version: 66.12
glider: 178
mission: 20
dive: 84
start: 3 17 115 10 19 40
data:
$ID,178
$MISSION,20
$DIVE,84
$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,53
$R_STBD_OVSHOOT,46
$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
$GPS1,170315,101306,1212.3702,14508.9453,41,1.0,41,1.9,0.4,352.9,7,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-73.8
$GPS2,170315,101929,1212.3396,14508.9355,9,1.4,13,1.9,0.6,255.4,7,8.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,272.6,85995,-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,-175.2,124,2464,1241,1224,0.0,0.0,0,183,0.00,0.00,-80.97,0.000,16386,0.000,0.000,123,2464,3306,3352,3261,0,0,0,0,0,0,26.22,28.83,26.29
$GC,185,-0.68,-175.2,123,2465,3354,3264,3.6,-12.4,10,219,10.60,2.20,-10.00,0.000,19204,0.251,0.038,2557,1038,3964,3998,3930,0,0,0,0,0,0,25.86,25.58,26.05
$GC,369,-0.68,-175.2,2556,1037,3998,3938,65.1,-26.8,35,377,0.00,2.20,0.00,0.000,1030,0.000,0.035,2548,2434,3967,3996,3938,0,0,0,0,0,0,26.26,26.21,26.28
$GC,682,-0.68,-175.2,2548,2434,3998,3941,153.9,-22.4,66,691,0.00,2.15,0.00,0.000,260,0.000,0.046,2539,3779,3968,3996,3940,0,0,0,0,0,0,26.32,26.29,26.39
$GC,746,-0.68,-175.2,2540,3780,3995,3942,169.6,-24.9,72,754,0.00,2.00,0.00,0.000,1030,0.000,0.024,2544,2429,3968,3996,3941,0,0,0,0,0,0,26.40,26.37,26.41
$GC,1059,-0.68,-175.2,2543,2427,3998,3947,226.3,-16.5,93,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2426,3971,3996,3946,0,0,0,0,0,0,26.36,26.44,26.43
$GC,1359,-0.68,-175.2,2543,2427,3998,3949,269.2,-13.2,103,1367,0.00,2.08,0.00,0.000,516,0.000,0.031,2544,1069,3972,3996,3948,0,0,0,0,0,0,26.38,26.36,26.44
$GC,1376,-0.68,-175.2,2543,1070,3998,3950,269.2,-13.2,103,1384,0.00,2.17,0.00,0.000,1030,0.000,0.033,2537,2461,3972,3996,3949,0,0,0,0,0,0,26.42,26.36,26.44
$GC,1689,-0.68,-175.2,2538,2462,3996,3950,313.8,-13.6,114,1696,0.00,2.08,0.00,0.000,260,0.000,0.048,2527,3772,3972,3996,3949,0,0,0,0,0,0,26.37,26.34,26.43
$GC,1776,-0.68,-175.2,2525,3773,3996,3950,325.5,-13.5,117,1786,0.00,1.98,0.00,0.000,1030,0.000,0.025,2527,2450,3972,3996,3949,0,0,0,0,0,0,26.44,26.38,26.44
$GC,2111,-0.68,-175.2,2526,2447,3997,3948,364.5,-10.7,128,2121,0.12,2.12,0.00,0.000,2564,0.163,0.030,2568,1066,3971,3996,3947,0,0,0,0,0,0,26.22,26.37,26.30
$GC,2150,-0.68,-175.2,2567,1067,3997,3948,367.6,-10.2,129,2158,0.00,2.17,0.00,0.000,1030,0.000,0.034,2562,2455,3971,3996,3947,0,0,0,0,0,0,26.43,26.36,26.44
$GC,2473,-0.68,-175.2,2561,2454,3998,3943,392.0,-8.0,140,2481,0.00,2.10,0.00,0.000,260,0.000,0.049,2552,3769,3969,3996,3942,0,0,0,0,0,0,26.39,26.33,26.45
$GC,2530,-0.68,-175.2,2551,3770,3997,3942,394.6,-8.0,141,2541,0.00,2.00,0.00,0.000,1030,0.000,0.026,2552,2442,3968,3996,3941,0,0,0,0,0,0,26.44,26.41,26.45
$GC,2835,-0.68,-175.2,2551,2439,3996,3937,426.3,-10.0,152,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2439,3965,3995,3936,0,0,0,0,0,0,26.39,26.45,26.44
$GC,3136,-0.68,-175.2,2552,2440,3995,3929,454.7,-9.5,162,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2439,3962,3995,3929,0,0,0,0,0,0,26.36,26.43,26.42
$GC,3436,-0.68,-175.2,2552,2436,3995,3923,484.2,-9.8,172,3443,0.00,2.12,0.00,0.000,516,0.000,0.033,2552,1068,3958,3995,3922,0,0,0,0,0,0,26.37,26.36,26.43
