version: 66.12
glider: 178
mission: 18
dive: 57
start: 10 7 114 9 4 15
data:
$ID,178
$MISSION,18
$DIVE,57
$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,60
$R_STBD_OVSHOOT,37
$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
$GPS1,071014,085814,1307.026,14514.727,63,1.0,83,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-74.8
$GPS2,071014,090403,1307.059,14514.695,13,1.0,33,1.7
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,139.7,110480,-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,13,-0.77,-155.7,155,2139,1611,1619,0.0,0.0,0,82,0.00,0.00,-65.90,0.000,16386,0.000,0.000,154,2140,3437,3486,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.77,-155.7,155,2141,3489,3390,4.6,-18.1,11,103,10.43,2.22,-3.72,0.000,18692,0.248,0.060,2613,3553,3684,3740,3629,0,0,0,0,0,0,26.12,26.52,26.84
$GC,123,-0.49,-155.7,2615,3554,3747,3630,30.1,-56.7,18,134,0.35,2.12,0.00,0.000,3078,0.186,0.034,2706,2158,3688,3747,3629,0,0,0,0,0,0,26.27,26.58,28.83
$GC,439,-0.47,-155.7,2706,2155,3755,3630,97.9,-19.3,56,447,0.00,2.15,0.00,0.000,516,0.000,0.039,2704,746,3691,3754,3629,0,0,0,0,0,0,28.83,26.74,28.83
$GC,491,-0.47,-155.7,2706,746,3755,3630,107.0,-17.1,61,499,0.00,2.12,0.00,0.000,1030,0.000,0.033,2699,2157,3691,3754,3629,0,0,0,0,0,0,28.83,26.77,28.83
$GC,796,-0.49,-155.7,2699,2158,3762,3631,147.9,-12.2,91,806,0.00,2.15,0.00,0.000,260,0.000,0.047,2692,3551,3695,3761,3629,0,0,0,0,0,0,28.83,26.84,28.83
$GC,881,-0.54,-155.7,2692,3552,3762,3631,156.8,-9.6,99,889,0.00,2.08,0.00,0.000,1030,0.000,0.028,2692,2129,3695,3762,3629,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1194,-0.58,-155.7,2692,2126,3769,3631,182.4,-8.5,130,1202,0.00,2.08,0.00,0.000,516,0.000,0.038,2691,756,3698,3767,3630,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1221,-0.62,-155.7,2692,756,3768,3630,184.5,-8.8,132,1232,0.00,2.10,0.00,0.000,1030,0.000,0.032,2684,2148,3698,3767,3630,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1537,-0.67,-155.7,2685,2150,3770,3631,213.3,-8.6,154,1548,0.00,2.15,0.00,0.000,260,0.000,0.047,2673,3553,3699,3769,3630,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1748,-0.72,-155.7,2673,3552,3770,3630,229.8,-7.5,161,1758,0.12,2.05,0.00,0.000,5126,0.090,0.029,2603,2139,3699,3768,3630,0,0,0,0,0,0,27.04,27.10,28.83
$GC,2077,-0.72,-155.7,2604,2136,3770,3631,269.3,-12.4,172,2085,0.12,2.10,0.00,0.000,2564,0.171,0.036,2640,752,3699,3769,3630,0,0,0,0,0,0,26.92,27.06,28.83
$GC,2105,-0.72,-155.7,2640,752,3770,3631,272.5,-12.3,173,2112,0.00,2.12,0.00,0.000,1030,0.000,0.034,2640,2160,3700,3769,3631,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2432,-0.74,-155.7,2641,2160,3769,3630,303.8,-8.8,184,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2160,3699,3767,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.78,-155.7,2641,2160,3765,3630,332.7,-10.1,194,2739,0.00,2.15,0.00,0.000,260,0.000,0.050,2632,3554,3697,3764,3630,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2763,-0.81,-155.7,2631,3556,3765,3630,335.4,-10.1,195,2771,0.00,2.08,0.00,0.000,1030,0.000,0.031,2632,2150,3696,3763,3630,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3086,-0.83,-155.7,2633,2146,3761,3630,370.3,-10.5,206,3094,0.00,2.17,0.00,0.000,260,0.000,0.050,2622,3557,3694,3759,3630,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3113,-0.86,-155.7,2622,3558,3759,3631,373.1,-10.4,207,3121,0.00,2.08,0.00,0.000,1030,0.000,0.031,2622,2153,3694,3758,3630,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3446,-0.88,-155.7,2622,2150,3755,3631,403.9,-8.8,218,3453,0.10,0.00,0.00,0.000,4102,0.112,0.000,2571,2150,3692,3754,3630,0,0,0,0,0,0,27.22,28.83,28.83
