version: 66.12
glider: 178
mission: 20
dive: 167
start: 4 4 115 9 14 17
data:
$ID,178
$MISSION,20
$DIVE,167
$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,45
$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
$GPS1,040415,090658,1149.5547,14334.0342,28,1.9,51,1.7,0.5,194.9,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-72.8
$GPS2,040415,091406,1149.5321,14333.9561,15,1.0,32,1.7,0.4,259.9,8,8.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,37.2,206846,-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,-175.2,122,2461,1244,1228,0.0,0.0,0,183,0.00,0.00,-81.05,0.000,16386,0.000,0.000,122,2461,3343,3389,3297,0,0,0,0,0,0,26.22,28.83,26.29
$GC,185,-0.68,-175.2,122,2462,3392,3299,4.4,-12.9,12,214,10.80,2.10,-9.35,0.000,18692,0.246,0.055,2547,3768,3964,3997,3932,0,0,0,0,0,0,25.57,25.39,25.96
$GC,266,-0.68,-175.2,2546,3769,3997,3939,45.3,-40.1,26,277,0.00,2.00,0.00,0.000,1030,0.000,0.024,2549,2425,3966,3995,3938,0,0,0,0,0,0,26.19,26.15,26.20
$GC,581,-0.68,-175.2,2548,2423,3996,3942,147.1,-25.5,58,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2422,3967,3994,3941,0,0,0,0,0,0,26.27,26.33,26.32
$GC,882,-0.68,-175.2,2549,2422,3996,3947,205.2,-17.1,86,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2421,3970,3994,3946,0,0,0,0,0,0,26.30,26.34,26.34
$GC,1182,-0.68,-175.2,2550,2422,3994,3949,247.6,-14.2,96,1192,0.00,2.08,0.00,0.000,516,0.000,0.030,2551,1061,3971,3995,3948,0,0,0,0,0,0,26.25,26.12,26.32
$GC,1206,-0.68,-175.2,2550,1061,3997,3949,247.6,-14.2,96,1214,0.00,2.15,0.00,0.000,1030,0.000,0.031,2543,2448,3971,3995,3948,0,0,0,0,0,0,26.22,26.15,26.25
$GC,1519,-0.68,-175.2,2544,2449,3995,3949,293.5,-13.2,107,1527,0.00,2.12,0.00,0.000,260,0.000,0.047,2533,3779,3971,3995,3948,0,0,0,0,0,0,26.25,26.06,26.30
$GC,1611,-0.68,-175.2,2533,3780,3996,3949,304.3,-12.0,110,1621,0.00,1.98,0.00,0.000,1030,0.000,0.025,2534,2450,3971,3994,3948,0,0,0,0,0,0,26.27,26.24,26.28
$GC,1941,-0.68,-175.2,2533,2448,3997,3949,342.9,-12.1,121,1951,0.00,2.12,0.00,0.000,516,0.000,0.031,2534,1065,3971,3995,3948,0,0,0,0,0,0,26.15,26.13,26.22
$GC,1970,-0.68,-175.2,2532,1066,3997,3949,342.9,-12.1,121,1981,0.12,2.20,0.00,0.000,3078,0.151,0.034,2557,2454,3971,3995,3948,0,0,0,0,0,0,25.88,26.08,26.02
$GC,2276,-0.68,-175.2,2557,2455,3994,3946,375.3,-9.3,132,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2454,3970,3995,3945,0,0,0,0,0,0,26.23,26.30,26.29
$GC,2576,-0.68,-175.2,2555,2456,3997,3941,402.2,-8.9,142,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2454,3967,3994,3941,0,0,0,0,0,0,26.24,26.32,26.32
$GC,2876,-0.68,-175.2,2555,2455,3996,3936,426.7,-7.9,152,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2454,3964,3994,3935,0,0,0,0,0,0,26.25,26.32,26.31
$GC,3176,-0.68,-175.2,2556,2455,3996,3930,450.1,-7.8,162,3184,0.00,2.17,0.00,0.000,516,0.000,0.032,2556,1063,3960,3993,3928,0,0,0,0,0,0,26.25,26.06,26.31
$GC,3209,-0.68,-175.2,2555,1063,3995,3929,452.8,-7.8,163,3216,0.00,2.22,0.00,0.000,1030,0.000,0.034,2552,2458,3961,3994,3928,0,0,0,0,0,0,26.14,26.06,26.17
$GC,3536,-0.68,-175.2,2551,2459,3995,3923,482.5,-9.4,174,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2458,3958,3994,3922,0,0,0,0,0,0,26.20,26.27,26.26
$GC,3836,-0.68,-175.2,2551,2459,3996,3918,510.7,-9.1,184,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2458,3955,3994,3917,0,0,0,0,0,0,26.20,26.27,26.27
