version: 66.12
glider: 178
mission: 20
dive: 181
start: 4 7 115 9 27 10
data:
$ID,178
$MISSION,20
$DIVE,181
$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,62
$R_STBD_OVSHOOT,45
$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
$GPS1,070415,091934,1219.4528,14351.6738,26,1.5,54,1.6,1.3,254.3,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-75.4
$GPS2,070415,092659,1219.4619,14351.5732,13,1.2,53,1.6,0.3,36.1,7,10.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.4,143016,-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,-175.2,121,2429,1239,1227,0.0,0.0,0,181,0.00,0.00,-79.65,0.000,16386,0.000,0.000,121,2429,3252,3296,3209,0,0,0,0,0,0,26.29,28.83,26.34
$GC,183,-0.68,-175.2,122,2429,3297,3210,3.5,-8.3,11,218,10.52,2.15,-10.48,0.000,18692,0.239,0.054,2542,3762,3967,3995,3939,0,0,0,0,0,0,25.57,24.44,25.96
$GC,262,-0.68,-175.2,2541,3761,3996,3943,38.7,-33.0,22,276,0.00,1.98,0.00,0.000,1030,0.000,0.024,2547,2445,3967,3994,3941,0,0,0,0,0,0,26.25,26.20,26.27
$GC,578,-0.68,-175.2,2546,2443,3996,3943,137.5,-23.1,55,586,0.00,2.12,0.00,0.000,260,0.000,0.044,2540,3762,3970,3994,3947,0,0,0,0,0,0,26.32,26.11,26.37
$GC,606,-0.68,-175.2,2539,3763,3996,3945,143.3,-22.2,57,613,0.00,1.95,0.00,0.000,1030,0.000,0.023,2540,2433,3969,3994,3944,0,0,0,0,0,0,26.30,26.27,26.32
$GC,911,-0.68,-175.2,2539,2430,3996,3948,196.3,-16.7,87,918,0.00,2.12,0.00,0.000,260,0.000,0.042,2530,3763,3970,3994,3947,0,0,0,0,0,0,26.32,26.12,26.39
$GC,963,-0.68,-175.2,2531,3763,3994,3949,200.7,-15.8,89,974,0.00,1.95,0.00,0.000,1030,0.000,0.023,2531,2457,3971,3994,3948,0,0,0,0,0,0,26.32,26.29,26.34
$GC,1268,-0.68,-175.2,2530,2455,3996,3952,250.1,-14.2,100,1279,0.00,2.12,0.00,0.000,516,0.000,0.031,2530,1064,3972,3994,3951,0,0,0,0,0,0,26.31,26.17,26.36
$GC,1329,-0.68,-175.2,2537,1065,3994,3951,257.7,-13.0,102,1337,0.15,2.15,0.00,0.000,3078,0.146,0.030,2561,2446,3972,3994,3951,0,0,0,0,0,0,25.92,26.18,26.07
$GC,1657,-0.68,-175.2,2560,2447,3996,3952,292.3,-11.1,113,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2447,3973,3995,3951,0,0,0,0,0,0,26.30,26.37,26.36
$GC,1956,-0.68,-175.2,2562,2447,3994,3951,325.6,-10.5,123,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2446,3972,3995,3950,0,0,0,0,0,0,26.32,26.39,26.38
$GC,2256,-0.68,-175.2,2562,2447,3994,3948,352.0,-7.7,133,2268,0.00,2.12,0.00,0.000,516,0.000,0.031,2562,1072,3970,3994,3947,0,0,0,0,0,0,26.29,26.15,26.34
$GC,2323,-0.68,-175.2,2561,1072,3994,3948,356.6,-7.5,135,2330,0.00,2.17,0.00,0.000,1030,0.000,0.031,2556,2458,3970,3994,3946,0,0,0,0,0,0,26.23,26.16,26.27
$GC,2645,-0.68,-175.2,2557,2458,3994,3941,386.6,-9.2,146,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2458,3967,3994,3941,0,0,0,0,0,0,26.30,26.37,26.36
$GC,2945,-0.68,-175.2,2557,2459,3993,3937,412.3,-8.7,156,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2458,3964,3993,3936,0,0,0,0,0,0,26.28,26.35,26.34
$GC,3245,-0.68,-175.2,2556,2460,3993,3933,438.9,-8.9,166,3253,0.00,2.17,0.00,0.000,516,0.000,0.031,2556,1063,3961,3993,3929,0,0,0,0,0,0,26.28,26.11,26.34
$GC,3282,-0.68,-175.2,2555,1065,3995,3930,441.5,-9.1,167,3290,0.00,2.17,0.00,0.000,1030,0.000,0.032,2554,2451,3961,3993,3929,0,0,0,0,0,0,26.18,26.11,26.21
