version: 66.12
glider: 178
mission: 18
dive: 215
start: 11 8 114 11 41 20
data:
$ID,178
$MISSION,18
$DIVE,215
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,68
$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
$GPS1,081114,113356,1255.361,14433.143,61,1.1,81,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-74.8
$GPS2,081114,114109,1255.302,14433.062,12,0.9,32,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,25.2,27221,-17.3,-11.000,-20.18,2764
$D_GRID,2610
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.84,-214.1,150,2133,1333,1309,0.0,0.0,0,178,0.00,0.00,-77.40,0.000,16386,0.000,0.000,150,2133,3462,3517,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,180,-0.84,-214.1,150,2133,3519,3409,5.1,-14.2,11,205,10.68,2.25,-6.47,0.000,18692,0.240,0.050,2585,3564,3922,3979,3866,0,0,0,0,0,0,25.42,26.17,26.41
$GC,282,-0.67,-214.1,2585,3564,3985,3866,58.8,-45.6,28,298,0.28,2.12,0.00,0.000,3078,0.176,0.031,2652,2178,3924,3982,3867,0,0,0,0,0,0,25.57,25.43,28.83
$GC,592,-0.63,-214.1,2653,2174,3990,3868,125.3,-15.6,59,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2173,3928,3990,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.63,-214.1,2653,2174,3997,3868,163.6,-11.5,89,908,0.00,2.22,0.00,0.000,516,0.000,0.034,2653,737,3931,3995,3867,0,0,0,0,0,0,28.83,26.22,28.83
$GC,948,-0.63,-214.1,2653,739,3996,3869,169.2,-10.2,94,955,0.00,2.17,0.00,0.000,1030,0.000,0.029,2647,2148,3931,3995,3868,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1264,-0.63,-214.1,2649,2148,3999,3868,209.3,-13.4,121,1274,0.00,2.17,0.00,0.000,260,0.000,0.044,2637,3553,3933,3998,3868,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1349,-0.65,-214.1,2637,3553,3999,3869,217.6,-13.6,123,1361,0.00,2.12,0.00,0.000,1030,0.000,0.025,2637,2126,3933,3998,3869,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1655,-0.67,-214.1,2637,2123,4000,3870,257.4,-12.8,134,1665,0.00,2.10,0.00,0.000,516,0.000,0.034,2637,759,3934,3999,3870,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1699,-0.70,-214.1,2637,759,4000,3871,261.1,-12.7,135,1707,0.00,2.15,0.00,0.000,1030,0.000,0.030,2629,2150,3934,3998,3871,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2017,-0.73,-214.1,2630,2150,4000,3871,295.2,-9.9,146,2026,0.00,2.20,0.00,0.000,260,0.000,0.045,2618,3552,3934,3998,3871,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2062,-0.76,-214.1,2619,3554,3998,3872,298.3,-9.9,147,2071,0.00,2.10,0.00,0.000,1030,0.000,0.026,2618,2147,3934,3997,3871,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2376,-0.78,-214.1,2619,2142,3996,3871,334.6,-10.7,158,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2142,3932,3994,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.80,-214.1,2619,2142,3990,3870,363.4,-9.5,168,2687,0.00,2.28,0.00,0.000,260,0.000,0.047,2610,3554,3929,3989,3870,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2782,-0.83,-214.1,2610,3552,3988,3872,372.1,-9.6,171,2794,0.00,2.12,0.00,0.000,1030,0.000,0.028,2610,2145,3928,3986,3870,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3099,-0.86,-214.1,2610,2141,3983,3868,402.9,-9.1,182,3109,0.00,2.25,0.00,0.000,260,0.000,0.047,2599,3553,3925,3982,3869,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3148,-0.88,-214.1,2601,3555,3981,3870,405.7,-9.2,183,3157,0.00,2.12,0.00,0.000,1030,0.000,0.028,2601,2148,3925,3982,3869,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3454,-0.88,-214.1,2600,2144,3979,3866,437.1,-9.5,193,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2144,3921,3977,