version: 66.12
glider: 178
mission: 20
dive: 89
start: 3 18 115 12 42 22
data:
$ID,178
$MISSION,20
$DIVE,89
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,180315,123536,1213.1674,14500.8320,32,0.9,32,1.9,0.4,40.3,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-74.8
$GPS2,180315,124211,1213.2031,14500.8447,13,1.8,29,1.9,0.6,19.3,7,10.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,265.3,71279,-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,-175.2,147,2469,1241,1226,0.0,0.0,0,180,0.00,0.00,-78.75,0.000,16386,0.000,0.000,146,2471,3263,3307,3220,0,0,0,0,0,0,26.22,28.83,26.27
$GC,183,-0.68,-175.2,147,2471,3305,3221,3.7,-13.4,10,214,10.60,2.17,-11.23,0.000,18948,0.252,0.041,2557,1045,3962,3998,3927,0,0,0,0,0,0,25.84,25.56,26.02
$GC,374,-0.68,-175.2,2556,1046,3998,3937,67.8,-27.5,35,386,0.00,2.20,0.00,0.000,1030,0.000,0.034,2549,2440,3966,3997,3936,0,0,0,0,0,0,26.26,26.20,26.28
$GC,691,-0.68,-175.2,2548,2441,3998,3941,150.9,-24.7,66,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2441,3967,3995,3940,0,0,0,0,0,0,26.36,26.43,26.43
$GC,1012,-0.68,-175.2,2550,2441,3995,3946,205.9,-17.1,96,1017,0.00,2.15,0.00,0.000,516,0.000,0.031,2549,1046,3971,3996,3946,0,0,0,0,0,0,26.42,26.39,26.48
$GC,1031,-0.68,-175.2,2548,1047,3997,3947,205.9,-17.1,96,1040,0.00,2.22,0.00,0.000,1030,0.000,0.034,2542,2446,3971,3996,3946,0,0,0,0,0,0,26.41,26.37,26.46
$GC,1337,-0.68,-175.2,2542,2446,3996,3949,252.7,-13.4,107,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2446,3972,3996,3948,0,0,0,0,0,0,26.44,26.51,26.50
$GC,1637,-0.68,-175.2,2542,2446,3996,3949,287.6,-11.3,117,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2445,3972,3996,3949,0,0,0,0,0,0,26.44,26.51,26.49
$GC,1937,-0.68,-175.2,2541,2446,3997,3949,322.4,-12.2,127,1942,0.00,2.15,0.00,0.000,260,0.000,0.050,2532,3769,3972,3996,3948,0,0,0,0,0,0,26.45,26.39,26.51
$GC,1986,-0.68,-175.2,2531,3770,3997,3949,326.0,-12.2,128,1992,0.00,2.05,0.00,0.000,1030,0.000,0.027,2531,2428,3972,3996,3948,0,0,0,0,0,0,26.47,26.46,26.50
$GC,2297,-0.68,-175.2,2531,2426,3998,3945,366.4,-11.4,139,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2425,3970,3996,3945,0,0,0,0,0,0,26.43,26.52,26.51
$GC,2597,-0.68,-175.2,2531,2425,3997,3940,400.4,-11.6,149,2603,0.00,2.12,0.00,0.000,516,0.000,0.034,2532,1067,3967,3995,3939,0,0,0,0,0,0,26.45,26.41,26.51
$GC,2637,-0.68,-175.2,2530,1068,3997,3940,404.0,-11.7,150,2643,0.10,2.20,0.00,0.000,3078,0.123,0.036,2556,2440,3967,3995,3939,0,0,0,0,0,0,26.27,26.40,26.34
$GC,2958,-0.68,-175.2,2556,2441,3996,3933,433.3,-8.1,161,2963,0.00,2.12,0.00,0.000,260,0.000,0.052,2549,3775,3963,3995,3932,0,0,0,0,0,0,26.44,26.36,26.51
$GC,2992,-0.68,-175.2,2549,3775,3995,3932,435.6,-8.0,162,2998,0.00,2.03,0.00,0.000,1030,0.000,0.026,2548,2451,3963,3995,3931,0,0,0,0,0,0,26.48,26.46,26.49
$GC,3318,-0.68,-175.2,2549,2449,3995,3926,464.1,-8.8,173,3324,0.00,2.15,0.00,0.000,516,0.000,0.032,2549,1068,3960,3995,3925,0,0,0,0,0,0,26.44,26.41,26.50
$GC,3338,-0.68,-175.2,2549,1069,3994,3926,464.1,-8.8,173,3344,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2446,3960,3995,3925,0,0,0,0,0,0,26.42,26.40,26.46
$GC,3648,-0.68,-175.2,2541,2447,3997,3919,498.1,-10.8,184,3654,0.00,2.17,0.00,0.000,260,0.000,0.052,2530,3773,3956,3995,3918,0,0,0,0,0,0,26.44,26.34,26.49