$GC,4136,-0.68,-175.2,2553,2459,3994,3912,535.9,-8.1,194,4147,0.00,2.17,0.00,0.000,516,0.000,0.032,2552,1070,3952,3994,3911,0,0,0,0,0,0,26.20,26.04,26.25
$GC,4172,-0.68,-175.2,2553,1070,3993,3912,538.5,-8.1,195,4180,0.00,2.20,0.00,0.000,1030,0.000,0.035,2547,2452,3952,3993,3911,0,0,0,0,0,0,26.11,26.03,26.14
$GC,4500,-0.68,-175.2,2547,2453,3991,3908,566.7,-8.8,206,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2453,3949,3992,3907,0,0,0,0,0,0,26.16,26.23,26.22
$GC,4800,-0.68,-175.2,2547,2453,3990,3906,595.7,-9.8,216,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2452,3947,3989,3905,0,0,0,0,0,0,26.18,26.25,26.24
$GC,5100,-0.68,-175.2,2545,2453,3989,3905,623.4,-8.7,226,5107,0.00,2.17,0.00,0.000,516,0.000,0.032,2546,1068,3945,3987,3903,0,0,0,0,0,0,26.20,26.03,26.25
$GC,5127,-0.68,-175.2,2546,1069,3989,3904,625.5,-8.5,227,5135,0.00,2.22,0.00,0.000,1030,0.000,0.035,2541,2452,3945,3987,3904,0,0,0,0,0,0,26.04,25.96,26.07
$GC,5460,-0.68,-175.2,2540,2453,3986,3902,654.1,-8.7,238,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3943,3985,3901,0,0,0,0,0,0,26.18,26.25,26.25
$GC,5760,-0.68,-175.2,2541,2453,3985,3900,681.4,-9.1,248,5767,0.00,2.17,0.00,0.000,260,0.000,0.051,2532,3771,3940,3983,3898,0,0,0,0,0,0,26.16,25.90,26.22
$GC,5802,-0.68,-175.2,2531,3772,3984,3899,684.1,-9.1,249,5809,0.00,2.00,0.00,0.000,1030,0.000,0.026,2532,2447,3940,3983,3898,0,0,0,0,0,0,26.17,26.14,26.19
$GC,6115,-0.68,-175.2,2532,2445,3982,3897,715.3,-9.5,260,6122,0.00,2.15,0.00,0.000,516,0.000,0.031,2532,1074,3939,3982,3896,0,0,0,0,0,0,26.18,26.02,26.24
$GC,6152,-0.68,-175.2,2531,1076,3983,3897,718.3,-9.5,261,6161,0.12,2.20,0.00,0.000,3078,0.153,0.033,2556,2456,3938,3981,3896,0,0,0,0,0,0,25.77,25.99,25.91
$GC,6475,-0.68,-175.2,2557,2457,3979,3896,743.1,-7.5,272,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2456,3940,3980,3901,0,0,0,0,0,0,26.17,26.24,26.23
$GC,6776,-0.68,-175.2,2555,2457,3980,3894,766.9,-8.2,282,6785,0.00,2.17,0.00,0.000,516,0.000,0.031,2556,1071,3935,3978,3893,0,0,0,0,0,0,26.15,25.98,26.20
$GC,6805,-0.68,-175.2,2556,1071,3978,3894,769.5,-8.3,283,6813,0.00,2.22,0.00,0.000,1030,0.000,0.035,2552,2454,3935,3978,3893,0,0,0,0,0,0,26.01,25.94,26.03
$GC,7133,-0.68,-175.2,2553,2455,3976,3891,798.6,-9.0,294,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2454,3934,3977,3891,0,0,0,0,0,0,26.13,26.20,26.19
$GC,7433,-0.68,-175.2,2553,2455,3976,3890,825.8,-9.0,304,7441,0.00,2.17,0.00,0.000,516,0.000,0.031,2552,1068,3932,3976,3889,0,0,0,0,0,0,26.16,25.97,26.22
$GC,7460,-0.68,-175.2,2553,1068,3975,3890,825.8,-9.0,304,7471,0.00,2.20,0.00,0.000,1030,0.000,0.034,2546,2452,3932,3976,3889,0,0,0,0,0,0,26.06,25.97,26.08
$GC,7766,-0.68,-175.2,2546,2453,3976,3889,856.2,-9.1,315,7774,0.00,2.17,0.00,0.000,516,0.000,0.031,2546,1066,3931,3974,3888,0,0,0,0,0,0,26.15,25.98,26.22
$GC,7818,-0.68,-175.2,2547,1066,3973,3888,859.0,-8.9,316,7826,0.00,2.22,0.00,0.000,1030,0.000,0.036,2546,2454,3931,3973,3889,0,0,0,0,0,0,26.05,25.96,26.08
$GC,8124,-0.68,-175.2,2547,2455,3972,3888,885.8,-8.0,326,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2455,3930,3973,3887,0,0,0,0,0,0,26.13,26.20,26.19
$GC,8424,-0.68,-175.2,2546,2455,3974,3886,909.0,-7.7,336,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2454,3929,3973,3886,0,0,0,0,0,0,26.12,26.19,26.18