$GC,3745,-0.88,-155.7,2572,2149,3750,3629,436.7,-10.9,228,3756,0.00,2.10,0.00,0.000,516,0.000,0.041,2572,756,3689,3748,3630,0,0,0,0,0,0,28.83,27.11,28.83
$GC,3810,-0.88,-155.7,2572,756,3747,3630,443.4,-11.0,230,3818,0.00,2.12,0.00,0.000,1030,0.000,0.036,2563,2158,3688,3747,3630,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4133,-0.86,-155.7,2563,2158,3743,3628,479.3,-10.9,241,4139,0.12,0.00,0.00,0.000,2054,0.186,0.000,2592,2158,3684,3741,3628,0,0,0,0,0,0,26.96,28.83,28.83
$GC,4432,-0.86,-155.7,2593,2159,3740,3627,506.7,-9.2,251,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2158,3682,3738,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.86,-155.7,2592,2160,3737,3627,535.3,-9.5,261,4743,0.00,2.17,0.00,0.000,260,0.000,0.054,2583,3554,3680,3735,3625,0,0,0,0,0,0,28.83,27.04,28.83
$GC,4762,-0.86,-155.7,2583,3554,3736,3625,538.5,-9.6,262,4770,0.00,2.10,0.00,0.000,1030,0.000,0.033,2584,2148,3679,3734,3625,0,0,0,0,0,0,28.83,27.18,28.83
$GC,5090,-0.86,-155.7,2584,2145,3730,3624,569.8,-9.6,273,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2144,3677,3731,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5390,-0.86,-155.7,2585,2145,3729,3621,598.6,-9.7,283,5398,0.00,2.10,0.00,0.000,516,0.000,0.043,2584,756,3674,3728,3620,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5437,-0.86,-155.7,2584,756,3729,3619,602.0,-9.9,284,5445,0.00,2.12,0.00,0.000,1030,0.000,0.038,2574,2147,3674,3728,3620,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5754,-0.86,-155.7,2575,2148,3725,3618,638.1,-11.3,295,5762,0.00,2.15,0.00,0.000,516,0.000,0.047,2575,749,3671,3725,3618,0,0,0,0,0,0,28.83,27.06,28.83
$GC,5791,-0.86,-155.7,2576,750,3725,3619,641.3,-11.5,296,5799,0.00,2.17,0.00,0.000,1030,0.000,0.040,2567,2160,3670,3724,3617,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6108,-0.86,-155.7,2568,2161,3722,3616,680.8,-11.7,307,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2161,3669,3722,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-0.86,-155.7,2567,2160,3721,3615,714.1,-10.9,317,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2161,3667,3720,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6709,-0.86,-155.7,2568,2160,3720,3613,745.6,-10.3,327,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2161,3665,3718,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7008,-0.86,-155.7,2568,2159,3718,3612,775.5,-10.1,337,7017,0.00,2.20,0.00,0.000,516,0.000,0.046,2568,750,3664,3716,3612,0,0,0,0,0,0,28.83,27.05,28.83
$GC,7041,-0.86,-155.7,2568,751,3717,3613,778.9,-10.0,338,7049,0.12,2.17,0.00,0.000,3078,0.187,0.041,2587,2159,3664,3716,3612,0,0,0,0,0,0,26.78,27.06,28.83
$GC,7369,-0.86,-155.7,2588,2160,3716,3611,808.9,-9.3,349,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2158,3662,3714,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7668,-0.86,-155.7,2588,2159,3714,3609,836.4,-9.1,359,7676,0.00,2.20,0.00,0.000,260,0.000,0.057,2579,3555,3660,3712,3609,0,0,0,0,0,0,28.83,26.96,28.83
$GC,7696,-0.86,-155.7,2579,3557,3713,3610,839.0,-9.1,360,7703,0.00,2.12,0.00,0.000,1030,0.000,0.036,2579,2145,3660,3711,3609,0,0,0,0,0,0,28.83,27.13,28.83
