version: 66.12
glider: 178
mission: 20
dive: 133
start: 3 28 115 1 46 40
data:
$ID,178
$MISSION,20
$DIVE,133
$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,47
$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
$GPS1,280315,013729,1111.2874,14431.9297,36,1.1,36,2.1,0.5,139.0,7,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-73.9
$GPS2,280315,014629,1111.2570,14431.8447,11,1.4,27,2.1,0.4,192.5,7,8.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,316.5,125608,-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,-175.2,120,2480,1245,1230,0.0,0.0,0,180,0.00,0.00,-78.55,0.000,16386,0.000,0.000,120,2480,3305,3357,3253,0,0,0,0,0,0,26.20,28.83,26.27
$GC,183,-0.68,-175.2,121,2480,3356,3256,4.5,-14.2,11,212,10.73,2.10,-10.07,0.000,18692,0.246,0.057,2544,3767,3966,3998,3934,0,0,0,0,0,0,25.69,24.63,26.03
$GC,334,-0.68,-175.2,2545,3767,3996,3942,63.0,-31.1,32,353,0.00,1.98,0.00,0.000,1030,0.000,0.024,2548,2440,3969,3996,3942,0,0,0,0,0,0,26.17,26.14,26.19
$GC,650,-0.68,-175.2,2549,2438,3995,3946,144.8,-22.7,63,663,0.00,2.10,0.00,0.000,516,0.000,0.030,2557,1063,3970,3995,3945,0,0,0,0,0,0,26.27,26.22,26.33
$GC,712,-0.68,-175.2,2558,1063,3995,3946,157.2,-18.0,69,727,0.00,2.12,0.00,0.000,1030,0.000,0.031,2549,2440,3970,3994,3946,0,0,0,0,0,0,26.26,26.20,26.28
$GC,1033,-0.68,-175.2,2550,2441,3995,3951,208.6,-13.8,97,1044,0.00,2.10,0.00,0.000,260,0.000,0.046,2540,3763,3976,4001,3951,0,0,0,0,0,0,26.31,26.17,26.36
$GC,1058,-0.68,-175.2,2540,3764,3995,3952,208.6,-13.8,97,1069,0.00,1.98,0.00,0.000,1030,0.000,0.024,2540,2442,3973,3995,3951,0,0,0,0,0,0,26.32,26.28,26.32
$GC,1363,-0.68,-175.2,2540,2440,3995,3953,255.8,-13.6,108,1371,0.00,2.12,0.00,0.000,260,0.000,0.045,2530,3772,3974,3996,3953,0,0,0,0,0,0,26.32,26.18,26.37
$GC,1401,-0.68,-175.2,2531,3770,3995,3953,259.4,-13.5,109,1408,0.00,1.98,0.00,0.000,1030,0.000,0.024,2530,2456,3974,3995,3953,0,0,0,0,0,0,26.34,26.31,26.35
$GC,1718,-0.68,-175.2,2530,2453,3995,3953,301.4,-12.6,120,1725,0.00,2.12,0.00,0.000,516,0.000,0.031,2535,1064,3973,3995,3952,0,0,0,0,0,0,26.31,26.23,26.37
$GC,1750,-0.68,-175.2,2531,1066,3996,3953,305.7,-12.7,121,1760,0.15,2.15,0.00,0.000,3078,0.142,0.032,2561,2449,3974,3995,3953,0,0,0,0,0,0,26.01,26.20,26.16
$GC,2080,-0.68,-175.2,2562,2450,3995,3951,340.2,-10.2,132,2091,0.00,2.08,0.00,0.000,260,0.000,0.048,2554,3761,3973,3996,3950,0,0,0,0,0,0,26.22,26.17,26.28
$GC,2141,-0.68,-175.2,2553,3761,3997,3951,346.2,-10.0,134,2149,0.00,1.98,0.00,0.000,1030,0.000,0.026,2554,2444,3972,3996,3949,0,0,0,0,0,0,26.34,26.29,26.35
$GC,2474,-0.68,-175.2,2555,2443,3995,3945,377.2,-8.8,145,2484,0.00,2.10,0.00,0.000,516,0.000,0.032,2554,1063,3970,3996,3945,0,0,0,0,0,0,26.30,26.20,26.36
$GC,2518,-0.68,-175.2,2554,1063,3995,3944,380.0,-8.8,146,2526,0.00,2.17,0.00,0.000,1030,0.000,0.033,2544,2448,3969,3995,3944,0,0,0,0,0,0,26.28,26.20,26.30
$GC,2831,-0.68,-175.2,2545,2449,3994,3939,415.9,-12.0,157,2838,0.00,2.12,0.00,0.000,260,0.000,0.050,2535,3770,3966,3994,3938,0,0,0,0,0,0,26.31,26.13,26.37
$GC,2868,-0.68,-175.2,2533,3771,3996,3938,419.2,-12.0,158,2876,0.00,2.00,0.00,0.000,1030,0.000,0.026,2534,2448,3966,3994,3938,0,0,0,0,0,0,26.32,26.28,26.33
