version: 66.12
glider: 178
mission: 18
dive: 54
start: 10 6 114 17 41 49
data:
$ID,178
$MISSION,18
$DIVE,54
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,370
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$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,350
$N_FILEKB,4
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$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,3046
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,48
$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,0.0
$GPS1,061014,173420,1313.836,14513.111,68,1.3,88,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-74.9
$GPS2,061014,174138,1313.832,14513.056,12,1.1,32,1.6
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S4
$TGT_LATLONG,1210.000,14532.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,154.6,123347,-18.8,-10.000,-21.60,2227
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-155.7,144,2123,1613,1618,0.0,0.0,0,78,0.00,0.00,-61.42,0.000,16386,0.000,0.000,143,2124,3226,3273,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.77,-155.7,144,2125,3274,3182,3.1,-12.0,10,105,10.57,2.25,-7.72,0.000,18692,0.250,0.058,2614,3551,3685,3749,3622,0,0,0,0,0,0,26.10,26.51,26.86
$GC,109,-0.37,-155.7,2616,3552,3750,3624,18.4,-48.3,15,117,0.45,2.12,0.00,0.000,3078,0.200,0.029,2739,2156,3687,3751,3623,0,0,0,0,0,0,26.18,26.59,28.83
$GC,421,-0.37,-155.7,2739,2158,3758,3625,80.7,-16.0,59,429,0.00,2.15,0.00,0.000,516,0.000,0.037,2738,753,3688,3753,3623,0,0,0,0,0,0,28.83,26.74,28.83
$GC,498,-0.40,-155.7,2739,753,3759,3623,91.9,-12.9,66,511,0.00,2.10,0.00,0.000,1030,0.000,0.034,2737,2144,3691,3759,3623,0,0,0,0,0,0,28.83,26.79,28.83
$GC,808,-0.45,-155.7,2738,2144,3765,3623,128.2,-9.9,97,816,0.00,2.17,0.00,0.000,260,0.000,0.049,2737,3557,3693,3764,3623,0,0,0,0,0,0,28.83,26.84,28.83
$GC,840,-0.51,-155.7,2738,3558,3765,3623,130.8,-9.4,99,852,0.00,2.05,0.00,0.000,1030,0.000,0.028,2737,2148,3693,3764,3623,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1146,-0.58,-155.7,2738,2146,3769,3624,156.1,-8.3,130,1154,0.12,2.17,0.00,0.000,4356,0.087,0.045,2653,3564,3696,3768,3624,0,0,0,0,0,0,27.06,26.92,28.83
$GC,1209,-0.58,-155.7,2653,3564,3770,3623,162.9,-12.4,135,1219,0.00,2.08,0.00,0.000,1030,0.000,0.028,2653,2153,3696,3768,3624,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1534,-0.58,-155.7,2654,2150,3773,3627,203.6,-11.2,166,1542,0.12,2.10,0.00,0.000,2564,0.163,0.036,2691,747,3697,3769,3626,0,0,0,0,0,0,26.89,27.02,28.83
$GC,1576,-0.58,-155.7,2692,747,3770,3627,206.2,-10.8,167,1584,0.00,2.10,0.00,0.000,1030,0.000,0.032,2685,2159,3698,3769,3627,0,0,0,0,0,0,28.83,27.04,28.83
$GC,1888,-0.63,-155.7,2686,2161,3770,3628,234.6,-7.7,178,1896,0.00,2.12,0.00,0.000,260,0.000,0.047,2675,3553,3700,3770,3631,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1991,-0.68,-155.7,2675,3553,3771,3627,240.7,-6.8,181,2000,0.00,2.08,0.00,0.000,1030,0.000,0.028,2675,2138,3698,3770,3626,0,0,0,0,0,0,28.83,27.13,28.83
$GC,2306,-0.73,-155.7,2675,2134,3772,3627,267.0,-8.6,192,2314,0.12,2.08,0.00,0.000,4612,0.094,0.037,2599,749,3698,3770,3627,0,0,0,0,0,0,27.16,27.09,28.83
$GC,2433,-0.73,-155.7,2600,750,3770,3629,282.0,-12.8,196,2441,0.17,2.10,0.00,0.000,3078,0.156,0.034,2638,2156,3698,3770,3627,0,0,0,0,0,0,26.87,27.10,28.83
$GC,2756,-0.75,-155.7,2638,2156,3769,3626,315.7,-10.0,207,2764,0.00,2.15,0.00,0.000,260,0.000,0.050,2630,3560,3696,3766,3627,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2838,-0.78,-155.7,2630,3560,3767,3626,321.7,-10.1,209,2848,0.00,2.08,0.00,0.000,1030,0.000,0.031,2630,2151,3696,3765,3627,0,0,0,0,0,0,28.83,27.18,28.83
