version: 66.12
glider: 178
mission: 18
dive: 109
start: 10 18 114 10 15 38
data:
$ID,178
$MISSION,18
$DIVE,109
$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,57
$R_STBD_OVSHOOT,37
$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
$GPS1,181014,100850,1217.025,14420.534,51,0.9,71,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-76.4
$GPS2,181014,101527,1217.024,14420.464,9,0.8,29,1.7
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,145.6,124380,-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,-155.7,163,2143,1597,1627,0.0,0.0,0,153,0.00,0.00,-59.90,0.000,16386,0.000,0.000,162,2144,3214,3262,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-155.7,163,2143,3264,3167,3.2,-12.4,10,180,10.57,2.17,-7.68,0.000,18948,0.245,0.049,2620,756,3683,3747,3619,0,0,0,0,0,0,25.68,26.11,26.25
$GC,275,-0.68,-155.7,2620,757,3754,3624,49.5,-29.4,33,285,0.15,2.20,0.00,0.000,3078,0.181,0.034,2646,2157,3688,3753,3623,0,0,0,0,0,0,25.85,26.13,28.83
$GC,580,-0.66,-155.7,2646,2158,3759,3624,116.0,-17.2,64,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2157,3690,3758,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.66,-155.7,2646,2157,3765,3623,163.7,-14.6,94,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2157,3693,3764,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1182,-0.68,-155.7,2646,2157,3769,3626,193.5,-8.7,124,1191,0.00,2.20,0.00,0.000,516,0.000,0.036,2646,752,3697,3768,3626,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1200,-0.71,-155.7,2646,751,3769,3626,194.8,-9.0,125,1211,0.00,2.17,0.00,0.000,1030,0.000,0.032,2640,2149,3697,3768,3626,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1525,-0.74,-155.7,2641,2152,3772,3628,229.3,-10.8,140,1533,0.00,2.22,0.00,0.000,260,0.000,0.046,2629,3554,3699,3771,3627,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1573,-0.76,-155.7,2630,3554,3772,3627,232.0,-10.6,141,1580,0.00,2.12,0.00,0.000,1030,0.000,0.027,2629,2156,3699,3771,3627,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1878,-0.79,-155.7,2630,2150,3772,3628,264.8,-10.1,151,1888,0.00,2.17,0.00,0.000,516,0.000,0.037,2629,753,3699,3771,3627,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1973,-0.82,-155.7,2630,753,3772,3634,274.1,-10.4,154,1981,0.00,2.20,0.00,0.000,1030,0.000,0.032,2622,2160,3698,3770,3627,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2295,-0.85,-155.7,2623,2161,3766,3628,304.9,-8.2,165,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2160,3696,3766,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2595,-0.87,-155.7,2622,2160,3762,3626,326.1,-6.8,175,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2160,3693,3759,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-0.90,-155.7,2622,2160,3756,3627,348.1,-7.4,185,2908,0.12,2.25,0.00,0.000,4356,0.090,0.049,2552,3553,3690,3754,3627,0,0,0,0,0,0,26.15,26.10,28.83
$GC,2917,-0.92,-155.7,2552,3552,3755,3627,348.1,-7.4,185,2925,0.00,2.15,0.00,0.000,1030,0.000,0.030,2551,2148,3691,3753,3629,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3222,-0.90,-155.7,2552,2144,3749,3627,388.2,-13.2,195,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2144,3687,3748,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3523,-0.88,-155.7,2552,2143,3744,3626,425.9,-12.3,205,3532,0.12,2.22,0.00,0.000,2564,0.176,0.039,2584,749,3684,3742,3627,0,0,0,0,0,0,25.89,26.14,28.83