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3754,-0.88,-214.1,2601,2145,3973,3865,460.8,-7.2,203,3765,0.00,2.28,0.00,0.000,260,0.000,0.047,2592,3553,3918,3973,3864,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3824,-0.88,-214.1,2592,3554,3972,3865,465.2,-7.1,205,3832,0.00,2.12,0.00,0.000,1030,0.000,0.028,2592,2152,3917,3971,3863,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4146,-0.88,-214.1,2592,2149,3969,3860,490.7,-7.6,216,4154,0.00,2.20,0.00,0.000,516,0.000,0.038,2592,755,3913,3967,3860,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4179,-0.88,-214.1,2592,755,3969,3860,492.9,-7.5,217,4187,0.00,2.20,0.00,0.000,1030,0.000,0.033,2584,2148,3913,3967,3860,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4507,-0.88,-214.1,2584,2148,3963,3858,521.0,-8.9,228,4519,0.00,2.28,0.00,0.000,260,0.000,0.050,2573,3552,3910,3963,3858,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4573,-0.88,-214.1,2574,3553,3963,3859,527.1,-9.5,230,4582,0.00,2.17,0.00,0.000,1030,0.000,0.029,2574,2139,3910,3963,3858,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4901,-0.88,-214.1,2574,2136,3961,3854,564.7,-11.6,241,4912,0.00,2.30,0.00,0.000,260,0.000,0.050,2567,3552,3906,3959,3854,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4936,-0.88,-214.1,2567,3552,3959,3855,568.3,-11.8,242,4944,0.00,2.15,0.00,0.000,1030,0.000,0.029,2567,2149,3906,3958,3854,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5259,-0.88,-214.1,2567,2146,3958,3853,608.2,-12.1,253,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2146,3904,3957,3851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5559,-0.88,-214.1,2567,2145,3954,3849,642.3,-11.1,263,5567,0.00,2.22,0.00,0.000,516,0.000,0.039,2566,752,3901,3953,3849,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5581,-0.88,-214.1,2567,752,3954,3849,642.3,-11.1,263,5591,0.00,2.20,0.00,0.000,1030,0.000,0.035,2559,2149,3901,3953,3849,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5887,-0.88,-214.1,2559,2149,3952,3848,679.8,-11.3,274,5898,0.00,2.28,0.00,0.000,260,0.000,0.051,2549,3555,3898,3950,3847,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5927,-0.88,-214.1,2550,3557,3951,3849,683.4,-11.3,275,5935,0.15,2.17,0.00,0.000,3078,0.154,0.030,2586,2145,3898,3950,3847,0,0,0,0,0,0,25.79,26.15,28.83
$GC,6245,-0.88,-214.1,2587,2143,3950,3847,714.4,-9.3,286,6253,0.00,2.20,0.00,0.000,516,0.000,0.039,2586,755,3897,3949,3845,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6278,-0.88,-214.1,2587,756,3949,3847,716.9,-9.3,287,6286,0.00,2.20,0.00,0.000,1030,0.000,0.034,2580,2148,3896,3948,3845,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6605,-0.88,-214.1,2581,2149,3947,3843,747.4,-9.0,298,6617,0.00,2.28,0.00,0.000,260,0.000,0.051,2570,3551,3893,3945,3842,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6662,-0.88,-214.1,2570,3551,3946,3841,750.3,-9.0,299,6672,0.00,2.15,0.00,0.000,1030,0.000,0.031,2570,2148,3893,3945,3842,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6967,-0.88,-214.1,2570,2146,3945,3841,780.1,-9.1,310,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2147,3892,3944,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7267,-0.88,-214.1,2571,2148,3942,3841,808.5,-9.7,320,7275,0.00,2.33,0.00,0.000,260,0.000,0.050,2560,3553,3890,3941,3839,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7314,-0.88,-214.1,2561,3554,3941,3841,811.3,-9.9,321,7323,0.00,2.17,0.00,0.000,1030,0.000,0.031,2560,2148,3890,3940,3840,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7627,-0.88,-214.1,2561,2145,3940,3839,