version: 66.12
glider: 178
mission: 20
dive: 61
start: 3 12 115 12 26 55
data:
$ID,178
$MISSION,20
$DIVE,61
$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,59
$R_STBD_OVSHOOT,40
$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
$GPS1,120315,121800,1240.8041,14524.5547,40,0.8,40,1.8,0.4,71.5,9,6.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-72.1
$GPS2,120315,122643,1240.8038,14524.5137,12,1.2,12,1.8,0.4,201.2,8,9.0
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S4
$TGT_LATLONG,1210.440,14532.340
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,163.4,57992,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.71,-175.2,123,2460,900,894,0.0,0.0,0,202,0.00,0.00,-96.72,0.000,16386,0.000,0.000,122,2459,3413,3464,3362,0,0,0,0,0,0,26.88,28.83,26.95
$GC,204,-0.71,-175.2,123,2459,3465,3363,3.7,-9.5,12,224,9.95,2.10,-3.58,0.000,18948,0.243,0.042,2557,1045,3660,3720,3600,0,0,0,0,0,0,26.41,25.63,26.57
$GC,315,-0.71,-175.2,2557,1044,3726,3600,52.0,-29.6,32,328,0.00,2.15,0.00,0.000,1030,0.000,0.035,2549,2444,3663,3726,3600,0,0,0,0,0,0,26.85,26.79,26.87
$GC,622,-0.71,-175.2,2550,2444,3728,3600,141.9,-18.0,63,636,0.00,2.03,0.00,0.000,260,0.000,0.047,2540,3770,3664,3728,3600,0,0,0,0,0,0,27.16,26.92,27.22
$GC,696,-0.71,-175.2,2538,3770,3731,3601,158.0,-20.8,70,704,0.00,1.92,0.00,0.000,1030,0.000,0.024,2544,2433,3665,3730,3600,0,0,0,0,0,0,27.06,27.03,27.08
$GC,1020,-0.71,-175.2,2543,2432,3734,3601,213.4,-15.0,96,1030,0.00,2.00,0.00,0.000,516,0.000,0.031,2547,1063,3665,3731,3600,0,0,0,0,0,0,27.27,27.08,27.34
$GC,1130,-0.71,-175.2,2548,1063,3737,3600,225.2,-13.2,99,1138,0.00,2.08,0.00,0.000,1030,0.000,0.033,2540,2453,3668,3736,3600,0,0,0,0,0,0,27.15,27.08,27.17
$GC,1435,-0.71,-175.2,2539,2454,3739,3601,263.3,-11.3,109,1443,0.00,2.08,0.00,0.000,516,0.000,0.031,2540,1059,3669,3738,3600,0,0,0,0,0,0,27.34,27.15,27.40
$GC,1457,-0.71,-175.2,2541,1059,3738,3601,263.3,-11.3,109,1465,0.00,2.10,0.00,0.000,1030,0.000,0.034,2530,2460,3669,3738,3600,0,0,0,0,0,0,27.20,27.13,27.22
$GC,1769,-0.71,-175.2,2529,2462,3739,3600,302.0,-12.4,120,1779,0.00,2.05,0.00,0.000,516,0.000,0.031,2530,1072,3668,3737,3599,0,0,0,0,0,0,27.38,27.19,27.44
$GC,1838,-0.71,-175.2,2529,1072,3739,3601,310.6,-13.0,122,1846,0.00,2.10,0.00,0.000,1030,0.000,0.035,2520,2457,3668,3737,3600,0,0,0,0,0,0,27.24,27.18,27.26
$GC,2160,-0.71,-175.2,2521,2457,3733,3600,352.8,-12.0,133,2166,0.12,0.00,0.00,0.000,2054,0.174,0.000,2551,2457,3666,3733,3600,0,0,0,0,0,0,27.08,27.24,27.22
$GC,2461,-0.71,-175.2,2549,2457,3731,3600,377.8,-7.7,143,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2457,3663,3729,3598,0,0,0,0,0,0,27.43,27.51,27.50
$GC,2761,-0.71,-175.2,2551,2458,3726,3595,402.4,-7.9,153,2768,0.00,2.08,0.00,0.000,516,0.000,0.034,2554,1075,3660,3726,3595,0,0,0,0,0,0,27.45,27.25,27.51
$GC,2874,-0.71,-175.2,2554,1076,3727,3593,409.9,-8.3,156,2884,0.00,2.08,0.00,0.000,1030,0.000,0.036,2548,2453,3659,3725,3593,0,0,0,0,0,0,27.31,27.24,27.33
$GC,3178,-0.71,-175.2,2549,2454,3721,3591,441.7,-10.2,167,3186,0.00,2.08,0.00,0.000,516,0.000,0.034,2548,1074,3655,3721,3590,0,0,0,0,0,0,27.46,27.26,27.53
$GC,3220,-0.71,-175.2,2549,1074,3720,3591,445.4,-10.5,168,3230,0.00,2.08,0.00,0.000,1030,0.000,0.037,2539,2449,3655,3720,3590,0,0,0,0,0,0,27.32,27.24,27.34
