version: 66.12
glider: 178
mission: 18
dive: 81
start: 10 12 114 9 33 8
data:
$ID,178
$MISSION,18
$DIVE,81
$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,50
$R_STBD_OVSHOOT,40
$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,1.0
$GPS1,121014,092556,1220.497,14528.559,56,1.0,76,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-75.4
$GPS2,121014,093257,1220.539,14528.447,13,1.0,33,1.9
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,145.4,20851,-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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,163,2170,1563,1534,0.0,0.0,0,159,0.00,0.00,-65.00,0.000,16386,0.000,0.000,163,2170,3328,3376,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,160,-0.77,-155.7,163,2169,3379,3283,4.1,-16.4,11,180,10.35,2.22,-5.53,0.000,18948,0.247,0.048,2625,750,3684,3742,3627,0,0,0,0,0,0,26.12,26.59,26.89
$GC,231,-0.64,-155.7,2625,750,3750,3628,37.1,-34.8,24,243,0.17,2.15,0.00,0.000,3078,0.194,0.039,2657,2145,3687,3749,3626,0,0,0,0,0,0,26.28,26.60,28.83
$GC,544,-0.62,-155.7,2657,2146,3758,3629,110.8,-16.6,58,552,0.00,2.15,0.00,0.000,516,0.000,0.036,2657,744,3692,3757,3627,0,0,0,0,0,0,28.83,26.76,28.83
$GC,576,-0.62,-155.7,2655,744,3759,3628,115.2,-15.7,60,586,0.00,2.15,0.00,0.000,1030,0.000,0.034,2653,2154,3692,3757,3627,0,0,0,0,0,0,28.83,26.77,28.83
$GC,881,-0.62,-155.7,2654,2156,3765,3629,162.2,-14.2,91,895,0.00,2.12,0.00,0.000,260,0.000,0.048,2643,3548,3695,3764,3627,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1020,-0.62,-155.7,2644,3549,3767,3629,179.1,-11.4,104,1031,0.00,2.08,0.00,0.000,1030,0.000,0.028,2643,2143,3697,3766,3628,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1346,-0.62,-155.7,2643,2141,3770,3631,216.5,-11.0,127,1354,0.00,2.10,0.00,0.000,516,0.000,0.037,2642,752,3699,3769,3630,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1413,-0.62,-155.7,2643,753,3769,3632,222.8,-10.3,129,1422,0.12,2.12,0.00,0.000,3078,0.157,0.032,2674,2160,3700,3769,3631,0,0,0,0,0,0,26.78,26.98,28.83
$GC,1737,-0.66,-155.7,2675,2162,3771,3632,248.6,-8.1,140,1744,0.00,2.15,0.00,0.000,260,0.000,0.048,2669,3560,3700,3770,3631,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1769,-0.72,-155.7,2669,3560,3771,3631,251.4,-8.4,141,1777,0.00,2.08,0.00,0.000,1030,0.000,0.029,2668,2146,3700,3770,3631,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2101,-0.77,-155.7,2668,2144,3769,3631,277.7,-8.0,152,2113,0.12,2.15,0.00,0.000,4356,0.097,0.046,2585,3551,3699,3767,3631,0,0,0,0,0,0,27.13,26.98,28.83
$GC,2192,-0.77,-155.7,2585,3552,3767,3632,288.5,-11.1,155,2200,0.15,2.08,0.00,0.000,3078,0.158,0.031,2624,2143,3699,3767,3631,0,0,0,0,0,0,26.79,27.10,28.83
$GC,2520,-0.77,-155.7,2625,2141,3765,3631,324.7,-11.1,166,2528,0.00,2.08,0.00,0.000,516,0.000,0.040,2624,759,3697,3763,3631,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2647,-0.79,-155.7,2624,760,3762,3632,338.6,-11.9,170,2656,0.00,2.10,0.00,0.000,1030,0.000,0.034,2618,2145,3696,3762,3630,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2970,-0.79,-155.7,2618,2146,3757,3631,374.6,-10.2,181,2978,0.00,2.17,0.00,0.000,260,0.000,0.050,2607,3562,3693,3756,3631,0,0,0,0,0,0,28.83,26.99,28.83
$GC,3052,-0.79,-155.7,2614,3564,3761,3632,380.2,-9.7,183,3062,0.00,2.10,0.00,0.000,1030,0.000,0.031,2607,2150,3691,3753,3629,0,0,0,0,0,0,28.83,27.13,28.83