$GC,3472,-0.68,-175.2,2551,1068,3997,3923,486.9,-9.9,173,3480,0.00,2.17,0.00,0.000,1030,0.000,0.034,2543,2448,3958,3995,3922,0,0,0,0,0,0,26.40,26.34,26.42
$GC,3790,-0.68,-175.2,2544,2449,3996,3915,521.3,-10.5,184,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2448,3955,3995,3916,0,0,0,0,0,0,26.36,26.44,26.42
$GC,4090,-0.68,-175.2,2544,2449,3994,3911,550.0,-9.1,194,4099,0.00,2.15,0.00,0.000,260,0.000,0.050,2533,3776,3952,3994,3910,0,0,0,0,0,0,26.36,26.29,26.41
$GC,4124,-0.68,-175.2,2534,3777,3993,3910,552.8,-9.2,195,4132,0.00,2.03,0.00,0.000,1030,0.000,0.027,2534,2437,3951,3993,3910,0,0,0,0,0,0,26.39,26.36,26.40
$GC,4452,-0.68,-175.2,2534,2436,3991,3906,586.8,-10.4,206,4459,0.00,2.10,0.00,0.000,516,0.000,0.032,2533,1068,3949,3992,3906,0,0,0,0,0,0,26.35,26.32,26.41
$GC,4489,-0.68,-175.2,2535,1068,3990,3907,590.2,-10.5,207,4497,0.12,2.17,0.00,0.000,3078,0.158,0.034,2556,2450,3948,3991,3906,0,0,0,0,0,0,26.17,26.31,26.32
$GC,4812,-0.68,-175.2,2555,2450,3991,3905,617.6,-7.9,218,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3946,3989,3904,0,0,0,0,0,0,26.32,26.39,26.38
$GC,5112,-0.68,-175.2,2555,2450,3989,3902,638.1,-6.5,228,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3944,3987,3901,0,0,0,0,0,0,26.34,26.41,26.39
$GC,5412,-0.68,-175.2,2557,2450,3985,3900,659.3,-7.3,238,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3942,3985,3899,0,0,0,0,0,0,26.33,26.40,26.39
$GC,5712,-0.68,-175.2,2555,2451,3985,3898,683.2,-8.3,248,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3940,3983,3897,0,0,0,0,0,0,26.32,26.38,26.37
$GC,6012,-0.68,-175.2,2557,2451,3982,3896,709.1,-8.8,258,6020,0.00,2.17,0.00,0.000,516,0.000,0.032,2555,1065,3939,3982,3896,0,0,0,0,0,0,26.32,26.29,26.37
$GC,6040,-0.68,-175.2,2557,1065,3981,3896,709.1,-8.8,258,6050,0.00,2.20,0.00,0.000,1030,0.000,0.035,2553,2448,3938,3982,3895,0,0,0,0,0,0,26.34,26.26,26.35
$GC,6345,-0.68,-175.2,2551,2448,3982,3893,739.3,-9.1,269,6353,0.00,2.15,0.00,0.000,260,0.000,0.051,2543,3771,3937,3980,3894,0,0,0,0,0,0,26.31,26.22,26.36
$GC,6372,-0.68,-175.2,2542,3772,3980,3894,739.3,-9.1,269,6383,0.00,2.03,0.00,0.000,1030,0.000,0.027,2542,2438,3936,3980,3893,0,0,0,0,0,0,26.34,26.32,26.35
$GC,6678,-0.68,-175.2,2543,2438,3978,3892,771.0,-9.3,280,6686,0.00,2.12,0.00,0.000,516,0.000,0.032,2543,1061,3935,3978,3892,0,0,0,0,0,0,26.31,26.27,26.37
$GC,6711,-0.68,-175.2,2541,1062,3980,3892,774.3,-9.5,281,6719,0.00,2.20,0.00,0.000,1030,0.000,0.036,2541,2455,3934,3978,3891,0,0,0,0,0,0,26.32,26.25,26.33
$GC,7039,-0.68,-175.2,2542,2461,3977,3890,805.4,-9.7,292,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3932,3976,3889,0,0,0,0,0,0,26.27,26.34,26.33
$GC,7338,-0.68,-175.2,2542,2456,3975,3889,834.9,-10.0,302,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3931,3975,3888,0,0,0,0,0,0,26.28,26.35,26.34
$GC,7638,-0.68,-175.2,2542,2456,3974,3887,864.4,-9.8,312,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2455,3930,3974,3886,0,0,0,0,0,0,26.29,26.34,26.34
$GC,7938,-0.68,-175.2,2542,2456,3973,3887,892.6,-9.1,322,7946,0.00,2.15,0.00,0.000,516,0.000,0.032,2542,1070,3929,3973,3886,0,0,0,0,0,0,26.26,26.22,26.32
$GC,7981,-0.68,-175.2,2542,1071,3973,3886,895.1,-9.1,323,7990,0.00,2.22,0.00,0.000,1030,0.000,0.037,2542,2460,3929,3973,3886,0,0,0,0,0,0,26.28,26.21,26.30
