version: 66.12
glider: 178
mission: 20
dive: 143
start: 3 30 115 4 50 6
data:
$ID,178
$MISSION,20
$DIVE,143
$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,55
$R_STBD_OVSHOOT,33
$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
$GPS1,300315,044330,1122.3221,14410.5986,91,0.9,91,1.9,0.6,254.6,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-69.1
$GPS2,300315,044955,1122.3181,14410.4717,12,1.1,12,1.9,1.0,254.7,7,8.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,291.2,81770,-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,-175.2,121,2424,1241,1227,0.0,0.0,0,182,0.00,0.00,-81.57,0.000,16386,0.000,0.000,120,2427,3322,3371,3274,0,0,0,0,0,0,26.21,28.83,26.27
$GC,184,-0.68,-175.2,121,2428,3371,3277,3.2,-8.2,10,212,10.70,2.20,-9.88,0.000,18692,0.248,0.057,2542,3777,3963,3998,3928,0,0,0,0,0,0,25.71,25.39,25.92
$GC,326,-0.68,-175.2,2541,3777,3997,3937,58.4,-31.0,30,338,0.00,2.00,0.00,0.000,1030,0.000,0.024,2547,2433,3966,3996,3937,0,0,0,0,0,0,26.19,26.15,26.20
$GC,643,-0.68,-175.2,2546,2430,3997,3941,147.1,-21.7,61,651,0.00,2.12,0.00,0.000,516,0.000,0.036,2556,1059,3967,3995,3940,0,0,0,0,0,0,26.29,26.20,26.34
$GC,745,-0.68,-175.2,2557,1059,3994,3943,163.0,-12.5,71,754,0.00,2.17,0.00,0.000,1030,0.000,0.031,2549,2452,3968,3994,3942,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1069,-0.68,-175.2,2549,2453,3994,3947,213.2,-13.6,97,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2453,3970,3995,3946,0,0,0,0,0,0,26.29,26.36,26.35
$GC,1368,-0.68,-175.2,2548,2454,3997,3949,251.0,-11.4,107,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2453,3971,3995,3948,0,0,0,0,0,0,26.31,26.38,26.36
$GC,1668,-0.68,-175.2,2549,2453,3995,3949,286.0,-11.0,117,1676,0.00,2.15,0.00,0.000,516,0.000,0.031,2549,1062,3971,3995,3948,0,0,0,0,0,0,26.32,26.21,26.39
$GC,1691,-0.68,-175.2,2548,1068,3997,3948,286.0,-11.0,117,1701,0.00,2.17,0.00,0.000,1030,0.000,0.033,2541,2448,3971,3994,3948,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1995,-0.68,-175.2,2540,2450,3996,3948,326.2,-12.1,128,2003,0.00,2.15,0.00,0.000,260,0.000,0.049,2530,3779,3971,3995,3947,0,0,0,0,0,0,26.30,26.12,26.36
$GC,2027,-0.68,-175.2,2530,3780,3994,3947,329.6,-12.0,129,2036,0.00,2.00,0.00,0.000,1030,0.000,0.025,2533,2455,3971,3995,3947,0,0,0,0,0,0,26.30,26.27,26.32
$GC,2356,-0.68,-175.2,2530,2453,3997,3943,372.7,-13.4,140,2368,0.00,2.15,0.00,0.000,516,0.000,0.031,2530,1066,3968,3995,3942,0,0,0,0,0,0,26.28,26.15,26.33
$GC,2382,-0.68,-175.2,2529,1068,3997,3943,372.7,-13.4,140,2393,0.15,2.20,0.00,0.000,3078,0.144,0.034,2561,2458,3968,3995,3942,0,0,0,0,0,0,25.96,26.18,26.11
$GC,2688,-0.68,-175.2,2560,2458,3996,3938,402.6,-7.9,151,2695,0.00,2.17,0.00,0.000,516,0.000,0.031,2561,1057,3965,3994,3937,0,0,0,0,0,0,26.29,26.17,26.35
$GC,2750,-0.68,-175.2,2562,1058,3994,3937,407.1,-7.8,153,2758,0.00,2.20,0.00,0.000,1030,0.000,0.033,2554,2454,3964,3994,3935,0,0,0,0,0,0,26.24,26.17,26.27
$GC,3072,-0.68,-175.2,2553,2455,3996,3929,434.3,-8.8,164,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2455,3961,3994,3928,0,0,0,0,0,0,26.26,26.34,26.32
$GC,3372,-0.68,-175.2,2555,2455,3994,3924,463.2,-10.0,174,3380,0.00,2.20,0.00,0.000,516,0.000,0.032,2554,1059,3958,3994,3923,0,0,0,0,0,0,26.26,26.15,26.32
