version: 66.12
glider: 178
mission: 20
dive: 110
start: 3 23 115 3 15 16
data:
$ID,178
$MISSION,20
$DIVE,110
$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,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
$GPS1,230315,030604,1215.5087,14422.4180,36,1.3,41,1.7,0.4,261.6,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-71.7
$GPS2,230315,031505,1215.4546,14422.3027,12,1.9,29,1.7,0.5,265.8,8,7.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,155.6,120562,-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,-175.2,127,2466,423,424,0.0,0.0,0,216,0.00,0.00,-114.15,0.000,16386,0.000,0.000,126,2466,3389,3435,3344,0,0,0,0,0,0,26.23,28.83,26.30
$GC,219,-0.68,-175.2,125,2467,3436,3346,3.0,-6.2,14,244,10.62,2.15,-8.82,0.000,18948,0.249,0.038,2557,1045,3965,3998,3932,0,0,0,0,0,0,25.79,25.44,26.12
$GC,353,-0.68,-175.2,2557,1045,3995,3939,53.9,-25.5,37,369,0.00,2.17,0.00,0.000,1030,0.000,0.035,2549,2435,3966,3995,3938,0,0,0,0,0,0,26.23,26.17,26.26
$GC,663,-0.68,-175.2,2550,2435,3994,3940,138.6,-18.9,68,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2435,3967,3995,3939,0,0,0,0,0,0,26.28,26.34,26.34
$GC,966,-0.68,-175.2,2550,2435,3994,3944,188.2,-13.3,98,974,0.00,2.15,0.00,0.000,260,0.000,0.048,2539,3779,3968,3994,3943,0,0,0,0,0,0,26.34,26.25,26.41
$GC,1019,-0.68,-175.2,2540,3779,3994,3946,195.4,-14.0,103,1026,0.00,1.98,0.00,0.000,1030,0.000,0.024,2539,2430,3969,3994,3944,0,0,0,0,0,0,26.39,26.34,26.41
$GC,1323,-0.68,-175.2,2539,2429,3994,3946,237.6,-12.5,115,1332,0.00,2.05,0.00,0.000,516,0.000,0.029,2539,1070,3970,3994,3946,0,0,0,0,0,0,26.36,26.34,26.41
$GC,1416,-0.68,-175.2,2540,1071,3994,3947,248.3,-11.7,118,1424,0.00,2.15,0.00,0.000,1030,0.000,0.033,2531,2455,3970,3994,3946,0,0,0,0,0,0,26.38,26.32,26.40
$GC,1744,-0.68,-175.2,2532,2456,3994,3946,286.2,-10.8,129,1753,0.00,2.12,0.00,0.000,516,0.000,0.031,2532,1068,3970,3995,3946,0,0,0,0,0,0,26.31,26.29,26.37
$GC,1772,-0.68,-175.2,2530,1069,3996,3946,286.2,-10.8,129,1783,0.15,2.15,0.00,0.000,3078,0.145,0.033,2561,2453,3970,3995,3946,0,0,0,0,0,0,26.15,26.32,26.29
$GC,2078,-0.68,-175.2,2562,2454,3994,3944,314.8,-7.7,140,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2453,3969,3995,3943,0,0,0,0,0,0,26.36,26.44,26.42
$GC,2378,-0.68,-175.2,2560,2454,3996,3939,339.5,-8.7,150,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2454,3966,3994,3938,0,0,0,0,0,0,26.36,26.44,26.42
$GC,2678,-0.68,-175.2,2560,2454,3995,3933,367.4,-9.7,160,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2454,3963,3994,3932,0,0,0,0,0,0,26.36,26.43,26.42
$GC,2978,-0.68,-175.2,2560,2454,3996,3930,396.2,-9.2,170,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2453,3959,3994,3925,0,0,0,0,0,0,26.34,26.41,26.40
$GC,3278,-0.68,-175.2,2562,2454,3994,3919,422.4,-8.1,180,3286,0.00,2.15,0.00,0.000,516,0.000,0.033,2561,1069,3956,3994,3918,0,0,0,0,0,0,26.35,26.29,26.41
$GC,3321,-0.68,-175.2,2562,1069,3994,3917,425.0,-8.1,181,3329,0.00,2.17,0.00,0.000,1030,0.000,0.036,2555,2454,3955,3994,3917,0,0,0,0,0,0,26.36,26.29,26.39
$GC,3644,-0.68,-175.2,2556,2454,3993,3906,454.1,-9.3,192,3651,0.00,2.17,0.00,0.000,516,0.000,0.032,2555,1064,3952,3994,3910,0,0,0,0,0,0,26.34,26.28,26.40
$GC,3665,-0.68,-175.2,2556,1064,3993,3910,454.1,-9.3,192,3673,0.00,2.17,0.00,0.000,1030,0.000,0.034,2547,2450,3951,3992,3910,0,0,0,0,0,0,26.34,26.29,26.36
