version: 66.12
glider: 178
mission: 18
dive: 94
start: 10 15 114 5 14 26
data:
$ID,178
$MISSION,18
$DIVE,94
$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,45
$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
$GPS1,151014,050725,1213.010,14507.004,32,1.0,52,1.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-75.8
$GPS2,151014,051415,1213.066,14506.937,9,1.3,29,1.9
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S5
$TGT_LATLONG,1216.500,14421.400
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,263.0,82651,-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,89,end surface,CONTROL_FINISHED_OK
$STATE,89,begin dive
$GC,91,-0.77,-155.7,155,2165,1576,1552,0.0,0.0,0,157,0.00,0.00,-64.05,0.000,16386,0.000,0.000,154,2165,3261,3308,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-155.7,154,2165,3311,3216,3.1,-12.2,11,184,10.73,2.25,-6.95,0.000,18948,0.249,0.052,2612,747,3687,3748,3626,0,0,0,0,0,0,25.75,26.13,26.25
$GC,234,-0.61,-155.7,2613,747,3752,3627,40.0,-39.5,25,247,0.25,2.20,0.00,0.000,3078,0.176,0.035,2667,2142,3689,3752,3626,0,0,0,0,0,0,25.84,26.13,28.83
$GC,552,-0.57,-155.7,2667,2143,3759,3627,114.5,-18.7,59,559,0.00,2.25,0.00,0.000,260,0.000,0.044,2658,3558,3692,3758,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,574,-0.53,-155.7,2658,3559,3758,3628,117.6,-18.0,60,584,0.15,2.15,0.00,0.000,3078,0.158,0.028,2695,2145,3692,3758,3627,0,0,0,0,0,0,26.01,26.25,28.83
$GC,879,-0.55,-155.7,2696,2143,3763,3629,154.6,-8.4,91,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2141,3695,3764,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1180,-0.60,-155.7,2695,2141,3769,3627,179.5,-7.8,121,1196,0.00,2.25,0.00,0.000,260,0.000,0.047,2693,3557,3697,3767,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1226,-0.66,-155.7,2693,3558,3768,3628,182.8,-7.2,125,1240,0.12,2.15,0.00,0.000,5126,0.084,0.027,2626,2135,3697,3768,3627,0,0,0,0,0,0,26.25,26.29,28.83
$GC,1556,-0.66,-155.7,2627,2135,3770,3630,221.0,-11.3,146,1566,0.12,2.15,0.00,0.000,2564,0.162,0.035,2662,752,3699,3770,3628,0,0,0,0,0,0,26.08,26.25,28.83
$GC,1640,-0.66,-155.7,2663,752,3770,3630,226.4,-10.1,148,1650,0.00,2.17,0.00,0.000,1030,0.000,0.031,2656,2157,3699,3770,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1946,-0.69,-155.7,2656,2159,3770,3632,256.1,-8.7,159,1955,0.00,2.20,0.00,0.000,516,0.000,0.037,2656,753,3700,3770,3631,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1976,-0.72,-155.7,2657,755,3771,3632,259.0,-8.9,160,1983,0.00,2.17,0.00,0.000,1030,0.000,0.032,2653,2149,3700,3770,3630,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2303,-0.76,-155.7,2654,2150,3768,3631,293.1,-10.5,171,2311,0.00,2.22,0.00,0.000,260,0.000,0.048,2653,3553,3698,3767,3630,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2365,-0.80,-155.7,2653,3553,3767,3631,299.0,-10.5,173,2374,0.12,2.12,0.00,0.000,5126,0.090,0.028,2586,2153,3698,3766,3630,0,0,0,0,0,0,26.23,26.28,28.83
$GC,2689,-0.80,-155.7,2587,2151,3764,3631,338.0,-11.5,184,2697,0.00,2.25,0.00,0.000,260,0.000,0.047,2576,3560,3696,3762,3630,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2737,-0.80,-155.7,2577,3561,3763,3631,342.1,-11.7,185,2745,0.15,2.17,0.00,0.000,3078,0.155,0.030,2613,2141,3696,3762,3630,0,0,0,0,0,0,26.03,26.29,28.83