847.9,-10.9,332,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2143,3888,3939,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,-0.88,-214.1,2560,2143,3939,3836,880.2,-10.8,342,7939,0.00,2.20,0.00,0.000,516,0.000,0.041,2560,753,3887,3937,3837,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7969,-0.88,-214.1,2560,753,3938,3837,883.5,-10.8,343,7977,0.00,2.25,0.00,0.000,1030,0.000,0.037,2559,2152,3887,3937,3837,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8286,-0.88,-214.1,2560,2151,3936,3835,918.2,-11.0,354,8294,0.00,2.30,0.00,0.000,260,0.000,0.052,2550,3554,3885,3935,3835,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8323,-0.88,-214.1,2551,3555,3935,3837,921.4,-11.3,355,8331,0.15,2.17,0.00,0.000,3078,0.153,0.032,2587,2152,3884,3934,3835,0,0,0,0,0,0,25.65,25.98,28.83
$GC,8642,-0.90,-214.1,2587,2149,3936,3835,953.0,-9.3,366,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2148,3885,3936,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8941,-0.92,-214.1,2587,2149,3933,3834,978.6,-8.2,376,8951,0.00,2.33,0.00,0.000,260,0.000,0.051,2583,3554,3882,3932,3833,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8996,-0.95,-214.1,2580,3554,3933,3833,981.2,-8.3,377,9007,0.00,2.20,0.00,0.000,1030,0.000,0.032,2578,2143,3882,3932,3833,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,9090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9090,begin apogee
$GC,9094,-0.13,0.0,2579,2261,3933,3834,991.2,-8.3,381,9290,0.80,0.00,186.43,1.274,10246,0.120,0.000,2821,2260,3046,3085,3007,0,0,0,0,0,0,25.46,28.83,23.09
$STATE,9290,end apogee,CONTROL_FINISHED_OK
$STATE,9290,begin climb
$GC,9292,0.84,214.1,2822,2261,3085,3006,997.6,0.0,387,9504,0.90,2.45,199.60,1.257,10756,0.044,0.039,3165,856,2174,2216,2133,0,0,0,0,0,0,24.58,24.18,22.84
$GC,9548,0.76,214.1,3165,856,2212,2129,969.5,17.2,396,9557,0.20,2.33,0.00,0.000,5126,0.163,0.034,3117,2254,2169,2210,2129,0,0,0,0,0,0,24.75,24.98,28.83
$GC,9872,0.72,214.1,3117,2254,2206,2123,914.0,16.3,407,9881,0.00,2.28,0.00,0.000,260,0.000,0.050,3117,3663,2164,2206,2123,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9906,0.67,214.1,3118,3666,2206,2124,908.7,16.5,408,9914,0.15,2.17,0.00,0.000,5126,0.176,0.030,3090,2250,2164,2205,2123,0,0,0,0,0,0,25.90,26.23,28.83
$GC,10229,0.65,214.1,3090,2248,2205,2124,861.4,14.3,419,10239,0.00,2.20,0.00,0.000,516,0.000,0.039,3098,850,2163,2204,2122,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10304,0.65,214.1,3098,850,2205,2121,852.9,14.2,421,10312,0.00,2.20,0.00,0.000,1030,0.000,0.034,3098,2253,2162,2203,2121,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,16869,end climb,SURFACE_DEPTH_REACHED
$STATE,16869,begin surface coast
$FINISH,-0.1,1.021389
$STATE,16891,end surface coast,CONTROL_FINISHED_OK
$STATE,16891,begin surface
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$IRIDIUM_FIX,1247.67,14406.65,081114,065025
$TT8_MAMPS,0.053179,0.053179
$HUMID,51.49
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.20
$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,16920.85 7522.88
$PA_BOOTCOUNT,218
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$PA_LOG,0.06/0.123/1.969/1.746
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$PA_HOME,0.04/0.071/1.764/1.603
$PA_DISK_BANK,3
$24V_AH,22.84,71.705
$10V_AH,10.00,40.080
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,262500
$DATA_FILE_SIZE,36696,791
$CAP_FILE_SIZE,154512,0
$CFSIZE,260034560,240267264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,081114,162544,1257.392,14433.989,57,0.8,77,1.6