version: 66.12
glider: 178
mission: 20
dive: 75
start: 3 15 115 12 8 16
data:
$ID,178
$MISSION,20
$DIVE,75
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,360
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,500
$N_FILEKB,8
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$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,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$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,49
$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
$GPS1,150315,120134,1211.3687,14527.6787,37,1.3,72,2.0,0.9,11.8,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-73.3
$GPS2,150315,120805,1211.3625,14527.6650,9,1.3,14,2.0,0.5,175.7,7,8.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,271.5,119936,-16.5,-10.000,-23.13,2699
$D_GRID,1020
$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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.68,-175.2,119,2455,1239,1226,0.0,0.0,0,178,0.00,0.00,-76.68,0.000,16386,0.000,0.000,119,2454,3146,3187,3105,0,0,0,0,0,0,26.24,28.83,26.31
$GC,181,-0.68,-175.2,120,2455,3188,3107,3.1,-10.3,10,212,10.23,2.17,-13.93,0.000,18948,0.241,0.042,2554,1037,3963,4000,3927,0,0,0,0,0,0,25.93,25.63,26.20
$GC,256,-0.68,-175.2,2553,1038,4000,3936,32.2,-31.3,20,275,0.00,2.22,0.00,0.000,1030,0.000,0.036,2547,2448,3966,3997,3935,0,0,0,0,0,0,26.31,26.25,26.32
$GC,581,-0.68,-175.2,2545,2449,3998,3939,144.3,-28.4,55,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2448,3967,3996,3938,0,0,0,0,0,0,26.31,26.39,26.37
$GC,885,-0.68,-175.2,2547,2449,3996,3945,201.4,-16.2,85,895,0.00,2.12,0.00,0.000,260,0.000,0.048,2536,3780,3970,3996,3944,0,0,0,0,0,0,26.38,26.34,26.44
$GC,944,-0.68,-175.2,2537,3781,3995,3946,211.4,-16.2,87,952,0.00,2.03,0.00,0.000,1030,0.000,0.024,2536,2417,3971,3996,3946,0,0,0,0,0,0,26.44,26.41,26.45
$GC,1271,-0.68,-175.2,2536,2415,3998,3949,262.7,-16.0,98,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2414,3972,3996,3948,0,0,0,0,0,0,26.36,26.44,26.42
$GC,1571,-0.68,-175.2,2536,2414,3998,3949,303.4,-14.2,108,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2414,3972,3996,3948,0,0,0,0,0,0,26.40,26.48,26.46
$GC,1871,-0.68,-175.2,2537,2414,3996,3948,343.8,-12.6,118,1879,0.00,2.20,0.00,0.000,260,0.000,0.051,2529,3772,3972,3996,3948,0,0,0,0,0,0,26.40,26.19,26.46
$GC,1944,-0.68,-175.2,2529,3772,3998,3948,352.0,-12.9,120,1952,0.00,1.95,0.00,0.000,1030,0.000,0.026,2530,2453,3969,3992,3947,0,0,0,0,0,0,26.48,26.45,26.48
$GC,2261,-0.68,-175.2,2530,2451,3996,3945,392.9,-12.0,131,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2449,3970,3996,3944,0,0,0,0,0,0,26.39,26.47,26.46
$GC,2561,-0.68,-175.2,2530,2451,3995,3938,426.9,-11.3,141,2569,0.12,2.12,0.00,0.000,2564,0.162,0.031,2565,1069,3966,3995,3938,0,0,0,0,0,0,26.27,26.39,26.35
$GC,2589,-0.68,-175.2,2566,1069,3995,3937,429.7,-11.0,142,2597,0.00,2.17,0.00,0.000,1030,0.000,0.034,2560,2454,3966,3995,3938,0,0,0,0,0,0,26.44,26.38,26.45
$GC,2916,-0.68,-175.2,2560,2455,3995,3930,457.5,-8.7,153,2927,0.00,2.12,0.00,0.000,260,0.000,0.051,2551,3773,3962,3995,3929,0,0,0,0,0,0,26.36,26.16,26.42
$GC,2966,-0.68,-175.2,2551,3774,3995,3929,460.3,-8.9,154,2974,0.00,2.00,0.00,0.000,1030,0.000,0.025,2551,2430,3962,3995,3929,0,0,0,0,0,0,26.46,26.42,26.47
$GC,3271,-0.68,-175.2,2550,2429,3996,3924,493.1,-10.5,164,3279,0.00,2.17,0.00,0.000,260,0.000,0.050,2543,3769,3959,3995,3923,0,0,0,0,0,0,26.39,26.34,26.44
