version: 66.12
glider: 178
mission: 18
dive: 113
start: 10 19 114 6 27 56
data:
$ID,178
$MISSION,18
$DIVE,113
$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,52
$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
$GPS1,191014,062056,1206.640,14422.789,71,0.8,91,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-75.7
$GPS2,191014,062745,1206.625,14422.746,11,0.9,31,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.0,104689,-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,-155.7,163,2151,1614,1619,0.0,0.0,0,157,0.00,0.00,-64.07,0.000,16386,0.000,0.000,162,2151,3380,3433,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-155.7,162,2151,3427,3327,4.2,-17.0,11,179,10.62,2.30,-4.72,0.000,18692,0.246,0.057,2603,3564,3685,3744,3627,0,0,0,0,0,0,25.67,26.09,26.24
$GC,356,-0.71,-155.7,2604,3565,3756,3629,81.7,-26.5,39,367,0.15,2.15,0.00,0.000,3078,0.168,0.028,2638,2151,3691,3756,3627,0,0,0,0,0,0,25.89,26.19,28.83
$GC,671,-0.71,-155.7,2639,2148,3764,3627,137.9,-14.7,70,680,0.00,2.22,0.00,0.000,260,0.000,0.044,2630,3555,3694,3762,3627,0,0,0,0,0,0,28.83,26.09,28.83
$GC,699,-0.71,-155.7,2631,3557,3763,3628,141.1,-14.3,72,705,0.00,2.15,0.00,0.000,1030,0.000,0.027,2630,2144,3695,3763,3628,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1009,-0.71,-155.7,2631,2142,3765,3629,176.4,-10.6,103,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2141,3697,3768,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.71,-155.7,2630,2141,3771,3629,221.0,-16.4,125,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2141,3699,3770,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.73,-155.7,2631,2141,3772,3630,260.2,-11.8,135,1619,0.00,2.17,0.00,0.000,516,0.000,0.037,2632,753,3700,3771,3630,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1668,-0.75,-155.7,2630,754,3772,3631,263.5,-11.1,136,1678,0.00,2.17,0.00,0.000,1030,0.000,0.031,2622,2148,3700,3771,3630,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1973,-0.75,-155.7,2623,2150,3771,3632,291.9,-8.1,147,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2148,3700,3769,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,-0.77,-155.7,2623,2149,3766,3632,313.6,-7.9,157,2282,0.00,2.22,0.00,0.000,260,0.000,0.047,2612,3556,3698,3766,3631,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2351,-0.79,-155.7,2612,3556,3766,3632,319.4,-8.8,159,2359,0.00,2.15,0.00,0.000,1030,0.000,0.028,2612,2136,3698,3765,3631,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2664,-0.79,-155.7,2612,2134,3762,3632,352.2,-10.0,170,2672,0.00,2.28,0.00,0.000,260,0.000,0.047,2602,3554,3695,3761,3630,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2706,-0.79,-155.7,2603,3555,3760,3632,355.0,-9.9,171,2714,0.00,2.15,0.00,0.000,1030,0.000,0.028,2602,2152,3695,3760,3630,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3018,-0.79,-155.7,2603,2150,3755,3631,388.2,-10.6,182,3030,0.00,2.20,0.00,0.000,516,0.000,0.038,2602,753,3692,3754,3630,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3051,-0.79,-155.7,2603,754,3755,3632,391.6,-10.7,183,3061,0.00,2.20,0.00,0.000,1030,0.000,0.034,2593,2160,3692,3754,3630,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3381,-0.79,-155.7,2594,2161,3749,3632,430.1,-11.8,194,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2159,3688,3747,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.79,-155.7,2594,2161,3744,3628,466.7,-12.1,204,3688,0.00,2.22,0.00,0.000,260,0.000,0.049,2583,3556,3685,3744,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3712,-0.79,-155.7,2583,3554,3743,3626,470.1,-12.3,205,3721,0.12,2.17,0.00,0.000,3078,0.162,0.031,2612,2147,3684,3742,3627,0,0,0,0,0,0,25.92,26.19,28.83
$GC,4036,-0.82,-155.7,2613,2143,3740,3625,506.8,-10.8,216,4044,0.00,2.20,0.00,0.000,516,0.000,0.040,2612,750,3682,3739,3625,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4058,-0.84,-155.7,2612,750,3739,3625,506.8,-10.8,216,4068,0.00,2.22,0.00,0.000,1030,0.000,0.034,2606,2152,3681,3738,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4363,-0.87,-155.7,2606,2154,3735,3622,539.8,-9.4,227,4374,0.00,2.20,0.00,0.000,516,0.000,0.039,2606,756,3678,3734,3622,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4399,-0.89,-155.7,2606,755,3734,3622,542.9,-9.5,228,4409,0.00,2.22,0.00,0.000,1030,0.000,0.034,2596,2157,3678,3734,3622,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4723,-0.89,-155.7,2597,2158,3731,3620,571.7,-8.6,239,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2157,3674,3730,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-0.89,-155.7,2597,2158,3728,3617,598.4,-9.1,249,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2158,3672,3727,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5326,-0.89,-155.7,2597,2159,3725,3618,626.3,-9.5,259,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2158,3670,3725,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5624,-0.89,-155.7,2597,2157,3723,3614,654.1,-9.2,269,5633,0.00,2.28,0.00,0.000,516,0.000,0.041,2596,750,3667,3721,3613,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5668,-0.89,-155.7,2597,751,3722,3615,657.0,-9.0,270,5676,0.00,2.25,0.00,0.000,1030,0.000,0.036,2588,2154,3667,3721,3613,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5981,-0.89,-155.7,2588,2155,3720