$GC,3358,-0.79,-155.7,2608,2149,3750,3632,410.2,-8.4,194,3366,0.00,2.17,0.00,0.000,260,0.000,0.050,2598,3553,3691,3751,3631,0,0,0,0,0,0,28.83,27.00,28.83
$GC,3460,-0.79,-155.7,2598,3552,3748,3630,418.2,-8.5,197,3468,0.00,2.10,0.00,0.000,1030,0.000,0.031,2598,2141,3688,3747,3630,0,0,0,0,0,0,28.83,27.13,28.83
$GC,3783,-0.79,-155.7,2598,2140,3743,3630,445.1,-8.1,208,3790,0.00,2.10,0.00,0.000,516,0.000,0.042,2597,756,3685,3742,3628,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3820,-0.79,-155.7,2598,756,3743,3628,447.4,-8.1,209,3827,0.00,2.12,0.00,0.000,1030,0.000,0.037,2588,2162,3684,3741,3628,0,0,0,0,0,0,28.83,27.08,28.83
$GC,4137,-0.79,-155.7,2588,2162,3739,3626,477.0,-9.8,220,4148,0.00,2.12,0.00,0.000,260,0.000,0.052,2578,3554,3682,3738,3626,0,0,0,0,0,0,28.83,27.00,28.83
$GC,4222,-0.79,-155.7,2578,3555,3737,3628,483.3,-10.0,222,4232,0.15,2.10,0.00,0.000,3078,0.163,0.033,2616,2148,3681,3736,3626,0,0,0,0,0,0,26.81,27.14,28.83
$GC,4527,-0.81,-155.7,2617,2145,3735,3624,513.3,-9.0,233,4538,0.00,2.10,0.00,0.000,516,0.000,0.042,2616,754,3679,3734,3624,0,0,0,0,0,0,28.83,27.05,28.83
$GC,4558,-0.83,-155.7,2617,754,3735,3624,516.1,-9.1,234,4567,0.00,2.15,0.00,0.000,1030,0.000,0.037,2609,2159,3678,3734,3623,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4891,-0.83,-155.7,2609,2162,3730,3621,547.0,-9.3,245,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2161,3675,3730,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5191,-0.83,-155.7,2610,2162,3728,3620,573.6,-8.6,255,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2160,3672,3727,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5491,-0.83,-155.7,2609,2161,3726,3617,598.3,-8.1,265,5499,0.00,2.17,0.00,0.000,260,0.000,0.054,2598,3563,3671,3725,3617,0,0,0,0,0,0,28.83,26.96,28.83
$GC,5529,-0.83,-155.7,2599,3564,3725,3618,600.9,-8.0,266,5537,0.00,2.12,0.00,0.000,1030,0.000,0.034,2596,2148,3669,3723,3616,0,0,0,0,0,0,28.83,27.13,28.83
$GC,5851,-0.83,-155.7,2599,2145,3722,3615,626.6,-7.8,277,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2145,3669,3722,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6151,-0.83,-155.7,2599,2146,3722,3616,650.3,-8.0,287,6159,0.00,2.15,0.00,0.000,516,0.000,0.044,2599,753,3667,3720,3614,0,0,0,0,0,0,28.83,27.02,28.83
$GC,6188,-0.83,-155.7,2599,753,3720,3614,652.6,-8.1,288,6197,0.00,2.15,0.00,0.000,1030,0.000,0.038,2589,2149,3666,3719,3614,0,0,0,0,0,0,28.83,27.04,28.83
$GC,6506,-0.83,-155.7,2590,2151,3717,3614,681.9,-9.2,299,6514,0.00,2.20,0.00,0.000,260,0.000,0.055,2579,3554,3664,3717,3612,0,0,0,0,0,0,28.83,26.94,28.83
$GC,6528,-0.83,-155.7,2579,3555,3717,3612,681.9,-9.2,299,6538,0.00,2.10,0.00,0.000,1030,0.000,0.034,2579,2154,3664,3716,3612,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6833,-0.83,-155.7,2580,2152,3716,3612,714.0,-9.7,310,6841,0.00,2.15,0.00,0.000,516,0.000,0.044,2579,757,3663,3715,3611,0,0,0,0,0,0,28.83,27.01,28.83
$GC,6890,-0.83,-155.7,2579,757,3716,3611,720.0,-10.0,312,6901,0.12,2.15,0.00,0.000,3078,0.184,0.039,2600,2155,3662,3714,3610,0,0,0,0,0,0,26.74,27.02,28.83
$GC,7221,-0.83,-155.7,2600,2157,3714,3610,747.9,-8.4,323,7229,0.00,2.20,0.00,0.000,260,0.000,0.056,2591,3559,3661,3713,3609,0,0,0,0,0,0,28.83,26.91,28.83
$GC,7243,-0.83,-155.7,2592,3559,3718,3610,747.9,-8.4,323,7253,0.00,2.10,0.00,0.000,1030,0.000,0.034,2591,2151,3660,3712,3609,0,0,0,0,0,0,28.83,27.10,28.83