$GC,3143,-0.80,-155.7,2630,2149,3763,3628,352.8,-8.6,220,3151,0.00,2.15,0.00,0.000,260,0.000,0.050,2620,3550,3694,3762,3627,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3171,-0.82,-155.7,2621,3550,3763,3626,355.2,-8.6,221,3179,0.00,2.08,0.00,0.000,1030,0.000,0.031,2620,2145,3694,3762,3627,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3498,-0.82,-155.7,2621,2142,3758,3627,382.5,-8.4,232,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2142,3692,3757,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-0.82,-155.7,2621,2141,3751,3627,411.6,-10.0,242,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2141,3688,3751,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4098,-0.84,-155.7,2621,2141,3747,3626,438.9,-9.1,252,4106,0.00,2.10,0.00,0.000,516,0.000,0.042,2621,762,3686,3745,3627,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4145,-0.87,-155.7,2621,759,3746,3626,441.6,-9.2,253,4154,0.00,2.10,0.00,0.000,1030,0.000,0.037,2611,2148,3685,3744,3626,0,0,0,0,0,0,28.83,27.13,28.83
$GC,4450,-0.87,-155.7,2612,2149,3741,3626,472.1,-9.1,263,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2148,3682,3740,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4750,-0.87,-155.7,2612,2148,3738,3622,495.1,-7.3,273,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2148,3678,3736,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5050,-0.87,-155.7,2612,2148,3735,3619,516.4,-7.2,283,5061,0.00,2.17,0.00,0.000,260,0.000,0.054,2601,3553,3676,3733,3619,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5141,-0.87,-155.7,2601,3555,3731,3620,523.8,-7.9,286,5148,0.00,2.08,0.00,0.000,1030,0.000,0.034,2602,2155,3675,3731,3619,0,0,0,0,0,0,28.83,27.18,28.83
$GC,5473,-0.87,-155.7,2602,2152,3729,3618,553.7,-9.5,297,5485,0.00,2.12,0.00,0.000,516,0.000,0.044,2601,755,3672,3728,3617,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5519,-0.87,-155.7,2602,756,3729,3618,556.9,-9.7,298,5528,0.00,2.12,0.00,0.000,1030,0.000,0.038,2593,2154,3672,3727,3617,0,0,0,0,0,0,28.83,27.10,28.83
$GC,5837,-0.87,-155.7,2593,2158,3725,3616,592.3,-10.9,309,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2154,3670,3725,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6137,-0.87,-155.7,2593,2154,3723,3613,624.0,-10.4,319,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2154,3667,3722,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6437,-0.87,-155.7,2594,2155,3720,3613,654.1,-10.0,329,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2154,3665,3720,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6737,-0.87,-155.7,2593,2153,3718,3609,685.5,-10.9,339,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2154,3662,3716,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7037,-0.87,-155.7,2593,2154,3716,3608,718.9,-11.2,349,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2154,3661,3715,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7337,-0.87,-155.7,2593,2155,3713,3607,751.3,-10.6,359,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2154,3659,3713,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7637,-0.87,-155.7,2593,2155,3712,3607,783.4,-10.7,369,7645,0.00,2.17,0.00,0.000,516,0.000,0.044,2593,755,3657,3710,3605,0,0,0,0,0,0,28.83,27.05,28.83
$GC,7664,-0.87,-155.7,2593,754,3713,3605,786.4,-10.7,370,7672,0.00,2.12,0.00,0.000,1030,0.000,0.041,2585,2144,3658,3711,3605,0,0,0,0,0,0,28.83,27.06,28.83
$GC,7991,-0.87,-155.7,2585,2144,3710,3604,821.5,-10.5,381,7999,0.00,2.22,0.00,0.000,260,0.000,0.057,2574,3566,3656,3709,3604,0,0,0,0,0,0,28.83,26.96,28.83
