version: 66.12
glider: 178
mission: 18
dive: 167
start: 10 30 114 5 43 45
data:
$ID,178
$MISSION,18
$DIVE,167
$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,300
$T_MISSION,330
$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,220
$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,60
$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
$GPS1,301014,053626,1149.503,14405.556,35,0.8,55,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.49
$_SM_ANGLEo,-75.2
$GPS2,301014,054333,1149.487,14405.526,11,0.9,31,1.8
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1324.700,14434.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,29.0,183643,-17.3,-11.000,-20.18,2764
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.84,-214.1,163,2132,1349,1332,0.0,0.0,0,178,0.00,0.00,-78.43,0.000,16386,0.000,0.000,162,2132,3570,3637,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,180,-0.84,-214.1,163,2133,3638,3505,6.2,-15.0,11,200,10.55,2.30,-4.82,0.000,19204,0.243,0.054,2581,3565,3923,3979,3868,0,0,0,0,0,0,25.52,26.15,26.34
$GC,390,-0.75,-214.1,2581,3561,3990,3870,84.7,-25.8,39,401,0.17,2.12,0.00,0.000,3078,0.172,0.028,2622,2160,3929,3989,3869,0,0,0,0,0,0,25.77,26.20,28.83
$GC,696,-0.71,-214.1,2623,2158,3998,3870,146.1,-18.1,70,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2157,3933,3997,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,998,-0.71,-214.1,2623,2158,4001,3874,183.9,-10.5,100,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2157,3936,3999,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1318,-0.71,-214.1,2629,2158,4002,3876,218.6,-12.1,122,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2157,3938,4001,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.71,-214.1,2623,2158,4002,3877,254.5,-11.2,132,1626,0.00,2.20,0.00,0.000,516,0.000,0.037,2622,746,3936,4001,3871,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1640,-0.71,-214.1,2623,746,4002,3875,254.5,-11.2,132,1648,0.00,2.17,0.00,0.000,1030,0.000,0.031,2617,2153,3938,4001,3876,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1952,-0.71,-214.1,2617,2153,4000,3875,288.4,-9.2,143,1960,0.00,2.25,0.00,0.000,260,0.000,0.047,2606,3554,3937,3999,3875,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1995,-0.73,-214.1,2607,3554,3999,3875,291.6,-9.2,144,2003,0.00,2.12,0.00,0.000,1030,0.000,0.027,2606,2143,3936,3997,3875,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2318,-0.73,-214.1,2607,2140,3996,3875,322.9,-9.5,155,2325,0.00,2.17,0.00,0.000,516,0.000,0.037,2607,760,3935,3995,3875,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2365,-0.73,-214.1,2607,761,3995,3877,325.4,-9.3,156,2379,0.12,2.20,0.00,0.000,3078,0.156,0.033,2629,2161,3934,3994,3875,0,0,0,0,0,0,25.94,26.15,28.83
$GC,2675,-0.77,-214.1,2629,2161,3990,3875,353.2,-9.0,167,2687,0.00,2.25,0.00,0.000,260,0.000,0.049,2620,3564,3931,3988,3875,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2731,-0.81,-214.1,2621,3560,3988,3876,356.1,-9.3,168,2741,0.00,2.15,0.00,0.000,1030,0.000,0.029,2620,2142,3931,3987,3875,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3037,-0.84,-214.1,2621,2140,3984,3875,388.8,-9.6,179,3046,0.00,2.30,0.00,0.000,260,0.000,0.048,2611,3560,3928,3982,3874,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3091,-0.88,-214.1,2612,3561,3983,3875,391.7,-9.5,180,3101,0.00,2.15,0.00,0.000,1030,0.000,0.029,2611,2147,3928,3982,3874,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3397,-0.91,-214.1,2612,2147,3978,3872,421.6,-8.7,191,3406,0.00,2.28,0.00,0.000,260,0.000,0.049,2602,3550,3924,3977,3871,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3451,-0.93,-214.1,2603,3550,3978,3871,424.5,-8.8,192,3461,0.00,2.15,0.00,0.000,1030,0.000,0.030,2602,2152,3924,3977,3872,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3757,-0.96,-214.1,2602,2149,3975,3868,455.4,-9.5,203,3762,0.12,0.00,0.00,0.000,4102,0.090,0.000,2548,2149,3921,3974,3868,0,0,0,0,0,0,26.14,28.83,28.83
