version: 66.12
glider: 178
mission: 20
dive: 95
start: 3 19 115 20 0 17
data:
$ID,178
$MISSION,20
$DIVE,95
$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,49
$R_STBD_OVSHOOT,38
$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
$GPS1,190315,195305,1213.6572,14449.9141,41,0.8,47,1.8,0.8,30.8,10,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-73.9
$GPS2,190315,200005,1213.7030,14449.8906,8,1.9,12,1.8,0.7,321.2,8,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S5
$TGT_LATLONG,1215.660,14421.540
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,267.0,51436,-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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,92,-0.68,-175.2,129,2463,1240,1227,0.0,0.0,0,173,0.00,0.00,-78.20,0.000,16386,0.000,0.000,128,2462,3210,3253,3167,0,0,0,0,0,0,26.20,28.83,26.27
$GC,175,-0.68,-175.2,127,2463,3253,3170,3.2,-11.3,13,205,10.60,2.08,-12.32,0.000,18692,0.252,0.062,2544,3769,3964,3999,3929,0,0,0,0,0,0,25.84,24.87,26.13
$GC,209,-0.68,-175.2,2544,3769,3998,3932,21.3,-47.5,19,217,0.00,2.05,0.00,0.000,1030,0.000,0.024,2551,2411,3965,3998,3933,0,0,0,0,0,0,26.26,26.25,26.27
$GC,516,-0.68,-175.2,2552,2410,3996,3939,132.7,-33.4,57,531,0.00,2.03,0.00,0.000,516,0.000,0.033,2558,1082,3967,3996,3938,0,0,0,0,0,0,26.25,26.10,26.31
$GC,695,-0.68,-175.2,2559,1080,3995,3942,162.2,-13.7,74,708,0.00,2.15,0.00,0.000,1030,0.000,0.033,2551,2455,3968,3995,3941,0,0,0,0,0,0,26.33,26.27,26.35
$GC,1003,-0.68,-175.2,2552,2457,3995,3946,213.6,-14.8,99,1014,0.00,2.10,0.00,0.000,516,0.000,0.030,2551,1081,3970,3995,3946,0,0,0,0,0,0,26.34,26.34,26.40
$GC,1017,-0.68,-175.2,2550,1082,3997,3947,213.6,-14.8,99,1025,0.00,2.15,0.00,0.000,1030,0.000,0.034,2543,2458,3970,3995,3946,0,0,0,0,0,0,26.37,26.32,26.39
$GC,1335,-0.68,-175.2,2544,2459,3996,3949,261.7,-14.9,110,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2459,3972,3996,3949,0,0,0,0,0,0,26.35,26.42,26.41
$GC,1635,-0.68,-175.2,2544,2459,3996,3949,303.9,-12.9,120,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2459,3972,3996,3948,0,0,0,0,0,0,26.36,26.43,26.42
$GC,1935,-0.68,-175.2,2545,2459,3996,3949,340.5,-12.3,130,1943,0.00,2.15,0.00,0.000,516,0.000,0.032,2544,1078,3972,3996,3949,0,0,0,0,0,0,26.36,26.32,26.42
$GC,1967,-0.68,-175.2,2543,1079,3997,3950,343.8,-12.1,131,1975,0.00,2.15,0.00,0.000,1030,0.000,0.036,2537,2452,3971,3995,3948,0,0,0,0,0,0,26.37,26.31,26.39
$GC,2290,-0.68,-175.2,2537,2453,3995,3945,383.9,-12.2,142,2300,0.00,2.10,0.00,0.000,260,0.000,0.050,2526,3773,3970,3996,3944,0,0,0,0,0,0,26.36,26.27,26.42
$GC,2320,-0.68,-175.2,2525,3773,3997,3944,387.7,-12.3,143,2328,0.12,1.98,0.00,0.000,3078,0.154,0.025,2556,2445,3970,3997,3943,0,0,0,0,0,0,26.18,26.39,26.32
$GC,2647,-0.68,-175.2,2557,2446,3995,3939,423.0,-10.8,154,2657,0.00,2.10,0.00,0.000,516,0.000,0.031,2561,1073,3966,3994,3938,0,0,0,0,0,0,26.34,26.34,26.41
$GC,2676,-0.68,-175.2,2560,1073,3996,3939,423.0,-10.8,154,2688,0.00,2.17,0.00,0.000,1030,0.000,0.033,2554,2454,3966,3994,3938,0,0,0,0,0,0,26.38,26.32,26.40
$GC,2981,-0.68,-175.2,2553,2455,3996,3932,453.5,-8.9,165,2989,0.00,2.12,0.00,0.000,260,0.000,0.050,2544,3772,3962,3995,3930,0,0,0,0,0,0,26.34,26.27,26.41
$GC,3003,-0.68,-175.2,2545,3772,3995,3930,453.5,-8.9,165,3013,0.00,1.98,0.00,0.000,1030,0.000,0.026,2544,2450,3961,3994,3929,0,0,0,0,0,0,26.41,26.38,26.41