$GC,3303,-0.68,-175.2,2541,3769,3997,3923,496.2,-10.7,165,3312,0.00,1.98,0.00,0.000,1030,0.000,0.026,2542,2450,3958,3995,3922,0,0,0,0,0,0,26.46,26.42,26.46
$GC,3632,-0.68,-175.2,2542,2447,3997,3916,535.4,-12.0,176,3640,0.00,2.12,0.00,0.000,516,0.000,0.032,2543,1072,3955,3995,3915,0,0,0,0,0,0,26.34,26.35,26.40
$GC,3655,-0.68,-175.2,2543,1073,3996,3916,535.4,-12.0,176,3662,0.00,2.15,0.00,0.000,1030,0.000,0.035,2542,2448,3955,3995,3916,0,0,0,0,0,0,26.43,26.36,26.44
$GC,3960,-0.68,-175.2,2542,2449,3995,3909,574.2,-11.5,186,3968,0.00,2.15,0.00,0.000,260,0.000,0.054,2532,3775,3952,3995,3909,0,0,0,0,0,0,26.39,26.32,26.45
$GC,3998,-0.68,-175.2,2533,3775,3994,3909,577.3,-11.6,187,4005,0.00,2.00,0.00,0.000,1030,0.000,0.025,2532,2437,3951,3994,3909,0,0,0,0,0,0,26.43,26.41,26.44
$GC,4315,-0.68,-175.2,2533,2437,3992,3906,613.3,-10.6,198,4323,0.00,2.10,0.00,0.000,516,0.000,0.031,2532,1072,3949,3993,3906,0,0,0,0,0,0,26.37,26.36,26.43
$GC,4392,-0.68,-175.2,2532,1073,3991,3906,619.7,-10.4,200,4400,0.12,2.17,0.00,0.000,3078,0.158,0.034,2555,2451,3948,3992,3904,0,0,0,0,0,0,26.22,26.35,26.36
$GC,4705,-0.68,-175.2,2556,2452,3989,3901,645.6,-7.7,211,4712,0.00,2.12,0.00,0.000,260,0.000,0.052,2548,3769,3946,3990,3903,0,0,0,0,0,0,26.36,26.08,26.42
$GC,4752,-0.68,-175.2,2549,3770,3989,3903,648.1,-7.7,212,4759,0.00,1.98,0.00,0.000,1030,0.000,0.026,2548,2451,3945,3989,3902,0,0,0,0,0,0,26.43,26.39,26.44
$GC,5064,-0.68,-175.2,2547,2449,3988,3900,675.3,-8.2,223,5074,0.00,2.12,0.00,0.000,516,0.000,0.031,2547,1075,3943,3987,3900,0,0,0,0,0,0,26.34,26.34,26.41
$GC,5089,-0.68,-175.2,2547,1076,3988,3900,675.3,-8.2,223,5099,0.00,2.17,0.00,0.000,1030,0.000,0.034,2545,2452,3943,3987,3899,0,0,0,0,0,0,26.39,26.34,26.41
$GC,5394,-0.68,-175.2,2545,2452,3985,3897,704.3,-9.2,234,5402,0.00,2.15,0.00,0.000,260,0.000,0.054,2535,3775,3941,3985,3897,0,0,0,0,0,0,26.34,26.09,26.39
$GC,5441,-0.68,-175.2,2536,3775,3984,3897,707.1,-9.5,235,5449,0.00,1.98,0.00,0.000,1030,0.000,0.025,2535,2437,3940,3984,3896,0,0,0,0,0,0,26.41,26.39,26.41
$GC,5746,-0.68,-175.2,2534,2438,3983,3896,741.9,-11.0,245,5758,0.00,2.08,0.00,0.000,516,0.000,0.031,2535,1082,3938,3982,3895,0,0,0,0,0,0,26.35,26.33,26.41
$GC,5782,-0.68,-175.2,2535,1084,3982,3896,745.4,-11.1,246,5789,0.00,2.15,0.00,0.000,1030,0.000,0.034,2533,2451,3939,3983,3895,0,0,0,0,0,0,26.38,26.32,26.39
$GC,6104,-0.68,-175.2,2535,2452,3988,3893,782.5,-11.3,257,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2451,3937,3981,3893,0,0,0,0,0,0,26.33,26.41,26.39
$GC,6404,-0.68,-175.2,2532,2452,3981,3892,814.1,-10.3,267,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2451,3935,3980,3890,0,0,0,0,0,0,26.32,26.40,26.38
$GC,6704,-0.68,-175.2,2532,2453,3980,3890,843.3,-9.5,277,6712,0.00,2.12,0.00,0.000,516,0.000,0.031,2533,1079,3933,3977,3889,0,0,0,0,0,0,26.33,26.30,26.39
$GC,6736,-0.68,-175.2,2533,1080,3978,3890,845.9,-9.5,278,6744,0.00,2.17,0.00,0.000,1030,0.000,0.035,2533,2448,3933,3978,3889,0,0,0,0,0,0,26.34,26.27,26.36
$GC,7059,-0.68,-175.2,2534,2448,3976,3888,874.5,-8.3,289,7066,0.00,2.17,0.00,0.000,260,0.000,0.055,2531,3782,3932,3977,3888,0,0,0,0,0,0,26.31,26.22,26.37
$GC,7091,-0.68,-175.2,2532,3783,3975,3888,877.1,-8.2,290,7099,0.00,2.00,0.00,0.000,1030,0.000,0.026,2531,2441,3931,3975,3887,0,0,0,0,0,0,26.36,26.34,26.37
$GC,7425,-0.68,-175.2,2530,2439,3977,3887,903.3,-8.0,301,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2438,3931,3975,3887,0,0,0,0,0,0,26.30,26.37,26.36
