,326,7034,0.00,2.15,0.00,0.000,516,0.000,0.046,2573,743,3657,3710,3605,0,0,0,0,0,0,28.83,27.05,28.83
$GC,7058,-0.83,-155.7,2574,743,3711,3605,789.9,-10.1,327,7066,0.12,2.20,0.00,0.000,3078,0.181,0.041,2595,2163,3657,3710,3605,0,0,0,0,0,0,26.79,27.05,28.83
$GC,7381,-0.83,-155.7,2596,2165,3710,3605,818.2,-8.6,338,7389,0.00,2.17,0.00,0.000,260,0.000,0.057,2588,3557,3655,3708,3603,0,0,0,0,0,0,28.83,26.96,28.83
$GC,7428,-0.83,-155.7,2593,3557,3710,3603,820.7,-8.6,339,7436,0.00,2.10,0.00,0.000,1030,0.000,0.035,2588,2149,3656,3708,3604,0,0,0,0,0,0,28.83,27.14,28.83
$GC,7733,-0.83,-155.7,2588,2147,3707,3603,851.3,-9.5,349,7741,0.00,2.15,0.00,0.000,516,0.000,0.046,2588,742,3654,3707,3602,0,0,0,0,0,0,28.83,27.00,28.83
$GC,7765,-0.83,-155.7,2589,742,3707,3603,854.0,-9.6,350,7773,0.00,2.17,0.00,0.000,1030,0.000,0.041,2582,2159,3654,3706,3602,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8087,-0.83,-155.7,2583,2159,3706,3600,886.9,-10.1,361,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2159,3652,3704,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,-0.83,-155.7,2583,2159,3704,3599,916.2,-9.6,371,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2159,3651,3703,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8687,-0.83,-155.7,2582,2159,3703,3598,943.7,-8.9,381,8695,0.00,2.17,0.00,0.000,260,0.000,0.057,2572,3554,3650,3702,3599,0,0,0,0,0,0,28.83,26.92,28.83
$GC,8719,-0.83,-155.7,2572,3554,3703,3598,946.2,-9.0,382,8727,0.00,2.12,0.00,0.000,1030,0.000,0.036,2572,2149,3649,3701,3598,0,0,0,0,0,0,28.83,27.11,28.83
$GC,9042,-0.83,-155.7,2572,2147,3702,3595,978.3,-9.9,393,9050,0.12,2.17,0.00,0.000,2564,0.186,0.044,2606,743,3649,3700,3599,0,0,0,0,0,0,26.87,27.00,28.83
$GC,9074,-0.83,-155.7,2606,745,3701,3598,980.9,-9.7,394,9082,0.00,2.20,0.00,0.000,1030,0.000,0.041,2598,2160,3648,3700,3597,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,9185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9185,begin apogee
$GC,9188,-0.13,0.0,2598,2262,3701,3596,991.0,-8.7,398,9323,0.73,0.00,127.25,1.283,10246,0.132,0.000,2825,2262,3052,3088,3016,0,0,0,0,0,0,26.63,28.83,24.39
$STATE,9323,end apogee,CONTROL_FINISHED_OK
$STATE,9323,begin climb
$GC,9325,0.77,155.7,2826,2262,3087,3010,994.3,0.0,402,9471,0.80,0.00,137.93,1.269,10758,0.045,0.000,3134,2258,2410,2453,2368,0,0,0,0,0,0,25.44,28.83,24.09
$GC,9756,0.70,155.7,3134,2261,2443,2356,934.7,16.9,417,9763,0.15,0.00,0.00,0.000,4102,0.196,0.000,3100,2261,2399,2442,2356,0,0,0,0,0,0,26.04,28.83,28.83
$GC,10056,0.65,155.7,3100,2261,2442,2353,890.0,14.8,427,10067,0.00,2.25,0.00,0.000,260,0.000,0.056,3100,3646,2397,2441,2353,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10136,0.60,155.7,3100,3646,2440,2352,880.1,15.7,429,10145,0.17,2.15,0.00,0.000,5126,0.190,0.033,3066,2247,2395,2438,2353,0,0,0,0,0,0,26.28,26.62,28.83
$GC,10441,0.57,155.7,3067,2244,2438,2353,835.2,13.6,439,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2243,2394,2438,2351,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17890,end climb,SURFACE_DEPTH_REACHED
$STATE,17890,begin surface coast
$FINISH,0.2,1.021739
$STATE,17911,end surface coast,CONTROL_FINISHED_OK
$STATE,17911,begin surface
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$IRIDIUM_FIX,1314.23,14512.83,061014,022146
$TT8_MAMPS,0.161784,0.161784
$HUMID,46.88
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$TCM_TEMP,24.90
$XPDR_PINGS,10
$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,146397.32 64375.08
$PA_BOOTCOUNT,64
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$PA_HOME,0.02/0.037/1.764/1.638
$24V_AH,24.09,6.322
$10V_AH,10.14,8.748
$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,24.720,0.000,0.000,0.000,0.000,0.000,140.471,0.000,0.000,0.000
$MEM,228508
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$CFSIZE,260034560,253825024
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