version: 66.12
glider: 178
mission: 20
dive: 117
start: 3 24 115 14 51 0
data:
$ID,178
$MISSION,20
$DIVE,117
$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,52
$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
$GPS1,240315,144200,1154.8022,14426.7451,58,0.9,58,1.8,0.9,161.2,9,6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-71.1
$GPS2,240315,145049,1154.8025,14426.7715,11,1.0,11,1.8,0.5,133.8,8,7.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,183.6,81540,-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,-175.2,121,2467,1243,1224,0.0,0.0,0,188,0.00,0.00,-82.00,0.000,16386,0.000,0.000,120,2466,3394,3443,3346,0,0,0,0,0,0,26.19,28.83,26.26
$GC,190,-0.68,-175.2,122,2467,3443,3350,3.5,-9.4,11,216,10.77,2.20,-7.82,0.000,18948,0.250,0.041,2557,1047,3965,3997,3933,0,0,0,0,0,0,25.72,25.46,26.06
$GC,285,-0.68,-175.2,2556,1048,3997,3940,49.2,-26.0,26,296,0.00,2.20,0.00,0.000,1030,0.000,0.038,2549,2444,3967,3995,3939,0,0,0,0,0,0,26.24,26.17,26.27
$GC,591,-0.68,-175.2,2548,2445,3997,3943,144.0,-19.6,57,598,0.00,2.15,0.00,0.000,260,0.000,0.048,2539,3782,3968,3995,3942,0,0,0,0,0,0,26.23,26.17,26.29
$GC,643,-0.68,-175.2,2539,3783,3997,3944,153.3,-17.7,62,650,0.00,2.03,0.00,0.000,1030,0.000,0.026,2546,2434,3969,3995,3943,0,0,0,0,0,0,26.32,26.29,26.33
$GC,968,-0.68,-175.2,2545,2432,3997,3948,205.1,-15.2,92,976,0.00,2.10,0.00,0.000,516,0.000,0.032,2549,1066,3971,3995,3947,0,0,0,0,0,0,26.32,26.27,26.37
$GC,1085,-0.68,-175.2,2549,1066,3995,3949,219.0,-15.2,95,1097,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2452,3971,3995,3948,0,0,0,0,0,0,26.32,26.25,26.34
$GC,1391,-0.68,-175.2,2541,2453,3997,3950,262.8,-12.5,106,1398,0.00,2.12,0.00,0.000,260,0.000,0.048,2531,3776,3972,3996,3949,0,0,0,0,0,0,26.33,26.23,26.39
$GC,1438,-0.68,-175.2,2530,3777,3997,3950,266.4,-12.7,107,1445,0.00,1.98,0.00,0.000,1030,0.000,0.026,2531,2448,3972,3995,3949,0,0,0,0,0,0,26.36,26.33,26.38
$GC,1743,-0.68,-175.2,2530,2446,3995,3950,307.4,-11.3,117,1754,0.00,2.08,0.00,0.000,516,0.000,0.033,2531,1073,3972,3995,3950,0,0,0,0,0,0,26.33,26.28,26.39
$GC,1788,-0.68,-175.2,2531,1074,3995,3950,310.8,-11.1,118,1796,0.15,2.17,0.00,0.000,3078,0.145,0.035,2561,2454,3971,3994,3949,0,0,0,0,0,0,26.10,26.27,26.25
$GC,2101,-0.68,-175.2,2562,2455,3995,3949,343.5,-10.4,129,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2455,3971,3995,3948,0,0,0,0,0,0,26.33,26.40,26.39
$GC,2401,-0.68,-175.2,2560,2456,3997,3944,368.9,-7.7,139,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2455,3969,3995,3944,0,0,0,0,0,0,26.33,26.40,26.39
$GC,2701,-0.68,-175.2,2560,2455,3997,3938,393.8,-8.7,149,2712,0.00,2.15,0.00,0.000,516,0.000,0.034,2561,1069,3966,3995,3938,0,0,0,0,0,0,26.31,26.26,26.37
$GC,2767,-0.68,-175.2,2560,1070,3995,3938,399.2,-8.7,151,2776,0.00,2.20,0.00,0.000,1030,0.000,0.037,2554,2459,3965,3994,3937,0,0,0,0,0,0,26.30,26.24,26.32
$GC,3095,-0.68,-175.2,2553,2460,3997,3930,431.6,-9.7,162,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2459,3961,3994,3929,0,0,0,0,0,0,26.31,26.37,26.36
$GC,3396,-0.68,-175.2,2555,2460,3993,3924,459.3,-9.1,172,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2459,3958,3994,3923,0,0,0,0,0,0,26.31,26.38,26.37
