version: 66.12
glider: 178
mission: 18
dive: 115
start: 10 19 114 16 46 25
data:
$ID,178
$MISSION,18
$DIVE,115
$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,62
$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,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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,191014,163926,1201.589,14423.851,42,0.9,62,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-77.5
$GPS2,191014,164614,1201.562,14423.839,14,0.9,34,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,156.7,95109,-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,-155.7,163,2135,1567,1549,0.0,0.0,0,157,0.00,0.00,-64.05,0.000,16386,0.000,0.000,161,2135,3298,3346,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,160,-0.77,-155.7,163,2135,3348,3250,3.9,-15.6,11,184,10.60,2.17,-6.00,0.000,18948,0.245,0.051,2613,770,3687,3748,3627,0,0,0,0,0,0,25.65,26.12,26.24
$GC,381,-0.71,-155.7,2613,772,3759,3629,77.6,-21.4,43,393,0.15,2.12,0.00,0.000,3078,0.168,0.032,2640,2142,3692,3757,3627,0,0,0,0,0,0,25.90,26.15,28.83
$GC,687,-0.69,-155.7,2641,2146,3763,3629,137.0,-18.9,74,696,0.00,2.15,0.00,0.000,516,0.000,0.036,2640,768,3694,3762,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,731,-0.69,-155.7,2641,769,3763,3629,144.0,-16.3,78,739,0.00,2.15,0.00,0.000,1030,0.000,0.031,2636,2157,3695,3763,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1044,-0.69,-155.7,2636,2157,3769,3627,186.2,-11.0,109,1052,0.00,2.22,0.00,0.000,260,0.000,0.045,2625,3560,3697,3768,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1086,-0.69,-155.7,2626,3561,3769,3629,191.4,-12.2,113,1094,0.00,2.12,0.00,0.000,1030,0.000,0.026,2625,2155,3697,3768,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1399,-0.69,-155.7,2625,2153,3772,3631,229.3,-11.9,128,1407,0.00,2.17,0.00,0.000,516,0.000,0.035,2625,749,3700,3771,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1451,-0.69,-155.7,2625,750,3777,3632,233.4,-12.0,129,1459,0.12,2.15,0.00,0.000,3078,0.151,0.031,2648,2149,3701,3771,3631,0,0,0,0,0,0,26.03,26.21,28.83
$GC,1757,-0.73,-155.7,2648,2149,3772,3631,264.8,-9.2,139,1767,0.00,2.22,0.00,0.000,260,0.000,0.047,2640,3567,3701,3771,3631,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1872,-0.76,-155.7,2640,3572,3772,3632,272.3,-8.3,142,1885,0.00,2.15,0.00,0.000,1030,0.000,0.026,2640,2148,3701,3771,3631,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2177,-0.79,-155.7,2640,2146,3771,3631,305.4,-11.0,153,2188,0.00,2.15,0.00,0.000,516,0.000,0.037,2641,753,3700,3769,3631,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2267,-0.83,-155.7,2640,754,3769,3633,316.2,-11.7,156,2279,0.00,2.17,0.00,0.000,1030,0.000,0.032,2634,2153,3699,3768,3630,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2599,-0.86,-155.7,2634,2153,3765,3632,354.7,-11.0,167,2609,0.12,2.20,0.00,0.000,4356,0.087,0.047,2559,3548,3697,3764,3631,0,0,0,0,0,0,26.19,26.14,28.83
$GC,2643,-0.89,-155.7,2559,3548,3764,3631,358.5,-11.2,168,2651,0.00,2.12,0.00,0.000,1030,0.000,0.028,2559,2147,3696,3762,3630,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2956,-0.89,-155.7,2558,2143,3760,3630,400.6,-12.2,179,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2143,3694,3758,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3255,-0.89,-155.7,2559,2139,3753,3631,435.9,-12.1,189,3265,0.00,2.17,0.00,0.000,516,0.000,0.038,2559,747,3691,3752,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3304,-0.89,-155.7,2558,747,3752,3630,440.0,-12.0,190,3312,0.15,2.20,0.00,0.000,3078,0.168,0.034,2587,2157,3690,3751,3630,0,0,0,0,0,0,25.90,26.17,28.83
