version: 66.12
glider: 178
mission: 20
dive: 157
start: 4 2 115 5 13 39
data:
$ID,178
$MISSION,20
$DIVE,157
$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,45
$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
$GPS1,020415,050635,1137.2607,14340.8457,23,1.1,23,1.8,0.2,43.9,7,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-74.5
$GPS2,020415,051328,1137.2588,14340.6846,13,1.4,40,1.8,0.6,270.2,8,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,S7
$TGT_LATLONG,1142.600,14330.420
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,295.0,21078,-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,-175.2,123,2462,1249,1217,0.0,0.0,0,176,0.00,0.00,-77.70,0.000,16386,0.000,0.000,122,2462,3173,3214,3133,0,0,0,0,0,0,26.22,28.83,26.29
$GC,178,-0.68,-175.2,122,2463,3216,3134,3.2,-9.8,12,209,10.60,2.08,-13.02,0.000,18692,0.246,0.055,2545,3769,3964,3998,3930,0,0,0,0,0,0,25.67,25.44,26.05
$GC,385,-0.68,-175.2,2545,3770,3997,3940,78.9,-34.0,44,404,0.00,2.00,0.00,0.000,1030,0.000,0.023,2545,2425,3967,3995,3939,0,0,0,0,0,0,26.17,26.15,26.18
$GC,698,-0.68,-175.2,2545,2422,3997,3943,161.2,-19.6,75,712,0.00,2.08,0.00,0.000,516,0.000,0.028,2547,1067,3968,3994,3942,0,0,0,0,0,0,26.28,26.20,26.34
$GC,767,-0.68,-175.2,2547,1067,3996,3944,171.6,-15.2,81,777,0.00,2.15,0.00,0.000,1030,0.000,0.030,2541,2445,3968,3993,3944,0,0,0,0,0,0,26.25,26.18,26.30
$GC,1072,-0.68,-175.2,2542,2445,3994,3948,219.1,-14.7,104,1079,0.00,2.10,0.00,0.000,260,0.000,0.048,2531,3772,3971,3995,3947,0,0,0,0,0,0,26.28,25.13,26.34
$GC,1159,-0.68,-175.2,2532,3773,3995,3948,227.8,-14.4,106,1171,0.00,1.98,0.00,0.000,1030,0.000,0.023,2530,2445,3971,3995,3948,0,0,0,0,0,0,26.27,26.21,26.29
$GC,1464,-0.68,-175.2,2530,2443,3997,3950,275.4,-13.8,117,1471,0.00,2.12,0.00,0.000,516,0.000,0.031,2531,1068,3972,3995,3949,0,0,0,0,0,0,26.29,26.19,26.35
$GC,1530,-0.68,-175.2,2532,1069,3995,3950,282.8,-13.7,119,1538,0.15,2.17,0.00,0.000,3078,0.146,0.030,2561,2459,3972,3995,3949,0,0,0,0,0,0,25.94,26.17,26.09
$GC,1848,-0.68,-175.2,2560,2459,3997,3950,318.0,-10.9,130,1856,0.00,2.15,0.00,0.000,516,0.000,0.030,2559,1072,3972,3995,3949,0,0,0,0,0,0,26.29,26.17,26.34
$GC,1876,-0.68,-175.2,2562,1073,3995,3949,318.0,-10.9,130,1886,0.00,2.17,0.00,0.000,1030,0.000,0.031,2556,2458,3969,3995,3944,0,0,0,0,0,0,26.17,26.10,26.20
$GC,2181,-0.68,-175.2,2555,2459,3997,3951,347.8,-8.3,141,2191,0.00,2.15,0.00,0.000,516,0.000,0.030,2556,1067,3970,3995,3946,0,0,0,0,0,0,26.28,26.17,26.34
$GC,2206,-0.68,-175.2,2557,1068,3995,3947,347.8,-8.3,141,2214,0.00,2.17,0.00,0.000,1030,0.000,0.031,2549,2452,3970,3995,3946,0,0,0,0,0,0,26.22,26.15,26.25
$GC,2518,-0.68,-175.2,2548,2453,3996,3943,376.5,-8.8,152,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2452,3968,3995,3942,0,0,0,0,0,0,26.29,26.36,26.36
$GC,2819,-0.68,-175.2,2550,2453,3993,3938,404.4,-9.7,162,2828,0.00,2.15,0.00,0.000,516,0.000,0.030,2549,1075,3966,3994,3938,0,0,0,0,0,0,26.25,26.14,26.31
$GC,2858,-0.68,-175.2,2550,1075,3995,3938,407.6,-10.0,163,2866,0.00,2.17,0.00,0.000,1030,0.000,0.031,2544,2455,3965,3994,3937,0,0,0,0,0,0,26.20,26.13,26.23
$GC,3176,-0.68,-175.2,2543,2456,3995,3931,442.8,-11.0,174,3183,0.00,2.12,0.00,0.000,260,0.000,0.047,2534,3775,3961,3994,3929,0,0,0,0,0,0,26.22,26.04,26.28
$GC,3203,-0.68,-175.2,2534,3775,3993,3929,442.8,-11.0,174,3214,0.00,1.98,0.00,0.000,1030,0.000,0.024,2534,2452,3961,3993,3929,0,0,0,0,0,0,26.26,26.23,26.28
