version: 66.12
glider: 178
mission: 20
dive: 60
start: 3 12 115 7 28 59
data:
$ID,178
$MISSION,20
$DIVE,60
$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,45
$R_STBD_OVSHOOT,45
$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
$GPS1,120315,072159,1243.2471,14523.9795,36,1.0,36,1.8,0.7,246.6,7,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-71.7
$GPS2,120315,072847,1243.2485,14523.9072,9,1.4,31,1.8,0.0,151.6,7,9.9
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,169.2,62650,-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,-175.2,124,2470,907,891,0.0,0.0,0,198,0.00,0.00,-96.35,0.000,16386,0.000,0.000,125,2470,3364,3415,3314,0,0,0,0,0,0,26.93,28.83,27.00
$GC,201,-0.71,-175.2,125,2471,3415,3316,3.5,-8.7,13,224,10.00,2.17,-4.72,0.000,18948,0.246,0.042,2548,1033,3659,3724,3595,0,0,0,0,0,0,26.44,25.65,26.61
$GC,369,-0.71,-175.2,2548,1033,3729,3600,64.4,-28.0,40,377,0.00,2.15,0.00,0.000,1030,0.000,0.035,2540,2437,3662,3729,3596,0,0,0,0,0,0,26.91,26.84,26.93
$GC,674,-0.71,-175.2,2540,2438,3732,3596,150.9,-23.6,70,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2437,3663,3730,3596,0,0,0,0,0,0,27.18,27.25,27.24
$GC,985,-0.71,-175.2,2540,2438,3738,3597,205.5,-15.2,99,995,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1043,3667,3738,3596,0,0,0,0,0,0,27.27,27.08,27.33
$GC,1024,-0.71,-175.2,2541,1044,3738,3597,209.7,-14.2,100,1032,0.00,2.12,0.00,0.000,1030,0.000,0.033,2534,2460,3666,3738,3595,0,0,0,0,0,0,27.13,27.06,27.15
$GC,1342,-0.71,-175.2,2532,2462,3742,3597,257.3,-15.2,111,1349,0.00,2.03,0.00,0.000,260,0.000,0.049,2525,3771,3668,3741,3595,0,0,0,0,0,0,27.33,27.09,27.40
$GC,1379,-0.71,-175.2,2522,3773,3741,3597,262.5,-15.5,112,1387,0.00,1.95,0.00,0.000,1030,0.000,0.026,2523,2411,3668,3741,3595,0,0,0,0,0,0,27.21,27.17,27.23
$GC,1706,-0.71,-175.2,2522,2409,3743,3597,310.2,-12.9,123,1716,0.00,1.98,0.00,0.000,516,0.000,0.033,2523,1069,3668,3741,3596,0,0,0,0,0,0,27.38,27.18,27.43
$GC,1736,-0.71,-175.2,2524,1070,3741,3597,314.0,-12.6,124,1744,0.15,2.08,0.00,0.000,3078,0.159,0.036,2552,2451,3668,3741,3596,0,0,0,0,0,0,27.03,27.16,27.17
$GC,2064,-0.71,-175.2,2552,2452,3738,3597,345.6,-10.2,135,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2451,3667,3739,3596,0,0,0,0,0,0,27.41,27.48,27.45
$GC,2364,-0.71,-175.2,2550,2452,3736,3597,371.8,-7.4,145,2372,0.00,2.08,0.00,0.000,516,0.000,0.034,2555,1072,3664,3733,3596,0,0,0,0,0,0,27.42,27.22,27.49
$GC,2421,-0.71,-175.2,2556,1073,3733,3596,374.2,-7.4,146,2431,0.00,2.08,0.00,0.000,1030,0.000,0.037,2548,2450,3663,3732,3595,0,0,0,0,0,0,27.27,27.21,27.30
$GC,2726,-0.71,-175.2,2549,2450,3727,3594,403.7,-9.7,157,2737,0.00,2.05,0.00,0.000,260,0.000,0.052,2537,3770,3661,3728,3594,0,0,0,0,0,0,27.44,27.20,27.51
$GC,2806,-0.71,-175.2,2539,3767,3726,3594,409.9,-10.1,159,2814,0.00,1.90,0.00,0.000,1030,0.000,0.028,2538,2439,3659,3726,3592,0,0,0,0,0,0,27.34,27.30,27.35
$GC,3112,-0.71,-175.2,2537,2439,3725,3591,445.1,-11.0,169,3119,0.00,2.03,0.00,0.000,516,0.000,0.033,2538,1076,3656,3723,3590,0,0,0,0,0,0,27.46,27.26,27.52
$GC,3153,-0.71,-175.2,2538,1077,3723,3590,448.1,-11.0,170,3162,0.00,2.08,0.00,0.000,1030,0.000,0.034,2528,2462,3656,3723,3590,0,0,0,0,0,0,27.31,27.24,27.33
$GC,3466,-0.71,-175.2,2527,2459,3721,3588,482.9,-10.2,181,3475,0.00,2.08,0.00,0.000,516,0.000,0.032,2528,1069,3652,3719,3586,0,0,0,0,0,0,27.46,27.27,27.53
