version: 66.12
glider: 178
mission: 18
dive: 114
start: 10 19 114 11 37 8
data:
$ID,178
$MISSION,18
$DIVE,114
$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,61
$R_STBD_OVSHOOT,38
$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
$GPS1,191014,113013,1204.096,14422.775,87,1.0,107,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-77.6
$GPS2,191014,113657,1204.089,14422.664,11,1.0,31,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,S6
$TGT_LATLONG,1111.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,141.0,100098,-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,-155.7,158,2124,1619,1613,0.0,0.0,0,153,0.00,0.00,-60.05,0.000,16386,0.000,0.000,158,2124,3246,3293,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-155.7,155,2124,3295,3200,3.5,-14.3,10,180,10.68,2.15,-6.88,0.000,18948,0.246,0.049,2613,755,3686,3748,3624,0,0,0,0,0,0,25.65,26.11,26.22
$GC,322,-0.70,-155.7,2613,755,3756,3625,64.3,-25.5,37,335,0.12,2.17,0.00,0.000,3078,0.174,0.033,2637,2144,3689,3754,3625,0,0,0,0,0,0,25.93,26.13,28.83
$GC,631,-0.67,-155.7,2638,2144,3763,3626,117.7,-14.2,68,638,0.00,2.15,0.00,0.000,516,0.000,0.035,2637,769,3693,3762,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,653,-0.67,-155.7,2638,769,3762,3627,120.4,-12.6,70,661,0.00,2.15,0.00,0.000,1030,0.000,0.031,2631,2154,3694,3762,3626,0,0,0,0,0,0,28.83,26.19,28.83
$GC,958,-0.67,-155.7,2632,2156,3767,3628,162.9,-13.6,100,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2155,3696,3766,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.67,-155.7,2632,2155,3770,3627,199.9,-11.9,130,1275,0.00,2.20,0.00,0.000,260,0.000,0.045,2621,3552,3698,3769,3627,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1355,-0.67,-155.7,2621,3553,3770,3629,209.9,-10.5,134,1366,0.12,2.12,0.00,0.000,3078,0.151,0.027,2652,2152,3700,3769,3632,0,0,0,0,0,0,26.03,26.26,28.83
$GC,1687,-0.71,-155.7,2653,2147,3773,3627,237.3,-9.3,145,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2147,3699,3771,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1986,-0.75,-155.7,2653,2148,3772,3628,264.1,-8.6,155,1994,0.00,2.15,0.00,0.000,516,0.000,0.037,2652,758,3699,3772,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2058,-0.80,-155.7,2653,757,3773,3627,269.2,-8.6,157,2066,0.10,2.15,0.00,0.000,5126,0.101,0.033,2591,2148,3699,3771,3627,0,0,0,0,0,0,26.19,26.22,28.83
$GC,2371,-0.80,-155.7,2592,2149,3768,3628,306.3,-10.6,168,2381,0.00,2.25,0.00,0.000,260,0.000,0.047,2582,3557,3696,3766,3627,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2405,-0.80,-155.7,2582,3558,3767,3628,309.4,-10.3,169,2414,0.12,2.15,0.00,0.000,3078,0.161,0.028,2611,2142,3696,3766,3627,0,0,0,0,0,0,26.00,26.25,28.83
$GC,2734,-0.80,-155.7,2611,2140,3762,3628,337.1,-8.0,180,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2139,3694,3762,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,-0.80,-155.7,2611,2138,3758,3627,361.1,-7.6,190,3041,0.00,2.20,0.00,0.000,516,0.000,0.039,2611,752,3691,3756,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3070,-0.80,-155.7,2610,753,3757,3628,363.3,-7.7,191,3078,0.00,2.17,0.00,0.000,1030,0.000,0.033,2604,2148,3691,3755,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3393,-0.80,-155.7,2605,2148,3750,3627,392.8,-8.9,202,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2147,3688,3749,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,-0.80,-155.7,2605,2149,3744,3628,421.1,-9.8,212,3701,0.00,2.28,0.00,0.000,260,0.000,0.050,2594,3557,3685,3744,3627,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3725,-0.80,-155