version: 66.12
glider: 178
mission: 20
dive: 46
start: 3 9 115 11 9 47
data:
$ID,178
$MISSION,20
$DIVE,46
$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,55
$R_STBD_OVSHOOT,37
$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
$GPS1,090315,110236,1317.6154,14511.3389,30,0.8,30,1.6,0.5,186.4,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-71.9
$GPS2,090315,110935,1317.5596,14511.2725,13,1.3,17,1.6,0.3,328.7,7,9.6
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,135.0,130025,-17.8,-10.000,-20.71,2479
$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,-0.71,-175.2,123,2461,907,890,0.0,0.0,0,196,0.00,0.00,-95.88,0.000,16386,0.000,0.000,124,2461,3358,3409,3308,0,0,0,0,0,0,26.95,28.83,27.02
$GC,198,-0.71,-175.2,125,2462,3409,3311,4.2,-14.3,16,222,9.98,2.17,-4.97,0.000,18948,0.248,0.048,2548,1041,3660,3726,3594,0,0,0,0,0,0,26.50,25.77,26.75
$GC,284,-0.71,-175.2,2547,1042,3731,3595,39.8,-30.2,32,294,0.00,2.17,0.00,0.000,1030,0.000,0.038,2540,2450,3662,3730,3594,0,0,0,0,0,0,26.88,26.82,26.90
$GC,599,-0.71,-175.2,2539,2450,3732,3595,142.1,-24.5,66,607,0.00,2.05,0.00,0.000,260,0.000,0.048,2529,3783,3662,3730,3594,0,0,0,0,0,0,27.18,26.97,27.24
$GC,716,-0.71,-175.2,2530,3784,3733,3595,169.3,-20.4,77,724,0.00,1.95,0.00,0.000,1030,0.000,0.027,2532,2429,3664,3733,3595,0,0,0,0,0,0,27.10,27.06,27.12
$GC,1048,-0.71,-175.2,2531,2427,3741,3595,226.2,-17.3,100,1059,0.00,2.00,0.00,0.000,516,0.000,0.032,2534,1063,3667,3739,3595,0,0,0,0,0,0,27.30,27.10,27.36
$GC,1113,-0.71,-175.2,2533,1064,3741,3596,234.4,-15.5,102,1120,0.00,2.10,0.00,0.000,1030,0.000,0.035,2526,2455,3667,3740,3595,0,0,0,0,0,0,27.17,27.10,27.18
$GC,1440,-0.71,-175.2,2526,2456,3743,3596,279.5,-13.2,113,1451,0.00,2.03,0.00,0.000,516,0.000,0.033,2527,1075,3668,3741,3595,0,0,0,0,0,0,27.36,27.17,27.42
$GC,1525,-0.71,-175.2,2527,1077,3745,3595,287.7,-13.6,115,1536,0.12,2.10,0.00,0.000,3078,0.172,0.036,2546,2459,3668,3741,3595,0,0,0,0,0,0,27.04,27.17,27.17
$GC,1831,-0.71,-175.2,2547,2460,3741,3595,322.3,-9.6,126,1842,0.00,2.08,0.00,0.000,516,0.000,0.034,2548,1064,3668,3741,3595,0,0,0,0,0,0,27.40,27.22,27.46
$GC,1856,-0.71,-175.2,2546,1065,3743,3596,322.3,-9.6,126,1867,0.00,2.12,0.00,0.000,1030,0.000,0.037,2541,2458,3668,3741,3595,0,0,0,0,0,0,27.26,27.20,27.29
$GC,2162,-0.71,-175.2,2541,2459,3736,3596,353.8,-9.5,137,2170,0.00,2.03,0.00,0.000,260,0.000,0.052,2531,3775,3666,3737,3595,0,0,0,0,0,0,27.43,27.18,27.49
$GC,2189,-0.71,-175.2,2532,3775,3737,3595,356.3,-9.5,138,2197,0.00,1.90,0.00,0.000,1030,0.000,0.028,2531,2449,3665,3737,3594,0,0,0,0,0,0,27.32,27.29,27.33
$GC,2516,-0.71,-175.2,2532,2449,3732,3596,385.5,-8.5,149,2527,0.00,2.08,0.00,0.000,516,0.000,0.037,2531,1060,3663,3732,3595,0,0,0,0,0,0,27.44,27.09,27.51
$GC,2566,-0.71,-175.2,2531,1061,3730,3595,388.1,-8.6,150,2574,0.00,2.12,0.00,0.000,1030,0.000,0.037,2523,2455,3663,3731,3595,0,0,0,0,0,0,27.31,27.25,27.32
$GC,2878,-0.71,-175.2,2522,2456,3727,3593,424.9,-12.0,161,2887,0.12,2.10,0.00,0.000,2564,0.177,0.033,2561,1061,3659,3727,3592,0,0,0,0,0,0,27.15,27.27,27.23
$GC,2926,-0.71,-175.2,2560,1062,3727,3589,428.3,-11.7,162,2934,0.00,2.12,0.00,0.000,1030,0.000,0.037,2554,2454,3659,3727,3591,0,0,0,0,0,0,27.32,27.25,27.34
$GC,3239,-0.71,-175.2,2555,2455,3724,3590,455.4,-7.8,173,3248,0.00,2.05,0.00,0.000,260,0.000,0.054,2544,3772,3656,3723,3589,0,0,0,0,0,0,27.47,27.24,27.53
