version: 66.12
glider: 178
mission: 20
dive: 140
start: 3 29 115 14 8 40
data:
$ID,178
$MISSION,20
$DIVE,140
$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,42
$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
$GPS1,290315,140136,1119.6304,14417.1562,29,0.8,29,2.0,0.7,311.3,10,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-72.8
$GPS2,290315,140829,1119.6115,14417.0967,17,1.6,27,2.0,0.8,289.5,8,7.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,285.2,94749,-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,-175.2,123,2457,1243,1229,0.0,0.0,0,190,0.00,0.00,-88.28,0.000,16386,0.000,0.000,121,2453,3663,3740,3587,0,0,0,0,0,0,26.22,28.83,26.29
$GC,192,-0.68,-175.2,121,2458,3742,3590,5.4,-15.7,11,221,10.57,2.10,-4.05,0.000,18692,0.244,0.054,2544,3773,3964,3997,3931,0,0,0,0,0,0,25.68,25.44,25.89
$GC,345,-0.68,-175.2,2542,3774,3997,3939,70.9,-30.6,29,360,0.00,2.03,0.00,0.000,1030,0.000,0.024,2548,2424,3966,3995,3937,0,0,0,0,0,0,26.22,26.18,26.23
$GC,655,-0.68,-175.2,2547,2423,3996,3942,150.6,-21.0,60,669,0.00,2.08,0.00,0.000,516,0.000,0.030,2553,1071,3968,3995,3941,0,0,0,0,0,0,26.22,26.17,26.29
$GC,683,-0.68,-175.2,2553,1071,3995,3942,155.2,-19.5,62,694,0.00,2.15,0.00,0.000,1030,0.000,0.032,2546,2444,3968,3994,3942,0,0,0,0,0,0,26.28,26.22,26.31
$GC,1000,-0.68,-175.2,2546,2445,3994,3947,210.8,-15.6,90,1011,0.00,2.10,0.00,0.000,260,0.000,0.047,2535,3770,3970,3994,3947,0,0,0,0,0,0,26.32,26.17,26.37
$GC,1031,-0.68,-175.2,2534,3771,3997,3948,216.1,-15.9,91,1040,0.00,1.95,0.00,0.000,1030,0.000,0.024,2535,2447,3970,3994,3947,0,0,0,0,0,0,26.34,26.30,26.35
$GC,1364,-0.68,-175.2,2536,2445,3995,3948,263.3,-13.6,102,1374,0.00,2.15,0.00,0.000,260,0.000,0.047,2526,3775,3972,3995,3950,0,0,0,0,0,0,26.32,26.17,26.37
$GC,1409,-0.68,-175.2,2526,3775,3994,3951,267.6,-13.1,103,1417,0.12,1.98,0.00,0.000,3078,0.152,0.024,2556,2448,3972,3995,3950,0,0,0,0,0,0,26.06,26.32,26.20
$GC,1732,-0.68,-175.2,2557,2448,3995,3950,302.8,-9.9,114,1740,0.00,2.12,0.00,0.000,516,0.000,0.031,2561,1065,3972,3995,3949,0,0,0,0,0,0,26.32,26.22,26.37
$GC,1829,-0.68,-175.2,2561,1066,3997,3952,310.8,-9.3,117,1837,0.00,2.17,0.00,0.000,1030,0.000,0.032,2553,2459,3971,3992,3950,0,0,0,0,0,0,26.29,26.22,26.32
$GC,2147,-0.68,-175.2,2553,2460,3997,3946,341.9,-9.8,128,2157,0.00,2.12,0.00,0.000,260,0.000,0.049,2544,3774,3970,3995,3946,0,0,0,0,0,0,26.30,26.14,26.36
$GC,2172,-0.68,-175.2,2542,3776,3996,3946,341.9,-9.8,128,2182,0.00,1.98,0.00,0.000,1030,0.000,0.024,2544,2451,3970,3995,3945,0,0,0,0,0,0,26.34,26.30,26.34
$GC,2477,-0.68,-175.2,2545,2450,3994,3942,375.3,-10.6,139,2488,0.00,2.12,0.00,0.000,516,0.000,0.031,2544,1066,3968,3996,3941,0,0,0,0,0,0,26.30,26.21,26.36
$GC,2522,-0.68,-175.2,2543,1067,3996,3941,378.8,-10.9,140,2530,0.00,2.20,0.00,0.000,1030,0.000,0.033,2537,2460,3968,3995,3941,0,0,0,0,0,0,26.27,26.20,26.29
$GC,2835,-0.68,-175.2,2536,2460,3995,3936,419.5,-12.9,151,2844,0.00,2.12,0.00,0.000,260,0.000,0.049,2527,3778,3964,3994,3935,0,0,0,0,0,0,26.28,26.11,26.34
$GC,2858,-0.68,-175.2,2526,3778,3995,3935,419.5,-12.9,151,2866,0.12,2.03,0.00,0.000,3078,0.153,0.025,2556,2441,3964,3994,3934,0,0,0,0,0,0,26.00,26.27,26.14
$GC,3163,-0.68,-175.2,2556,2440,3996,3929,458.1,-11.7,161,3174,0.00,2.12,0.00,0.000,516,0.000,0.031,2561,1061,3959,3994,3924,0,0,0,0,0,0,26.27,26.18,26.32
