version: 66.12
glider: 178
mission: 18
dive: 191
start: 11 3 114 22 47 25
data:
$ID,178
$MISSION,18
$DIVE,191
$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,-1
$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,61
$R_STBD_OVSHOOT,35
$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
$GPS1,031114,223956,1230.290,14421.124,30,1.1,50,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-76.6
$GPS2,031114,224714,1230.246,14421.030,12,1.2,32,1.7
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,45.4,76723,-17.3,-11.000,-20.18,2764
$D_GRID,2393
$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,-0.84,-214.1,163,2128,1526,1497,0.0,0.0,0,176,0.00,0.00,-70.62,0.000,16386,0.000,0.000,162,2128,3518,3575,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,178,-0.84,-214.1,163,2128,3578,3462,4.1,-14.7,10,207,10.65,2.12,-4.82,0.000,18948,0.243,0.047,2600,759,3923,3977,3869,0,0,0,0,0,0,25.47,26.17,26.36
$GC,264,-0.75,-214.1,2600,759,3982,3870,50.4,-30.9,21,283,0.15,2.20,0.00,0.000,3078,0.169,0.033,2628,2158,3928,3986,3870,0,0,0,0,0,0,25.86,26.17,28.83
$GC,578,-0.69,-214.1,2629,2159,3993,3871,121.7,-20.3,52,586,0.00,2.20,0.00,0.000,260,0.000,0.046,2620,3554,3931,3992,3870,0,0,0,0,0,0,28.83,26.19,28.83
$GC,661,-0.65,-214.1,2620,3555,3994,3872,137.2,-17.8,60,669,0.15,2.12,0.00,0.000,3078,0.155,0.027,2658,2150,3932,3994,3870,0,0,0,0,0,0,25.98,26.29,28.83
$GC,974,-0.65,-214.1,2659,2147,3999,3872,177.9,-9.9,91,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2146,3935,4000,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-0.68,-214.1,2658,2146,4002,3878,206.8,-10.2,117,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2146,3936,4001,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1575,-0.72,-214.1,2658,2147,4003,3874,233.4,-7.9,127,1583,0.00,2.22,0.00,0.000,260,0.000,0.047,2650,3557,3936,4001,3872,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1688,-0.77,-214.1,2651,3558,4002,3874,241.1,-8.0,130,1701,0.00,2.12,0.00,0.000,1030,0.000,0.027,2650,2147,3937,4001,3873,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1998,-0.81,-214.1,2648,2146,4003,3873,272.4,-10.0,141,2006,0.12,0.00,0.00,0.000,4102,0.088,0.000,2584,2144,3937,4001,3873,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2297,-0.81,-214.1,2585,2143,4000,3873,318.2,-15.1,151,2306,0.00,2.25,0.00,0.000,260,0.000,0.048,2573,3554,3935,3998,3873,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2335,-0.81,-214.1,2574,3555,3998,3874,322.8,-14.5,152,2346,0.12,2.15,0.00,0.000,3078,0.154,0.028,2604,2142,3935,3997,3873,0,0,0,0,0,0,26.04,26.32,28.83
$GC,2661,-0.81,-214.1,2605,2139,3996,3873,355.9,-9.1,163,2670,0.00,2.25,0.00,0.000,260,0.000,0.048,2596,3549,3933,3994,3873,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2760,-0.81,-214.1,2596,3550,3993,3874,364.5,-9.4,166,2770,0.00,2.12,0.00,0.000,1030,0.000,0.029,2596,2148,3932,3992,3873,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3080,-0.81,-214.1,2597,2146,3988,3874,394.2,-8.5,177,3090,0.00,2.28,0.00,0.000,260,0.000,0.049,2587,3550,3930,3987,3873,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3179,-0.81,-214.1,2587,3551,3993,3874,402.0,-8.6,180,3187,0.00,2.15,0.00,0.000,1030,0.000,0.029,2587,2150,3929,3985,3873,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3497,-0.81,-214.1,2587,2149,3983,3874,432.6,-9.2,191,3505,0.00,2.25,0.00,0.000,260,0.000,0.050,2579,3548,3926,3981,3872,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3545,-0.81,-214.1,2579,3547,3981,3872,435.9,-9.3,192,3555,0.12,2.12,0.00,0.000,3078,0.154,0.030,2609,2149,3925,3979,3872,0,0,0,0,0,0,25.97,26.25,28.83
