version: 66.12
glider: 178
mission: 20
dive: 174
start: 4 5 115 19 58 12
data:
$ID,178
$MISSION,20
$DIVE,174
$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,39
$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
$GPS1,050415,195152,1203.0005,14342.5635,31,1.4,100,1.6,0.3,315.5,7,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-70.0
$GPS2,050415,195801,1203.0614,14342.5635,11,1.0,11,1.6,0.5,25.8,7,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.6,177380,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.68,-175.2,120,2465,1260,1229,0.0,0.0,0,179,0.00,0.00,-78.05,0.000,16386,0.000,0.000,120,2464,3198,3242,3155,0,0,0,0,0,0,26.25,28.83,26.32
$GC,181,-0.68,-175.2,121,2465,3242,3155,3.3,-10.6,11,220,10.82,2.12,-11.48,0.000,18692,0.249,0.057,2541,3765,3964,3994,3935,0,0,0,0,0,0,25.65,24.51,25.85
$GC,286,-0.68,-175.2,2542,3765,3995,3942,52.8,-45.2,25,296,0.00,2.00,0.00,0.000,1030,0.000,0.024,2541,2425,3966,3996,3937,0,0,0,0,0,0,26.25,26.21,26.27
$GC,591,-0.68,-175.2,2540,2423,3997,3944,153.5,-26.5,56,600,0.00,2.10,0.00,0.000,516,0.000,0.034,2541,1058,3969,3995,3944,0,0,0,0,0,0,26.19,26.15,26.25
$GC,625,-0.68,-175.2,2542,1060,3995,3945,161.8,-25.6,59,639,0.00,2.15,0.00,0.000,1030,0.000,0.031,2534,2452,3970,3996,3945,0,0,0,0,0,0,26.22,26.17,26.25
$GC,955,-0.68,-175.2,2534,2453,3995,3958,219.3,-15.6,84,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2452,3974,3996,3952,0,0,0,0,0,0,26.29,26.35,26.34
$GC,1254,-0.68,-175.2,2534,2453,3997,3954,264.2,-12.5,94,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2453,3975,3996,3955,0,0,0,0,0,0,26.31,26.37,26.36
$GC,1555,-0.68,-175.2,2534,2453,3996,3955,300.3,-12.0,104,1565,0.00,2.15,0.00,0.000,516,0.000,0.031,2534,1058,3975,3996,3955,0,0,0,0,0,0,26.22,26.18,26.29
$GC,1599,-0.68,-175.2,2533,1058,3996,3955,304.6,-12.0,105,1608,0.12,2.17,0.00,0.000,3078,0.152,0.032,2556,2448,3975,3996,3954,0,0,0,0,0,0,25.96,26.17,26.10
$GC,1923,-0.68,-175.2,2555,2449,3998,3956,337.3,-10.0,116,1932,0.00,2.15,0.00,0.000,516,0.000,0.031,2556,1065,3975,3996,3955,0,0,0,0,0,0,26.30,26.17,26.36
$GC,1953,-0.68,-175.2,2556,1066,3998,3956,340.3,-10.0,117,1961,0.00,2.17,0.00,0.000,1030,0.000,0.033,2551,2456,3975,3995,3955,0,0,0,0,0,0,26.23,26.15,26.26
$GC,2286,-0.68,-175.2,2551,2457,3996,3953,373.6,-10.3,128,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2456,3974,3996,3953,0,0,0,0,0,0,26.29,26.36,26.34
$GC,2586,-0.68,-175.2,2549,2457,3998,3950,401.1,-8.6,138,2595,0.00,2.17,0.00,0.000,516,0.000,0.031,2551,1064,3972,3995,3949,0,0,0,0,0,0,26.28,26.13,26.34
$GC,2616,-0.68,-175.2,2551,1064,3996,3949,403.8,-8.6,139,2624,0.00,2.20,0.00,0.000,1030,0.000,0.034,2543,2453,3972,3996,3948,0,0,0,0,0,0,26.20,26.13,26.23
$GC,2949,-0.68,-175.2,2542,2454,3997,3944,436.1,-9.8,150,2957,0.00,2.15,0.00,0.000,260,0.000,0.050,2533,3769,3970,3996,3944,0,0,0,0,0,0,26.25,26.01,26.30
$GC,2997,-0.68,-175.2,2532,3773,3996,3943,439.5,-9.9,151,3004,0.00,2.00,0.00,0.000,1030,0.000,0.025,2533,2436,3970,3998,3942,0,0,0,0,0,0,26.30,26.27,26.32
$GC,3314,-0.68,-175.2,2534,2435,3994,3936,471.7,-9.5,162,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2435,3966,3994,3938,0,0,0,0,0,0,26.26,26.34,26.32
$GC,3614,-0.68,-175.2,2534,2435,3995,3935,502.3,-10.4,172,3623,0.10,2.10,0.00,0.000,2564,0.167,0.030,2555,1081,3964,3995,3934,0,0,0,0,0,0,25.98,26.09,26.07
