version: 66.12
glider: 178
mission: 20
dive: 166
start: 4 4 115 3 53 0
data:
$ID,178
$MISSION,20
$DIVE,166
$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,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,49
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,040415,034604,1147.5920,14333.1006,36,2.0,40,1.7,0.7,271.8,8,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-72.8
$GPS2,040415,035249,1147.5533,14333.0508,12,1.0,12,1.7,0.5,103.5,8,7.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,34.6,210823,-16.5,-10.000,-23.13,2699
$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,-0.68,-175.2,121,2463,1242,1225,0.0,0.0,0,185,0.00,0.00,-83.15,0.000,16386,0.000,0.000,121,2464,3411,3459,3364,0,0,0,0,0,0,26.23,28.83,26.30
$GC,187,-0.68,-175.2,120,2464,3461,3366,3.8,-10.0,12,215,10.68,2.10,-8.25,0.000,18692,0.244,0.060,2544,3759,3966,3995,3938,0,0,0,0,0,0,25.58,24.50,25.81
$GC,262,-0.68,-175.2,2545,3759,3994,3943,43.2,-43.4,25,273,0.00,1.98,0.00,0.000,1030,0.000,0.024,2548,2430,3968,3995,3942,0,0,0,0,0,0,26.20,26.17,26.23
$GC,573,-0.68,-175.2,2549,2427,3994,3945,143.1,-24.3,57,580,0.00,2.08,0.00,0.000,516,0.000,0.029,2551,1066,3969,3994,3945,0,0,0,0,0,0,26.27,26.14,26.33
$GC,594,-0.68,-175.2,2550,1067,3997,3946,146.8,-23.0,58,605,0.00,2.15,0.00,0.000,1030,0.000,0.034,2544,2437,3969,3994,3945,0,0,0,0,0,0,26.20,26.14,26.25
$GC,920,-0.68,-175.2,2543,2439,3995,3951,205.2,-16.9,89,927,0.00,2.12,0.00,0.000,260,0.000,0.046,2533,3776,3971,3994,3949,0,0,0,0,0,0,26.28,26.08,26.34
$GC,987,-0.68,-175.2,2534,3777,3995,3951,214.5,-16.7,91,994,0.00,1.98,0.00,0.000,1030,0.000,0.023,2535,2449,3972,3995,3950,0,0,0,0,0,0,26.29,26.25,26.30
$GC,1309,-0.68,-175.2,2530,2446,3996,3953,265.6,-14.2,102,1316,0.00,2.15,0.00,0.000,260,0.000,0.045,2525,3777,3973,3995,3952,0,0,0,0,0,0,26.28,26.09,26.34
$GC,1355,-0.68,-175.2,2525,3777,3996,3953,268.9,-13.6,103,1363,0.12,1.98,0.00,0.000,3078,0.156,0.024,2555,2442,3974,3995,3953,0,0,0,0,0,0,25.95,26.25,26.08
$GC,1661,-0.68,-175.2,2555,2448,3995,3953,304.5,-10.6,113,1668,0.00,2.10,0.00,0.000,516,0.000,0.031,2557,1072,3973,3994,3953,0,0,0,0,0,0,26.28,26.15,26.34
$GC,1693,-0.68,-175.2,2557,1072,3995,3956,307.4,-10.5,114,1701,0.00,2.15,0.00,0.000,1030,0.000,0.031,2549,2458,3973,3995,3952,0,0,0,0,0,0,26.21,26.15,26.25
$GC,2015,-0.68,-175.2,2550,2458,3992,3953,343.3,-11.3,125,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2458,3973,3995,3952,0,0,0,0,0,0,26.31,26.34,26.34
$GC,2315,-0.68,-175.2,2549,2458,3997,3950,374.5,-10.3,135,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2457,3971,3995,3948,0,0,0,0,0,0,26.27,26.34,26.32
$GC,2616,-0.68,-175.2,2549,2458,3996,3944,408.6,-11.6,145,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2458,3971,3995,3948,0,0,0,0,0,0,26.24,26.31,26.30
$GC,2915,-0.68,-175.2,2551,2458,3994,3939,441.4,-10.7,155,2927,0.00,2.12,0.00,0.000,516,0.000,0.031,2550,1083,3966,3994,3938,0,0,0,0,0,0,26.22,26.10,26.29
$GC,2961,-0.68,-175.2,2551,1083,3993,3938,444.7,-10.6,156,2969,0.00,2.15,0.00,0.000,1030,0.000,0.032,2543,2452,3965,3993,3938,0,0,0,0,0,0,26.18,26.11,26.21
$GC,3279,-0.68,-175.2,2542,2453,3995,3932,475.7,-9.1,167,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2453,3962,3994,3931,0,0,0,0,0,0,26.25,26.32,26.30