$GC,3971,-0.68,-175.2,2547,2451,3991,3906,486.5,-9.9,202,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3949,3992,3906,0,0,0,0,0,0,26.31,26.39,26.37
$GC,4271,-0.68,-175.2,2547,2451,3989,3904,513.2,-8.4,212,4282,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1065,3946,3989,3903,0,0,0,0,0,0,26.32,26.27,26.38
$GC,4302,-0.68,-175.2,2546,1065,3990,3904,515.6,-8.2,213,4309,0.00,2.17,0.00,0.000,1030,0.000,0.035,2539,2449,3946,3989,3903,0,0,0,0,0,0,26.32,26.24,26.34
$GC,4629,-0.68,-175.2,2538,2450,3988,3900,541.1,-7.9,224,4637,0.00,2.15,0.00,0.000,260,0.000,0.051,2529,3774,3942,3986,3899,0,0,0,0,0,0,26.31,26.15,26.36
$GC,4672,-0.68,-175.2,2528,3771,3986,3899,543.8,-8.0,225,4682,0.12,2.00,0.00,0.000,3078,0.155,0.026,2559,2444,3941,3985,3898,0,0,0,0,0,0,26.08,26.33,26.22
$GC,4997,-0.68,-175.2,2558,2445,3983,3897,567.8,-7.3,236,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2444,3939,3982,3896,0,0,0,0,0,0,26.30,26.37,26.36
$GC,5297,-0.68,-175.2,2560,2445,3981,3894,588.9,-7.0,246,5307,0.00,2.15,0.00,0.000,516,0.000,0.032,2561,1064,3937,3981,3894,0,0,0,0,0,0,26.29,26.23,26.36
$GC,5337,-0.68,-175.2,2562,1065,3980,3894,591.2,-6.8,247,5344,0.00,2.17,0.00,0.000,1030,0.000,0.034,2555,2453,3937,3981,3893,0,0,0,0,0,0,26.29,26.22,26.32
$GC,5659,-0.68,-175.2,2556,2453,3977,3891,612.8,-6.4,258,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2453,3934,3978,3890,0,0,0,0,0,0,26.29,26.36,26.35
$GC,5959,-0.68,-175.2,2556,2453,3977,3888,632.7,-6.8,268,5970,0.00,2.15,0.00,0.000,516,0.000,0.031,2555,1071,3932,3977,3888,0,0,0,0,0,0,26.27,26.20,26.32
$GC,5994,-0.68,-175.2,2556,1071,3976,3888,634.8,-6.9,269,6005,0.00,2.17,0.00,0.000,1030,0.000,0.036,2549,2450,3931,3975,3888,0,0,0,0,0,0,26.25,26.19,26.29
$GC,6320,-0.68,-175.2,2550,2450,3974,3886,661.4,-8.4,280,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2449,3930,3975,3886,0,0,0,0,0,0,26.27,26.34,26.34
$GC,6620,-0.68,-175.2,2548,2451,3975,3885,687.0,-8.7,290,6630,0.00,2.15,0.00,0.000,516,0.000,0.032,2550,1070,3928,3973,3884,0,0,0,0,0,0,26.27,26.18,26.32
$GC,6664,-0.68,-175.2,2550,1071,3972,3885,689.8,-8.8,291,6674,0.00,2.17,0.00,0.000,1030,0.000,0.035,2542,2450,3926,3968,3884,0,0,0,0,0,0,26.24,26.16,26.27
$GC,6984,-0.68,-175.2,2543,2451,3971,3882,720.3,-8.9,302,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3926,3971,3882,0,0,0,0,0,0,26.25,26.31,26.30
$GC,7284,-0.68,-175.2,2541,2451,3972,3881,746.9,-8.7,312,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3925,3970,3881,0,0,0,0,0,0,26.26,26.33,26.32
$GC,7584,-0.68,-175.2,2541,2451,3970,3881,771.4,-7.8,322,7593,0.00,2.15,0.00,0.000,260,0.000,0.052,2532,3773,3924,3968,3880,0,0,0,0,0,0,26.24,26.07,26.29
$GC,7618,-0.68,-175.2,2531,3775,3969,3880,773.9,-7.8,323,7626,0.00,2.00,0.00,0.000,1030,0.000,0.027,2532,2449,3924,3968,3880,0,0,0,0,0,0,26.26,26.23,26.27
$GC,7946,-0.68,-175.2,2532,2448,3967,3879,800.5,-8.0,334,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2447,3922,3966,3878,0,0,0,0,0,0,26.19,26.27,26.25
$GC,8246,-0.68,-175.2,2533,2448,3964,3877,825.3,-8.6,344,8254,0.00,2.15,0.00,0.000,516,0.000,0.032,2532,1063,3920,3965,3876,0,0,0,0,0,0,26.16,26.13,26.22
$GC,8268,-0.68,-175.2,2533,1064,3964,3877,825.3,-8.6,344,8279,0.12,2.20,0.00,0.000,3078,0.157,0.036,2555,2452,3920,3965,3876,0,0,0,0,0,0,25.91,26.11,26.07
