version: 66.12
glider: 178
mission: 18
dive: 165
start: 10 29 114 19 37 44
data:
$ID,178
$MISSION,18
$DIVE,165
$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,58
$R_STBD_OVSHOOT,39
$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
$GPS1,291014,193026,1145.067,14403.945,28,1.0,48,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-74.3
$GPS2,291014,193733,1145.104,14403.893,10,1.1,30,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,33.4,192260,-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,-155.7,151,2138,1524,1494,0.0,0.0,0,172,0.00,0.00,-71.93,0.000,16386,0.000,0.000,150,2138,3587,3636,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,174,-0.77,-155.7,151,2140,3635,3544,5.6,-15.1,10,193,10.93,2.22,-1.33,0.000,18692,0.249,0.050,2602,3558,3683,3735,3632,0,0,0,0,0,0,25.53,26.15,26.33
$GC,208,-0.41,-155.7,2602,3558,3742,3631,31.6,-64.6,16,220,0.50,2.15,0.00,0.000,3078,0.186,0.036,2730,2158,3686,3742,3631,0,0,0,0,0,0,25.63,26.15,28.83
$GC,522,-0.41,-155.7,2731,2155,3750,3631,81.1,-12.9,53,530,0.00,2.20,0.00,0.000,516,0.000,0.037,2731,744,3690,3749,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,559,-0.44,-155.7,2732,745,3750,3633,85.3,-11.7,56,568,0.00,2.17,0.00,0.000,1030,0.000,0.032,2725,2152,3690,3749,3632,0,0,0,0,0,0,28.83,26.17,28.83
$GC,873,-0.50,-155.7,2725,2152,3755,3627,115.7,-7.8,87,881,0.00,2.22,0.00,0.000,260,0.000,0.045,2714,3553,3693,3754,3632,0,0,0,0,0,0,28.83,26.13,28.83
$GC,911,-0.56,-155.7,2714,3553,3755,3631,118.8,-8.8,90,921,0.00,2.12,0.00,0.000,1030,0.000,0.026,2714,2134,3693,3754,3632,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1216,-0.63,-155.7,2715,2131,3759,3633,145.0,-7.9,121,1222,0.15,0.00,0.00,0.000,4102,0.071,0.000,2632,2131,3695,3759,3632,0,0,0,0,0,0,26.26,28.83,28.83
$GC,1516,-0.63,-155.7,2633,2132,3762,3633,181.8,-10.8,151,1526,0.12,2.28,0.00,0.000,2308,0.155,0.043,2660,3563,3696,3761,3631,0,0,0,0,0,0,26.01,26.14,28.83
$GC,1601,-0.67,-155.7,2666,3563,3763,3633,189.8,-8.6,159,1609,0.00,2.12,0.00,0.000,1030,0.000,0.027,2660,2150,3696,3762,3631,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1915,-0.71,-155.7,2661,2148,3763,3633,211.9,-6.3,178,1924,0.00,2.15,0.00,0.000,516,0.000,0.036,2660,755,3697,3763,3632,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1949,-0.76,-155.7,2661,756,3764,3633,214.5,-6.6,179,1957,0.00,2.15,0.00,0.000,1030,0.000,0.031,2660,2152,3698,3764,3632,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2277,-0.80,-155.7,2654,2152,3765,3632,245.6,-10.8,190,2287,0.12,2.17,0.00,0.000,4612,0.086,0.034,2583,758,3698,3764,3632,0,0,0,0,0,0,26.22,26.18,28.83
$GC,2311,-0.83,-155.7,2582,757,3764,3632,249.7,-11.4,191,2319,0.00,2.17,0.00,0.000,1030,0.000,0.033,2574,2149,3697,3763,3632,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2639,-0.83,-155.7,2574,2149,3762,3632,293.2,-11.3,202,2647,0.00,2.22,0.00,0.000,260,0.000,0.047,2564,3552,3696,3760,3632,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2691,-0.83,-155.7,2564,3552,3760,3631,296.2,-11.1,203,2702,0.15,2.15,0.00,0.000,3078,0.155,0.028,2600,2139,3695,3759,3632,0,0,0,0,0,0,25.89,26.23,28.83
