version: 66.12
glider: 178
mission: 20
dive: 171
start: 4 5 115 5 33 24
data:
$ID,178
$MISSION,20
$DIVE,171
$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,46
$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
$GPS1,050415,052654,1157.5334,14339.9238,99,0.9,99,1.7,0.6,70.3,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-72.2
$GPS2,050415,053313,1157.6038,14339.8604,10,1.1,16,1.7,0.6,191.6,8,8.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,17.2,188546,-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,-175.2,120,2466,1243,1226,0.0,0.0,0,178,0.00,0.00,-76.22,0.000,16386,0.000,0.000,120,2466,3137,3186,3088,0,0,0,0,0,0,26.22,28.83,26.29
$GC,180,-0.68,-175.2,119,2467,3188,3090,3.2,-9.0,11,213,10.85,2.10,-13.60,0.000,18692,0.248,0.055,2542,3756,3964,3999,3929,0,0,0,0,0,0,25.60,25.43,25.80
$GC,315,-0.68,-175.2,2543,3756,3995,3938,57.3,-36.9,32,325,0.00,1.98,0.00,0.000,1030,0.000,0.024,2547,2432,3966,3995,3938,0,0,0,0,0,0,26.25,26.21,26.27
$GC,620,-0.68,-175.2,2548,2430,3995,3942,147.9,-20.6,63,628,0.00,2.10,0.00,0.000,516,0.000,0.029,2551,1057,3968,3995,3941,0,0,0,0,0,0,26.28,26.17,26.34
$GC,683,-0.68,-175.2,2550,1057,3996,3943,160.5,-19.8,69,691,0.00,2.15,0.00,0.000,1030,0.000,0.031,2544,2439,3968,3994,3942,0,0,0,0,0,0,26.22,26.15,26.26
$GC,1007,-0.68,-175.2,2544,2441,3995,3947,209.9,-14.8,97,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2440,3970,3994,3946,0,0,0,0,0,0,26.28,26.34,26.33
$GC,1306,-0.68,-175.2,2543,2441,3997,3949,255.0,-15.0,107,1314,0.00,2.12,0.00,0.000,260,0.000,0.047,2534,3776,3971,3995,3948,0,0,0,0,0,0,26.30,26.10,26.36
$GC,1348,-0.68,-175.2,2533,3777,3996,3949,258.7,-14.8,108,1357,0.00,1.98,0.00,0.000,1030,0.000,0.024,2534,2441,3971,3995,3947,0,0,0,0,0,0,26.31,26.26,26.32
$GC,1662,-0.68,-175.2,2534,2438,3995,3948,300.3,-13.8,119,1669,0.00,2.12,0.00,0.000,516,0.000,0.031,2533,1063,3971,3995,3947,0,0,0,0,0,0,26.31,26.16,26.36
$GC,1719,-0.68,-175.2,2534,1063,3994,3948,307.7,-13.6,121,1729,0.12,2.17,0.00,0.000,3078,0.151,0.032,2557,2454,3971,3995,3948,0,0,0,0,0,0,25.94,26.15,26.08
$GC,2049,-0.68,-175.2,2556,2455,3997,3947,345.9,-11.8,132,2058,0.00,2.12,0.00,0.000,516,0.000,0.031,2557,1077,3971,3995,3947,0,0,0,0,0,0,26.19,26.06,26.25
$GC,2074,-0.68,-175.2,2557,1077,3995,3947,345.9,-11.8,132,2084,0.00,2.17,0.00,0.000,1030,0.000,0.033,2551,2453,3971,3995,3947,0,0,0,0,0,0,26.21,26.13,26.24
$GC,2379,-0.68,-175.2,2549,2454,3997,3945,385.1,-11.6,143,2387,0.00,2.10,0.00,0.000,260,0.000,0.047,2541,3772,3969,3995,3944,0,0,0,0,0,0,26.28,26.05,26.34
$GC,2416,-0.68,-175.2,2542,3773,3994,3943,388.3,-11.7,144,2424,0.00,1.98,0.00,0.000,1030,0.000,0.024,2541,2447,3968,3995,3942,0,0,0,0,0,0,26.29,26.26,26.31
$GC,2733,-0.68,-175.2,2540,2445,3996,3939,425.1,-10.9,155,2741,0.00,2.12,0.00,0.000,516,0.000,0.031,2541,1067,3966,3994,3938,0,0,0,0,0,0,26.27,26.12,26.32
$GC,2765,-0.68,-175.2,2540,1067,3995,3939,427.8,-10.6,156,2774,0.00,2.20,0.00,0.000,1030,0.000,0.032,2537,2461,3966,3994,3938,0,0,0,0,0,0,26.19,26.12,26.22
$GC,3093,-0.68,-175.2,2535,2461,3995,3932,460.8,-9.7,167,3101,0.00,2.15,0.00,0.000,516,0.000,0.030,2537,1074,3962,3994,3931,0,0,0,0,0,0,26.25,26.11,26.30
$GC,3145,-0.68,-175.2,2537,1074,3994,3933,463.5,-9.6,168,3156,0.00,2.17,0.00,0.000,1030,0.000,0.033,2530,2454,3961,3994,3929,0,0,0,0,0,0,26.17,26.09,26.20