$GC,3673,-0.68,-175.2,2530,3773,3997,3919,498.1,-10.8,184,3682,0.00,2.03,0.00,0.000,1030,0.000,0.026,2532,2448,3956,3995,3917,0,0,0,0,0,0,26.46,26.45,26.48
$GC,3979,-0.68,-175.2,2532,2449,3994,3913,533.9,-10.3,195,3984,0.00,2.12,0.00,0.000,516,0.000,0.033,2531,1061,3953,3995,3912,0,0,0,0,0,0,26.42,26.38,26.48
$GC,4003,-0.68,-175.2,2530,1063,3996,3913,533.9,-10.3,195,4012,0.10,2.22,0.00,0.000,3078,0.126,0.036,2556,2446,3953,3994,3912,0,0,0,0,0,0,26.21,26.36,26.31
$GC,4309,-0.68,-175.2,2554,2446,3994,3909,560.2,-7.6,206,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2446,3950,3993,3908,0,0,0,0,0,0,26.40,26.49,26.48
$GC,4609,-0.68,-175.2,2560,2446,3990,3906,585.3,-8.7,216,4614,0.00,2.17,0.00,0.000,260,0.000,0.054,2549,3782,3948,3990,3906,0,0,0,0,0,0,26.41,26.32,26.48
$GC,4629,-0.68,-175.2,2550,3787,3990,3906,585.3,-8.7,216,4634,0.00,2.05,0.00,0.000,1030,0.000,0.027,2549,2444,3948,3990,3906,0,0,0,0,0,0,26.44,26.43,26.46
$GC,4939,-0.68,-175.2,2548,2445,3988,3905,619.2,-10.6,227,4944,0.00,2.15,0.00,0.000,516,0.000,0.033,2549,1073,3946,3988,3904,0,0,0,0,0,0,26.41,26.36,26.46
$GC,4964,-0.68,-175.2,2549,1074,3988,3904,619.2,-10.6,227,4974,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2447,3942,3982,3903,0,0,0,0,0,0,26.41,26.35,26.44
$GC,5269,-0.68,-175.2,2542,2448,3985,3901,655.9,-11.0,238,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2447,3943,3986,3901,0,0,0,0,0,0,26.39,26.46,26.46
$GC,5569,-0.68,-175.2,2542,2448,3982,3900,686.6,-10.2,248,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2448,3941,3983,3899,0,0,0,0,0,0,26.39,26.46,26.46
$GC,5869,-0.68,-175.2,2541,2448,3984,3898,716.2,-9.7,258,5875,0.00,2.17,0.00,0.000,516,0.000,0.032,2542,1068,3939,3982,3897,0,0,0,0,0,0,26.41,26.34,26.45
$GC,5915,-0.68,-175.2,2540,1069,3984,3897,719.2,-9.8,259,5921,0.00,2.22,0.00,0.000,1030,0.000,0.036,2534,2460,3939,3981,3897,0,0,0,0,0,0,26.39,26.32,26.41
$GC,6231,-0.68,-175.2,2535,2461,3981,3896,751.5,-9.8,270,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2460,3938,3981,3895,0,0,0,0,0,0,26.37,26.44,26.44
$GC,6531,-0.68,-175.2,2533,2459,3980,3895,781.2,-9.8,280,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2460,3936,3979,3893,0,0,0,0,0,0,26.37,26.44,26.43
$GC,6831,-0.68,-175.2,2535,2461,3977,3893,809.1,-9.0,290,6836,0.00,2.17,0.00,0.000,516,0.000,0.032,2534,1073,3934,3977,3892,0,0,0,0,0,0,26.36,26.31,26.42
$GC,6880,-0.68,-175.2,2535,1073,3976,3892,811.8,-8.9,291,6887,0.10,2.22,0.00,0.000,3078,0.127,0.037,2559,2446,3934,3977,3892,0,0,0,0,0,0,26.12,26.29,26.20
$GC,7191,-0.68,-175.2,2559,2446,3975,3890,834.3,-6.6,302,7197,0.00,2.17,0.00,0.000,260,0.000,0.054,2553,3775,3933,3977,3889,0,0,0,0,0,0,26.36,26.23,26.41
$GC,7216,-0.68,-175.2,2552,3776,3978,3890,834.3,-6.6,302,7226,0.00,2.03,0.00,0.000,1030,0.000,0.027,2553,2453,3932,3976,3889,0,0,0,0,0,0,26.38,26.36,26.39
$GC,7521,-0.68,-175.2,2553,2453,3974,3889,857.7,-7.3,313,7527,0.00,2.17,0.00,0.000,516,0.000,0.032,2553,1057,3931,3974,3888,0,0,0,0,0,0,26.34,26.29,26.41
$GC,7556,-0.68,-175.2,2553,1058,3975,3889,860.0,-7.4,314,7562,0.00,2.25,0.00,0.000,1030,0.000,0.036,2546,2477,3931,3974,3888,0,0,0,0,0,0,26.34,26.27,26.37
