version: 66.12
glider: 178
mission: 20
dive: 135
start: 3 28 115 12 18 54
data:
$ID,178
$MISSION,20
$DIVE,135
$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,50
$R_STBD_OVSHOOT,44
$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
$GPS1,280315,121206,1113.4399,14428.2051,33,1.1,33,2.0,0.4,291.4,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-73.9
$GPS2,280315,121843,1113.4373,14428.1367,12,1.2,12,2.0,0.7,238.0,7,9.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,305.7,117780,-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,-175.2,120,2454,1243,1225,0.0,0.0,0,187,0.00,0.00,-84.25,0.000,16386,0.000,0.000,120,2454,3487,3544,3431,0,0,0,0,0,0,26.19,28.83,26.25
$GC,189,-0.68,-175.2,120,2455,3546,3433,4.9,-14.3,12,216,10.75,2.08,-6.82,0.000,18692,0.248,0.057,2546,3766,3965,3995,3936,0,0,0,0,0,0,25.66,24.64,26.03
$GC,349,-0.68,-175.2,2547,3767,3995,3942,69.6,-30.4,32,361,0.00,2.03,0.00,0.000,1030,0.000,0.027,2550,2434,3967,3995,3940,0,0,0,0,0,0,26.17,26.13,26.19
$GC,665,-0.68,-175.2,2551,2432,3994,3945,149.4,-20.8,63,673,0.00,2.12,0.00,0.000,516,0.000,0.030,2559,1057,3970,3995,3945,0,0,0,0,0,0,26.28,26.21,26.34
$GC,718,-0.68,-175.2,2560,1058,3995,3946,159.3,-17.9,68,732,0.00,2.15,0.00,0.000,1030,0.000,0.031,2552,2442,3970,3995,3945,0,0,0,0,0,0,26.27,26.20,26.30
$GC,1028,-0.68,-175.2,2552,2443,3995,3951,200.3,-11.5,99,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2442,3972,3995,3950,0,0,0,0,0,0,26.30,26.36,26.36
$GC,1328,-0.68,-175.2,2551,2443,3997,3952,242.5,-13.5,109,1338,0.00,2.12,0.00,0.000,260,0.000,0.047,2541,3769,3973,3995,3951,0,0,0,0,0,0,26.31,26.18,26.36
$GC,1363,-0.68,-175.2,2541,3769,3997,3952,246.2,-12.5,110,1370,0.00,2.00,0.00,0.000,1030,0.000,0.026,2541,2441,3973,3995,3951,0,0,0,0,0,0,26.33,26.29,26.34
$GC,1690,-0.68,-175.2,2541,2439,3998,3953,287.9,-15.1,121,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2438,3973,3995,3952,0,0,0,0,0,0,26.23,26.30,26.29
$GC,1990,-0.68,-175.2,2542,2438,3995,3952,327.6,-12.0,131,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2437,3973,3995,3951,0,0,0,0,0,0,26.29,26.36,26.35
$GC,2290,-0.68,-175.2,2542,2438,3995,3949,358.6,-10.0,141,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2437,3972,3995,3949,0,0,0,0,0,0,26.28,26.35,26.34
$GC,2590,-0.68,-175.2,2542,2438,3995,3945,387.6,-9.5,151,2598,0.00,2.15,0.00,0.000,516,0.000,0.034,2542,1059,3969,3995,3944,0,0,0,0,0,0,26.27,26.20,26.34
$GC,2637,-0.68,-175.2,2541,1058,3997,3945,390.6,-9.4,152,2645,0.00,2.20,0.00,0.000,1030,0.000,0.033,2532,2446,3969,3995,3944,0,0,0,0,0,0,26.27,26.20,26.29
$GC,2955,-0.68,-175.2,2532,2450,3994,3939,427.8,-12.3,163,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2450,3966,3994,3938,0,0,0,0,0,0,26.28,26.35,26.34
$GC,3255,-0.68,-175.2,2531,2451,3996,3933,465.1,-12.2,173,3263,0.00,2.17,0.00,0.000,516,0.000,0.033,2532,1060,3962,3993,3932,0,0,0,0,0,0,26.28,26.18,26.34
$GC,3283,-0.68,-175.2,2531,1061,3994,3933,468.5,-12.1,174,3291,0.15,2.22,0.00,0.000,3078,0.145,0.035,2560,2455,3962,3994,3931,0,0,0,0,0,0,25.91,26.10,26.08
$GC,3616,-0.68,-175.2,2559,2456,3996,3927,499.5,-9.0,185,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2455,3960,3994,3926,0,0,0,0,0,0,26.27,26.34,26.33
