version: 66.12
glider: 178
mission: 20
dive: 77
start: 3 15 115 22 6 10
data:
$ID,178
$MISSION,20
$DIVE,77
$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,55
$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,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
$GPS1,150315,215906,1212.2357,14523.1514,32,1.1,32,2.0,0.3,68.0,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-71.0
$GPS2,150315,220559,1212.2657,14523.1123,11,1.8,21,2.0,0.9,94.0,9,8.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,261.4,111609,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,121,2451,1256,1219,0.0,0.0,0,187,0.00,0.00,-86.65,0.000,16386,0.000,0.000,121,2451,3506,3564,3449,0,0,0,0,0,0,26.20,28.83,26.27
$GC,189,-0.68,-175.2,120,2452,3566,3451,3.8,-11.1,10,221,10.45,2.20,-6.55,0.000,18948,0.248,0.047,2558,1053,3966,3996,3937,0,0,0,0,0,0,25.91,25.07,26.20
$GC,324,-0.68,-175.2,2557,1054,3995,3942,65.7,-32.4,28,331,0.00,2.20,0.00,0.000,1030,0.000,0.037,2549,2447,3968,3996,3941,0,0,0,0,0,0,26.33,26.27,26.34
$GC,629,-0.68,-175.2,2550,2448,3995,3949,158.9,-19.6,58,637,0.00,2.17,0.00,0.000,516,0.000,0.032,2549,1050,3969,3996,3943,0,0,0,0,0,0,26.32,26.33,26.39
$GC,696,-0.68,-175.2,2548,1051,3997,3945,169.6,-16.8,64,708,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2451,3970,3995,3945,0,0,0,0,0,0,26.39,26.32,26.40
$GC,1022,-0.68,-175.2,2540,2452,3998,3951,225.5,-16.4,87,1031,0.00,2.12,0.00,0.000,260,0.000,0.050,2530,3782,3973,3996,3950,0,0,0,0,0,0,26.37,26.34,26.43
$GC,1105,-0.68,-175.2,2530,3782,3998,3952,234.7,-15.3,89,1113,0.00,2.03,0.00,0.000,1030,0.000,0.027,2530,2431,3973,3996,3951,0,0,0,0,0,0,26.44,26.40,26.44
$GC,1417,-0.68,-175.2,2530,2429,3996,3954,284.5,-14.7,100,1427,0.00,2.08,0.00,0.000,516,0.000,0.033,2535,1067,3974,3996,3953,0,0,0,0,0,0,26.37,26.39,26.44
$GC,1456,-0.68,-175.2,2531,1068,3995,3954,289.4,-14.8,101,1464,0.15,2.17,0.00,0.000,3078,0.147,0.036,2561,2460,3974,3996,3953,0,0,0,0,0,0,26.27,26.38,26.39
$GC,1779,-0.68,-175.2,2561,2460,3998,3954,320.6,-7.7,112,1789,0.00,2.10,0.00,0.000,260,0.000,0.050,2554,3782,3974,3995,3953,0,0,0,0,0,0,26.39,26.35,26.45
$GC,1798,-0.68,-175.2,2555,3782,3996,3954,320.6,-7.7,112,1806,0.00,2.00,0.00,0.000,1030,0.000,0.028,2554,2445,3974,3996,3953,0,0,0,0,0,0,26.46,26.42,26.46
$GC,2104,-0.68,-175.2,2554,2445,3996,3952,344.6,-7.8,122,2112,0.00,2.12,0.00,0.000,516,0.000,0.032,2554,1066,3974,3996,3952,0,0,0,0,0,0,26.39,26.39,26.45
$GC,2137,-0.68,-175.2,2553,1066,3998,3952,347.3,-8.1,123,2144,0.00,2.15,0.00,0.000,1030,0.000,0.034,2544,2453,3973,3996,3951,0,0,0,0,0,0,26.43,26.38,26.45
$GC,2464,-0.68,-175.2,2545,2453,3996,3946,382.0,-11.3,134,2474,0.00,2.12,0.00,0.000,260,0.000,0.050,2534,3779,3970,3996,3945,0,0,0,0,0,0,26.37,26.35,26.44
$GC,2523,-0.68,-175.2,2534,3780,3997,3946,385.9,-11.5,135,2534,0.00,1.98,0.00,0.000,1030,0.000,0.026,2534,2443,3970,3996,3944,0,0,0,0,0,0,26.46,26.43,26.46
$GC,2828,-0.68,-175.2,2534,2443,3997,3940,423.1,-11.0,146,2836,0.00,2.12,0.00,0.000,516,0.000,0.031,2535,1065,3967,3995,3939,0,0,0,0,0,0,26.39,26.38,26.45
$GC,2850,-0.68,-175.2,2535,1065,3995,3940,423.1,-11.0,146,2860,0.12,2.17,0.00,0.000,3078,0.158,0.034,2556,2457,3967,3996,3939,0,0,0,0,0,0,26.25,26.37,26.39
$GC,3156,-0.68,-175.2,2556,2457,3996,3934,453.8,-9.1,157,3165,0.00,2.12,0.00,0.000,260,0.000,0.052,2547,3773,3963,3995,3932,0,0,0,0,0,0,26.38,26.34,26.45
