version: 66.12
glider: 178
mission: 20
dive: 99
start: 3 20 115 17 3 58
data:
$ID,178
$MISSION,20
$DIVE,99
$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,54
$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
$GPS1,200315,165718,1213.5084,14443.8223,94,0.7,94,1.8,0.5,221.0,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-74.8
$GPS2,200315,170347,1213.4764,14443.8301,13,1.9,17,1.8,0.3,126.7,7,8.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,283.8,40542,-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,-175.2,128,2461,1244,1226,0.0,0.0,0,182,0.00,0.00,-84.15,0.000,16386,0.000,0.000,126,2461,3432,3481,3383,0,0,0,0,0,0,26.22,28.83,26.29
$GC,184,-0.68,-175.2,128,2462,3480,3384,4.7,-18.1,13,209,10.55,2.08,-7.93,0.000,18692,0.250,0.053,2542,3778,3965,3996,3935,0,0,0,0,0,0,25.81,24.84,26.13
$GC,323,-0.68,-175.2,2543,3779,3995,3942,61.5,-30.1,36,336,0.00,2.03,0.00,0.000,1030,0.000,0.024,2549,2427,3968,3996,3941,0,0,0,0,0,0,26.30,26.27,26.32
$GC,630,-0.68,-175.2,2547,2425,3997,3944,148.5,-24.8,67,645,0.00,2.08,0.00,0.000,516,0.000,0.028,2558,1059,3969,3995,3943,0,0,0,0,0,0,26.32,26.29,26.37
$GC,695,-0.68,-175.2,2559,1059,3995,3945,161.6,-18.8,73,703,0.00,2.15,0.00,0.000,1030,0.000,0.034,2551,2440,3970,3995,3945,0,0,0,0,0,0,26.34,26.28,26.36
$GC,1021,-0.68,-175.2,2551,2441,3995,3948,219.0,-14.2,97,1029,0.00,2.12,0.00,0.000,260,0.000,0.047,2541,3772,3971,3995,3948,0,0,0,0,0,0,26.34,26.27,26.39
$GC,1038,-0.68,-175.2,2541,3773,3995,3948,219.0,-14.2,97,1046,0.00,1.98,0.00,0.000,1030,0.000,0.024,2542,2447,3971,3995,3948,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1350,-0.68,-175.2,2541,2445,3997,3953,266.5,-15.1,108,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2444,3975,3999,3951,0,0,0,0,0,0,26.36,26.43,26.41
$GC,1651,-0.68,-175.2,2543,2445,3995,3953,298.9,-9.9,118,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2445,3973,3995,3952,0,0,0,0,0,0,26.36,26.43,26.42
$GC,1950,-0.68,-175.2,2542,2445,3996,3953,330.1,-10.3,128,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2445,3974,3996,3952,0,0,0,0,0,0,26.36,26.44,26.42
$GC,2251,-0.68,-175.2,2543,2446,3995,3949,363.2,-11.7,138,2259,0.00,2.12,0.00,0.000,516,0.000,0.032,2542,1068,3972,3995,3950,0,0,0,0,0,0,26.36,26.29,26.42
$GC,2318,-0.68,-175.2,2543,1068,3995,3950,370.2,-12.0,140,2326,0.00,2.17,0.00,0.000,1030,0.000,0.034,2536,2449,3971,3995,3948,0,0,0,0,0,0,26.39,26.32,26.41
$GC,2635,-0.68,-175.2,2535,2450,3998,3943,413.0,-13.3,151,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2449,3969,3996,3942,0,0,0,0,0,0,26.36,26.43,26.44
$GC,2936,-0.68,-175.2,2537,2449,3994,3937,449.6,-11.7,161,2943,0.00,2.15,0.00,0.000,260,0.000,0.050,2526,3776,3965,3994,3937,0,0,0,0,0,0,26.35,26.26,26.41
$GC,3012,-0.68,-175.2,2526,3777,3994,3936,456.0,-11.4,163,3020,0.12,2.00,0.00,0.000,3078,0.153,0.025,2557,2448,3964,3994,3935,0,0,0,0,0,0,26.15,26.37,26.29
$GC,3326,-0.68,-175.2,2557,2448,3994,3929,484.5,-8.0,174,3334,0.00,2.15,0.00,0.000,516,0.000,0.032,2560,1059,3961,3994,3928,0,0,0,0,0,0,26.34,26.31,26.40
$GC,3358,-0.68,-175.2,2561,1059,3994,3929,487.4,-8.1,175,3366,0.00,2.17,0.00,0.000,1030,0.000,0.034,2554,2451,3960,3994,3927,0,0,0,0,0,0,26.36,26.29,26.38
$GC,3686,-0.68,-175.2,2554,2452,3994,3922,513.5,-7.6,186,3693,0.00,2.12,0.00,0.000,260,0.000,0.051,2544,3772,3957,3994,3921,0,0,0,0,0,0,26.32,26.22,26.39
