version: 66.12
glider: 178
mission: 18
dive: 159
start: 10 28 114 12 55 32
data:
$ID,178
$MISSION,18
$DIVE,159
$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,63
$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
$GPS1,281014,124756,1133.017,14359.724,27,0.9,47,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-74.9
$GPS2,281014,125521,1132.969,14359.645,13,0.9,33,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,39.8,215983,-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,93,end surface,CONTROL_FINISHED_OK
$STATE,93,begin dive
$GC,95,-0.77,-155.7,162,2126,1271,1258,0.0,0.0,0,173,0.00,0.00,-75.28,0.000,16386,0.000,0.000,162,2127,3272,3319,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,175,-0.77,-155.7,163,2127,3321,3225,3.5,-14.5,13,199,10.73,2.30,-6.53,0.000,18692,0.246,0.056,2607,3554,3685,3747,3624,0,0,0,0,0,0,25.56,26.13,26.32
$GC,285,-0.66,-155.7,2608,3555,3755,3626,51.2,-30.9,34,295,0.17,2.12,0.00,0.000,3078,0.187,0.029,2647,2164,3689,3754,3625,0,0,0,0,0,0,25.76,26.19,28.83
$GC,591,-0.62,-155.7,2648,2161,3761,3626,116.1,-17.4,65,604,0.00,2.17,0.00,0.000,516,0.000,0.037,2647,752,3692,3759,3625,0,0,0,0,0,0,28.83,26.15,28.83
$GC,653,-0.62,-155.7,2648,752,3762,3625,125.1,-13.2,71,666,0.00,2.15,0.00,0.000,1030,0.000,0.031,2640,2148,3693,3761,3625,0,0,0,0,0,0,28.83,26.17,28.83
$GC,963,-0.62,-155.7,2640,2148,3767,3625,166.4,-11.9,102,971,0.00,2.25,0.00,0.000,260,0.000,0.044,2629,3566,3695,3766,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1056,-0.62,-155.7,2630,3566,3767,3627,177.4,-12.8,110,1067,0.15,2.15,0.00,0.000,3078,0.142,0.026,2670,2134,3699,3773,3626,0,0,0,0,0,0,25.98,26.25,28.83
$GC,1382,-0.66,-155.7,2670,2134,3771,3626,206.7,-9.6,139,1390,0.00,2.12,0.00,0.000,516,0.000,0.036,2670,762,3698,3770,3626,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1479,-0.71,-155.7,2670,762,3771,3628,216.1,-10.5,142,1488,0.00,2.17,0.00,0.000,1030,0.000,0.030,2669,2163,3698,3770,3627,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1802,-0.76,-155.7,2669,2165,3771,3629,246.0,-8.0,153,1811,0.12,2.20,0.00,0.000,4612,0.090,0.034,2595,762,3698,3770,3627,0,0,0,0,0,0,26.21,26.17,28.83
$GC,1825,-0.81,-155.7,2596,762,3771,3623,246.0,-8.0,153,1835,0.00,2.15,0.00,0.000,1030,0.000,0.031,2583,2157,3698,3770,3627,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2130,-0.81,-155.7,2586,2158,3769,3629,284.0,-11.7,164,2138,0.00,2.22,0.00,0.000,260,0.000,0.046,2575,3556,3697,3767,3627,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2197,-0.81,-155.7,2575,3557,3768,3629,290.8,-11.8,166,2205,0.12,2.15,0.00,0.000,3078,0.158,0.028,2605,2146,3697,3767,3627,0,0,0,0,0,0,25.95,26.24,28.83
$GC,2515,-0.81,-155.7,2605,2142,3765,3627,329.7,-12.9,177,2523,0.00,2.15,0.00,0.000,516,0.000,0.037,2605,762,3695,3764,3627,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2597,-0.81,-155.7,2606,763,3762,3628,336.7,-12.4,179,2607,0.00,2.15,0.00,0.000,1030,0.000,0.032,2597,2147,3694,3762,3627,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2903,-0.81,-155.7,2598,2148,3759,3627,368.8,-9.2,190,2914,0.00,2.25,0.00,0.000,260,0.000,0.048,2587,3557,3692,3757,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2958,-0.81,-155.7,2587,3558,3756,3628,371.6,-8.9,191,2968,0.00,2.15,0.00,0.000,1030,0.000,0.029,2587,2152,3691,3755,3627,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3263,-0.81,-155.7,2588,2151,3752,3628