version: 66.12
glider: 178
mission: 20
dive: 146
start: 3 30 115 20 32 17
data:
$ID,178
$MISSION,20
$DIVE,146
$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,52
$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
$GPS1,300315,202457,1125.0145,14403.4180,103,1.2,103,1.9,0.4,44.1,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-68.8
$GPS2,300315,203206,1125.0714,14403.2119,12,1.3,12,1.9,2.1,285.1,7,10.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,314.0,67750,-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,-175.2,121,2482,1255,1218,0.0,0.0,0,182,0.00,0.00,-76.12,0.000,16386,0.000,0.000,120,2481,3236,3282,3190,0,0,0,0,0,0,26.20,28.83,26.26
$GC,184,-0.68,-175.2,121,2482,3277,3191,3.0,-9.6,9,213,10.80,2.05,-11.00,0.000,18692,0.249,0.058,2544,3746,3967,3998,3936,0,0,0,0,0,0,25.69,24.59,25.89
$GC,359,-0.68,-175.2,2545,3746,3996,3943,67.5,-30.6,32,373,0.00,1.98,0.00,0.000,1030,0.000,0.023,2544,2427,3968,3995,3942,0,0,0,0,0,0,26.17,26.14,26.20
$GC,667,-0.68,-175.2,2545,2424,3995,3945,152.0,-18.4,63,682,0.00,2.10,0.00,0.000,516,0.000,0.029,2548,1061,3970,3996,3945,0,0,0,0,0,0,26.26,26.20,26.33
$GC,726,-0.68,-175.2,2545,1061,3997,3947,160.6,-16.0,68,736,0.00,2.15,0.00,0.000,1030,0.000,0.032,2539,2437,3971,3996,3946,0,0,0,0,0,0,26.25,26.18,26.29
$GC,1033,-0.68,-175.2,2539,2438,3996,3952,209.8,-15.7,95,1044,0.00,2.12,0.00,0.000,260,0.000,0.046,2528,3775,3974,3996,3952,0,0,0,0,0,0,26.28,26.15,26.34
$GC,1108,-0.68,-175.2,2527,3776,3997,3953,219.8,-16.0,97,1116,0.12,1.98,0.00,0.000,3078,0.159,0.023,2557,2441,3974,3996,3952,0,0,0,0,0,0,26.01,26.29,26.15
$GC,1426,-0.68,-175.2,2558,2442,3995,3954,261.6,-11.5,108,1433,0.00,2.08,0.00,0.000,516,0.000,0.031,2557,1080,3974,3996,3953,0,0,0,0,0,0,26.30,26.21,26.36
$GC,1543,-0.68,-175.2,2558,1081,3995,3956,271.1,-10.4,111,1554,0.00,2.15,0.00,0.000,1030,0.000,0.033,2551,2452,3974,3996,3953,0,0,0,0,0,0,26.26,26.19,26.29
$GC,1848,-0.68,-175.2,2551,2453,3997,3954,305.2,-10.3,122,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2452,3974,3996,3953,0,0,0,0,0,0,26.29,26.36,26.34
$GC,2148,-0.68,-175.2,2551,2453,3997,3952,336.7,-10.2,132,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2451,3973,3996,3951,0,0,0,0,0,0,26.29,26.36,26.34
$GC,2449,-0.68,-175.2,2551,2452,3995,3946,366.5,-9.9,142,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2452,3971,3996,3946,0,0,0,0,0,0,26.27,26.35,26.34
$GC,2748,-0.68,-175.2,2550,2453,3997,3942,394.9,-9.3,152,2756,0.00,2.12,0.00,0.000,260,0.000,0.047,2542,3769,3968,3996,3941,0,0,0,0,0,0,26.27,26.07,26.34
$GC,2780,-0.68,-175.2,2541,3769,3997,3942,397.4,-9.4,153,2788,0.00,1.98,0.00,0.000,1030,0.000,0.025,2541,2453,3968,3995,3941,0,0,0,0,0,0,26.29,26.27,26.31
$GC,3102,-0.68,-175.2,2541,2450,3994,3936,428.3,-9.4,164,3110,0.00,2.12,0.00,0.000,516,0.000,0.030,2542,1079,3964,3993,3935,0,0,0,0,0,0,26.27,26.15,26.32
$GC,3150,-0.68,-175.2,2542,1077,3994,3935,431.4,-9.5,165,3159,0.00,2.17,0.00,0.000,1030,0.000,0.032,2534,2451,3963,3993,3933,0,0,0,0,0,0,26.21,26.14,26.24
$GC,3464,-0.68,-175.2,2535,2452,3994,3928,467.5,-11.3,176,3475,0.00,2.15,0.00,0.000,260,0.000,0.047,2523,3774,3960,3994,3927,0,0,0,0,0,0,26.25,26.05,26.31
$GC,3499,-0.68,-175.2,2523,3777,3996,3928,471.0,-11.3,177,3507,0.15,2.00,0.00,0.000,3078,0.148,0.024,2562,2446,3960,3994,3927,0,0,0,0,0,0,25.91,26.22,26.06
