version: 66.12
glider: 178
mission: 20
dive: 93
start: 3 19 115 9 30 52
data:
$ID,178
$MISSION,20
$DIVE,93
$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,56
$R_STBD_OVSHOOT,44
$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
$GPS1,190315,092400,1212.9125,14453.9443,37,1.0,37,1.8,0.4,246.9,7,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-73.6
$GPS2,190315,093041,1212.8815,14453.9062,11,1.5,27,1.8,0.3,214.8,8,7.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,279.5,58801,-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,-175.2,128,2461,1242,1229,0.0,0.0,0,192,0.00,0.00,-87.15,0.000,16386,0.000,0.000,126,2462,3577,3615,3539,0,0,0,0,0,0,26.22,28.83,26.28
$GC,194,-0.68,-175.2,125,2463,3616,3543,4.6,-10.7,9,223,10.70,2.20,-4.68,0.000,18948,0.251,0.040,2557,1041,3965,3996,3934,0,0,0,0,0,0,25.82,25.56,26.01
$GC,373,-0.68,-175.2,2556,1042,3997,3942,78.2,-27.7,28,384,0.00,2.20,0.00,0.000,1030,0.000,0.034,2549,2449,3968,3995,3941,0,0,0,0,0,0,26.32,26.25,26.34
$GC,679,-0.68,-175.2,2550,2450,3995,3943,163.8,-19.5,59,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,3968,3995,3942,0,0,0,0,0,0,26.34,26.39,26.39
$GC,989,-0.68,-175.2,2548,2450,3997,3950,215.2,-16.7,84,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,3971,3995,3948,0,0,0,0,0,0,26.36,26.41,26.41
$GC,1290,-0.68,-175.2,2548,2450,3997,3952,257.1,-13.4,94,1299,0.00,2.10,0.00,0.000,260,0.000,0.049,2539,3772,3973,3995,3951,0,0,0,0,0,0,26.36,26.29,26.42
$GC,1389,-0.68,-175.2,2540,3772,3995,3952,269.5,-13.9,97,1397,0.00,2.00,0.00,0.000,1030,0.000,0.024,2539,2430,3973,3995,3951,0,0,0,0,0,0,26.41,26.38,26.42
$GC,1707,-0.68,-175.2,2539,2429,3997,3952,314.5,-13.7,108,1715,0.00,2.15,0.00,0.000,260,0.000,0.047,2529,3772,3973,3996,3951,0,0,0,0,0,0,26.36,26.30,26.41
$GC,1734,-0.68,-175.2,2530,3772,3995,3951,314.5,-13.7,108,1744,0.00,1.98,0.00,0.000,1030,0.000,0.025,2530,2457,3973,3995,3951,0,0,0,0,0,0,26.41,26.39,26.43
$GC,2039,-0.68,-175.2,2530,2455,3995,3951,359.6,-14.1,119,2046,0.12,0.00,0.00,0.000,2054,0.163,0.000,2559,2453,3973,3995,3951,0,0,0,0,0,0,26.17,26.36,26.32
$GC,2340,-0.68,-175.2,2558,2454,3997,3947,388.0,-8.3,129,2348,0.00,2.15,0.00,0.000,516,0.000,0.031,2561,1061,3971,3996,3946,0,0,0,0,0,0,26.37,26.34,26.44
$GC,2402,-0.68,-175.2,2560,1062,3997,3947,392.8,-8.0,131,2411,0.00,2.17,0.00,0.000,1030,0.000,0.032,2554,2455,3970,3995,3946,0,0,0,0,0,0,26.39,26.33,26.41
$GC,2735,-0.68,-175.2,2555,2456,3995,3941,417.9,-7.8,142,2745,0.00,2.12,0.00,0.000,260,0.000,0.049,2544,3775,3968,3995,3941,0,0,0,0,0,0,26.36,26.28,26.42
$GC,2805,-0.68,-175.2,2545,3776,3995,3940,423.7,-8.4,144,2813,0.00,2.00,0.00,0.000,1030,0.000,0.026,2544,2438,3967,3995,3939,0,0,0,0,0,0,26.40,26.37,26.41
$GC,3128,-0.68,-175.2,2543,2437,3997,3938,458.3,-11.3,155,3135,0.00,2.12,0.00,0.000,516,0.000,0.032,2543,1064,3963,3994,3932,0,0,0,0,0,0,26.35,26.32,26.41
$GC,3169,-0.68,-175.2,2545,1065,3994,3932,461.6,-11.6,156,3177,0.00,2.17,0.00,0.000,1030,0.000,0.034,2537,2455,3962,3993,3932,0,0,0,0,0,0,26.37,26.31,26.39
$GC,3482,-0.68,-175.2,2536,2457,3996,3926,500.8,-11.4,167,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2455,3960,3994,3926,0,0,0,0,0,0,26.34,26.42,26.41
$GC,3782,-0.68,-175.2,2536,2456,3996,3921,532.2,-10.5,177,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2455,3957,3994,3920,0,0,0,0,0,0,26.35,26.43,26.41