.7,2594,3558,3743,3628,424.6,-10.1,213,3733,0.00,2.17,0.00,0.000,1030,0.000,0.030,2594,2149,3685,3743,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4052,-0.80,-155.7,2595,2148,3740,3626,461.7,-11.5,224,4063,0.00,2.20,0.00,0.000,516,0.000,0.040,2594,755,3681,3739,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4093,-0.80,-155.7,2595,755,3739,3624,465.4,-11.5,225,4100,0.00,2.22,0.00,0.000,1030,0.000,0.034,2585,2157,3681,3738,3625,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4410,-0.80,-155.7,2585,2159,3735,3621,501.1,-10.4,236,4418,0.00,2.25,0.00,0.000,260,0.000,0.050,2576,3560,3677,3734,3621,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4442,-0.80,-155.7,2576,3560,3735,3621,503.8,-10.1,237,4450,0.15,2.20,0.00,0.000,3078,0.154,0.031,2614,2141,3677,3734,3621,0,0,0,0,0,0,25.89,26.17,28.83
$GC,4770,-0.82,-155.7,2614,2139,3731,3620,528.5,-7.1,248,4782,0.00,2.20,0.00,0.000,516,0.000,0.041,2613,747,3675,3732,3619,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4832,-0.85,-155.7,2615,747,3735,3617,533.1,-7.1,250,4839,0.00,2.22,0.00,0.000,1030,0.000,0.035,2606,2149,3673,3730,3617,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5159,-0.88,-155.7,2607,2150,3728,3616,558.2,-7.9,261,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2149,3671,3727,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5459,-0.90,-155.7,2607,2151,3725,3616,584.2,-8.9,271,5469,0.00,2.30,0.00,0.000,260,0.000,0.053,2596,3559,3669,3724,3615,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5484,-0.93,-155.7,2597,3560,3724,3616,584.2,-8.9,271,5491,0.00,2.20,0.00,0.000,1030,0.000,0.031,2596,2149,3669,3723,3615,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5796,-0.93,-155.7,2596,2146,3722,3613,615.6,-9.5,282,5805,0.00,2.25,0.00,0.000,516,0.000,0.041,2596,745,3667,3721,3613,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5829,-0.93,-155.7,2597,746,3720,3614,618.8,-9.6,283,5837,0.00,2.25,0.00,0.000,1030,0.000,0.036,2587,2154,3666,3720,3613,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6157,-0.93,-155.7,2588,2155,3719,3612,652.2,-10.4,294,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2154,3664,3718,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6456,-0.93,-155.7,2588,2155,3717,3607,683.7,-10.4,304,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2154,3663,3716,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6756,-0.93,-155.7,2587,2154,3716,3608,714.8,-10.4,314,6764,0.00,2.28,0.00,0.000,260,0.000,0.054,2577,3555,3660,3714,3607,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6803,-0.93,-155.7,2577,3555,3715,3607,717.7,-10.5,315,6812,0.00,2.20,0.00,0.000,1030,0.000,0.032,2577,2149,3661,3714,3608,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7109,-0.93,-155.7,2577,2146,3713,3606,752.2,-10.5,325,7120,0.00,2.25,0.00,0.000,516,0.000,0.041,2576,752,3658,3711,3606,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7159,-0.93,-155.7,2577,752,3712,3607,755.5,-10.4,326,7167,0.00,2.25,0.00,0.000,1030,0.000,0.037,2570,2150,3659,3712,3606,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7465,-0.93,-155.7,2570,2151,3711,3605,789.8,-10.4,336,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2151,3657,3710,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,-0.93,-155.7,2571,2152,3709,3605,821.6,-10.6,346,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2148,3656,3708,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8065,-0.93,-155.7,2570,2152,3709,3601,852.0,-9.9,356,8075,0.00,2.25,0.00,0.000,516,0.000,0.043,2569,752,3654,3708