$GC,3861,-0.84,-214.1,2610,2147,3978,3870,465.3,-9.6,203,3871,0.00,2.25,0.00,0.000,260,0.000,0.050,2601,3547,3922,3976,3869,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3910,-0.87,-214.1,2601,3546,3977,3869,468.3,-9.8,204,3918,0.00,2.15,0.00,0.000,1030,0.000,0.031,2601,2145,3922,3975,3869,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4223,-0.89,-214.1,2601,2143,3974,3866,504.4,-11.1,215,4231,0.00,2.28,0.00,0.000,260,0.000,0.051,2592,3551,3919,3972,3866,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4246,-0.92,-214.1,2593,3553,3972,3867,504.4,-11.1,215,4253,0.00,2.17,0.00,0.000,1030,0.000,0.031,2592,2150,3919,3972,3866,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4558,-0.92,-214.1,2593,2148,3970,3864,541.1,-10.6,226,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2148,3916,3969,3863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4858,-0.92,-214.1,2592,2149,3965,3861,571.2,-9.8,236,4866,0.00,2.28,0.00,0.000,260,0.000,0.053,2583,3550,3912,3964,3861,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4915,-0.92,-214.1,2584,3551,3965,3862,576.9,-9.8,238,4923,0.00,2.17,0.00,0.000,1030,0.000,0.031,2583,2146,3912,3964,3861,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5243,-0.92,-214.1,2583,2143,3964,3855,614.1,-11.8,249,5252,0.00,2.33,0.00,0.000,260,0.000,0.053,2573,3548,3909,3963,3856,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5312,-0.92,-214.1,2573,3549,3963,3858,621.9,-12.0,251,5319,0.00,2.17,0.00,0.000,1030,0.000,0.033,2573,2143,3908,3961,3856,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5634,-0.92,-214.1,2574,2144,3959,3857,664.0,-12.9,262,5644,0.00,2.30,0.00,0.000,260,0.000,0.054,2570,3552,3906,3958,3855,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5674,-0.92,-214.1,2571,3553,3958,3856,667.9,-12.8,263,5682,0.00,2.20,0.00,0.000,1030,0.000,0.032,2570,2139,3906,3958,3855,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5991,-0.92,-214.1,2571,2139,3956,3853,710.3,-12.7,274,5999,0.00,2.30,0.00,0.000,260,0.000,0.054,2561,3548,3903,3954,3853,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6038,-0.92,-214.1,2561,3549,3954,3855,714.3,-12.7,275,6046,0.00,2.17,0.00,0.000,1030,0.000,0.032,2561,2148,3904,3954,3854,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6351,-0.92,-214.1,2567,2147,3954,3851,754.6,-11.6,286,6361,0.00,2.30,0.00,0.000,260,0.000,0.054,2559,3543,3901,3952,3851,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6400,-0.92,-214.1,2560,3544,3953,3851,758.0,-11.6,287,6408,0.00,2.17,0.00,0.000,1030,0.000,0.033,2559,2144,3901,3952,3851,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6706,-0.92,-214.1,2560,2143,3952,3849,793.7,-10.9,297,6716,0.00,2.30,0.00,0.000,260,0.000,0.055,2559,3544,3899,3950,3849,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6771,-0.92,-214.1,2560,3544,3950,3850,800.2,-11.0,299,6778,0.00,2.17,0.00,0.000,1030,0.000,0.033,2559,2149,3899,3949,3849,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7093,-0.92,-214.1,2559,2150,3950,3849,834.7,-10.5,310,7103,0.00,2.33,0.00,0.000,260,0.000,0.054,2551,3553,3898,3948,3848,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7127,-0.92,-214.1,2553,3552,3948,3847,838.0,-10.5,311,7135,0.00,2.22,0.00,0.000,1030,0.000,0.033,2551,2137,3897,3947,3847,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7455,-0.92,-214.1,2552,2137,3946,3848,876.5,-11.8,322,7463,0.00,2.33,0.00,0.000,260,0.000,0.054,2541,3550,3896,3945,3847,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7483,-0.92,-214.1,2543,3551,3946,3848,879.7,-11.9,323,7491,0.12,2.17,0.00,0.000,3078,0.163,0.034,2570,2151,3895,3945,3846,0,0,0,0,0,0,25.75,26.06,28.83
