version: 66.12
glider: 178
mission: 20
dive: 177
start: 4 6 115 12 11 15
data:
$ID,178
$MISSION,20
$DIVE,177
$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,41
$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
$GPS1,060415,120358,1209.9808,14346.0615,34,2.0,56,1.6,0.5,108.4,7,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-74.1
$GPS2,060415,121104,1210.0063,14346.0488,10,1.7,38,1.6,0.4,38.3,8,8.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.6,163138,-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,-175.2,120,2465,1240,1229,0.0,0.0,0,187,0.00,0.00,-81.95,0.000,16386,0.000,0.000,120,2464,3390,3440,3341,0,0,0,0,0,0,26.25,28.83,26.31
$GC,189,-0.68,-175.2,122,2465,3439,3344,3.9,-10.5,11,226,10.73,2.10,-7.25,0.000,19204,0.243,0.054,2543,3766,3966,3995,3938,0,0,0,0,0,0,25.56,24.44,25.77
$GC,408,-0.68,-175.2,2544,3766,3994,3942,94.3,-28.1,36,419,0.00,2.00,0.00,0.000,1030,0.000,0.023,2547,2424,3968,3995,3941,0,0,0,0,0,0,26.27,26.23,26.29
$GC,723,-0.68,-175.2,2546,2423,3995,3946,168.7,-19.4,67,732,0.00,2.15,0.00,0.000,260,0.000,0.043,2539,3766,3969,3994,3944,0,0,0,0,0,0,26.30,26.10,26.36
$GC,811,-0.68,-175.2,2539,3767,3995,3947,183.0,-15.9,75,825,0.00,1.95,0.00,0.000,1030,0.000,0.023,2540,2442,3967,3989,3946,0,0,0,0,0,0,26.18,26.14,26.21
$GC,1129,-0.68,-175.2,2540,2440,3994,3950,232.8,-14.4,93,1137,0.00,2.12,0.00,0.000,260,0.000,0.044,2531,3769,3971,3994,3949,0,0,0,0,0,0,26.31,26.10,26.36
$GC,1156,-0.68,-175.2,2530,3770,3996,3951,232.8,-14.4,93,1169,0.00,1.98,0.00,0.000,1030,0.000,0.023,2531,2445,3973,3994,3953,0,0,0,0,0,0,26.29,26.25,26.30
$GC,1461,-0.68,-175.2,2531,2443,3994,3951,278.6,-12.7,104,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2443,3972,3994,3951,0,0,0,0,0,0,26.28,26.35,26.34
$GC,1761,-0.68,-175.2,2530,2443,3995,3952,314.6,-11.5,114,1769,0.00,2.12,0.00,0.000,516,0.000,0.031,2531,1068,3972,3994,3950,0,0,0,0,0,0,26.31,26.15,26.36
$GC,1789,-0.68,-175.2,2531,1069,3996,3951,318.1,-11.8,115,1800,0.10,2.12,0.00,0.000,3078,0.118,0.031,2556,2450,3972,3994,3950,0,0,0,0,0,0,25.91,26.18,26.03
$GC,2120,-0.68,-175.2,2557,2451,3994,3949,353.9,-11.5,126,2128,0.00,2.12,0.00,0.000,260,0.000,0.047,2548,3776,3971,3994,3949,0,0,0,0,0,0,26.27,26.06,26.33
$GC,2153,-0.68,-175.2,2549,3777,3995,3948,357.9,-11.6,127,2161,0.00,1.98,0.00,0.000,1030,0.000,0.024,2549,2453,3971,3994,3948,0,0,0,0,0,0,26.29,26.26,26.31
$GC,2486,-0.68,-175.2,2548,2451,3996,3945,395.1,-11.1,138,2495,0.00,2.12,0.00,0.000,516,0.000,0.031,2549,1068,3968,3994,3943,0,0,0,0,0,0,26.28,26.13,26.34
$GC,2545,-0.68,-175.2,2547,1069,3996,3943,399.0,-11.1,139,2555,0.00,2.17,0.00,0.000,1030,0.000,0.031,2541,2454,3968,3994,3942,0,0,0,0,0,0,26.20,26.13,26.23
$GC,2850,-0.68,-175.2,2542,2454,3993,3938,433.5,-10.7,150,2861,0.00,2.12,0.00,0.000,260,0.000,0.047,2531,3767,3965,3993,3937,0,0,0,0,0,0,26.25,26.02,26.32
$GC,2880,-0.68,-175.2,2530,3768,3996,3938,436.9,-10.9,151,2888,0.00,2.00,0.00,0.000,1030,0.000,0.024,2531,2441,3965,3993,3937,0,0,0,0,0,0,26.24,26.20,26.26
$GC,3213,-0.68,-175.2,2530,2440,3995,3930,475.7,-11.4,162,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2440,3961,3993,3929,0,0,0,0,0,0,26.25,26.32,26.32