$GC,3185,-0.68,-175.2,2534,2446,3995,3932,459.4,-12.1,169,3193,0.00,2.15,0.00,0.000,516,0.000,0.032,2534,1067,3962,3994,3931,0,0,0,0,0,0,26.29,26.17,26.34
$GC,3222,-0.68,-175.2,2535,1068,3993,3931,462.5,-12.0,170,3230,0.12,2.20,0.00,0.000,3078,0.152,0.034,2556,2455,3962,3993,3931,0,0,0,0,0,0,25.98,26.17,26.13
$GC,3540,-0.68,-175.2,2555,2456,3995,3926,493.0,-9.1,181,3548,0.00,2.17,0.00,0.000,516,0.000,0.031,2557,1069,3962,3994,3931,0,0,0,0,0,0,26.26,26.17,26.32
$GC,3568,-0.68,-175.2,2557,1067,3993,3925,493.0,-9.1,181,3578,0.00,2.20,0.00,0.000,1030,0.000,0.034,2551,2452,3959,3994,3924,0,0,0,0,0,0,26.23,26.16,26.27
$GC,3873,-0.68,-175.2,2552,2453,3993,3919,526.9,-10.4,192,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2452,3956,3993,3919,0,0,0,0,0,0,26.26,26.34,26.32
$GC,4173,-0.68,-175.2,2552,2453,3993,3915,557.5,-9.7,202,4181,0.00,2.12,0.00,0.000,260,0.000,0.050,2541,3770,3954,3994,3914,0,0,0,0,0,0,26.25,26.06,26.31
$GC,4225,-0.68,-175.2,2541,3771,3991,3914,560.6,-9.6,203,4233,0.00,2.00,0.00,0.000,1030,0.000,0.027,2541,2454,3953,3993,3913,0,0,0,0,0,0,26.30,26.27,26.32
$GC,4538,-0.68,-175.2,2540,2452,3993,3910,592.6,-9.7,214,4547,0.00,2.15,0.00,0.000,516,0.000,0.031,2542,1063,3950,3992,3909,0,0,0,0,0,0,26.25,26.14,26.31
$GC,4623,-0.68,-175.2,2540,1064,3993,3909,598.4,-9.7,216,4633,0.00,2.20,0.00,0.000,1030,0.000,0.033,2532,2452,3949,3991,3908,0,0,0,0,0,0,26.20,26.13,26.23
$GC,4928,-0.68,-175.2,2533,2452,3988,3907,628.2,-8.4,227,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2452,3947,3989,3906,0,0,0,0,0,0,26.25,26.31,26.30
$GC,5228,-0.68,-175.2,2532,2453,3988,3905,650.5,-7.3,237,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2452,3945,3987,3904,0,0,0,0,0,0,26.24,26.30,26.29
$GC,5528,-0.68,-175.2,2533,2452,3985,3903,676.1,-9.4,247,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2452,3944,3985,3903,0,0,0,0,0,0,26.21,26.27,26.27
$GC,5828,-0.68,-175.2,2533,2455,3983,3901,706.8,-10.5,257,5837,0.00,2.17,0.00,0.000,516,0.000,0.032,2532,1064,3941,3983,3900,0,0,0,0,0,0,26.22,26.09,26.27
$GC,5882,-0.68,-175.2,2533,1064,3982,3900,710.4,-10.4,258,5890,0.15,2.22,0.00,0.000,3078,0.150,0.035,2561,2455,3941,3983,3900,0,0,0,0,0,0,25.83,26.06,26.00
$GC,6187,-0.68,-175.2,2561,2456,3984,3899,736.1,-7.4,268,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2455,3940,3982,3898,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6488,-0.68,-175.2,2569,2456,3981,3897,757.5,-6.9,278,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2456,3938,3981,3896,0,0,0,0,0,0,26.16,26.25,26.22
$GC,6788,-0.68,-175.2,2561,2456,3981,3896,777.9,-6.8,288,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2455,3937,3980,3895,0,0,0,0,0,0,26.19,26.26,26.25
$GC,7087,-0.68,-175.2,2561,2456,3980,3894,798.7,-6.9,298,7099,0.00,2.20,0.00,0.000,516,0.000,0.032,2562,1057,3935,3978,3893,0,0,0,0,0,0,26.17,26.06,26.23
$GC,7123,-0.68,-175.2,2562,1057,3978,3894,800.9,-7.0,299,7131,0.00,2.22,0.00,0.000,1030,0.000,0.035,2559,2453,3935,3978,3893,0,0,0,0,0,0,26.12,26.03,26.15
$GC,7446,-0.68,-175.2,2560,2455,3976,3893,825.1,-7.7,310,7454,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1065,3934,3977,3892,0,0,0,0,0,0,26.18,26.05,26.24