$GC,3508,-0.68,-175.2,2538,2454,3996,3924,480.9,-11.2,185,3516,0.00,2.12,0.00,0.000,516,0.000,0.031,2534,1073,3956,3990,3923,0,0,0,0,0,0,26.25,26.11,26.31
$GC,3550,-0.68,-175.2,2534,1074,3993,3923,483.9,-11.1,186,3558,0.12,2.17,0.00,0.000,3078,0.156,0.031,2556,2451,3958,3994,3922,0,0,0,0,0,0,25.86,26.07,26.01
$GC,3863,-0.68,-175.2,2555,2452,3995,3918,511.9,-8.6,197,3871,0.00,2.15,0.00,0.000,260,0.000,0.049,2548,3777,3955,3994,3917,0,0,0,0,0,0,26.22,26.01,26.28
$GC,3890,-0.68,-175.2,2549,3777,3993,3917,511.9,-8.6,197,3901,0.00,2.00,0.00,0.000,1030,0.000,0.024,2548,2447,3955,3994,3916,0,0,0,0,0,0,26.25,26.21,26.25
$GC,4196,-0.68,-175.2,2548,2445,3995,3911,541.4,-8.8,208,4203,0.00,2.12,0.00,0.000,516,0.000,0.031,2548,1071,3949,3993,3906,0,0,0,0,0,0,26.21,26.08,26.27
$GC,4218,-0.68,-175.2,2547,1071,3995,3911,541.4,-8.8,208,4228,0.00,2.17,0.00,0.000,1030,0.000,0.031,2542,2451,3951,3993,3910,0,0,0,0,0,0,26.15,26.09,26.19
$GC,4524,-0.68,-175.2,2544,2451,3991,3908,569.1,-8.6,219,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3949,3991,3907,0,0,0,0,0,0,26.22,26.29,26.27
$GC,4823,-0.68,-175.2,2543,2451,3989,3906,597.2,-9.8,229,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3947,3989,3905,0,0,0,0,0,0,26.19,26.26,26.25
$GC,5123,-0.68,-175.2,2543,2452,3987,3904,628.0,-10.2,239,5131,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1063,3941,3981,3902,0,0,0,0,0,0,26.20,26.04,26.26
$GC,5151,-0.68,-175.2,2543,1063,3987,3904,630.9,-10.3,240,5158,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2455,3945,3987,3903,0,0,0,0,0,0,26.11,26.03,26.15
$GC,5478,-0.68,-175.2,2541,2456,3986,3901,662.6,-9.2,251,5488,0.00,2.20,0.00,0.000,516,0.000,0.031,2542,1061,3943,3985,3901,0,0,0,0,0,0,26.08,25.94,26.14
$GC,5508,-0.68,-175.2,2543,1061,3984,3901,665.2,-8.8,252,5516,0.00,2.20,0.00,0.000,1030,0.000,0.033,2540,2453,3942,3984,3900,0,0,0,0,0,0,26.08,26.01,26.11
$GC,5841,-0.68,-175.2,2541,2454,3984,3899,692.9,-8.2,263,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2453,3939,3982,3896,0,0,0,0,0,0,26.19,26.26,26.27
$GC,6141,-0.68,-175.2,2542,2453,3981,3897,718.9,-8.9,273,6151,0.00,2.17,0.00,0.000,516,0.000,0.030,2541,1064,3939,3982,3896,0,0,0,0,0,0,26.20,26.03,26.25
$GC,6171,-0.68,-175.2,2542,1064,3981,3897,721.6,-8.9,274,6179,0.00,2.22,0.00,0.000,1030,0.000,0.033,2542,2454,3938,3981,3896,0,0,0,0,0,0,26.05,25.97,26.08
$GC,6504,-0.68,-175.2,2542,2455,3981,3896,751.8,-9.3,285,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2454,3937,3980,3895,0,0,0,0,0,0,26.15,26.23,26.21
$GC,6804,-0.68,-175.2,2542,2455,3978,3893,780.3,-9.6,295,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2454,3935,3978,3893,0,0,0,0,0,0,26.16,26.23,26.22
$GC,7104,-0.68,-175.2,2541,2455,3978,3892,807.8,-9.0,305,7112,0.00,2.17,0.00,0.000,516,0.000,0.030,2542,1065,3934,3977,3891,0,0,0,0,0,0,26.18,26.02,26.24
$GC,7131,-0.68,-175.2,2543,1066,3977,3892,807.8,-9.0,305,7141,0.00,2.22,0.00,0.000,1030,0.000,0.033,2542,2453,3934,3977,3891,0,0,0,0,0,0,26.08,26.01,26.11
$GC,7437,-0.68,-175.2,2542,2453,3976,3890,836.6,-8.5,316,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3933,3976,3890,0,0,0,0,0,0,26.19,26.26,26.25
$GC,7736,-0.68,-175.2,2543,2454,3974,3888,861.0,-7.9,326,7746,0.00,2.17,0.00,0.000,516,0.000,0.030,2542,1063,3931,3974,3888,0,0,0,0,0,0,26.18,26.01,26.22