$GC,8724,-0.68,-175.2,2547,2455,3970,3885,932.3,-7.7,346,8732,0.00,2.17,0.00,0.000,516,0.000,0.031,2547,1073,3928,3971,3885,0,0,0,0,0,0,26.15,25.97,26.20
$GC,8751,-0.68,-175.2,2547,1074,3971,3885,934.5,-7.8,347,8759,0.00,2.20,0.00,0.000,1030,0.000,0.036,2547,2450,3928,3971,3885,0,0,0,0,0,0,26.02,25.94,26.05
$GC,9079,-0.68,-175.2,2547,2451,3970,3884,961.3,-8.5,358,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2450,3926,3970,3883,0,0,0,0,0,0,26.03,26.09,26.08
$GC,9379,-0.68,-175.2,2547,2451,3969,3883,987.2,-8.7,368,9389,0.00,2.20,0.00,0.000,260,0.000,0.053,2538,3775,3925,3969,3882,0,0,0,0,0,0,26.09,25.85,26.15
$GC,9409,-0.68,-175.2,2537,3775,3971,3883,989.9,-8.8,369,9416,0.00,2.05,0.00,0.000,1030,0.000,0.026,2537,2437,3925,3968,3882,0,0,0,0,0,0,26.13,26.08,26.14
$STATE,9436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9436,begin apogee
$GC,9441,-0.11,0.0,2539,2090,3969,3882,992.4,-8.9,370,9591,0.65,0.00,139.43,1.303,10246,0.112,0.000,2739,2088,3278,3318,3238,0,0,0,0,0,0,25.66,24.48,23.61
$STATE,9591,end apogee,CONTROL_FINISHED_OK
$STATE,9591,begin climb
$GC,9593,0.68,175.2,2739,2089,3318,3238,1002.5,0.0,375,9761,0.73,0.00,159.75,1.293,10758,0.044,0.000,3007,2087,2564,2611,2518,0,0,0,0,0,0,24.75,24.09,23.28
$GC,10037,0.69,178.3,3008,2088,2600,2509,980.0,9.9,390,10045,0.00,2.30,0.00,0.000,260,0.000,0.044,3008,3507,2554,2601,2508,0,0,0,0,0,0,26.02,25.89,26.08
$GC,10180,0.69,178.3,3007,3508,2600,2509,966.1,11.3,394,10188,0.00,2.12,0.00,0.000,1030,0.000,0.024,3018,2122,2553,2599,2508,0,0,0,0,0,0,26.17,26.13,26.19
$GC,10493,0.69,178.3,3019,2123,2596,2507,928.6,11.0,405,10501,0.00,2.25,0.00,0.000,516,0.000,0.037,3029,705,2551,2596,2507,0,0,0,0,0,0,26.23,26.11,26.29
$GC,10535,0.69,178.3,3028,706,2597,2506,924.9,11.2,406,10544,0.00,2.20,0.00,0.000,1030,0.000,0.028,3028,2108,2550,2595,2505,0,0,0,0,0,0,26.21,26.15,26.23
$GC,10858,0.69,178.3,3029,2109,2597,2506,884.7,12.2,417,10866,0.00,2.25,0.00,0.000,260,0.000,0.044,3029,3506,2550,2595,2505,0,0,0,0,0,0,26.22,26.06,26.29
$GC,10896,0.69,178.3,3028,3507,2597,2506,881.0,12.5,418,10904,0.15,2.17,0.00,0.000,5126,0.187,0.024,3006,2093,2550,2595,2505,0,0,0,0,0,0,25.76,26.17,25.96
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$STATE,18521,end climb,SURFACE_DEPTH_REACHED
$STATE,18523,begin surface coast
$FINISH,0.8,1.022064
$STATE,18532,end surface coast,CONTROL_FINISHED_OK
$STATE,18532,begin surface
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$IRIDIUM_FIX,1139.26,14331.15,290108,171438
$TT8_MAMPS,0.046438,0.046438
$HUMID,43.26
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$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,18525.15 8086.48
$PA_BOOTCOUNT,386
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$PA_DISK_BANK,2
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$10V_AH,10.15,31.292
$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
$DEVICE_SECS,21.175,132.250,527.800,23.250,0.000,0.000,0.000,287.750,0.000,19059.420,35.388,0.000,15021.469,627.405,3116.708,218.609,0.000,2307.565,0.000,1694.266,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,543.969,0.000,0.000,0.000,0.000,0.000,19059.641,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,229904
$DATA_FILE_SIZE,33470,798
$CAP_FILE_SIZE,151903,0
$CFSIZE,260034560,244146176
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