version: 66.12
glider: 178
mission: 20
dive: 161
start: 4 3 115 2 17 23
data:
$ID,178
$MISSION,20
$DIVE,161
$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,58
$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
$GPS1,030415,021036,1141.0233,14333.6133,77,0.9,77,1.7,1.0,357.6,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-73.7
$GPS2,030415,021712,1141.1490,14333.6016,8,0.9,13,1.7,0.9,299.5,9,7.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,292.7,6365,-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,-175.2,128,2462,1243,1225,0.0,0.0,0,186,0.00,0.00,-84.22,0.000,16386,0.000,0.000,123,2462,3508,3566,3451,0,0,0,0,0,0,26.24,28.83,26.28
$GC,188,-0.68,-175.2,124,2463,3567,3451,4.6,-12.6,12,213,10.57,2.15,-6.53,0.000,19204,0.244,0.037,2557,1040,3965,3996,3935,0,0,0,0,0,0,25.63,25.44,26.01
$GC,438,-0.68,-175.2,2557,1041,3994,3941,87.9,-28.7,47,451,0.00,2.20,0.00,0.000,1030,0.000,0.034,2549,2437,3967,3994,3941,0,0,0,0,0,0,26.22,26.15,26.25
$GC,745,-0.68,-175.2,2548,2438,3996,3945,161.6,-20.9,78,759,0.00,2.15,0.00,0.000,260,0.000,0.046,2539,3781,3969,3994,3945,0,0,0,0,0,0,26.27,26.06,26.34
$GC,813,-0.68,-175.2,2540,3781,3994,3946,174.6,-20.5,84,824,0.00,2.00,0.00,0.000,1030,0.000,0.023,2539,2422,3969,3994,3945,0,0,0,0,0,0,26.29,26.25,26.30
$GC,1129,-0.68,-175.2,2538,2420,3996,3950,227.3,-14.5,104,1137,0.00,2.08,0.00,0.000,516,0.000,0.031,2539,1068,3971,3993,3949,0,0,0,0,0,0,26.26,26.17,26.32
$GC,1201,-0.68,-175.2,2540,1069,3994,3950,234.8,-13.9,106,1209,0.00,2.17,0.00,0.000,1030,0.000,0.032,2531,2460,3972,3995,3950,0,0,0,0,0,0,26.22,26.17,26.25
$GC,1519,-0.68,-175.2,2532,2461,3995,3953,279.1,-12.7,117,1527,0.00,2.08,0.00,0.000,260,0.000,0.047,2521,3769,3972,3994,3951,0,0,0,0,0,0,26.29,26.08,26.35
$GC,1622,-0.68,-175.2,2520,3770,3996,3952,289.9,-12.3,120,1630,0.15,1.98,0.00,0.000,3078,0.145,0.024,2559,2446,3973,3995,3951,0,0,0,0,0,0,25.94,26.27,26.09
$GC,1935,-0.68,-175.2,2559,2447,3995,3951,318.3,-8.4,131,1942,0.00,2.10,0.00,0.000,516,0.000,0.031,2560,1077,3972,3995,3950,0,0,0,0,0,0,26.29,26.15,26.35
$GC,1977,-0.68,-175.2,2561,1077,3995,3951,321.2,-8.7,132,1985,0.00,2.15,0.00,0.000,1030,0.000,0.032,2554,2457,3972,3994,3950,0,0,0,0,0,0,26.22,26.16,26.25
$GC,2295,-0.68,-175.2,2553,2458,3997,3947,350.4,-8.9,143,2304,0.00,2.12,0.00,0.000,260,0.000,0.048,2544,3775,3970,3995,3946,0,0,0,0,0,0,26.27,26.06,26.34
$GC,2329,-0.68,-175.2,2545,3775,3994,3946,353.3,-9.2,144,2337,0.00,1.98,0.00,0.000,1030,0.000,0.025,2544,2449,3970,3995,3945,0,0,0,0,0,0,26.30,26.26,26.32
$GC,2651,-0.68,-175.2,2544,2446,3996,3942,388.3,-10.3,155,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2445,3968,3995,3941,0,0,0,0,0,0,26.26,26.33,26.32
$GC,2952,-0.68,-175.2,2544,2447,3995,3936,417.3,-9.8,165,2961,0.00,2.12,0.00,0.000,516,0.000,0.032,2544,1069,3964,3994,3935,0,0,0,0,0,0,26.26,26.10,26.32
$GC,2991,-0.68,-175.2,2544,1069,3993,3935,420.3,-9.9,166,2999,0.00,2.17,0.00,0.000,1030,0.000,0.034,2538,2456,3964,3994,3934,0,0,0,0,0,0,26.17,26.10,26.20
$GC,3309,-0.68,-175.2,2537,2457,3995,3927,456.7,-11.5,177,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2456,3960,3994,3927,0,0,0,0,0,0,26.25,26.32,26.31
$GC,3609,-0.68,-175.2,2537,2458,3995,3922,492.1,-11.7,187,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2457,3957,3994,3921,0,0,0,0,0,0,26.24,26.31,26.29