$GC,7468,-0.68,-175.2,2558,1071,3979,3893,825.1,-7.7,310,7476,0.00,2.22,0.00,0.000,1030,0.000,0.037,2559,2451,3934,3976,3892,0,0,0,0,0,0,26.12,26.03,26.15
$GC,7781,-0.68,-175.2,2558,2454,3978,3886,850.6,-7.4,321,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2451,3933,3976,3890,0,0,0,0,0,0,26.20,26.26,26.25
$GC,8081,-0.68,-175.2,2560,2453,3974,3889,873.2,-7.6,331,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2452,3932,3975,3889,0,0,0,0,0,0,26.17,26.25,26.24
$GC,8381,-0.68,-175.2,2559,2452,3975,3889,896.9,-8.1,341,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2452,3932,3974,3890,0,0,0,0,0,0,26.16,26.25,26.22
$GC,8681,-0.68,-175.2,2561,2453,3980,3888,922.4,-8.5,351,8691,0.00,2.20,0.00,0.000,516,0.000,0.033,2559,1061,3930,3973,3887,0,0,0,0,0,0,26.15,26.03,26.22
$GC,8736,-0.68,-175.2,2559,1058,3975,3888,924.9,-8.5,352,8746,0.00,2.22,0.00,0.000,1030,0.000,0.035,2563,2452,3930,3973,3887,0,0,0,0,0,0,26.10,26.02,26.13
$GC,9041,-0.68,-175.2,2561,2453,3972,3886,950.6,-7.5,363,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3929,3972,3886,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9341,-0.68,-175.2,2555,2453,3973,3885,971.5,-6.9,373,9351,0.00,2.20,0.00,0.000,516,0.000,0.031,2559,1056,3928,3971,3885,0,0,0,0,0,0,26.17,26.01,26.22
$GC,9371,-0.68,-175.2,2560,1057,3970,3885,973.6,-6.8,374,9379,0.00,2.25,0.00,0.000,1030,0.000,0.036,2559,2450,3928,3971,3885,0,0,0,0,0,0,26.07,25.99,26.10
$STATE,9646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9646,begin apogee
$GC,9650,-0.11,0.0,2560,2095,3970,3885,991.0,-6.3,383,9798,0.60,0.00,138.77,1.307,10246,0.110,0.000,2746,2090,3279,3319,3240,0,0,0,0,0,0,25.75,24.59,23.80
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9801,0.68,175.2,2748,2090,3318,3239,997.4,0.0,388,9971,0.70,2.35,158.32,1.293,11012,0.047,0.037,3021,712,2563,2609,2517,0,0,0,0,0,0,24.84,24.18,23.42
$GC,10196,0.68,175.2,3022,713,2600,2509,970.6,13.6,400,10204,0.00,2.22,0.00,0.000,1030,0.000,0.028,3021,2110,2554,2600,2508,0,0,0,0,0,0,25.86,25.80,25.89
$GC,10508,0.68,175.2,3021,2111,2598,2506,926.6,13.2,411,10516,0.00,2.25,0.00,0.000,516,0.000,0.037,3031,716,2552,2599,2505,0,0,0,0,0,0,26.15,26.08,26.22
$GC,10726,0.68,175.2,3031,717,2596,2505,899.5,13.0,418,10734,0.12,2.20,0.00,0.000,5126,0.181,0.028,3005,2107,2550,2596,2505,0,0,0,0,0,0,25.87,26.14,26.08
$GC,11049,0.68,175.2,3004,2108,2597,2504,860.3,11.3,429,11058,0.00,2.28,0.00,0.000,260,0.000,0.043,3004,3513,2549,2596,2503,0,0,0,0,0,0,26.21,26.09,26.27
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$STATE,18641,end climb,SURFACE_DEPTH_REACHED
$STATE,18641,begin surface coast
$FINISH,0.2,1.021979
$STATE,18661,end surface coast,CONTROL_FINISHED_OK
$STATE,18661,begin surface
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$IRIDIUM_FIX,1106.26,14431.83,220108,150551
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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,18683.54 8022.88
$PA_BOOTCOUNT,352
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$PA_DISK_BANK,1
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$10V_AH,10.28,28.750
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$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,229860
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