$GC,3822,-0.68,-175.2,2561,2446,3996,3923,500.9,-8.9,188,3831,0.00,2.12,0.00,0.000,516,0.000,0.030,2562,1076,3957,3993,3921,0,0,0,0,0,0,26.24,26.13,26.29
$GC,3856,-0.68,-175.2,2561,1077,3996,3923,503.9,-8.9,189,3866,0.00,2.17,0.00,0.000,1030,0.000,0.033,2558,2459,3958,3994,3922,0,0,0,0,0,0,26.19,26.12,26.22
$GC,4186,-0.68,-175.2,2557,2457,3997,3917,534.5,-9.3,200,4197,0.00,2.10,0.00,0.000,260,0.000,0.051,2548,3761,3955,3994,3916,0,0,0,0,0,0,26.21,25.96,26.27
$GC,4212,-0.68,-175.2,2548,3762,3995,3916,534.5,-9.3,200,4222,0.00,1.98,0.00,0.000,1030,0.000,0.025,2548,2444,3954,3994,3915,0,0,0,0,0,0,26.26,26.22,26.27
$GC,4517,-0.68,-175.2,2549,2445,3993,3912,567.3,-10.1,211,4525,0.00,2.12,0.00,0.000,516,0.000,0.030,2548,1079,3952,3993,3911,0,0,0,0,0,0,26.25,26.10,26.29
$GC,4539,-0.68,-175.2,2547,1080,3995,3912,567.3,-10.1,211,4549,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2447,3952,3993,3911,0,0,0,0,0,0,26.15,26.08,26.19
$GC,4844,-0.68,-175.2,2542,2448,3989,3909,601.6,-10.6,222,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2447,3947,3987,3908,0,0,0,0,0,0,26.20,26.27,26.26
$GC,5144,-0.68,-175.2,2541,2448,3991,3907,631.4,-9.6,232,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2447,3947,3989,3906,0,0,0,0,0,0,26.22,26.27,26.27
$GC,5444,-0.68,-175.2,2541,2448,3989,3905,657.6,-8.7,242,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2447,3946,3988,3904,0,0,0,0,0,0,26.20,26.27,26.27
$GC,5745,-0.68,-175.2,2542,2448,3985,3904,682.9,-8.6,252,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2447,3944,3986,3903,0,0,0,0,0,0,26.20,26.27,26.26
$GC,6045,-0.68,-175.2,2540,2448,3986,3901,708.6,-8.8,262,6052,0.00,2.17,0.00,0.000,260,0.000,0.054,2532,3772,3942,3984,3901,0,0,0,0,0,0,26.17,25.89,26.23
$GC,6072,-0.68,-175.2,2531,3773,3985,3902,711.2,-8.7,263,6080,0.00,2.00,0.00,0.000,1030,0.000,0.026,2532,2454,3942,3984,3901,0,0,0,0,0,0,26.20,26.17,26.22
$GC,6400,-0.68,-175.2,2534,2452,3982,3900,741.6,-9.4,274,6409,0.00,2.15,0.00,0.000,516,0.000,0.030,2532,1076,3940,3982,3899,0,0,0,0,0,0,26.12,26.06,26.17
$GC,6458,-0.68,-175.2,2532,1074,3981,3900,744.9,-9.5,275,6470,0.12,2.20,0.00,0.000,3078,0.158,0.035,2556,2450,3940,3982,3899,0,0,0,0,0,0,25.82,26.04,25.97
$GC,6764,-0.68,-175.2,2557,2447,3981,3897,770.7,-7.4,286,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2451,3939,3982,3896,0,0,0,0,0,0,26.18,26.25,26.24
$GC,7064,-0.68,-175.2,2551,2451,3982,3897,792.0,-7.0,296,7075,0.00,2.17,0.00,0.000,260,0.000,0.051,2549,3773,3938,3980,3896,0,0,0,0,0,0,26.15,25.94,26.22
$GC,7097,-0.68,-175.2,2549,3774,3980,3897,794.1,-6.8,297,7105,0.00,2.00,0.00,0.000,1030,0.000,0.026,2549,2443,3937,3979,3896,0,0,0,0,0,0,26.19,26.15,26.20
$GC,7431,-0.68,-175.2,2549,2443,3979,3895,819.2,-7.6,308,7441,0.00,2.10,0.00,0.000,516,0.000,0.031,2549,1085,3936,3978,3894,0,0,0,0,0,0,26.17,26.04,26.22
$GC,7486,-0.68,-175.2,2548,1087,3980,3892,821.5,-7.5,309,7497,0.00,2.15,0.00,0.000,1030,0.000,0.034,2546,2450,3936,3978,3894,0,0,0,0,0,0,26.10,26.03,26.14
$GC,7791,-0.68,-175.2,2545,2450,3979,3894,847.1,-7.8,320,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3934,3977,3892,0,0,0,0,0,0,26.16,26.23,26.22
$GC,8092,-0.68,-175.2,2547,2451,3976,3892,873.0,-9.0,330,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3934,3977,3892,0,0,0,0,0,0,26.14,26.20,26.20
