version: 66.12
glider: 178
mission: 20
dive: 113
start: 3 23 115 18 44 33
data:
$ID,178
$MISSION,20
$DIVE,113
$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,52
$R_STBD_OVSHOOT,49
$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
$GPS1,230315,183800,1206.4235,14424.9609,40,0.9,40,1.8,0.4,55.5,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-73.2
$GPS2,230315,184422,1206.3965,14424.9395,10,1.2,13,1.8,0.6,261.1,7,9.5
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,182.7,103265,-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,-175.2,123,2469,1243,1224,0.0,0.0,0,188,0.00,0.00,-82.97,0.000,16386,0.000,0.000,123,2468,3390,3438,3343,0,0,0,0,0,0,26.22,28.83,26.29
$GC,190,-0.68,-175.2,125,2469,3438,3346,3.3,-8.8,12,220,10.75,2.20,-7.55,0.000,18948,0.251,0.038,2561,1042,3966,3996,3936,0,0,0,0,0,0,25.75,25.47,26.09
$GC,325,-0.68,-175.2,2562,1042,3995,3943,65.6,-31.2,30,337,0.00,2.20,0.00,0.000,1030,0.000,0.034,2554,2436,3968,3995,3942,0,0,0,0,0,0,26.27,26.20,26.29
$GC,631,-0.68,-175.2,2554,2437,3994,3945,154.8,-23.6,61,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2436,3970,3995,3945,0,0,0,0,0,0,26.31,26.37,26.37
$GC,953,-0.68,-175.2,2552,2437,3997,3950,205.3,-13.3,91,963,0.00,2.15,0.00,0.000,260,0.000,0.047,2543,3779,3972,3995,3950,0,0,0,0,0,0,26.32,26.23,26.37
$GC,1137,-0.68,-175.2,2545,3779,3995,3952,227.8,-12.4,97,1145,0.00,2.03,0.00,0.000,1030,0.000,0.025,2547,2429,3973,3995,3951,0,0,0,0,0,0,26.38,26.34,26.39
$GC,1459,-0.68,-175.2,2546,2427,3996,3954,273.0,-14.8,108,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2426,3973,3995,3952,0,0,0,0,0,0,26.34,26.41,26.39
$GC,1759,-0.68,-175.2,2548,2426,3996,3953,308.5,-11.1,118,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2425,3974,3995,3953,0,0,0,0,0,0,26.29,26.36,26.34
$GC,2060,-0.68,-175.2,2546,2426,3997,3953,339.6,-10.2,128,2067,0.00,2.08,0.00,0.000,516,0.000,0.034,2548,1068,3973,3995,3952,0,0,0,0,0,0,26.34,26.30,26.41
$GC,2102,-0.68,-175.2,2546,1068,3997,3953,343.1,-10.4,129,2111,0.00,2.17,0.00,0.000,1030,0.000,0.035,2541,2460,3973,3995,3952,0,0,0,0,0,0,26.36,26.29,26.37
$GC,2421,-0.68,-175.2,2542,2460,3995,3947,380.1,-10.9,140,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2460,3970,3995,3946,0,0,0,0,0,0,26.34,26.41,26.39
$GC,2721,-0.68,-175.2,2542,2460,3995,3943,411.2,-10.3,150,2730,0.00,2.10,0.00,0.000,260,0.000,0.051,2531,3772,3968,3995,3942,0,0,0,0,0,0,26.33,26.22,26.39
$GC,2745,-0.68,-175.2,2532,3772,3995,3942,411.2,-10.3,150,2753,0.00,1.98,0.00,0.000,1030,0.000,0.028,2531,2453,3968,3995,3941,0,0,0,0,0,0,26.39,26.35,26.40
$GC,3057,-0.68,-175.2,2531,2452,3994,3938,447.1,-10.6,161,3065,0.00,2.15,0.00,0.000,516,0.000,0.034,2531,1058,3965,3994,3937,0,0,0,0,0,0,26.34,26.27,26.40
$GC,3125,-0.68,-175.2,2531,1058,3993,3937,454.1,-11.1,163,3134,0.15,2.20,0.00,0.000,3078,0.148,0.034,2561,2460,3964,3994,3935,0,0,0,0,0,0,26.08,26.26,26.24
$GC,3450,-0.68,-175.2,2561,2460,3996,3930,480.7,-7.2,174,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2459,3961,3994,3929,0,0,0,0,0,0,26.32,26.39,26.39
$GC,3750,-0.68,-175.2,2561,2461,3996,3925,500.8,-7.1,184,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2460,3959,3994,3924,0,0,0,0,0,0,26.32,26.39,26.37
