version: 66.12
glider: 178
mission: 20
dive: 78
start: 3 16 115 3 14 16
data:
$ID,178
$MISSION,20
$DIVE,78
$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,52
$R_STBD_OVSHOOT,48
$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
$GPS1,160315,030706,1211.9633,14520.9912,26,1.1,26,2.0,0.5,204.3,7,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-71.0
$GPS2,160315,031405,1211.9883,14520.9619,8,1.3,30,2.0,0.3,340.7,7,7.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,272.7,107755,-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,-175.2,121,2476,1244,1224,0.0,0.0,0,187,0.00,0.00,-82.07,0.000,16386,0.000,0.000,121,2476,3329,3378,3280,0,0,0,0,0,0,26.22,28.83,26.29
$GC,189,-0.68,-175.2,120,2476,3380,3283,3.1,-7.9,9,222,10.45,2.22,-9.25,0.000,19204,0.248,0.044,2557,1049,3965,3999,3931,0,0,0,0,0,0,25.91,25.04,26.20
$GC,375,-0.68,-175.2,2557,1049,4001,3938,75.2,-29.7,33,390,0.00,2.17,0.00,0.000,1030,0.000,0.037,2549,2433,3967,3996,3938,0,0,0,0,0,0,26.34,26.28,26.36
$GC,685,-0.68,-175.2,2548,2432,3998,3942,163.0,-20.2,64,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2433,3968,3996,3941,0,0,0,0,0,0,26.34,26.41,26.39
$GC,1005,-0.68,-175.2,2548,2433,3997,3946,220.6,-16.8,88,1013,0.00,2.15,0.00,0.000,260,0.000,0.049,2539,3779,3971,3996,3946,0,0,0,0,0,0,26.38,26.33,26.44
$GC,1037,-0.68,-175.2,2540,3780,3996,3947,225.0,-16.7,89,1044,0.00,2.03,0.00,0.000,1030,0.000,0.024,2539,2420,3970,3994,3946,0,0,0,0,0,0,26.43,26.40,26.44
$GC,1359,-0.68,-175.2,2539,2418,3995,3949,275.7,-15.2,100,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2417,3972,3996,3949,0,0,0,0,0,0,26.39,26.46,26.45
$GC,1659,-0.68,-175.2,2538,2418,3997,3950,311.5,-11.9,110,1666,0.00,2.05,0.00,0.000,516,0.000,0.032,2539,1066,3971,3996,3946,0,0,0,0,0,0,26.39,26.40,26.46
$GC,1731,-0.68,-175.2,2538,1067,3997,3950,317.9,-11.5,112,1739,0.12,2.17,0.00,0.000,3078,0.157,0.035,2559,2453,3972,3996,3948,0,0,0,0,0,0,26.27,26.39,26.41
$GC,2044,-0.68,-175.2,2560,2455,3997,3949,347.5,-8.7,123,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3971,3995,3948,0,0,0,0,0,0,26.41,26.48,26.47
$GC,2343,-0.68,-175.2,2560,2454,3995,3945,376.1,-9.6,133,2355,0.00,2.10,0.00,0.000,260,0.000,0.050,2551,3767,3969,3996,3943,0,0,0,0,0,0,26.36,26.32,26.42
$GC,2410,-0.68,-175.2,2551,3768,3998,3943,382.2,-9.8,135,2418,0.00,1.98,0.00,0.000,1030,0.000,0.026,2552,2444,3969,3996,3942,0,0,0,0,0,0,26.46,26.44,26.47
$GC,2737,-0.68,-175.2,2553,2444,3995,3938,418.0,-11.1,146,2745,0.00,2.15,0.00,0.000,260,0.000,0.050,2542,3778,3966,3995,3938,0,0,0,0,0,0,26.39,26.34,26.46
$GC,2765,-0.68,-175.2,2541,3778,3997,3938,420.9,-10.9,147,2773,0.00,1.98,0.00,0.000,1030,0.000,0.027,2542,2448,3966,3995,3937,0,0,0,0,0,0,26.46,26.42,26.47
$GC,3097,-0.68,-175.2,2543,2445,3995,3930,454.4,-9.2,158,3106,0.00,2.12,0.00,0.000,516,0.000,0.033,2542,1070,3961,3994,3929,0,0,0,0,0,0,26.38,26.39,26.44
$GC,3161,-0.68,-175.2,2542,1071,3994,3929,459.9,-8.9,160,3169,0.00,2.17,0.00,0.000,1030,0.000,0.036,2533,2452,3961,3995,3927,0,0,0,0,0,0,26.43,26.37,26.44
$GC,3494,-0.68,-175.2,2533,2453,3995,3922,491.8,-10.0,171,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2452,3958,3995,3921,0,0,0,0,0,0,26.38,26.46,26.44
$GC,3794,-0.68,-175.2,2534,2453,3995,3916,520.9,-9.4,181,3802,0.00,2.17,0.00,0.000,516,0.000,0.033,2533,1063,3955,3995,3915,0,0,0,0,0,0,26.38,26.36,26.43