$GC,3451,-0.68,-175.2,2529,2455,3993,3925,494.7,-9.5,179,3457,0.12,0.00,0.00,0.000,2054,0.163,0.000,2558,2454,3959,3994,3925,0,0,0,0,0,0,25.89,26.08,26.02
$GC,3751,-0.68,-175.2,2559,2455,3993,3920,515.9,-6.7,189,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2454,3956,3993,3919,0,0,0,0,0,0,26.25,26.31,26.30
$GC,4051,-0.68,-175.2,2559,2455,3994,3914,536.8,-7.3,199,4060,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1068,3953,3994,3913,0,0,0,0,0,0,26.23,26.08,26.29
$GC,4074,-0.68,-175.2,2559,1069,3996,3914,536.8,-7.3,199,4081,0.00,2.20,0.00,0.000,1030,0.000,0.034,2559,2459,3953,3994,3912,0,0,0,0,0,0,26.13,26.05,26.17
$GC,4386,-0.68,-175.2,2561,2460,3993,3908,561.2,-7.4,210,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2460,3950,3993,3908,0,0,0,0,0,0,26.22,26.30,26.29
$GC,4686,-0.68,-175.2,2559,2460,3992,3906,584.1,-7.7,220,4696,0.00,2.17,0.00,0.000,516,0.000,0.030,2559,1065,3947,3990,3905,0,0,0,0,0,0,26.22,26.08,26.28
$GC,4716,-0.68,-175.2,2558,1066,3992,3906,586.3,-7.7,221,4724,0.00,2.22,0.00,0.000,1030,0.000,0.034,2554,2455,3947,3990,3905,0,0,0,0,0,0,26.12,26.03,26.15
$GC,5049,-0.68,-175.2,2554,2455,3988,3904,614.5,-8.7,232,5058,0.00,2.15,0.00,0.000,516,0.000,0.030,2553,1074,3946,3988,3904,0,0,0,0,0,0,26.19,26.03,26.25
$GC,5083,-0.68,-175.2,2551,1075,3989,3904,617.5,-8.8,233,5093,0.00,2.17,0.00,0.000,1030,0.000,0.034,2548,2452,3945,3988,3903,0,0,0,0,0,0,26.10,26.02,26.13
$GC,5413,-0.68,-175.2,2548,2452,3986,3901,648.1,-9.2,244,5424,0.00,2.17,0.00,0.000,516,0.000,0.030,2548,1069,3942,3986,3899,0,0,0,0,0,0,26.08,25.94,26.13
$GC,5438,-0.68,-175.2,2549,1070,3985,3896,648.1,-9.2,244,5449,0.00,2.20,0.00,0.000,1030,0.000,0.035,2542,2456,3943,3986,3900,0,0,0,0,0,0,26.08,26.01,26.13
$GC,5744,-0.68,-175.2,2541,2456,3985,3899,678.0,-8.8,255,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3944,3991,3898,0,0,0,0,0,0,26.21,26.27,26.27
$GC,6044,-0.68,-175.2,2542,2456,3982,3897,703.5,-8.4,265,6052,0.00,2.17,0.00,0.000,516,0.000,0.030,2542,1066,3939,3982,3896,0,0,0,0,0,0,26.21,26.01,26.27
$GC,6096,-0.68,-175.2,2541,1065,3984,3896,706.5,-8.5,266,6104,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2449,3939,3982,3896,0,0,0,0,0,0,26.09,26.01,26.13
$GC,6402,-0.68,-175.2,2540,2449,3982,3895,733.0,-8.3,276,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2448,3937,3980,3894,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6703,-0.68,-175.2,2542,2449,3979,3893,757.9,-8.4,286,6713,0.00,2.15,0.00,0.000,516,0.000,0.031,2541,1068,3936,3979,3893,0,0,0,0,0,0,26.16,26.00,26.22
$GC,6743,-0.68,-175.2,2541,1069,3980,3893,760.6,-8.4,287,6751,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2449,3935,3978,3892,0,0,0,0,0,0,26.06,25.98,26.10
$GC,7061,-0.68,-175.2,2540,2450,3979,3891,788.3,-8.4,298,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2449,3933,3977,3890,0,0,0,0,0,0,26.17,26.24,26.22
$GC,7361,-0.68,-175.2,2540,2450,3978,3890,811.7,-7.5,308,7370,0.00,2.15,0.00,0.000,516,0.000,0.031,2542,1075,3933,3978,3889,0,0,0,0,0,0,26.15,25.98,26.20
$GC,7400,-0.68,-175.2,2541,1076,3977,3890,814.0,-7.5,309,7408,0.00,2.20,0.00,0.000,1030,0.000,0.035,2542,2453,3932,3976,3889,0,0,0,0,0,0,26.06,25.97,26.09
$GC,7718,-0.68,-175.2,2540,2454,3977,3889,837.2,-7.1,320,7726,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1077,3930,3972,3888,0,0,0,0,0,0,26.14,25.98,26.20