,405.7,-10.9,202,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2150,3689,3751,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-0.81,-155.7,2588,2151,3746,3628,435.1,-9.5,212,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2150,3685,3745,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3864,-0.81,-155.7,2588,2151,3741,3625,462.7,-9.3,222,3872,0.00,2.28,0.00,0.000,260,0.000,0.050,2578,3551,3682,3740,3624,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3891,-0.81,-155.7,2578,3551,3741,3624,462.7,-9.3,222,3902,0.12,2.17,0.00,0.000,3078,0.162,0.031,2607,2143,3681,3739,3624,0,0,0,0,0,0,25.84,26.15,28.83
$GC,4197,-0.84,-155.7,2608,2143,3738,3621,493.1,-9.1,233,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2143,3678,3737,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4497,-0.86,-155.7,2608,2143,3734,3617,519.7,-8.9,243,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2143,3675,3733,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4797,-0.88,-155.7,2608,2143,3730,3617,546.9,-9.1,253,4805,0.00,2.30,0.00,0.000,260,0.000,0.049,2599,3551,3673,3729,3617,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4820,-0.91,-155.7,2600,3551,3730,3616,546.9,-9.1,253,4827,0.00,2.17,0.00,0.000,1030,0.000,0.031,2599,2153,3673,3729,3617,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5132,-0.91,-155.7,2600,2149,3727,3614,581.0,-10.6,264,5140,0.00,2.22,0.00,0.000,516,0.000,0.041,2599,752,3670,3725,3615,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5169,-0.91,-155.7,2599,751,3727,3614,584.5,-10.7,265,5177,0.00,2.22,0.00,0.000,1030,0.000,0.035,2591,2147,3669,3725,3613,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5491,-0.91,-155.7,2590,2147,3730,3612,621.5,-11.3,276,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2148,3667,3722,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.91,-155.7,2590,2149,3721,3612,655.2,-11.2,286,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2148,3665,3720,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,-0.91,-155.7,2591,2148,3718,3609,688.1,-10.9,296,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2147,3663,3717,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6391,-0.91,-155.7,2591,2148,3716,3606,718.5,-9.7,306,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2147,3661,3715,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6691,-0.91,-155.7,2591,2148,3714,3607,744.8,-8.5,316,6699,0.00,2.33,0.00,0.000,260,0.000,0.052,2580,3556,3659,3713,3606,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6713,-0.91,-155.7,2581,3556,3713,3607,744.8,-8.5,316,6724,0.00,2.20,0.00,0.000,1030,0.000,0.032,2580,2153,3658,3712,3605,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7019,-0.91,-155.7,2580,2149,3711,3605,774.1,-9.1,327,7027,0.00,2.22,0.00,0.000,516,0.000,0.041,2580,755,3657,3709,3605,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7076,-0.91,-155.7,2580,755,3711,3603,777.3,-9.2,328,7086,0.00,2.25,0.00,0.000,1030,0.000,0.037,2572,2149,3657,3710,3604,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7381,-0.91,-155.7,2572,2149,3710,3603,811.0,-10.7,339,7389,0.00,2.33,0.00,0.000,260,0.000,0.052,2561,3564,3655,3708,3602,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7428,-0.91,-155.7,2562,3565,3709,3604,814.1,-10.8,340,7436,0.00,2.22,0.00,0.000,1030,0.000,0.032,2562,2148,3654,3707,3602,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