$GC,3816,-0.68,-175.2,2532,1064,3997,3916,520.9,-9.4,181,3826,0.12,2.20,0.00,0.000,3078,0.161,0.037,2555,2448,3954,3995,3914,0,0,0,0,0,0,26.22,26.35,26.36
$GC,4122,-0.68,-175.2,2556,2448,3994,3910,546.1,-7.3,192,4131,0.00,2.15,0.00,0.000,260,0.000,0.052,2547,3772,3951,3994,3909,0,0,0,0,0,0,26.39,26.32,26.45
$GC,4161,-0.68,-175.2,2548,3773,3993,3910,548.6,-7.4,193,4168,0.00,2.00,0.00,0.000,1030,0.000,0.028,2548,2450,3951,3993,3909,0,0,0,0,0,0,26.43,26.40,26.44
$GC,4478,-0.68,-175.2,2548,2449,3991,3907,573.5,-7.7,204,4485,0.00,2.15,0.00,0.000,516,0.000,0.032,2547,1065,3948,3991,3906,0,0,0,0,0,0,26.36,26.35,26.42
$GC,4500,-0.68,-175.2,2546,1062,3993,3907,573.5,-7.7,204,4507,0.00,2.20,0.00,0.000,1030,0.000,0.036,2541,2450,3948,3990,3906,0,0,0,0,0,0,26.40,26.34,26.41
$GC,4805,-0.68,-175.2,2540,2452,3990,3905,600.9,-8.8,214,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3946,3989,3903,0,0,0,0,0,0,26.37,26.44,26.43
$GC,5105,-0.68,-175.2,2540,2452,3989,3902,629.6,-9.7,224,5113,0.00,2.15,0.00,0.000,516,0.000,0.033,2541,1070,3944,3987,3901,0,0,0,0,0,0,26.35,26.35,26.41
$GC,5127,-0.68,-175.2,2541,1066,3988,3902,629.6,-9.7,224,5137,0.00,2.20,0.00,0.000,1030,0.000,0.036,2534,2461,3943,3986,3901,0,0,0,0,0,0,26.39,26.32,26.40
$GC,5432,-0.68,-175.2,2534,2461,3986,3900,663.0,-10.2,235,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2460,3942,3985,3899,0,0,0,0,0,0,26.34,26.40,26.39
$GC,5732,-0.68,-175.2,2535,2460,3982,3893,693.5,-10.2,245,5741,0.00,2.17,0.00,0.000,516,0.000,0.032,2534,1062,3940,3983,3897,0,0,0,0,0,0,26.34,26.32,26.40
$GC,5766,-0.68,-175.2,2535,1063,3983,3897,696.9,-10.3,246,5775,0.12,2.22,0.00,0.000,3078,0.161,0.037,2556,2458,3939,3982,3896,0,0,0,0,0,0,26.16,26.30,26.30
$GC,6095,-0.68,-175.2,2555,2459,3983,3895,725.0,-8.7,257,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2458,3937,3981,3894,0,0,0,0,0,0,26.32,26.39,26.39
$GC,6396,-0.68,-175.2,2555,2459,3981,3894,750.8,-8.3,267,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2459,3936,3980,3893,0,0,0,0,0,0,26.32,26.39,26.38
$GC,6695,-0.68,-175.2,2557,2459,3978,3891,773.8,-7.3,277,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2458,3934,3978,3891,0,0,0,0,0,0,26.32,26.39,26.37
$GC,6995,-0.68,-175.2,2556,2459,3979,3890,796.1,-7.3,287,7003,0.00,2.17,0.00,0.000,516,0.000,0.033,2556,1061,3932,3977,3888,0,0,0,0,0,0,26.31,26.29,26.37
$GC,7018,-0.68,-175.2,2556,1061,3976,3890,796.1,-7.3,287,7026,0.00,2.22,0.00,0.000,1030,0.000,0.037,2552,2453,3933,3977,3889,0,0,0,0,0,0,26.34,26.27,26.35
$GC,7330,-0.68,-175.2,2552,2453,3977,3889,820.7,-7.4,298,7338,0.00,2.17,0.00,0.000,516,0.000,0.032,2553,1067,3932,3976,3888,0,0,0,0,0,0,26.30,26.27,26.37
$GC,7358,-0.68,-175.2,2553,1068,3974,3889,820.7,-7.4,298,7368,0.00,2.22,0.00,0.000,1030,0.000,0.037,2546,2459,3931,3975,3888,0,0,0,0,0,0,26.34,26.27,26.35
$GC,7663,-0.68,-175.2,2545,2460,3976,3888,845.8,-7.8,309,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2460,3931,3975,3887,0,0,0,0,0,0,26.29,26.36,26.35
$GC,7963,-0.68,-175.2,2544,2460,3975,3887,868.6,-7.5,319,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2459,3930,3974,3886,0,0,0,0,0,0,26.29,26.36,26.34
$GC,8263,-0.68,-175.2,2547,2461,3973,3885,890.5,-7.3,329,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2459,3929,3973,3885,0,0,0,0,0,0,26.28,26.35,26.34
