version: 66.12
glider: 178
mission: 20
dive: 111
start: 3 23 115 8 42 36
data:
$ID,178
$MISSION,20
$DIVE,111
$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,57
$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
$GPS1,230315,083605,1212.5244,14423.8291,35,1.1,35,1.7,0.7,286.4,7,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-74.3
$GPS2,230315,084225,1212.5455,14423.7178,13,1.1,13,1.7,0.4,313.9,7,8.2
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,180.3,114851,-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,-175.2,125,2470,1246,1225,0.0,0.0,0,196,0.00,0.00,-89.43,0.000,16386,0.000,0.000,125,2470,3675,3712,3638,0,0,0,0,0,0,26.20,28.83,26.27
$GC,198,-0.68,-175.2,125,2470,3714,3642,5.0,-14.8,13,227,10.80,2.17,-3.30,0.000,18948,0.252,0.035,2559,1033,3962,3995,3930,0,0,0,0,0,0,25.71,25.46,25.91
$GC,312,-0.68,-175.2,2558,1033,3996,3939,63.1,-27.3,27,322,0.00,2.22,0.00,0.000,1030,0.000,0.035,2550,2440,3966,3995,3938,0,0,0,0,0,0,26.22,26.15,26.25
$GC,617,-0.68,-175.2,2550,2441,3993,3941,148.1,-20.4,58,626,0.00,2.15,0.00,0.000,516,0.000,0.029,2551,1052,3967,3994,3941,0,0,0,0,0,0,26.27,26.25,26.34
$GC,641,-0.68,-175.2,2550,1052,3993,3942,153.1,-21.1,60,649,0.00,2.22,0.00,0.000,1030,0.000,0.037,2543,2459,3967,3994,3941,0,0,0,0,0,0,26.29,26.21,26.32
$GC,974,-0.68,-175.2,2542,2460,3996,3947,205.3,-15.8,91,984,0.00,2.10,0.00,0.000,260,0.000,0.047,2533,3775,3971,3996,3946,0,0,0,0,0,0,26.30,26.22,26.36
$GC,1043,-0.68,-175.2,2532,3776,3995,3948,215.2,-15.4,93,1051,0.00,2.00,0.00,0.000,1030,0.000,0.024,2533,2434,3970,3994,3946,0,0,0,0,0,0,26.35,26.32,26.36
$GC,1365,-0.68,-175.2,2532,2432,3996,3949,263.3,-13.5,104,1373,0.00,2.15,0.00,0.000,260,0.000,0.047,2519,3775,3972,3995,3949,0,0,0,0,0,0,26.32,26.23,26.37
$GC,1398,-0.68,-175.2,2523,3775,3994,3950,267.1,-13.3,105,1405,0.15,1.98,0.00,0.000,3078,0.140,0.026,2561,2453,3972,3995,3950,0,0,0,0,0,0,26.10,26.33,26.25
$GC,1720,-0.68,-175.2,2562,2453,3995,3950,301.9,-9.6,116,1728,0.00,2.12,0.00,0.000,516,0.000,0.031,2565,1063,3972,3995,3950,0,0,0,0,0,0,26.33,26.29,26.39
$GC,1778,-0.68,-175.2,2567,1063,3996,3950,307.4,-9.7,118,1786,0.00,2.17,0.00,0.000,1030,0.000,0.032,2561,2466,3972,3995,3949,0,0,0,0,0,0,26.34,26.28,26.36
$GC,2106,-0.68,-175.2,2561,2467,3994,3949,338.3,-9.2,129,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2467,3971,3995,3948,0,0,0,0,0,0,26.27,26.33,26.32
$GC,2405,-0.68,-175.2,2560,2468,3996,3946,362.3,-7.9,139,2416,0.00,2.17,0.00,0.000,516,0.000,0.033,2561,1064,3969,3995,3944,0,0,0,0,0,0,26.33,26.27,26.39
$GC,2430,-0.68,-175.2,2559,1065,3996,3945,362.3,-7.9,139,2442,0.00,2.20,0.00,0.000,1030,0.000,0.035,2553,2453,3969,3994,3944,0,0,0,0,0,0,26.32,26.25,26.34
$GC,2736,-0.68,-175.2,2552,2454,3996,3939,390.4,-8.8,150,2743,0.00,2.12,0.00,0.000,260,0.000,0.050,2543,3776,3966,3995,3938,0,0,0,0,0,0,26.33,26.20,26.39
$GC,2758,-0.68,-175.2,2544,3777,3994,3938,390.4,-8.8,150,2768,0.00,2.00,0.00,0.000,1030,0.000,0.026,2543,2447,3966,3994,3938,0,0,0,0,0,0,26.36,26.33,26.36
$GC,3063,-0.68,-175.2,2544,2447,3993,3932,426.4,-11.5,161,3071,0.00,2.12,0.00,0.000,516,0.000,0.031,2543,1063,3962,3994,3931,0,0,0,0,0,0,26.31,26.26,26.37
