version: 66.12
glider: 178
mission: 20
dive: 40
start: 3 8 115 5 58 47
data:
$ID,178
$MISSION,20
$DIVE,40
$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,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$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,54
$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,2941
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,080315,055236,1333.3945,14506.5000,32,0.8,32,1.5,0.9,206.8,10,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-70.7
$GPS2,080315,055835,1333.3147,14506.4365,12,1.3,16,1.5,0.6,224.2,7,8.5
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,145.7,160488,-17.8,-10.000,-20.71,2479
$D_GRID,1246
$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,-0.71,-175.2,125,2468,902,892,0.0,0.0,0,189,0.00,0.00,-91.62,0.000,16386,0.000,0.000,124,2468,3186,3230,3142,0,0,0,0,0,0,26.96,28.83,27.03
$GC,192,-0.71,-175.2,125,2468,3229,3143,3.1,-10.0,16,214,10.10,2.12,-8.32,0.000,18692,0.249,0.068,2537,3780,3658,3727,3589,0,0,0,0,0,0,26.50,25.79,26.76
$GC,442,-0.71,-175.2,2537,3781,3731,3592,95.0,-31.9,51,448,0.00,1.95,0.00,0.000,1030,0.000,0.026,2539,2426,3661,3731,3591,0,0,0,0,0,0,27.00,26.96,27.01
$GC,747,-0.71,-175.2,2538,2424,3737,3592,162.2,-19.3,81,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2423,3664,3737,3591,0,0,0,0,0,0,27.23,27.29,27.29
$GC,1067,-0.71,-175.2,2539,2424,3739,3592,218.6,-14.5,105,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2424,3665,3740,3591,0,0,0,0,0,0,27.31,27.36,27.36
$GC,1367,-0.71,-175.2,2538,2424,3744,3594,262.7,-15.3,115,1371,0.00,2.08,0.00,0.000,260,0.000,0.049,2531,3776,3667,3742,3593,0,0,0,0,0,0,27.36,27.13,27.42
$GC,1402,-0.71,-175.2,2531,3777,3742,3594,266.8,-14.6,116,1406,0.00,1.95,0.00,0.000,1030,0.000,0.026,2531,2445,3667,3742,3593,0,0,0,0,0,0,27.22,27.22,27.27
$GC,1728,-0.71,-175.2,2531,2443,3742,3594,312.0,-13.9,127,1734,0.00,2.05,0.00,0.000,516,0.000,0.033,2532,1058,3667,3742,3593,0,0,0,0,0,0,27.39,27.21,27.46
$GC,1793,-0.71,-175.2,2533,1058,3742,3594,319.6,-13.0,129,1797,0.00,2.12,0.00,0.000,1030,0.000,0.035,2524,2439,3668,3743,3593,0,0,0,0,0,0,27.23,27.20,27.27
$GC,2119,-0.71,-175.2,2524,2440,3742,3594,355.0,-9.2,140,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2440,3667,3741,3593,0,0,0,0,0,0,27.43,27.50,27.49
$GC,2419,-0.71,-175.2,2525,2440,3736,3593,388.5,-11.3,150,2422,0.00,2.10,0.00,0.000,260,0.000,0.053,2512,3773,3664,3736,3593,0,0,0,0,0,0,27.44,27.22,27.51
$GC,2488,-0.71,-175.2,2515,3774,3735,3594,394.9,-11.0,152,2494,0.10,1.95,0.00,0.000,3078,0.143,0.028,2546,2454,3664,3735,3593,0,0,0,0,0,0,27.13,27.30,27.21
$GC,2809,-0.71,-175.2,2547,2455,3729,3593,421.1,-7.4,163,2812,0.00,2.08,0.00,0.000,516,0.000,0.036,2548,1068,3660,3729,3592,0,0,0,0,0,0,27.46,27.27,27.53
$GC,2844,-0.71,-175.2,2548,1068,3729,3593,423.6,-7.7,164,2847,0.00,2.12,0.00,0.000,1030,0.000,0.038,2541,2456,3660,3729,3592,0,0,0,0,0,0,27.32,27.26,27.34
$GC,3169,-0.71,-175.2,2542,2457,3726,3590,455.7,-10.2,175,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2456,3657,3726,3589,0,0,0,0,0,0,27.47,27.55,27.54
$GC,3469,-0.71,-175.2,2540,2457,3725,3587,485.1,-9.4,185,3473,0.00,2.10,0.00,0.000,516,0.000,0.036,2541,1065,3654,3723,3586,0,0,0,0,0,0,27.48,27.29,27.55
$GC,3519,-0.71,-175.2,2540,1065,3724,3587,488.0,-9.3,186,3522,0.00,2.15,0.00,0.000,1030,0.000,0.037,2531,2453,3654,3722,3586,0,0,0,0,0,0,27.32,27.29,27.34