$GC,7723,-0.68,-175.2,2532,2438,3974,3885,928.7,-8.5,311,7731,0.00,2.12,0.00,0.000,516,0.000,0.031,2531,1075,3929,3974,3885,0,0,0,0,0,0,26.30,26.27,26.36
$GC,7751,-0.68,-175.2,2531,1075,3975,3886,931.2,-8.6,312,7759,0.15,2.20,0.00,0.000,3078,0.151,0.034,2562,2458,3929,3974,3885,0,0,0,0,0,0,26.11,26.27,26.26
$GC,8084,-0.68,-175.2,2562,2459,3975,3883,953.4,-6.6,323,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2457,3927,3973,3882,0,0,0,0,0,0,26.29,26.36,26.34
$GC,8384,-0.68,-175.2,2562,2459,3973,3882,972.0,-6.0,333,8393,0.00,2.15,0.00,0.000,516,0.000,0.031,2562,1074,3927,3973,3881,0,0,0,0,0,0,26.28,26.25,26.34
$GC,8409,-0.68,-175.2,2562,1074,3972,3882,972.0,-6.0,333,8419,0.00,2.20,0.00,0.000,1030,0.000,0.034,2560,2457,3927,3973,3881,0,0,0,0,0,0,26.30,26.23,26.32
$GC,8714,-0.68,-175.2,2559,2457,3973,3882,989.5,-5.1,344,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2457,3925,3971,3880,0,0,0,0,0,0,26.27,26.34,26.34
$STATE,8742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8742,begin apogee
$GC,8746,-0.11,0.0,2561,2105,3971,3876,991.2,-5.1,345,8891,0.57,0.00,137.73,1.308,10246,0.113,0.000,2741,2097,3279,3320,3239,0,0,0,0,0,0,26.10,24.91,24.21
$STATE,8892,end apogee,CONTROL_FINISHED_OK
$STATE,8892,begin climb
$GC,8894,0.68,175.2,2743,2097,3319,3236,994.4,0.0,349,9061,0.70,2.33,154.80,1.298,11012,0.045,0.037,3020,730,2565,2611,2519,0,0,0,0,0,0,25.15,24.47,23.78
$GC,9285,0.68,175.2,3021,730,2601,2510,961.1,14.2,363,9296,0.00,2.17,0.00,0.000,1030,0.000,0.028,3020,2103,2554,2601,2508,0,0,0,0,0,0,25.89,25.84,25.91
$GC,9616,0.68,175.2,3019,2104,2601,2508,917.2,12.8,374,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2103,2553,2600,2507,0,0,0,0,0,0,26.16,26.20,26.20
$GC,9916,0.68,175.2,3021,2104,2598,2506,881.6,11.4,384,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2104,2552,2598,2506,0,0,0,0,0,0,26.24,26.31,26.30
$GC,10216,0.68,175.2,3021,2104,2595,2506,846.7,11.7,394,10226,0.00,2.25,0.00,0.000,260,0.000,0.047,3020,3503,2550,2596,2505,0,0,0,0,0,0,26.27,26.23,26.34
$GC,10280,0.68,175.2,3019,3503,2598,2506,839.3,12.1,396,10288,0.00,2.12,0.00,0.000,1030,0.000,0.025,3032,2110,2550,2596,2505,0,0,0,0,0,0,26.34,26.29,26.34
$GC,10603,0.68,175.2,3030,2111,2597,2506,799.9,12.0,407,10611,0.12,2.22,0.00,0.000,4612,0.203,0.035,3008,699,2550,2595,2505,0,0,0,0,0,0,26.06,26.25,26.18
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$STATE,17618,end climb,SURFACE_DEPTH_REACHED
$STATE,17618,begin surface coast
$FINISH,-0.4,1.022114
$STATE,17638,end surface coast,CONTROL_FINISHED_OK
$STATE,17638,begin surface
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$IRIDIUM_FIX,1203.50,14529.03,090108,202706
$TT8_MAMPS,0.051681,0.051681
$HUMID,40.90
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.40
$XPDR_PINGS,7
$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,17641.54 7606.67
$PA_BOOTCOUNT,292
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.053/1.764/1.621
$PA_DISK_BANK,0
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$10V_AH,10.26,24.480
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,240.975,55.080,1308.150,63.495,0.000,0.000,0.000,96.390,420.000,64.462,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229964
$DATA_FILE_SIZE,33418,779
$CAP_FILE_SIZE,151370,0
$CFSIZE,260034560,251756544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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