$GC,8574,-0.68,-175.2,2556,2453,3964,3875,852.7,-8.5,355,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2452,3919,3964,3875,0,0,0,0,0,0,26.23,26.30,26.29
$GC,8873,-0.68,-175.2,2556,2453,3963,3875,878.7,-8.7,365,8881,0.00,2.17,0.00,0.000,516,0.000,0.033,2556,1065,3919,3964,3874,0,0,0,0,0,0,26.20,26.10,26.27
$GC,8901,-0.68,-175.2,2554,1065,3965,3875,881.1,-8.7,366,8909,0.00,2.20,0.00,0.000,1030,0.000,0.037,2552,2448,3919,3964,3874,0,0,0,0,0,0,26.16,26.08,26.20
$GC,9229,-0.68,-175.2,2552,2449,3965,3874,911.3,-9.4,377,9240,0.00,2.17,0.00,0.000,260,0.000,0.053,2543,3772,3918,3963,3873,0,0,0,0,0,0,26.15,26.03,26.21
$GC,9255,-0.68,-175.2,2544,3772,3962,3873,911.3,-9.4,377,9266,0.00,2.03,0.00,0.000,1030,0.000,0.028,2543,2445,3918,3963,3873,0,0,0,0,0,0,26.22,26.18,26.23
$GC,9560,-0.68,-175.2,2542,2446,3964,3872,942.0,-9.0,388,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2445,3917,3962,3872,0,0,0,0,0,0,26.17,26.25,26.23
$GC,9860,-0.68,-175.2,2540,2446,3962,3872,967.0,-8.1,398,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2445,3916,3961,3871,0,0,0,0,0,0,26.17,26.25,26.24
$STATE,10158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10159,begin apogee
$GC,10163,-0.11,0.0,2543,2105,3961,3872,992.2,-8.6,408,10308,0.65,0.00,135.82,1.303,10246,0.115,0.000,2744,2103,3279,3319,3240,0,0,0,0,0,0,25.84,24.75,24.01
$STATE,10308,end apogee,CONTROL_FINISHED_OK
$STATE,10308,begin climb
$GC,10310,0.68,175.2,2744,2104,3320,3239,998.4,0.0,412,10482,0.70,2.50,157.85,1.291,11012,0.046,0.041,3009,3509,2562,2607,2518,0,0,0,0,0,0,24.98,24.24,23.50
$GC,10692,0.68,175.2,3010,3506,2595,2518,975.4,13.5,425,10700,0.00,2.17,0.00,0.000,1030,0.000,0.024,3020,2112,2554,2595,2514,0,0,0,0,0,0,25.82,25.77,25.83
$GC,10997,0.68,175.2,3018,2113,2596,2511,933.3,12.8,435,11008,0.00,2.25,0.00,0.000,260,0.000,0.042,3020,3500,2552,2594,2510,0,0,0,0,0,0,26.14,26.06,26.20
$GC,11124,0.68,175.2,3018,3501,2596,2511,916.5,14.0,439,11134,0.00,2.15,0.00,0.000,1030,0.000,0.024,3030,2098,2552,2594,2510,0,0,0,0,0,0,26.21,26.17,26.24
$GC,11449,0.68,175.2,3029,2098,2589,2510,873.3,13.0,450,11458,0.00,2.30,0.00,0.000,260,0.000,0.043,3030,3518,2550,2592,2509,0,0,0,0,0,0,26.20,26.13,26.27
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$STATE,19081,end climb,SURFACE_DEPTH_REACHED
$STATE,19081,begin surface coast
$FINISH,0.3,1.022051
$STATE,19107,end surface coast,CONTROL_FINISHED_OK
$STATE,19107,begin surface
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$IRIDIUM_FIX,1210.12,14422.86,170108,111132
$TT8_MAMPS,0.053179,0.053179
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$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,19145.79 8187.08
$PA_BOOTCOUNT,329
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$PA_HOME,0.03/0.061/1.764/1.613
$PA_DISK_BANK,1
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$10V_AH,10.20,27.067
$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
$DEVICE_SECS,21.125,127.300,444.225,68.200,0.000,0.000,0.000,401.375,0.000,19834.551,31.939,0.000,15531.879,631.957,3340.219,211.711,0.000,2445.705,0.000,1719.811,0.000,0.552,0.000
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$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
$MEM,229936
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$CAP_FILE_SIZE,156702,0
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