$GC,3410,-0.68,-175.2,2554,1060,3994,3922,466.1,-10.0,175,3418,0.00,2.22,0.00,0.000,1030,0.000,0.034,2543,2456,3957,3994,3921,0,0,0,0,0,0,26.20,26.13,26.22
$GC,3728,-0.68,-175.2,2543,2455,3996,3917,499.5,-10.3,186,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2456,3955,3994,3916,0,0,0,0,0,0,26.27,26.33,26.32
$GC,4028,-0.68,-175.2,2545,2457,3994,3911,529.5,-9.8,196,4039,0.00,2.17,0.00,0.000,516,0.000,0.032,2544,1063,3952,3994,3910,0,0,0,0,0,0,26.25,26.11,26.31
$GC,4053,-0.68,-175.2,2545,1064,3993,3911,529.5,-9.8,196,4061,0.00,2.22,0.00,0.000,1030,0.000,0.035,2536,2456,3952,3994,3911,0,0,0,0,0,0,26.20,26.12,26.22
$GC,4359,-0.68,-175.2,2535,2457,3994,3907,563.2,-10.5,206,4367,0.00,2.20,0.00,0.000,516,0.000,0.032,2536,1063,3949,3992,3907,0,0,0,0,0,0,26.25,26.12,26.31
$GC,4401,-0.68,-175.2,2533,1064,3993,3908,566.8,-10.6,207,4410,0.12,2.22,0.00,0.000,3078,0.154,0.034,2556,2457,3949,3991,3907,0,0,0,0,0,0,25.89,26.10,26.07
$GC,4725,-0.68,-175.2,2557,2458,3989,3905,597.3,-9.0,218,4732,0.00,2.17,0.00,0.000,516,0.000,0.032,2557,1065,3946,3989,3904,0,0,0,0,0,0,26.24,26.11,26.29
$GC,4753,-0.68,-175.2,2556,1066,3991,3905,599.6,-8.9,219,4763,0.00,2.22,0.00,0.000,1030,0.000,0.035,2552,2456,3946,3989,3904,0,0,0,0,0,0,26.17,26.09,26.20
$GC,5083,-0.68,-175.2,2551,2456,3988,3902,630.3,-9.7,230,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2456,3944,3987,3902,0,0,0,0,0,0,26.13,26.20,26.17
$GC,5383,-0.68,-175.2,2553,2456,3985,3900,661.6,-10.7,240,5393,0.00,2.17,0.00,0.000,516,0.000,0.032,2552,1066,3942,3985,3899,0,0,0,0,0,0,26.20,26.09,26.26
$GC,5408,-0.68,-175.2,2552,1067,3984,3899,661.6,-10.7,240,5418,0.00,2.22,0.00,0.000,1030,0.000,0.035,2543,2457,3941,3984,3899,0,0,0,0,0,0,26.16,26.10,26.18
$GC,5713,-0.68,-175.2,2543,2458,3982,3897,699.5,-11.5,251,5724,0.00,2.15,0.00,0.000,516,0.000,0.031,2543,1068,3940,3983,3897,0,0,0,0,0,0,26.21,26.08,26.27
$GC,5738,-0.68,-175.2,2542,1068,3983,3897,699.5,-11.5,251,5749,0.00,2.22,0.00,0.000,1030,0.000,0.036,2537,2457,3939,3982,3897,0,0,0,0,0,0,26.15,26.07,26.17
$GC,6044,-0.68,-175.2,2538,2458,3981,3896,736.5,-10.9,262,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2457,3939,3982,3896,0,0,0,0,0,0,26.21,26.28,26.27
$GC,6344,-0.68,-175.2,2536,2457,3982,3894,767.4,-10.1,272,6354,0.00,2.17,0.00,0.000,516,0.000,0.031,2537,1070,3937,3980,3894,0,0,0,0,0,0,26.23,26.07,26.29
$GC,6383,-0.68,-175.2,2536,1068,3981,3895,770.7,-10.3,273,6391,0.00,2.22,0.00,0.000,1030,0.000,0.035,2530,2455,3936,3979,3893,0,0,0,0,0,0,26.14,26.06,26.17
$GC,6701,-0.68,-175.2,2531,2456,3978,3893,802.8,-9.5,284,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2456,3935,3978,3892,0,0,0,0,0,0,26.20,26.27,26.26
$GC,7003,-0.68,-175.2,2530,2457,3979,3890,829.3,-8.7,294,7013,0.00,2.20,0.00,0.000,516,0.000,0.032,2530,1061,3933,3977,3890,0,0,0,0,0,0,26.20,26.06,26.25
$GC,7042,-0.68,-175.2,2531,1061,3976,3891,832.1,-8.7,295,7050,0.15,2.22,0.00,0.000,3078,0.147,0.035,2559,2463,3933,3977,3890,0,0,0,0,0,0,25.79,26.03,25.96
$GC,7360,-0.68,-175.2,2560,2458,3975,3890,853.2,-6.3,306,7371,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1066,3932,3976,3889,0,0,0,0,0,0,26.18,26.04,26.24
$GC,7385,-0.68,-175.2,2560,1067,3975,3889,853.2,-6.3,306,7396,0.00,2.20,0.00,0.000,1030,0.000,0.035,2559,2444,3931,3975,3888,0,0,0,0,0,0,26.11,26.03,26.14