$GC,3916,-0.68,-175.2,2561,2456,3994,3921,526.3,-8.7,195,3925,0.00,2.15,0.00,0.000,260,0.000,0.050,2553,3772,3957,3994,3920,0,0,0,0,0,0,26.27,26.06,26.33
$GC,3955,-0.68,-175.2,2548,3772,3993,3920,528.9,-8.7,196,3963,0.00,2.03,0.00,0.000,1030,0.000,0.026,2553,2445,3956,3994,3919,0,0,0,0,0,0,26.29,26.25,26.30
$GC,4273,-0.68,-175.2,2552,2444,3996,3916,557.8,-8.9,207,4280,0.00,2.15,0.00,0.000,516,0.000,0.033,2553,1069,3954,3994,3914,0,0,0,0,0,0,26.23,26.13,26.29
$GC,4329,-0.68,-175.2,2554,1068,3993,3911,560.8,-9.0,208,4340,0.00,2.20,0.00,0.000,1030,0.000,0.034,2545,2460,3954,3994,3914,0,0,0,0,0,0,26.21,26.13,26.24
$GC,4635,-0.68,-175.2,2545,2460,3993,3911,592.7,-9.9,219,4643,0.00,2.17,0.00,0.000,516,0.000,0.032,2544,1068,3950,3992,3909,0,0,0,0,0,0,26.25,26.13,26.32
$GC,4672,-0.68,-175.2,2545,1069,3992,3910,595.5,-9.9,220,4681,0.00,2.22,0.00,0.000,1030,0.000,0.034,2537,2459,3951,3992,3910,0,0,0,0,0,0,26.18,26.10,26.20
$GC,4995,-0.68,-175.2,2538,2460,3990,3907,629.7,-10.2,231,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2459,3949,3991,3907,0,0,0,0,0,0,26.24,26.31,26.29
$GC,5295,-0.68,-175.2,2538,2460,3988,3905,657.6,-9.1,241,5304,0.00,2.15,0.00,0.000,260,0.000,0.051,2527,3773,3947,3988,3906,0,0,0,0,0,0,26.21,26.02,26.27
$GC,5324,-0.68,-175.2,2527,3774,3989,3906,657.6,-9.1,241,5335,0.12,2.03,0.00,0.000,3078,0.152,0.026,2557,2441,3946,3987,3906,0,0,0,0,0,0,25.91,26.22,26.06
$GC,5629,-0.68,-175.2,2556,2442,3988,3904,683.0,-7.2,252,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2441,3944,3986,3903,0,0,0,0,0,0,26.24,26.30,26.29
$GC,5929,-0.68,-175.2,2557,2442,3987,3902,704.2,-6.9,262,5937,0.00,2.15,0.00,0.000,516,0.000,0.032,2561,1072,3942,3984,3901,0,0,0,0,0,0,26.22,26.10,26.28
$GC,5976,-0.68,-175.2,2562,1073,3984,3902,706.2,-6.9,263,5984,0.00,2.22,0.00,0.000,1030,0.000,0.034,2557,2462,3942,3984,3901,0,0,0,0,0,0,26.12,26.04,26.15
$GC,6284,-0.68,-175.2,2556,2463,3984,3900,727.9,-6.9,273,6293,0.00,2.17,0.00,0.000,516,0.000,0.032,2557,1078,3941,3983,3899,0,0,0,0,0,0,26.19,26.07,26.25
$GC,6318,-0.68,-175.2,2556,1077,3984,3900,730.6,-7.1,274,6327,0.00,2.20,0.00,0.000,1030,0.000,0.035,2552,2459,3940,3981,3899,0,0,0,0,0,0,26.13,26.06,26.17
$GC,6652,-0.68,-175.2,2555,2460,3981,3898,756.6,-8.0,285,6661,0.00,2.20,0.00,0.000,516,0.000,0.032,2552,1066,3938,3981,3896,0,0,0,0,0,0,26.19,26.07,26.25
$GC,6675,-0.68,-175.2,2553,1070,3980,3897,756.6,-8.0,285,6683,0.00,2.22,0.00,0.000,1030,0.000,0.035,2545,2454,3939,3981,3897,0,0,0,0,0,0,26.15,26.05,26.16
$GC,6988,-0.68,-175.2,2544,2454,3981,3897,784.6,-8.4,296,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2454,3937,3979,3896,0,0,0,0,0,0,26.17,26.25,26.22
$GC,7288,-0.68,-175.2,2544,2455,3980,3895,811.0,-8.8,306,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2450,3936,3978,3895,0,0,0,0,0,0,26.18,26.25,26.24
$GC,7588,-0.68,-175.2,2545,2455,3978,3894,838.5,-9.3,316,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2454,3935,3977,3893,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7888,-0.68,-175.2,2546,2455,3976,3893,865.8,-9.0,326,7897,0.00,2.17,0.00,0.000,516,0.000,0.034,2545,1078,3934,3976,3892,0,0,0,0,0,0,26.17,26.03,26.23
$GC,7932,-0.68,-175.2,2544,1078,3977,3893,868.8,-9.3,327,7940,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2455,3934,3976,3892,0,0,0,0,0,0,26.10,26.02,26.13