$GC,3130,-0.68,-175.2,2542,1064,3996,3931,433.0,-11.8,163,3138,0.00,2.17,0.00,0.000,1030,0.000,0.034,2535,2453,3962,3994,3930,0,0,0,0,0,0,26.31,26.24,26.33
$GC,3448,-0.68,-175.2,2536,2453,3994,3925,472.0,-11.7,174,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2453,3960,3996,3924,0,0,0,0,0,0,26.31,26.37,26.36
$GC,3748,-0.68,-175.2,2534,2454,3996,3919,503.2,-10.0,184,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2453,3956,3994,3918,0,0,0,0,0,0,26.32,26.39,26.37
$GC,4048,-0.68,-175.2,2534,2454,3996,3915,532.3,-9.6,194,4056,0.00,2.12,0.00,0.000,260,0.000,0.052,2525,3769,3953,3994,3913,0,0,0,0,0,0,26.29,26.15,26.36
$GC,4081,-0.68,-175.2,2526,3770,3993,3913,535.6,-9.6,195,4089,0.12,1.98,0.00,0.000,3078,0.153,0.027,2556,2452,3953,3993,3913,0,0,0,0,0,0,26.05,26.29,26.20
$GC,4409,-0.68,-175.2,2557,2452,3992,3910,562.1,-7.9,206,4418,0.00,2.15,0.00,0.000,516,0.000,0.033,2557,1069,3950,3991,3909,0,0,0,0,0,0,26.25,26.21,26.32
$GC,4443,-0.68,-175.2,2558,1066,3991,3909,565.0,-8.0,207,4454,0.00,2.20,0.00,0.000,1030,0.000,0.035,2557,2453,3950,3991,3909,0,0,0,0,0,0,26.27,26.20,26.29
$GC,4773,-0.68,-175.2,2552,2453,3988,3906,596.0,-10.2,218,4785,0.00,2.10,0.00,0.000,260,0.000,0.050,2543,3769,3946,3988,3905,0,0,0,0,0,0,26.24,26.11,26.31
$GC,4805,-0.68,-175.2,2543,3770,3989,3906,599.5,-10.6,219,4812,0.00,2.00,0.00,0.000,1030,0.000,0.028,2542,2442,3946,3988,3905,0,0,0,0,0,0,26.30,26.27,26.32
$GC,5132,-0.68,-175.2,2540,2442,3988,3905,636.6,-11.2,230,5141,0.00,2.15,0.00,0.000,516,0.000,0.033,2542,1065,3944,3986,3903,0,0,0,0,0,0,26.25,26.18,26.31
$GC,5176,-0.68,-175.2,2541,1066,3988,3905,640.5,-11.0,231,5184,0.00,2.20,0.00,0.000,1030,0.000,0.034,2535,2452,3944,3986,3903,0,0,0,0,0,0,26.25,26.18,26.29
$GC,5499,-0.68,-175.2,2536,2453,3985,3901,675.7,-10.3,242,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2452,3942,3984,3900,0,0,0,0,0,0,26.24,26.32,26.31
$GC,5799,-0.68,-175.2,2536,2453,3982,3899,704.4,-9.3,252,5807,0.00,2.15,0.00,0.000,516,0.000,0.031,2535,1071,3940,3982,3899,0,0,0,0,0,0,26.24,26.17,26.29
$GC,5832,-0.68,-175.2,2534,1071,3984,3899,707.4,-9.2,253,5841,0.12,2.20,0.00,0.000,3078,0.157,0.036,2554,2449,3939,3981,3898,0,0,0,0,0,0,25.97,26.15,26.12
$GC,6162,-0.68,-175.2,2559,2449,3976,3897,731.4,-7.0,264,6172,0.00,2.12,0.00,0.000,516,0.000,0.032,2560,1075,3938,3981,3896,0,0,0,0,0,0,26.22,26.16,26.27
$GC,6187,-0.68,-175.2,2560,1076,3981,3897,731.4,-7.0,264,6197,0.00,2.20,0.00,0.000,1030,0.000,0.037,2559,2449,3938,3981,3896,0,0,0,0,0,0,26.20,26.13,26.23
$GC,6492,-0.68,-175.2,2559,2449,3981,3896,754.7,-7.6,275,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2449,3937,3979,3895,0,0,0,0,0,0,26.25,26.32,26.31
$GC,6792,-0.68,-175.2,2558,2449,3979,3894,780.6,-9.3,285,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2448,3935,3978,3893,0,0,0,0,0,0,26.22,26.29,26.28
$GC,7092,-0.68,-175.2,2558,2449,3978,3892,811.3,-10.3,295,7099,0.00,2.17,0.00,0.000,516,0.000,0.033,2559,1062,3934,3977,3891,0,0,0,0,0,0,26.21,26.13,26.27
$GC,7139,-0.68,-175.2,2559,1062,3978,3891,814.3,-10.3,296,7147,0.00,2.22,0.00,0.000,1030,0.000,0.037,2554,2449,3934,3977,3891,0,0,0,0,0,0,26.18,26.10,26.21
