version: 66.12
glider: 178
mission: 20
dive: 54
start: 3 11 115 2 13 13
data:
$ID,178
$MISSION,20
$DIVE,54
$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,44
$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
$GPS1,110315,020634,1256.1549,14519.0498,40,1.4,75,1.7,0.8,62.7,9,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-72.8
$GPS2,110315,021301,1256.1339,14518.9668,11,1.3,11,1.7,0.5,229.8,8,7.2
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,154.8,88020,-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,-175.2,124,2467,903,893,0.0,0.0,0,195,0.00,0.00,-93.10,0.000,16386,0.000,0.000,122,2466,3266,3312,3221,0,0,0,0,0,0,26.96,28.83,27.03
$GC,197,-0.71,-175.2,124,2467,3313,3222,3.7,-9.0,13,222,10.00,2.15,-6.57,0.000,18948,0.247,0.044,2551,1048,3658,3726,3591,0,0,0,0,0,0,26.48,25.72,26.75
$GC,350,-0.71,-175.2,2551,1048,3730,3596,57.9,-29.3,39,364,0.00,2.15,0.00,0.000,1030,0.000,0.036,2543,2447,3661,3730,3592,0,0,0,0,0,0,26.93,26.86,26.95
$GC,658,-0.71,-175.2,2542,2448,3733,3593,149.3,-21.0,70,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2447,3662,3733,3592,0,0,0,0,0,0,27.21,27.28,27.27
$GC,962,-0.71,-175.2,2542,2448,3738,3593,200.9,-13.3,100,970,0.00,2.08,0.00,0.000,516,0.000,0.031,2547,1044,3663,3736,3591,0,0,0,0,0,0,27.29,27.10,27.35
$GC,1010,-0.71,-175.2,2545,1045,3740,3593,206.1,-14.2,101,1018,0.00,2.15,0.00,0.000,1030,0.000,0.034,2539,2461,3666,3739,3593,0,0,0,0,0,0,27.15,27.08,27.17
$GC,1323,-0.71,-175.2,2538,2461,3741,3594,253.5,-11.3,112,1331,0.00,2.00,0.00,0.000,260,0.000,0.049,2530,3772,3667,3741,3593,0,0,0,0,0,0,27.35,27.12,27.41
$GC,1380,-0.71,-175.2,2530,3773,3741,3594,259.1,-9.6,114,1389,0.00,1.92,0.00,0.000,1030,0.000,0.026,2529,2429,3667,3741,3593,0,0,0,0,0,0,27.24,27.20,27.26
$GC,1713,-0.71,-175.2,2530,2426,3742,3594,300.5,-13.1,125,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2427,3667,3742,3593,0,0,0,0,0,0,27.39,27.47,27.46
$GC,2015,-0.71,-175.2,2529,2426,3748,3594,341.5,-12.9,135,2024,0.00,2.00,0.00,0.000,516,0.000,0.034,2530,1068,3666,3740,3593,0,0,0,0,0,0,27.42,27.23,27.48
$GC,2044,-0.71,-175.2,2529,1067,3741,3594,345.2,-12.6,136,2052,0.00,2.08,0.00,0.000,1030,0.000,0.036,2523,2452,3666,3740,3593,0,0,0,0,0,0,27.28,27.22,27.30
$GC,2376,-0.71,-175.2,2523,2453,3735,3594,386.8,-12.7,147,2385,0.00,2.05,0.00,0.000,516,0.000,0.034,2523,1071,3663,3734,3593,0,0,0,0,0,0,27.44,27.24,27.51
$GC,2449,-0.71,-175.2,2522,1071,3735,3594,395.0,-12.7,149,2457,0.15,2.10,0.00,0.000,3078,0.163,0.037,2551,2457,3663,3733,3593,0,0,0,0,0,0,27.10,27.24,27.24