$GC,4050,-0.68,-175.2,2562,2460,3994,3919,524.7,-8.3,194,4058,0.00,2.17,0.00,0.000,516,0.000,0.034,2561,1065,3956,3994,3918,0,0,0,0,0,0,26.31,26.24,26.37
$GC,4087,-0.68,-175.2,2562,1066,3993,3919,527.6,-8.5,195,4095,0.00,2.20,0.00,0.000,1030,0.000,0.036,2555,2459,3956,3994,3918,0,0,0,0,0,0,26.29,26.22,26.32
$GC,4410,-0.68,-175.2,2556,2460,3994,3912,558.4,-9.4,206,4417,0.00,2.17,0.00,0.000,516,0.000,0.034,2555,1069,3953,3994,3912,0,0,0,0,0,0,26.29,26.22,26.34
$GC,4432,-0.68,-175.2,2556,1068,3993,3913,558.4,-9.4,206,4440,0.00,2.22,0.00,0.000,1030,0.000,0.037,2547,2459,3952,3993,3912,0,0,0,0,0,0,26.29,26.21,26.31
$GC,4737,-0.68,-175.2,2548,2461,3991,3910,588.5,-8.9,216,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2464,3950,3992,3909,0,0,0,0,0,0,26.29,26.35,26.34
$GC,5037,-0.68,-175.2,2546,2461,3991,3907,611.9,-7.6,226,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2460,3948,3990,3906,0,0,0,0,0,0,26.26,26.34,26.32
$GC,5337,-0.68,-175.2,2548,2461,3987,3905,635.4,-8.0,236,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2465,3946,3988,3904,0,0,0,0,0,0,26.26,26.33,26.32
$GC,5637,-0.68,-175.2,2548,2461,3986,3903,662.7,-9.6,246,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2460,3944,3986,3902,0,0,0,0,0,0,26.27,26.33,26.33
$GC,5937,-0.68,-175.2,2546,2461,3985,3901,693.1,-10.5,256,5945,0.00,2.17,0.00,0.000,516,0.000,0.034,2547,1067,3942,3984,3900,0,0,0,0,0,0,26.26,26.18,26.32
$GC,5959,-0.68,-175.2,2548,1068,3983,3901,693.1,-10.5,256,5967,0.00,2.22,0.00,0.000,1030,0.000,0.037,2540,2451,3942,3983,3901,0,0,0,0,0,0,26.23,26.15,26.26
$GC,6272,-0.68,-175.2,2539,2453,3984,3900,728.6,-10.4,267,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2452,3940,3982,3898,0,0,0,0,0,0,26.25,26.33,26.32
$GC,6572,-0.68,-175.2,2539,2453,3983,3897,759.0,-10.1,277,6580,0.00,2.17,0.00,0.000,516,0.000,0.033,2540,1064,3938,3981,3896,0,0,0,0,0,0,26.24,26.15,26.30
$GC,6600,-0.68,-175.2,2540,1064,3983,3897,761.9,-10.1,278,6610,0.00,2.20,0.00,0.000,1030,0.000,0.037,2533,2450,3939,3981,3898,0,0,0,0,0,0,26.22,26.13,26.24
$GC,6930,-0.68,-175.2,2532,2450,3981,3896,795.4,-10.0,289,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2450,3937,3979,3895,0,0,0,0,0,0,26.16,26.23,26.22
$GC,7230,-0.68,-175.2,2532,2451,3979,3895,823.4,-9.1,299,7241,0.00,2.15,0.00,0.000,516,0.000,0.033,2533,1067,3933,3977,3890,0,0,0,0,0,0,26.20,26.13,26.26
$GC,7262,-0.68,-175.2,2534,1068,3977,3894,826.1,-8.9,300,7273,0.12,2.20,0.00,0.000,3078,0.158,0.037,2556,2449,3935,3977,3894,0,0,0,0,0,0,25.89,26.07,26.06
$GC,7592,-0.68,-175.2,2555,2450,3979,3893,850.0,-6.8,311,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2450,3934,3977,3891,0,0,0,0,0,0,26.20,26.27,26.26
$GC,7893,-0.68,-175.2,2556,2450,3975,3890,871.8,-7.5,321,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2449,3933,3976,3890,0,0,0,0,0,0,26.19,26.26,26.25
$GC,8193,-0.68,-175.2,2556,2450,3974,3890,896.0,-8.2,331,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3931,3974,3889,0,0,0,0,0,0,26.22,26.29,26.28
$GC,8492,-0.68,-175.2,2554,2450,3975,3889,920.5,-8.2,341,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2450,3931,3974,3888,0,0,0,0,0,0,26.17,26.25,26.24
