version: 66.12
glider: 178
mission: 20
dive: 41
start: 3 8 115 10 41 35
data:
$ID,178
$MISSION,20
$DIVE,41
$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,51
$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,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
$GPS1,080315,103534,1331.0221,14506.5762,42,1.0,46,1.5,0.7,210.2,7,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-71.8
$GPS2,080315,104123,1331.0431,14506.5039,11,1.4,27,1.5,0.5,293.9,7,8.3
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,135.6,156433,-17.8,-10.000,-20.71,2479
$D_GRID,1282
$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,-175.2,123,2464,900,888,0.0,0.0,0,193,0.00,0.00,-95.35,0.000,16386,0.000,0.000,123,2463,3315,3367,3264,0,0,0,0,0,0,26.93,28.83,27.00
$GC,196,-0.71,-175.2,125,2464,3367,3265,3.5,-11.5,16,216,10.15,2.12,-5.78,0.000,18948,0.251,0.046,2551,1041,3660,3725,3595,0,0,0,0,0,0,26.48,25.75,26.73
$GC,344,-0.71,-175.2,2552,1042,3731,3596,57.0,-28.2,42,347,0.00,2.17,0.00,0.000,1030,0.000,0.038,2543,2444,3663,3731,3595,0,0,0,0,0,0,26.89,26.83,26.92
$GC,654,-0.71,-175.2,2542,2444,3735,3596,143.9,-18.8,73,658,0.00,2.08,0.00,0.000,260,0.000,0.051,2533,3777,3663,3732,3595,0,0,0,0,0,0,27.18,26.95,27.24
$GC,693,-0.71,-175.2,2534,3778,3733,3596,150.5,-19.0,76,700,0.00,2.00,0.00,0.000,1030,0.000,0.025,2534,2423,3664,3734,3595,0,0,0,0,0,0,27.05,27.06,27.07
$GC,1019,-0.71,-175.2,2535,2421,3739,3596,211.6,-17.0,105,1022,0.00,2.05,0.00,0.000,516,0.000,0.031,2538,1057,3667,3740,3595,0,0,0,0,0,0,27.28,27.09,27.34
$GC,1088,-0.71,-175.2,2537,1057,3742,3596,221.9,-17.3,107,1093,0.00,2.15,0.00,0.000,1030,0.000,0.035,2530,2456,3668,3741,3595,0,0,0,0,0,0,27.13,27.09,27.15
$GC,1409,-0.71,-175.2,2529,2457,3745,3597,266.2,-13.4,118,1413,0.00,2.10,0.00,0.000,516,0.000,0.032,2530,1069,3670,3744,3596,0,0,0,0,0,0,27.34,27.15,27.40
$GC,1498,-0.71,-175.2,2530,1069,3743,3597,277.1,-12.2,121,1503,0.00,2.12,0.00,0.000,1030,0.000,0.037,2523,2450,3670,3744,3596,0,0,0,0,0,0,27.19,27.15,27.21
$GC,1829,-0.71,-175.2,2523,2451,3750,3597,320.4,-14.4,132,1833,0.00,2.08,0.00,0.000,516,0.000,0.034,2522,1063,3669,3743,3596,0,0,0,0,0,0,27.39,27.20,27.45
$GC,1889,-0.71,-175.2,2523,1064,3743,3597,329.0,-14.7,134,1893,0.10,2.15,0.00,0.000,3078,0.145,0.037,2549,2452,3669,3743,3596,0,0,0,0,0,0,27.07,27.19,27.20
$GC,2219,-0.71,-175.2,2554,2449,3739,3597,361.1,-7.4,145,2223,0.00,2.08,0.00,0.000,260,0.000,0.053,2545,3773,3668,3740,3596,0,0,0,0,0,0,27.42,27.19,27.48
$GC,2289,-0.71,-175.2,2545,3773,3740,3597,365.8,-7.2,147,2292,0.00,1.95,0.00,0.000,1030,0.000,0.030,2546,2458,3666,3737,3596,0,0,0,0,0,0,27.29,27.27,27.31
$GC,2608,-0.71,-175.2,2546,2456,3734,3597,400.0,-11.1,158,2613,0.00,2.10,0.00,0.000,516,0.000,0.036,2546,1063,3665,3734,3596,0,0,0,0,0,0,27.44,27.24,27.51
$GC,2679,-0.71,-175.2,2546,1064,3733,3597,406.5,-10.9,160,2682,0.00,2.15,0.00,0.000,1030,0.000,0.039,2538,2462,3665,3735,3596,0,0,0,0,0,0,27.30,27.24,27.32
$GC,2999,-0.71,-175.2,2537,2463,3732,3592,440.2,-10.0,171,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2463,3662,3730,3594,0,0,0,0,0,0,27.46,27.53,27.52
$GC,3299,-0.71,-175.2,2539,2463,3727,3591,468.7,-9.3,181,3302,0.00,2.12,0.00,0.000,516,0.000,0.037,2539,1057,3659,3727,3591,0,0,0,0,0,0,27.46,27.28,27.53