$GC,3489,-0.71,-175.2,2528,1070,3718,3587,482.9,-10.2,181,3497,0.12,2.08,0.00,0.000,3078,0.169,0.037,2548,2449,3652,3719,3586,0,0,0,0,0,0,27.10,27.25,27.25
$GC,3795,-0.71,-175.2,2549,2449,3715,3584,513.1,-9.3,191,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2448,3649,3715,3583,0,0,0,0,0,0,27.47,27.54,27.53
$GC,4095,-0.71,-175.2,2549,2449,3711,3581,540.4,-8.7,201,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2449,3646,3712,3581,0,0,0,0,0,0,27.48,27.55,27.53
$GC,4395,-0.71,-175.2,2549,2449,3708,3579,564.2,-7.6,211,4403,0.00,2.08,0.00,0.000,516,0.000,0.035,2548,1075,3643,3709,3578,0,0,0,0,0,0,27.48,27.27,27.55
$GC,4428,-0.71,-175.2,2547,1076,3710,3579,566.7,-7.5,212,4435,0.00,2.08,0.00,0.000,1030,0.000,0.036,2542,2453,3643,3708,3578,0,0,0,0,0,0,27.33,27.27,27.36
$GC,4755,-0.71,-175.2,2541,2454,3706,3577,591.6,-7.6,223,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3640,3705,3576,0,0,0,0,0,0,27.49,27.56,27.55
$GC,5055,-0.71,-175.2,2540,2454,3705,3575,615.5,-8.3,233,5063,0.00,2.08,0.00,0.000,516,0.000,0.034,2542,1078,3639,3703,3575,0,0,0,0,0,0,27.48,27.28,27.55
$GC,5107,-0.71,-175.2,2540,1079,3705,3575,618.0,-8.5,234,5119,0.00,2.08,0.00,0.000,1030,0.000,0.037,2532,2452,3638,3703,3574,0,0,0,0,0,0,27.34,27.27,27.36
$GC,5412,-0.71,-175.2,2533,2452,3699,3573,651.5,-10.6,245,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2453,3636,3700,3572,0,0,0,0,0,0,27.49,27.56,27.55
$GC,5712,-0.71,-175.2,2531,2453,3699,3571,683.9,-10.7,255,5720,0.00,2.08,0.00,0.000,516,0.000,0.034,2532,1075,3634,3698,3570,0,0,0,0,0,0,27.49,27.28,27.55
$GC,5759,-0.71,-175.2,2531,1076,3699,3571,686.8,-10.6,256,5767,0.00,2.08,0.00,0.000,1030,0.000,0.037,2523,2450,3633,3697,3570,0,0,0,0,0,0,27.34,27.27,27.36
$GC,6065,-0.71,-175.2,2524,2450,3696,3569,720.4,-10.1,266,6072,0.00,2.08,0.00,0.000,516,0.000,0.034,2523,1072,3632,3696,3568,0,0,0,0,0,0,27.49,27.28,27.55
$GC,6102,-0.71,-175.2,2523,1073,3696,3569,723.1,-10.1,267,6110,0.15,2.08,0.00,0.000,3078,0.169,0.037,2552,2450,3631,3695,3567,0,0,0,0,0,0,27.12,27.27,27.26
$GC,6420,-0.71,-175.2,2551,2451,3695,3568,750.0,-7.9,278,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2450,3629,3693,3566,0,0,0,0,0,0,27.48,27.57,27.55
$GC,6720,-0.71,-175.2,2551,2451,3694,3565,771.8,-7.0,288,6728,0.00,2.08,0.00,0.000,516,0.000,0.035,2552,1076,3628,3692,3565,0,0,0,0,0,0,27.50,27.29,27.56
$GC,6762,-0.71,-175.2,2553,1076,3691,3565,774.0,-6.8,289,6771,0.00,2.08,0.00,0.000,1030,0.000,0.037,2546,2449,3627,3691,3564,0,0,0,0,0,0,27.34,27.27,27.36
$GC,7086,-0.71,-175.2,2547,2449,3690,3564,797.6,-7.3,300,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3626,3690,3563,0,0,0,0,0,0,27.50,27.57,27.55
$GC,7386,-0.71,-175.2,2547,2449,3689,3563,820.5,-7.9,310,7394,0.00,2.05,0.00,0.000,516,0.000,0.035,2546,1078,3625,3688,3562,0,0,0,0,0,0,27.49,27.28,27.56
$GC,7408,-0.71,-175.2,2545,1079,3690,3563,820.5,-7.9,310,7416,0.00,2.08,0.00,0.000,1030,0.000,0.037,2539,2449,3625,3688,3562,0,0,0,0,0,0,27.33,27.27,27.36
$GC,7721,-0.71,-175.2,2540,2449,3686,3563,850.4,-9.4,321,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2449,3624,3687,3562,0,0,0,0,0,0,27.49,27.55,27.55
$GC,8021,-0.71,-175.2,2538,2449,3688,3562,879.0,-9.4,331,8028,0.00,2.05,0.00,0.000,516,0.000,0.035,2539,1077,3623,3686,3561,0,0,0,0,0,0,27.50,27.28,27.56