$GC,3208,-0.68,-175.2,2560,1061,3995,3928,461.7,-11.8,162,3216,0.00,2.17,0.00,0.000,1030,0.000,0.032,2554,2453,3960,3994,3927,0,0,0,0,0,0,26.25,26.18,26.27
$GC,3521,-0.68,-175.2,2553,2453,3996,3923,497.3,-10.3,173,3529,0.00,2.15,0.00,0.000,516,0.000,0.031,2554,1067,3957,3994,3921,0,0,0,0,0,0,26.29,26.17,26.33
$GC,3549,-0.68,-175.2,2553,1068,3996,3922,500.1,-10.0,174,3556,0.00,2.20,0.00,0.000,1030,0.000,0.034,2544,2454,3957,3994,3921,0,0,0,0,0,0,26.22,26.15,26.25
$GC,3881,-0.68,-175.2,2547,2455,3995,3916,529.9,-8.1,185,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2458,3954,3994,3915,0,0,0,0,0,0,26.27,26.34,26.32
$GC,4181,-0.68,-175.2,2545,2455,3993,3911,552.1,-7.3,195,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2454,3952,3993,3911,0,0,0,0,0,0,26.26,26.33,26.32
$GC,4481,-0.68,-175.2,2545,2455,3992,3909,574.8,-7.7,205,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2454,3950,3992,3908,0,0,0,0,0,0,26.26,26.33,26.32
$GC,4781,-0.68,-175.2,2545,2455,3989,3907,598.9,-8.2,215,4789,0.00,2.17,0.00,0.000,516,0.000,0.031,2545,1062,3947,3989,3906,0,0,0,0,0,0,26.23,26.13,26.29
$GC,4803,-0.68,-175.2,2544,1063,3991,3907,598.9,-8.2,215,4814,0.00,2.22,0.00,0.000,1030,0.000,0.036,2537,2453,3947,3989,3906,0,0,0,0,0,0,26.18,26.10,26.21
$GC,5109,-0.68,-175.2,2535,2454,3989,3904,628.9,-9.3,226,5116,0.00,2.17,0.00,0.000,516,0.000,0.031,2537,1060,3945,3987,3904,0,0,0,0,0,0,26.24,26.11,26.31
$GC,5141,-0.68,-175.2,2536,1064,3988,3905,631.6,-9.3,227,5149,0.12,2.22,0.00,0.000,3078,0.155,0.034,2558,2454,3945,3987,3904,0,0,0,0,0,0,25.86,26.08,26.01
$GC,5464,-0.68,-175.2,2558,2455,3984,3902,656.1,-7.3,238,5474,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1067,3943,3986,3901,0,0,0,0,0,0,26.21,26.10,26.27
$GC,5499,-0.68,-175.2,2559,1068,3987,3902,658.4,-7.4,239,5507,0.00,2.20,0.00,0.000,1030,0.000,0.035,2554,2451,3942,3985,3900,0,0,0,0,0,0,26.17,26.08,26.20
$GC,5827,-0.68,-175.2,2552,2452,3984,3900,684.8,-8.1,250,5838,0.00,2.20,0.00,0.000,516,0.000,0.032,2554,1060,3940,3982,3899,0,0,0,0,0,0,26.18,26.09,26.24
$GC,5862,-0.68,-175.2,2553,1062,3984,3900,687.4,-8.1,251,5870,0.00,2.22,0.00,0.000,1030,0.000,0.034,2547,2455,3941,3983,3899,0,0,0,0,0,0,26.16,26.08,26.19
$GC,6185,-0.68,-175.2,2547,2456,3981,3897,715.3,-8.8,262,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2454,3939,3982,3896,0,0,0,0,0,0,26.19,26.25,26.25
$GC,6485,-0.68,-175.2,2547,2456,3980,3895,741.8,-9.0,272,6493,0.00,2.17,0.00,0.000,260,0.000,0.051,2537,3777,3938,3980,3896,0,0,0,0,0,0,26.22,25.97,26.28
$GC,6513,-0.68,-175.2,2535,3779,3981,3896,744.4,-9.0,273,6520,0.00,2.05,0.00,0.000,1030,0.000,0.028,2537,2441,3937,3979,3895,0,0,0,0,0,0,26.15,26.11,26.16
$GC,6840,-0.68,-175.2,2536,2439,3980,3894,775.0,-9.3,284,6850,0.00,2.15,0.00,0.000,516,0.000,0.032,2537,1076,3936,3979,3893,0,0,0,0,0,0,26.17,26.06,26.22
$GC,6875,-0.68,-175.2,2537,1071,3977,3894,777.8,-9.3,285,6883,0.00,2.20,0.00,0.000,1030,0.000,0.034,2530,2451,3935,3978,3893,0,0,0,0,0,0,26.11,26.04,26.15
$GC,7198,-0.68,-175.2,2529,2452,3978,3893,809.1,-9.5,296,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2451,3934,3977,3892,0,0,0,0,0,0,26.18,26.25,26.24
$GC,7497,-0.68,-175.2,2531,2452,3975,3891,838.1,-9.9,306,7504,0.12,0.00,0.00,0.000,2054,0.164,0.000,2559,2451,3932,3975,3890,0,0,0,0,0,0,25.84,26.03,25.98
$GC,7798,-0.68,-175.2,2559,2452,3976,3890,862.5,-8.2,316,7809,0.00,2.20,0.00,0.000,516,0.000,0.032,2561,1065,3932,3975,3889,0,0,0,0,0,0,26.16,26.04,26.22