$GC,3605,-0.68,-175.2,2553,2452,3995,3923,470.6,-8.5,178,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2451,3958,3994,3922,0,0,0,0,0,0,26.27,26.34,26.33
$GC,3905,-0.68,-175.2,2554,2453,3993,3917,499.1,-10.0,188,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3955,3993,3917,0,0,0,0,0,0,26.22,26.32,26.29
$GC,4205,-0.68,-175.2,2552,2453,3995,3913,529.3,-10.1,198,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2452,3952,3993,3912,0,0,0,0,0,0,26.25,26.32,26.30
$GC,4505,-0.68,-175.2,2553,2454,3992,3909,556.4,-8.4,208,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2452,3949,3990,3908,0,0,0,0,0,0,26.24,26.29,26.29
$GC,4805,-0.68,-175.2,2553,2453,3990,3906,578.2,-7.0,218,4812,0.00,2.17,0.00,0.000,516,0.000,0.031,2553,1066,3947,3988,3906,0,0,0,0,0,0,26.21,26.03,26.27
$GC,4832,-0.68,-175.2,2553,1070,3989,3907,580.0,-6.8,219,4840,0.00,2.22,0.00,0.000,1030,0.000,0.034,2548,2453,3946,3987,3906,0,0,0,0,0,0,26.11,26.03,26.14
$GC,5160,-0.68,-175.2,2547,2454,3987,3904,602.5,-7.0,230,5171,0.00,2.17,0.00,0.000,516,0.000,0.031,2548,1071,3944,3986,3903,0,0,0,0,0,0,26.20,26.02,26.26
$GC,5195,-0.68,-175.2,2549,1073,3985,3904,604.8,-7.0,231,5204,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2451,3944,3985,3903,0,0,0,0,0,0,26.10,26.02,26.13
$GC,5518,-0.68,-175.2,2545,2452,3984,3902,630.8,-8.7,242,5529,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1062,3941,3982,3901,0,0,0,0,0,0,26.21,26.01,26.27
$GC,5563,-0.68,-175.2,2545,1062,3984,3901,633.7,-9.0,243,5571,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2451,3941,3982,3900,0,0,0,0,0,0,26.08,26.00,26.11
$GC,5881,-0.68,-175.2,2545,2452,3983,3898,668.6,-11.0,254,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3939,3981,3897,0,0,0,0,0,0,26.21,26.27,26.27
$GC,6181,-0.68,-175.2,2545,2452,3981,3897,699.8,-9.9,264,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3937,3979,3896,0,0,0,0,0,0,26.20,26.26,26.25
$GC,6482,-0.68,-175.2,2547,2452,3977,3895,726.4,-8.6,274,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3935,3977,3894,0,0,0,0,0,0,26.19,26.27,26.25
$GC,6781,-0.68,-175.2,2545,2452,3978,3893,749.4,-7.4,284,6789,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1066,3934,3976,3892,0,0,0,0,0,0,26.18,26.01,26.24
$GC,6809,-0.68,-175.2,2545,1067,3977,3893,751.4,-7.3,285,6817,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2451,3933,3975,3892,0,0,0,0,0,0,26.01,25.94,26.04
$GC,7142,-0.68,-175.2,2546,2452,3974,3891,775.6,-7.3,296,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3932,3974,3890,0,0,0,0,0,0,26.17,26.25,26.23
$GC,7441,-0.68,-175.2,2546,2452,3973,3890,797.3,-7.2,306,7451,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1069,3931,3973,3889,0,0,0,0,0,0,26.17,25.94,26.22
$GC,7471,-0.68,-175.2,2545,1068,3975,3889,799.2,-7.0,307,7480,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2452,3930,3972,3889,0,0,0,0,0,0,26.01,25.93,26.04
$GC,7805,-0.68,-175.2,2546,2452,3970,3888,821.9,-6.9,318,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2452,3926,3965,3887,0,0,0,0,0,0,26.13,26.21,26.19