$GC,3308,-0.68,-175.2,2543,2451,3996,3926,487.2,-11.1,176,3316,0.00,2.12,0.00,0.000,516,0.000,0.031,2544,1073,3959,3995,3924,0,0,0,0,0,0,26.34,26.32,26.40
$GC,3341,-0.68,-175.2,2545,1074,3995,3925,490.2,-11.1,177,3351,0.00,2.17,0.00,0.000,1030,0.000,0.034,2537,2453,3959,3995,3924,0,0,0,0,0,0,26.33,26.26,26.36
$GC,3666,-0.68,-175.2,2536,2453,3996,3917,529.6,-11.9,188,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2453,3956,3995,3917,0,0,0,0,0,0,26.34,26.41,26.40
$GC,3966,-0.68,-175.2,2536,2454,3996,3912,561.1,-10.0,198,3974,0.00,2.15,0.00,0.000,260,0.000,0.050,2527,3775,3953,3995,3911,0,0,0,0,0,0,26.33,26.24,26.39
$GC,3989,-0.68,-175.2,2526,3775,3995,3911,561.1,-10.0,198,3997,0.12,2.00,0.00,0.000,3078,0.157,0.026,2556,2447,3952,3994,3911,0,0,0,0,0,0,26.13,26.36,26.28
$GC,4302,-0.68,-175.2,2558,2445,3991,3908,587.6,-7.5,209,4310,0.00,2.12,0.00,0.000,516,0.000,0.032,2561,1065,3949,3992,3907,0,0,0,0,0,0,26.30,26.29,26.36
$GC,4329,-0.68,-175.2,2561,1066,3991,3908,587.6,-7.5,209,4339,0.00,2.17,0.00,0.000,1030,0.000,0.034,2555,2452,3950,3992,3908,0,0,0,0,0,0,26.34,26.27,26.36
$GC,4635,-0.68,-175.2,2556,2453,3989,3905,612.9,-7.7,220,4645,0.00,2.15,0.00,0.000,516,0.000,0.031,2555,1066,3950,3990,3910,0,0,0,0,0,0,26.25,26.28,26.31
$GC,4659,-0.68,-175.2,2554,1067,3989,3905,612.9,-7.7,220,4667,0.00,2.20,0.00,0.000,1030,0.000,0.036,2548,2460,3947,3989,3905,0,0,0,0,0,0,26.34,26.27,26.35
$GC,4971,-0.68,-175.2,2547,2460,3985,3903,641.9,-8.8,231,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2460,3944,3987,3902,0,0,0,0,0,0,26.31,26.37,26.36
$GC,5272,-0.68,-175.2,2546,2460,3986,3901,668.2,-8.7,241,5281,0.00,2.12,0.00,0.000,260,0.000,0.051,2538,3776,3942,3985,3900,0,0,0,0,0,0,26.32,26.20,26.35
$GC,5302,-0.68,-175.2,2538,3777,3984,3900,670.8,-8.8,242,5310,0.00,1.98,0.00,0.000,1030,0.000,0.027,2538,2449,3942,3984,3900,0,0,0,0,0,0,26.35,26.31,26.36
$GC,5634,-0.68,-175.2,2537,2450,3984,3898,703.0,-9.8,253,5644,0.00,2.12,0.00,0.000,516,0.000,0.031,2538,1072,3939,3982,3897,0,0,0,0,0,0,26.29,26.26,26.35
$GC,5669,-0.68,-175.2,2538,1072,3982,3898,706.4,-9.8,254,5680,0.00,2.20,0.00,0.000,1030,0.000,0.034,2530,2461,3939,3982,3897,0,0,0,0,0,0,26.31,26.24,26.33
$GC,5999,-0.68,-175.2,2531,2462,3981,3896,740.6,-10.5,265,6007,0.00,2.17,0.00,0.000,516,0.000,0.031,2530,1076,3938,3981,3896,0,0,0,0,0,0,26.27,26.23,26.34
$GC,6036,-0.68,-175.2,2529,1077,3983,3897,743.4,-10.5,266,6047,0.15,2.20,0.00,0.000,3078,0.153,0.036,2561,2453,3938,3981,3896,0,0,0,0,0,0,26.03,26.22,26.19
$GC,6357,-0.68,-175.2,2562,2453,3979,3893,770.6,-8.1,277,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2453,3936,3979,3893,0,0,0,0,0,0,26.28,26.34,26.34
$GC,6657,-0.68,-175.2,2560,2453,3979,3892,794.8,-8.0,287,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2453,3934,3978,3891,0,0,0,0,0,0,26.27,26.34,26.33
$GC,6957,-0.68,-175.2,2560,2454,3979,3890,819.1,-8.2,297,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2453,3933,3977,3889,0,0,0,0,0,0,26.30,26.33,26.32
$GC,7257,-0.68,-175.2,2560,2453,3978,3889,843.1,-7.8,307,7265,0.00,2.17,0.00,0.000,516,0.000,0.032,2561,1074,3931,3975,3888,0,0,0,0,0,0,26.26,26.22,26.32
$GC,7304,-0.68,-175.2,2560,1074,3977,3889,845.2,-7.7,308,7317,0.00,2.20,0.00,0.000,1030,0.000,0.036,2559,2451,3931,3975,3888,0,0,0,0,0,0,26.25,26.17,26.27
$GC,7615,-0.68,-175.2,2559,2452,3976,3888,869.4,-7.2,319,7626,0.00,2.12,0.00,0.000,260,0.000,0.052,2550,3773,3930,3974,3887,0,0,0,0,0,0,26.23,26.12,26.29
