version: 66.12
glider: 178
mission: 20
dive: 122
start: 3 25 115 16 40 15
data:
$ID,178
$MISSION,20
$DIVE,122
$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,51
$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
$GPS1,250315,163106,1140.9489,14428.9893,27,1.0,27,1.9,1.0,258.3,7,7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-74.2
$GPS2,250315,164004,1140.9398,14428.9482,10,1.2,37,1.9,0.5,62.9,9,7.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S6
$TGT_LATLONG,1111.160,14432.700
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,178.1,55572,-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,-175.2,122,2480,1246,1229,0.0,0.0,0,193,0.00,0.00,-89.15,0.000,16386,0.000,0.000,121,2480,3726,3761,3691,0,0,0,0,0,0,26.21,28.83,26.28
$GC,195,-0.68,-175.2,120,2480,3763,3694,5.6,-13.6,12,224,10.77,2.20,-2.95,0.000,18948,0.252,0.039,2561,1034,3966,3995,3937,0,0,0,0,0,0,25.72,25.50,25.94
$GC,339,-0.68,-175.2,2560,1035,4001,3941,69.7,-28.2,30,356,0.00,2.17,0.00,0.000,1030,0.000,0.037,2554,2429,3967,3994,3941,0,0,0,0,0,0,26.15,26.12,26.18
$GC,651,-0.68,-175.2,2553,2435,3995,3944,153.5,-21.1,61,666,0.00,2.12,0.00,0.000,260,0.000,0.047,2544,3770,3968,3992,3944,0,0,0,0,0,0,26.23,26.13,26.29
$GC,695,-0.68,-175.2,2543,3771,3995,3945,161.0,-17.5,65,703,0.00,1.98,0.00,0.000,1030,0.000,0.024,2548,2430,3969,3994,3945,0,0,0,0,0,0,26.34,26.29,26.34
$GC,1020,-0.68,-175.2,2547,2428,3995,3951,208.8,-13.9,93,1028,0.00,2.08,0.00,0.000,516,0.000,0.039,2551,1064,3972,3994,3950,0,0,0,0,0,0,26.32,26.27,26.38
$GC,1067,-0.68,-175.2,2551,1065,3996,3951,212.7,-13.9,94,1075,0.00,2.17,0.00,0.000,1030,0.000,0.033,2544,2463,3972,3994,3950,0,0,0,0,0,0,26.40,26.26,26.39
$GC,1373,-0.68,-175.2,2543,2464,3990,3952,253.8,-12.5,104,1382,0.00,2.10,0.00,0.000,260,0.000,0.048,2534,3772,3972,3994,3951,0,0,0,0,0,0,26.32,26.22,26.39
$GC,1427,-0.68,-175.2,2533,3773,3996,3952,257.3,-12.3,105,1438,0.00,1.95,0.00,0.000,1030,0.000,0.025,2534,2452,3973,3994,3952,0,0,0,0,0,0,26.41,26.36,26.41
$GC,1733,-0.68,-175.2,2535,2450,3994,3952,299.4,-12.3,116,1741,0.00,2.12,0.00,0.000,516,0.000,0.031,2534,1068,3972,3994,3951,0,0,0,0,0,0,26.33,26.27,26.39
$GC,1796,-0.68,-175.2,2533,1069,3996,3952,306.7,-11.7,118,1804,0.15,2.17,0.00,0.000,3078,0.144,0.035,2564,2459,3972,3994,3951,0,0,0,0,0,0,26.06,26.26,26.40
$GC,2131,-0.68,-175.2,2563,2460,3996,3953,339.9,-10.1,129,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2460,3971,3994,3948,0,0,0,0,0,0,26.32,26.39,26.39
$GC,2428,-0.68,-175.2,2565,2460,3994,3945,368.4,-8.9,139,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2459,3969,3994,3944,0,0,0,0,0,0,26.32,26.39,26.38
$GC,2729,-0.68,-175.2,2562,2460,3990,3939,392.1,-7.2,149,2737,0.00,2.15,0.00,0.000,260,0.000,0.052,2557,3779,3965,3993,3938,0,0,0,0,0,0,26.31,26.17,26.37
$GC,2782,-0.68,-175.2,2556,3779,3996,3938,394.6,-7.1,150,2789,0.00,2.00,0.00,0.000,1030,0.000,0.027,2557,2442,3965,3994,3937,0,0,0,0,0,0,26.40,26.32,26.40
$GC,3087,-0.68,-175.2,2556,2439,3995,3932,417.2,-6.9,160,3098,0.00,2.10,0.00,0.000,516,0.000,0.032,2557,1072,3962,3995,3930,0,0,0,0,0,0,26.30,26.24,26.36
$GC,3172,-0.68,-175.2,2556,1072,3995,3930,421.4,-7.0,162,3182,0.00,2.20,0.00,0.000,1030,0.000,0.035,2552,2456,3961,3994,3929,0,0,0,0,0,0,26.38,26.23,26.39
$GC,3477,-0.68,-175.2,2551,2457,3996,3925,447.7,-8.6,173,3485,0.00,2.15,0.00,0.000,260,0.000,0.051,2542,3779,3959,3994,3924,0,0,0,0,0,0,26.29,26.15,26.34
