version: 66.12
glider: 178
mission: 20
dive: 137
start: 3 28 115 22 55 0
data:
$ID,178
$MISSION,20
$DIVE,137
$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,53
$R_STBD_OVSHOOT,47
$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
$GPS1,280315,224606,1115.7385,14423.6406,33,1.2,33,2.0,0.6,260.4,8,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-72.4
$GPS2,280315,225449,1115.7267,14423.5273,12,1.1,12,2.0,0.2,313.9,8,8.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,301.0,108407,-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,-175.2,122,2470,1240,1229,0.0,0.0,0,191,0.00,0.00,-84.65,0.000,16386,0.000,0.000,121,2470,3492,3547,3438,0,0,0,0,0,0,26.18,28.83,26.25
$GC,193,-0.68,-175.2,122,2470,3548,3438,5.4,-15.7,12,217,10.60,2.08,-6.03,0.000,18692,0.243,0.054,2544,3757,3964,3996,3933,0,0,0,0,0,0,25.65,25.45,25.85
$GC,359,-0.68,-175.2,2542,3758,3996,3942,75.7,-32.9,33,370,0.00,2.00,0.00,0.000,1030,0.000,0.024,2548,2426,3968,3995,3941,0,0,0,0,0,0,26.17,26.14,26.19
$GC,675,-0.68,-175.2,2549,2423,3994,3944,155.6,-17.2,64,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2423,3968,3994,3943,0,0,0,0,0,0,26.21,26.27,26.27
$GC,986,-0.68,-175.2,2549,2423,3994,3949,210.5,-17.1,91,996,0.00,2.15,0.00,0.000,260,0.000,0.044,2541,3765,3971,3995,3948,0,0,0,0,0,0,26.29,26.15,26.35
$GC,1016,-0.68,-175.2,2540,3765,3996,3949,210.5,-17.1,91,1026,0.00,1.98,0.00,0.000,1030,0.000,0.024,2541,2444,3971,3995,3948,0,0,0,0,0,0,26.30,26.27,26.32
$GC,1321,-0.68,-175.2,2541,2442,3995,3951,249.4,-13.4,102,1329,0.00,2.12,0.00,0.000,516,0.000,0.031,2542,1056,3972,3995,3949,0,0,0,0,0,0,26.29,26.22,26.34
$GC,1374,-0.68,-175.2,2542,1056,3997,3951,254.6,-14.6,103,1382,0.00,2.15,0.00,0.000,1030,0.000,0.030,2535,2444,3972,3995,3950,0,0,0,0,0,0,26.28,26.22,26.31
$GC,1679,-0.68,-175.2,2536,2446,3994,3951,299.6,-11.9,113,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2445,3973,3995,3951,0,0,0,0,0,0,26.28,26.34,26.34
$GC,1979,-0.68,-175.2,2534,2445,3997,3950,337.7,-13.9,123,1991,0.00,2.12,0.00,0.000,516,0.000,0.031,2535,1066,3972,3995,3949,0,0,0,0,0,0,26.28,26.20,26.34
$GC,2010,-0.68,-175.2,2536,1067,3995,3949,342.0,-13.9,124,2021,0.12,2.17,0.00,0.000,3078,0.150,0.033,2556,2453,3971,3995,3948,0,0,0,0,0,0,26.01,26.19,26.15
$GC,2340,-0.68,-175.2,2554,2454,3997,3945,377.1,-10.0,135,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3969,3995,3944,0,0,0,0,0,0,26.27,26.34,26.33
$GC,2640,-0.68,-175.2,2557,2454,3994,3939,402.3,-7.7,145,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3966,3994,3938,0,0,0,0,0,0,26.26,26.32,26.32
$GC,2940,-0.68,-175.2,2557,2454,3993,3932,424.6,-7.8,155,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3963,3994,3932,0,0,0,0,0,0,26.27,26.34,26.34
$GC,3241,-0.68,-175.2,2555,2454,3996,3933,447.8,-7.4,165,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3960,3994,3926,0,0,0,0,0,0,26.27,26.34,26.32
$GC,3540,-0.68,-175.2,2557,2454,3993,3921,469.2,-7.2,175,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2453,3957,3994,3920,0,0,0,0,0,0,26.26,26.33,26.32
$GC,3840,-0.68,-175.2,2555,2454,3995,3916,491.3,-7.5,185,3848,0.00,2.15,0.00,0.000,516,0.000,0.031,2557,1069,3954,3994,3915,0,0,0,0,0,0,26.26,26.13,26.32
$GC,3863,-0.68,-175.2,2556,1070,3995,3915,491.3,-7.5,185,3873,0.00,2.20,0.00,0.000,1030,0.000,0.034,2551,2455,3954,3994,3914,0,0,0,0,0,0,26.20,26.13,26.23
