version: 66.12
glider: 178
mission: 18
dive: 192
start: 11 4 114 3 28 32
data:
$ID,178
$MISSION,18
$DIVE,192
$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,60
$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
$GPS1,041114,032056,1230.865,14422.082,33,0.9,53,1.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-75.3
$GPS2,041114,032821,1230.772,14422.039,12,0.9,32,1.7
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,34.6,75291,-17.3,-11.000,-20.18,2764
$D_GRID,2272
$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,-214.1,163,2130,1300,1282,0.0,0.0,0,182,0.00,0.00,-81.47,0.000,16386,0.000,0.000,163,2131,3584,3628,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,184,-0.84,-214.1,163,2130,3628,3542,5.0,-16.9,12,210,10.52,2.28,-4.72,0.000,18692,0.241,0.052,2580,3561,3924,3977,3871,0,0,0,0,0,0,25.50,26.18,26.36
$GC,237,-0.59,-214.1,2581,3562,3983,3873,37.7,-54.8,19,256,0.38,2.12,0.00,0.000,3078,0.171,0.030,2679,2164,3927,3983,3871,0,0,0,0,0,0,25.69,26.20,28.83
$GC,559,-0.57,-214.1,2679,2164,3991,3873,99.5,-14.8,52,571,0.00,2.20,0.00,0.000,516,0.000,0.037,2679,743,3930,3989,3872,0,0,0,0,0,0,28.83,26.22,28.83
$GC,591,-0.57,-214.1,2679,744,3990,3873,104.1,-14.6,55,600,0.00,2.17,0.00,0.000,1030,0.000,0.033,2673,2148,3931,3990,3872,0,0,0,0,0,0,28.83,26.17,28.83
$GC,904,-0.57,-214.1,2674,2148,3997,3872,148.0,-14.6,86,912,0.00,2.22,0.00,0.000,260,0.000,0.046,2663,3561,3932,3996,3868,0,0,0,0,0,0,28.83,26.17,28.83
$GC,971,-0.59,-214.1,2664,3561,3997,3872,156.7,-13.7,92,982,0.00,2.12,0.00,0.000,1030,0.000,0.025,2663,2133,3934,3997,3872,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1277,-0.62,-214.1,2663,2131,4000,3872,192.7,-9.2,123,1285,0.00,2.12,0.00,0.000,516,0.000,0.035,2663,752,3935,3999,3872,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1310,-0.65,-214.1,2663,752,4000,3872,195.8,-9.3,126,1323,0.00,2.17,0.00,0.000,1030,0.000,0.031,2655,2155,3936,3999,3873,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1640,-0.69,-214.1,2655,2155,4001,3873,222.9,-8.3,141,1651,0.00,2.22,0.00,0.000,260,0.000,0.046,2644,3555,3936,3999,3873,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1782,-0.73,-214.1,2645,3556,4001,3874,232.7,-8.1,145,1795,0.00,2.12,0.00,0.000,1030,0.000,0.025,2645,2141,3936,3999,3873,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2090,-0.77,-214.1,2645,2141,4000,3873,255.8,-6.8,156,2098,0.00,2.28,0.00,0.000,260,0.000,0.046,2639,3561,3936,3999,3873,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2123,-0.81,-214.1,2639,3561,4000,3873,257.9,-7.2,157,2131,0.00,2.12,0.00,0.000,1030,0.000,0.028,2638,2148,3935,3998,3873,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2451,-0.85,-214.1,2639,2144,3997,3872,285.9,-8.9,168,2462,0.12,2.25,0.00,0.000,4356,0.086,0.044,2559,3551,3934,3996,3873,0,0,0,0,0,0,26.27,26.17,28.83
$GC,2536,-0.85,-214.1,2560,3551,3995,3873,294.4,-11.4,170,2548,0.15,2.12,0.00,0.000,3078,0.146,0.028,2597,2135,3933,3994,3873,0,0,0,0,0,0,25.99,26.32,28.83
$GC,2841,-0.85,-214.1,2598,2135,3992,3873,337.8,-12.0,181,2853,0.00,2.22,0.00,0.000,260,0.000,0.047,2589,3549,3931,3990,3873,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2923,-0.85,-214.1,2590,3549,3990,3873,344.8,-11.4,183,2936,0.00,2.12,0.00,0.000,1030,0.000,0.028,2589,2149,3930,3989,3872,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3233,-0.85,-214.1,2590,2150,3985,3874,382.9,-11.5,194,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2148,3929,3985,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,-0.85,-214.1,2590,2149,3982,3873,422.5,-13.8,204,3541,0.00,2.28,0.00,0.000,260,0.000,0.049