$GC,3283,-0.71,-175.2,2545,3772,3722,3589,458.3,-8.0,174,3290,0.00,1.92,0.00,0.000,1030,0.000,0.031,2545,2454,3656,3723,3589,0,0,0,0,0,0,27.36,27.32,27.38
$GC,3600,-0.71,-175.2,2546,2454,3719,3586,486.6,-8.5,185,3607,0.00,2.08,0.00,0.000,516,0.000,0.037,2545,1058,3652,3719,3586,0,0,0,0,0,0,27.48,27.29,27.54
$GC,3667,-0.71,-175.2,2545,1058,3718,3586,491.8,-8.9,187,3675,0.00,2.12,0.00,0.000,1030,0.000,0.038,2534,2450,3651,3718,3585,0,0,0,0,0,0,27.34,27.27,27.36
$GC,3985,-0.71,-175.2,2538,2451,3714,3582,521.8,-9.4,198,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2450,3647,3714,3581,0,0,0,0,0,0,27.48,27.56,27.55
$GC,4285,-0.71,-175.2,2536,2451,3714,3579,549.4,-9.4,208,4293,0.00,2.10,0.00,0.000,516,0.000,0.037,2537,1065,3644,3711,3578,0,0,0,0,0,0,27.49,27.29,27.55
$GC,4307,-0.71,-175.2,2537,1066,3712,3579,549.4,-9.4,208,4317,0.00,2.12,0.00,0.000,1030,0.000,0.039,2528,2452,3642,3706,3578,0,0,0,0,0,0,27.35,27.28,27.37
$GC,4612,-0.71,-175.2,2529,2453,3707,3577,579.9,-9.3,219,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2452,3642,3707,3577,0,0,0,0,0,0,27.50,27.57,27.56
$GC,4913,-0.71,-175.2,2527,2453,3706,3576,606.6,-9.0,229,4924,0.00,2.08,0.00,0.000,516,0.000,0.037,2530,1068,3639,3704,3575,0,0,0,0,0,0,27.50,27.30,27.56
$GC,4969,-0.71,-175.2,2527,1069,3705,3575,609.5,-8.9,230,4979,0.12,2.10,0.00,0.000,3078,0.174,0.039,2550,2452,3639,3704,3575,0,0,0,0,0,0,27.17,27.29,27.29
$GC,5274,-0.71,-175.2,2551,2453,3700,3574,635.8,-7.9,241,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2453,3637,3701,3573,0,0,0,0,0,0,27.51,27.58,27.56
$GC,5574,-0.71,-175.2,2549,2453,3701,3571,658.7,-7.7,251,5582,0.00,2.10,0.00,0.000,516,0.000,0.038,2550,1068,3634,3699,3569,0,0,0,0,0,0,27.51,27.30,27.57
$GC,5616,-0.71,-175.2,2548,1069,3700,3570,661.1,-8.0,252,5624,0.00,2.12,0.00,0.000,1030,0.000,0.039,2543,2449,3633,3698,3569,0,0,0,0,0,0,27.36,27.29,27.38
$GC,5928,-0.71,-175.2,2539,2453,3697,3568,689.3,-8.6,263,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2453,3632,3697,3567,0,0,0,0,0,0,27.51,27.58,27.57
$GC,6228,-0.71,-175.2,2544,2453,3694,3566,712.7,-7.4,273,6236,0.00,2.08,0.00,0.000,516,0.000,0.037,2543,1068,3630,3694,3566,0,0,0,0,0,0,27.51,27.31,27.58
$GC,6280,-0.71,-175.2,2544,1068,3693,3566,714.7,-7.4,274,6291,0.00,2.12,0.00,0.000,1030,0.000,0.040,2536,2453,3629,3694,3565,0,0,0,0,0,0,27.36,27.29,27.39
$GC,6586,-0.71,-175.2,2535,2454,3694,3564,737.1,-6.6,285,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2453,3628,3693,3564,0,0,0,0,0,0,27.51,27.58,27.57
$GC,6887,-0.71,-175.2,2536,2454,3690,3563,757.2,-7.0,295,6895,0.00,2.10,0.00,0.000,516,0.000,0.038,2535,1059,3629,3690,3569,0,0,0,0,0,0,27.51,27.31,27.55
$GC,6939,-0.71,-175.2,2536,1060,3690,3563,759.9,-7.3,296,6947,0.00,2.15,0.00,0.000,1030,0.000,0.040,2527,2455,3626,3690,3562,0,0,0,0,0,0,27.36,27.29,27.39
$GC,7245,-0.71,-175.2,2528,2456,3688,3563,787.5,-8.8,306,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2455,3625,3688,3562,0,0,0,0,0,0,27.51,27.58,27.57
$GC,7544,-0.71,-175.2,2528,2456,3686,3562,816.1,-9.9,316,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2456,3624,3687,3561,0,0,0,0,0,0,27.51,27.58,27.58