$GC,8391,-0.68,-175.2,2545,2451,3978,3891,901.1,-9.5,340,8402,0.00,2.15,0.00,0.000,516,0.000,0.031,2546,1082,3933,3976,3890,0,0,0,0,0,0,26.15,26.03,26.21
$GC,8426,-0.68,-175.2,2546,1083,3974,3891,904.1,-9.5,341,8435,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2452,3932,3975,3890,0,0,0,0,0,0,26.06,25.96,26.10
$GC,8755,-0.68,-175.2,2545,2453,3976,3890,934.6,-9.0,352,8767,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1074,3931,3974,3889,0,0,0,0,0,0,26.07,26.03,26.14
$GC,8777,-0.68,-175.2,2545,1075,3976,3889,934.6,-9.0,352,8785,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2458,3931,3974,3889,0,0,0,0,0,0,26.07,25.99,26.10
$GC,9082,-0.68,-175.2,2545,2459,3975,3889,962.9,-8.4,362,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2458,3931,3974,3888,0,0,0,0,0,0,26.13,26.19,26.18
$GC,9382,-0.68,-175.2,2546,2459,3973,3888,986.0,-7.4,372,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2459,3930,3973,3887,0,0,0,0,0,0,26.13,26.20,26.20
$STATE,9440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9440,begin apogee
$GC,9444,-0.11,0.0,2545,2102,3975,3887,990.3,-7.3,374,9590,0.62,0.00,138.62,1.304,10246,0.115,0.000,2738,2101,3281,3320,3242,0,0,0,0,0,0,25.70,24.53,23.72
$STATE,9591,end apogee,CONTROL_FINISHED_OK
$STATE,9591,begin climb
$GC,9592,0.68,175.2,2740,2101,3319,3242,994.9,0.0,378,9765,0.73,2.53,157.88,1.291,11012,0.050,0.043,3008,3510,2563,2609,2517,0,0,0,0,0,0,24.75,24.16,23.37
$GC,9849,0.68,175.2,3007,3511,2602,2515,985.7,11.2,387,9857,0.00,2.20,0.00,0.000,1030,0.000,0.024,3018,2120,2557,2600,2515,0,0,0,0,0,0,25.32,25.29,25.35
$GC,10162,0.68,175.2,3018,2121,2599,2511,940.8,13.6,398,10170,0.00,2.25,0.00,0.000,516,0.000,0.036,3029,708,2553,2597,2510,0,0,0,0,0,0,26.11,26.03,26.17
$GC,10194,0.68,175.2,3028,709,2598,2509,937.0,13.5,399,10202,0.00,2.20,0.00,0.000,1030,0.000,0.028,3029,2111,2552,2596,2509,0,0,0,0,0,0,26.15,26.09,26.17
$GC,10522,0.68,175.2,3029,2113,2597,2509,892.0,13.3,410,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2112,2551,2595,2508,0,0,0,0,0,0,26.19,26.25,26.25
$GC,10822,0.68,175.2,3030,2112,2594,2508,854.7,11.9,420,10830,0.00,2.22,0.00,0.000,516,0.000,0.035,3039,708,2551,2594,2508,0,0,0,0,0,0,26.21,26.11,26.27
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$STATE,18087,end climb,SURFACE_DEPTH_REACHED
$STATE,18087,begin surface coast
$FINISH,1.1,1.022002
$STATE,18103,end surface coast,CONTROL_FINISHED_OK
$STATE,18103,begin surface
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$IRIDIUM_FIX,1121.66,14349.62,250108,045442
$TT8_MAMPS,0.050932,0.050932
$HUMID,42.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.20
$XPDR_PINGS,2
$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,18104.87 7805.07
$PA_BOOTCOUNT,365
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$PA_HOME,0.04/0.069/1.764/1.606
$PA_DISK_BANK,1
$24V_AH,23.37,49.332
$10V_AH,10.17,29.735
$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
$DEVICE_SECS,21.825,152.975,519.975,30.500,0.000,0.000,0.000,309.550,0.500,18687.000,15.056,0.000,14370.100,619.217,3365.524,211.102,0.000,2424.669,0.000,1776.346,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,539.069,0.000,0.000,0.000,0.000,0.000,18687.020,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,229860
$DATA_FILE_SIZE,36733,792
$CAP_FILE_SIZE,161180,0
$CFSIZE,260034560,245903360
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