$GC,3049,-0.80,-155.7,2613,2138,3759,3631,377.6,-10.6,196,3057,0.00,2.17,0.00,0.000,516,0.000,0.039,2614,762,3693,3757,3630,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3131,-0.80,-155.7,2614,763,3758,3631,383.8,-10.7,198,3141,0.00,2.17,0.00,0.000,1030,0.000,0.034,2607,2147,3693,3756,3630,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3436,-0.80,-155.7,2607,2148,3752,3630,416.5,-9.4,209,3446,0.00,2.25,0.00,0.000,260,0.000,0.050,2597,3553,3688,3746,3630,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3470,-0.80,-155.7,2597,3554,3750,3631,419.5,-9.2,210,3480,0.00,2.17,0.00,0.000,1030,0.000,0.030,2597,2140,3690,3750,3630,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3800,-0.80,-155.7,2597,2135,3746,3628,454.4,-11.5,221,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2135,3686,3745,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-0.80,-155.7,2597,2137,3742,3628,493.0,-12.3,231,4108,0.00,2.30,0.00,0.000,260,0.000,0.050,2586,3556,3683,3740,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4142,-0.80,-155.7,2587,3557,3740,3628,496.8,-12.0,232,4150,0.00,2.17,0.00,0.000,1030,0.000,0.031,2587,2153,3683,3740,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4465,-0.80,-155.7,2587,2150,3737,3624,529.5,-9.5,243,4473,0.00,2.20,0.00,0.000,516,0.000,0.041,2586,755,3678,3733,3623,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4547,-0.80,-155.7,2588,756,3735,3624,535.4,-9.8,245,4558,0.12,2.22,0.00,0.000,3078,0.171,0.037,2609,2155,3678,3735,3622,0,0,0,0,0,0,25.97,26.18,28.83
$GC,4853,-0.82,-155.7,2609,2155,3732,3619,567.6,-10.4,256,4861,0.00,2.22,0.00,0.000,516,0.000,0.041,2609,746,3675,3731,3620,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4880,-0.85,-155.7,2609,746,3732,3620,570.6,-10.5,257,4888,0.00,2.22,0.00,0.000,1030,0.000,0.037,2602,2148,3674,3731,3617,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5208,-0.85,-155.7,2603,2150,3728,3620,604.9,-9.9,268,5216,0.00,2.28,0.00,0.000,260,0.000,0.052,2592,3552,3672,3727,3617,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5240,-0.85,-155.7,2592,3553,3728,3617,607.7,-9.9,269,5247,0.00,2.17,0.00,0.000,1030,0.000,0.031,2592,2150,3672,3727,3617,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5567,-0.85,-155.7,2592,2147,3724,3616,640.6,-9.6,280,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2147,3670,3724,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5867,-0.85,-155.7,2592,2149,3721,3615,668.3,-9.2,290,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2147,3667,3721,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6167,-0.85,-155.7,2592,2147,3719,3612,697.8,-10.1,300,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2147,3665,3718,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.85,-155.7,2593,2148,3716,3612,727.6,-9.9,310,6476,0.00,2.25,0.00,0.000,516,0.000,0.043,2592,750,3662,3715,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6520,-0.85,-155.7,2593,751,3716,3611,731.0,-9.9,311,6528,0.00,2.25,0.00,0.000,1030,0.000,0.038,2583,2153,3663,3716,3610,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6825,-0.85,-155.7,2583,2155,3715,3603,764.2,-10.2,321,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2153,3661,3714,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7125,-0.85,-155.7,2583,2154,3712,3607,792.0,-8.7,331,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2153,3658,3710,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,-0.85,-155.7,2584,2154,3711,3607,815.7,-7.4,341,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2153,3658,3710,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7725,-0.85,-155.7,2584,2154,3709,3606,837.0,-7.1,351,7736,0.00,2.30,0.00,0.000,260,0.000,0.054,2573,3553,3656,3708,3605,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7795,-0.85,-155.7,2573,3555,3708,3606,841.8,-7.6,353,7803,0.00,2.17,0.00,0.000,1030,0.000,0.034,2573,2154,3655,3707,3604,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8112,-0.85,-155.7,2574,2151,3707,3605,868.9,-8.5,364,8120,0.00,2.25,0.00,0.000,516,0.000,0.044,2573,750,3654,3705,3604,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8160,-0.85,-155.7,2573,750,3706,3603,871.6,-8.8,365,8168,0.12,2.25,0.00,0.000,3078,0.174,0.039,2592,2148,3654,3705,3603,0,0,0,0,0,0,25.79,26.02,28.83