$GC,3662,-0.68,-175.2,2554,1082,3996,3934,505.4,-10.2,173,3670,0.00,2.17,0.00,0.000,1030,0.000,0.033,2550,2450,3963,3994,3933,0,0,0,0,0,0,26.17,26.10,26.20
$GC,3975,-0.68,-175.2,2549,2452,3997,3928,534.7,-8.9,184,3982,0.00,2.15,0.00,0.000,516,0.000,0.031,2550,1078,3960,3994,3927,0,0,0,0,0,0,26.24,26.08,26.30
$GC,4017,-0.68,-175.2,2549,1077,3997,3928,537.5,-8.8,185,4024,0.00,2.20,0.00,0.000,1030,0.000,0.034,2542,2457,3960,3994,3927,0,0,0,0,0,0,26.15,26.08,26.19
$GC,4339,-0.68,-175.2,2542,2458,3996,3923,568.5,-9.4,196,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2457,3958,3994,3922,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4639,-0.68,-175.2,2541,2458,3996,3920,597.2,-9.3,206,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2459,3956,3995,3918,0,0,0,0,0,0,26.23,26.30,26.29
$GC,4940,-0.68,-175.2,2541,2458,3993,3915,622.9,-8.1,216,4950,0.00,2.15,0.00,0.000,516,0.000,0.031,2542,1080,3954,3994,3914,0,0,0,0,0,0,26.22,26.06,26.28
$GC,4964,-0.68,-175.2,2543,1080,3994,3915,622.9,-8.1,216,4975,0.00,2.20,0.00,0.000,1030,0.000,0.036,2541,2449,3954,3994,3914,0,0,0,0,0,0,26.10,26.02,26.14
$GC,5269,-0.68,-175.2,2541,2450,3995,3912,647.9,-7.6,227,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2449,3952,3993,3911,0,0,0,0,0,0,26.19,26.25,26.25
$GC,5570,-0.68,-175.2,2545,2450,3993,3910,669.8,-7.3,237,5580,0.00,2.15,0.00,0.000,516,0.000,0.031,2542,1080,3950,3991,3909,0,0,0,0,0,0,26.17,26.03,26.23
$GC,5600,-0.68,-175.2,2542,1080,3990,3910,672.2,-7.3,238,5611,0.00,2.20,0.00,0.000,1030,0.000,0.035,2541,2450,3949,3990,3909,0,0,0,0,0,0,26.08,25.99,26.12
$GC,5931,-0.68,-175.2,2542,2451,3989,3907,699.6,-8.8,249,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3947,3989,3906,0,0,0,0,0,0,26.13,26.21,26.20
$GC,6231,-0.68,-175.2,2540,2451,3989,3907,727.0,-9.3,259,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3946,3987,3906,0,0,0,0,0,0,26.19,26.26,26.25
$GC,6531,-0.68,-175.2,2542,2451,3986,3905,755.0,-9.3,269,6542,0.00,2.12,0.00,0.000,516,0.000,0.031,2541,1085,3945,3986,3904,0,0,0,0,0,0,26.17,26.01,26.23
$GC,6562,-0.68,-175.2,2541,1086,3988,3905,758.1,-9.6,270,6569,0.00,2.20,0.00,0.000,1030,0.000,0.036,2541,2451,3945,3986,3904,0,0,0,0,0,0,26.06,25.98,26.10
$GC,6889,-0.68,-175.2,2542,2452,3984,3903,790.3,-9.9,281,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3943,3984,3903,0,0,0,0,0,0,26.15,26.22,26.22
$GC,7189,-0.68,-175.2,2542,2451,3978,3902,819.0,-9.4,291,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3942,3983,3901,0,0,0,0,0,0,26.14,26.21,26.20
$GC,7490,-0.68,-175.2,2542,2452,3982,3901,846.7,-9.1,301,7498,0.00,2.15,0.00,0.000,516,0.000,0.031,2541,1080,3941,3982,3900,0,0,0,0,0,0,26.14,26.00,26.20
$GC,7518,-0.68,-175.2,2542,1080,3982,3900,846.7,-9.1,301,7528,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2457,3941,3982,3900,0,0,0,0,0,0,26.06,25.97,26.08
$GC,7823,-0.68,-175.2,2540,2457,3983,3900,875.6,-8.3,312,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2457,3939,3981,3898,0,0,0,0,0,0,26.19,26.23,26.22
$GC,8123,-0.68,-175.2,2540,2458,3982,3899,899.1,-7.6,322,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3938,3980,3897,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8423,-0.68,-175.2,2542,2457,3979,3897,921.2,-7.4,332,8431,0.00,2.17,0.00,0.000,516,0.000,0.031,2542,1073,3937,3979,3896,0,0,0,0,0,0,26.15,25.96,26.21
