version: 66.12
glider: 178
mission: 18
dive: 196
start: 11 4 114 22 43 9
data:
$ID,178
$MISSION,18
$DIVE,196
$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,58
$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
$GPS1,041114,223326,1234.727,14423.155,26,0.9,46,1.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-73.5
$GPS2,041114,224257,1234.824,14423.000,13,1.1,33,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,43.1,67595,-17.3,-11.000,-20.18,2764
$D_GRID,1775
$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,-214.1,147,2130,1069,1054,0.0,0.0,0,188,0.00,0.00,-87.00,0.000,16386,0.000,0.000,146,2131,3495,3551,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,190,-0.84,-214.1,147,2131,3552,3442,4.1,-12.8,12,213,10.77,2.30,-5.60,0.000,18692,0.246,0.054,2583,3556,3924,3978,3870,0,0,0,0,0,0,25.53,26.18,26.39
$GC,294,-0.70,-214.1,2583,3557,3986,3872,55.9,-32.6,27,313,0.22,2.15,0.00,0.000,3078,0.168,0.029,2638,2157,3926,3982,3871,0,0,0,0,0,0,25.80,26.24,28.83
$GC,608,-0.66,-214.1,2640,2156,3992,3872,125.0,-19.2,58,623,0.00,2.17,0.00,0.000,516,0.000,0.038,2639,748,3931,3992,3871,0,0,0,0,0,0,28.83,26.18,28.83
$GC,697,-0.66,-214.1,2640,748,3994,3872,138.0,-14.7,66,708,0.00,2.15,0.00,0.000,1030,0.000,0.031,2633,2150,3932,3993,3871,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1006,-0.66,-214.1,2633,2152,3998,3872,178.8,-10.9,97,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2150,3934,3997,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1323,-0.66,-214.1,2633,2151,4000,3872,213.6,-11.0,121,1330,0.00,2.20,0.00,0.000,260,0.000,0.044,2622,3561,3935,3998,3872,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1395,-0.66,-214.1,2623,3562,3999,3874,220.3,-11.2,123,1403,0.12,2.15,0.00,0.000,3078,0.142,0.026,2656,2134,3935,3998,3872,0,0,0,0,0,0,26.10,26.35,28.83
$GC,1714,-0.70,-214.1,2656,2131,3999,3875,250.9,-8.0,134,1724,0.00,2.12,0.00,0.000,516,0.000,0.036,2656,753,3935,3999,3872,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1745,-0.75,-214.1,2656,753,4000,3873,253.3,-7.9,135,1755,0.00,2.15,0.00,0.000,1030,0.000,0.031,2655,2152,3936,3999,3873,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2074,-0.80,-214.1,2655,2152,4000,3872,277.7,-8.1,146,2086,0.12,2.20,0.00,0.000,4356,0.088,0.044,2573,3542,3934,3997,3872,0,0,0,0,0,0,26.22,26.15,28.83
$GC,2206,-0.80,-214.1,2573,3542,3996,3872,293.1,-12.8,150,2216,0.15,2.12,0.00,0.000,3078,0.144,0.028,2612,2139,3933,3995,3872,0,0,0,0,0,0,26.03,26.34,28.83
$GC,2526,-0.83,-214.1,2612,2137,3991,3873,329.4,-10.6,161,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2135,3931,3991,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,-0.85,-214.1,2612,2135,3987,3872,361.4,-10.5,171,2835,0.00,2.15,0.00,0.000,516,0.000,0.038,2612,760,3928,3985,3872,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2866,-0.88,-214.1,2612,760,3985,3873,364.5,-10.4,172,2874,0.00,2.15,0.00,0.000,1030,0.000,0.032,2606,2149,3928,3984,3872,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3184,-0.90,-214.1,2607,2149,3981,3871,396.5,-9.3,183,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2149,3924,3979,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3484,-0.93,-214.1,2607,2151,3977,3869,421.4,-7.9,193,3492,0.12,2.25,0.00,0.000,4356,0.090,0.049,2535,3551,3922,3976,3868,0,0,0,0,0,0,26.27,26.11,28.83
$GC,3526,-0.93,-214.1,2535,3551,3976,3868,424.6,-8.2,194,3537,0.15,2.15,0.00,0.000,3078,0.154,0.029,2572,2149,3920,3974,3867,0,0,0,0,0,0,25.97,26.30,28.83