$GC,8105,-0.68,-175.2,2546,2452,3970,3887,841.7,-6.6,328,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3928,3970,3886,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8405,-0.68,-175.2,2546,2452,3969,3886,859.0,-5.6,338,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2452,3927,3969,3885,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8705,-0.68,-175.2,2547,2452,3968,3884,875.9,-5.6,348,8713,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1069,3926,3968,3884,0,0,0,0,0,0,26.15,25.94,26.22
$GC,8742,-0.68,-175.2,2547,1069,3967,3884,877.6,-5.6,349,8750,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2451,3925,3968,3883,0,0,0,0,0,0,26.01,25.93,26.04
$GC,9060,-0.68,-175.2,2547,2452,3966,3882,897.3,-6.4,360,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3924,3966,3882,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9360,-0.68,-175.2,2547,2452,3964,3882,917.1,-6.8,370,9370,0.00,2.17,0.00,0.000,516,0.000,0.031,2545,1070,3923,3965,3881,0,0,0,0,0,0,26.12,25.94,26.18
$GC,9384,-0.68,-175.2,2547,1067,3964,3878,917.1,-6.8,370,9392,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2450,3923,3964,3882,0,0,0,0,0,0,25.99,25.91,26.03
$GC,9697,-0.68,-175.2,2545,2450,3966,3881,940.7,-7.0,381,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3922,3964,3881,0,0,0,0,0,0,26.13,26.20,26.18
$GC,9996,-0.68,-175.2,2547,2450,3963,3881,962.9,-7.5,391,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2450,3922,3964,3880,0,0,0,0,0,0,26.13,26.19,26.18
$GC,10297,-0.68,-175.2,2546,2450,3963,3879,985.3,-7.1,401,10306,0.00,2.20,0.00,0.000,516,0.000,0.031,2546,1071,3921,3964,3879,0,0,0,0,0,0,26.10,25.89,26.15
$GC,10325,-0.68,-175.2,2546,1070,3963,3880,985.3,-7.1,401,10336,0.00,2.22,0.00,0.000,1030,0.000,0.035,2545,2451,3921,3964,3879,0,0,0,0,0,0,25.98,25.90,26.01
$STATE,10389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10389,begin apogee
$GC,10393,-0.11,0.0,2547,2095,3963,3879,992.0,-7.3,404,10544,0.62,0.00,139.10,1.310,10246,0.111,0.000,2739,2091,3277,3316,3239,0,0,0,0,0,0,25.59,24.42,23.51
$STATE,10545,end apogee,CONTROL_FINISHED_OK
$STATE,10545,begin climb
$GC,10546,0.68,175.2,2738,2091,3318,3239,998.0,0.0,409,10719,0.73,2.35,160.35,1.295,11012,0.045,0.034,3017,719,2561,2610,2513,0,0,0,0,0,0,24.75,23.82,23.16
$GC,10944,0.68,175.2,3018,718,2599,2509,974.3,11.5,421,10954,0.00,2.17,0.00,0.000,1030,0.000,0.027,3022,2108,2554,2600,2508,0,0,0,0,0,0,25.98,25.92,26.01
$GC,11259,0.68,175.2,3018,2109,2593,2506,938.5,10.4,432,11267,0.00,2.22,0.00,0.000,516,0.000,0.035,3028,711,2551,2598,2505,0,0,0,0,0,0,26.25,26.13,26.33
$GC,11306,0.68,175.2,3027,712,2599,2506,935.6,10.3,433,11314,0.00,2.17,0.00,0.000,1030,0.000,0.027,3028,2100,2550,2597,2504,0,0,0,0,0,0,26.22,26.16,26.26
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$STATE,19623,end climb,SURFACE_DEPTH_REACHED
$STATE,19623,begin surface coast
$FINISH,-0.0,1.022006
$STATE,19644,end surface coast,CONTROL_FINISHED_OK
$STATE,19644,begin surface
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$IRIDIUM_FIX,1210.12,14351.06,010208,172300
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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
$PA_UPTIME,19652.53 8494.49
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$PA_DISK_BANK,2
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$10V_AH,10.12,32.341
$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,229916
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