$GC,4168,-0.68,-175.2,2550,2456,3995,3910,519.5,-9.2,196,4178,0.00,2.15,0.00,0.000,516,0.000,0.031,2551,1070,3951,3993,3910,0,0,0,0,0,0,26.25,26.13,26.31
$GC,4198,-0.68,-175.2,2550,1071,3995,3911,522.5,-9.5,197,4207,0.00,2.20,0.00,0.000,1030,0.000,0.035,2543,2457,3950,3992,3909,0,0,0,0,0,0,26.18,26.10,26.21
$GC,4532,-0.68,-175.2,2544,2457,3990,3907,558.3,-10.9,208,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2456,3948,3990,3906,0,0,0,0,0,0,26.23,26.30,26.29
$GC,4831,-0.68,-175.2,2544,2457,3987,3906,591.3,-10.9,218,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2456,3946,3988,3905,0,0,0,0,0,0,26.23,26.30,26.29
$GC,5131,-0.68,-175.2,2543,2458,3988,3902,621.8,-9.9,228,5139,0.00,2.15,0.00,0.000,260,0.000,0.052,2533,3771,3944,3986,3903,0,0,0,0,0,0,26.25,26.01,26.30
$GC,5189,-0.68,-175.2,2533,3771,3987,3903,624.8,-9.7,229,5199,0.00,2.03,0.00,0.000,1030,0.000,0.027,2533,2435,3944,3985,3903,0,0,0,0,0,0,26.26,26.23,26.27
$GC,5494,-0.68,-175.2,2534,2436,3984,3901,655.4,-9.1,240,5505,0.00,2.10,0.00,0.000,516,0.000,0.032,2533,1067,3941,3983,3900,0,0,0,0,0,0,26.20,26.09,26.27
$GC,5519,-0.68,-175.2,2536,1068,3981,3900,655.4,-9.1,240,5530,0.12,2.20,0.00,0.000,3078,0.156,0.034,2555,2449,3941,3983,3900,0,0,0,0,0,0,25.86,26.07,26.01
$GC,5825,-0.68,-175.2,2553,2450,3984,3898,682.2,-8.0,251,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2449,3939,3982,3897,0,0,0,0,0,0,26.20,26.29,26.25
$GC,6124,-0.68,-175.2,2554,2450,3982,3897,705.3,-7.5,261,6133,0.00,2.15,0.00,0.000,516,0.000,0.032,2555,1077,3937,3980,3895,0,0,0,0,0,0,26.18,26.06,26.24
$GC,6158,-0.68,-175.2,2555,1078,3982,3896,707.6,-7.4,262,6167,0.00,2.17,0.00,0.000,1030,0.000,0.036,2552,2452,3938,3980,3896,0,0,0,0,0,0,26.13,26.04,26.15
$GC,6487,-0.68,-175.2,2551,2453,3981,3895,731.8,-7.3,273,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2452,3936,3979,3894,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6787,-0.68,-175.2,2553,2453,3977,3893,754.4,-7.6,283,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2453,3935,3978,3892,0,0,0,0,0,0,26.19,26.27,26.25
$GC,7088,-0.68,-175.2,2553,2453,3977,3891,778.6,-8.2,293,7095,0.00,2.17,0.00,0.000,516,0.000,0.032,2552,1076,3933,3976,3890,0,0,0,0,0,0,26.18,26.07,26.25
$GC,7120,-0.68,-175.2,2553,1077,3976,3891,781.0,-8.3,294,7130,0.00,2.20,0.00,0.000,1030,0.000,0.036,2546,2452,3933,3976,3890,0,0,0,0,0,0,26.10,26.03,26.14
$GC,7450,-0.68,-175.2,2547,2452,3974,3890,808.6,-8.2,305,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2452,3931,3974,3889,0,0,0,0,0,0,26.15,26.22,26.21
$GC,7750,-0.68,-175.2,2546,2452,3975,3889,832.1,-7.8,315,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3931,3974,3888,0,0,0,0,0,0,26.17,26.24,26.25
$GC,8050,-0.68,-175.2,2547,2452,3973,3887,857.5,-8.6,325,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2452,3930,3973,3887,0,0,0,0,0,0,26.16,26.23,26.22
$GC,8350,-0.68,-175.2,2547,2452,3972,3887,885.4,-9.4,335,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2451,3929,3972,3886,0,0,0,0,0,0,26.15,26.22,26.22
$GC,8650,-0.68,-175.2,2546,2452,3972,3886,912.5,-8.9,345,8660,0.00,2.20,0.00,0.000,516,0.000,0.032,2546,1066,3928,3971,3885,0,0,0,0,0,0,26.13,26.01,26.20
$GC,8675,-0.68,-175.2,2546,1066,3972,3886,912.5,-8.9,345,8686,0.00,2.22,0.00,0.000,1030,0.000,0.036,2541,2450,3928,3971,3885,0,0,0,0,0,0,26.08,25.98,26.09