$GC,4057,-0.93,-214.1,2548,2149,3971,3866,497.2,-14.4,213,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2149,3918,3970,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-0.91,-214.1,2548,2150,3966,3864,539.2,-13.9,223,4366,0.00,2.30,0.00,0.000,260,0.000,0.050,2538,3556,3913,3964,3863,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4376,-0.89,-214.1,2539,3555,3966,3863,539.2,-13.9,223,4384,0.17,2.17,0.00,0.000,3078,0.153,0.031,2582,2146,3913,3964,3863,0,0,0,0,0,0,25.75,26.13,28.83
$GC,4681,-0.89,-214.1,2583,2143,3964,3860,578.4,-11.8,233,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2143,3912,3963,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,-0.89,-214.1,2583,2144,3961,3860,612.0,-10.9,243,4991,0.00,2.30,0.00,0.000,260,0.000,0.051,2574,3548,3910,3961,3859,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5036,-0.89,-214.1,2575,3549,3961,3860,615.3,-10.9,244,5046,0.00,2.17,0.00,0.000,1030,0.000,0.031,2574,2143,3909,3960,3859,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5341,-0.89,-214.1,2574,2140,3957,3857,653.0,-11.5,255,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2139,3907,3958,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-0.89,-214.1,2574,2138,3956,3854,687.7,-11.5,265,5649,0.00,2.30,0.00,0.000,260,0.000,0.053,2566,3549,3904,3954,3854,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5683,-0.89,-214.1,2566,3549,3955,3854,691.0,-11.6,266,5691,0.00,2.17,0.00,0.000,1030,0.000,0.032,2566,2148,3903,3953,3854,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5996,-0.89,-214.1,2566,2144,3954,3852,730.2,-12.0,277,6006,0.00,2.22,0.00,0.000,516,0.000,0.042,2566,755,3902,3953,3852,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6016,-0.89,-214.1,2567,754,3954,3852,730.2,-12.0,277,6023,0.00,2.22,0.00,0.000,1030,0.000,0.037,2559,2147,3902,3952,3852,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6321,-0.89,-214.1,2559,2148,3953,3850,771.0,-12.7,287,6329,0.00,2.33,0.00,0.000,260,0.000,0.054,2553,3556,3900,3951,3850,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6373,-0.89,-214.1,2554,3556,3951,3851,774.5,-12.6,288,6384,0.00,2.20,0.00,0.000,1030,0.000,0.032,2553,2140,3900,3950,3850,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6678,-0.89,-214.1,2553,2137,3950,3848,816.9,-12.8,299,6685,0.12,0.00,0.00,0.000,2054,0.172,0.000,2581,2137,3898,3948,3848,0,0,0,0,0,0,25.77,28.83,28.83
$GC,6979,-0.89,-214.1,2581,2136,3948,3846,848.5,-10.2,309,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2136,3897,3947,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7279,-0.89,-214.1,2581,2137,3946,3847,877.5,-9.3,319,7288,0.00,2.38,0.00,0.000,260,0.000,0.054,2572,3559,3895,3945,3846,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7343,-0.89,-214.1,2573,3560,3946,3847,883.1,-9.2,321,7351,0.00,2.22,0.00,0.000,1030,0.000,0.034,2572,2145,3895,3945,3846,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7666,-0.89,-214.1,2573,2143,3943,3846,911.9,-8.3,332,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2142,3893,3943,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7966,-0.89,-214.1,2573,2141,3942,3842,936.7,-8.2,342,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2142,3891,3941,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8266,-0.89,-214.1,2573,2142,3941,3843,962.5,-8.9,352,8276,0.00,2.35,0.00,0.000,260,0.000,0.055,2564,3555,3890,3939,3842,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8291,-0.89,-214.1,2565,3556,3939,3843,962.5,-8.9,352,8301,0.00,2.20,0.00,0.000,1030,0.000,0.034,2564,2150,3890,3938,3842,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,8564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8564,begin apogee
