version: 66.12
glider: 178
mission: 18
dive: 138
start: 10 24 114 0 41 50
data:
$ID,178
$MISSION,18
$DIVE,138
$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,55
$R_STBD_OVSHOOT,36
$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
$GPS1,241014,002926,1117.836,14431.568,29,1.1,49,2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-77.4
$GPS2,241014,004139,1117.899,14431.469,8,1.5,28,2.0
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,166.1,13077,-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,94,end surface,CONTROL_FINISHED_OK
$STATE,94,begin dive
$GC,96,-0.77,-155.7,162,2147,1577,1550,0.0,0.0,0,168,0.00,0.00,-65.38,0.000,16386,0.000,0.000,161,2146,3356,3408,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,170,-0.77,-155.7,162,2146,3409,3308,4.0,-11.1,8,201,10.75,0.00,-4.82,0.000,18694,0.246,0.000,2611,2144,3687,3748,3627,0,0,0,0,0,0,25.63,28.83,26.25
$GC,510,-0.71,-155.7,2612,2143,3766,3626,112.1,-21.0,47,524,0.00,2.15,0.00,0.000,516,0.000,0.037,2611,766,3692,3758,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,608,-0.69,-155.7,2612,767,3762,3628,128.7,-15.5,56,621,0.17,2.15,0.00,0.000,3078,0.149,0.032,2649,2159,3694,3761,3627,0,0,0,0,0,0,25.90,26.17,28.83
$GC,915,-0.69,-155.7,2650,2159,3769,3623,163.6,-11.3,87,924,0.00,2.20,0.00,0.000,516,0.000,0.036,2650,759,3698,3769,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1003,-0.72,-155.7,2650,755,3769,3628,172.9,-9.9,95,1012,0.00,2.15,0.00,0.000,1030,0.000,0.031,2644,2149,3698,3768,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1317,-0.74,-155.7,2644,2150,3771,3629,199.2,-7.1,126,1325,0.00,2.22,0.00,0.000,260,0.000,0.047,2633,3552,3699,3770,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1384,-0.76,-155.7,2634,3554,3771,3630,203.8,-7.3,129,1393,0.00,2.10,0.00,0.000,1030,0.000,0.027,2634,2152,3699,3769,3629,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1707,-0.79,-155.7,2634,2148,3771,3628,236.0,-10.9,140,1715,0.00,2.15,0.00,0.000,516,0.000,0.037,2633,759,3698,3769,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1895,-0.81,-155.7,2634,759,3768,3628,254.3,-10.1,146,1903,0.00,2.17,0.00,0.000,1030,0.000,0.032,2626,2148,3697,3767,3628,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2218,-0.84,-155.7,2626,2149,3765,3635,285.2,-9.1,157,2226,0.00,2.25,0.00,0.000,260,0.000,0.047,2615,3557,3695,3763,3628,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2275,-0.86,-155.7,2614,3557,3763,3628,290.7,-9.2,159,2283,0.00,2.15,0.00,0.000,1030,0.000,0.028,2614,2152,3695,3762,3628,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2603,-0.88,-155.7,2615,2148,3758,3628,321.2,-9.0,170,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2148,3692,3757,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,-0.88,-155.7,2615,2148,3752,3628,345.7,-7.9,180,2911,0.00,2.17,0.00,0.000,516,0.000,0.039,2614,756,3689,3750,3628,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2955,-0.88,-155.7,2615,757,3750,3629,348.0,-8.1,181,2966,0.00,2.20,0.00,0.000,1030,0.000,0.034,2606,2161,3688,3749,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3260,-0.88,-155.7,2606,2160,3746,3627,376.3,-8.6,192,3268,0.00,2.25,0.00,0.000,260,0.000,0.049,2596,3551,3685,3744,3627,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3322,-0.88,-155.7,2596,3551,3745,3627,381.7,-9.1,194,3330,0.00,2.17,0.00,0.000,1030,0.000,0.030,2595,2143,3685,3743,3627,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3644,-0.88,-155.7,2596,2141,3740,3627,416.4,-11.3,205,3652,0.00,2.20,0.00,0.