version: 66.12
glider: 178
mission: 18
dive: 163
start: 10 29 114 9 17 44
data:
$ID,178
$MISSION,18
$DIVE,163
$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,69
$R_STBD_OVSHOOT,41
$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
$GPS1,291014,091025,1140.860,14402.880,78,0.8,98,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-76.0
$GPS2,291014,091733,1140.901,14402.822,12,0.8,32,1.8
$SPEED_LIMITS,0.173,0.253
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,27.7,200273,-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,-155.7,163,2127,1574,1542,0.0,0.0,0,164,0.00,0.00,-66.30,0.000,16386,0.000,0.000,162,2127,3414,3465,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,167,-0.77,-155.7,163,2133,3466,3366,5.0,-16.0,10,186,10.75,0.00,-3.97,0.000,18438,0.246,0.000,2611,2126,3683,3740,3627,0,0,0,0,0,0,25.52,28.83,26.30
$GC,492,-0.72,-155.7,2612,2126,3755,3628,108.5,-18.3,50,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2125,3691,3755,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-0.72,-155.7,2612,2126,3760,3627,157.9,-13.9,80,803,0.00,2.28,0.00,0.000,260,0.000,0.044,2602,3556,3695,3763,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,852,-0.72,-155.7,2603,3556,3765,3626,165.7,-15.1,85,862,0.12,2.12,0.00,0.000,3078,0.160,0.026,2633,2154,3695,3764,3627,0,0,0,0,0,0,25.92,26.25,28.83
$GC,1157,-0.72,-155.7,2634,2152,3770,3630,204.3,-11.8,114,1165,0.00,2.20,0.00,0.000,260,0.000,0.042,2625,3554,3698,3769,3627,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1190,-0.72,-155.7,2627,3555,3770,3629,208.1,-11.6,115,1198,0.00,2.12,0.00,0.000,1030,0.000,0.026,2625,2140,3698,3769,3627,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1517,-0.72,-155.7,2625,2137,3772,3628,246.7,-11.7,126,1527,0.00,2.17,0.00,0.000,516,0.000,0.036,2624,753,3698,3770,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1556,-0.74,-155.7,2626,754,3771,3629,251.0,-12.1,127,1564,0.00,2.15,0.00,0.000,1030,0.000,0.030,2616,2146,3699,3770,3628,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1884,-0.76,-155.7,2617,2146,3770,3628,287.7,-10.7,138,1894,0.00,2.22,0.00,0.000,260,0.000,0.044,2606,3553,3698,3768,3628,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2053,-0.76,-155.7,2607,3554,3767,3629,302.4,-9.7,143,2061,0.00,2.15,0.00,0.000,1030,0.000,0.027,2606,2149,3697,3766,3628,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2359,-0.76,-155.7,2606,2146,3764,3628,328.9,-7.8,153,2367,0.00,2.17,0.00,0.000,516,0.000,0.037,2606,749,3695,3762,3628,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2396,-0.76,-155.7,2607,750,3763,3629,331.6,-7.7,154,2405,0.00,2.17,0.00,0.000,1030,0.000,0.031,2597,2149,3695,3762,3628,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2720,-0.76,-155.7,2596,2149,3758,3628,359.7,-8.7,165,2729,0.00,2.22,0.00,0.000,260,0.000,0.047,2586,3551,3692,3757,3628,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2784,-0.76,-155.7,2587,3551,3757,3627,365.3,-9.0,167,2792,0.15,2.15,0.00,0.000,3078,0.150,0.028,2624,2137,3692,3756,3628,0,0,0,0,0,0,25.86,26.18,28.83
$GC,3108,-0.79,-155.7,2625,2135,3751,3629,389.3,-7.4,178,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2134,3689,3750,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.83,-155.7,2625,2134,3746,3629,413.4,-8.4,188,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2134,3686,3745,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-0.86,-155.7,2625,2134,3742,3626,437.0,-7.4,198,3715,0.12,2.17,0.00,0.000,4612,0.093,0.038,2565,760,3682,3740,3625,0,0,0,0,0,0,26.08,26.03,28.83
$GC,3765,-0.89,-155.7,2566,762,3741,3627,440.1,-7.9,199,3775,0.00,2.17,0.00,0.000,1030,0.000,0.038,2556,2148,3683,3740,3626,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4070,-0.89,-155.7,2558,2148,3737,3624,475.3,-10.7,210,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2148,3679,3736,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.89,-155.7,2558,2149,3734,3622,508.1,-10.8,220,4378,0.00,2.28,0.00,0.000,260,0.000,0.048,2547,3553,3677,3733,3621,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4443,-0.89,-155.7,2547,3550,3732,3628,515.0,-10.8,222,4453,0.15,2.17,0.00,0.000,3078,0.158,0.036,2583,2146,3675,3729,3621,0,0,0,0,0,0,25.71,26.08,28.83
$GC,4763,-0.89,-155.7,2584,2144,3730,3619,544.7,-8.8,233,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2143,3674,3730,3618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,-0.89,-155.7,2584,2143,3727,3617,571.9,-9.0,243,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2143,3671,3726,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5363,-0.89,-155.7,2583,2144,3725,3617,599.7,-9.4,253,5371,0.00,2.22,0.00,0.000,516,0.000,0.041,2583,748,3669,3723,3615,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5411,-0.89,-155.7,2583,748,3724,3615,603.1,-9.6,254,5419,0.00,2.25,0.00,0.000,1030,0.000,0.034,2577,2158,3669,3723,3615,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5723,-0.89,-155.7,2577,2158,3722,3612,635.3,-9.9,265,5731,0.00,2.25,0.00,0.000,516,0.000,0.040,2577,756,3667,3721,3613,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5751,-0.89,-155.7,2578,757,3721,3614,638.1,-10.0,266,5761,0.00,2.20