$GC,3695,-0.68,-175.2,2555,2459,3994,3918,486.4,-8.8,182,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2459,3955,3992,3918,0,0,0,0,0,0,26.30,26.37,26.36
$GC,3995,-0.68,-175.2,2553,2460,3996,3913,513.4,-9.2,192,4005,0.00,2.17,0.00,0.000,516,0.000,0.035,2554,1069,3952,3994,3911,0,0,0,0,0,0,26.29,26.21,26.35
$GC,4050,-0.68,-175.2,2555,1069,3993,3912,516.4,-9.4,193,4061,0.00,2.20,0.00,0.000,1030,0.000,0.037,2544,2457,3955,3994,3916,0,0,0,0,0,0,26.29,26.22,26.31
$GC,4355,-0.68,-175.2,2543,2458,3993,3908,552.1,-11.2,204,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2457,3949,3992,3907,0,0,0,0,0,0,26.27,26.34,26.34
$GC,4655,-0.68,-175.2,2544,2459,3991,3906,583.2,-9.9,214,4663,0.00,2.17,0.00,0.000,516,0.000,0.034,2545,1068,3947,3990,3904,0,0,0,0,0,0,26.29,26.20,26.35
$GC,4688,-0.68,-175.2,2544,1069,3991,3906,585.8,-9.7,215,4696,0.00,2.20,0.00,0.000,1030,0.000,0.038,2537,2452,3945,3989,3901,0,0,0,0,0,0,26.25,26.17,26.28
$GC,5010,-0.68,-175.2,2536,2453,3989,3904,617.2,-9.4,226,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2453,3945,3987,3903,0,0,0,0,0,0,26.27,26.34,26.32
$GC,5310,-0.68,-175.2,2538,2453,3985,3901,643.5,-8.7,236,5322,0.00,2.15,0.00,0.000,516,0.000,0.035,2537,1073,3942,3985,3900,0,0,0,0,0,0,26.26,26.22,26.32
$GC,5347,-0.68,-175.2,2538,1073,3985,3901,646.2,-8.6,237,5355,0.12,2.20,0.00,0.000,3078,0.158,0.038,2558,2450,3942,3984,3900,0,0,0,0,0,0,25.95,26.15,26.10
$GC,5670,-0.68,-175.2,2557,2451,3984,3898,668.2,-6.6,248,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2450,3940,3983,3897,0,0,0,0,0,0,26.25,26.31,26.30
$GC,5969,-0.68,-175.2,2558,2451,3984,3897,687.7,-6.4,258,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2450,3939,3982,3896,0,0,0,0,0,0,26.25,26.32,26.31
$GC,6270,-0.68,-175.2,2559,2450,3980,3895,706.1,-6.1,268,6278,0.00,2.17,0.00,0.000,516,0.000,0.036,2561,1071,3937,3980,3895,0,0,0,0,0,0,26.17,26.14,26.23
$GC,6292,-0.68,-175.2,2560,1072,3979,3895,706.1,-6.1,268,6300,0.00,2.22,0.00,0.000,1030,0.000,0.037,2557,2453,3936,3979,3894,0,0,0,0,0,0,26.20,26.13,26.23
$GC,6605,-0.68,-175.2,2557,2453,3978,3893,727.4,-6.6,279,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3935,3978,3893,0,0,0,0,0,0,26.22,26.31,26.27
$GC,6905,-0.68,-175.2,2556,2454,3979,3891,747.3,-6.8,289,6915,0.00,2.17,0.00,0.000,516,0.000,0.035,2557,1072,3933,3977,3890,0,0,0,0,0,0,26.22,26.12,26.28
$GC,6944,-0.68,-175.2,2554,1072,3978,3892,749.4,-7.0,290,6952,0.00,2.20,0.00,0.000,1030,0.000,0.038,2550,2450,3933,3977,3890,0,0,0,0,0,0,26.17,26.10,26.21
$GC,7262,-0.68,-175.2,2551,2450,3975,3889,774.7,-7.9,301,7269,0.00,2.20,0.00,0.000,516,0.000,0.036,2550,1069,3934,3975,3893,0,0,0,0,0,0,26.21,26.10,26.27
$GC,7289,-0.68,-175.2,2551,1070,3976,3890,777.0,-8.0,302,7297,0.00,2.20,0.00,0.000,1030,0.000,0.039,2543,2450,3931,3975,3888,0,0,0,0,0,0,26.16,26.08,26.20
$GC,7622,-0.68,-175.2,2544,2450,3973,3888,805.4,-8.6,313,7631,0.00,2.17,0.00,0.000,516,0.000,0.035,2543,1070,3930,3974,3887,0,0,0,0,0,0,26.20,26.10,26.26
$GC,7651,-0.68,-175.2,2542,1071,3976,3888,805.4,-8.6,313,7661,0.00,2.22,0.00,0.000,1030,0.000,0.038,2542,2449,3930,3974,3887,0,0,0,0,0,0,26.16,26.08,26.19
$GC,7956,-0.68,-175.2,2541,2450,3975,3887,835.4,-9.2,324,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3929,3973,3886,0,0,0,0,0,0,26.20,26.27,26.26