$GC,3215,-0.68,-175.2,2548,3774,3996,3932,459.5,-9.4,159,3223,0.00,1.98,0.00,0.000,1030,0.000,0.027,2548,2442,3963,3996,3931,0,0,0,0,0,0,26.44,26.42,26.48
$GC,3548,-0.68,-175.2,2547,2443,3997,3926,492.2,-9.9,170,3558,0.00,2.12,0.00,0.000,516,0.000,0.032,2550,1067,3959,3994,3925,0,0,0,0,0,0,26.36,26.37,26.43
$GC,3582,-0.68,-175.2,2549,1067,3995,3926,495.2,-9.9,171,3590,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2458,3960,3995,3925,0,0,0,0,0,0,26.40,26.34,26.42
$GC,3905,-0.68,-175.2,2542,2459,3994,3919,527.7,-10.0,182,3913,0.00,2.15,0.00,0.000,516,0.000,0.031,2541,1069,3957,3994,3921,0,0,0,0,0,0,26.37,26.36,26.43
$GC,3937,-0.68,-175.2,2541,1070,3997,3919,530.5,-10.0,183,3945,0.00,2.17,0.00,0.000,1030,0.000,0.036,2534,2452,3956,3994,3918,0,0,0,0,0,0,26.40,26.34,26.41
$GC,4259,-0.68,-175.2,2534,2453,3994,3914,566.1,-11.3,194,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2452,3954,3995,3913,0,0,0,0,0,0,26.36,26.44,26.43
$GC,4560,-0.68,-175.2,2534,2453,3992,3910,599.5,-11.0,204,4567,0.00,2.15,0.00,0.000,260,0.000,0.052,2524,3775,3952,3993,3911,0,0,0,0,0,0,26.37,26.29,26.43
$GC,4582,-0.68,-175.2,2525,3775,3992,3910,599.5,-11.0,204,4592,0.15,2.00,0.00,0.000,3078,0.152,0.027,2563,2447,3950,3992,3909,0,0,0,0,0,0,26.20,26.39,26.34
$GC,4887,-0.68,-175.2,2562,2447,3991,3907,628.8,-8.4,215,4897,0.00,2.12,0.00,0.000,516,0.000,0.031,2562,1076,3948,3991,3906,0,0,0,0,0,0,26.35,26.34,26.41
$GC,4911,-0.68,-175.2,2561,1077,3992,3907,628.8,-8.4,215,4919,0.00,2.17,0.00,0.000,1030,0.000,0.034,2557,2453,3948,3990,3906,0,0,0,0,0,0,26.39,26.31,26.40
$GC,5224,-0.68,-175.2,2556,2453,3991,3905,658.2,-8.7,226,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2453,3946,3989,3904,0,0,0,0,0,0,26.33,26.41,26.39
$GC,5524,-0.68,-175.2,2557,2454,3986,3904,683.8,-8.3,236,5532,0.00,2.15,0.00,0.000,516,0.000,0.031,2557,1064,3945,3987,3903,0,0,0,0,0,0,26.34,26.32,26.40
$GC,5551,-0.68,-175.2,2552,1065,3988,3904,686.0,-8.3,237,5559,0.00,2.17,0.00,0.000,1030,0.000,0.035,2550,2450,3944,3986,3902,0,0,0,0,0,0,26.36,26.29,26.39
$GC,5879,-0.68,-175.2,2549,2451,3987,3901,713.5,-8.4,248,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2450,3942,3985,3900,0,0,0,0,0,0,26.29,26.36,26.34
$GC,6179,-0.68,-175.2,2551,2451,3983,3895,737.6,-8.1,258,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2450,3941,3983,3899,0,0,0,0,0,0,26.27,26.34,26.32
$GC,6479,-0.68,-175.2,2551,2451,3981,3897,761.8,-8.0,268,6487,0.00,2.15,0.00,0.000,516,0.000,0.033,2550,1067,3939,3982,3896,0,0,0,0,0,0,26.32,26.29,26.38
$GC,6507,-0.68,-175.2,2549,1068,3984,3897,764.0,-7.9,269,6517,0.00,2.20,0.00,0.000,1030,0.000,0.036,2543,2449,3939,3982,3897,0,0,0,0,0,0,26.34,26.28,26.36
$GC,6837,-0.68,-175.2,2542,2449,3990,3896,793.6,-9.1,280,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2449,3938,3980,3896,0,0,0,0,0,0,26.27,26.34,26.32
$GC,7137,-0.68,-175.2,2544,2450,3978,3894,820.9,-8.9,290,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2449,3936,3979,3894,0,0,0,0,0,0,26.31,26.36,26.37
$GC,7437,-0.68,-175.2,2547,2450,3979,3894,846.6,-8.7,300,7448,0.00,2.17,0.00,0.000,516,0.000,0.034,2543,1068,3935,3978,3893,0,0,0,0,0,0,26.29,26.27,26.34
$GC,7468,-0.68,-175.2,2542,1068,3979,3893,849.2,-8.5,301,7478,0.00,2.20,0.00,0.000,1030,0.000,0.038,2542,2454,3935,3977,3893,0,0,0,0,0,0,26.32,26.25,26.34
