version: 66.12
glider: 178
mission: 18
dive: 193
start: 11 4 114 8 22 14
data:
$ID,178
$MISSION,18
$DIVE,193
$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,44
$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
$GPS1,041114,081556,1231.857,14421.780,33,0.8,53,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-75.3
$GPS2,041114,082203,1231.845,14421.683,14,0.8,34,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,59.5,73552,-17.3,-11.000,-20.18,2764
$D_GRID,2035
$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,-214.1,163,2156,1280,1262,0.0,0.0,0,177,0.00,0.00,-76.18,0.000,16386,0.000,0.000,163,2156,3349,3398,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,179,-0.84,-214.1,163,2155,3400,3302,3.8,-13.2,11,204,10.45,0.00,-8.57,0.000,18438,0.238,0.000,2588,2154,3923,3982,3865,0,0,0,0,0,0,25.48,28.83,26.36
$GC,517,-0.74,-214.1,2588,2156,3994,3870,113.8,-26.5,50,529,0.12,2.22,0.00,0.000,2308,0.190,0.045,2614,3554,3931,3993,3869,0,0,0,0,0,0,25.91,26.14,28.83
$GC,589,-0.70,-214.1,2614,3555,3995,3870,130.3,-19.3,57,597,0.12,2.15,0.00,0.000,3078,0.158,0.028,2645,2139,3933,3995,3871,0,0,0,0,0,0,26.01,26.29,28.83
$GC,894,-0.70,-214.1,2646,2136,4000,3872,170.2,-11.6,87,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2135,3935,3999,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1216,-0.72,-214.1,2645,2135,4002,3874,207.3,-10.8,115,1225,0.00,2.25,0.00,0.000,260,0.000,0.046,2637,3560,3937,4001,3874,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1254,-0.74,-214.1,2637,3556,4002,3874,210.2,-10.5,116,1263,0.00,2.12,0.00,0.000,1030,0.000,0.026,2636,2138,3937,4001,3874,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1572,-0.77,-214.1,2638,2136,4003,3877,239.0,-8.4,127,1583,0.00,2.12,0.00,0.000,516,0.000,0.036,2637,753,3938,4002,3875,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1608,-0.81,-214.1,2637,753,4000,3875,241.9,-9.0,128,1616,0.00,2.15,0.00,0.000,1030,0.000,0.031,2630,2152,3938,4002,3875,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1930,-0.84,-214.1,2630,2153,4003,3877,276.0,-10.5,139,1939,0.00,2.22,0.00,0.000,260,0.000,0.047,2619,3560,3938,4002,3875,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1973,-0.87,-214.1,2619,3560,4002,3875,279.2,-10.3,140,1982,0.00,2.12,0.00,0.000,1030,0.000,0.028,2615,2148,3938,4001,3875,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2297,-0.90,-214.1,2619,2144,4000,3875,311.8,-9.4,151,2303,0.12,0.00,0.00,0.000,4102,0.086,0.000,2557,2144,3936,3998,3875,0,0,0,0,0,0,26.28,28.83,28.83
$GC,2597,-0.88,-214.1,2558,2144,3995,3875,351.1,-13.3,161,2605,0.00,2.25,0.00,0.000,260,0.000,0.049,2547,3550,3932,3993,3872,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2630,-0.86,-214.1,2548,3551,3993,3877,355.6,-13.3,162,2640,0.17,2.12,0.00,0.000,3078,0.146,0.028,2592,2143,3933,3992,3875,0,0,0,0,0,0,25.91,26.27,28.83
$GC,2960,-0.86,-214.1,2592,2140,3989,3876,389.4,-9.8,173,2970,0.00,2.15,0.00,0.000,516,0.000,0.039,2592,759,3931,3987,3875,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3010,-0.86,-214.1,2593,760,3988,3876,392.6,-9.9,174,3019,0.00,2.17,0.00,0.000,1030,0.000,0.034,2585,2157,3930,3986,3874,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3323,-0.86,-214.1,2586,2157,3984,3874,426.8,-10.7,185,3332,0.00,2.25,0.00,0.000,260,0.000,0.050,2575,3558,3928,3983,3873,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3401,-0.86,-214.1,2575,3558,3983,3873,433.7,-11