$GC,3513,-0.68,-175.2,2530,2441,3995,3924,508.7,-10.6,172,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2440,3958,3993,3924,0,0,0,0,0,0,26.25,26.32,26.32
$GC,3813,-0.68,-175.2,2531,2440,3995,3918,540.0,-10.5,182,3821,0.00,2.12,0.00,0.000,516,0.000,0.032,2531,1071,3955,3993,3917,0,0,0,0,0,0,26.24,26.06,26.29
$GC,3865,-0.68,-175.2,2531,1071,3993,3917,543.4,-10.4,183,3873,0.15,2.17,0.00,0.000,3078,0.146,0.031,2562,2455,3954,3993,3915,0,0,0,0,0,0,25.84,26.10,25.98
$GC,4171,-0.68,-175.2,2563,2456,3991,3911,566.2,-6.2,193,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2455,3951,3992,3911,0,0,0,0,0,0,26.23,26.29,26.29
$GC,4470,-0.68,-175.2,2563,2456,3990,3908,585.0,-6.4,203,4478,0.00,2.17,0.00,0.000,516,0.000,0.030,2563,1075,3948,3990,3907,0,0,0,0,0,0,26.22,26.04,26.29
$GC,4503,-0.68,-175.2,2564,1076,3989,3914,586.9,-6.5,204,4510,0.00,2.17,0.00,0.000,1030,0.000,0.031,2559,2450,3948,3990,3907,0,0,0,0,0,0,26.12,26.05,26.15
$GC,4825,-0.68,-175.2,2559,2451,3989,3905,608.7,-6.6,215,4835,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1071,3945,3987,3904,0,0,0,0,0,0,26.22,26.03,26.27
$GC,4850,-0.68,-175.2,2560,1073,3986,3899,608.7,-6.6,215,4861,0.00,2.17,0.00,0.000,1030,0.000,0.032,2550,2453,3945,3987,3904,0,0,0,0,0,0,26.10,26.03,26.14
$GC,5155,-0.68,-175.2,2554,2453,3985,3903,631.6,-7.0,226,5163,0.00,2.15,0.00,0.000,260,0.000,0.049,2544,3768,3943,3985,3902,0,0,0,0,0,0,26.20,25.91,26.26
$GC,5183,-0.68,-175.2,2543,3768,3985,3903,633.6,-7.1,227,5190,0.00,2.00,0.00,0.000,1030,0.000,0.026,2544,2447,3943,3984,3902,0,0,0,0,0,0,26.19,26.15,26.20
$GC,5516,-0.68,-175.2,2543,2449,3984,3901,661.0,-8.4,238,5525,0.00,2.15,0.00,0.000,516,0.000,0.031,2544,1077,3940,3982,3899,0,0,0,0,0,0,26.19,25.99,26.25
$GC,5559,-0.68,-175.2,2543,1079,3984,3903,663.6,-8.3,239,5567,0.00,2.17,0.00,0.000,1030,0.000,0.031,2542,2450,3940,3982,3899,0,0,0,0,0,0,26.10,26.02,26.13
$GC,5883,-0.68,-175.2,2542,2450,3980,3897,690.3,-8.0,250,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3938,3980,3896,0,0,0,0,0,0,26.17,26.25,26.24
$GC,6182,-0.68,-175.2,2541,2451,3980,3896,713.3,-7.5,260,6190,0.00,2.15,0.00,0.000,516,0.000,0.031,2541,1080,3937,3979,3895,0,0,0,0,0,0,26.18,25.98,26.25
$GC,6215,-0.68,-175.2,2541,1080,3980,3896,715.8,-7.5,261,6225,0.00,2.20,0.00,0.000,1030,0.000,0.034,2542,2450,3936,3978,3895,0,0,0,0,0,0,26.06,25.97,26.09
$GC,6545,-0.68,-175.2,2542,2451,3977,3894,741.8,-8.5,272,6554,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1078,3938,3983,3893,0,0,0,0,0,0,26.13,25.94,26.20
$GC,6569,-0.68,-175.2,2542,1079,3976,3894,741.8,-8.5,272,6577,0.00,2.20,0.00,0.000,1030,0.000,0.034,2541,2460,3934,3976,3893,0,0,0,0,0,0,26.04,25.96,26.08
$GC,6875,-0.68,-175.2,2540,2460,3977,3892,771.3,-9.1,282,6884,0.00,2.17,0.00,0.000,516,0.000,0.031,2540,1071,3933,3975,3891,0,0,0,0,0,0,26.17,25.98,26.22
$GC,6914,-0.68,-175.2,2542,1072,3974,3891,774.0,-9.1,283,6923,0.00,2.22,0.00,0.000,1030,0.000,0.034,2541,2457,3932,3975,3890,0,0,0,0,0,0,26.00,25.92,26.03
$GC,7233,-0.68,-175.2,2542,2458,3973,3890,805.3,-9.6,294,7240,0.00,2.17,0.00,0.000,516,0.000,0.031,2541,1072,3931,3974,3889,0,0,0,0,0,0,26.16,25.98,26.22