$GC,8563,-0.68,-175.2,2548,2460,3972,3884,911.0,-6.8,339,8573,0.00,2.20,0.00,0.000,516,0.000,0.033,2546,1062,3927,3972,3883,0,0,0,0,0,0,26.27,26.25,26.34
$GC,8603,-0.68,-175.2,2547,1063,3971,3883,913.5,-7.1,340,8611,0.00,2.22,0.00,0.000,1030,0.000,0.037,2546,2450,3926,3971,3882,0,0,0,0,0,0,26.29,26.22,26.32
$GC,8921,-0.68,-175.2,2545,2451,3972,3883,935.7,-6.4,351,8929,0.00,2.15,0.00,0.000,260,0.000,0.053,2538,3772,3926,3970,3882,0,0,0,0,0,0,26.27,26.17,26.32
$GC,8949,-0.68,-175.2,2538,3773,3969,3882,935.7,-6.4,351,8961,0.00,2.03,0.00,0.000,1030,0.000,0.028,2538,2442,3926,3970,3882,0,0,0,0,0,0,26.30,26.27,26.32
$GC,9254,-0.68,-175.2,2538,2443,3969,3882,961.8,-7.7,362,9261,0.00,2.15,0.00,0.000,516,0.000,0.033,2538,1069,3925,3970,3881,0,0,0,0,0,0,26.26,26.22,26.32
$GC,9296,-0.68,-175.2,2539,1069,3969,3882,964.0,-7.7,363,9304,0.00,2.22,0.00,0.000,1030,0.000,0.037,2539,2455,3925,3969,3881,0,0,0,0,0,0,26.27,26.20,26.29
$GC,9609,-0.68,-175.2,2534,2456,3967,3881,989.0,-7.5,374,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2455,3924,3968,3881,0,0,0,0,0,0,26.26,26.31,26.29
$STATE,9637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9637,begin apogee
$GC,9641,-0.11,0.0,2533,2102,3970,3881,991.3,-7.7,375,9786,0.68,0.00,137.30,1.306,10246,0.122,0.000,2740,2101,3279,3319,3239,0,0,0,0,0,0,26.03,24.88,24.18
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9788,0.68,175.2,2740,2101,3320,3238,995.9,0.0,379,9956,0.73,2.50,155.25,1.291,11012,0.054,0.044,3007,3506,2564,2610,2518,0,0,0,0,0,0,25.10,24.39,23.68
$GC,10181,0.68,175.2,3006,3507,2599,2514,966.3,13.8,393,10192,0.00,2.17,0.00,0.000,1030,0.000,0.025,3018,2118,2554,2596,2513,0,0,0,0,0,0,25.84,25.81,25.86
$GC,10511,0.68,175.2,3017,2118,2596,2511,923.6,12.9,404,10519,0.00,2.28,0.00,0.000,260,0.000,0.044,3018,3509,2552,2595,2509,0,0,0,0,0,0,26.13,26.10,26.19
$GC,10548,0.68,175.2,3018,3509,2595,2511,919.9,13.0,405,10556,0.00,2.17,0.00,0.000,1030,0.000,0.024,3028,2091,2552,2595,2509,0,0,0,0,0,0,26.21,26.17,26.22
$GC,10871,0.68,175.2,3029,2091,2592,2510,874.8,13.6,416,10878,0.00,2.33,0.00,0.000,260,0.000,0.044,3028,3518,2551,2593,2509,0,0,0,0,0,0,26.24,26.20,26.30
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$STATE,18423,end climb,SURFACE_DEPTH_REACHED
$STATE,18423,begin surface coast
$FINISH,-0.3,1.022103
$STATE,18450,end surface coast,CONTROL_FINISHED_OK
$STATE,18450,begin surface
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$IRIDIUM_FIX,1207.91,14522.90,100108,112737
$TT8_MAMPS,0.05243,0.05243
$HUMID,39.32
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$TCM_TEMP,24.80
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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,18475.68 7939.49
$PA_BOOTCOUNT,295
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$PA_HOME,0.03/0.054/1.764/1.620
$PA_DISK_BANK,0
$24V_AH,23.68,16.652
$10V_AH,10.31,24.696
$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
$DEVICE_SECS,20.700,132.200,464.075,53.625,0.000,0.000,0.000,284.075,0.000,18942.410,32.685,0.000,14806.133,584.264,3336.095,198.947,0.000,2321.435,0.000,1794.853,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229956
$DATA_FILE_SIZE,36749,830
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$CFSIZE,260034560,251506688
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