$GC,7444,-0.68,-175.2,2553,2450,3976,3890,846.0,-9.4,306,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2449,3932,3975,3889,0,0,0,0,0,0,26.20,26.27,26.27
$GC,7744,-0.68,-175.2,2553,2450,3975,3889,872.3,-8.5,316,7752,0.00,2.17,0.00,0.000,516,0.000,0.033,2554,1064,3931,3974,3888,0,0,0,0,0,0,26.20,26.08,26.27
$GC,7772,-0.68,-175.2,2554,1065,3973,3889,872.3,-8.5,316,7782,0.00,2.22,0.00,0.000,1030,0.000,0.037,2553,2455,3931,3974,3888,0,0,0,0,0,0,26.15,26.08,26.18
$GC,8078,-0.68,-175.2,2552,2456,3975,3888,899.2,-7.9,327,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2455,3930,3973,3887,0,0,0,0,0,0,26.20,26.28,26.27
$GC,8377,-0.68,-175.2,2552,2456,3974,3887,922.8,-7.8,337,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2455,3932,3973,3892,0,0,0,0,0,0,26.20,26.27,26.26
$GC,8677,-0.68,-175.2,2552,2456,3972,3886,947.3,-8.2,347,8685,0.00,2.17,0.00,0.000,516,0.000,0.033,2553,1073,3927,3970,3885,0,0,0,0,0,0,26.17,26.06,26.23
$GC,8705,-0.68,-175.2,2553,1073,3970,3885,947.3,-8.2,347,8715,0.00,2.25,0.00,0.000,1030,0.000,0.037,2553,2461,3928,3971,3885,0,0,0,0,0,0,26.13,26.04,26.16
$GC,9010,-0.68,-175.2,2553,2462,3970,3885,975.4,-8.6,358,9018,0.00,2.20,0.00,0.000,516,0.000,0.032,2553,1062,3927,3970,3884,0,0,0,0,0,0,26.16,26.08,26.22
$GC,9043,-0.68,-175.2,2552,1063,3972,3885,978.4,-8.7,359,9052,0.00,2.25,0.00,0.000,1030,0.000,0.037,2546,2457,3926,3970,3883,0,0,0,0,0,0,26.12,26.03,26.15
$STATE,9191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9191,begin apogee
$GC,9196,-0.11,0.0,2546,2095,3971,3883,992.0,-9.0,364,9347,0.62,0.00,138.68,1.304,10246,0.113,0.000,2739,2094,3278,3318,3238,0,0,0,0,0,0,25.77,24.52,23.96
$STATE,9348,end apogee,CONTROL_FINISHED_OK
$STATE,9348,begin climb
$GC,9350,0.68,175.2,2740,2095,3317,3238,1001.2,0.0,369,9520,0.73,2.40,157.50,1.295,11012,0.046,0.035,3018,728,2564,2609,2519,0,0,0,0,0,0,24.98,24.21,23.47
$GC,9669,0.68,175.2,3019,728,2601,2510,991.3,11.2,379,9680,0.00,2.22,0.00,0.000,1030,0.000,0.029,3018,2113,2555,2601,2510,0,0,0,0,0,0,25.60,25.55,25.62
$GC,9975,0.68,175.2,3018,2114,2598,2508,952.1,12.3,390,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2113,2553,2599,2507,0,0,0,0,0,0,26.08,26.15,26.14
$GC,10275,0.68,175.2,3019,2114,2598,2503,912.8,13.3,400,10282,0.00,2.25,0.00,0.000,260,0.000,0.047,3018,3502,2551,2597,2506,0,0,0,0,0,0,26.18,26.11,26.25
$GC,10327,0.68,175.2,3017,3503,2599,2507,908.8,13.5,401,10337,0.00,2.12,0.00,0.000,1030,0.000,0.025,3029,2111,2552,2597,2507,0,0,0,0,0,0,26.23,26.19,26.25
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$STATE,17978,end climb,SURFACE_DEPTH_REACHED
$STATE,17978,begin surface coast
$FINISH,-0.2,1.022069
$STATE,18004,end surface coast,CONTROL_FINISHED_OK
$STATE,18004,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18042.04 7849.90
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$10V_AH,10.15,27.139
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229896
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$CFSIZE,260034560,248762368
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