$GC,2767,-0.71,-175.2,2552,2457,3728,3592,429.2,-9.7,160,2775,0.00,2.08,0.00,0.000,516,0.000,0.034,2554,1063,3661,3729,3594,0,0,0,0,0,0,27.46,27.26,27.53
$GC,2819,-0.71,-175.2,2554,1064,3737,3591,431.8,-9.7,161,2829,0.00,2.10,0.00,0.000,1030,0.000,0.037,2548,2455,3659,3727,3591,0,0,0,0,0,0,27.32,27.25,27.34
$GC,3125,-0.71,-175.2,2547,2455,3726,3590,458.2,-7.4,172,3133,0.00,2.05,0.00,0.000,260,0.000,0.054,2538,3771,3657,3725,3589,0,0,0,0,0,0,27.47,27.23,27.53
$GC,3202,-0.71,-175.2,2539,3772,3722,3590,463.1,-7.6,174,3209,0.00,1.92,0.00,0.000,1030,0.000,0.028,2538,2454,3656,3723,3589,0,0,0,0,0,0,27.36,27.32,27.37
$GC,3514,-0.71,-175.2,2537,2452,3722,3586,494.0,-10.2,185,3526,0.00,2.08,0.00,0.000,516,0.000,0.036,2538,1055,3653,3722,3585,0,0,0,0,0,0,27.48,27.29,27.54
$GC,3580,-0.71,-175.2,2539,1056,3719,3585,500.3,-10.3,187,3588,0.00,2.12,0.00,0.000,1030,0.000,0.037,2528,2454,3652,3720,3585,0,0,0,0,0,0,27.36,27.26,27.36
$GC,3908,-0.71,-175.2,2527,2455,3717,3581,533.6,-9.7,198,3919,0.00,2.10,0.00,0.000,516,0.000,0.037,2528,1053,3647,3715,3580,0,0,0,0,0,0,27.48,27.29,27.55
$GC,3984,-0.71,-175.2,2528,1054,3714,3581,540.0,-10.1,200,3992,0.12,2.15,0.00,0.000,3078,0.169,0.037,2549,2460,3647,3715,3580,0,0,0,0,0,0,27.15,27.27,27.29
$GC,4297,-0.71,-175.2,2550,2461,3713,3579,571.8,-10.1,211,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2460,3644,3711,3578,0,0,0,0,0,0,27.49,27.56,27.55
$GC,4597,-0.71,-175.2,2550,2460,3707,3577,600.3,-9.0,221,4605,0.00,2.12,0.00,0.000,516,0.000,0.036,2550,1056,3642,3708,3576,0,0,0,0,0,0,27.49,27.29,27.56
$GC,4670,-0.71,-175.2,2549,1056,3707,3577,605.9,-8.9,223,4678,0.00,2.12,0.00,0.000,1030,0.000,0.037,2542,2461,3641,3707,3576,0,0,0,0,0,0,27.35,27.29,27.37
$GC,4987,-0.71,-175.2,2542,2461,3704,3573,634.0,-8.6,234,4995,0.00,2.10,0.00,0.000,516,0.000,0.035,2542,1057,3638,3704,3573,0,0,0,0,0,0,27.50,27.29,27.56
$GC,5017,-0.71,-175.2,2543,1058,3705,3574,636.5,-8.8,235,5027,0.00,2.12,0.00,0.000,1030,0.000,0.037,2533,2462,3638,3704,3573,0,0,0,0,0,0,27.35,27.29,27.37
$GC,5351,-0.71,-175.2,2534,2463,3700,3572,668.8,-9.7,246,5361,0.00,2.12,0.00,0.000,516,0.000,0.036,2533,1057,3635,3700,3571,0,0,0,0,0,0,27.50,27.29,27.56
$GC,5395,-0.71,-175.2,2534,1058,3699,3571,672.2,-9.7,247,5403,0.00,2.12,0.00,0.000,1030,0.000,0.037,2524,2461,3635,3699,3571,0,0,0,0,0,0,27.35,27.29,27.37
$GC,5718,-0.71,-175.2,2525,2461,3698,3568,704.4,-9.4,258,5726,0.00,2.03,0.00,0.000,260,0.000,0.054,2515,3772,3633,3698,3568,0,0,0,0,0,0,27.50,27.25,27.56