$GC,8980,-0.68,-175.2,2541,2450,3972,3885,941.6,-8.7,356,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3926,3969,3884,0,0,0,0,0,0,26.17,26.23,26.22
$GC,9281,-0.68,-175.2,2540,2450,3971,3884,966.5,-8.1,366,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2450,3926,3969,3883,0,0,0,0,0,0,26.15,26.22,26.20
$STATE,9578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9579,begin apogee
$GC,9583,-0.11,0.0,2542,2103,3968,3882,990.2,-7.9,376,9734,0.65,0.00,138.00,1.305,10246,0.116,0.000,2741,2098,3279,3319,3240,0,0,0,0,0,0,25.67,24.38,23.80
$STATE,9735,end apogee,CONTROL_FINISHED_OK
$STATE,9735,begin climb
$GC,9737,0.68,175.2,2741,2099,3321,3239,997.2,0.0,381,9907,0.73,2.35,158.30,1.291,11012,0.044,0.036,3021,728,2563,2610,2517,0,0,0,0,0,0,24.86,24.19,23.41
$GC,10132,0.68,175.2,3022,729,2600,2509,968.6,13.8,393,10141,0.00,2.20,0.00,0.000,1030,0.000,0.028,3021,2109,2554,2600,2508,0,0,0,0,0,0,25.86,25.79,25.88
$GC,10445,0.68,175.2,3021,2110,2600,2506,924.5,13.3,404,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2109,2552,2599,2506,0,0,0,0,0,0,26.16,26.23,26.22
$GC,10745,0.68,175.2,3021,2110,2599,2506,885.0,13.1,414,10753,0.00,2.22,0.00,0.000,516,0.000,0.037,3032,725,2551,2597,2505,0,0,0,0,0,0,26.20,26.12,26.27
$GC,10833,0.68,175.2,3032,726,2594,2505,873.6,13.0,417,10841,0.12,2.17,0.00,0.000,5126,0.185,0.030,3006,2103,2549,2595,2504,0,0,0,0,0,0,25.79,26.06,25.99
$GC,11166,0.68,175.2,3006,2104,2594,2503,835.9,10.7,428,11177,0.00,2.28,0.00,0.000,260,0.000,0.045,3005,3506,2549,2595,2503,0,0,0,0,0,0,26.17,26.06,26.23
$GC,11236,0.68,175.2,3004,3506,2597,2504,828.5,11.1,430,11244,0.00,2.15,0.00,0.000,1030,0.000,0.024,3013,2108,2549,2595,2503,0,0,0,0,0,0,26.20,26.16,26.23
$GC,11559,0.68,175.2,3014,2108,2594,2503,792.9,10.8,441,11567,0.00,2.28,0.00,0.000,260,0.000,0.042,3013,3510,2548,2594,2503,0,0,0,0,0,0,26.19,26.03,26.25
$GC,11591,0.68,175.2,3014,3511,2594,2503,789.9,10.9,442,11599,0.00,2.17,0.00,0.000,1030,0.000,0.024,3024,2102,2548,2594,2503,0,0,0,0,0,0,26.16,26.12,26.19
$GC,11913,0.68,175.2,3023,2103,2594,2504,753.4,11.1,453,11922,0.00,2.22,0.00,0.000,516,0.000,0.036,3035,704,2547,2592,2502,0,0,0,0,0,0,26.17,26.06,26.24
$GC,11966,0.68,175.2,3034,705,2594,2502,750.4,11.2,454,11976,0.15,2.20,0.00,0.000,5126,0.180,0.027,3001,2107,2547,2592,2502,0,0,0,0,0,0,25.75,26.10,25.98
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$STATE,18475,end climb,SURFACE_DEPTH_REACHED
$STATE,18475,begin surface coast
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$STATE,18485,end surface coast,CONTROL_FINISHED_OK
$STATE,18485,begin surface
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$IRIDIUM_FIX,1110.66,14420.84,230108,121437
$TT8_MAMPS,0.05243,0.05243
$HUMID,43.03
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.20
$XPDR_PINGS,0
$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,18461.14 7964.77
$PA_BOOTCOUNT,356
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$PA_HOME,0.04/0.067/1.764/1.607
$PA_DISK_BANK,1
$24V_AH,23.41,45.243
$10V_AH,10.16,29.051
$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
$MEM,229996
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$CFSIZE,260034560,246628352
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$GPS,290315,040506,1116.723,14421.240,77,0.8,77,2.0,0.6,216.3,9,6.4