$GC,8465,-0.85,-155.7,2593,2149,3705,3603,897.5,-8.0,375,8473,0.00,2.33,0.00,0.000,260,0.000,0.055,2584,3560,3652,3704,3601,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8507,-0.85,-155.7,2585,3561,3705,3602,899.9,-8.1,376,8515,0.00,2.22,0.00,0.000,1030,0.000,0.034,2584,2150,3652,3704,3601,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8819,-0.85,-155.7,2585,2148,3704,3602,929.7,-9.4,387,8827,0.00,2.25,0.00,0.000,516,0.000,0.044,2584,753,3651,3702,3600,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8876,-0.85,-155.7,2585,755,3704,3601,935.5,-9.8,389,8884,0.00,2.25,0.00,0.000,1030,0.000,0.039,2575,2158,3651,3703,3600,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9204,-0.85,-155.7,2575,2157,3702,3599,968.7,-10.3,400,9211,0.00,2.28,0.00,0.000,260,0.000,0.055,2565,3554,3649,3701,3598,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9250,-0.85,-155.7,2565,3554,3703,3600,972.3,-10.4,401,9259,0.12,2.22,0.00,0.000,3078,0.167,0.034,2593,2144,3650,3701,3599,0,0,0,0,0,0,25.78,26.06,28.83
$STATE,9442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9442,begin apogee
$GC,9446,-0.13,0.0,2593,2258,3698,3599,991.9,-9.1,408,9584,0.77,0.00,131.02,1.278,10246,0.131,0.000,2828,2258,3047,3084,3010,0,0,0,0,0,0,25.71,28.83,24.14
$STATE,9584,end apogee,CONTROL_FINISHED_OK
$STATE,9585,begin climb
$GC,9586,0.77,155.7,2828,2257,3085,3004,996.2,0.0,412,9737,0.80,2.45,139.32,1.269,10500,0.044,0.052,3131,3648,2411,2455,2368,0,0,0,0,0,0,25.10,24.48,23.69
$GC,9766,0.68,155.7,3131,3648,2448,2366,984.6,10.4,418,9777,0.22,2.30,0.00,0.000,5126,0.180,0.031,3089,2250,2405,2446,2365,0,0,0,0,0,0,24.86,25.01,28.83
$GC,10072,0.64,155.7,3090,2249,2443,2358,932.4,15.5,429,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2248,2399,2442,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10372,0.60,155.7,3090,2248,2442,2357,885.4,15.8,439,10383,0.00,2.25,0.00,0.000,516,0.000,0.044,3097,845,2398,2441,2356,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10403,0.56,155.7,3097,845,2443,2355,880.5,15.7,440,10411,0.20,2.25,0.00,0.000,5126,0.174,0.038,3048,2247,2397,2441,2354,0,0,0,0,0,0,25.79,26.05,28.83
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$STATE,18145,end climb,SURFACE_DEPTH_REACHED
$STATE,18145,begin surface coast
$FINISH,-0.2,1.021440
$STATE,18170,end surface coast,CONTROL_FINISHED_OK
$STATE,18170,begin surface
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$IRIDIUM_FIX,1205.71,14510.06,141014,235646
$TT8_MAMPS,0.053179,0.053179
$HUMID,45.90
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.90
$XPDR_PINGS,0
$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,18198.18 8399.92
$PA_BOOTCOUNT,95
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$PA_LOG,0.04/0.083/1.969/1.785
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.045/1.764/1.629
$24V_AH,23.69,16.441
$10V_AH,10.10,31.423
$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,583.241,0.000,0.000,0.000,0.000,0.000,18684.820,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228492
$DATA_FILE_SIZE,36655,860
$CAP_FILE_SIZE,162810,0
$CFSIZE,260034560,250269696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$GPS,151014,101949,1212.758,14504.162,38,1.0,58,1.9