$GC,5745,-0.71,-175.2,2515,3772,3697,3568,704.4,-9.4,258,5756,0.15,1.95,0.00,0.000,3078,0.170,0.029,2552,2432,3633,3698,3568,0,0,0,0,0,0,27.13,27.35,27.29
$GC,6051,-0.71,-175.2,2551,2433,3698,3566,729.8,-7.2,269,6060,0.00,2.05,0.00,0.000,516,0.000,0.035,2554,1065,3630,3696,3565,0,0,0,0,0,0,27.50,27.29,27.56
$GC,6101,-0.71,-175.2,2555,1065,3695,3567,732.1,-7.3,270,6109,0.00,2.10,0.00,0.000,1030,0.000,0.037,2547,2455,3630,3696,3565,0,0,0,0,0,0,27.35,27.29,27.37
$GC,6413,-0.71,-175.2,2547,2455,3695,3565,757.9,-8.0,281,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2455,3625,3688,3563,0,0,0,0,0,0,27.47,27.58,27.56
$GC,6713,-0.71,-175.2,2547,2455,3694,3563,782.9,-8.4,291,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2455,3627,3692,3562,0,0,0,0,0,0,27.50,27.57,27.56
$GC,7013,-0.71,-175.2,2548,2455,3690,3563,808.8,-8.7,301,7022,0.00,2.08,0.00,0.000,516,0.000,0.035,2547,1066,3626,3690,3562,0,0,0,0,0,0,27.50,27.29,27.57
$GC,7072,-0.71,-175.2,2548,1066,3689,3562,811.9,-8.8,302,7083,0.00,2.10,0.00,0.000,1030,0.000,0.038,2540,2452,3625,3689,3562,0,0,0,0,0,0,27.35,27.28,27.37
$GC,7377,-0.71,-175.2,2541,2453,3687,3562,842.6,-9.3,313,7387,0.00,2.08,0.00,0.000,516,0.000,0.035,2540,1063,3623,3688,3559,0,0,0,0,0,0,27.50,27.29,27.56
$GC,7422,-0.71,-175.2,2540,1064,3686,3562,845.7,-9.6,314,7431,0.00,2.10,0.00,0.000,1030,0.000,0.037,2531,2450,3624,3687,3561,0,0,0,0,0,0,27.35,27.28,27.37
$GC,7736,-0.71,-175.2,2531,2450,3688,3561,877.7,-9.7,325,7743,0.00,2.08,0.00,0.000,516,0.000,0.034,2531,1073,3623,3686,3560,0,0,0,0,0,0,27.50,27.29,27.57
$GC,7768,-0.71,-175.2,2532,1074,3685,3561,880.9,-9.7,326,7775,0.00,2.10,0.00,0.000,1030,0.000,0.038,2523,2450,3623,3686,3560,0,0,0,0,0,0,27.35,27.28,27.37
$GC,8100,-0.71,-175.2,2524,2452,3684,3559,913.3,-9.3,337,8111,0.00,2.05,0.00,0.000,516,0.000,0.035,2523,1069,3622,3686,3559,0,0,0,0,0,0,27.50,27.29,27.57
$GC,8145,-0.71,-175.2,2524,1064,3684,3555,916.2,-9.2,338,8153,0.15,2.10,0.00,0.000,3078,0.168,0.037,2552,2450,3619,3684,3555,0,0,0,0,0,0,27.12,27.28,27.27
$GC,8458,-0.71,-175.2,2552,2450,3685,3558,939.5,-6.7,349,8465,0.00,2.08,0.00,0.000,516,0.000,0.035,2553,1068,3620,3684,3557,0,0,0,0,0,0,27.50,27.29,27.56
$GC,8495,-0.71,-175.2,2552,1069,3685,3557,941.7,-6.8,350,8502,0.00,2.10,0.00,0.000,1030,0.000,0.038,2546,2450,3620,3684,3557,0,0,0,0,0,0,27.34,27.27,27.36
$GC,8822,-0.71,-175.2,2546,2451,3684,3556,965.8,-7.4,361,8832,0.00,2.10,0.00,0.000,516,0.000,0.035,2547,1062,3618,3682,3555,0,0,0,0,0,0,27.50,27.29,27.56
