version: 66.12
glider: 178
mission: 18
dive: 132
start: 10 22 114 17 43 56
data:
$ID,178
$MISSION,18
$DIVE,132
$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,60
$R_STBD_OVSHOOT,38
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,221014,173649,1129.133,14429.825,84,0.8,104,2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-76.1
$GPS2,221014,174345,1129.104,14429.747,13,0.7,33,2.0
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,154.5,34046,-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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.77,-155.7,162,2133,1636,1605,0.0,0.0,0,169,0.00,0.00,-65.88,0.000,16386,0.000,0.000,162,2131,3496,3553,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,171,-0.77,-155.7,163,2133,3557,3441,4.0,-12.1,8,193,10.73,2.20,-2.55,0.000,18948,0.247,0.054,2612,767,3685,3742,3629,0,0,0,0,0,0,25.62,26.08,26.23
$GC,415,-0.72,-155.7,2613,769,3755,3630,84.3,-22.5,38,427,0.12,2.15,0.00,0.000,3078,0.173,0.034,2632,2149,3691,3754,3629,0,0,0,0,0,0,25.86,26.10,28.83
$GC,722,-0.72,-155.7,2634,2150,3763,3630,138.3,-14.4,69,735,0.00,2.25,0.00,0.000,260,0.000,0.046,2624,3567,3695,3762,3629,0,0,0,0,0,0,28.83,26.09,28.83
$GC,799,-0.72,-155.7,2625,3568,3763,3631,148.4,-13.2,76,810,0.00,2.15,0.00,0.000,1030,0.000,0.028,2624,2160,3696,3763,3630,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1105,-0.72,-155.7,2625,2158,3769,3631,188.7,-12.6,107,1112,0.00,2.20,0.00,0.000,516,0.000,0.037,2623,753,3698,3768,3629,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1211,-0.72,-155.7,2624,753,3769,3631,200.7,-11.0,117,1222,0.00,2.17,0.00,0.000,1030,0.000,0.032,2616,2160,3699,3768,3631,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1527,-0.72,-155.7,2615,2162,3772,3633,239.9,-13.1,128,1535,0.00,2.20,0.00,0.000,516,0.000,0.037,2615,746,3701,3770,3632,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1615,-0.72,-155.7,2615,747,3771,3633,251.2,-12.9,131,1627,0.10,2.15,0.00,0.000,3078,0.125,0.032,2639,2145,3701,3770,3632,0,0,0,0,0,0,25.94,26.17,28.83
$GC,1947,-0.75,-155.7,2639,2146,3771,3634,277.0,-5.5,142,1960,0.00,2.22,0.00,0.000,260,0.000,0.047,2630,3548,3700,3769,3632,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2099,-0.78,-155.7,2631,3548,3769,3632,288.1,-7.5,147,2110,0.00,2.12,0.00,0.000,1030,0.000,0.028,2631,2151,3700,3768,3632,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2430,-0.81,-155.7,2631,2147,3766,3632,317.7,-9.1,158,2441,0.00,2.17,0.00,0.000,516,0.000,0.039,2631,762,3698,3764,3632,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2501,-0.85,-155.7,2631,763,3765,3633,323.3,-9.3,160,2509,0.00,2.17,0.00,0.000,1030,0.000,0.034,2623,2157,3698,3764,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2819,-0.88,-155.7,2623,2157,3760,3631,353.7,-9.4,171,2827,0.12,2.25,0.00,0.000,4356,0.087,0.047,2550,3554,3695,3758,3632,0,0,0,0,0,0,26.17,26.06,28.83
$GC,2862,-0.88,-155.7,2551,3554,3758,3632,357.7,-9.9,172,2870,0.15,2.17,0.00,0.000,3078,0.159,0.030,2587,2143,3694,3757,3632,0,0,0,0,0,0,25.86,26.19,28.83