$GC,7270,-0.68,-175.2,2542,1071,3973,3890,808.4,-9.6,295,7279,0.00,2.22,0.00,0.000,1030,0.000,0.034,2542,2460,3931,3973,3889,0,0,0,0,0,0,26.03,25.94,26.06
$GC,7594,-0.68,-175.2,2542,2461,3972,3888,837.4,-8.7,306,7602,0.00,2.20,0.00,0.000,516,0.000,0.031,2542,1074,3929,3972,3887,0,0,0,0,0,0,26.15,25.96,26.21
$GC,7622,-0.68,-175.2,2540,1075,3973,3889,839.9,-8.8,307,7630,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2458,3929,3972,3887,0,0,0,0,0,0,26.03,25.94,26.06
$GC,7956,-0.68,-175.2,2540,2458,3979,3887,868.8,-8.6,318,7965,0.00,2.20,0.00,0.000,516,0.000,0.031,2541,1068,3928,3971,3886,0,0,0,0,0,0,26.17,25.96,26.22
$GC,7990,-0.68,-175.2,2542,1069,3970,3887,871.7,-8.4,319,7999,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2457,3928,3970,3886,0,0,0,0,0,0,26.01,25.92,26.04
$GC,8321,-0.68,-175.2,2540,2457,3971,3887,896.7,-7.0,330,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2456,3927,3969,3885,0,0,0,0,0,0,26.01,26.08,26.06
$GC,8620,-0.68,-175.2,2541,2457,3970,3884,915.1,-6.2,340,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2457,3925,3968,3883,0,0,0,0,0,0,26.15,26.24,26.22
$GC,8920,-0.68,-175.2,2540,2457,3970,3883,934.0,-6.4,350,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2457,3924,3967,3882,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9220,-0.68,-175.2,2540,2458,3968,3882,954.2,-7.0,360,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2457,3923,3966,3881,0,0,0,0,0,0,26.13,26.20,26.20
$GC,9520,-0.68,-175.2,2542,2457,3964,3881,976.4,-7.6,370,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2457,3921,3964,3878,0,0,0,0,0,0,26.13,26.20,26.19
$STATE,9698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9698,begin apogee
$GC,9703,-0.11,0.0,2541,2107,3966,3881,990.0,-7.6,376,9854,0.65,0.00,139.70,1.296,10246,0.116,0.000,2741,2101,3278,3317,3240,0,0,0,0,0,0,25.63,24.45,23.56
$STATE,9855,end apogee,CONTROL_FINISHED_OK
$STATE,9855,begin climb
$GC,9857,0.68,175.2,2741,2102,3317,3239,997.5,0.0,381,10037,0.73,2.45,160.73,1.284,10756,0.047,0.035,3023,723,2562,2608,2516,0,0,0,0,0,0,24.77,24.10,23.21
$GC,10236,0.68,175.2,3024,723,2600,2509,976.1,12.7,393,10250,0.00,2.20,0.00,0.000,1030,0.000,0.028,3023,2111,2554,2600,2508,0,0,0,0,0,0,25.91,25.87,25.94
$GC,10546,0.68,175.2,3022,2112,2600,2506,933.0,13.1,404,10556,0.00,2.25,0.00,0.000,260,0.000,0.044,3023,3511,2552,2599,2506,0,0,0,0,0,0,26.21,26.09,26.27
$GC,10591,0.68,175.2,3022,3512,2601,2507,928.7,13.2,405,10599,0.15,2.12,0.00,0.000,5126,0.187,0.024,3001,2117,2552,2598,2506,0,0,0,0,0,0,25.82,26.20,26.06
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$STATE,18973,end climb,SURFACE_DEPTH_REACHED
$STATE,18973,begin surface coast
$FINISH,0.7,1.021897
$STATE,18993,end surface coast,CONTROL_FINISHED_OK
$STATE,18993,begin surface
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$IRIDIUM_FIX,1201.30,14344.41,310108,200252
$TT8_MAMPS,0.053179,0.053179
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,19015.53 8176.19
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$10V_AH,10.14,32.029
$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,229976
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