$GC,7798,-0.68,-175.2,2542,2455,3976,3891,876.2,-8.0,312,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2454,3933,3976,3890,0,0,0,0,0,0,26.27,26.34,26.34
$GC,8098,-0.68,-175.2,2542,2455,3976,3890,900.4,-8.1,322,8106,0.00,2.17,0.00,0.000,260,0.000,0.054,2533,3782,3932,3976,3889,0,0,0,0,0,0,26.28,26.21,26.34
$GC,8126,-0.68,-175.2,2533,3782,3975,3890,902.7,-8.2,323,8133,0.00,2.03,0.00,0.000,1030,0.000,0.027,2533,2445,3932,3975,3890,0,0,0,0,0,0,26.32,26.30,26.34
$GC,8459,-0.68,-175.2,2532,2445,3975,3889,931.5,-8.7,334,8469,0.00,2.15,0.00,0.000,516,0.000,0.033,2533,1066,3931,3974,3889,0,0,0,0,0,0,26.26,26.24,26.32
$GC,8495,-0.68,-175.2,2533,1067,3974,3889,934.9,-9.0,335,8505,0.12,2.20,0.00,0.000,3078,0.158,0.036,2560,2454,3931,3974,3888,0,0,0,0,0,0,26.08,26.23,26.17
$GC,8825,-0.68,-175.2,2560,2455,3974,3888,960.1,-7.9,346,8836,0.00,2.12,0.00,0.000,260,0.000,0.054,2559,3774,3930,3974,3887,0,0,0,0,0,0,26.26,26.18,26.32
$GC,8851,-0.68,-175.2,2558,3775,3975,3887,960.1,-7.9,346,8861,0.00,2.03,0.00,0.000,1030,0.000,0.027,2560,2437,3930,3974,3887,0,0,0,0,0,0,26.32,26.29,26.33
$GC,9156,-0.68,-175.2,2560,2437,3973,3887,987.6,-8.4,357,9167,0.00,2.10,0.00,0.000,516,0.000,0.032,2559,1082,3930,3974,3886,0,0,0,0,0,0,26.20,26.22,26.26
$GC,9181,-0.68,-175.2,2560,1083,3973,3887,987.6,-8.4,357,9191,0.00,2.17,0.00,0.000,1030,0.000,0.034,2559,2459,3928,3972,3885,0,0,0,0,0,0,26.28,26.20,26.29
$STATE,9215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9215,begin apogee
$GC,9219,-0.11,0.0,2559,2104,3975,3887,992.5,-8.2,359,9364,0.57,0.00,138.12,1.307,10246,0.112,0.000,2741,2103,3280,3320,3240,0,0,0,0,0,0,26.05,24.89,24.18
$STATE,9365,end apogee,CONTROL_FINISHED_OK
$STATE,9365,begin climb
$GC,9367,0.68,175.2,2740,2104,3321,3239,999.6,0.0,363,9535,0.73,2.47,155.23,1.293,11012,0.044,0.043,3015,3514,2563,2609,2517,0,0,0,0,0,0,25.12,24.41,23.71
$GC,9640,0.68,175.2,3015,3514,2599,2515,989.9,12.6,373,9649,0.00,2.20,0.00,0.000,1030,0.000,0.024,3025,2116,2556,2599,2513,0,0,0,0,0,0,25.51,25.47,25.52
$GC,9965,0.68,175.2,3024,2117,2597,2510,946.1,13.3,384,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2117,2552,2596,2508,0,0,0,0,0,0,26.06,26.14,26.13
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$STATE,17917,end climb,SURFACE_DEPTH_REACHED
$STATE,17917,begin surface coast
$FINISH,0.2,1.022100
$STATE,17939,end surface coast,CONTROL_FINISHED_OK
$STATE,17939,begin surface
$SM_CCo,17954,53.35,0.063,0,0,1239,500.17
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$IRIDIUM_FIX,1205.71,14529.03,100108,063257
$TT8_MAMPS,0.05243,0.05243
$HUMID,39.72
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$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,17962.98 7823.19
$PA_BOOTCOUNT,294
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$PA_HOME,0.03/0.054/1.764/1.621
$PA_DISK_BANK,0
$24V_AH,23.71,16.162
$10V_AH,10.21,24.621
$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
$DEVICE_SECS,20.850,157.200,461.600,53.350,0.000,0.000,0.000,290.825,0.000,18437.049,23.895,0.000,14310.004,609.100,3284.509,204.979,0.000,2384.717,0.000,1762.477,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,546.548,0.000,0.000,0.000,0.000,0.000,18437.170,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229984
$DATA_FILE_SIZE,36694,802
$CAP_FILE_SIZE,161499,0
$CFSIZE,260034560,251584512
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