,3600,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8105,-0.93,-155.7,2569,753,3715,3602,855.1,-10.0,357,8112,0.00,2.28,0.00,0.000,1030,0.000,0.037,2560,2161,3654,3708,3600,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8422,-0.93,-155.7,2561,2161,3714,3600,887.6,-9.7,368,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2161,3653,3706,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8722,-0.93,-155.7,2561,2161,3705,3600,916.5,-9.7,378,8730,0.00,2.30,0.00,0.000,516,0.000,0.043,2560,751,3655,3710,3600,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8749,-0.93,-155.7,2562,751,3705,3600,919.4,-9.8,379,8757,0.00,2.28,0.00,0.000,1030,0.000,0.039,2553,2157,3651,3703,3600,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9077,-0.93,-155.7,2554,2158,3703,3600,953.9,-10.7,390,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2157,3648,3702,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,-0.93,-155.7,2554,2158,3702,3598,986.5,-11.0,400,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2157,3649,3701,3598,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9435,begin apogee
$GC,9439,-0.13,0.0,2553,2262,3701,3599,992.9,-10.8,402,9578,0.93,0.00,132.25,1.278,10246,0.142,0.000,2825,2261,3047,3085,3010,0,0,0,0,0,0,25.61,28.83,24.03
$STATE,9579,end apogee,CONTROL_FINISHED_OK
$STATE,9579,begin climb
$GC,9580,0.77,155.7,2824,2262,3085,3008,996.4,0.0,406,9734,0.82,2.47,141.45,1.258,10500,0.047,0.050,3136,3657,2410,2453,2367,0,0,0,0,0,0,25.01,24.37,23.55
$GC,9763,0.68,155.7,3136,3658,2446,2367,980.4,11.4,412,9771,0.22,2.33,0.00,0.000,5126,0.180,0.030,3094,2244,2405,2445,2365,0,0,0,0,0,0,24.74,24.92,28.83
$GC,10091,0.64,155.7,3094,2241,2442,2356,933.4,14.2,423,10101,0.00,2.22,0.00,0.000,516,0.000,0.040,3103,851,2398,2441,2356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10121,0.59,155.7,3103,853,2442,2356,929.3,14.1,424,10129,0.17,2.22,0.00,0.000,5126,0.176,0.034,3062,2251,2398,2441,2355,0,0,0,0,0,0,25.64,25.92,28.83
$GC,10448,0.59,155.7,3062,2253,2440,2355,889.4,12.0,435,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2251,2396,2439,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,0.59,155.7,3062,2251,2440,2352,853.5,12.1,445,10756,0.00,2.25,0.00,0.000,516,0.000,0.044,3070,852,2395,2438,2352,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10805,0.59,155.7,3071,853,2439,2352,849.5,12.2,446,10816,0.00,2.25,0.00,0.000,1030,0.000,0.037,3069,2253,2394,2438,2351,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,17952,end climb,SURFACE_DEPTH_REACHED
$STATE,17952,begin surface coast
$FINISH,-1.5,1.006552
$STATE,17980,end surface coast,CONTROL_FINISHED_OK
$STATE,17980,begin surface
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$IRIDIUM_FIX,1201.30,14422.36,191014,062248
$TT8_MAMPS,0.053179,0.053179
$HUMID,46.06
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,25.10
$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,18008.20 7840.70
$PA_BOOTCOUNT,117
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$PA_LOG,0.05/0.090/1.969/1.779
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.050/1.764/1.624
$24V_AH,23.55,25.582
$10V_AH,10.06,32.894
$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,584.248,0.000,0.000,0.000,0.000,0.000,18488.361,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,228564
$DATA_FILE_SIZE,36705,861
$CAP_FILE_SIZE,160152,0
$CFSIZE,260034560,248414208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18551.27,0x236bc6,7,5
$CURRENT,0.059,228.06,1
$GPS,191014,163926,1201.589,14423.851,42,0.9,62,1.8