$GC,8028,-0.86,-155.7,2579,2142,3712,3607,871.9,-9.9,371,8038,0.00,2.12,0.00,0.000,516,0.000,0.046,2579,755,3658,3710,3607,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8087,-0.86,-155.7,2579,755,3711,3606,875.5,-10.0,372,8098,0.00,2.17,0.00,0.000,1030,0.000,0.044,2571,2154,3658,3710,3606,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8393,-0.86,-155.7,2572,2156,3710,3607,910.4,-10.7,383,8400,0.00,2.20,0.00,0.000,260,0.000,0.057,2561,3563,3657,3709,3606,0,0,0,0,0,0,28.83,26.94,28.83
$GC,8439,-0.86,-155.7,2562,3564,3709,3607,913.4,-10.7,384,8448,0.12,2.15,0.00,0.000,3078,0.174,0.036,2591,2140,3657,3708,3606,0,0,0,0,0,0,26.79,27.11,28.83
$GC,8745,-0.86,-155.7,2592,2138,3708,3606,946.7,-10.3,394,8756,0.00,2.25,0.00,0.000,260,0.000,0.057,2582,3561,3656,3707,3605,0,0,0,0,0,0,28.83,26.92,28.83
$GC,8776,-0.86,-155.7,2582,3562,3708,3605,950.1,-10.4,395,8784,0.00,2.12,0.00,0.000,1030,0.000,0.037,2583,2152,3656,3707,3605,0,0,0,0,0,0,28.83,27.11,28.83
$GC,9109,-0.86,-155.7,2583,2150,3707,3605,985.7,-10.5,406,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2149,3655,3706,3604,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9167,begin apogee
$GC,9171,-0.13,0.0,2583,2259,3706,3605,992.0,-10.6,408,9307,0.77,0.00,128.88,1.274,10246,0.137,0.000,2823,2258,3047,3086,3009,0,0,0,0,0,0,26.61,28.83,24.40
$STATE,9308,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9309,0.77,155.7,2823,2259,3085,3008,997.1,0.0,412,9460,0.82,2.45,137.10,1.266,10756,0.044,0.043,3145,849,2409,2452,2366,0,0,0,0,0,0,25.44,24.96,24.10
$GC,9494,0.68,155.7,3145,850,2448,2363,985.5,10.6,418,9505,0.22,2.30,0.00,0.000,5126,0.179,0.038,3091,2244,2403,2447,2360,0,0,0,0,0,0,25.34,25.48,28.83
$GC,9799,0.64,155.7,3092,2243,2443,2354,937.9,14.0,429,9810,0.00,2.28,0.00,0.000,260,0.000,0.054,3091,3650,2398,2442,2354,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9840,0.59,155.7,3091,3650,2443,2355,933.4,14.1,430,9850,0.15,2.15,0.00,0.000,5126,0.194,0.033,3065,2244,2397,2441,2354,0,0,0,0,0,0,26.12,26.40,28.83
$GC,10159,0.57,155.7,3065,2242,2441,2354,889.3,13.4,441,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2241,2396,2440,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10459,0.55,155.7,3066,2241,2439,2351,847.8,14.0,451,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2241,2394,2438,2351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10759,0.52,155.7,3065,2242,2438,2350,805.7,13.9,461,10770,0.00,2.15,0.00,0.000,516,0.000,0.044,3073,852,2393,2437,2350,0,0,0,0,0,0,28.83,26.78,28.83
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$STATE,17905,end climb,SURFACE_DEPTH_REACHED
$STATE,17905,begin surface coast
$FINISH,-0.3,1.021648
$STATE,17920,end surface coast,CONTROL_FINISHED_OK
$STATE,17921,begin surface
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$IRIDIUM_FIX,1303.16,14512.27,071014,035242
$TT8_MAMPS,0.161784,0.161784
$HUMID,47.28
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$TCM_TEMP,24.60
$XPDR_PINGS,4
$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,238666.67 118751.07
$PA_BOOTCOUNT,64
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.038/1.764/1.637
$24V_AH,24.10,7.003
$10V_AH,10.01,12.536
$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
$DEVICE_SECS,22.775,147.250,436.825,0.000,0.000,0.000,0.000,242.750,1.000,0.000,36.381,0.000,14549.849,552.568,3061.044,166.970,0.000,2181.538,0.000,1717.369,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,573.485,0.000,0.000,0.000,0.000,0.000,18401.840,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,141.134,0.000,0.000,0.000
$MEM,228516
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