,2581,3558,3926,3980,3872,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3575,-0.85,-214.1,2581,3560,3979,3873,426.7,-14.2,205,3583,0.00,2.12,0.00,0.000,1030,0.000,0.029,2581,2156,3925,3979,3871,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3888,-0.85,-214.1,2581,2153,3976,3870,473.5,-14.0,216,3898,0.00,2.28,0.00,0.000,260,0.000,0.050,2573,3557,3922,3975,3869,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3932,-0.85,-214.1,2573,3558,3975,3870,477.7,-13.9,217,3942,0.00,2.15,0.00,0.000,1030,0.000,0.030,2573,2147,3921,3975,3868,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4246,-0.85,-214.1,2576,2145,3972,3867,520.8,-12.6,228,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2144,3918,3971,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4547,-0.85,-214.1,2573,2143,3969,3863,557.2,-12.0,238,4555,0.00,2.17,0.00,0.000,516,0.000,0.039,2573,755,3915,3967,3863,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4579,-0.85,-214.1,2573,756,3967,3865,561.1,-12.0,239,4587,0.00,2.20,0.00,0.000,1030,0.000,0.036,2570,2143,3915,3967,3863,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4906,-0.85,-214.1,2570,2144,3964,3860,595.4,-10.1,250,4916,0.00,2.30,0.00,0.000,260,0.000,0.053,2560,3555,3911,3963,3860,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4951,-0.85,-214.1,2560,3556,3964,3860,598.4,-10.0,251,4961,0.15,2.15,0.00,0.000,3078,0.146,0.031,2597,2148,3911,3962,3860,0,0,0,0,0,0,25.85,26.21,28.83
$GC,5267,-0.87,-214.1,2597,2148,3961,3859,623.4,-7.2,262,5276,0.00,2.30,0.00,0.000,260,0.000,0.051,2589,3561,3908,3960,3857,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5337,-0.90,-214.1,2590,3560,3960,3857,628.0,-7.3,264,5346,0.00,2.17,0.00,0.000,1030,0.000,0.031,2590,2140,3907,3958,3857,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5656,-0.90,-214.1,2590,2143,3958,3855,652.5,-7.3,275,5662,0.00,2.35,0.00,0.000,260,0.000,0.052,2581,3557,3904,3955,3854,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5702,-0.90,-214.1,2581,3557,3957,3854,654.9,-7.4,276,5708,0.00,2.20,0.00,0.000,1030,0.000,0.031,2581,2158,3905,3956,3854,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6018,-0.90,-214.1,2581,2154,3954,3852,679.7,-7.3,287,6023,0.00,2.30,0.00,0.000,260,0.000,0.052,2573,3553,3902,3953,3852,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6043,-0.90,-214.1,2574,3553,3954,3853,681.7,-7.4,288,6049,0.00,2.22,0.00,0.000,1030,0.000,0.031,2573,2142,3902,3953,3852,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6374,-0.90,-214.1,2573,2138,3952,3849,707.1,-7.5,299,6380,0.00,2.35,0.00,0.000,260,0.000,0.054,2571,3560,3899,3950,3849,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6399,-0.90,-214.1,2572,3560,3951,3849,708.9,-7.4,300,6405,0.00,2.22,0.00,0.000,1030,0.000,0.032,2571,2152,3899,3950,3849,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6730,-0.90,-214.1,2572,2149,3949,3849,732.2,-7.0,311,6735,0.00,2.33,0.00,0.000,260,0.000,0.053,2564,3547,3898,3949,3847,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6775,-0.90,-214.1,2564,3548,3949,3849,734.4,-7.1,312,6781,0.00,2.17,0.00,0.000,1030,0.000,0.032,2564,2138,3896,3947,3845,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7091,-0.90,-214.1,2564,2136,3946,3848,762.7,-8.9,323,7096,0.00,2.35,0.00,0.000,260,0.000,0.054,2559,3559,3895,3945,3846,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7136,-0.90,-214.1,2559,3560,3945,3847,765.3,-8.9,324,7142,0.00,2.22,0.00,0.000,1030,0.000,0.032,2559,2152,3895,3945,3846,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7452,-0.90,-214.1,2560,2152,3945,3851,796.4,-9.5,335,