$GC,8568,-0.13,0.0,2564,2264,3939,3841,991.4,-9.8,362,8761,0.88,0.00,184.93,1.278,10246,0.128,0.000,2826,2264,3047,3086,3008,0,0,0,0,0,0,25.47,28.83,23.31
$STATE,8761,end apogee,CONTROL_FINISHED_OK
$STATE,8761,begin climb
$GC,8763,0.84,214.1,2827,2265,3085,3007,999.0,0.0,368,8972,0.88,2.50,195.38,1.263,10756,0.043,0.041,3158,859,2173,2214,2132,0,0,0,0,0,0,24.53,24.23,23.15
$GC,9162,0.77,214.1,3159,859,2206,2124,949.2,17.9,381,9173,0.15,2.28,0.00,0.000,5126,0.179,0.038,3125,2256,2164,2205,2124,0,0,0,0,0,0,25.53,25.77,28.83
$GC,9467,0.72,214.1,3125,2258,2204,2122,897.1,15.2,392,9474,0.00,2.28,0.00,0.000,260,0.000,0.052,3125,3657,2162,2203,2121,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9484,0.66,214.1,3125,3660,2203,2123,897.1,15.2,392,9492,0.20,2.20,0.00,0.000,5126,0.179,0.031,3084,2251,2161,2202,2121,0,0,0,0,0,0,25.82,26.19,28.83
$GC,9789,0.63,214.1,3084,2249,2201,2121,854.6,12.9,402,9799,0.00,2.25,0.00,0.000,516,0.000,0.043,3091,846,2160,2201,2120,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9824,0.61,214.1,3092,846,2202,2119,850.4,13.2,403,9832,0.00,2.22,0.00,0.000,1030,0.000,0.037,3092,2251,2160,2201,2119,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10152,0.57,214.1,3093,2253,2201,2120,801.5,14.9,414,10160,0.15,0.00,0.00,0.000,4102,0.183,0.000,3058,2253,2160,2200,2120,0,0,0,0,0,0,25.83,28.83,28.83
$GC,10452,0.57,214.1,3058,2254,2200,2119,763.8,12.2,424,10460,0.00,2.28,0.00,0.000,260,0.000,0.052,3057,3653,2158,2199,2118,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10479,0.57,214.1,3058,3654,2195,2119,760.2,12.4,425,10487,0.00,2.20,0.00,0.000,1030,0.000,0.032,3065,2251,2157,2198,2117,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10807,0.57,214.1,3066,2247,2198,2117,719.6,12.2,436,10818,0.00,2.22,0.00,0.000,516,0.000,0.044,3076,848,2157,2197,2117,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10872,0.57,214.1,3077,849,2198,2117,712.4,12.1,438,10880,0.00,2.22,0.00,0.000,1030,0.000,0.037,3076,2251,2156,2197,2116,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11195,0.57,214.1,3078,2252,2198,2117,674.7,11.2,449,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2251,2156,2197,2116,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16473,end climb,SURFACE_DEPTH_REACHED
$STATE,16473,begin surface coast
$FINISH,0.2,1.021386
$STATE,16499,end surface coast,CONTROL_FINISHED_OK
$STATE,16499,begin surface
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$IRIDIUM_FIX,1141.46,14405.97,301014,005435
$TT8_MAMPS,0.053928,0.053928
$HUMID,49.40
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.70
$XPDR_PINGS,1
$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,16527.98 7441.88
$PA_BOOTCOUNT,170
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$PA_LOG,0.05/0.108/1.969/1.760
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$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.04/0.062/1.764/1.612
$PA_DISK_BANK,2
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$10V_AH,9.98,36.708
$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,228516
$DATA_FILE_SIZE,33497,779
$CAP_FILE_SIZE,142228,0
$CFSIZE,260034560,244060160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.088,288.24,1
$GPS,301014,102114,1151.701,14406.498,35,0.9,55,1.8