$GC,7761,-0.68,-175.2,2541,1064,3976,3889,861.0,-7.9,326,7771,0.00,2.22,0.00,0.000,1030,0.000,0.033,2542,2452,3931,3974,3888,0,0,0,0,0,0,26.07,25.99,26.10
$GC,8067,-0.68,-175.2,2542,2453,3973,3888,886.2,-7.4,337,8076,0.00,2.20,0.00,0.000,516,0.000,0.030,2542,1063,3930,3973,3887,0,0,0,0,0,0,26.17,26.00,26.23
$GC,8101,-0.68,-175.2,2541,1064,3975,3888,888.6,-7.6,338,8111,0.00,2.22,0.00,0.000,1030,0.000,0.033,2542,2452,3930,3973,3887,0,0,0,0,0,0,26.06,25.98,26.09
$GC,8426,-0.68,-175.2,2542,2453,3972,3886,913.1,-7.4,349,8435,0.00,2.15,0.00,0.000,260,0.000,0.050,2542,3771,3929,3973,3886,0,0,0,0,0,0,26.15,25.89,26.20
$GC,8449,-0.68,-175.2,2542,3771,3972,3887,913.1,-7.4,349,8457,0.00,2.00,0.00,0.000,1030,0.000,0.024,2542,2439,3928,3971,3886,0,0,0,0,0,0,26.16,26.13,26.17
$GC,8762,-0.68,-175.2,2542,2437,3971,3886,936.4,-6.9,360,8770,0.00,2.12,0.00,0.000,516,0.000,0.031,2542,1076,3928,3971,3885,0,0,0,0,0,0,26.15,26.01,26.20
$GC,8796,-0.68,-175.2,2542,1076,3971,3886,938.8,-7.0,361,8806,0.00,2.20,0.00,0.000,1030,0.000,0.032,2541,2459,3928,3971,3885,0,0,0,0,0,0,26.04,25.97,26.07
$GC,9126,-0.68,-175.2,2541,2461,3971,3884,962.0,-7.4,372,9137,0.00,2.15,0.00,0.000,516,0.000,0.029,2542,1086,3926,3970,3883,0,0,0,0,0,0,26.10,25.99,26.17
$GC,9161,-0.68,-175.2,2542,1087,3970,3884,964.2,-7.4,373,9169,0.00,2.20,0.00,0.000,1030,0.000,0.032,2542,2461,3926,3969,3883,0,0,0,0,0,0,26.03,25.97,26.06
$GC,9484,-0.68,-175.2,2543,2462,3969,3882,989.5,-7.9,384,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2461,3926,3970,3882,0,0,0,0,0,0,26.14,26.20,26.20
$STATE,9512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9512,begin apogee
$GC,9516,-0.11,0.0,2541,2091,3971,3878,991.9,-7.9,385,9667,0.65,0.00,139.32,1.302,10246,0.117,0.000,2741,2094,3279,3318,3240,0,0,0,0,0,0,25.66,24.51,23.68
$STATE,9668,end apogee,CONTROL_FINISHED_OK
$STATE,9668,begin climb
$GC,9670,0.68,175.2,2742,2094,3314,3238,999.4,0.0,390,9842,0.73,2.47,159.15,1.293,11012,0.053,0.041,3005,3509,2564,2610,2518,0,0,0,0,0,0,24.79,23.95,23.34
$GC,10066,0.68,175.2,3006,3510,2598,2515,975.7,12.6,402,10076,0.00,2.15,0.00,0.000,1030,0.000,0.024,3016,2126,2556,2598,2515,0,0,0,0,0,0,25.95,25.90,25.96
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$STATE,18019,end climb,SURFACE_DEPTH_REACHED
$STATE,18019,begin surface coast
$FINISH,-0.3,1.022034
$STATE,18036,end surface coast,CONTROL_FINISHED_OK
$STATE,18036,begin surface
$SM_CCo,18052,22.45,0.066,0,0,1239,500.17
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$IRIDIUM_FIX,1130.46,14343.47,270108,131930
$TT8_MAMPS,0.05243,0.05243
$HUMID,43.50
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.30
$XPDR_PINGS,3
$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,18029.07 7906.14
$PA_BOOTCOUNT,376
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$PA_LOG,0.08/0.162/1.969/1.706
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$PA_HOME,0.04/0.071/1.764/1.603
$PA_DISK_BANK,2
$24V_AH,23.34,54.784
$10V_AH,10.15,30.555
$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,544.382,0.000,0.000,0.000,0.000,0.000,18524.811,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229916
$DATA_FILE_SIZE,36774,801
$CAP_FILE_SIZE,159533,0
$CFSIZE,260034560,244989952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18963.31,0x236db2,7,5
$CURRENT,0.029,287.69,1
$GPS,020415,101554,1138.171,14338.590,38,0.9,38,1.7,0.3,296.5,8,7.2