$GC,7815,-0.92,-214.1,2571,2148,3946,3845,917.5,-11.7,334,7824,0.00,2.33,0.00,0.000,260,0.000,0.054,2562,3552,3894,3944,3845,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7853,-0.92,-214.1,2562,3553,3945,3845,921.6,-11.8,335,7861,0.00,2.22,0.00,0.000,1030,0.000,0.033,2562,2141,3894,3943,3845,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8176,-0.92,-214.1,2562,2137,3942,3843,960.1,-11.8,346,8186,0.00,2.35,0.00,0.000,260,0.000,0.055,2559,3550,3892,3941,3843,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8230,-0.92,-214.1,2560,3551,3942,3844,963.8,-11.9,347,8242,0.00,2.22,0.00,0.000,1030,0.000,0.033,2559,2141,3892,3941,3843,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,8444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8444,begin apogee
$GC,8448,-0.13,0.0,2560,2255,3939,3842,991.9,-11.4,355,8642,0.88,0.00,186.20,1.272,10246,0.125,0.000,2824,2255,3046,3086,3007,0,0,0,0,0,0,25.50,28.83,23.22
$STATE,8643,end apogee,CONTROL_FINISHED_OK
$STATE,8643,begin climb
$GC,8645,0.84,214.1,2825,2255,3086,3005,1001.3,0.0,361,8854,0.88,2.47,197.57,1.260,10500,0.043,0.050,3148,3650,2173,2214,2133,0,0,0,0,0,0,24.58,24.20,22.99
$GC,8970,0.76,214.1,3148,3650,2203,2131,962.8,19.2,372,8978,0.17,2.22,0.00,0.000,5126,0.177,0.032,3118,2250,2166,2201,2131,0,0,0,0,0,0,25.30,25.58,28.83
$GC,9283,0.72,214.1,3118,2247,2201,2126,906.0,17.2,383,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2247,2162,2199,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,0.67,214.1,3119,2248,2198,2126,854.9,16.4,393,9593,0.00,2.22,0.00,0.000,516,0.000,0.042,3126,850,2161,2197,2125,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9678,0.63,214.1,3127,850,2199,2123,840.3,16.3,396,9686,0.20,2.20,0.00,0.000,5126,0.164,0.036,3076,2251,2160,2197,2123,0,0,0,0,0,0,25.87,26.22,28.83
$GC,10001,0.63,214.1,3077,2253,2198,2124,797.6,12.5,407,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2251,2160,2197,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10300,0.63,214.1,3076,2252,2197,2124,761.4,12.1,417,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2251,2159,2196,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10600,0.63,214.1,3076,2251,2196,2122,726.4,11.4,427,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2251,2158,2195,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10901,0.63,214.1,3076,2251,2195,2122,692.1,11.6,437,10911,0.00,2.28,0.00,0.000,516,0.000,0.043,3084,847,2157,2193,2122,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,16247,end climb,SURFACE_DEPTH_REACHED
$STATE,16247,begin surface coast
$FINISH,0.4,1.021313
$STATE,16262,end surface coast,CONTROL_FINISHED_OK
$STATE,16262,begin surface
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$IRIDIUM_FIX,1223.36,14418.50,031114,180731
$TT8_MAMPS,0.053179,0.053179
$HUMID,49.68
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,16292.09 7197.55
$PA_BOOTCOUNT,194
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$PA_HOME,0.04/0.067/1.764/1.608
$PA_DISK_BANK,2
$24V_AH,22.99,60.774
$10V_AH,9.97,38.433
$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
$DEVICE_SECS,22.875,156.850,567.200,0.000,0.000,0.000,0.000,301.700,0.000,16803.641,34.995,0.000,12778.571,614.354,3163.189,203.369,0.000,2326.991,0.000,1696.107,0.000,0.552,0.000
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$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,262832
$DATA_FILE_SIZE,33412,746
$CAP_FILE_SIZE,152586,0
$CFSIZE,260034560,242147328
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$GPS,041114,032056,1230.865,14422.082,33,0.9,53,1.7