$GC,2996,-0.83,-155.7,2602,2140,3757,3633,326.6,-9.4,214,3004,0.00,2.28,0.00,0.000,260,0.000,0.047,2592,3557,3693,3755,3632,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3044,-0.83,-155.7,2592,3557,3755,3631,329.7,-9.5,215,3052,0.00,2.15,0.00,0.000,1030,0.000,0.028,2592,2157,3693,3754,3632,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3357,-0.83,-155.7,2593,2154,3751,3631,357.5,-7.9,226,3367,0.00,2.20,0.00,0.000,516,0.000,0.039,2592,757,3690,3749,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3387,-0.83,-155.7,2593,758,3750,3633,360.1,-8.1,227,3394,0.00,2.17,0.00,0.000,1030,0.000,0.034,2584,2147,3690,3749,3632,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3714,-0.83,-155.7,2584,2148,3744,3631,391.7,-10.5,238,3722,0.00,2.28,0.00,0.000,260,0.000,0.049,2573,3559,3687,3743,3631,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3746,-0.83,-155.7,2574,3560,3743,3632,395.0,-10.9,239,3753,0.00,2.17,0.00,0.000,1030,0.000,0.030,2573,2150,3686,3742,3631,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4073,-0.83,-155.7,2574,2148,3739,3628,438.9,-13.6,250,4085,0.00,2.25,0.00,0.000,260,0.000,0.049,2564,3553,3682,3737,3627,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4109,-0.83,-155.7,2565,3553,3738,3627,443.2,-13.7,251,4117,0.15,2.15,0.00,0.000,3078,0.158,0.030,2601,2150,3682,3737,3627,0,0,0,0,0,0,25.84,26.19,28.83
$GC,4432,-0.83,-155.7,2602,2148,3735,3627,481.2,-11.2,262,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2147,3680,3734,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-0.83,-155.7,2601,2146,3731,3622,513.7,-10.4,272,4740,0.00,2.20,0.00,0.000,516,0.000,0.040,2601,758,3677,3731,3623,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4794,-0.85,-155.7,2601,757,3732,3621,519.7,-10.4,274,4802,0.00,2.22,0.00,0.000,1030,0.000,0.035,2594,2157,3675,3730,3621,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5117,-0.85,-155.7,2595,2158,3727,3620,552.1,-9.6,285,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2157,3672,3726,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5417,-0.85,-155.7,2595,2157,3724,3617,579.0,-8.5,295,5426,0.00,2.28,0.00,0.000,260,0.000,0.051,2584,3553,3669,3722,3617,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5451,-0.85,-155.7,2585,3554,3723,3618,581.6,-8.4,296,5459,0.00,2.17,0.00,0.000,1030,0.000,0.031,2584,2152,3667,3718,3617,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5774,-0.85,-155.7,2585,2149,3721,3617,609.6,-8.4,307,5782,0.00,2.22,0.00,0.000,516,0.000,0.041,2584,756,3667,3720,3615,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5832,-0.85,-155.7,2584,756,3721,3615,614.8,-8.8,309,5841,0.00,2.22,0.00,0.000,1030,0.000,0.036,2576,2149,3667,3719,3615,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6161,-0.85,-155.7,2576,2150,3717,3615,645.9,-9.6,320,6172,0.00,2.30,0.00,0.000,260,0.000,0.052,2565,3560,3664,3716,3613,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6196,-0.85,-155.7,2565,3561,3716,3613,649.0,-9.6,321,6204,0.12,2.20,0.00,0.000,3078,0.164,0.031,2593,2148,3664,3715,3614,0,0,0,0,0,0,25.78,26.10,28.83
$GC,6519,-0.85,-155.7,2594,2147,3715,3612,678.4,-9.1,332,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2146,3662,3714,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6819,-0.85,-155.7,2594,2146,3712,3609,706.5,-9.3,342,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2146,3660,3711,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7119,-0.85,-155.7,2594,2147,3709,3609,734.5,-9.3,352,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2146,3658,3709,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,-0.87,-155.7,2594,2147,3708,3607,762.3,-9.3,362,7429,0.00,2.35,0.00,0.000,260,0.000,0.053,2586,3561,3656,3706,3606,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7509,-0.89,-155.7