$GC,8245,-0.68,-175.2,2541,2455,3976,3891,899.0,-9.3,338,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2455,3932,3974,3891,0,0,0,0,0,0,26.15,26.22,26.23
$GC,8545,-0.68,-175.2,2541,2455,3976,3890,927.1,-9.4,348,8554,0.00,2.17,0.00,0.000,516,0.000,0.034,2541,1079,3931,3974,3889,0,0,0,0,0,0,26.18,26.01,26.24
$GC,8569,-0.68,-175.2,2542,1080,3973,3890,927.1,-9.4,348,8580,0.00,2.22,0.00,0.000,1030,0.000,0.036,2540,2457,3931,3974,3889,0,0,0,0,0,0,26.08,26.01,26.12
$GC,8875,-0.68,-175.2,2542,2457,3973,3889,956.8,-8.8,359,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2457,3930,3973,3888,0,0,0,0,0,0,26.15,26.22,26.19
$GC,9175,-0.68,-175.2,2541,2457,3974,3888,981.8,-8.1,369,9185,0.00,2.20,0.00,0.000,516,0.000,0.034,2541,1078,3930,3973,3887,0,0,0,0,0,0,26.15,26.01,26.20
$GC,9199,-0.68,-175.2,2541,1078,3974,3888,981.8,-8.1,369,9211,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2457,3929,3972,3887,0,0,0,0,0,0,26.08,26.00,26.10
$STATE,9293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9293,begin apogee
$GC,9297,-0.11,0.0,2543,2104,3972,3887,991.6,-8.1,373,9442,0.65,0.00,138.20,1.303,10246,0.118,0.000,2740,2099,3281,3320,3242,0,0,0,0,0,0,25.71,24.60,23.82
$STATE,9443,end apogee,CONTROL_FINISHED_OK
$STATE,9443,begin climb
$GC,9445,0.68,175.2,2739,2100,3321,3241,997.3,0.0,377,9617,0.73,2.50,157.68,1.290,11012,0.048,0.044,3012,3491,2563,2610,2517,0,0,0,0,0,0,24.84,24.20,23.42
$GC,9842,0.68,175.2,3011,3492,2599,2514,970.8,13.5,391,9850,0.00,2.15,0.00,0.000,1030,0.000,0.024,3021,2113,2555,2597,2513,0,0,0,0,0,0,25.89,25.84,25.91
$GC,10165,0.68,175.2,3021,2114,2597,2510,931.3,12.0,402,10173,0.00,2.25,0.00,0.000,516,0.000,0.036,3033,702,2552,2595,2510,0,0,0,0,0,0,26.17,26.08,26.24
$GC,10198,0.68,175.2,3034,703,2595,2509,927.3,11.9,403,10208,0.15,2.22,0.00,0.000,5126,0.182,0.027,2999,2114,2551,2595,2508,0,0,0,0,0,0,25.85,26.14,26.07
$GC,10528,0.68,175.2,3000,2115,2594,2509,891.2,11.1,414,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2114,2550,2594,2507,0,0,0,0,0,0,26.17,26.25,26.24
$GC,10828,0.68,175.2,2996,2115,2593,2508,857.4,11.4,424,10836,0.00,2.22,0.00,0.000,260,0.000,0.044,2999,3499,2550,2593,2507,0,0,0,0,0,0,26.24,26.08,26.29
$GC,10850,0.68,175.2,2997,3500,2595,2508,857.4,11.4,424,10858,0.00,2.15,0.00,0.000,1030,0.000,0.025,3006,2098,2551,2595,2507,0,0,0,0,0,0,26.22,26.17,26.25
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$STATE,18351,end climb,SURFACE_DEPTH_REACHED
$STATE,18351,begin surface coast
$FINISH,0.2,1.022023
$STATE,18366,end surface coast,CONTROL_FINISHED_OK
$STATE,18366,begin surface
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$IRIDIUM_FIX,1106.26,14430.04,220108,202819
$TT8_MAMPS,0.053179,0.053179
$HUMID,41.41
$INTERNAL_PRESSURE,9.51208
$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,18373.76 7838.11
$PA_BOOTCOUNT,354
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$PA_HOME,0.04/0.066/1.764/1.608
$PA_DISK_BANK,1
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$10V_AH,10.17,28.901
$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,562.346,0.000,0.000,0.000,0.000,0.000,18838.102,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229944
$DATA_FILE_SIZE,36690,826
$CAP_FILE_SIZE,163105,0
$CFSIZE,260034560,246796288
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