,0.00,0.000,1030,0.000,0.034,2570,2148,3666,3720,3612,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6081,-0.89,-155.7,2570,2148,3719,3611,673.5,-10.8,277,6089,0.00,2.30,0.00,0.000,260,0.000,0.049,2560,3553,3665,3718,3612,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6118,-0.89,-155.7,2560,3552,3719,3611,676.5,-10.8,278,6127,0.00,2.17,0.00,0.000,1030,0.000,0.036,2560,2152,3664,3718,3611,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6436,-0.89,-155.7,2560,2150,3716,3612,714.9,-11.6,289,6444,0.00,2.25,0.00,0.000,516,0.000,0.041,2560,746,3663,3716,3610,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6468,-0.89,-155.7,2560,746,3717,3610,718.1,-11.6,290,6476,0.00,2.25,0.00,0.000,1030,0.000,0.034,2556,2152,3662,3715,3610,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6796,-0.89,-155.7,2557,2153,3714,3609,757.2,-11.4,301,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2152,3661,3714,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7096,-0.89,-155.7,2556,2152,3713,3607,790.2,-10.7,311,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2152,3659,3711,3607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7395,-0.89,-155.7,2557,2152,3711,3606,821.7,-10.4,321,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2152,3657,3710,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,-0.89,-155.7,2557,2152,3711,3605,852.8,-10.3,331,7706,0.00,2.25,0.00,0.000,516,0.000,0.041,2557,749,3657,3709,3605,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7720,-0.89,-155.7,2557,749,3710,3605,852.8,-10.3,331,7731,0.15,2.28,0.00,0.000,3078,0.162,0.037,2583,2158,3657,3710,3605,0,0,0,0,0,0,25.59,25.91,28.83
$GC,8026,-0.89,-155.7,2583,2158,3709,3603,882.0,-8.6,342,8033,0.00,2.30,0.00,0.000,260,0.000,0.051,2574,3552,3655,3708,3603,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8063,-0.89,-155.7,2575,3553,3709,3605,884.4,-8.6,343,8071,0.00,2.20,0.00,0.000,1030,0.000,0.032,2574,2145,3655,3707,3604,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8385,-0.89,-155.7,2575,2144,3707,3603,913.9,-8.8,354,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2142,3653,3705,3602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8685,-0.89,-155.7,2575,2143,3706,3603,940.3,-8.7,364,8693,0.00,2.22,0.00,0.000,516,0.000,0.041,2575,755,3652,3704,3601,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8708,-0.89,-155.7,2575,755,3705,3601,940.3,-8.7,364,8716,0.00,2.25,0.00,0.000,1030,0.000,0.037,2573,2149,3652,3704,3601,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9021,-0.89,-155.7,2573,2150,3704,3601,969.9,-8.4,375,9029,0.00,2.33,0.00,0.000,260,0.000,0.051,2563,3561,3651,3703,3600,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9058,-0.89,-155.7,2563,3562,3704,3601,972.8,-8.5,376,9066,0.00,2.22,0.00,0.000,1030,0.000,0.032,2563,2139,3651,3703,3600,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9263,-0.13,0.0,2562,2272,3704,3600,990.8,-8.5,383,9404,0.88,0.00,133.32,1.274,10246,0.135,0.000,2821,2272,3046,3082,3011,0,0,0,0,0,0,25.44,28.83,23.65
$STATE,9405,end apogee,CONTROL_FINISHED_OK
$STATE,9405,begin climb
$GC,9407,0.77,155.7,2821,2273,3082,3010,992.4,0.0,387,9565,0.82,2.47,142.70,1.260,10500,0.049,0.048,3130,3645,2409,2452,2367,0,0,0,0,0,0,24.82,24.22,23.17
$GC,9600,0.69,155.7,3130,3645,2446,2364,971.6,14.9,394,9611,0.20,2.30,0.00,0.000,5126,0.179,0.028,3095,2251,2404,2445,2363,0,0,0,0,0,0,24.63,24.89,28.83
$GC,9926,0.65,155.7,3096,2249,2442,2357,917.5,16.1,405,9934,0.00,2.25,0.00,0.000,516,0.000,0.038,3104,843,2398,2441,2356,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9968,0.62,155.7,3103,844,2443,2356,913.0,16.2,406,9977,0.15,2.22,0.00,0.000,5126,0.184,0.032,3070,2259,2398,2441,2355,0,0,0,0,0,0,25.74,26.06,28.83
$GC,10281,0.60,155.7,3070,2259,2441,2353,867.0,13.4,417,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2259,2397,2440,2354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10581,0.60,155.7,3071,2260,2439,2353,831.1,11.4,427,10589,0.00,2.28,0.00,0.000,516,0.000,0.039,3078,843,2395,2439,2352,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10609,0.60,155.7,3078,842,2440,2350,827.9,11.4,428,10617,0.00,2.22,0.00,0.000,1030,0.000,0.034,3078,2254,2395,2438,2352,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10942,0.57,155.7,3078,2255,2439,2351,790.4,11.2,439,10951,0.00,2.25,0.00,0.000,260,0.000,0.050,3078,3655,2394,2438,2351,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,17971,end climb,SURFACE_DEPTH_REACHED
$STATE,17971,begin surface coast
$FINISH,-0.9,1.021190
$STATE,17991,end surface coast,CONTROL_FINISHED_OK
$STATE,17991,begin surface
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$IRIDIUM_FIX,1132.66,14353.18,291014,040412
$TT8_MAMPS,0.054677,0.054677
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$XPDR_PINGS,5
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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,18020.23 7964.49
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$10V_AH,9.98,36.419
$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,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,228492
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