$GC,3579,-0.68,-175.2,2544,2453,3993,3926,502.7,-9.1,177,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2453,3959,3993,3926,0,0,0,0,0,0,26.24,26.34,26.29
$GC,3879,-0.68,-175.2,2543,2453,3993,3920,530.6,-9.7,187,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3957,3994,3920,0,0,0,0,0,0,26.23,26.30,26.29
$GC,4179,-0.68,-175.2,2542,2454,3995,3916,561.5,-10.7,197,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2453,3954,3994,3915,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4479,-0.68,-175.2,2542,2454,3994,3911,594.7,-11.0,207,4487,0.00,2.15,0.00,0.000,516,0.000,0.031,2543,1075,3951,3992,3910,0,0,0,0,0,0,26.21,26.06,26.30
$GC,4501,-0.68,-175.2,2544,1076,3991,3910,594.7,-11.0,207,4511,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2449,3951,3991,3911,0,0,0,0,0,0,26.10,26.03,26.14
$GC,4807,-0.68,-175.2,2540,2450,3992,3908,628.4,-9.9,218,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2449,3948,3990,3907,0,0,0,0,0,0,26.22,26.28,26.27
$GC,5107,-0.68,-175.2,2541,2450,3989,3906,655.2,-8.7,228,5114,0.00,2.15,0.00,0.000,516,0.000,0.031,2541,1077,3946,3987,3905,0,0,0,0,0,0,26.18,26.02,26.24
$GC,5129,-0.68,-175.2,2543,1077,3986,3906,655.2,-8.7,228,5139,0.00,2.17,0.00,0.000,1030,0.000,0.035,2541,2449,3945,3987,3904,0,0,0,0,0,0,26.08,26.01,26.12
$GC,5434,-0.68,-175.2,2541,2450,3988,3904,683.4,-8.7,239,5444,0.00,2.15,0.00,0.000,260,0.000,0.052,2532,3769,3944,3986,3903,0,0,0,0,0,0,26.21,25.91,26.27
$GC,5464,-0.68,-175.2,2532,3770,3987,3904,686.0,-8.7,240,5472,0.00,2.00,0.00,0.000,1030,0.000,0.027,2533,2441,3945,3987,3903,0,0,0,0,0,0,26.18,26.18,26.20
$GC,5792,-0.68,-175.2,2533,2442,3985,3902,715.4,-9.0,251,5801,0.00,2.12,0.00,0.000,516,0.000,0.031,2533,1081,3942,3983,3901,0,0,0,0,0,0,26.08,25.91,26.14
$GC,5827,-0.68,-175.2,2534,1080,3982,3901,718.6,-9.1,252,5835,0.00,2.20,0.00,0.000,1030,0.000,0.034,2533,2454,3941,3982,3900,0,0,0,0,0,0,26.08,26.00,26.11
$GC,6160,-0.68,-175.2,2532,2451,3983,3899,747.2,-8.4,263,6169,0.00,2.17,0.00,0.000,260,0.000,0.050,2525,3779,3940,3982,3898,0,0,0,0,0,0,26.17,25.91,26.24
$GC,6184,-0.68,-175.2,2526,3780,3981,3899,747.2,-8.4,263,6192,0.15,2.03,0.00,0.000,3078,0.146,0.026,2562,2452,3939,3981,3898,0,0,0,0,0,0,25.78,26.15,25.91
$GC,6497,-0.68,-175.2,2562,2452,3982,3897,768.6,-5.9,274,6505,0.00,2.15,0.00,0.000,516,0.000,0.031,2563,1074,3938,3980,3896,0,0,0,0,0,0,26.20,25.98,26.26
$GC,6530,-0.68,-175.2,2562,1075,3981,3897,770.7,-6.0,275,6538,0.00,2.17,0.00,0.000,1030,0.000,0.033,2559,2452,3938,3979,3897,0,0,0,0,0,0,26.07,25.99,26.10
$GC,6858,-0.68,-175.2,2559,2452,3980,3896,792.2,-6.8,286,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2449,3936,3978,3895,0,0,0,0,0,0,26.06,26.13,26.12
$GC,7157,-0.68,-175.2,2559,2452,3979,3894,814.0,-7.3,296,7165,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1066,3935,3977,3893,0,0,0,0,0,0,26.15,25.98,26.21
$GC,7209,-0.68,-175.2,2560,1067,3977,3893,815.9,-7.3,297,7221,0.00,2.22,0.00,0.000,1030,0.000,0.034,2560,2450,3935,3977,3893,0,0,0,0,0,0,26.05,25.97,26.08
$GC,7515,-0.68,-175.2,2560,2449,3976,3891,839.3,-7.0,308,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2450,3933,3976,3891,0,0,0,0,0,0,26.13,26.21,26.20
$GC,7815,-0.68,-175.2,2559,2451,3976,3890,860.0,-6.9,318,7822,0.00,2.17,0.00,0.000,516,0.000,0.031,2559,1066,3932,3974,3890,0,0,0,0,0,0,26.15,25.98,26.21