,3610,685.2,-8.4,281,5989,0.00,2.28,0.00,0.000,260,0.000,0.052,2577,3554,3665,3719,3611,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6018,-0.89,-155.7,2578,3555,3719,3613,687.8,-8.7,282,6027,0.00,2.17,0.00,0.000,1030,0.000,0.031,2577,2148,3665,3718,3612,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6337,-0.89,-155.7,2578,2146,3716,3611,718.8,-9.9,293,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2144,3663,3716,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6637,-0.89,-155.7,2578,2146,3715,3610,748.7,-9.8,303,6644,0.00,2.22,0.00,0.000,516,0.000,0.041,2577,750,3661,3713,3609,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6689,-0.89,-155.7,2578,750,3714,3608,751.5,-9.9,304,6699,0.00,2.25,0.00,0.000,1030,0.000,0.037,2570,2150,3660,3713,3608,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6994,-0.89,-155.7,2571,2152,3712,3608,785.9,-10.5,315,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2151,3658,3711,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,-0.89,-155.7,2571,2152,3711,3607,818.2,-10.9,325,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2151,3658,3710,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7594,-0.89,-155.7,2571,2153,3709,3606,851.5,-11.0,335,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2150,3656,3708,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,-0.89,-155.7,2570,2151,3709,3603,881.7,-9.7,345,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2151,3655,3707,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,-0.89,-155.7,2570,2153,3704,3604,909.0,-8.8,355,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2152,3653,3704,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,-0.89,-155.7,2571,2152,3704,3602,936.1,-9.3,365,8502,0.00,2.25,0.00,0.000,516,0.000,0.042,2570,756,3652,3703,3601,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8541,-0.89,-155.7,2570,757,3704,3602,939.2,-9.3,366,8549,0.00,2.25,0.00,0.000,1030,0.000,0.037,2561,2150,3652,3703,3601,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8853,-0.89,-155.7,2561,2149,3703,3600,971.5,-10.0,377,8863,0.00,2.30,0.00,0.000,260,0.000,0.054,2546,3554,3650,3701,3600,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8883,-0.89,-155.7,2551,3556,3702,3601,974.7,-10.2,378,8891,0.12,2.20,0.00,0.000,3078,0.170,0.033,2578,2152,3650,3701,3600,0,0,0,0,0,0,25.72,26.01,28.83
$STATE,9059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9059,begin apogee
$GC,9063,-0.13,0.0,2579,2268,3702,3600,991.9,-9.5,384,9205,0.82,0.00,132.30,1.277,10246,0.132,0.000,2827,2267,3047,3084,3010,0,0,0,0,0,0,25.64,28.83,24.04
$STATE,9205,end apogee,CONTROL_FINISHED_OK
$STATE,9205,begin climb
$GC,9207,0.77,155.7,2828,2267,3084,3009,996.4,0.0,388,9360,0.80,2.45,141.23,1.259,10500,0.044,0.050,3131,3650,2409,2453,2366,0,0,0,0,0,0,25.03,24.38,23.56
$GC,9389,0.67,155.7,3132,3650,2446,2364,982.1,10.8,394,9397,0.22,2.30,0.00,0.000,5126,0.178,0.031,3090,2253,2404,2445,2364,0,0,0,0,0,0,24.74,24.92,28.83
$GC,9717,0.64,155.7,3090,2250,2442,2356,938.1,13.0,405,9728,0.00,2.25,0.00,0.000,516,0.000,0.041,3098,849,2398,2441,2356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9752,0.60,155.7,3099,850,2442,2356,934.0,13.0,406,9761,0.15,2.22,0.00,0.000,5126,0.180,0.034,3064,2249,2397,2441,2354,0,0,0,0,0,0,25.66,25.92,28.83
$GC,10080,0.60,155.7,3065,2251,2440,2354,894.7,11.9,417,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2249,2396,2439,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10381,0.60,155.7,3065,2251,2439,2353,857.1,12.8,427,10388,0.00,2.25,0.00,0.000,516,0.000,0.042,3071,847,2395,2438,2352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10408,0.60,155.7,3072,847,2439,2351,853.5,12.9,428,10415,0.00,2.25,0.00,0.000,1030,0.000,0.037,3072,2254,2394,2438,2351,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10735,0.58,155.7,3073,2253,2438,2350,807.6,14.0,439,10745,0.00,2.28,0.00,0.000,260,0.000,0.051,3072,3649,2393,2437,2350,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10795,0.55,155.7,3073,3651,2437,2351,798.4,14.6,441,10805,0.15,2.17,0.00,0.000,5126,0.182,0.031,3049,2247,2393,2436,2350,0,0,0,0,0,0,25.77,26.11,28.83
$GC,11125,0.55,155.7,3049,2243,2435,2350,756.7,12.5,452,11136,0.00,2.22,0.00,0.000,516,0.000,0.041,3057,847,2391,2433,2350,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,17959,end climb,SURFACE_DEPTH_REACHED
$STATE,17960,begin surface coast
$FINISH,-0.3,1.021078
$STATE,17989,end surface coast,CONTROL_FINISHED_OK
$STATE,17989,begin surface
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$IRIDIUM_FIX,1205.71,14424.15,191014,011653
$TT8_MAMPS,0.054677,0.054677
$HUMID,46.10
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$TCM_TEMP,25.10
$XPDR_PINGS,0
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17962.24 7731.14
$PA_BOOTCOUNT,116
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$24V_AH,23.56,25.107
$10V_AH,10.11,32.821
$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,588.214,0.000,0.000,0.000,0.000,0.000,18490.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,228484
$DATA_FILE_SIZE,36725,867
$CAP_FILE_SIZE,158541,0
$CFSIZE,260034560,248504320
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$GPS,191014,113013,1204.096,14422.775,87,1.0,107,1.8