$GC,3909,-0.68,-175.2,2539,2458,3993,3916,525.5,-10.7,197,3917,0.00,2.17,0.00,0.000,516,0.000,0.033,2539,1066,3954,3993,3916,0,0,0,0,0,0,26.22,26.06,26.27
$GC,3936,-0.68,-175.2,2537,1067,3995,3916,528.4,-10.7,198,3944,0.00,2.22,0.00,0.000,1030,0.000,0.035,2532,2460,3954,3994,3915,0,0,0,0,0,0,26.13,26.05,26.15
$GC,4264,-0.68,-175.2,2532,2460,3992,3911,562.3,-10.0,209,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2460,3951,3993,3910,0,0,0,0,0,0,26.18,26.25,26.24
$GC,4564,-0.68,-175.2,2532,2460,3990,3908,590.1,-9.0,219,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2460,3949,3990,3908,0,0,0,0,0,0,26.21,26.28,26.27
$GC,4864,-0.68,-175.2,2532,2460,3987,3906,616.1,-8.5,229,4872,0.00,2.15,0.00,0.000,260,0.000,0.050,2522,3770,3946,3987,3906,0,0,0,0,0,0,26.20,25.94,26.27
$GC,4897,-0.68,-175.2,2521,3771,3989,3906,618.7,-8.7,230,4905,0.15,2.03,0.00,0.000,3078,0.144,0.025,2559,2436,3946,3987,3905,0,0,0,0,0,0,25.79,26.15,25.94
$GC,5225,-0.68,-175.2,2558,2437,3987,3904,640.7,-6.4,241,5234,0.00,2.15,0.00,0.000,516,0.000,0.032,2561,1069,3944,3986,3903,0,0,0,0,0,0,26.09,25.94,26.15
$GC,5274,-0.68,-175.2,2561,1069,3985,3904,643.1,-6.6,242,5282,0.00,2.20,0.00,0.000,1030,0.000,0.033,2559,2455,3943,3985,3902,0,0,0,0,0,0,26.10,26.02,26.13
$GC,5592,-0.68,-175.2,2558,2456,3984,3901,669.6,-8.7,253,5602,0.00,2.17,0.00,0.000,516,0.000,0.031,2563,1075,3941,3983,3900,0,0,0,0,0,0,26.10,26.01,26.15
$GC,5622,-0.68,-175.2,2560,1076,3983,3900,672.5,-8.9,254,5630,0.00,2.20,0.00,0.000,1030,0.000,0.034,2559,2453,3941,3983,3900,0,0,0,0,0,0,26.09,26.01,26.13
$GC,5950,-0.68,-175.2,2558,2454,3983,3898,702.0,-9.0,265,5959,0.00,2.15,0.00,0.000,260,0.000,0.050,2551,3771,3939,3982,3897,0,0,0,0,0,0,26.14,25.91,26.20
$GC,6004,-0.68,-175.2,2550,3771,3983,3897,705.2,-9.0,266,6011,0.00,2.00,0.00,0.000,1030,0.000,0.026,2551,2445,3938,3981,3896,0,0,0,0,0,0,26.19,26.15,26.20
$GC,6316,-0.68,-175.2,2552,2445,3979,3896,735.6,-8.9,277,6324,0.00,2.12,0.00,0.000,516,0.000,0.032,2551,1078,3937,3979,3895,0,0,0,0,0,0,26.20,26.01,26.26
$GC,6339,-0.68,-175.2,2551,1079,3978,3896,735.6,-8.9,277,6347,0.00,2.20,0.00,0.000,1030,0.000,0.033,2546,2456,3940,3985,3895,0,0,0,0,0,0,26.08,26.01,26.11
$GC,6652,-0.68,-175.2,2547,2462,3977,3898,765.5,-8.6,288,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2455,3936,3978,3894,0,0,0,0,0,0,26.13,26.20,26.19
$GC,6952,-0.68,-175.2,2546,2456,3977,3893,791.4,-8.6,298,6962,0.00,2.20,0.00,0.000,516,0.000,0.031,2546,1069,3934,3977,3892,0,0,0,0,0,0,26.15,25.98,26.20
$GC,6983,-0.68,-175.2,2547,1070,3976,3893,794.2,-8.6,299,6990,0.00,2.17,0.00,0.000,1030,0.000,0.034,2545,2449,3934,3976,3892,0,0,0,0,0,0,26.05,25.96,26.08
$GC,7315,-0.68,-175.2,2545,2450,3977,3891,822.7,-8.5,310,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3932,3974,3890,0,0,0,0,0,0,26.14,26.22,26.20
$GC,7615,-0.68,-175.2,2547,2450,3974,3889,848.2,-8.4,320,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3931,3973,3889,0,0,0,0,0,0,26.14,26.20,26.20
$GC,7915,-0.68,-175.2,2545,2449,3975,3888,873.4,-8.4,330,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3930,3973,3888,0,0,0,0,0,0,26.17,26.23,26.22
$GC,8215,-0.68,-175.2,2545,2450,3974,3888,898.4,-8.4,340,8226,0.00,2.17,0.00,0.000,260,0.000,0.054,2542,3769,3929,3972,3887,0,0,0,0,0,0,26.14,25.88,26.20
$GC,8240,-0.68,-175.2,2541,3770,3973,3888,898.4,-8.4,340,8251,0.00,2.03,0.00,0.000,1030,0.000,0.026,2542,2439,3929,3971,3887,0,0,0,0,0,0,26.16,26.12,26.17
