version: 66.12
glider: 178
mission: 18
dive: 199
start: 11 5 114 12 48 52
data:
$ID,178
$MISSION,18
$DIVE,199
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,67
$R_STBD_OVSHOOT,34
$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
$GPS1,051114,124256,1238.194,14424.619,38,0.8,58,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-74.9
$GPS2,051114,124838,1238.213,14424.523,11,0.8,31,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,29.1,60821,-17.3,-11.000,-20.18,2764
$D_GRID,1685
$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,119,end surface,CONTROL_FINISHED_OK
$STATE,119,begin dive
$GC,121,-0.84,-214.1,139,2118,1341,1321,0.0,0.0,0,201,0.00,0.00,-73.90,0.000,16386,0.000,0.000,138,2119,3356,3404,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,204,-0.84,-214.1,138,2118,3405,3308,4.5,-17.1,10,229,10.68,2.28,-8.27,0.000,18692,0.241,0.052,2583,3559,3923,3980,3867,0,0,0,0,0,0,25.50,26.21,26.45
$GC,248,-0.57,-214.1,2584,3560,3983,3870,32.6,-56.1,18,257,0.32,2.15,0.00,0.000,3078,0.185,0.030,2677,2175,3926,3984,3868,0,0,0,0,0,0,25.64,26.26,28.83
$GC,557,-0.57,-214.1,2678,2172,3992,3870,99.2,-16.0,54,563,0.00,2.20,0.00,0.000,516,0.000,0.037,2677,746,3929,3991,3868,0,0,0,0,0,0,28.83,26.27,28.83
$GC,572,-0.57,-214.1,2678,747,3992,3870,100.7,-15.5,55,581,0.00,2.20,0.00,0.000,1030,0.000,0.031,2672,2154,3929,3990,3869,0,0,0,0,0,0,28.83,26.29,28.83
$GC,877,-0.57,-214.1,2672,2156,3997,3870,155.6,-17.3,86,884,0.00,2.25,0.00,0.000,260,0.000,0.045,2661,3555,3932,3996,3868,0,0,0,0,0,0,28.83,26.25,28.83
$GC,953,-0.61,-214.1,2661,3556,3997,3871,166.0,-13.3,93,962,0.00,2.15,0.00,0.000,1030,0.000,0.025,2661,2137,3931,3996,3867,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1258,-0.64,-214.1,2662,2136,3999,3872,197.5,-7.2,124,1264,0.00,2.25,0.00,0.000,260,0.000,0.044,2653,3552,3934,3998,3870,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1319,-0.68,-214.1,2654,3553,3999,3872,201.2,-5.7,130,1324,0.00,2.12,0.00,0.000,1030,0.000,0.025,2653,2125,3935,3999,3871,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1649,-0.72,-214.1,2653,2123,4000,3874,227.8,-9.1,141,1655,0.00,2.10,0.00,0.000,516,0.000,0.036,2653,756,3936,4000,3872,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1734,-0.77,-214.1,2654,756,4000,3874,235.6,-9.1,144,1740,0.00,2.17,0.00,0.000,1030,0.000,0.031,2653,2156,3936,4000,3873,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2065,-0.81,-214.1,2654,2156,4000,3879,262.4,-8.0,155,2071,0.15,2.20,0.00,0.000,4356,0.076,0.046,2568,3551,3935,3998,3873,0,0,0,0,0,0,26.37,26.22,28.83
$GC,2120,-0.85,-214.1,2567,3551,3998,3872,266.0,-8.9,156,2129,0.00,2.15,0.00,0.000,1030,0.000,0.031,2567,2158,3934,3997,3872,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2425,-0.85,-214.1,2568,2158,3997,3873,310.9,-13.1,167,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2156,3934,3996,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2726,-0.85,-214.1,2569,2156,3992,3873,353.2,-13.5,177,2731,0.00,2.17,0.00,0.000,516,0.000,0.038,2568,756,3931,3991,3872,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2785,-0.85,-214.1,2568,756,3991,3872,360.8,-12.6,179,2792,0.10,2.20,0.00,0.000,3078,0.134,0.033,2591,2142,3931,3989,3873,0,0,0,0,0,0,26.01,26.29,28.83