,2586,3563,3707,3607,771.4,-10.0,365,7519,0.00,2.22,0.00,0.000,1030,0.000,0.032,2586,2143,3654,3705,3603,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7839,-0.89,-155.7,2586,2143,3705,3606,804.0,-9.7,376,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2142,3654,3704,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,-0.89,-155.7,2586,2142,3705,3604,833.3,-9.8,386,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2142,3653,3703,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,-0.89,-155.7,2586,2142,3703,3602,861.7,-9.5,396,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2142,3652,3702,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,-0.89,-155.7,2587,2143,3701,3603,890.4,-9.5,406,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2142,3651,3702,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9039,-0.89,-155.7,2586,2143,3700,3601,919.4,-9.7,416,9050,0.00,2.22,0.00,0.000,516,0.000,0.044,2586,759,3649,3699,3600,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9059,-0.89,-155.7,2586,760,3700,3601,919.4,-9.7,416,9067,0.00,2.25,0.00,0.000,1030,0.000,0.039,2578,2145,3649,3699,3600,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9365,-0.89,-155.7,2578,2145,3699,3600,951.3,-9.6,426,9375,0.00,2.30,0.00,0.000,260,0.000,0.054,2567,3555,3646,3697,3595,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9429,-0.89,-155.7,2567,3555,3698,3598,957.4,-9.7,428,9437,0.00,2.22,0.00,0.000,1030,0.000,0.034,2567,2149,3648,3697,3599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9752,-0.89,-155.7,2568,2146,3698,3603,989.1,-9.4,439,9761,0.00,2.35,0.00,0.000,260,0.000,0.054,2558,3557,3647,3697,3598,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9771,-0.89,-155.7,2559,3558,3697,3599,989.1,-9.4,439,9779,0.00,2.20,0.00,0.000,1030,0.000,0.034,2558,2152,3647,3697,3598,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,9805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9805,begin apogee
$GC,9809,-0.13,0.0,2558,2265,3698,3598,994.5,-9.5,440,9948,0.90,0.00,132.55,1.287,10246,0.136,0.000,2822,2265,3047,3082,3012,0,0,0,0,0,0,25.46,28.83,23.67
$STATE,9949,end apogee,CONTROL_FINISHED_OK
$STATE,9949,begin climb
$GC,9951,0.77,155.7,2822,2266,3082,3011,997.5,0.0,444,10104,0.85,0.00,142.38,1.268,10502,0.051,0.000,3132,2265,2411,2455,2368,0,0,0,0,0,0,24.84,28.83,23.17
$GC,10402,0.71,155.7,3132,2265,2445,2356,933.4,17.4,459,10413,0.12,2.25,0.00,0.000,4356,0.201,0.052,3102,3645,2399,2442,2356,0,0,0,0,0,0,25.71,25.94,28.83
$GC,10438,0.65,155.7,3102,3647,2442,2357,927.8,17.6,460,10448,0.00,2.20,0.00,0.000,1030,0.000,0.031,3110,2238,2398,2442,2355,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,18720,end climb,SURFACE_DEPTH_REACHED
$STATE,18720,begin surface coast
$FINISH,-1.3,1.021311
$STATE,18740,end surface coast,CONTROL_FINISHED_OK
$STATE,18740,begin surface
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$IRIDIUM_FIX,1137.06,14407.26,291014,142201
$TT8_MAMPS,0.053928,0.053928
$HUMID,47.20
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$TCM_TEMP,24.90
$XPDR_PINGS,1
$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,18768.73 8262.25
$PA_BOOTCOUNT,168
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$10V_AH,9.97,36.571
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.337,0.000,0.000,0.000
$MEM,228424
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$CFSIZE,260034560,244183040
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