$GC,3718,-0.68,-175.2,2543,3772,3996,3921,516.2,-7.6,187,3726,0.00,2.00,0.00,0.000,1030,0.000,0.027,2544,2451,3957,3994,3920,0,0,0,0,0,0,26.37,26.34,26.39
$GC,4051,-0.68,-175.2,2545,2449,3994,3915,542.2,-7.7,198,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2449,3954,3994,3914,0,0,0,0,0,0,26.31,26.39,26.38
$GC,4351,-0.68,-175.2,2543,2449,3994,3911,564.9,-7.7,208,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2449,3950,3991,3910,0,0,0,0,0,0,26.33,26.39,26.39
$GC,4651,-0.68,-175.2,2545,2449,3990,3905,589.7,-8.3,218,4661,0.00,2.17,0.00,0.000,260,0.000,0.053,2536,3773,3950,3994,3907,0,0,0,0,0,0,26.32,26.22,26.37
$GC,4676,-0.68,-175.2,2536,3774,3989,3907,589.7,-8.3,218,4686,0.00,2.03,0.00,0.000,1030,0.000,0.026,2536,2428,3948,3989,3907,0,0,0,0,0,0,26.36,26.34,26.37
$GC,4981,-0.68,-175.2,2535,2428,3989,3905,618.7,-9.2,229,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2428,3946,3988,3905,0,0,0,0,0,0,26.31,26.38,26.37
$GC,5281,-0.68,-175.2,2534,2429,3988,3904,647.3,-9.7,239,5289,0.00,2.08,0.00,0.000,516,0.000,0.031,2535,1079,3945,3987,3903,0,0,0,0,0,0,26.30,26.26,26.36
$GC,5308,-0.68,-175.2,2534,1080,3987,3904,650.1,-9.7,240,5318,0.12,2.17,0.00,0.000,3078,0.158,0.033,2557,2454,3944,3985,3904,0,0,0,0,0,0,26.07,26.24,26.22
$GC,5639,-0.68,-175.2,2557,2455,3985,3901,677.2,-8.2,251,5646,0.00,2.15,0.00,0.000,260,0.000,0.050,2550,3779,3945,3989,3901,0,0,0,0,0,0,26.23,26.15,26.29
$GC,5666,-0.68,-175.2,2549,3780,3985,3901,677.2,-8.2,251,5676,0.00,2.03,0.00,0.000,1030,0.000,0.027,2550,2446,3941,3983,3900,0,0,0,0,0,0,26.34,26.31,26.34
$GC,5971,-0.68,-175.2,2549,2446,3984,3899,706.6,-9.0,262,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2446,3940,3982,3898,0,0,0,0,0,0,26.28,26.35,26.36
$GC,6271,-0.68,-175.2,2549,2446,3983,3896,732.6,-8.6,272,6280,0.00,2.12,0.00,0.000,516,0.000,0.031,2550,1072,3938,3980,3896,0,0,0,0,0,0,26.27,26.22,26.34
$GC,6320,-0.68,-175.2,2551,1072,3980,3897,735.4,-8.6,273,6328,0.00,2.20,0.00,0.000,1030,0.000,0.033,2544,2460,3938,3980,3896,0,0,0,0,0,0,26.28,26.21,26.30
$GC,6632,-0.68,-175.2,2544,2461,3977,3895,763.7,-8.8,284,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2461,3937,3979,3895,0,0,0,0,0,0,26.27,26.34,26.33
$GC,6932,-0.68,-175.2,2543,2461,3979,3894,791.3,-9.3,294,6943,0.00,2.17,0.00,0.000,516,0.000,0.031,2544,1072,3935,3977,3893,0,0,0,0,0,0,26.25,26.23,26.32
$GC,6962,-0.68,-175.2,2544,1073,3976,3894,794.0,-9.2,295,6974,0.00,2.17,0.00,0.000,1030,0.000,0.034,2542,2450,3935,3977,3893,0,0,0,0,0,0,26.24,26.20,26.27
$GC,7294,-0.68,-175.2,2541,2451,3978,3891,824.1,-8.9,306,7301,0.00,2.17,0.00,0.000,260,0.000,0.050,2532,3783,3933,3976,3891,0,0,0,0,0,0,26.24,26.11,26.30
$GC,7326,-0.68,-175.2,2533,3784,3976,3891,826.6,-8.8,307,7333,0.00,2.03,0.00,0.000,1030,0.000,0.028,2530,2437,3933,3976,3891,0,0,0,0,0,0,26.29,26.25,26.29
$GC,7648,-0.68,-175.2,2533,2437,3974,3890,857.2,-9.2,318,7658,0.00,2.10,0.00,0.000,516,0.000,0.032,2532,1075,3931,3974,3889,0,0,0,0,0,0,26.24,26.18,26.30
$GC,7668,-0.68,-175.2,2533,1076,3974,3890,857.2,-9.2,318,7676,0.12,2.17,0.00,0.000,3078,0.161,0.034,2557,2455,3931,3974,3889,0,0,0,0,0,0,25.98,26.15,26.13
$GC,7973,-0.68,-175.2,2558,2456,3974,3889,880.7,-6.8,328,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2455,3930,3973,3888,0,0,0,0,0,0,26.24,26.31,26.29