$GC,3117,-0.85,-214.1,2591,2141,3985,3872,392.4,-9.5,190,3122,0.00,2.25,0.00,0.000,260,0.000,0.048,2583,3555,3928,3984,3872,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3226,-0.85,-214.1,2582,3555,3984,3872,400.7,-9.6,193,3235,0.00,2.17,0.00,0.000,1030,0.000,0.028,2581,2147,3927,3982,3872,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3532,-0.85,-214.1,2583,2148,3979,3871,432.3,-9.8,204,3538,0.00,2.17,0.00,0.000,516,0.000,0.038,2582,750,3923,3978,3869,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3567,-0.85,-214.1,2583,750,3979,3869,435.4,-9.8,205,3573,0.00,2.22,0.00,0.000,1030,0.000,0.034,2574,2148,3923,3978,3869,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3893,-0.85,-214.1,2575,2148,3976,3866,468.7,-10.0,216,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2148,3920,3974,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4193,-0.85,-214.1,2575,2149,3971,3866,499.6,-10.3,226,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2148,3917,3970,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4493,-0.85,-214.1,2574,2149,3967,3862,527.7,-8.9,236,4499,0.00,2.30,0.00,0.000,260,0.000,0.052,2564,3560,3913,3966,3861,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4533,-0.85,-214.1,2565,3560,3966,3861,530.0,-8.9,237,4539,0.08,2.20,0.00,0.000,3078,0.132,0.031,2588,2154,3912,3963,3861,0,0,0,0,0,0,25.98,26.27,28.83
$GC,4849,-0.85,-214.1,2589,2154,3964,3860,558.0,-8.6,248,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2153,3912,3965,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5149,-0.85,-214.1,2589,2154,3960,3857,586.1,-9.4,258,5154,0.00,2.20,0.00,0.000,516,0.000,0.041,2588,759,3907,3959,3856,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5194,-0.87,-214.1,2589,761,3960,3855,588.9,-9.4,259,5200,0.00,2.25,0.00,0.000,1030,0.000,0.036,2584,2153,3907,3959,3855,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5510,-0.87,-214.1,2584,2154,3958,3852,621.3,-10.0,270,5515,0.00,2.30,0.00,0.000,260,0.000,0.053,2573,3558,3904,3957,3852,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5545,-0.87,-214.1,2573,3559,3957,3853,623.9,-9.8,271,5551,0.00,2.22,0.00,0.000,1030,0.000,0.031,2573,2145,3904,3956,3852,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5865,-0.87,-214.1,2574,2142,3949,3850,655.9,-9.1,282,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2142,3901,3953,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6166,-0.87,-214.1,2573,2142,3952,3848,681.1,-8.3,292,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2142,3899,3950,3848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6465,-0.87,-214.1,2574,2142,3949,3847,706.3,-8.8,302,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2141,3898,3949,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6765,-0.87,-214.1,2573,2141,3947,3845,735.2,-10.4,312,6771,0.00,2.35,0.00,0.000,260,0.000,0.054,2566,3559,3895,3945,3845,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6791,-0.87,-214.1,2567,3561,3946,3846,735.2,-10.4,312,6800,0.00,2.20,0.00,0.000,1030,0.000,0.032,2566,2137,3895,3945,3845,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7096,-0.87,-214.1,2567,2136,3946,3844,771.6,-11.3,323,7101,0.00,2.22,0.00,0.000,516,0.000,0.043,2566,769,3893,3944,3843,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7121,-0.87,-214.1,2566,769,3945,3843,771.6,-11.3,323,7130,0.08,2.25,0.00,0.000,3078,0.143,0.037,2582,2145,3896,3949,3843,0,0,0,0,0,0,25.74,26.01,28.83