$GC,3323,-0.71,-175.2,2538,1058,3726,3592,468.7,-9.3,181,3331,0.00,2.17,0.00,0.000,1030,0.000,0.039,2528,2455,3658,3726,3591,0,0,0,0,0,0,27.30,27.29,27.33
$GC,3629,-0.71,-175.2,2527,2456,3725,3597,501.2,-9.2,192,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2456,3656,3724,3589,0,0,0,0,0,0,27.48,27.55,27.54
$GC,3929,-0.71,-175.2,2529,2456,3719,3586,533.0,-10.7,202,3935,0.00,2.12,0.00,0.000,516,0.000,0.037,2528,1053,3653,3720,3587,0,0,0,0,0,0,27.48,27.29,27.55
$GC,3954,-0.71,-175.2,2529,1053,3719,3587,533.0,-10.7,202,3961,0.10,2.17,0.00,0.000,3078,0.138,0.040,2550,2455,3653,3719,3587,0,0,0,0,0,0,27.17,27.28,27.25
$GC,4259,-0.71,-175.2,2550,2455,3718,3584,561.3,-7.9,213,4264,0.00,2.10,0.00,0.000,260,0.000,0.055,2543,3778,3650,3716,3584,0,0,0,0,0,0,27.49,27.27,27.55
$GC,4294,-0.71,-175.2,2542,3780,3716,3585,563.8,-7.8,214,4298,0.00,1.98,0.00,0.000,1030,0.000,0.031,2543,2449,3649,3715,3583,0,0,0,0,0,0,27.36,27.34,27.37
$GC,4619,-0.71,-175.2,2544,2450,3713,3580,589.5,-7.7,225,4623,0.00,2.05,0.00,0.000,516,0.000,0.038,2543,1066,3646,3712,3580,0,0,0,0,0,0,27.52,27.29,27.56
$GC,4679,-0.71,-175.2,2543,1067,3710,3580,594.3,-7.9,227,4683,0.00,2.15,0.00,0.000,1030,0.000,0.040,2537,2448,3645,3711,3579,0,0,0,0,0,0,27.33,27.28,27.35
$GC,5009,-0.71,-175.2,2537,2448,3708,3579,622.5,-8.9,238,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2448,3643,3708,3578,0,0,0,0,0,0,27.50,27.57,27.56
$GC,5309,-0.71,-175.2,2537,2448,3706,3576,650.1,-9.5,248,5314,0.00,2.12,0.00,0.000,516,0.000,0.039,2536,1063,3641,3706,3576,0,0,0,0,0,0,27.49,27.30,27.57
$GC,5339,-0.71,-175.2,2538,1064,3705,3577,652.8,-9.3,249,5343,0.00,2.15,0.00,0.000,1030,0.000,0.041,2528,2441,3640,3705,3576,0,0,0,0,0,0,27.36,27.29,27.39
$GC,5669,-0.71,-175.2,2527,2442,3705,3575,686.9,-10.7,260,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2441,3639,3703,3575,0,0,0,0,0,0,27.50,27.58,27.57
$GC,5969,-0.71,-175.2,2528,2441,3700,3573,719.7,-10.9,270,5974,0.00,2.10,0.00,0.000,516,0.000,0.038,2528,1071,3636,3700,3572,0,0,0,0,0,0,27.51,27.31,27.57
$GC,5999,-0.71,-175.2,2526,1072,3701,3572,723.1,-11.0,271,6003,0.08,2.15,0.00,0.000,3078,0.147,0.041,2547,2448,3636,3700,3572,0,0,0,0,0,0,27.17,27.30,27.26
$GC,6330,-0.71,-175.2,2543,2449,3699,3570,755.5,-9.4,282,6333,0.00,2.10,0.00,0.000,516,0.000,0.040,2544,1066,3633,3698,3569,0,0,0,0,0,0,27.51,27.30,27.57
$GC,6384,-0.71,-175.2,2543,1067,3700,3570,760.7,-9.5,284,6388,0.00,2.15,0.00,0.000,1030,0.000,0.041,2538,2458,3633,3698,3569,0,0,0,0,0,0,27.36,27.29,27.39
$GC,6714,-0.71,-175.2,2537,2459,3697,3569,790.3,-8.8,295,6718,0.00,2.10,0.00,0.000,516,0.000,0.038,2537,1059,3632,3696,3568,0,0,0,0,0,0,27.51,27.30,27.57
$GC,6739,-0.71,-175.2,2539,1061,3695,3569,790.3,-8.8,295,6746,0.00,2.17,0.00,0.000,1030,0.000,0.041,2531,2452,3632,3696,3568,0,0,0,0,0,0,27.34,27.29,27.36
$GC,7044,-0.71,-175.2,2531,2452,3693,3567,823.6,-10.6,306,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2455,3632,3698,3566,0,0,0,0,0,0,27.51,27.58,27.57
$GC,7344,-0.71,-175.2,2530,2453,3695,3565,859.2,-12.1,316,7348,0.00,2.10,0.00,0.000,516,0.000,0.039,2531,1066,3628,3692,3564,0,0,0,0,0,0,27.51,27.30,27.58
$GC,7369,-0.71,-175.2,2530,1066,3694,3566,859.2,-12.1,316,7377,0.00,2.17,0.00,0.000,1030,0.000,0.041,2522,2459,3629,3693,3565,0,0,0,0,0,0,27.34,27.29,27.36
$GC,7674,-0.71,-175.2,2522,2460,3692,3564,900.5,-12.3,327,7678,0.00,2.12,0.00,0.000,516,0.000,0.038,2522,1072,3627,3691,3563,0,0,0,0,0,0,27.51,27.31,27.57