$GC,3561,-0.88,-155.7,2584,749,3743,3626,429.7,-12.0,206,3569,0.00,2.22,0.00,0.000,1030,0.000,0.035,2577,2150,3684,3742,3626,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3883,-0.88,-155.7,2577,2152,3738,3625,463.7,-10.8,217,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2151,3681,3737,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.88,-155.7,2577,2151,3735,3620,498.0,-11.6,227,4191,0.00,2.28,0.00,0.000,260,0.000,0.051,2566,3560,3677,3734,3620,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4240,-0.88,-155.7,2566,3560,3735,3620,505.0,-11.9,229,4248,0.00,2.20,0.00,0.000,1030,0.000,0.032,2566,2148,3676,3733,3620,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4567,-0.88,-155.7,2567,2143,3731,3617,544.0,-12.1,240,4579,0.00,2.20,0.00,0.000,516,0.000,0.041,2566,750,3673,3730,3617,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4618,-0.88,-155.7,2567,752,3731,3618,547.9,-12.1,241,4626,0.00,2.25,0.00,0.000,1030,0.000,0.037,2558,2159,3673,3730,3617,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4923,-0.88,-155.7,2559,2160,3728,3617,587.6,-12.1,251,4931,0.12,2.25,0.00,0.000,2308,0.187,0.050,2581,3552,3671,3726,3616,0,0,0,0,0,0,25.85,26.03,28.83
$GC,4956,-0.88,-155.7,2582,3552,3727,3616,590.7,-12.0,252,4963,0.00,2.20,0.00,0.000,1030,0.000,0.032,2582,2145,3671,3726,3616,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5283,-0.88,-155.7,2583,2144,3724,3616,624.6,-10.2,263,5295,0.00,2.20,0.00,0.000,516,0.000,0.042,2582,753,3668,3723,3614,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5329,-0.88,-155.7,2583,753,3723,3615,627.8,-10.1,264,5337,0.00,2.22,0.00,0.000,1030,0.000,0.037,2573,2148,3668,3723,3613,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5646,-0.88,-155.7,2574,2149,3721,3612,664.5,-11.5,275,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2148,3665,3720,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5946,-0.88,-155.7,2574,2149,3718,3611,699.6,-11.5,285,5959,0.00,2.22,0.00,0.000,516,0.000,0.041,2573,759,3663,3717,3610,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5998,-0.88,-155.7,2573,758,3718,3610,703.2,-11.5,286,6006,0.00,2.25,0.00,0.000,1030,0.000,0.038,2564,2160,3662,3717,3608,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6303,-0.88,-155.7,2565,2162,3716,3609,738.0,-10.1,296,6313,0.00,2.28,0.00,0.000,516,0.000,0.042,2564,748,3661,3715,3608,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6322,-0.88,-155.7,2565,749,3716,3609,738.0,-10.1,296,6330,0.12,2.25,0.00,0.000,3078,0.181,0.037,2583,2149,3661,3715,3608,0,0,0,0,0,0,25.79,26.05,28.83
$GC,6634,-0.88,-155.7,2584,2150,3714,3607,765.0,-7.7,307,6646,0.00,2.28,0.00,0.000,260,0.000,0.054,2575,3558,3659,3712,3606,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6697,-0.88,-155.7,2575,3558,3713,3606,770.2,-8.1,309,6707,0.00,2.20,0.00,0.000,1030,0.000,0.033,2574,2141,3659,3712,3606,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7026,-0.88,-155.7,2575,2139,3712,3605,801.7,-10.0,320,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2139,3657,3710,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7326,-0.88,-155.7,2575,2138,3710,3604,833.1,-10.7,330,7335,0.00,2.33,0.00,0.000,260,0.000,0.054,2568,3560,3656,3708,3604,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7359,-0.88,-155.7,2568,3561,3709,3604,836.0,-10.7,331,7366,0.00,2.22,0.00,0.000,1030,0.000,0.033,2568,2147,3656,3708,3604,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7681,-0.88,-155.7,2568,2146,3708,3602,871.5,-10.7,342,7689,0.00,2.25,0.00,0.000,516,0.000,0.043,2568,752,3654,