$GC,3617,-0.89,-155.7,2586,2157,3747,3629,471.7,-9.5,201,3628,0.00,2.25,0.00,0.000,260,0.000,0.049,2578,3555,3686,3745,3628,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3657,-0.89,-155.7,2578,3556,3745,3630,474.7,-9.7,202,3665,0.00,2.17,0.00,0.000,1030,0.000,0.029,2578,2141,3686,3744,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3974,-0.89,-155.7,2578,2138,3742,3627,510.2,-11.2,213,3985,0.00,2.20,0.00,0.000,516,0.000,0.040,2576,755,3683,3740,3626,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4049,-0.89,-155.7,2578,756,3741,3628,517.3,-11.7,215,4057,0.00,2.20,0.00,0.000,1030,0.000,0.035,2570,2159,3683,3740,3626,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4361,-0.89,-155.7,2570,2160,3736,3625,557.0,-12.1,226,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2159,3679,3735,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4661,-0.89,-155.7,2572,2160,3734,3622,590.6,-11.1,236,4673,0.00,2.22,0.00,0.000,516,0.000,0.040,2570,760,3676,3732,3621,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4727,-0.89,-155.7,2570,760,3733,3620,597.3,-11.0,238,4735,0.00,2.20,0.00,0.000,1030,0.000,0.035,2560,2157,3675,3731,3620,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5054,-0.89,-155.7,2561,2159,3724,3619,634.7,-11.2,249,5062,0.00,2.22,0.00,0.000,516,0.000,0.041,2561,758,3673,3728,3618,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5082,-0.89,-155.7,2561,759,3728,3619,637.8,-11.4,250,5090,0.12,2.20,0.00,0.000,3078,0.176,0.036,2581,2152,3670,3723,3617,0,0,0,0,0,0,25.83,26.08,28.83
$GC,5415,-0.89,-155.7,2582,2153,3726,3617,669.0,-9.0,261,5423,0.00,2.25,0.00,0.000,260,0.000,0.051,2573,3555,3670,3724,3616,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5438,-0.89,-155.7,2574,3555,3726,3616,669.0,-9.0,261,5446,0.00,2.20,0.00,0.000,1030,0.000,0.031,2573,2143,3670,3724,3616,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5751,-0.89,-155.7,2574,2141,3722,3615,699.4,-8.8,272,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2140,3667,3721,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,-0.89,-155.7,2573,2140,3723,3612,725.1,-8.4,282,6062,0.00,2.17,0.00,0.000,516,0.000,0.041,2576,761,3666,3720,3612,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6106,-0.89,-155.7,2573,760,3720,3612,727.7,-8.4,283,6116,0.00,2.20,0.00,0.000,1030,0.000,0.037,2567,2150,3665,3719,3612,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6412,-0.89,-155.7,2568,2149,3717,3610,755.5,-8.5,294,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2150,3663,3716,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6711,-0.89,-155.7,2568,2149,3716,3609,782.5,-9.2,304,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2149,3661,3714,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7012,-0.89,-155.7,2567,2148,3714,3607,812.6,-10.5,314,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2150,3660,3713,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,-0.89,-155.7,2568,2150,3711,3606,846.3,-11.5,324,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2150,3658,3711,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7611,-0.89,-155.7,2567,2150,3710,3605,881.5,-11.8,334,7619,0.00,2.25,0.00,0.000,516,0.000,0.042,2567,754,3657,3709,3605,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7663,-0.89,-155.7,2568,755,3709,3605,885.4,-11.9,335,7671,0.00,2.22,0.00,0.000,1030,0.000,0.037,2558,2146,3656,3709,3604,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7969,-0.89,-155.7,2558,2151,3708,3604,924.0,-11.4,345,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2151,3655,3707,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,-0.89,-155.7,2559,2152,3706,3606,958.1,-11.2,355,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2151,3654,3706,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8567,begin apogee