$GC,7844,-0.71,-175.2,2526,2456,3687,3562,849.5,-11.5,326,7852,0.00,2.12,0.00,0.000,516,0.000,0.038,2527,1061,3622,3685,3560,0,0,0,0,0,0,27.51,27.30,27.58
$GC,7872,-0.71,-175.2,2527,1061,3685,3561,853.0,-11.7,327,7881,0.12,2.15,0.00,0.000,3078,0.174,0.040,2549,2458,3622,3685,3560,0,0,0,0,0,0,27.16,27.29,27.30
$GC,8202,-0.71,-175.2,2548,2458,3687,3560,885.5,-9.4,338,8210,0.00,2.10,0.00,0.000,516,0.000,0.038,2549,1062,3622,3685,3559,0,0,0,0,0,0,27.51,27.29,27.58
$GC,8259,-0.71,-175.2,2548,1063,3686,3560,888.6,-9.3,339,8269,0.00,2.15,0.00,0.000,1030,0.000,0.040,2544,2460,3621,3684,3559,0,0,0,0,0,0,27.36,27.29,27.39
$GC,8565,-0.71,-175.2,2543,2461,3684,3558,918.4,-8.8,350,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2460,3620,3683,3557,0,0,0,0,0,0,27.51,27.58,27.57
$GC,8864,-0.71,-175.2,2543,2460,3684,3561,942.1,-7.8,360,8872,0.00,2.10,0.00,0.000,516,0.000,0.038,2544,1065,3619,3683,3556,0,0,0,0,0,0,27.51,27.30,27.58
$GC,8926,-0.71,-175.2,2543,1066,3684,3557,947.2,-8.3,362,8934,0.00,2.12,0.00,0.000,1030,0.000,0.040,2536,2453,3618,3682,3555,0,0,0,0,0,0,27.36,27.29,27.39
$GC,9254,-0.71,-175.2,2537,2453,3681,3555,975.3,-8.6,373,9264,0.00,2.10,0.00,0.000,516,0.000,0.037,2536,1068,3618,3681,3555,0,0,0,0,0,0,27.51,27.29,27.57
$GC,9288,-0.71,-175.2,2537,1068,3681,3556,978.0,-8.7,374,9297,0.00,2.12,0.00,0.000,1030,0.000,0.041,2533,2447,3617,3681,3554,0,0,0,0,0,0,27.35,27.29,27.38
$STATE,9436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9436,begin apogee
$GC,9440,-0.11,0.0,2534,2097,3680,3555,991.9,-9.0,379,9593,0.65,0.00,144.12,1.326,10246,0.131,0.000,2740,2096,2941,2987,2895,0,0,0,0,0,0,27.15,25.17,24.41
$STATE,9594,end apogee,CONTROL_FINISHED_OK
$STATE,9594,begin climb
$GC,9596,0.71,175.2,2741,2097,2985,2893,997.4,0.0,384,9764,0.75,2.38,154.02,1.297,10756,0.053,0.040,3033,716,2225,2274,2176,0,0,0,0,0,0,25.46,24.91,24.17
$GC,9813,0.71,175.2,3034,717,2269,2172,977.3,13.6,391,9821,0.00,2.22,0.00,0.000,1030,0.000,0.033,3032,2101,2220,2269,2171,0,0,0,0,0,0,25.76,25.70,25.78
$GC,10125,0.71,175.2,3032,2102,2266,2165,924.8,15.9,402,10133,0.00,2.28,0.00,0.000,260,0.000,0.050,3032,3506,2213,2263,2164,0,0,0,0,0,0,26.67,26.45,26.74
$GC,10158,0.71,175.2,3032,3506,2264,2165,920.2,16.0,403,10166,0.15,2.12,0.00,0.000,5126,0.187,0.028,3009,2109,2212,2262,2163,0,0,0,0,0,0,26.36,26.53,26.53
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$STATE,17046,end climb,SURFACE_DEPTH_REACHED
$STATE,17047,begin surface coast
$FINISH,-0.6,1.022164
$STATE,17076,end surface coast,CONTROL_FINISHED_OK
$STATE,17076,begin surface
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$IRIDIUM_FIX,1312.02,14511.01,030108,193600
$TT8_MAMPS,0.160286,0.160286
$HUMID,39.68
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$TCM_TEMP,24.80
$XPDR_PINGS,2
$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,17111.12 7739.46
$PA_BOOTCOUNT,262
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$PA_HOME,0.03/0.047/1.764/1.627
$PA_DISK_BANK,0
$24V_AH,24.17,6.961
$10V_AH,9.99,10.737
$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,24.720,0.000,0.000,0.000,0.000,0.000,141.530,0.000,0.000,0.000
$MEM,229980
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$CFSIZE,260034560,254091264
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$GPS,090315,155636,1315.083,14512.927,31,0.8,31,1.6,0.2,253.5,9,6.3