3706,3602,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7733,-0.88,-155.7,2568,751,3707,3602,874.6,-10.9,343,7743,0.00,2.28,0.00,0.000,1030,0.000,0.038,2559,2160,3653,3706,3601,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8038,-0.88,-155.7,2559,2160,3704,3601,912.2,-11.4,354,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2160,3652,3704,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,-0.88,-155.7,2559,2159,3704,3597,947.8,-12.0,364,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2160,3651,3703,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8638,-0.88,-155.7,2559,2161,3703,3600,984.5,-12.3,374,8646,0.00,2.28,0.00,0.000,516,0.000,0.044,2559,755,3650,3702,3599,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8685,-0.88,-155.7,2559,755,3703,3599,987.7,-12.2,375,8694,0.15,2.28,0.00,0.000,3078,0.168,0.039,2584,2158,3649,3701,3598,0,0,0,0,0,0,25.67,25.94,28.83
$STATE,8719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8719,begin apogee
$GC,8723,-0.13,0.0,2584,2267,3702,3598,994.1,-11.9,376,8861,0.80,0.00,131.85,1.274,10246,0.129,0.000,2829,2267,3046,3084,3008,0,0,0,0,0,0,25.68,28.83,24.09
$STATE,8862,end apogee,CONTROL_FINISHED_OK
$STATE,8862,begin climb
$GC,8864,0.77,155.7,2828,2267,3084,3006,998.8,0.0,380,9016,0.80,2.47,140.07,1.261,10500,0.044,0.050,3131,3643,2410,2454,2367,0,0,0,0,0,0,25.08,24.44,23.62
$GC,9052,0.68,155.7,3131,3643,2446,2364,983.8,12.6,387,9061,0.20,2.30,0.00,0.000,5126,0.181,0.030,3095,2242,2404,2445,2364,0,0,0,0,0,0,24.84,25.03,28.83
$GC,9383,0.64,155.7,3096,2238,2443,2357,938.7,13.5,398,9394,0.00,2.25,0.00,0.000,516,0.000,0.041,3103,843,2401,2441,2362,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9433,0.60,155.7,3104,843,2442,2355,934.3,13.6,399,9441,0.15,2.22,0.00,0.000,5126,0.183,0.036,3070,2243,2398,2441,2355,0,0,0,0,0,0,25.70,25.96,28.83
$GC,9739,0.58,155.7,3071,2244,2442,2354,893.7,12.2,409,9749,0.00,2.28,0.00,0.000,260,0.000,0.050,3070,3647,2397,2440,2354,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9773,0.56,155.7,3070,3647,2441,2354,889.7,12.4,410,9781,0.00,2.20,0.00,0.000,1030,0.000,0.030,3078,2241,2397,2440,2354,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10096,0.53,155.7,3079,2237,2438,2354,846.3,13.5,421,10107,0.12,2.20,0.00,0.000,4612,0.194,0.039,3051,854,2394,2437,2352,0,0,0,0,0,0,25.81,26.08,28.83
$GC,10131,0.51,155.7,3056,856,2438,2353,842.3,13.5,422,10139,0.00,2.22,0.00,0.000,1030,0.000,0.034,3055,2256,2394,2437,2351,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10453,0.51,155.7,3056,2257,2438,2353,801.0,12.5,433,10461,0.00,2.30,0.00,0.000,260,0.000,0.051,3055,3658,2394,2437,2351,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,17433,end climb,SURFACE_DEPTH_REACHED
$STATE,17433,begin surface coast
$FINISH,-0.0,1.021365
$STATE,17453,end surface coast,CONTROL_FINISHED_OK
$STATE,17453,begin surface
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$IRIDIUM_FIX,1210.12,14424.15,181014,054609
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$XPDR_PINGS,3
$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
$PA_UPTIME,17482.18 7659.33
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$PA_HOME,0.03/0.049/1.764/1.625
$24V_AH,23.62,23.244
$10V_AH,10.11,32.528
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,554.144,0.000,0.000,0.000,0.000,0.000,17979.811,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,228536
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