$GC,8295,-0.68,-175.2,2542,2460,3972,3885,924.2,-8.8,334,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2459,3928,3972,3884,0,0,0,0,0,0,26.27,26.34,26.34
$GC,8595,-0.68,-175.2,2540,2460,3972,3884,950.8,-8.9,344,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2460,3927,3971,3883,0,0,0,0,0,0,26.24,26.32,26.30
$GC,8894,-0.68,-175.2,2542,2460,3970,3882,976.9,-8.6,354,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2459,3926,3970,3882,0,0,0,0,0,0,26.21,26.28,26.27
$STATE,9073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9073,begin apogee
$GC,9077,-0.11,0.0,2542,2087,3969,3881,992.5,-8.7,360,9221,0.65,0.00,136.60,1.310,10246,0.119,0.000,2742,2088,3281,3321,3241,0,0,0,0,0,0,26.00,24.87,24.16
$STATE,9221,end apogee,CONTROL_FINISHED_OK
$STATE,9221,begin climb
$GC,9223,0.68,175.2,2743,2089,3318,3239,998.6,0.0,364,9392,0.70,2.47,155.40,1.295,11012,0.050,0.042,3009,3513,2563,2610,2517,0,0,0,0,0,0,25.10,24.35,23.65
$GC,9617,0.68,175.2,3008,3514,2599,2514,970.3,14.1,378,9626,0.00,2.17,0.00,0.000,1030,0.000,0.024,3019,2113,2555,2597,2514,0,0,0,0,0,0,25.83,25.80,25.84
$GC,9946,0.68,175.2,3020,2114,2594,2510,924.8,13.8,389,9957,0.00,2.25,0.00,0.000,260,0.000,0.041,3020,3511,2552,2595,2510,0,0,0,0,0,0,26.13,26.08,26.20
$GC,10083,0.68,175.2,3020,3512,2595,2511,906.8,14.9,393,10091,0.00,2.17,0.00,0.000,1030,0.000,0.024,3030,2101,2552,2595,2510,0,0,0,0,0,0,26.23,26.20,26.25
$GC,10400,0.68,175.2,3030,2102,2592,2511,860.3,13.8,404,10411,0.00,2.22,0.00,0.000,516,0.000,0.037,3041,700,2550,2592,2509,0,0,0,0,0,0,26.24,26.22,26.31
$GC,10471,0.68,175.2,3040,700,2593,2508,852.1,13.7,406,10479,0.17,2.20,0.00,0.000,5126,0.177,0.027,3000,2111,2550,2592,2508,0,0,0,0,0,0,26.01,26.23,26.22
$GC,10788,0.68,175.2,3000,2111,2592,2508,814.0,11.3,417,10797,0.00,2.25,0.00,0.000,260,0.000,0.043,3000,3506,2549,2592,2507,0,0,0,0,0,0,26.25,26.20,26.32
$GC,10826,0.68,175.2,2999,3507,2594,2509,810.0,11.5,418,10833,0.00,2.15,0.00,0.000,1030,0.000,0.024,3008,2101,2550,2593,2507,0,0,0,0,0,0,26.30,26.27,26.31
$GC,11148,0.68,175.2,3007,2101,2593,2508,771.8,11.5,429,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2101,2549,2591,2508,0,0,0,0,0,0,26.25,26.32,26.32
$GC,11448,0.68,175.2,3009,2101,2589,2507,736.6,12.0,439,11456,0.00,2.28,0.00,0.000,260,0.000,0.044,3008,3504,2548,2590,2507,0,0,0,0,0,0,26.25,26.18,26.30
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$STATE,17949,end climb,SURFACE_DEPTH_REACHED
$STATE,17949,begin surface coast
$FINISH,0.2,1.022102
$STATE,17969,end surface coast,CONTROL_FINISHED_OK
$STATE,17969,begin surface
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$IRIDIUM_FIX,1205.71,14514.94,110108,183544
$TT8_MAMPS,0.053179,0.053179
$HUMID,40.07
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$TCM_TEMP,24.60
$XPDR_PINGS,0
$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,17991.82 7751.92
$PA_BOOTCOUNT,301
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$10V_AH,10.21,25.129
$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
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229956
$DATA_FILE_SIZE,36804,809
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$CFSIZE,260034560,251023360
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