000,516,0.000,0.041,2596,759,3682,3739,3625,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3686,-0.88,-155.7,2596,756,3740,3626,419.8,-11.4,206,3695,0.00,2.22,0.00,0.000,1030,0.000,0.035,2586,2154,3682,3739,3625,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4001,-0.88,-155.7,2586,2158,3736,3622,460.7,-12.7,217,4010,0.00,2.20,0.00,0.000,516,0.000,0.041,2586,765,3678,3734,3622,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4044,-0.88,-155.7,2587,767,3735,3623,464.5,-12.7,218,4052,0.00,2.20,0.00,0.000,1030,0.000,0.035,2577,2156,3677,3733,3621,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4356,-0.88,-155.7,2577,2158,3731,3620,503.8,-11.4,229,4364,0.00,2.25,0.00,0.000,260,0.000,0.050,2566,3555,3673,3729,3618,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4393,-0.88,-155.7,2566,3560,3730,3619,507.0,-11.4,230,4401,0.00,2.17,0.00,0.000,1030,0.000,0.031,2566,2142,3673,3729,3618,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4710,-0.88,-155.7,2567,2140,3727,3618,543.9,-11.1,241,4718,0.00,2.22,0.00,0.000,516,0.000,0.041,2566,753,3671,3726,3617,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4738,-0.88,-155.7,2566,755,3727,3618,546.9,-11.1,242,4745,0.00,2.22,0.00,0.000,1030,0.000,0.036,2557,2159,3670,3725,3616,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5065,-0.88,-155.7,2558,2159,3724,3615,583.4,-11.4,253,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2159,3668,3721,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5365,-0.88,-155.7,2557,2159,3721,3613,617.0,-11.0,263,5373,0.00,2.28,0.00,0.000,516,0.000,0.042,2558,754,3666,3720,3613,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5402,-0.88,-155.7,2558,754,3721,3614,620.6,-11.1,264,5410,0.15,2.22,0.00,0.000,3078,0.162,0.037,2583,2152,3666,3720,3613,0,0,0,0,0,0,25.72,26.01,28.83
$GC,5725,-0.88,-155.7,2584,2155,3718,3611,651.9,-9.5,275,5735,0.00,2.30,0.00,0.000,260,0.000,0.053,2575,3560,3664,3718,3611,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5749,-0.88,-155.7,2576,3560,3718,3611,651.9,-9.5,275,5760,0.00,2.20,0.00,0.000,1030,0.000,0.033,2575,2153,3664,3717,3611,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6055,-0.88,-155.7,2576,2150,3716,3609,685.7,-10.2,286,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2150,3662,3715,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,-0.88,-155.7,2576,2151,3713,3608,714.8,-9.2,296,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2150,3659,3712,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6655,-0.88,-155.7,2576,2150,3712,3607,740.9,-8.6,306,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2146,3658,3711,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6955,-0.88,-155.7,2576,2149,3710,3605,766.5,-8.7,316,6963,0.00,2.25,0.00,0.000,516,0.000,0.043,2575,747,3654,3709,3600,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6987,-0.88,-155.7,2575,747,3710,3605,768.8,-8.8,317,6995,0.00,2.25,0.00,0.000,1030,0.000,0.038,2567,2155,3656,3708,3604,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7309,-0.88,-155.7,2569,2156,3707,3604,800.5,-9.8,328,7317,0.00,2.28,0.00,0.000,260,0.000,0.054,2557,3552,3655,3707,3603,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7332,-0.88,-155.7,2558,3553,3708,3603,800.5,-9.8,328,7342,0.00,2.22,0.00,0.000,1030,0.000,0.033,2557,2141,3654,3706,3603,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7639,-0.88,-155.7,2558,2139,3706,3603,834.7,-10.3,339,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2138,3653,3705,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7937,-0.88,-155.7,2557,2139,3703,3602,863.9,-9.7,349,7948,0.00,2.22,0.00,0.000,516,0.000,0.044,2557,752,3652,3703,3601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7987,-0.88,-155.7,2558,753,3704,3602,867.3,-9.6,350,7995,0.15,2.25,0.00,0.000,3078,0.160,0.038,2583,2155,3651,3703,3600,0,0,0,0,0,0,25.61,25.85,28.83