$GC,7853,-0.68,-175.2,2562,1066,3974,3890,865.1,-8.3,317,7863,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2452,3930,3973,3888,0,0,0,0,0,0,26.10,26.02,26.13
$GC,8159,-0.68,-175.2,2558,2453,3975,3889,892.4,-8.3,328,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2452,3931,3974,3888,0,0,0,0,0,0,26.19,26.26,26.25
$GC,8458,-0.68,-175.2,2560,2453,3973,3888,916.3,-8.0,338,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2452,3930,3973,3887,0,0,0,0,0,0,26.16,26.23,26.22
$GC,8758,-0.68,-175.2,2560,2452,3972,3886,939.2,-7.6,348,8766,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1067,3929,3972,3886,0,0,0,0,0,0,26.15,26.01,26.22
$GC,8786,-0.68,-175.2,2559,1069,3971,3887,941.4,-7.6,349,8796,0.00,2.22,0.00,0.000,1030,0.000,0.036,2559,2448,3929,3972,3886,0,0,0,0,0,0,26.08,26.00,26.10
$GC,9116,-0.68,-175.2,2558,2450,3972,3886,965.3,-7.0,360,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2448,3927,3970,3885,0,0,0,0,0,0,26.13,26.20,26.19
$GC,9416,-0.68,-175.2,2558,2450,3971,3884,985.8,-6.8,370,9425,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1070,3924,3970,3879,0,0,0,0,0,0,26.14,26.01,26.20
$GC,9450,-0.68,-175.2,2560,1071,3969,3884,988.1,-6.7,371,9459,0.00,2.22,0.00,0.000,1030,0.000,0.036,2559,2454,3926,3970,3883,0,0,0,0,0,0,26.07,25.98,26.10
$STATE,9478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9478,begin apogee
$GC,9482,-0.11,0.0,2559,2090,3972,3884,990.1,-6.7,372,9627,0.57,0.00,138.40,1.307,10246,0.108,0.000,2739,2090,3280,3319,3241,0,0,0,0,0,0,25.76,24.57,23.77
$STATE,9628,end apogee,CONTROL_FINISHED_OK
$STATE,9628,begin climb
$GC,9629,0.68,175.2,2739,2090,3319,3239,995.7,0.0,376,9802,0.73,2.55,157.27,1.291,11012,0.050,0.044,3007,3506,2563,2610,2517,0,0,0,0,0,0,24.79,24.18,23.41
$GC,10027,0.68,175.2,3007,3507,2598,2514,969.3,12.9,390,10037,0.00,2.15,0.00,0.000,1030,0.000,0.024,3018,2115,2555,2597,2513,0,0,0,0,0,0,25.93,25.88,25.94
$GC,10352,0.68,175.2,3019,2115,2595,2510,929.7,11.9,401,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2115,2552,2595,2510,0,0,0,0,0,0,26.17,26.23,26.22
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$STATE,18401,end climb,SURFACE_DEPTH_REACHED
$STATE,18401,begin surface coast
$FINISH,0.1,1.022055
$STATE,18421,end surface coast,CONTROL_FINISHED_OK
$STATE,18421,begin surface
$SM_CCo,18437,41.92,0.065,0,0,1239,500.17
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$IRIDIUM_FIX,1112.86,14420.84,230108,225247
$TT8_MAMPS,0.05243,0.05243
$HUMID,41.65
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.50
$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,18434.06 7889.10
$PA_BOOTCOUNT,359
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$PA_HOME,0.04/0.067/1.764/1.607
$PA_DISK_BANK,1
$24V_AH,23.41,46.721
$10V_AH,10.25,29.274
$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
$DEVICE_SECS,21.000,158.000,485.375,41.925,0.000,0.000,0.000,281.025,0.000,18885.561,29.724,0.000,14657.470,626.051,3384.565,211.717,0.000,2415.239,0.000,1819.041,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,553.508,0.000,0.000,0.000,0.000,0.000,18885.719,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.324,0.000,0.000,0.000
$MEM,229920
$DATA_FILE_SIZE,36675,812
$CAP_FILE_SIZE,164466,0
$CFSIZE,260034560,246370304
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