$GC,7650,-0.68,-175.2,2551,3774,3974,3887,871.6,-7.1,320,7658,0.00,2.00,0.00,0.000,1030,0.000,0.026,2551,2452,3930,3973,3887,0,0,0,0,0,0,26.29,26.26,26.30
$GC,7972,-0.68,-175.2,2551,2452,3973,3886,895.5,-7.2,331,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2450,3929,3973,3886,0,0,0,0,0,0,26.22,26.29,26.29
$GC,8273,-0.68,-175.2,2551,2451,3971,3884,918.0,-7.9,341,8282,0.00,2.15,0.00,0.000,516,0.000,0.032,2550,1065,3928,3972,3884,0,0,0,0,0,0,26.22,26.16,26.27
$GC,8307,-0.68,-175.2,2550,1066,3973,3884,920.2,-7.9,342,8315,0.00,2.22,0.00,0.000,1030,0.000,0.034,2546,2457,3927,3971,3884,0,0,0,0,0,0,26.22,26.15,26.25
$GC,8635,-0.68,-175.2,2547,2458,3970,3883,947.8,-8.3,353,8645,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1070,3926,3970,3882,0,0,0,0,0,0,26.21,26.16,26.27
$GC,8675,-0.68,-175.2,2545,1071,3972,3883,950.4,-8.4,354,8683,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2451,3926,3970,3882,0,0,0,0,0,0,26.22,26.14,26.24
$GC,8992,-0.68,-175.2,2542,2452,3969,3882,979.4,-9.1,365,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3926,3970,3882,0,0,0,0,0,0,26.20,26.28,26.27
$STATE,9111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9111,begin apogee
$GC,9115,-0.11,0.0,2541,2101,3971,3882,990.3,-9.1,369,9259,0.65,0.00,137.68,1.300,10246,0.118,0.000,2742,2099,3281,3320,3243,0,0,0,0,0,0,25.94,24.81,24.10
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9262,0.68,175.2,2744,2100,3319,3241,997.5,0.0,373,9431,0.70,2.33,156.82,1.285,11012,0.046,0.034,3016,733,2562,2608,2517,0,0,0,0,0,0,25.03,24.09,23.55
$GC,9625,0.68,175.2,3017,734,2600,2509,979.8,11.7,386,9633,0.00,2.20,0.00,0.000,1030,0.000,0.027,3017,2107,2554,2600,2508,0,0,0,0,0,0,25.74,25.69,25.75
$GC,9948,0.68,175.2,3016,2108,2600,2506,940.8,12.2,397,9956,0.00,2.22,0.00,0.000,516,0.000,0.034,3027,719,2551,2598,2505,0,0,0,0,0,0,26.10,26.08,26.17
$GC,10000,0.68,175.2,3026,718,2599,2506,937.0,12.2,398,10008,0.00,2.15,0.00,0.000,1030,0.000,0.027,3026,2100,2551,2597,2505,0,0,0,0,0,0,26.18,26.13,26.20
$GC,10305,0.68,175.2,3027,2101,2596,2506,895.9,13.0,408,10313,0.00,2.28,0.00,0.000,260,0.000,0.045,3026,3500,2550,2596,2504,0,0,0,0,0,0,26.22,26.15,26.28
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$STATE,18025,end climb,SURFACE_DEPTH_REACHED
$STATE,18025,begin surface coast
$FINISH,0.3,1.021987
$STATE,18040,end surface coast,CONTROL_FINISHED_OK
$STATE,18040,begin surface
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$IRIDIUM_FIX,1203.50,14516.20,140108,040623
$TT8_MAMPS,0.050932,0.050932
$HUMID,41.49
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$TCM_TEMP,24.20
$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,18048.83 7951.94
$PA_BOOTCOUNT,313
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$PA_DISK_BANK,1
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$10V_AH,10.20,25.948
$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
$DEVICE_SECS,21.225,161.350,492.500,37.625,0.000,0.000,0.000,302.875,0.250,18526.270,15.355,0.000,14368.920,627.923,3288.576,214.845,0.000,2413.590,0.000,1818.926,0.000,0.552,0.000
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$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,230476
$DATA_FILE_SIZE,36734,802
$CAP_FILE_SIZE,160479,0
$CFSIZE,260034560,250109952
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$GPS,200315,010254,1214.065,14448.655,41,1.0,41,1.8,0.6,0.8,8,7.4