$GC,7882,-0.68,-175.2,2545,2478,3975,3888,886.5,-8.1,325,7887,0.00,2.22,0.00,0.000,516,0.000,0.033,2546,1072,3930,3974,3887,0,0,0,0,0,0,26.34,26.27,26.39
$GC,7907,-0.68,-175.2,2547,1072,3973,3887,886.5,-8.1,325,7916,0.00,2.22,0.00,0.000,1030,0.000,0.037,2543,2448,3930,3973,3887,0,0,0,0,0,0,26.30,26.25,26.35
$GC,8212,-0.68,-175.2,2543,2449,3975,3887,914.0,-8.0,336,8218,0.00,2.17,0.00,0.000,516,0.000,0.032,2543,1063,3929,3973,3886,0,0,0,0,0,0,26.32,26.27,26.39
$GC,8232,-0.68,-175.2,2543,1064,3974,3887,914.0,-8.0,336,8241,0.00,2.25,0.00,0.000,1030,0.000,0.036,2541,2448,3929,3973,3886,0,0,0,0,0,0,26.29,26.25,26.32
$GC,8538,-0.68,-175.2,2540,2449,3973,3885,940.5,-8.3,347,8544,0.00,2.17,0.00,0.000,260,0.000,0.054,2532,3779,3927,3971,3884,0,0,0,0,0,0,26.32,26.19,26.38
$GC,8558,-0.68,-175.2,2533,3779,3971,3885,940.5,-8.3,347,8565,0.00,2.05,0.00,0.000,1030,0.000,0.027,2533,2448,3925,3966,3884,0,0,0,0,0,0,26.34,26.32,26.36
$GC,8869,-0.68,-175.2,2532,2449,3972,3884,969.9,-8.9,358,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2449,3926,3970,3883,0,0,0,0,0,0,26.32,26.39,26.37
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9108,begin apogee
$GC,9112,-0.11,0.0,2532,2101,3971,3883,991.1,-8.8,366,9254,0.68,0.00,137.32,1.305,10246,0.118,0.000,2742,2101,3279,3319,3240,0,0,0,0,0,0,26.03,24.86,24.14
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9256,0.68,175.2,2743,2101,3318,3238,996.7,0.0,370,9426,0.70,2.53,155.48,1.290,11012,0.046,0.044,3006,3509,2563,2609,2517,0,0,0,0,0,0,25.08,24.30,23.58
$GC,9620,0.68,175.2,3005,3510,2600,2515,973.1,13.6,383,9626,0.00,2.22,0.00,0.000,1030,0.000,0.024,3016,2114,2555,2597,2514,0,0,0,0,0,0,25.77,25.74,25.77
$GC,9951,0.68,175.2,3017,2115,2595,2510,931.2,12.7,394,9956,0.00,2.28,0.00,0.000,260,0.000,0.043,3016,3511,2552,2595,2510,0,0,0,0,0,0,26.16,26.11,26.23
$GC,10001,0.68,175.2,3017,3512,2595,2510,927.3,12.6,395,10007,0.00,2.20,0.00,0.000,1030,0.000,0.023,3027,2101,2552,2595,2510,0,0,0,0,0,0,26.21,26.20,26.23
$GC,10311,0.68,175.2,3027,2102,2592,2510,885.8,12.4,406,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2101,2551,2593,2509,0,0,0,0,0,0,26.28,26.36,26.34
$GC,10611,0.68,175.2,3026,2102,2593,2509,849.3,12.2,416,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2101,2550,2592,2509,0,0,0,0,0,0,26.32,26.39,26.38
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$STATE,17963,end climb,SURFACE_DEPTH_REACHED
$STATE,17963,begin surface coast
$FINISH,-0.1,1.022049
$STATE,17983,end surface coast,CONTROL_FINISHED_OK
$STATE,17983,begin surface
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$IRIDIUM_FIX,1205.71,14500.30,120108,204401
$TT8_MAMPS,0.053179,0.053179
$HUMID,40.90
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.40
$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,17602.31 17084.11
$PA_BOOTCOUNT,307
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$PA_HOME,0.03/0.056/1.764/1.618
$PA_DISK_BANK,0
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$10V_AH,10.18,25.505
$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,230004
$DATA_FILE_SIZE,36764,807
$CAP_FILE_SIZE,157746,0
$CFSIZE,260034560,250597376
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