.0,187,3409,0.00,2.17,0.00,0.000,1030,0.000,0.030,2575,2143,3927,3982,3872,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3713,-0.86,-214.1,2576,2141,3978,3871,473.9,-12.6,198,3723,0.00,2.28,0.00,0.000,260,0.000,0.050,2567,3550,3923,3977,3870,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3788,-0.86,-214.1,2566,3550,3976,3870,481.9,-13.0,200,3795,0.00,2.15,0.00,0.000,1030,0.000,0.030,2567,2141,3923,3976,3870,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4100,-0.86,-214.1,2568,2138,3981,3867,523.6,-12.4,211,4106,0.10,0.00,0.00,0.000,2054,0.179,0.000,2589,2136,3919,3973,3866,0,0,0,0,0,0,26.00,28.83,28.83
$GC,4400,-0.86,-214.1,2589,2137,3971,3866,555.6,-10.7,221,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2136,3915,3967,3864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4700,-0.86,-214.1,2589,2136,3968,3861,586.1,-9.7,231,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2136,3914,3967,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5000,-0.86,-214.1,2589,2136,3966,3860,613.0,-8.5,241,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2137,3912,3964,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5300,-0.86,-214.1,2589,2138,3962,3859,635.4,-7.1,251,5310,0.00,2.30,0.00,0.000,260,0.000,0.052,2580,3553,3909,3961,3857,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5355,-0.86,-214.1,2581,3554,3961,3857,637.5,-7.1,252,5365,0.00,2.17,0.00,0.000,1030,0.000,0.032,2580,2154,3908,3960,3857,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5660,-0.86,-214.1,2581,2151,3959,3855,662.2,-7.6,263,5669,0.00,2.28,0.00,0.000,260,0.000,0.051,2573,3548,3906,3958,3854,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5728,-0.86,-214.1,2573,3548,3957,3855,667.3,-7.6,265,5735,0.00,2.17,0.00,0.000,1030,0.000,0.032,2573,2144,3906,3957,3855,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6055,-0.86,-214.1,2573,2140,3956,3853,695.2,-8.4,276,6066,0.00,2.33,0.00,0.000,260,0.000,0.052,2565,3553,3903,3954,3853,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6081,-0.86,-214.1,2565,3557,3956,3854,695.2,-8.4,276,6088,0.00,2.17,0.00,0.000,1030,0.000,0.032,2565,2150,3903,3953,3853,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6393,-0.86,-214.1,2566,2147,3954,3850,723.6,-8.3,287,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2146,3901,3953,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,-0.86,-214.1,2565,2146,3952,3849,749.0,-8.3,297,6703,0.00,2.30,0.00,0.000,260,0.000,0.053,2559,3548,3900,3951,3849,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6728,-0.86,-214.1,2560,3549,3951,3848,751.7,-8.4,298,6739,0.10,2.20,0.00,0.000,3078,0.164,0.032,2586,2141,3899,3950,3849,0,0,0,0,0,0,25.72,25.98,28.83
$GC,7054,-0.86,-214.1,2587,2141,3950,3849,776.4,-7.6,309,7062,0.00,2.30,0.00,0.000,260,0.000,0.053,2578,3549,3898,3949,3848,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7102,-0.88,-214.1,2578,3549,3949,3847,779.1,-7.7,310,7111,0.00,2.20,0.00,0.000,1030,0.000,0.033,2578,2144,3897,3948,3846,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7417,-0.88,-214.1,2579,2142,3947,3848,806.3,-8.6,321,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2141,3896,3946,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7717,-0.88,-214.1,2578,2141,3946,3846,833.5,-9.4,331,7725,0.00,2.33,0.00,0.000,260,0.000,0.054,2572,3552,3895,3945,3845,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7785,-0.88,-214.1,2573