$GC,8058,-0.87,-155.7,2574,3565,3709,3604,827.7,-10.5,383,8066,0.00,2.15,0.00,0.000,1030,0.000,0.035,2570,2141,3656,3708,3604,0,0,0,0,0,0,28.83,27.14,28.83
$GC,8376,-0.87,-155.7,2574,2137,3708,3602,860.4,-9.7,394,8384,0.00,2.15,0.00,0.000,516,0.000,0.046,2574,741,3655,3707,3603,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8408,-0.87,-155.7,2574,743,3707,3603,863.2,-9.7,395,8417,0.00,2.17,0.00,0.000,1030,0.000,0.041,2566,2159,3654,3706,3602,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8731,-0.87,-155.7,2567,2160,3706,3602,895.9,-9.9,406,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2159,3653,3705,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9031,-0.87,-155.7,2567,2159,3704,3600,926.3,-10.4,416,9041,0.00,2.20,0.00,0.000,260,0.000,0.057,2556,3559,3651,3703,3600,0,0,0,0,0,0,28.83,26.92,28.83
$GC,9061,-0.87,-155.7,2557,3559,3704,3600,929.5,-10.5,417,9069,0.12,2.12,0.00,0.000,3078,0.180,0.036,2585,2149,3651,3703,3600,0,0,0,0,0,0,26.77,27.11,28.83
$GC,9389,-0.87,-155.7,2585,2146,3704,3599,960.7,-9.7,428,9398,0.00,2.22,0.00,0.000,260,0.000,0.057,2577,3554,3650,3702,3599,0,0,0,0,0,0,28.83,26.94,28.83
$GC,9413,-0.87,-155.7,2577,3554,3703,3599,960.7,-9.7,428,9423,0.00,2.10,0.00,0.000,1030,0.000,0.036,2577,2149,3650,3702,3599,0,0,0,0,0,0,28.83,27.10,28.83
$STATE,9687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9687,begin apogee
$GC,9691,-0.13,0.0,2576,2260,3710,3599,991.1,-10.0,438,9828,0.80,0.00,128.25,1.287,10246,0.137,0.000,2824,2259,3046,3085,3008,0,0,0,0,0,0,26.58,28.83,24.39
$STATE,9829,end apogee,CONTROL_FINISHED_OK
$STATE,9829,begin climb
$GC,9830,0.77,155.7,2824,2260,3086,3007,994.4,0.0,442,9975,0.80,0.00,137.32,1.281,10502,0.045,0.000,3132,2259,2414,2457,2371,0,0,0,0,0,0,25.45,28.83,24.10
$GC,10258,0.70,155.7,3133,2260,2446,2359,933.9,17.8,457,10265,0.15,0.00,0.00,0.000,4102,0.199,0.000,3098,2259,2401,2445,2358,0,0,0,0,0,0,26.05,28.83,28.83
$GC,10559,0.65,155.7,3099,2260,2443,2358,887.6,15.3,467,10567,0.00,2.25,0.00,0.000,260,0.000,0.056,3098,3649,2400,2443,2357,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10641,0.60,155.7,3098,3650,2442,2358,877.3,16.0,469,10649,0.17,2.12,0.00,0.000,5126,0.190,0.034,3064,2249,2399,2442,2356,0,0,0,0,0,0,26.29,26.63,28.83
$GC,10954,0.57,155.7,3065,2247,2441,2357,832.7,12.8,480,10962,0.00,2.17,0.00,0.000,516,0.000,0.044,3072,844,2398,2441,2356,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10987,0.55,155.7,3073,840,2442,2354,828.3,13.0,481,10996,0.00,2.17,0.00,0.000,1030,0.000,0.039,3073,2249,2397,2441,2354,0,0,0,0,0,0,28.83,26.72,28.83
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$STATE,18486,end climb,SURFACE_DEPTH_REACHED
$STATE,18486,begin surface coast
$FINISH,-1.0,1.021719
$STATE,18507,end surface coast,CONTROL_FINISHED_OK
$STATE,18507,begin surface
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$IRIDIUM_FIX,1312.02,14509.74,061014,122845
$TT8_MAMPS,0.162533,0.162533
$HUMID,47.28
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$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,183955.43 83174.30
$PA_BOOTCOUNT,64
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$PA_HOME,0.02/0.037/1.764/1.637
$24V_AH,24.10,6.599
$10V_AH,10.04,10.356
$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
$DEVICE_SECS,22.475,150.850,443.875,0.000,0.000,0.000,0.000,310.150,0.000,0.000,34.852,0.000,15033.416,560.668,3226.480,183.421,0.000,2277.597,0.000,1789.148,0.000,0.552,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,604.200,0.000,0.000,0.000,0.000,0.000,19090.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,140.633,0.000,0.000,0.000
$MEM,228452
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