$GC,8571,-0.13,0.0,2558,2273,3704,3603,991.1,-11.0,365,8712,0.90,0.00,133.02,1.270,10246,0.142,0.000,2821,2272,3046,3084,3009,0,0,0,0,0,0,25.61,28.83,24.06
$STATE,8712,end apogee,CONTROL_FINISHED_OK
$STATE,8712,begin climb
$GC,8714,0.77,155.7,2820,2273,3083,3008,994.9,0.0,369,8866,0.82,2.45,141.57,1.250,10500,0.051,0.050,3127,3654,2410,2454,2367,0,0,0,0,0,0,25.03,24.40,23.58
$GC,8886,0.68,155.7,3127,3653,2449,2365,983.0,10.2,375,8896,0.20,2.30,0.00,0.000,5126,0.182,0.029,3093,2249,2406,2447,2365,0,0,0,0,0,0,24.68,24.85,28.83
$GC,9201,0.64,155.7,3093,2246,2443,2356,933.9,14.5,386,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2246,2399,2442,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9500,0.60,155.7,3093,2245,2442,2355,890.7,14.3,396,9509,0.12,2.22,0.00,0.000,4612,0.203,0.039,3069,844,2398,2441,2355,0,0,0,0,0,0,25.78,26.05,28.83
$GC,9533,0.56,155.7,3069,844,2442,2353,886.3,14.1,397,9541,0.00,2.25,0.00,0.000,1030,0.000,0.035,3068,2255,2396,2440,2353,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9861,0.54,155.7,3069,2255,2441,2352,843.2,13.3,408,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2255,2395,2439,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10160,0.51,155.7,3069,2255,2439,2351,802.8,13.5,418,10168,0.12,2.28,0.00,0.000,4356,0.187,0.050,3033,3654,2395,2438,2352,0,0,0,0,0,0,25.80,26.01,28.83
$GC,10198,0.49,155.7,3037,3655,2439,2352,798.9,13.7,419,10207,0.00,2.20,0.00,0.000,1030,0.000,0.031,3044,2245,2394,2438,2351,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10516,0.49,155.7,3045,2241,2437,2351,758.1,12.4,430,10524,0.00,2.22,0.00,0.000,516,0.000,0.042,3055,843,2393,2435,2351,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10544,0.49,155.7,3056,843,2437,2350,754.8,12.3,431,10552,0.00,2.25,0.00,0.000,1030,0.000,0.036,3056,2254,2392,2435,2350,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10877,0.49,155.7,3056,2254,2436,2349,712.8,12.5,442,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2253,2392,2435,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11176,0.49,155.7,3056,2255,2434,2350,676.3,11.9,452,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2255,2392,2434,2350,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17412,end climb,SURFACE_DEPTH_REACHED
$STATE,17412,begin surface coast
$FINISH,-1.4,1.021274
$STATE,17439,end surface coast,CONTROL_FINISHED_OK
$STATE,17439,begin surface
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$IRIDIUM_FIX,1156.89,14425.43,191014,113205
$TT8_MAMPS,0.053928,0.053928
$HUMID,45.78
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$TCM_TEMP,25.00
$XPDR_PINGS,1
$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,17468.74 7625.74
$PA_BOOTCOUNT,118
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$PA_HOME,0.03/0.050/1.764/1.624
$24V_AH,23.58,26.044
$10V_AH,10.07,32.965
$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
$SENSOR_SECS,572.538,0.000,0.000,0.000,0.000,0.000,17962.041,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,228464
$DATA_FILE_SIZE,36768,845
$CAP_FILE_SIZE,150220,0
$CFSIZE,260034560,248344576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18556.41,0x236bc6,7,5
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$GPS,191014,213925,1158.939,14424.176,25,1.1,45,1.8