$GC,4082,-0.68,-175.2,2536,2456,3996,3915,562.8,-10.4,187,4090,0.00,2.15,0.00,0.000,516,0.000,0.032,2537,1063,3954,3994,3914,0,0,0,0,0,0,26.33,26.29,26.39
$GC,4110,-0.68,-175.2,2537,1064,3994,3915,565.7,-10.4,188,4118,0.12,2.20,0.00,0.000,3078,0.158,0.035,2558,2450,3954,3994,3914,0,0,0,0,0,0,26.14,26.29,26.28
$GC,4443,-0.68,-175.2,2558,2450,3993,3910,593.2,-8.1,199,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2450,3951,3993,3909,0,0,0,0,0,0,26.28,26.35,26.34
$GC,4743,-0.68,-175.2,2558,2450,3990,3908,617.8,-8.2,209,4751,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1063,3948,3990,3907,0,0,0,0,0,0,26.32,26.29,26.38
$GC,4765,-0.68,-175.2,2559,1063,3992,3908,617.8,-8.2,209,4776,0.00,2.22,0.00,0.000,1030,0.000,0.035,2554,2460,3948,3990,3907,0,0,0,0,0,0,26.34,26.27,26.35
$GC,5071,-0.68,-175.2,2555,2461,3987,3906,645.0,-8.3,220,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2460,3946,3987,3905,0,0,0,0,0,0,26.31,26.38,26.37
$GC,5371,-0.68,-175.2,2553,2460,3988,3904,668.7,-7.6,230,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2459,3944,3986,3903,0,0,0,0,0,0,26.29,26.36,26.36
$GC,5671,-0.68,-175.2,2555,2460,3983,3901,690.6,-7.2,240,5681,0.00,2.17,0.00,0.000,516,0.000,0.032,2554,1065,3942,3983,3901,0,0,0,0,0,0,26.29,26.26,26.34
$GC,5696,-0.68,-175.2,2555,1065,3983,3901,690.6,-7.2,240,5706,0.00,2.22,0.00,0.000,1030,0.000,0.037,2547,2457,3941,3983,3900,0,0,0,0,0,0,26.30,26.23,26.32
$GC,6001,-0.68,-175.2,2546,2458,3984,3900,717.8,-8.6,251,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2457,3940,3982,3899,0,0,0,0,0,0,26.28,26.35,26.34
$GC,6301,-0.68,-175.2,2547,2458,3981,3897,744.5,-8.9,261,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2457,3938,3980,3896,0,0,0,0,0,0,26.27,26.35,26.34
$GC,6601,-0.68,-175.2,2546,2458,3981,3897,771.3,-9.0,271,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3937,3979,3895,0,0,0,0,0,0,26.27,26.33,26.32
$GC,6901,-0.68,-175.2,2546,2463,3979,3893,797.8,-8.9,281,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3936,3978,3895,0,0,0,0,0,0,26.27,26.34,26.33
$GC,7201,-0.68,-175.2,2546,2458,3979,3893,824.6,-9.1,291,7211,0.00,2.17,0.00,0.000,516,0.000,0.033,2548,1065,3934,3977,3892,0,0,0,0,0,0,26.28,26.21,26.34
$GC,7225,-0.68,-175.2,2547,1064,3976,3893,824.6,-9.1,291,7236,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2453,3934,3976,3892,0,0,0,0,0,0,26.26,26.19,26.29
$GC,7531,-0.68,-175.2,2542,2452,3975,3891,855.2,-9.4,302,7539,0.00,2.20,0.00,0.000,516,0.000,0.031,2539,1056,3932,3975,3890,0,0,0,0,0,0,26.26,26.20,26.32
$GC,7553,-0.68,-175.2,2542,1057,3974,3891,855.2,-9.4,302,7563,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2450,3932,3975,3890,0,0,0,0,0,0,26.24,26.17,26.27
$GC,7858,-0.68,-175.2,2540,2450,3974,3891,886.1,-9.4,313,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3931,3974,3889,0,0,0,0,0,0,26.24,26.30,26.29
$GC,8158,-0.68,-175.2,2541,2450,3979,3889,913.6,-9.0,323,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3930,3973,3888,0,0,0,0,0,0,26.23,26.30,26.29
$GC,8459,-0.68,-175.2,2540,2450,3974,3888,939.8,-8.5,333,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3930,3973,3887,0,0,0,0,0,0,26.21,26.29,26.28
$GC,8758,-0.68,-175.2,2543,2450,3970,3887,963.0,-7.4,343,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3928,3971,3886,0,0,0,0,0,0,26.22,26.28,26.27