,3553,3945,3847,839.8,-9.8,333,7794,0.00,2.17,0.00,0.000,1030,0.000,0.033,2572,2151,3895,3944,3846,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8109,-0.88,-214.1,2572,2148,3942,3844,874.7,-10.9,344,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2148,3893,3942,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8410,-0.88,-214.1,2573,2148,3942,3844,907.5,-10.7,354,8419,0.00,2.33,0.00,0.000,260,0.000,0.054,2563,3556,3891,3941,3842,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8440,-0.88,-214.1,2563,3556,3941,3843,910.7,-10.8,355,8448,0.00,2.22,0.00,0.000,1030,0.000,0.034,2563,2147,3891,3940,3842,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8773,-0.88,-214.1,2564,2145,3940,3843,947.6,-11.0,366,8783,0.00,2.33,0.00,0.000,260,0.000,0.055,2558,3556,3889,3938,3841,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8827,-0.88,-214.1,2559,3555,3939,3841,951.4,-11.0,367,8835,0.00,2.22,0.00,0.000,1030,0.000,0.033,2559,2147,3889,3938,3841,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9132,-0.88,-214.1,2559,2144,3938,3842,986.5,-10.5,377,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2145,3888,3936,3841,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9191,begin apogee
$GC,9194,-0.13,0.0,2559,2259,3938,3840,992.6,-10.3,379,9388,0.88,0.00,186.20,1.283,10246,0.126,0.000,2822,2259,3046,3085,3008,0,0,0,0,0,0,25.44,28.83,23.12
$STATE,9389,end apogee,CONTROL_FINISHED_OK
$STATE,9389,begin climb
$GC,9391,0.84,214.1,2823,2260,3085,3007,1000.2,0.0,385,9603,0.90,2.53,198.18,1.265,10756,0.043,0.041,3162,855,2172,2213,2131,0,0,0,0,0,0,24.50,24.17,22.92
$GC,9674,0.77,214.1,3163,856,2207,2127,968.7,16.6,395,9683,0.15,2.30,0.00,0.000,5126,0.172,0.037,3124,2249,2165,2205,2125,0,0,0,0,0,0,24.94,25.17,28.83
$GC,10003,0.72,214.1,3125,2249,2204,2120,916.7,15.9,406,10015,0.00,2.28,0.00,0.000,260,0.000,0.053,3124,3651,2161,2203,2120,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10059,0.67,214.1,3124,3651,2202,2121,911.3,16.3,407,10071,0.17,2.20,0.00,0.000,5126,0.179,0.031,3090,2245,2160,2201,2120,0,0,0,0,0,0,25.89,26.25,28.83
$GC,10364,0.65,214.1,3090,2248,2201,2115,861.3,14.8,418,10376,0.00,2.22,0.00,0.000,516,0.000,0.041,3098,852,2159,2200,2119,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10435,0.63,214.1,3099,849,2202,2120,852.4,14.8,420,10443,0.00,2.25,0.00,0.000,1030,0.000,0.036,3098,2261,2159,2200,2118,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10753,0.60,214.1,3098,2263,2200,2119,802.8,15.0,431,10763,0.12,2.28,0.00,0.000,4612,0.182,0.041,3073,842,2158,2199,2118,0,0,0,0,0,0,25.91,26.16,28.83
$GC,10772,0.57,214.1,3074,841,2200,2117,802.8,15.0,431,10780,0.00,2.22,0.00,0.000,1030,0.000,0.035,3073,2253,2158,2199,2117,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,16828,end climb,SURFACE_DEPTH_REACHED
$STATE,16828,begin surface coast
$FINISH,-0.2,1.021160
$STATE,16838,end surface coast,CONTROL_FINISHED_OK
$STATE,16839,begin surface
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$IRIDIUM_FIX,1223.36,14426.46,041114,032312
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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
$PA_UPTIME,16869.82 7540.17
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$PA_HOME,0.04/0.067/1.764/1.607
$PA_DISK_BANK,2
$24V_AH,22.92,61.633
$10V_AH,9.97,38.576
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,262932
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