$GC,8273,-0.68,-175.2,2556,2456,3974,3888,900.2,-6.5,338,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2455,3929,3973,3886,0,0,0,0,0,0,26.22,26.29,26.29
$GC,8573,-0.68,-175.2,2556,2456,3974,3888,919.1,-6.3,348,8582,0.00,2.17,0.00,0.000,516,0.000,0.031,2557,1074,3929,3972,3886,0,0,0,0,0,0,26.22,26.16,26.29
$GC,8616,-0.68,-175.2,2558,1074,3971,3886,921.4,-6.3,349,8624,0.00,2.20,0.00,0.000,1030,0.000,0.034,2557,2453,3929,3972,3886,0,0,0,0,0,0,26.21,26.13,26.24
$GC,8939,-0.68,-175.2,2556,2454,3972,3885,942.9,-6.4,360,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2452,3927,3970,3885,0,0,0,0,0,0,26.21,26.28,26.27
$GC,9239,-0.68,-175.2,2558,2453,3967,3884,962.3,-6.5,370,9247,0.00,2.15,0.00,0.000,516,0.000,0.031,2557,1074,3927,3970,3884,0,0,0,0,0,0,26.22,26.13,26.28
$GC,9276,-0.68,-175.2,2558,1074,3970,3885,964.5,-6.6,371,9284,0.00,2.20,0.00,0.000,1030,0.000,0.034,2557,2452,3926,3969,3883,0,0,0,0,0,0,26.20,26.13,26.22
$GC,9599,-0.68,-175.2,2557,2453,3971,3883,985.7,-6.5,382,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2452,3926,3970,3882,0,0,0,0,0,0,26.18,26.26,26.25
$STATE,9687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9687,begin apogee
$GC,9692,-0.11,0.0,2557,2100,3971,3883,991.8,-6.7,385,9836,0.57,0.00,138.00,1.310,10246,0.109,0.000,2740,2101,3279,3318,3241,0,0,0,0,0,0,25.91,24.77,24.04
$STATE,9837,end apogee,CONTROL_FINISHED_OK
$STATE,9837,begin climb
$GC,9839,0.68,175.2,2740,2100,3318,3241,997.4,0.0,389,10011,0.73,2.38,157.02,1.298,10756,0.047,0.034,3024,731,2563,2609,2517,0,0,0,0,0,0,24.99,24.23,23.51
$GC,10130,0.68,175.2,3025,732,2601,2510,986.3,12.3,399,10138,0.00,2.22,0.00,0.000,1030,0.000,0.026,3023,2107,2555,2601,2509,0,0,0,0,0,0,25.48,25.45,25.51
$GC,10436,0.68,175.2,3024,2108,2601,2507,942.2,13.6,409,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2107,2552,2599,2506,0,0,0,0,0,0,26.03,26.11,26.10
$GC,10736,0.68,175.2,3024,2108,2596,2506,901.4,13.5,419,10744,0.00,2.22,0.00,0.000,516,0.000,0.034,3035,718,2551,2597,2505,0,0,0,0,0,0,26.18,26.15,26.25
$GC,10778,0.68,175.2,3036,718,2595,2505,897.5,13.5,420,10787,0.15,2.17,0.00,0.000,5126,0.182,0.026,3001,2105,2550,2596,2505,0,0,0,0,0,0,25.94,26.17,26.15
$GC,11092,0.68,175.2,3000,2106,2599,2505,856.8,11.7,431,11101,0.00,2.25,0.00,0.000,260,0.000,0.043,3001,3506,2549,2595,2503,0,0,0,0,0,0,26.22,26.15,26.28
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$STATE,18330,end climb,SURFACE_DEPTH_REACHED
$STATE,18330,begin surface coast
$FINISH,0.5,1.022031
$STATE,18345,end surface coast,CONTROL_FINISHED_OK
$STATE,18345,begin surface
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$IRIDIUM_FIX,1207.91,14443.13,150108,010757
$TT8_MAMPS,0.053179,0.053179
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18360.08 8095.14
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$10V_AH,10.20,26.243
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$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
$SENSOR_SECS,553.364,0.000,0.000,0.000,0.000,0.000,18883.820,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229968
$DATA_FILE_SIZE,36674,812
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$CFSIZE,260034560,249774080
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