$GC,8792,-0.68,-175.2,2554,2450,3975,3888,945.4,-8.2,351,8803,0.00,2.17,0.00,0.000,516,0.000,0.034,2556,1068,3930,3973,3887,0,0,0,0,0,0,26.18,26.08,26.24
$GC,8823,-0.68,-175.2,2555,1068,3975,3888,947.8,-8.2,352,8832,0.00,2.25,0.00,0.000,1030,0.000,0.038,2556,2457,3930,3973,3887,0,0,0,0,0,0,26.11,26.02,26.13
$GC,9153,-0.68,-175.2,2556,2458,3971,3886,973.0,-7.5,363,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2457,3927,3970,3885,0,0,0,0,0,0,26.17,26.24,26.22
$STATE,9391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9391,begin apogee
$GC,9395,-0.11,0.0,2557,2104,3970,3886,990.5,-7.3,371,9546,0.60,0.00,137.88,1.315,10246,0.113,0.000,2744,2104,3279,3319,3240,0,0,0,0,0,0,25.82,24.52,23.94
$STATE,9547,end apogee,CONTROL_FINISHED_OK
$STATE,9547,begin climb
$GC,9549,0.68,175.2,2743,2104,3320,3239,998.1,0.0,376,9720,0.70,2.53,156.93,1.300,11012,0.047,0.045,3005,3509,2563,2609,2517,0,0,0,0,0,0,24.96,24.22,23.48
$GC,9944,0.68,175.2,3005,3510,2597,2514,972.7,12.9,389,9952,0.00,2.20,0.00,0.000,1030,0.000,0.027,3013,2105,2555,2597,2514,0,0,0,0,0,0,25.85,25.82,25.87
$GC,10261,0.68,175.2,3016,2105,2595,2511,935.3,11.1,400,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2104,2552,2595,2510,0,0,0,0,0,0,26.13,26.21,26.20
$GC,10561,0.68,175.2,3015,2105,2597,2510,901.7,11.3,410,10569,0.00,2.30,0.00,0.000,260,0.000,0.044,3015,3520,2551,2594,2509,0,0,0,0,0,0,26.22,26.12,26.28
$GC,10589,0.68,175.2,3016,3521,2594,2510,901.7,11.3,410,10599,0.00,2.20,0.00,0.000,1030,0.000,0.026,3026,2097,2551,2594,2509,0,0,0,0,0,0,26.25,26.20,26.26
$GC,10894,0.68,175.2,3027,2097,2592,2509,862.9,11.7,421,10902,0.00,2.33,0.00,0.000,260,0.000,0.044,3026,3515,2550,2592,2509,0,0,0,0,0,0,26.23,26.12,26.29
$GC,10997,0.68,175.2,3027,3515,2592,2508,850.8,12.9,424,11005,0.15,2.17,0.00,0.000,5126,0.189,0.026,3004,2101,2552,2596,2509,0,0,0,0,0,0,25.89,26.22,26.13
$GC,11320,0.68,175.2,3003,2101,2593,2509,815.5,10.4,435,11329,0.00,2.22,0.00,0.000,516,0.000,0.038,3012,702,2548,2590,2507,0,0,0,0,0,0,26.22,26.13,26.28
$GC,11419,0.68,175.2,3011,703,2592,2507,806.0,10.5,438,11427,0.00,2.22,0.00,0.000,1030,0.000,0.028,3012,2115,2549,2593,2506,0,0,0,0,0,0,26.22,26.15,26.25
$GC,11737,0.68,175.2,3013,2115,2590,2506,770.9,11.0,449,11745,0.00,2.25,0.00,0.000,260,0.000,0.046,3013,3509,2546,2587,2506,0,0,0,0,0,0,26.18,26.08,26.25
$GC,11784,0.68,175.2,3013,3509,2591,2507,767.8,11.1,450,11792,0.00,2.20,0.00,0.000,1030,0.000,0.026,3023,2094,2548,2591,2506,0,0,0,0,0,0,26.22,26.17,26.24
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$STATE,18651,end climb,SURFACE_DEPTH_REACHED
$STATE,18651,begin surface coast
$FINISH,-0.9,1.022020
$STATE,18672,end surface coast,CONTROL_FINISHED_OK
$STATE,18672,begin surface
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$IRIDIUM_FIX,1203.50,14422.36,180108,031330
$TT8_MAMPS,0.051681,0.051681
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18691.67 8160.24
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$10V_AH,10.17,27.282
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$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
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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,229996
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