$GC,3185,-0.88,-155.7,2588,2142,3754,3633,396.5,-11.8,183,3193,0.00,2.20,0.00,0.000,516,0.000,0.040,2587,760,3692,3752,3632,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3222,-0.88,-155.7,2587,760,3752,3632,399.9,-12.0,184,3230,0.00,2.17,0.00,0.000,1030,0.000,0.035,2581,2147,3691,3750,3632,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3539,-0.88,-155.7,2582,2147,3747,3632,438.1,-11.6,195,3547,0.00,2.28,0.00,0.000,260,0.000,0.050,2570,3560,3688,3745,3631,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3561,-0.88,-155.7,2571,3561,3746,3632,438.1,-11.6,195,3571,0.00,2.20,0.00,0.000,1030,0.000,0.032,2571,2149,3688,3745,3631,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3867,-0.88,-155.7,2570,2146,3742,3628,478.4,-12.5,206,3877,0.00,2.20,0.00,0.000,516,0.000,0.041,2570,754,3684,3741,3628,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3961,-0.88,-155.7,2570,759,3741,3629,490.7,-13.6,209,3970,0.00,2.22,0.00,0.000,1030,0.000,0.036,2560,2158,3683,3740,3627,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4290,-0.88,-155.7,2561,2158,3737,3626,537.0,-13.7,220,4300,0.00,2.25,0.00,0.000,260,0.000,0.051,2551,3555,3680,3735,3626,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4329,-0.88,-155.7,2551,3555,3736,3626,541.2,-13.7,221,4338,0.15,2.20,0.00,0.000,3078,0.160,0.033,2586,2151,3681,3736,3626,0,0,0,0,0,0,25.75,25.72,28.83
$GC,4647,-0.88,-155.7,2586,2147,3734,3623,577.0,-10.3,232,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2147,3678,3733,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-0.88,-155.7,2587,2147,3730,3620,606.9,-9.8,242,4957,0.00,2.25,0.00,0.000,516,0.000,0.042,2584,753,3674,3729,3620,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4987,-0.88,-155.7,2587,753,3730,3620,610.0,-9.8,243,4994,0.00,2.22,0.00,0.000,1030,0.000,0.037,2581,2151,3674,3729,3620,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5304,-0.88,-155.7,2581,2151,3727,3618,641.9,-9.4,254,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2152,3671,3725,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5604,-0.88,-155.7,2582,2153,3724,3618,669.3,-9.1,264,5612,0.00,2.25,0.00,0.000,516,0.000,0.042,2581,753,3669,3723,3616,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5626,-0.88,-155.7,2581,754,3724,3618,669.3,-9.1,264,5636,0.00,2.22,0.00,0.000,1030,0.000,0.037,2571,2149,3669,3723,3616,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5932,-0.88,-155.7,2572,2149,3722,3615,702.6,-10.6,275,5940,0.00,2.30,0.00,0.000,260,0.000,0.054,2561,3561,3667,3720,3615,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5959,-0.88,-155.7,2561,3562,3721,3616,702.6,-10.6,275,5970,0.00,2.22,0.00,0.000,1030,0.000,0.033,2561,2145,3667,3720,3615,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6264,-0.88,-155.7,2561,2143,3719,3613,741.5,-11.9,286,6273,0.00,2.25,0.00,0.000,516,0.000,0.042,2561,753,3665,3717,3613,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6307,-0.88,-155.7,2562,753,3718,3614,745.5,-12.0,287,6315,0.15,2.25,0.00,0.000,3078,0.167,0.039,2588,2148,3665,3717,3613,0,0,0,0,0,0,25.68,25.98,28.83
$GC,6630,-0.88,-155.7,2589,2149,3716,3611,779.2,-9.7,298,6639,0.00,2.30,0.00,0.000,260,0.000,0.054,2580,3560,3663,3715,3611,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6659,-0.88,-155.7,2581,3560,3716,3611,782.1,-9.7,299,6667,0.00,2.20,0.00,0.000,1030,0.000,0.034,2580,2152,3663,3715,3611,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6992,-0.88,-155.7,2581,2149,3715,3610,814.5,-9.5,310,7000,0.00,2.28,0.00,0.000,516,0.000,0.044,2580,746,3661,3713,3610,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7074,-0.88,-155.7,2581,747,3714,3611,821.0,-9.8,312,7082,0.00,2.25,0.00,0.000,1030,0.000,0.038,2572,2151,3660,3712,3608,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7387,-0.88,-155.7,2573,2151,3712,3607,851.9,-8.9,323,7395,0.00,2.28,0.00,0.000,516,0.000,0.043,2572,744,3659,3711