$GC,8256,-0.68,-175.2,2541,2451,3974,3886,863.0,-9.3,334,8263,0.00,2.20,0.00,0.000,516,0.000,0.035,2542,1070,3928,3972,3885,0,0,0,0,0,0,26.20,26.07,26.26
$GC,8313,-0.68,-175.2,2541,1071,3973,3886,868.4,-9.2,336,8323,0.00,2.22,0.00,0.000,1030,0.000,0.039,2542,2450,3928,3972,3885,0,0,0,0,0,0,26.14,26.06,26.17
$GC,8643,-0.68,-175.2,2542,2450,3970,3884,898.4,-9.2,347,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3926,3970,3883,0,0,0,0,0,0,26.10,26.17,26.16
$GC,8943,-0.68,-175.2,2542,2450,3970,3883,925.3,-8.8,357,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3926,3970,3882,0,0,0,0,0,0,26.18,26.25,26.25
$GC,9243,-0.68,-175.2,2542,2450,3969,3883,951.8,-8.8,367,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3925,3969,3881,0,0,0,0,0,0,26.16,26.23,26.22
$GC,9543,-0.68,-175.2,2541,2451,3970,3882,977.9,-8.6,377,9551,0.00,2.20,0.00,0.000,516,0.000,0.036,2541,1067,3924,3968,3881,0,0,0,0,0,0,26.16,26.03,26.24
$GC,9580,-0.68,-175.2,2540,1068,3970,3882,980.4,-8.7,378,9588,0.00,2.22,0.00,0.000,1030,0.000,0.040,2541,2449,3924,3968,3881,0,0,0,0,0,0,26.10,26.01,26.13
$STATE,9686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9686,begin apogee
$GC,9691,-0.11,0.0,2541,2108,3969,3888,990.4,-8.5,382,9841,0.65,0.00,137.40,1.315,10246,0.119,0.000,2740,2107,3277,3317,3238,0,0,0,0,0,0,25.78,24.67,23.89
$STATE,9842,end apogee,CONTROL_FINISHED_OK
$STATE,9842,begin climb
$GC,9844,0.68,175.2,2740,2108,3319,3237,997.4,0.0,387,10015,0.73,2.53,157.15,1.296,11012,0.046,0.046,3015,3514,2560,2603,2517,0,0,0,0,0,0,24.95,24.20,23.45
$GC,10184,0.68,175.2,3016,3512,2597,2514,976.4,14.2,398,10192,0.00,2.22,0.00,0.000,1030,0.000,0.026,3023,2103,2555,2597,2513,0,0,0,0,0,0,25.70,25.65,25.71
$GC,10497,0.68,175.2,3026,2104,2595,2510,931.3,13.9,409,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2103,2550,2591,2510,0,0,0,0,0,0,26.11,26.18,26.17
$GC,10797,0.68,175.2,3025,2103,2596,2510,889.6,13.6,419,10805,0.00,2.30,0.00,0.000,260,0.000,0.045,3026,3516,2551,2594,2508,0,0,0,0,0,0,26.18,26.10,26.25
$GC,10864,0.68,175.2,3026,3516,2595,2509,880.4,14.2,421,10875,0.15,2.20,0.00,0.000,5126,0.190,0.025,3003,2093,2551,2594,2509,0,0,0,0,0,0,25.88,26.19,26.11
$GC,11190,0.68,175.2,3009,2094,2592,2509,837.7,12.6,432,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2094,2550,2592,2508,0,0,0,0,0,0,26.21,26.29,26.28
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$STATE,18773,end climb,SURFACE_DEPTH_REACHED
$STATE,18773,begin surface coast
$FINISH,0.5,1.022051
$STATE,18798,end surface coast,CONTROL_FINISHED_OK
$STATE,18798,begin surface
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$IRIDIUM_FIX,1150.28,14431.58,190108,041034
$TT8_MAMPS,0.051681,0.051681
$HUMID,39.17
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18837.26 7956.33
$PA_BOOTCOUNT,336
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$PA_DISK_BANK,1
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$10V_AH,10.18,27.568
$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
$SENSOR_SECS,586.501,0.000,0.000,0.000,0.000,0.000,19430.432,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229944
$DATA_FILE_SIZE,36737,860
$CAP_FILE_SIZE,158285,0
$CFSIZE,260034560,248279040
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