$GC,8300,-0.88,-155.7,2583,2155,3703,3599,893.9,-8.0,361,8308,0.00,2.30,0.00,0.000,260,0.000,0.054,2575,3553,3650,3702,3599,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8362,-0.88,-155.7,2575,3554,3702,3601,898.9,-8.3,363,8370,0.00,2.20,0.00,0.000,1030,0.000,0.034,2575,2146,3650,3702,3599,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8684,-0.88,-155.7,2575,2144,3701,3599,927.7,-9.1,374,8692,0.00,2.33,0.00,0.000,260,0.000,0.054,2568,3552,3649,3700,3598,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8732,-0.88,-155.7,2568,3552,3701,3598,930.4,-9.4,375,8739,0.00,2.20,0.00,0.000,1030,0.000,0.034,2567,2146,3648,3699,3598,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9044,-0.88,-155.7,2568,2145,3700,3598,964.7,-10.3,386,9052,0.00,2.25,0.00,0.000,516,0.000,0.044,2567,755,3645,3693,3597,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9112,-0.88,-155.7,2567,755,3699,3596,971.5,-10.7,388,9120,0.00,2.25,0.00,0.000,1030,0.000,0.038,2560,2155,3646,3697,3595,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,9284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9284,begin apogee
$GC,9287,-0.13,0.0,2560,2260,3698,3597,990.1,-10.6,394,9428,0.90,0.00,132.35,1.273,10246,0.134,0.000,2826,2259,3046,3083,3010,0,0,0,0,0,0,25.56,28.83,23.88
$STATE,9429,end apogee,CONTROL_FINISHED_OK
$STATE,9429,begin climb
$GC,9431,0.77,155.7,2827,2259,3083,3008,994.1,0.0,398,9580,0.80,0.00,142.30,1.255,10758,0.043,0.000,3130,2259,2412,2455,2369,0,0,0,0,0,0,24.94,28.83,23.41
$GC,9855,0.71,155.7,3130,2259,2446,2357,938.5,16.5,413,9867,0.00,2.30,0.00,0.000,516,0.000,0.041,3141,849,2401,2445,2357,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9881,0.64,155.7,3141,849,2445,2356,938.5,16.5,413,9891,0.25,2.25,0.00,0.000,5126,0.169,0.037,3078,2253,2400,2444,2357,0,0,0,0,0,0,25.55,25.86,28.83
$GC,10186,0.61,155.7,3078,2255,2443,2356,890.3,14.3,424,10194,0.00,2.30,0.00,0.000,260,0.000,0.054,3077,3648,2398,2442,2355,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10224,0.58,155.7,3078,3649,2443,2356,886.0,14.5,425,10232,0.00,2.17,0.00,0.000,1030,0.000,0.031,3085,2250,2398,2442,2355,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10542,0.55,155.7,3086,2247,2442,2355,837.8,14.5,436,10552,0.15,2.25,0.00,0.000,4612,0.187,0.041,3055,844,2397,2440,2354,0,0,0,0,0,0,25.76,26.06,28.83
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$STATE,17406,end climb,SURFACE_DEPTH_REACHED
$STATE,17406,begin surface coast
$FINISH,-0.3,1.021157
$STATE,17431,end surface coast,CONTROL_FINISHED_OK
$STATE,17431,begin surface
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$IRIDIUM_FIX,1110.66,14426.97,241014,003131
$TT8_MAMPS,0.053928,0.053928
$HUMID,48.14
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17458.88 7661.13
$PA_BOOTCOUNT,141
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$PA_HOME,0.03/0.055/1.764/1.619
$PA_DISK_BANK,0
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$10V_AH,10.02,34.519
$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
$MEM,228536
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$CFSIZE,260034560,246538240
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