$GC,8460,-0.68,-175.2,2542,1074,3978,3897,923.6,-7.3,333,8471,0.00,2.20,0.00,0.000,1030,0.000,0.036,2541,2448,3937,3979,3896,0,0,0,0,0,0,26.01,25.94,26.04
$GC,8787,-0.68,-175.2,2540,2450,3979,3895,947.0,-7.0,344,8795,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1076,3937,3978,3896,0,0,0,0,0,0,26.12,25.96,26.17
$GC,8809,-0.68,-175.2,2542,1074,3978,3896,947.0,-7.0,344,8817,0.00,2.22,0.00,0.000,1030,0.000,0.037,2541,2451,3936,3978,3895,0,0,0,0,0,0,26.05,25.96,26.08
$GC,9114,-0.68,-175.2,2541,2453,3979,3895,970.0,-7.1,354,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2451,3933,3973,3894,0,0,0,0,0,0,26.15,26.22,26.20
$STATE,9413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9413,begin apogee
$GC,9417,-0.11,0.0,2542,2106,3977,3894,991.7,-7.2,364,9569,0.65,0.00,141.73,1.291,10246,0.116,0.000,2741,2102,3279,3317,3241,0,0,0,0,0,0,25.61,24.45,23.58
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9571,0.68,175.2,2740,2102,3319,3240,998.3,0.0,369,9750,0.73,2.45,160.30,1.277,11012,0.047,0.036,3022,722,2562,2609,2516,0,0,0,0,0,0,24.72,24.11,23.24
$GC,9974,0.68,175.2,3022,723,2600,2509,972.2,12.5,382,9983,0.00,2.20,0.00,0.000,1030,0.000,0.028,3022,2114,2554,2600,2508,0,0,0,0,0,0,26.00,25.93,26.01
$GC,10287,0.68,175.2,3021,2114,2601,2506,932.8,11.8,393,10297,0.00,2.20,0.00,0.000,516,0.000,0.033,3032,721,2552,2598,2506,0,0,0,0,0,0,26.24,26.14,26.30
$GC,10512,0.68,175.2,3031,722,2598,2506,908.1,11.7,400,10520,0.12,2.17,0.00,0.000,5126,0.184,0.028,3012,2108,2550,2596,2505,0,0,0,0,0,0,25.87,26.17,26.08
$GC,10825,0.68,175.2,3005,2109,2598,2504,874.1,10.3,411,10836,0.00,2.25,0.00,0.000,260,0.000,0.041,3005,3506,2553,2603,2503,0,0,0,0,0,0,26.25,26.10,26.31
$GC,10880,0.68,175.2,3005,3506,2598,2504,870.6,10.5,412,10890,0.00,2.15,0.00,0.000,1030,0.000,0.024,3014,2100,2549,2596,2503,0,0,0,0,0,0,26.25,26.21,26.27
$GC,11186,0.68,175.2,3013,2102,2595,2503,833.8,11.1,423,11195,0.00,2.22,0.00,0.000,516,0.000,0.036,3024,707,2548,2594,2502,0,0,0,0,0,0,26.25,26.08,26.32
$GC,11220,0.68,175.2,3025,708,2594,2503,830.5,11.1,424,11228,0.00,2.20,0.00,0.000,1030,0.000,0.027,3024,2108,2548,2594,2502,0,0,0,0,0,0,26.22,26.15,26.25
$GC,11548,0.68,175.2,3024,2109,2596,2503,792.6,11.4,435,11559,0.00,2.25,0.00,0.000,260,0.000,0.043,3024,3500,2548,2595,2501,0,0,0,0,0,0,26.17,26.01,26.23
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$STATE,18887,end climb,SURFACE_DEPTH_REACHED
$STATE,18887,begin surface coast
$FINISH,-0.7,1.021887
$STATE,18913,end surface coast,CONTROL_FINISHED_OK
$STATE,18913,begin surface
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$IRIDIUM_FIX,1154.68,14339.55,310108,053334
$TT8_MAMPS,0.05243,0.05243
$HUMID,40.62
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$TCM_TEMP,24.90
$XPDR_PINGS,1
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,18937.92 8212.01
$PA_BOOTCOUNT,393
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$10V_AH,10.14,31.795
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229976
$DATA_FILE_SIZE,36808,842
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$CFSIZE,260034560,243568640
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