$GC,7852,-0.68,-175.2,2560,1067,3974,3890,862.0,-7.0,319,7859,0.00,2.22,0.00,0.000,1030,0.000,0.035,2559,2450,3934,3979,3890,0,0,0,0,0,0,26.04,25.96,26.08
$GC,8169,-0.68,-175.2,2559,2452,3974,3889,884.1,-6.8,330,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2450,3931,3973,3889,0,0,0,0,0,0,26.15,26.22,26.21
$GC,8469,-0.68,-175.2,2559,2451,3974,3888,904.5,-6.8,340,8477,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1069,3929,3972,3887,0,0,0,0,0,0,26.15,25.98,26.20
$GC,8492,-0.68,-175.2,2560,1070,3972,3887,904.5,-6.8,340,8502,0.00,2.20,0.00,0.000,1030,0.000,0.035,2560,2450,3929,3972,3887,0,0,0,0,0,0,26.04,25.96,26.08
$GC,8807,-0.68,-175.2,2560,2450,3971,3887,928.5,-7.2,351,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2450,3928,3971,3886,0,0,0,0,0,0,26.15,26.21,26.20
$GC,9107,-0.68,-175.2,2559,2451,3972,3886,950.7,-7.5,361,9115,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1066,3928,3971,3885,0,0,0,0,0,0,26.13,25.97,26.18
$GC,9135,-0.68,-175.2,2564,1067,3971,3887,952.7,-7.4,362,9145,0.00,2.22,0.00,0.000,1030,0.000,0.035,2558,2457,3928,3970,3886,0,0,0,0,0,0,25.95,25.86,25.97
$GC,9465,-0.68,-175.2,2558,2458,3972,3885,977.5,-7.5,373,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2457,3927,3970,3884,0,0,0,0,0,0,26.12,26.18,26.17
$STATE,9643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9643,begin apogee
$GC,9647,-0.11,0.0,2561,2096,3969,3884,990.9,-7.6,379,9799,0.57,0.00,139.62,1.304,10246,0.107,0.000,2739,2091,3280,3319,3241,0,0,0,0,0,0,25.70,24.24,23.61
$STATE,9800,end apogee,CONTROL_FINISHED_OK
$STATE,9800,begin climb
$GC,9802,0.68,175.2,2740,2092,3318,3240,999.8,0.0,384,9982,0.73,2.55,161.05,1.291,11012,0.047,0.042,3012,3507,2562,2608,2517,0,0,0,0,0,0,24.76,24.13,23.29
$GC,10206,0.68,175.2,3012,3507,2597,2513,975.4,13.0,397,10214,0.00,2.15,0.00,0.000,1030,0.000,0.024,3023,2117,2555,2597,2513,0,0,0,0,0,0,25.98,25.94,26.00
$GC,10519,0.68,175.2,3021,2117,2597,2510,935.6,12.3,408,10527,0.00,2.28,0.00,0.000,260,0.000,0.043,3022,3519,2550,2592,2509,0,0,0,0,0,0,26.20,26.07,26.27
$GC,10626,0.68,175.2,3023,3519,2595,2510,924.0,13.0,411,10641,0.08,2.15,0.00,0.000,5126,0.176,0.024,3012,2102,2551,2594,2509,0,0,0,0,0,0,25.84,26.17,25.95
$GC,10937,0.68,175.2,3011,2103,2596,2510,886.0,11.1,422,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2101,2551,2594,2509,0,0,0,0,0,0,26.25,26.32,26.32
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$STATE,18674,end climb,SURFACE_DEPTH_REACHED
$STATE,18674,begin surface coast
$FINISH,-0.3,1.022048
$STATE,18694,end surface coast,CONTROL_FINISHED_OK
$STATE,18694,begin surface
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$IRIDIUM_FIX,1141.46,14329.84,290108,114703
$TT8_MAMPS,0.053179,0.053179
$HUMID,41.88
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$TCM_TEMP,24.40
$XPDR_PINGS,1
$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,18718.13 8150.30
$PA_BOOTCOUNT,385
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$PA_DISK_BANK,2
$24V_AH,23.29,59.249
$10V_AH,10.16,31.219
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,229964
$DATA_FILE_SIZE,36665,830
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$CFSIZE,260034560,244228096
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$GPS,040415,090658,1149.555,14334.034,28,1.9,51,1.7,0.5,194.9,8,9.0