$GC,7704,-0.71,-175.2,2521,1073,3692,3564,904.1,-12.2,328,7709,0.15,2.12,0.00,0.000,3078,0.169,0.041,2552,2452,3626,3690,3563,0,0,0,0,0,0,27.16,27.29,27.31
$GC,8029,-0.71,-175.2,2551,2453,3691,3563,937.1,-9.8,339,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2453,3626,3690,3562,0,0,0,0,0,0,27.51,27.58,27.57
$GC,8330,-0.71,-175.2,2552,2453,3688,3563,964.6,-8.8,349,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2452,3625,3688,3562,0,0,0,0,0,0,27.51,27.58,27.60
$GC,8629,-0.71,-175.2,2551,2453,3688,3562,989.1,-8.1,359,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2453,3624,3687,3561,0,0,0,0,0,0,27.51,27.58,27.58
$STATE,8657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8657,begin apogee
$GC,8662,-0.11,0.0,2553,2101,3688,3562,991.5,-8.2,360,8811,0.57,0.00,145.38,1.309,10246,0.129,0.000,2739,2100,2940,2987,2894,0,0,0,0,0,0,27.17,25.17,24.41
$STATE,8812,end apogee,CONTROL_FINISHED_OK
$STATE,8812,begin climb
$GC,8814,0.71,175.2,2738,2101,2989,2893,996.4,0.0,365,8973,0.75,0.00,153.68,1.290,10758,0.054,0.000,3017,2100,2228,2278,2178,0,0,0,0,0,0,25.40,24.90,24.20
$GC,9259,0.71,175.2,3018,2100,2267,2166,936.8,16.5,380,9263,0.00,2.30,0.00,0.000,260,0.000,0.051,3017,3508,2214,2268,2161,0,0,0,0,0,0,26.57,26.35,26.63
$GC,9299,0.71,175.2,3016,3509,2268,2165,931.4,16.7,381,9303,0.00,2.17,0.00,0.000,1030,0.000,0.030,3027,2119,2215,2265,2165,0,0,0,0,0,0,26.49,26.46,26.52
$GC,9619,0.71,175.2,3028,2119,2263,2163,870.4,18.6,392,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2118,2214,2264,2164,0,0,0,0,0,0,26.92,27.00,26.98
$GC,9919,0.71,175.2,3026,2119,2263,2163,816.0,17.7,402,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2119,2212,2262,2163,0,0,0,0,0,0,27.06,27.12,27.13
$GC,10219,0.71,175.2,3028,2120,2268,2163,765.7,16.4,412,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2119,2211,2261,2162,0,0,0,0,0,0,27.15,27.22,27.22
$GC,10519,0.71,175.2,3034,2119,2259,2162,718.2,15.9,422,10523,0.00,2.17,0.00,0.000,516,0.000,0.044,3038,701,2211,2260,2162,0,0,0,0,0,0,27.22,27.01,27.29
$GC,10574,0.71,175.2,3039,701,2259,2162,713.1,16.1,423,10581,0.00,2.17,0.00,0.000,1030,0.000,0.034,3038,2100,2211,2261,2161,0,0,0,0,0,0,27.06,27.03,27.10
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$STATE,16151,end climb,SURFACE_DEPTH_REACHED
$STATE,16151,begin surface coast
$FINISH,-0.3,1.022180
$STATE,16167,end surface coast,CONTROL_FINISHED_OK
$STATE,16167,begin surface
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$IRIDIUM_FIX,1327.53,14510.29,020108,192048
$TT8_MAMPS,0.159537,0.159537
$HUMID,39.68
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$TCM_TEMP,24.90
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$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
$PA_UPTIME,16193.21 6334.21
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$PA_HOME,0.03/0.046/1.764/1.628
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$24V_AH,24.20,6.247
$10V_AH,9.96,6.921
$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,24.720,0.000,0.000,0.000,0.000,0.000,144.526,0.000,0.000,0.000
$MEM,229980
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$CAP_FILE_SIZE,139515,0
$CFSIZE,260034560,254496768
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