$GC,9058,-0.68,-175.2,2542,2450,3971,3886,983.1,-6.4,353,9066,0.00,2.17,0.00,0.000,516,0.000,0.033,2541,1061,3928,3970,3886,0,0,0,0,0,0,26.22,26.15,26.31
$GC,9081,-0.68,-175.2,2540,1062,3972,3887,983.1,-6.4,353,9089,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2457,3928,3970,3886,0,0,0,0,0,0,26.20,26.13,26.22
$STATE,9182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9182,begin apogee
$GC,9186,-0.11,0.0,2541,2091,3972,3886,990.7,-6.1,357,9337,0.65,0.00,137.77,1.313,10246,0.117,0.000,2742,2090,3278,3319,3238,0,0,0,0,0,0,25.95,24.82,24.10
$STATE,9338,end apogee,CONTROL_FINISHED_OK
$STATE,9338,begin climb
$GC,9340,0.68,175.2,2742,2090,3319,3238,995.1,0.0,362,9510,0.70,2.55,156.18,1.297,10500,0.046,0.043,3007,3512,2563,2609,2517,0,0,0,0,0,0,25.11,24.27,23.57
$GC,9734,0.68,175.2,3002,3512,2598,2514,959.1,15.6,375,9743,0.00,2.20,0.00,0.000,1030,0.000,0.024,3018,2107,2554,2596,2513,0,0,0,0,0,0,25.83,25.79,25.84
$GC,10052,0.68,175.2,3017,2108,2596,2511,914.5,13.0,386,10060,0.00,2.30,0.00,0.000,260,0.000,0.041,3018,3514,2552,2595,2510,0,0,0,0,0,0,26.13,26.08,26.19
$GC,10150,0.68,175.2,3018,3515,2594,2510,902.4,13.7,389,10158,0.00,2.20,0.00,0.000,1030,0.000,0.024,3028,2090,2552,2595,2509,0,0,0,0,0,0,26.22,26.18,26.23
$GC,10467,0.68,175.2,3029,2089,2592,2509,862.2,11.8,400,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2089,2551,2593,2509,0,0,0,0,0,0,26.22,26.29,26.29
$GC,10767,0.68,175.2,3028,2090,2593,2509,827.5,11.8,410,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2089,2550,2592,2509,0,0,0,0,0,0,26.23,26.31,26.30
$GC,11067,0.68,175.2,3027,2090,2592,2509,792.7,12.0,420,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2089,2549,2590,2508,0,0,0,0,0,0,26.25,26.32,26.32
$GC,11367,0.68,175.2,3028,2090,2591,2509,755.0,12.5,430,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2089,2549,2590,2508,0,0,0,0,0,0,26.24,26.31,26.29
$GC,11667,0.68,175.2,3027,2089,2595,2508,715.8,13.1,440,11675,0.00,2.33,0.00,0.000,260,0.000,0.042,3028,3513,2547,2588,2507,0,0,0,0,0,0,26.21,26.15,26.27
$GC,11755,0.68,175.2,3029,3514,2589,2508,703.4,13.9,443,11767,0.12,2.17,0.00,0.000,5126,0.174,0.024,3004,2098,2548,2590,2507,0,0,0,0,0,0,25.92,26.22,26.05
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$STATE,18259,end climb,SURFACE_DEPTH_REACHED
$STATE,18259,begin surface coast
$FINISH,-0.4,1.022008
$STATE,18284,end surface coast,CONTROL_FINISHED_OK
$STATE,18284,begin surface
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$IRIDIUM_FIX,1207.91,14543.70,130108,174619
$TT8_MAMPS,0.050932,0.050932
$HUMID,39.56
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.70
$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,18320.83 7787.18
$PA_BOOTCOUNT,311
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.03/0.057/1.764/1.617
$PA_DISK_BANK,0
$24V_AH,23.57,23.794
$10V_AH,10.23,25.800
$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
$DEVICE_SECS,20.800,124.350,443.450,64.025,0.000,0.000,0.000,270.100,0.000,18769.381,30.343,0.000,14732.794,576.423,3245.524,198.997,0.000,2264.336,0.000,1729.681,0.000,0.554,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229976
$DATA_FILE_SIZE,36719,813
$CAP_FILE_SIZE,152247,0
$CFSIZE,260034560,250281984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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