$GC,8866,-0.71,-175.2,2547,1063,3682,3556,968.5,-7.6,362,8874,0.00,2.10,0.00,0.000,1030,0.000,0.039,2546,2449,3618,3682,3555,0,0,0,0,0,0,27.34,27.27,27.36
$STATE,9157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9157,begin apogee
$GC,9161,-0.11,0.0,2546,2098,3683,3555,991.4,-7.5,372,9314,0.62,0.00,144.07,1.307,10246,0.126,0.000,2747,2097,2941,2987,2895,0,0,0,0,0,0,27.13,25.20,24.46
$STATE,9315,end apogee,CONTROL_FINISHED_OK
$STATE,9315,begin climb
$GC,9317,0.71,175.2,2746,2098,2987,2894,995.7,0.0,377,9482,0.73,2.28,153.30,1.287,10756,0.047,0.039,3035,733,2226,2276,2177,0,0,0,0,0,0,25.50,24.75,24.20
$GC,9532,0.71,175.2,3035,733,2270,2173,975.3,14.0,384,9540,0.00,2.20,0.00,0.000,1030,0.000,0.031,3035,2099,2221,2270,2172,0,0,0,0,0,0,25.75,25.70,25.78
$GC,9844,0.71,175.2,3034,2100,2267,2166,921.7,16.6,395,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2100,2215,2265,2165,0,0,0,0,0,0,26.67,26.75,26.74
$GC,10145,0.71,175.2,3033,2100,2265,2164,871.5,16.5,405,10152,0.00,2.22,0.00,0.000,260,0.000,0.048,3034,3521,2213,2263,2163,0,0,0,0,0,0,26.94,26.71,27.01
$GC,10186,0.71,175.2,3035,3517,2262,2164,866.8,16.6,406,10195,0.15,2.10,0.00,0.000,5126,0.194,0.028,3010,2118,2212,2262,2163,0,0,0,0,0,0,26.60,26.79,26.77
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$STATE,17090,end climb,SURFACE_DEPTH_REACHED
$STATE,17090,begin surface coast
$FINISH,0.6,1.022094
$STATE,17117,end surface coast,CONTROL_FINISHED_OK
$STATE,17117,begin surface
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$IRIDIUM_FIX,1252.10,14516.61,050108,104222
$TT8_MAMPS,0.160286,0.160286
$HUMID,39.25
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.90
$XPDR_PINGS,0
$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,17159.89 7508.67
$PA_BOOTCOUNT,271
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$PA_HOME,0.03/0.049/1.764/1.625
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$10V_AH,9.94,16.708
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,247.095,53.550,1307.385,61.965,0.000,0.000,0.000,90.270,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,552.941,0.000,0.000,0.000,0.000,0.000,17663.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.141,0.000,0.000,0.000
$MEM,230016
$DATA_FILE_SIZE,36712,814
$CAP_FILE_SIZE,155242,0
$CFSIZE,260034560,253456384
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17563.20,0x236db2,7,5
$INTR,1,12254.41,0x233784,1,24
$CURRENT,0.040,17.71,1
$GPS,110315,070128,1254.175,14520.251,64,1.3,68,1.8,0.8,228.0,10,7.4