$GC,3505,-0.68,-175.2,2541,3779,3996,3924,450.2,-8.6,174,3512,0.00,2.00,0.00,0.000,1030,0.000,0.027,2542,2442,3958,3994,3923,0,0,0,0,0,0,26.38,26.29,26.37
$GC,3832,-0.68,-175.2,2541,2442,3996,3919,482.4,-10.4,185,3842,0.00,2.12,0.00,0.000,516,0.000,0.032,2542,1075,3956,3994,3918,0,0,0,0,0,0,26.22,26.14,26.29
$GC,3876,-0.68,-175.2,2542,1073,3994,3918,485.9,-10.4,186,3884,0.00,2.17,0.00,0.000,1030,0.000,0.034,2535,2453,3955,3994,3917,0,0,0,0,0,0,26.27,26.20,26.29
$GC,4193,-0.68,-175.2,2534,2453,3996,3912,522.1,-11.4,197,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2453,3952,3994,3911,0,0,0,0,0,0,26.28,26.35,26.34
$GC,4494,-0.68,-175.2,2534,2454,3994,3910,557.5,-11.8,207,4502,0.00,2.17,0.00,0.000,516,0.000,0.032,2535,1067,3950,3991,3909,0,0,0,0,0,0,26.28,26.20,26.34
$GC,4531,-0.68,-175.2,2535,1068,3990,3909,561.5,-11.8,208,4540,0.12,2.20,0.00,0.000,3078,0.156,0.035,2557,2449,3949,3990,3908,0,0,0,0,0,0,25.98,26.17,26.13
$GC,4855,-0.68,-175.2,2556,2450,3991,3907,594.9,-10.2,219,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2448,3949,3989,3910,0,0,0,0,0,0,26.27,26.33,26.32
$GC,5155,-0.68,-175.2,2556,2450,3989,3905,623.4,-9.1,229,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2449,3945,3987,3904,0,0,0,0,0,0,26.26,26.33,26.32
$GC,5454,-0.68,-175.2,2556,2450,3987,3903,648.4,-8.2,239,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2450,3943,3985,3902,0,0,0,0,0,0,26.27,26.34,26.33
$GC,5754,-0.68,-175.2,2556,2450,3985,3902,671.9,-7.7,249,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2449,3941,3983,3900,0,0,0,0,0,0,26.25,26.32,26.30
$GC,6055,-0.68,-175.2,2556,2450,3984,3899,695.9,-8.0,259,6064,0.00,2.17,0.00,0.000,516,0.000,0.033,2557,1072,3940,3982,3898,0,0,0,0,0,0,26.25,26.14,26.31
$GC,6094,-0.68,-175.2,2556,1073,3982,3899,698.3,-8.0,260,6102,0.00,2.20,0.00,0.000,1030,0.000,0.036,2553,2449,3940,3982,3898,0,0,0,0,0,0,26.20,26.13,26.23
$GC,6412,-0.68,-175.2,2554,2449,3980,3897,725.8,-8.4,271,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2449,3935,3976,3895,0,0,0,0,0,0,26.23,26.29,26.29
$GC,6712,-0.68,-175.2,2555,2449,3979,3896,750.7,-8.2,281,6720,0.00,2.15,0.00,0.000,516,0.000,0.033,2553,1072,3937,3979,3896,0,0,0,0,0,0,26.24,26.12,26.29
$GC,6750,-0.68,-175.2,2553,1073,3979,3897,753.3,-8.1,282,6758,0.00,2.22,0.00,0.000,1030,0.000,0.036,2547,2458,3936,3977,3895,0,0,0,0,0,0,26.17,26.10,26.20
$GC,7073,-0.68,-175.2,2548,2459,3977,3893,780.4,-8.3,293,7080,0.00,2.15,0.00,0.000,260,0.000,0.053,2538,3772,3935,3977,3893,0,0,0,0,0,0,26.20,26.02,26.26
$GC,7105,-0.68,-175.2,2538,3773,3979,3894,783.3,-8.4,294,7112,0.00,2.00,0.00,0.000,1030,0.000,0.028,2539,2452,3935,3977,3893,0,0,0,0,0,0,26.20,26.17,26.21
$GC,7437,-0.68,-175.2,2539,2452,3977,3893,811.7,-8.4,305,7449,0.00,2.12,0.00,0.000,516,0.000,0.031,2539,1068,3932,3972,3892,0,0,0,0,0,0,26.20,26.10,26.25
$GC,7469,-0.68,-175.2,2539,1068,3977,3893,814.4,-8.4,306,7478,0.00,2.20,0.00,0.000,1030,0.000,0.034,2532,2457,3934,3976,3892,0,0,0,0,0,0,26.15,26.08,26.18
$GC,7798,-0.68,-175.2,2531,2458,3976,3892,844.3,-9.2,317,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2457,3931,3973,3890,0,0,0,0,0,0,26.17,26.23,26.22
$GC,8098,-0.68,-175.2,2533,2457,3973,3890,871.3,-9.0,327,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2458,3931,3974,3889,0,0,0,0,0,0,26.18,26.25,26.24