$GC,3829,-0.71,-175.2,2532,2453,3719,3583,522.1,-10.5,197,3832,0.00,2.08,0.00,0.000,260,0.000,0.054,2521,3769,3650,3719,3582,0,0,0,0,0,0,27.48,27.26,27.55
$GC,3934,-0.71,-175.2,2521,3769,3717,3582,531.7,-10.6,200,3937,0.00,1.95,0.00,0.000,1030,0.000,0.029,2520,2453,3649,3716,3582,0,0,0,0,0,0,27.37,27.36,27.42
$GC,4249,-0.71,-175.2,2521,2453,3714,3579,564.4,-10.0,211,4253,0.12,2.08,0.00,0.000,2564,0.175,0.036,2551,1056,3645,3713,3577,0,0,0,0,0,0,27.18,27.30,27.31
$GC,4279,-0.71,-175.2,2550,1056,3715,3579,567.0,-9.7,212,4283,0.00,2.15,0.00,0.000,1030,0.000,0.038,2540,2460,3645,3713,3578,0,0,0,0,0,0,27.36,27.29,27.38
$GC,4604,-0.71,-175.2,2544,2461,3710,3577,598.2,-10.2,223,4609,0.00,2.12,0.00,0.000,516,0.000,0.035,2544,1062,3643,3710,3576,0,0,0,0,0,0,27.50,27.30,27.56
$GC,4634,-0.71,-175.2,2544,1062,3709,3577,601.3,-10.4,224,4638,0.00,2.15,0.00,0.000,1030,0.000,0.038,2536,2453,3643,3710,3577,0,0,0,0,0,0,27.33,27.30,27.36
$GC,4964,-0.71,-175.2,2535,2453,3709,3575,638.1,-11.1,235,4967,0.00,2.10,0.00,0.000,516,0.000,0.035,2536,1061,3640,3706,3575,0,0,0,0,0,0,27.50,27.30,27.57
$GC,4994,-0.71,-175.2,2535,1062,3708,3576,641.5,-11.0,236,4999,0.00,2.15,0.00,0.000,1030,0.000,0.038,2526,2451,3640,3706,3575,0,0,0,0,0,0,27.34,27.29,27.36
$GC,5324,-0.71,-175.2,2527,2452,3703,3573,678.1,-11.0,247,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2451,3638,3704,3573,0,0,0,0,0,0,27.50,27.58,27.57
$GC,5624,-0.71,-175.2,2527,2452,3701,3571,712.3,-11.5,257,5629,0.00,2.08,0.00,0.000,516,0.000,0.036,2526,1061,3635,3701,3569,0,0,0,0,0,0,27.51,27.31,27.57
$GC,5688,-0.71,-175.2,2525,1061,3702,3570,718.7,-11.5,259,5693,0.08,2.15,0.00,0.000,3078,0.147,0.038,2541,2446,3635,3700,3570,0,0,0,0,0,0,27.17,27.29,27.26
$GC,6009,-0.71,-175.2,2542,2447,3698,3569,751.7,-9.7,270,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2446,3633,3698,3568,0,0,0,0,0,0,27.51,27.58,27.57
$GC,6309,-0.71,-175.2,2543,2447,3696,3566,778.4,-8.6,280,6312,0.00,2.08,0.00,0.000,516,0.000,0.037,2542,1060,3631,3697,3566,0,0,0,0,0,0,27.51,27.32,27.58
$GC,6394,-0.71,-175.2,2543,1061,3695,3567,783.6,-8.7,282,6401,0.00,2.15,0.00,0.000,1030,0.000,0.039,2541,2448,3631,3696,3566,0,0,0,0,0,0,27.34,27.30,27.36
$GC,6700,-0.71,-175.2,2541,2448,3694,3565,811.6,-8.4,293,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2448,3629,3694,3564,0,0,0,0,0,0,27.51,27.58,27.58
$GC,6999,-0.71,-175.2,2539,2450,3694,3563,836.9,-8.2,303,7002,0.00,2.08,0.00,0.000,516,0.000,0.037,2540,1064,3627,3693,3562,0,0,0,0,0,0,27.51,27.31,27.58
$GC,7024,-0.71,-175.2,2541,1064,3693,3562,836.9,-8.2,303,7031,0.00,2.15,0.00,0.000,1030,0.000,0.040,2532,2448,3627,3693,3562,0,0,0,0,0,0,27.34,27.30,27.37
$GC,7329,-0.71,-175.2,2531,2450,3692,3563,867.6,-9.2,314,7333,0.00,2.10,0.00,0.000,516,0.000,0.037,2532,1065,3626,3690,3562,0,0,0,0,0,0,27.51,27.31,27.58
$GC,7369,-0.71,-175.2,2533,1065,3688,3562,870.0,-9.3,315,7373,0.00,2.12,0.00,0.000,1030,0.000,0.040,2524,2453,3625,3689,3562,0,0,0,0,0,0,27.36,27.30,27.39
$GC,7684,-0.71,-175.2,2522,2454,3689,3563,902.6,-9.6,326,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2453,3624,3687,3562,0,0,0,0,0,0,27.51,27.59,27.58
$GC,7984,-0.71,-175.2,2523,2454,3688,3562,930.1,-9.1,336,7988,0.00,2.10,0.00,0.000,516,0.000,0.037,2524,1051,3622,3686,3558,0,0,0,0,0,0,27.51,27.30,27.58
$GC,8054,-0.71,-175.2,2523,1051,3687,3562,935.6,-9.2,338,8058,0.10,2.17,0.00,0.000,3078,0.150,0.040,2547,2448,3623,3686,3560,0,0,0,0,0,0,27.16,27.29,27.26