$GC,7745,-0.68,-175.2,2542,1076,3974,3888,837.2,-7.1,320,7756,0.00,2.20,0.00,0.000,1030,0.000,0.034,2541,2457,3931,3975,3888,0,0,0,0,0,0,26.06,25.98,26.09
$GC,8051,-0.68,-175.2,2541,2458,3975,3887,863.1,-8.0,331,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2458,3930,3974,3887,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8350,-0.68,-175.2,2542,2458,3974,3887,887.7,-8.2,341,8358,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1071,3929,3973,3886,0,0,0,0,0,0,26.15,26.00,26.21
$GC,8378,-0.68,-175.2,2541,1071,3975,3887,890.1,-8.4,342,8387,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2453,3929,3972,3886,0,0,0,0,0,0,26.04,25.96,26.08
$GC,8708,-0.68,-175.2,2540,2454,3973,3885,919.1,-9.1,353,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3928,3972,3884,0,0,0,0,0,0,26.03,26.10,26.10
$GC,9008,-0.68,-175.2,2541,2454,3973,3883,945.9,-8.9,363,9016,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1067,3927,3971,3883,0,0,0,0,0,0,26.13,25.96,26.18
$GC,9055,-0.68,-175.2,2542,1067,3970,3883,948.8,-8.9,364,9063,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2450,3926,3970,3882,0,0,0,0,0,0,26.03,25.94,26.06
$GC,9368,-0.68,-175.2,2541,2451,3972,3882,975.3,-8.0,375,9379,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1066,3926,3970,3882,0,0,0,0,0,0,26.16,25.96,26.19
$GC,9393,-0.68,-175.2,2542,1067,3968,3883,975.3,-8.0,375,9404,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2460,3926,3970,3882,0,0,0,0,0,0,26.01,25.92,26.04
$STATE,9577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9577,begin apogee
$GC,9581,-0.11,0.0,2541,2086,3966,3882,991.4,-7.7,382,9732,0.65,0.00,140.18,1.298,10246,0.115,0.000,2741,2085,3278,3318,3238,0,0,0,0,0,0,25.63,24.25,23.62
$STATE,9733,end apogee,CONTROL_FINISHED_OK
$STATE,9733,begin climb
$GC,9735,0.68,175.2,2741,2086,3317,3237,998.1,0.0,387,9914,0.73,2.55,160.40,1.288,11012,0.052,0.041,3007,3506,2562,2608,2517,0,0,0,0,0,0,24.77,24.13,23.27
$GC,10138,0.68,175.2,3006,3506,2599,2514,970.4,13.7,400,10146,0.00,2.12,0.00,0.000,1030,0.000,0.023,3018,2126,2555,2598,2513,0,0,0,0,0,0,26.01,25.97,26.03
$GC,10451,0.68,175.2,3018,2126,2595,2510,929.4,12.3,411,10459,0.00,2.25,0.00,0.000,516,0.000,0.034,3028,708,2552,2595,2509,0,0,0,0,0,0,26.25,26.13,26.32
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$STATE,18421,end climb,SURFACE_DEPTH_REACHED
$STATE,18421,begin surface coast
$FINISH,-0.6,1.021923
$STATE,18441,end surface coast,CONTROL_FINISHED_OK
$STATE,18441,begin surface
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$IRIDIUM_FIX,1150.28,14337.78,300108,143642
$TT8_MAMPS,0.05243,0.05243
$HUMID,40.82
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.80
$XPDR_PINGS,0
$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,18446.75 8031.89
$PA_BOOTCOUNT,390
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$PA_DISK_BANK,2
$24V_AH,23.27,61.735
$10V_AH,10.16,31.584
$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
$DEVICE_SECS,21.500,162.575,506.750,35.200,0.000,0.000,0.000,261.150,0.000,18949.680,18.816,0.000,14637.026,645.996,3351.624,226.294,0.000,2421.681,0.000,1862.156,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,574.668,0.000,0.000,0.000,0.000,0.000,18949.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229964
$DATA_FILE_SIZE,36842,846
$CAP_FILE_SIZE,163552,0
$CFSIZE,260034560,243810304
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