$GC,8399,-0.68,-175.2,2533,2458,3973,3889,897.7,-8.8,337,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2457,3928,3969,3888,0,0,0,0,0,0,26.19,26.25,26.25
$GC,8698,-0.68,-175.2,2531,2458,3973,3888,924.1,-8.6,347,8706,0.00,2.17,0.00,0.000,516,0.000,0.032,2532,1068,3929,3972,3887,0,0,0,0,0,0,26.16,26.06,26.22
$GC,8751,-0.68,-175.2,2533,1068,3971,3887,926.5,-8.5,348,8761,0.00,2.20,0.00,0.000,1030,0.000,0.036,2532,2451,3929,3972,3887,0,0,0,0,0,0,26.14,26.06,26.17
$GC,9056,-0.68,-175.2,2532,2456,3970,3885,952.7,-7.7,359,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2455,3927,3970,3885,0,0,0,0,0,0,26.16,26.23,26.22
$GC,9356,-0.68,-175.2,2531,2456,3972,3886,974.1,-6.9,369,9364,0.00,2.17,0.00,0.000,516,0.000,0.032,2531,1066,3926,3969,3884,0,0,0,0,0,0,26.16,26.03,26.22
$GC,9384,-0.68,-175.2,2532,1066,3969,3885,976.1,-7.1,370,9394,0.12,2.22,0.00,0.000,3078,0.155,0.035,2555,2452,3927,3970,3885,0,0,0,0,0,0,25.82,26.02,25.97
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9657,-0.11,0.0,2556,2100,3968,3885,991.7,-5.9,379,9802,0.60,0.00,137.57,1.315,10246,0.112,0.000,2744,2100,3281,3321,3241,0,0,0,0,0,0,25.79,24.64,23.87
$STATE,9803,end apogee,CONTROL_FINISHED_OK
$STATE,9803,begin climb
$GC,9804,0.68,175.2,2745,2100,3319,3239,996.1,0.0,383,9975,0.70,2.42,156.23,1.294,11012,0.045,0.034,3021,724,2563,2610,2517,0,0,0,0,0,0,24.86,24.19,23.44
$GC,10199,0.68,175.2,3022,724,2601,2509,968.4,12.9,397,10207,0.00,2.20,0.00,0.000,1030,0.000,0.028,3021,2106,2554,2601,2508,0,0,0,0,0,0,25.86,25.80,25.88
$GC,10522,0.68,175.2,3020,2107,2601,2507,927.6,12.3,408,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2106,2553,2600,2506,0,0,0,0,0,0,26.15,26.22,26.21
$GC,10822,0.68,175.2,3021,2107,2600,2506,892.5,11.4,418,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2106,2552,2599,2505,0,0,0,0,0,0,26.20,26.27,26.27
$GC,11121,0.68,175.2,3022,2106,2597,2505,858.7,11.2,428,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2106,2551,2597,2505,0,0,0,0,0,0,26.20,26.27,26.26
$GC,11422,0.68,175.2,3022,2106,2596,2505,824.6,11.6,438,11432,0.00,2.25,0.00,0.000,260,0.000,0.046,3021,3499,2550,2596,2504,0,0,0,0,0,0,26.21,26.10,26.27
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$STATE,18400,end climb,SURFACE_DEPTH_REACHED
$STATE,18400,begin surface coast
$FINISH,-0.9,1.000519
$STATE,18430,end surface coast,CONTROL_FINISHED_OK
$STATE,18430,begin surface
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$IRIDIUM_FIX,1134.86,14431.07,200108,055934
$TT8_MAMPS,0.050932,0.050932
$HUMID,40.90
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.50
$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,18453.33 7848.53
$PA_BOOTCOUNT,341
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$PA_ROOT,1.00/0.121/0.121/0.000
$PA_HOME,0.04/0.063/1.764/1.611
$PA_DISK_BANK,1
$24V_AH,23.44,37.804
$10V_AH,10.18,27.933
$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,21.100,131.350,461.525,52.825,0.000,0.000,0.000,335.050,0.250,19024.750,40.381,0.000,14925.604,586.704,3300.606,209.379,0.000,2355.707,0.000,1750.697,0.000,0.553,0.000
$DEVICE_MAMPS,251.685,52.785,1315.035,63.495,0.000,0.000,0.000,100.215,420.000,64.917,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,230008
$DATA_FILE_SIZE,36714,812
$CAP_FILE_SIZE,155238,0
$CFSIZE,260034560,247873536
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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