7457,0.00,2.30,0.00,0.000,260,0.000,0.054,2559,3553,3894,3944,3844,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7471,-0.90,-214.1,2560,3553,3944,3843,796.4,-9.5,335,7480,0.00,2.22,0.00,0.000,1030,0.000,0.032,2559,2147,3893,3943,3844,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7777,-0.90,-214.1,2560,2145,3943,3842,830.5,-11.0,346,7782,0.00,2.33,0.00,0.000,260,0.000,0.054,2559,3553,3892,3943,3842,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7797,-0.90,-214.1,2560,3553,3942,3842,830.5,-11.0,346,7802,0.00,2.22,0.00,0.000,1030,0.000,0.032,2559,2153,3891,3941,3841,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8107,-0.90,-214.1,2560,2150,3941,3841,869.8,-12.1,357,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2150,3890,3940,3841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8407,-0.90,-214.1,2560,2150,3939,3840,907.6,-12.5,367,8413,0.00,2.33,0.00,0.000,260,0.000,0.056,2559,3552,3888,3937,3840,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8439,-0.90,-214.1,2560,3554,3938,3842,911.6,-12.5,368,8444,0.00,2.20,0.00,0.000,1030,0.000,0.033,2560,2136,3888,3937,3840,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8764,-0.90,-214.1,2560,2135,3937,3839,950.9,-11.9,379,8769,0.00,2.38,0.00,0.000,260,0.000,0.055,2559,3557,3887,3935,3839,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8784,-0.90,-214.1,2560,3557,3936,3839,950.9,-11.9,379,8790,0.00,2.22,0.00,0.000,1030,0.000,0.034,2559,2159,3887,3935,3839,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9094,-0.90,-214.1,2560,2157,3935,3840,989.2,-11.6,390,9100,0.00,2.33,0.00,0.000,260,0.000,0.055,2559,3552,3886,3934,3838,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,9118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9118,begin apogee
$GC,9124,-0.13,0.0,2560,2244,3935,3840,992.4,-11.9,391,9313,0.88,0.00,184.68,1.283,10246,0.122,0.000,2826,2239,3047,3086,3008,0,0,0,0,0,0,25.48,28.83,23.16
$STATE,9314,end apogee,CONTROL_FINISHED_OK
$STATE,9314,begin climb
$GC,9316,0.84,214.1,2827,2239,3087,3005,1002.6,0.0,397,9526,0.88,2.45,196.68,1.273,10756,0.044,0.041,3159,861,2174,2216,2133,0,0,0,0,0,0,24.57,24.20,22.94
$GC,9721,0.78,214.1,3160,861,2202,2125,949.2,18.2,411,9727,0.15,2.22,0.00,0.000,5126,0.177,0.037,3125,2253,2165,2206,2125,0,0,0,0,0,0,25.65,25.92,28.83
$GC,10046,0.73,214.1,3126,2254,2205,2123,890.8,18.1,422,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2253,2164,2205,2123,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,15383,0.67,261.4,3107,3655,2009,1951,211.1,12.4,600,15389,0.12,2.20,0.00,0.000,5126,0.174,0.031,3089,2250,1979,2008,1950,0,0,0,0,0,0,25.81,26.12,28.83
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$STATE,17073,end climb,SURFACE_DEPTH_REACHED
$STATE,17073,begin surface coast
$FINISH,-1.8,1.021241
$STATE,17093,end surface coast,CONTROL_FINISHED_OK
$STATE,17093,begin surface
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$IRIDIUM_FIX,1225.57,14420.29,031114,224205
$TT8_MAMPS,0.053928,0.053928
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$XPDR_PINGS,1
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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,11796.52 11434.99
$PA_BOOTCOUNT,196
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$PA_DISK_BANK,2
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$10V_AH,9.93,38.504
$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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$MEM,262876
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$CAP_FILE_SIZE,162863,0
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