$GC,8048,-0.71,-175.2,2540,1079,3685,3562,881.7,-9.6,332,8056,0.00,2.08,0.00,0.000,1030,0.000,0.037,2531,2449,3623,3686,3561,0,0,0,0,0,0,27.34,27.27,27.36
$GC,8376,-0.71,-175.2,2531,2452,3684,3559,911.6,-8.7,343,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2452,3621,3685,3558,0,0,0,0,0,0,27.49,27.57,27.56
$GC,8675,-0.71,-175.2,2531,2452,3683,3559,935.2,-7.6,353,8685,0.00,2.08,0.00,0.000,516,0.000,0.034,2530,1076,3621,3683,3559,0,0,0,0,0,0,27.49,27.28,27.56
$GC,8734,-0.71,-175.2,2531,1078,3683,3559,938.1,-7.8,354,8745,0.00,2.08,0.00,0.000,1030,0.000,0.037,2522,2449,3620,3683,3558,0,0,0,0,0,0,27.33,27.26,27.36
$GC,9040,-0.71,-175.2,2521,2450,3683,3559,965.4,-8.6,365,9049,0.00,2.08,0.00,0.000,516,0.000,0.034,2522,1075,3620,3682,3558,0,0,0,0,0,0,27.49,27.28,27.55
$GC,9104,-0.71,-175.2,2522,1075,3683,3559,970.8,-8.9,367,9112,0.15,2.10,0.00,0.000,3078,0.169,0.037,2552,2456,3622,3681,3564,0,0,0,0,0,0,27.08,27.26,27.24
$STATE,9365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9365,begin apogee
$GC,9370,-0.11,0.0,2554,2105,3680,3559,991.1,-7.6,376,9522,0.57,0.00,143.85,1.311,10246,0.126,0.000,2739,2104,2941,2987,2895,0,0,0,0,0,0,27.10,25.19,24.46
$STATE,9522,end apogee,CONTROL_FINISHED_OK
$STATE,9522,begin climb
$GC,9524,0.71,175.2,2738,2105,2987,2894,995.8,0.0,381,9690,0.73,2.30,153.65,1.291,10756,0.050,0.041,3028,731,2225,2276,2175,0,0,0,0,0,0,25.49,24.90,24.19
$GC,9714,0.71,175.2,3029,732,2271,2172,981.7,11.0,387,9723,0.00,2.20,0.00,0.000,1030,0.000,0.029,3028,2099,2221,2271,2172,0,0,0,0,0,0,25.54,25.48,25.56
$GC,10028,0.71,175.2,3029,2099,2266,2164,930.1,15.5,398,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2099,2214,2266,2163,0,0,0,0,0,0,26.63,26.70,26.70
$GC,10328,0.71,175.2,3028,2100,2265,2169,883.9,15.1,408,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2099,2214,2264,2164,0,0,0,0,0,0,26.91,26.98,26.98
$GC,10628,0.71,175.2,3028,2100,2263,2161,839.6,14.6,418,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2099,2211,2262,2160,0,0,0,0,0,0,27.05,27.13,27.12
$GC,10928,0.71,175.2,3029,2100,2261,2160,795.5,14.9,428,10936,0.00,2.22,0.00,0.000,260,0.000,0.048,3028,3504,2210,2261,2160,0,0,0,0,0,0,27.15,26.90,27.21
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$STATE,17183,end climb,SURFACE_DEPTH_REACHED
$STATE,17183,begin surface coast
$FINISH,-0.6,1.022083
$STATE,17204,end surface coast,CONTROL_FINISHED_OK
$STATE,17204,begin surface
$SM_CCo,17219,59.50,0.062,0,0,901,500.17
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$IRIDIUM_FIX,1241.04,14522.77,060108,155756
$TT8_MAMPS,0.158039,0.158039
$HUMID,38.65
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.00
$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,17233.82 7395.61
$PA_BOOTCOUNT,277
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.050/1.764/1.624
$PA_DISK_BANK,0
$24V_AH,24.19,8.968
$10V_AH,9.98,21.243
$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
$SENSOR_SECS,546.548,0.000,0.000,0.000,0.000,0.000,17703.910,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.184,0.000,0.000,0.000
$MEM,230000
$DATA_FILE_SIZE,33383,805
$CAP_FILE_SIZE,146923,0
$CFSIZE,260034560,252973056
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$INTR,1,15665.92,0x233784,1,24
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$GPS,120315,121800,1240.804,14524.555,40,0.8,40,1.8,0.4,71.5,9,6.5