$GC,3544,-0.71,-175.2,2539,2450,3718,3588,484.4,-11.8,179,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2450,3650,3716,3585,0,0,0,0,0,0,27.46,27.54,27.53
$GC,3844,-0.71,-175.2,2540,2450,3713,3584,514.1,-9.3,189,3852,0.00,2.08,0.00,0.000,260,0.000,0.053,2529,3778,3647,3712,3583,0,0,0,0,0,0,27.48,27.23,27.54
$GC,3887,-0.71,-175.2,2530,3778,3711,3584,517.1,-9.1,190,3896,0.00,1.90,0.00,0.000,1030,0.000,0.027,2529,2453,3648,3712,3584,0,0,0,0,0,0,27.36,27.34,27.39
$GC,4210,-0.71,-175.2,2530,2450,3711,3580,549.7,-10.1,201,4218,0.00,2.05,0.00,0.000,516,0.000,0.034,2529,1062,3644,3709,3579,0,0,0,0,0,0,27.48,27.28,27.55
$GC,4302,-0.71,-175.2,2528,1063,3709,3580,559.4,-10.5,204,4312,0.12,2.10,0.00,0.000,3078,0.167,0.036,2550,2454,3640,3707,3574,0,0,0,0,0,0,27.12,27.27,27.27
$GC,4637,-0.71,-175.2,2549,2454,3705,3578,588.9,-8.5,215,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2454,3641,3705,3577,0,0,0,0,0,0,27.48,27.56,27.55
$GC,4936,-0.71,-175.2,2551,2455,3702,3576,613.7,-8.2,225,4948,0.00,2.05,0.00,0.000,516,0.000,0.034,2550,1067,3639,3702,3576,0,0,0,0,0,0,27.49,27.29,27.55
$GC,5012,-0.71,-175.2,2551,1068,3700,3576,619.0,-8.6,227,5020,0.00,2.10,0.00,0.000,1030,0.000,0.036,2543,2459,3638,3701,3575,0,0,0,0,0,0,27.34,27.27,27.36
$GC,5324,-0.71,-175.2,2543,2459,3698,3573,649.9,-9.8,238,5334,0.00,2.08,0.00,0.000,516,0.000,0.032,2543,1069,3636,3699,3573,0,0,0,0,0,0,27.49,27.29,27.55
$GC,5369,-0.71,-175.2,2545,1067,3697,3573,653.3,-9.9,239,5377,0.00,2.10,0.00,0.000,1030,0.000,0.037,2535,2456,3635,3698,3573,0,0,0,0,0,0,27.34,27.27,27.36
$GC,5687,-0.71,-175.2,2536,2456,3695,3571,686.7,-10.1,250,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2455,3633,3696,3570,0,0,0,0,0,0,27.49,27.57,27.55
$GC,5987,-0.71,-175.2,2534,2456,3696,3569,716.5,-9.7,260,5995,0.00,2.10,0.00,0.000,516,0.000,0.034,2535,1060,3630,3693,3568,0,0,0,0,0,0,27.50,27.29,27.56
$GC,6019,-0.71,-175.2,2536,1061,3693,3569,719.6,-9.7,261,6027,0.00,2.10,0.00,0.000,1030,0.000,0.037,2526,2449,3630,3693,3568,0,0,0,0,0,0,27.34,27.27,27.36
$GC,6347,-0.71,-175.2,2524,2450,3693,3567,749.8,-8.9,272,6357,0.00,2.08,0.00,0.000,516,0.000,0.034,2526,1067,3628,3691,3566,0,0,0,0,0,0,27.49,27.29,27.55
$GC,6402,-0.71,-175.2,2526,1067,3690,3567,753.0,-9.1,273,6410,0.12,2.10,0.00,0.000,3078,0.175,0.037,2547,2455,3628,3691,3566,0,0,0,0,0,0,27.10,27.27,27.26
$GC,6707,-0.71,-175.2,2546,2456,3691,3565,777.8,-7.4,283,6717,0.00,2.08,0.00,0.000,516,0.000,0.034,2547,1063,3627,3689,3565,0,0,0,0,0,0,27.49,27.28,27.56
$GC,6731,-0.71,-175.2,2545,1064,3696,3565,777.8,-7.4,283,6741,0.00,2.10,0.00,0.000,1030,0.000,0.036,2541,2452,3626,3689,3564,0,0,0,0,0,0,27.33,27.27,27.36
$GC,7037,-0.71,-175.2,2541,2453,3687,3563,802.4,-7.3,294,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2453,3625,3687,3563,0,0,0,0,0,0,27.50,27.57,27.56
$GC,7337,-0.71,-175.2,2540,2453,3688,3563,823.1,-6.7,304,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3624,3686,3562,0,0,0,0,0,0,27.50,27.57,27.56
$GC,7636,-0.71,-175.2,2542,2453,3685,3562,843.9,-7.1,314,7645,0.00,2.08,0.00,0.000,516,0.000,0.034,2541,1063,3623,3685,3562,0,0,0,0,0,0,27.50,27.28,27.56
$GC,7684,-0.71,-175.2,2540,1063,3686,3562,845.9,-7.0,315,7692,0.00,2.10,0.00,0.000,1030,0.000,0.037,2532,2452,3623,3685,3561,0,0,0,0,0,0,27.34,27.27,27.36