$GC,8374,-0.71,-175.2,2548,2449,3685,3559,959.7,-7.1,349,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2449,3623,3685,3561,0,0,0,0,0,0,27.51,27.58,27.57
$GC,8674,-0.71,-175.2,2548,2449,3684,3559,980.5,-6.9,359,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2449,3620,3683,3558,0,0,0,0,0,0,27.51,27.59,27.58
$STATE,8852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8852,begin apogee
$GC,8857,-0.11,0.0,2547,2094,3685,3559,991.6,-6.0,365,9007,0.60,0.00,144.35,1.323,10246,0.129,0.000,2741,2093,2942,2989,2895,0,0,0,0,0,0,27.17,25.15,24.39
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9008,begin climb
$GC,9010,0.71,175.2,2743,2094,2987,2894,993.5,0.0,370,9169,0.73,0.00,153.80,1.299,10758,0.050,0.000,3018,2093,2226,2277,2176,0,0,0,0,0,0,25.45,24.89,24.18
$GC,9479,0.71,175.2,3020,2094,2266,2164,924.3,17.2,386,9484,0.00,2.30,0.00,0.000,260,0.000,0.049,3019,3506,2215,2268,2163,0,0,0,0,0,0,26.59,26.39,26.67
$GC,9528,0.71,175.2,3018,3507,2267,2164,919.5,17.7,387,9537,0.00,2.17,0.00,0.000,1030,0.000,0.028,3029,2114,2214,2265,2163,0,0,0,0,0,0,26.53,26.51,26.55
$GC,9835,0.71,175.2,3028,2116,2264,2162,859.0,17.6,398,9838,0.00,2.20,0.00,0.000,516,0.000,0.041,3040,693,2212,2263,2161,0,0,0,0,0,0,26.93,26.73,26.99
$GC,9889,0.71,175.2,3039,695,2264,2163,849.5,17.5,400,9893,0.10,2.20,0.00,0.000,5126,0.161,0.032,3011,2100,2211,2262,2161,0,0,0,0,0,0,26.63,26.77,26.72
$GC,10219,0.71,175.2,3012,2101,2261,2161,799.5,14.9,411,10222,0.00,2.22,0.00,0.000,260,0.000,0.050,3010,3495,2211,2262,2160,0,0,0,0,0,0,27.09,26.86,27.16
$GC,10274,0.71,175.2,3011,3496,2260,2160,794.7,15.0,412,10281,0.00,2.15,0.00,0.000,1030,0.000,0.028,3019,2096,2210,2261,2160,0,0,0,0,0,0,26.96,26.94,26.98
$GC,10579,0.71,175.2,3020,2097,2260,2160,743.2,15.6,423,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2097,2209,2260,2159,0,0,0,0,0,0,27.18,27.26,27.24
$GC,10879,0.71,175.2,3019,2097,2258,2160,698.7,14.4,433,10882,0.00,2.17,0.00,0.000,516,0.000,0.043,3030,678,2208,2258,2159,0,0,0,0,0,0,27.23,27.05,27.30
$GC,10939,0.71,175.2,3030,678,2257,2159,690.0,14.5,435,10942,0.00,2.20,0.00,0.000,1030,0.000,0.033,3030,2094,2208,2257,2159,0,0,0,0,0,0,27.09,27.05,27.11
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$STATE,16448,end climb,SURFACE_DEPTH_REACHED
$STATE,16448,begin surface coast
$FINISH,-0.7,1.010345
$STATE,16468,end surface coast,CONTROL_FINISHED_OK
$STATE,16468,begin surface
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$IRIDIUM_FIX,1327.53,14504.12,020108,144015
$TT8_MAMPS,0.161035,0.161035
$HUMID,39.80
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.80
$XPDR_PINGS,1
$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,16495.45 6430.64
$PA_BOOTCOUNT,256
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$PA_HOME,0.03/0.046/1.764/1.628
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$10V_AH,9.91,6.199
$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
$DEVICE_SECS,20.225,133.425,453.625,54.350,0.000,0.000,0.000,248.950,0.250,0.000,18.709,0.000,13426.583,610.816,2673.651,175.217,0.000,1842.536,0.000,1684.185,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,517.898,0.000,0.000,0.000,0.000,0.000,16947.609,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,144.622,0.000,0.000,0.000
$MEM,229980
$DATA_FILE_SIZE,33479,762
$CAP_FILE_SIZE,143357,0
$CFSIZE,260034560,254570496
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$GPS,080315,103534,1331.022,14506.576,42,1.0,46,1.5,0.7,210.2,7,8.0