$GC,8545,-0.68,-175.2,2541,2440,3972,3887,927.5,-9.0,351,8553,0.00,2.12,0.00,0.000,516,0.000,0.032,2542,1079,3928,3970,3886,0,0,0,0,0,0,26.15,25.98,26.21
$GC,8577,-0.68,-175.2,2541,1080,3972,3887,930.1,-9.2,352,8585,0.00,2.20,0.00,0.000,1030,0.000,0.035,2540,2450,3930,3970,3891,0,0,0,0,0,0,26.01,25.93,26.05
$GC,8905,-0.68,-175.2,2542,2450,3970,3885,961.2,-9.3,363,8914,0.00,2.20,0.00,0.000,516,0.000,0.031,2541,1071,3927,3970,3884,0,0,0,0,0,0,26.03,25.89,26.09
$GC,8928,-0.68,-175.2,2542,1071,3970,3885,961.2,-9.3,363,8936,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2453,3927,3970,3884,0,0,0,0,0,0,26.08,25.96,26.08
$GC,9233,-0.68,-175.2,2541,2453,3971,3883,989.5,-8.3,373,9244,0.00,2.17,0.00,0.000,260,0.000,0.051,2538,3773,3926,3969,3883,0,0,0,0,0,0,26.09,25.87,26.15
$STATE,9262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9262,begin apogee
$GC,9269,-0.11,0.0,2543,2119,3969,3883,992.0,-8.1,374,9418,0.65,0.00,138.93,1.297,10246,0.114,0.000,2739,2115,3278,3318,3238,0,0,0,0,0,0,25.70,24.52,23.68
$STATE,9419,end apogee,CONTROL_FINISHED_OK
$STATE,9419,begin climb
$GC,9421,0.68,175.2,2738,2116,3319,3238,999.4,0.0,379,9592,0.73,2.42,158.55,1.284,11012,0.050,0.042,3010,3507,2563,2610,2517,0,0,0,0,0,0,24.79,24.16,23.33
$GC,9816,0.68,175.2,3009,3507,2599,2514,970.8,14.3,391,9825,0.00,2.17,0.00,0.000,1030,0.000,0.024,3021,2106,2555,2597,2513,0,0,0,0,0,0,25.96,25.91,25.98
$GC,10130,0.68,175.2,3019,2107,2597,2511,926.6,13.5,402,10140,0.00,2.28,0.00,0.000,260,0.000,0.042,3020,3515,2552,2595,2510,0,0,0,0,0,0,26.19,26.08,26.25
$GC,10155,0.68,175.2,3019,3516,2597,2511,926.6,13.5,402,10163,0.12,2.20,0.00,0.000,5126,0.197,0.024,3005,2089,2552,2595,2510,0,0,0,0,0,0,25.83,26.17,26.05
$GC,10460,0.68,175.2,3004,2090,2596,2509,883.9,12.5,412,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2090,2552,2595,2509,0,0,0,0,0,0,26.22,26.29,26.29
$GC,10760,0.68,175.2,3006,2090,2593,2509,848.1,12.0,422,10768,0.00,2.30,0.00,0.000,260,0.000,0.042,3005,3511,2550,2593,2508,0,0,0,0,0,0,26.21,26.06,26.28
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$STATE,18140,end climb,SURFACE_DEPTH_REACHED
$STATE,18140,begin surface coast
$FINISH,-0.9,1.009814
$STATE,18156,end surface coast,CONTROL_FINISHED_OK
$STATE,18156,begin surface
$SM_CCo,18174,14.32,0.063,0,0,1239,500.17
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$IRIDIUM_FIX,1132.66,14332.46,280108,101829
$TT8_MAMPS,0.053179,0.053179
$HUMID,41.80
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.60
$XPDR_PINGS,0
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18143.56 7818.73
$PA_BOOTCOUNT,380
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$10V_AH,10.17,30.853
$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
$DEVICE_SECS,21.500,157.600,539.675,14.325,0.000,0.000,0.000,272.000,0.000,18654.861,15.811,0.000,14451.638,623.686,3268.435,225.686,0.000,2382.880,0.000,1827.466,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,555.964,0.000,0.000,0.000,0.000,0.000,18654.922,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229928
$DATA_FILE_SIZE,36825,817
$CAP_FILE_SIZE,160185,0
$CFSIZE,260034560,244645888
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$INTR,1,10133.98,0x233784,1,24
$CURRENT,0.105,201.75,1
$GPS,030415,072136,1141.068,14331.502,41,1.1,41,1.7,0.7,357.4,7,8.3