$GC,7427,-0.89,-214.1,2583,2146,3942,3842,806.5,-10.6,334,7432,0.00,2.33,0.00,0.000,260,0.000,0.054,2574,3555,3891,3941,3841,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7487,-0.91,-214.1,2574,3555,3942,3841,812.6,-10.7,336,7492,0.00,2.22,0.00,0.000,1030,0.000,0.032,2574,2158,3890,3941,3840,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7812,-0.91,-214.1,2574,2155,3940,3840,849.0,-11.1,347,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2155,3889,3939,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,-0.91,-214.1,2574,2156,3939,3839,881.5,-10.9,357,8118,0.00,2.33,0.00,0.000,260,0.000,0.055,2571,3555,3888,3938,3839,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8142,-0.91,-214.1,2572,3556,3939,3839,884.7,-10.9,358,8148,0.00,2.22,0.00,0.000,1030,0.000,0.033,2571,2133,3888,3937,3839,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8473,-0.91,-214.1,2572,2129,3937,3843,918.5,-10.0,369,8478,0.00,2.38,0.00,0.000,260,0.000,0.054,2565,3556,3886,3935,3838,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8488,-0.91,-214.1,2565,3555,3936,3837,918.5,-10.0,369,8494,0.00,2.25,0.00,0.000,1030,0.000,0.034,2565,2148,3886,3935,3838,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8804,-0.91,-214.1,2566,2146,3935,3838,950.8,-9.2,380,8809,0.00,2.22,0.00,0.000,516,0.000,0.044,2565,755,3885,3934,3837,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8829,-0.91,-214.1,2566,756,3935,3838,950.8,-9.2,380,8838,0.00,2.25,0.00,0.000,1030,0.000,0.039,2559,2153,3884,3933,3836,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9134,-0.91,-214.1,2560,2153,3933,3836,979.9,-8.4,391,9139,0.00,2.33,0.00,0.000,260,0.000,0.055,2559,3556,3885,3933,3837,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9159,-0.91,-214.1,2560,3556,3934,3837,979.9,-8.4,391,9168,0.00,2.25,0.00,0.000,1030,0.000,0.034,2559,2150,3883,3932,3835,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,9282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9282,begin apogee
$GC,9287,-0.13,0.0,2560,2265,3932,3836,992.3,-8.3,396,9477,0.88,0.00,185.02,1.278,10246,0.125,0.000,2823,2263,3046,3085,3007,0,0,0,0,0,0,25.44,28.83,23.14
$STATE,9478,end apogee,CONTROL_FINISHED_OK
$STATE,9478,begin climb
$GC,9480,0.84,214.1,2823,2265,3084,3006,996.3,0.0,402,9690,0.90,2.50,198.40,1.252,10500,0.047,0.050,3153,3655,2173,2214,2132,0,0,0,0,0,0,24.58,24.18,22.91
$GC,9770,0.76,214.1,3153,3655,2204,2129,952.2,22.3,412,9776,0.20,2.28,0.00,0.000,5126,0.172,0.031,3117,2251,2165,2202,2129,0,0,0,0,0,0,25.02,25.30,28.83
$GC,10091,0.72,214.1,3118,2250,2201,2125,891.2,18.0,423,10097,0.00,2.25,0.00,0.000,516,0.000,0.044,3126,844,2162,2201,2123,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10127,0.68,214.1,3126,843,2202,2122,885.8,17.8,424,10133,0.10,2.25,0.00,0.000,5126,0.157,0.037,3096,2243,2161,2200,2122,0,0,0,0,0,0,25.97,26.21,28.83
$GC,10452,0.66,214.1,3096,2244,2200,2121,833.5,15.7,435,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2243,2160,2199,2121,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,-0.4,1.021347
$STATE,17134,end surface coast,CONTROL_FINISHED_OK
$STATE,17135,begin surface
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$IRIDIUM_FIX,1229.99,14425.17,051114,075755
$TT8_MAMPS,0.053928,0.053928
$HUMID,50.94
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$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,17138.48 16637.92
$PA_BOOTCOUNT,202
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$PA_HOME,0.04/0.068/1.764/1.606
$PA_DISK_BANK,2
$24V_AH,22.91,64.426
$10V_AH,9.94,38.993
$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,549.493,0.000,0.000,0.000,0.000,0.000,17043.109,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.321,0.000,0.000,0.000
$MEM,262920
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