7734,-0.91,-155.7,2561,2144,3708,3601,851.5,-11.6,350,7746,0.00,2.22,0.00,0.000,516,0.000,0.042,2561,750,3653,3705,3601,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7770,-0.91,-155.7,2567,752,3706,3602,855.3,-11.7,351,7780,0.00,2.25,0.00,0.000,1030,0.000,0.037,2553,2151,3653,3706,3601,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8095,-0.91,-155.7,2554,2152,3705,3601,894.6,-12.0,362,8103,0.00,2.25,0.00,0.000,516,0.000,0.042,2553,754,3651,3704,3599,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8132,-0.91,-155.7,2554,756,3705,3601,898.4,-11.9,363,8140,0.15,2.28,0.00,0.000,3078,0.172,0.037,2578,2161,3651,3703,3600,0,0,0,0,0,0,25.58,25.91,28.83
$GC,8455,-0.91,-155.7,2579,2162,3704,3600,931.3,-9.8,374,8463,0.00,2.30,0.00,0.000,260,0.000,0.054,2570,3555,3651,3703,3599,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8502,-0.91,-155.7,2570,3556,3703,3600,934.2,-9.9,375,8510,0.00,2.22,0.00,0.000,1030,0.000,0.032,2570,2144,3650,3702,3598,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8807,-0.91,-155.7,2571,2142,3701,3599,967.2,-10.0,385,8818,0.00,2.20,0.00,0.000,516,0.000,0.044,2570,758,3649,3701,3597,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8843,-0.91,-155.7,2570,758,3704,3596,970.4,-10.1,386,8850,0.00,2.25,0.00,0.000,1030,0.000,0.037,2560,2152,3649,3701,3597,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,9048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9052,-0.13,0.0,2560,2259,3701,3598,992.9,-10.5,393,9193,0.90,0.00,131.73,1.281,10246,0.137,0.000,2823,2258,3047,3084,3011,0,0,0,0,0,0,25.42,28.83,23.74
$STATE,9194,end apogee,CONTROL_FINISHED_OK
$STATE,9194,begin climb
$GC,9196,0.77,155.7,2824,2258,3084,3010,997.0,0.0,397,9356,0.82,2.53,141.32,1.265,10500,0.052,0.051,3128,3647,2409,2452,2366,0,0,0,0,0,0,24.88,24.25,23.25
$GC,9365,0.68,155.7,3128,3649,2450,2367,985.2,10.1,403,9373,0.20,2.30,0.00,0.000,5126,0.179,0.030,3094,2253,2406,2448,2365,0,0,0,0,0,0,24.46,24.68,28.83
$GC,9683,0.65,155.7,3094,2250,2444,2354,935.3,14.8,414,9691,0.00,2.22,0.00,0.000,516,0.000,0.041,3103,849,2402,2443,2362,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9740,0.61,155.7,3103,850,2442,2354,930.2,15.0,415,9751,0.15,2.25,0.00,0.000,5126,0.183,0.037,3068,2250,2397,2441,2353,0,0,0,0,0,0,25.75,26.04,28.83
$GC,10046,0.59,155.7,3068,2251,2442,2352,884.8,13.5,426,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2250,2396,2441,2352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,0.59,155.7,3069,2251,2441,2352,844.1,13.8,436,10353,0.00,2.25,0.00,0.000,516,0.000,0.043,3082,844,2395,2440,2351,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10367,0.59,155.7,3076,846,2441,2351,844.1,13.8,436,10375,0.00,2.25,0.00,0.000,1030,0.000,0.037,3076,2258,2394,2439,2350,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,17654,end climb,SURFACE_DEPTH_REACHED
$STATE,17654,begin surface coast
$FINISH,0.3,1.021310
$STATE,17669,end surface coast,CONTROL_FINISHED_OK
$STATE,17669,begin surface
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$IRIDIUM_FIX,1126.06,14357.55,281014,073036
$TT8_MAMPS,0.053928,0.053928
$HUMID,47.48
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,17699.77 7893.01
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$10V_AH,9.98,36.127
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,228456
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