,3607,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7434,-0.88,-155.7,2573,746,3711,3609,855.0,-8.9,324,7442,0.00,2.25,0.00,0.000,1030,0.000,0.039,2564,2150,3659,3711,3607,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7747,-0.88,-155.7,2563,2152,3711,3607,884.8,-9.2,335,7757,0.00,2.25,0.00,0.000,516,0.000,0.044,2563,754,3657,3710,3605,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7787,-0.88,-155.7,2564,754,3712,3605,887.7,-9.2,336,7795,0.12,2.25,0.00,0.000,3078,0.180,0.039,2583,2154,3657,3710,3605,0,0,0,0,0,0,25.70,25.95,28.83
$GC,8105,-0.88,-155.7,2584,2154,3709,3605,914.8,-8.2,347,8112,0.00,2.33,0.00,0.000,260,0.000,0.054,2575,3561,3655,3707,3604,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8192,-0.88,-155.7,2576,3562,3708,3606,922.8,-8.9,350,8203,0.00,2.22,0.00,0.000,1030,0.000,0.034,2575,2152,3655,3707,3604,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8523,-0.88,-155.7,2575,2151,3707,3604,953.4,-9.4,361,8536,0.00,2.33,0.00,0.000,260,0.000,0.054,2567,3555,3654,3705,3604,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8565,-0.88,-155.7,2568,3556,3705,3606,956.5,-9.3,362,8574,0.00,2.25,0.00,0.000,1030,0.000,0.039,2567,2139,3654,3705,3604,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,8882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8882,begin apogee
$GC,8886,-0.13,0.0,2567,2256,3705,3603,990.2,-10.6,373,9026,0.88,0.00,133.12,1.273,10246,0.134,0.000,2827,2258,3048,3084,3012,0,0,0,0,0,0,25.61,28.83,23.92
$STATE,9027,end apogee,CONTROL_FINISHED_OK
$STATE,9027,begin climb
$GC,9029,0.77,155.7,2828,2257,3083,3010,994.8,0.0,377,9182,0.80,2.50,141.65,1.255,10500,0.043,0.053,3130,3652,2410,2453,2367,0,0,0,0,0,0,24.94,24.31,23.44
$GC,9221,0.68,155.7,3130,3652,2446,2365,980.6,10.6,383,9229,0.20,2.30,0.00,0.000,5126,0.179,0.031,3094,2249,2404,2444,2365,0,0,0,0,0,0,24.72,24.95,28.83
$GC,9544,0.64,155.7,3095,2247,2442,2358,934.8,13.3,394,9552,0.00,2.33,0.00,0.000,260,0.000,0.053,3095,3650,2398,2441,2356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9576,0.60,155.7,3095,3650,2442,2356,930.8,13.3,395,9585,0.15,2.22,0.00,0.000,5126,0.186,0.032,3069,2238,2398,2441,2356,0,0,0,0,0,0,25.67,25.97,28.83
$GC,9904,0.60,155.7,3070,2236,2440,2356,890.4,12.0,406,9916,0.00,2.33,0.00,0.000,260,0.000,0.054,3069,3648,2397,2439,2355,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9936,0.58,155.7,3071,3649,2440,2356,886.5,12.1,407,9945,0.00,2.17,0.00,0.000,1030,0.000,0.033,3077,2250,2396,2439,2354,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10266,0.55,155.7,3078,2247,2438,2355,845.9,12.4,418,10277,0.00,2.22,0.00,0.000,516,0.000,0.043,3087,855,2395,2437,2353,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,17657,end climb,SURFACE_DEPTH_REACHED
$STATE,17657,begin surface coast
$FINISH,-1.4,1.021294
$STATE,17679,end surface coast,CONTROL_FINISHED_OK
$STATE,17680,begin surface
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$IRIDIUM_FIX,1128.26,14424.41,221014,125435
$TT8_MAMPS,0.05243,0.05243
$HUMID,47.71
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.60
$XPDR_PINGS,3
$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,17708.76 7719.63
$PA_BOOTCOUNT,135
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$PA_HOME,0.03/0.054/1.764/1.620
$PA_DISK_BANK,0
$24V_AH,23.44,32.923
$10V_AH,10.03,34.068
$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,228512
$DATA_FILE_SIZE,36798,835
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