version: 66.12
glider: 178
mission: 18
dive: 139
start: 10 24 114 5 42 32
data:
$ID,178
$MISSION,18
$DIVE,139
$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,63
$R_STBD_OVSHOOT,33
$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
$GPS1,241014,053514,1115.747,14431.916,57,0.9,77,2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-76.7
$GPS2,241014,054221,1115.844,14431.855,14,1.0,34,2.0
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,166.2,9209,-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,-155.7,162,2130,1562,1541,0.0,0.0,0,169,0.00,0.00,-67.53,0.000,16386,0.000,0.000,161,2129,3453,3506,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,171,-0.77,-155.7,162,2130,3507,3401,4.2,-13.3,8,197,10.68,2.25,-3.42,0.000,18692,0.245,0.048,2599,3567,3686,3746,3626,0,0,0,0,0,0,25.58,26.06,26.22
$GC,205,-0.32,-155.7,2599,3566,3750,3627,25.1,-55.0,12,224,0.62,2.17,0.00,0.000,3078,0.181,0.031,2763,2163,3688,3750,3626,0,0,0,0,0,0,25.63,26.08,28.83
$GC,537,-0.37,-155.7,2764,2160,3759,3626,76.7,-11.0,51,550,0.00,2.22,0.00,0.000,516,0.000,0.037,2763,747,3692,3758,3626,0,0,0,0,0,0,28.83,26.10,28.83
$GC,559,-0.43,-155.7,2764,748,3760,3627,79.1,-10.7,53,567,0.00,2.17,0.00,0.000,1030,0.000,0.032,2763,2151,3692,3758,3627,0,0,0,0,0,0,28.83,26.12,28.83
$GC,865,-0.50,-155.7,2764,2151,3764,3626,106.1,-7.3,83,874,0.15,2.22,0.00,0.000,4356,0.075,0.044,2669,3555,3694,3762,3626,0,0,0,0,0,0,26.17,26.09,28.83
$GC,909,-0.53,-155.7,2671,3556,3764,3628,111.4,-11.8,87,918,0.00,2.12,0.00,0.000,1030,0.000,0.028,2670,2145,3695,3763,3627,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1222,-0.56,-155.7,2671,2142,3768,3628,148.6,-9.8,118,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2141,3697,3767,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1524,-0.59,-155.7,2670,2145,3770,3627,176.7,-11.3,148,1536,0.00,2.17,0.00,0.000,516,0.000,0.037,2670,746,3699,3770,3628,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1657,-0.63,-155.7,2670,746,3771,3629,193.5,-12.1,161,1666,0.00,2.17,0.00,0.000,1030,0.000,0.031,2669,2152,3699,3769,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1990,-0.67,-155.7,2669,2154,3771,3631,221.1,-6.3,176,2001,0.00,2.25,0.00,0.000,260,0.000,0.047,2669,3556,3699,3770,3629,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2126,-0.73,-155.7,2669,3556,3771,3629,228.0,-5.5,180,2135,0.00,2.12,0.00,0.000,1030,0.000,0.027,2669,2144,3699,3770,3629,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2445,-0.78,-155.7,2669,2143,3770,3631,250.5,-6.5,191,2454,0.12,2.17,0.00,0.000,4612,0.091,0.035,2595,759,3699,3769,3629,0,0,0,0,0,0,26.20,26.13,28.83
$GC,2588,-0.78,-155.7,2595,759,3769,3629,264.2,-11.1,195,2596,0.12,2.17,0.00,0.000,3078,0.153,0.033,2617,2158,3698,3767,3629,0,0,0,0,0,0,25.94,26.17,28.83
$GC,2901,-0.80,-155.7,2617,2159,3765,3631,297.8,-10.5,206,2909,0.00,2.22,0.00,0.000,260,0.000,0.047,2609,3553,3696,3764,3629,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2938,-0.82,-155.7,2614,3552,3765,3629,301.5,-10.6,207,2946,0.00,2.12,0.00,0.000,1030,0.000,0.028,2609,2153,3696,3763,3629,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3260,-0.82,-155.7,2609,2150,3759,3630,337.4,-10.6,218,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2149,3694,3759,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,-0.82,-155.7,2609,2149,3755,3629,365.6,-8.8,228,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2149,3691,3754,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3861,-0.82,-155.7,2609,2150,3749,3629,389.4,-8.0,238,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2149,3689,3749,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.82,-155.7,2609,2150,3744,3628,414.1,-8.5,248,4169,0.00,2.28,0.00,0.000,260,0.000,0.050,2599,3552,3685,3744,3627,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4198,-0.84,-155.7,2599,3554,3744,3629,416.6,-8.6,249,4205,0.00,2.15,0.00,0.000,1030,0.000,0.031,2598,2150,3685,3743,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4515,-0.84,-155.7,2598,2147,3741,3625,448.1,-10.0,260,4526,0.00,2.20,0.00,0.000,516,0.000,0.041,2598,753,3682,3740,3625,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4555,-0.84,-155.7,2599,754,3740,3626,451.4,-10.2,261,4563,0.00,2.22,0.00,0.000,1030,0.000,0.035,2590,2147,3682,3739,3625,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4873,-0.84,-155.7,2591,2149,3736,3624,489.3,-11.9,272,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2148,3679,3735,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5173,-0.84,-155.7,2590,2148,3733,3620,523.4,-11.0,282,5183,0.00,2.28,0.00,0.000,260,0.000,0.052,2579,3555,3676,3732,3620,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5248,-0.84,-155.7,2580,3557,3731,3621,530.0,-11.0,284,5255,0.00,2.17,0.00,0.000,1030,0.000,0.030,2579,2141,3675,3730,3620,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5560,-0.84,-155.7,2580,2138,3729,3619,563.8,-9.9,295,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2137,3673,3728,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5860,-0.84,-155.7,2580,2137,3726,3616,593.7,-10.3,305,5871,0.00,2.22,0.00,0.000,516,0.000,0.041,2579,755,3670,3725,3616,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5885,-0.84,-155.7,2579,755,3726,3616,593