$GC,7690,-0.68,-175.2,2559,2445,3976,3887,874.1,-6.1,317,7698,0.00,2.17,0.00,0.000,516,0.000,0.032,2559,1066,3930,3974,3887,0,0,0,0,0,0,26.20,26.04,26.26
$GC,7738,-0.68,-175.2,2560,1066,3974,3887,875.9,-6.2,318,7746,0.00,2.22,0.00,0.000,1030,0.000,0.035,2559,2456,3928,3970,3887,0,0,0,0,0,0,26.06,25.96,26.09
$GC,8051,-0.68,-175.2,2558,2457,3975,3887,896.8,-6.4,329,8059,0.00,2.17,0.00,0.000,516,0.000,0.032,2559,1066,3930,3974,3886,0,0,0,0,0,0,26.20,26.03,26.25
$GC,8093,-0.68,-175.2,2558,1067,3975,3887,899.1,-6.5,330,8101,0.00,2.20,0.00,0.000,1030,0.000,0.035,2559,2450,3929,3973,3886,0,0,0,0,0,0,26.09,26.01,26.13
$GC,8416,-0.68,-175.2,2560,2452,3972,3884,922.6,-7.2,341,8426,0.00,2.20,0.00,0.000,516,0.000,0.032,2559,1059,3928,3972,3884,0,0,0,0,0,0,26.16,26.03,26.22
$GC,8446,-0.68,-175.2,2560,1060,3971,3885,924.8,-7.3,342,8454,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2452,3928,3972,3884,0,0,0,0,0,0,26.09,26.01,26.12
$GC,8779,-0.68,-175.2,2560,2453,3970,3883,949.6,-7.6,353,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2453,3926,3971,3882,0,0,0,0,0,0,26.16,26.24,26.22
$GC,9079,-0.68,-175.2,2561,2453,3970,3882,972.1,-7.4,363,9089,0.00,2.20,0.00,0.000,516,0.000,0.032,2559,1061,3925,3970,3881,0,0,0,0,0,0,26.14,26.04,26.20
$GC,9108,-0.68,-175.2,2560,1061,3968,3882,974.4,-7.5,364,9116,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2450,3926,3970,3882,0,0,0,0,0,0,26.05,25.96,26.08
$STATE,9349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9349,begin apogee
$GC,9354,-0.11,0.0,2559,2081,3971,3882,991.6,-7.0,372,9505,0.60,0.00,138.25,1.295,10246,0.110,0.000,2746,2080,3278,3318,3238,0,0,0,0,0,0,25.73,24.39,23.79
$STATE,9506,end apogee,CONTROL_FINISHED_OK
$STATE,9506,begin climb
$GC,9508,0.68,175.2,2748,2081,3317,3236,999.0,0.0,377,9678,0.70,2.35,157.90,1.285,10756,0.052,0.038,3016,728,2567,2617,2517,0,0,0,0,0,0,24.86,24.20,23.42
$GC,9902,0.68,175.2,3015,729,2601,2509,972.5,13.3,390,9910,0.00,2.20,0.00,0.000,1030,0.000,0.028,3016,2114,2554,2600,2508,0,0,0,0,0,0,25.90,25.84,25.92
$GC,10220,0.68,175.2,3015,2116,2601,2506,930.6,12.8,401,10228,0.00,2.22,0.00,0.000,516,0.000,0.035,3025,727,2552,2599,2506,0,0,0,0,0,0,26.19,26.11,26.25
$GC,10282,0.68,175.2,3025,728,2600,2506,923.0,13.2,403,10290,0.00,2.15,0.00,0.000,1030,0.000,0.028,3026,2105,2551,2598,2505,0,0,0,0,0,0,26.20,26.14,26.23
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$STATE,18591,end climb,SURFACE_DEPTH_REACHED
$STATE,18591,begin surface coast
$FINISH,-0.8,1.022038
$STATE,18611,end surface coast,CONTROL_FINISHED_OK
$STATE,18612,begin surface
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$IRIDIUM_FIX,1117.26,14412.91,240108,140233
$TT8_MAMPS,0.05243,0.05243
$HUMID,43.10
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.40
$XPDR_PINGS,1
$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,18607.69 7825.50
$PA_BOOTCOUNT,362
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$PA_DISK_BANK,1
$24V_AH,23.42,48.176
$10V_AH,10.17,29.490
$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
$SENSOR_SECS,558.028,0.000,0.000,0.000,0.000,0.000,19139.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229904
$DATA_FILE_SIZE,36798,819
$CAP_FILE_SIZE,163473,0
$CFSIZE,260034560,246136832
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$GPS,300315,100253,1123.155,14408.155,91,1.1,91,1.9,0.8,23.7,7,8.6