$GC,7548,-0.83,-155.7,2592,2149,3712,3608,777.1,-8.9,334,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2148,3658,3711,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7848,-0.83,-155.7,2592,2148,3711,3606,804.6,-9.3,344,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2148,3658,3710,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8148,-0.83,-155.7,2592,2148,3710,3605,833.0,-9.4,354,8156,0.00,2.15,0.00,0.000,516,0.000,0.045,2591,749,3657,3708,3606,0,0,0,0,0,0,28.83,26.97,28.83
$GC,8182,-0.83,-155.7,2591,749,3710,3605,836.2,-9.6,355,8192,0.00,2.15,0.00,0.000,1030,0.000,0.040,2583,2148,3656,3707,3606,0,0,0,0,0,0,28.83,27.00,28.83
$GC,8511,-0.83,-155.7,2584,2150,3707,3606,868.8,-9.8,366,8519,0.00,2.22,0.00,0.000,260,0.000,0.057,2572,3561,3655,3706,3604,0,0,0,0,0,0,28.83,26.87,28.83
$GC,8558,-0.83,-155.7,2573,3563,3706,3606,871.6,-9.9,367,8566,0.00,2.15,0.00,0.000,1030,0.000,0.035,2572,2141,3655,3706,3605,0,0,0,0,0,0,28.83,27.08,28.83
$GC,8864,-0.83,-155.7,2573,2138,3706,3604,904.2,-9.9,377,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2138,3654,3704,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9163,-0.83,-155.7,2573,2138,3705,3603,932.2,-9.3,387,9171,0.00,2.12,0.00,0.000,516,0.000,0.046,2572,753,3651,3703,3599,0,0,0,0,0,0,28.83,26.95,28.83
$GC,9241,-0.83,-155.7,2573,752,3704,3603,938.1,-9.3,389,9249,0.15,2.17,0.00,0.000,3078,0.169,0.041,2600,2154,3652,3703,3602,0,0,0,0,0,0,26.64,26.96,28.83
$GC,9554,-0.86,-155.7,2601,2154,3712,3601,960.5,-6.4,400,9565,0.00,2.17,0.00,0.000,260,0.000,0.057,2592,3554,3652,3703,3601,0,0,0,0,0,0,28.83,26.84,28.83
$GC,9645,-0.88,-155.7,2592,3554,3704,3601,966.8,-6.8,403,9652,0.00,2.12,0.00,0.000,1030,0.000,0.036,2591,2143,3652,3703,3601,0,0,0,0,0,0,28.83,27.06,28.83
$GC,9977,-0.88,-155.7,2592,2141,3703,3599,988.2,-6.4,414,9988,0.00,2.20,0.00,0.000,260,0.000,0.056,2583,3548,3650,3702,3599,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,10006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10006,begin apogee
$GC,10012,-0.13,0.0,2584,2238,3701,3601,990.3,-6.4,415,10147,0.77,0.00,128.80,1.289,10246,0.133,0.000,2824,2233,3046,3083,3009,0,0,0,0,0,0,26.48,28.83,24.34
$STATE,10148,end apogee,CONTROL_FINISHED_OK
$STATE,10148,begin climb
$GC,10150,0.77,155.7,2825,2234,3083,3008,991.0,0.0,419,10300,0.82,2.50,137.00,1.268,10500,0.044,0.052,3134,3648,2411,2454,2369,0,0,0,0,0,0,25.41,24.83,23.99
$GC,10354,0.68,155.7,3133,3648,2446,2366,967.9,16.3,426,10363,0.22,2.25,0.00,0.000,5126,0.184,0.031,3091,2249,2405,2444,2366,0,0,0,0,0,0,25.34,25.53,28.83
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$STATE,18427,end climb,SURFACE_DEPTH_REACHED
$STATE,18427,begin surface coast
$FINISH,-0.0,1.021540
$STATE,18447,end surface coast,CONTROL_FINISHED_OK
$STATE,18447,begin surface
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$IRIDIUM_FIX,1214.53,14527.78,121014,042341
$TT8_MAMPS,0.159537,0.159537
$HUMID,45.74
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$TCM_TEMP,25.00
$XPDR_PINGS,2
$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,18475.17 8510.10
$PA_BOOTCOUNT,82
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.02/0.042/1.764/1.632
$24V_AH,23.99,10.285
$10V_AH,9.94,30.442
$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,24.720,0.000,0.000,0.000,0.000,0.000,142.482,0.000,0.000,0.000
$MEM,228540
$DATA_FILE_SIZE,36773,854
$CAP_FILE_SIZE,169318,0
$CFSIZE,260034560,251400192
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