.7,-10.3,305,5896,0.00,2.22,0.00,0.000,1030,0.000,0.037,2572,2157,3670,3725,3616,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6191,-0.84,-155.7,2572,2157,3722,3615,632.6,-12.2,316,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2157,3667,3721,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6491,-0.84,-155.7,2573,2159,3720,3614,669.1,-12.0,326,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2157,3666,3720,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6791,-0.84,-155.7,2573,2159,3718,3612,702.1,-10.5,336,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2158,3664,3717,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,-0.84,-155.7,2573,2159,3717,3609,731.2,-9.6,346,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2157,3662,3716,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7391,-0.84,-155.7,2573,2158,3715,3608,759.6,-9.6,356,7399,0.00,2.30,0.00,0.000,260,0.000,0.054,2562,3556,3661,3714,3608,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7428,-0.84,-155.7,2561,3557,3713,3609,762.6,-9.8,357,7436,0.15,2.17,0.00,0.000,3078,0.156,0.033,2597,2152,3660,3713,3607,0,0,0,0,0,0,25.71,26.05,28.83
$GC,7746,-0.86,-155.7,2598,2150,3713,3606,793.1,-9.7,368,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2151,3658,3711,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8046,-0.88,-155.7,2599,2150,3711,3605,824.2,-10.4,378,8055,0.00,2.33,0.00,0.000,260,0.000,0.053,2590,3558,3657,3709,3605,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8086,-0.91,-155.7,2591,3559,3710,3606,827.3,-10.5,379,8094,0.00,2.20,0.00,0.000,1030,0.000,0.034,2590,2152,3657,3709,3605,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8403,-0.91,-155.7,2590,2149,3709,3604,860.8,-10.1,390,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2149,3656,3708,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8703,-0.91,-155.7,2590,2149,3707,3604,889.4,-9.3,400,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2148,3654,3706,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9003,-0.91,-155.7,2590,2149,3706,3603,915.5,-8.4,410,9011,0.00,2.33,0.00,0.000,260,0.000,0.054,2582,3557,3653,3704,3602,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9041,-0.91,-155.7,2582,3557,3705,3601,917.9,-8.4,411,9050,0.00,2.20,0.00,0.000,1030,0.000,0.034,2581,2151,3652,3704,3601,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9360,-0.91,-155.7,2582,2148,3705,3601,945.2,-8.1,422,9368,0.00,2.33,0.00,0.000,260,0.000,0.054,2572,3554,3654,3703,3606,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9387,-0.91,-155.7,2572,3554,3704,3600,947.5,-8.2,423,9395,0.00,2.20,0.00,0.000,1030,0.000,0.034,2572,2147,3651,3703,3600,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9715,-0.91,-155.7,2573,2144,3704,3599,973.3,-7.6,434,9724,0.00,2.28,0.00,0.000,516,0.000,0.044,2572,745,3650,3701,3600,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9749,-0.91,-155.7,2573,745,3703,3599,975.6,-7.7,435,9759,0.00,2.28,0.00,0.000,1030,0.000,0.040,2564,2152,3650,3701,3599,0,0,0,0,0,0,28.83,25.90,28.83
$STATE,9923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9923,begin apogee
$GC,9927,-0.13,0.0,2564,2258,3702,3600,990.8,-8.5,441,10067,0.88,0.00,133.27,1.280,10246,0.133,0.000,2824,2257,3046,3083,3010,0,0,0,0,0,0,25.60,28.83,23.87
$STATE,10068,end apogee,CONTROL_FINISHED_OK
$STATE,10068,begin climb
$GC,10070,0.77,155.7,2824,2257,3082,3007,992.9,0.0,445,10229,0.82,2.47,142.38,1.258,10500,0.046,0.050,3134,3653,2407,2449,2366,0,0,0,0,0,0,24.93,24.30,23.39
$GC,10238,0.68,155.7,3135,3654,2449,2367,980.3,10.6,451,10247,0.22,2.33,0.00,0.000,5126,0.177,0.031,3093,2249,2405,2446,2365,0,0,0,0,0,0,24.52,24.70,28.83
$GC,10556,0.64,155.7,3094,2247,2443,2357,932.0,13.4,462,10564,0.00,2.28,0.00,0.000,516,0.000,0.042,3101,842,2399,2442,2356,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10594,0.60,155.7,3102,842,2443,2354,927.7,13.3,463,10602,0.15,2.25,0.00,0.000,5126,0.180,0.037,3070,2251,2397,2441,2354,0,0,0,0,0,0,25.67,25.94,28.83
$GC,10916,0.57,155.7,3068,2252,2440,2354,891.2,10.8,474,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2251,2396,2440,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11217,0.55,155.7,3068,2251,2440,2351,857.9,11.2,484,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2251,2395,2439,2352,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19241,end climb,SURFACE_DEPTH_REACHED
$STATE,19241,begin surface coast
$FINISH,0.4,1.021254
$STATE,19256,end surface coast,CONTROL_FINISHED_OK
$STATE,19256,begin surface
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$IRIDIUM_FIX,1112.86,14434.90,241014,003737
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$HUMID,46.81
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,19284.95 8417.04
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$10V_AH,10.00,34.598
$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
$SENSOR_SECS,639.881,0.000,0.000,0.000,0.000,0.000,19812.031,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228468
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$CAP_FILE_SIZE,172979,0
$CFSIZE,260034560,246435840
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$INTR,0,18041.31,0x236bc6,7,5
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