$GC,7989,-0.71,-175.2,2533,2452,3684,3561,873.3,-9.0,325,8000,0.00,2.10,0.00,0.000,516,0.000,0.034,2532,1064,3622,3684,3561,0,0,0,0,0,0,27.50,27.28,27.54
$GC,8105,-0.71,-175.2,2533,1059,3682,3561,882.1,-9.7,328,8115,0.00,2.10,0.00,0.000,1030,0.000,0.037,2524,2451,3621,3683,3560,0,0,0,0,0,0,27.33,27.27,27.36
$GC,8409,-0.71,-175.2,2525,2452,3682,3560,916.0,-10.3,339,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2451,3620,3682,3559,0,0,0,0,0,0,27.50,27.57,27.56
$GC,8710,-0.71,-175.2,2523,2452,3683,3559,945.6,-9.6,349,8720,0.00,2.05,0.00,0.000,516,0.000,0.033,2523,1075,3619,3681,3558,0,0,0,0,0,0,27.50,27.29,27.56
$GC,8784,-0.71,-175.2,2525,1075,3680,3558,951.5,-9.6,351,8792,0.15,2.08,0.00,0.000,3078,0.171,0.036,2553,2451,3618,3680,3557,0,0,0,0,0,0,27.08,27.26,27.24
$GC,9097,-0.71,-175.2,2553,2452,3682,3557,975.6,-7.0,362,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2451,3618,3680,3557,0,0,0,0,0,0,27.50,27.57,27.56
$STATE,9336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9336,begin apogee
$GC,9340,-0.11,0.0,2555,2099,3678,3556,991.8,-6.8,370,9493,0.57,0.00,144.30,1.304,10246,0.125,0.000,2741,2098,2941,2987,2896,0,0,0,0,0,0,27.09,25.20,24.48
$STATE,9494,end apogee,CONTROL_FINISHED_OK
$STATE,9494,begin climb
$GC,9495,0.71,175.2,2741,2098,2988,2894,995.6,0.0,375,9661,0.73,2.40,153.88,1.287,10500,0.052,0.044,3018,3498,2225,2275,2176,0,0,0,0,0,0,25.46,24.75,24.21
$GC,9681,0.71,175.2,3018,3501,2270,2174,980.0,11.8,381,9688,0.00,2.20,0.00,0.000,1030,0.000,0.025,3028,2124,2221,2270,2173,0,0,0,0,0,0,25.53,25.48,25.54
$GC,9993,0.71,175.2,3029,2125,2264,2165,928.3,15.5,392,10001,0.00,2.22,0.00,0.000,516,0.000,0.037,3039,697,2214,2264,2165,0,0,0,0,0,0,26.63,26.44,26.71
$GC,10035,0.71,175.2,3038,697,2266,2165,924.1,15.6,393,10042,0.00,2.17,0.00,0.000,1030,0.000,0.029,3038,2107,2214,2264,2165,0,0,0,0,0,0,26.56,26.50,26.59
$GC,10347,0.71,175.2,3038,2108,2264,2164,870.7,16.4,404,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2107,2212,2262,2163,0,0,0,0,0,0,26.95,27.02,27.01
$GC,10647,0.71,175.2,3039,2108,2260,2163,821.3,16.5,414,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2107,2211,2259,2163,0,0,0,0,0,0,27.08,27.15,27.15
$GC,10947,0.71,175.2,3038,2108,2260,2163,773.7,15.5,424,10955,0.00,2.20,0.00,0.000,260,0.000,0.047,3038,3501,2210,2259,2162,0,0,0,0,0,0,27.16,26.91,27.23
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$STATE,17038,end climb,SURFACE_DEPTH_REACHED
$STATE,17038,begin surface coast
$FINISH,0.2,1.022087
$STATE,17063,end surface coast,CONTROL_FINISHED_OK
$STATE,17063,begin surface
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$IRIDIUM_FIX,1234.41,14522.20,070108,014625
$TT8_MAMPS,0.159537,0.159537
$HUMID,39.13
$INTERNAL_PRESSURE,9.43396
$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,17112.34 7296.20
$PA_BOOTCOUNT,278
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$PA_HOME,0.03/0.050/1.764/1.624
$PA_DISK_BANK,0
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$10V_AH,10.00,22.004
$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,540.335,0.000,0.000,0.000,0.000,0.000,17681.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,142.211,0.000,0.000,0.000
$MEM,229956
$DATA_FILE_SIZE,33382,794
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$CFSIZE,260034560,252895232
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