$GC,3852,-0.93,-214.1,2572,2147,3971,3866,461.5,-11.5,205,3860,0.00,2.20,0.00,0.000,516,0.000,0.040,2571,749,3917,3970,3865,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3905,-0.93,-214.1,2572,750,3969,3865,464.8,-11.6,206,3916,0.00,2.20,0.00,0.000,1030,0.000,0.035,2570,2152,3917,3970,3864,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4210,-0.93,-214.1,2571,2152,3967,3861,502.0,-11.4,217,4218,0.00,2.28,0.00,0.000,260,0.000,0.050,2561,3560,3913,3965,3861,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4247,-0.93,-214.1,2561,3561,3965,3862,505.1,-11.3,218,4254,0.00,2.17,0.00,0.000,1030,0.000,0.030,2561,2152,3912,3964,3860,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4564,-0.93,-214.1,2561,2149,3963,3860,544.9,-12.3,229,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2148,3910,3962,3859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4864,-0.93,-214.1,2561,2148,3960,3856,582.7,-12.8,239,4872,0.00,2.28,0.00,0.000,260,0.000,0.051,2559,3555,3907,3958,3856,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4911,-0.93,-214.1,2560,3557,3958,3857,586.1,-12.8,240,4919,0.00,2.17,0.00,0.000,1030,0.000,0.031,2559,2151,3906,3957,3856,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5217,-0.93,-214.1,2560,2147,3957,3855,626.7,-12.1,250,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2147,3904,3955,3854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5517,-0.93,-214.1,2560,2147,3954,3852,660.3,-10.8,260,5525,0.00,2.20,0.00,0.000,516,0.000,0.041,2559,756,3902,3953,3851,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5539,-0.93,-214.1,2560,757,3953,3852,660.3,-10.8,260,5549,0.00,2.22,0.00,0.000,1030,0.000,0.037,2552,2147,3901,3952,3851,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5845,-0.93,-214.1,2553,2147,3951,3850,696.8,-10.9,271,5854,0.00,2.30,0.00,0.000,260,0.000,0.053,2542,3557,3898,3949,3848,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5869,-0.93,-214.1,2542,3557,3950,3848,696.8,-10.9,271,5879,0.00,2.20,0.00,0.000,1030,0.000,0.032,2542,2145,3899,3949,3850,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6174,-0.93,-214.1,2541,2143,3949,3847,732.9,-11.2,282,6180,0.12,0.00,0.00,0.000,2054,0.171,0.000,2570,2142,3896,3947,3846,0,0,0,0,0,0,25.89,28.83,28.83
$GC,6475,-0.93,-214.1,2570,2142,3947,3845,761.5,-9.4,292,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2147,3895,3945,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.93,-214.1,2570,2141,3945,3842,790.1,-9.7,302,6782,0.00,2.20,0.00,0.000,516,0.000,0.043,2569,758,3892,3942,3843,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6802,-0.93,-214.1,2570,759,3943,3844,792.7,-9.9,303,6810,0.00,2.22,0.00,0.000,1030,0.000,0.039,2564,2149,3892,3942,3842,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7130,-0.93,-214.1,2564,2149,3941,3841,823.9,-9.6,314,7141,0.00,2.30,0.00,0.000,260,0.000,0.054,2553,3553,3891,3942,3841,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7155,-0.93,-214.1,2554,3553,3940,3842,823.9,-9.6,314,7166,0.00,2.17,0.00,0.000,1030,0.000,0.033,2554,2146,3890,3939,3841,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7461,-0.93,-214.1,2554,2147,3939,3839,860.2,-11.1,325,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2147,3888,3938,3839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7761,-0.93,-214.1,2554,2147,3938,3838,894.1,-11.1,335,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2147,3887,3936,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8061,-0.93,-214.1,2554,2148,3936,3839,928.0,-11.4,345,8069,0.00,2.22,0.00,0.000,516,0.000,0.044,2553,762,3886,3935,3837,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8103,-0.93,-214.1,2555,763,3935,3838,931.0,-11.5,346,8111,0.00,2.22,0.00,0.000,1030,0.000,0.039,2546,2151,3885,3934,3837,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8416,-0.93,-214.1,2546,2151,3934,3835,969.6,-11.6,357,8425,0.00,2.30,0.00,0.000,260,0.000,0.054,2536,3555,3883,3932,3835,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8435,-0.93,-214.1,2536,3556,3932,3836,969.6,-11.6,357,8443,0.15,2.20,0.00,0.000,3078,0.154,0.033,2572,2157,3883,3931,3835,0,0,0,0,0,0,25.69,26.03,28.83
$STATE,8619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8619,begin apogee
$GC,8623,-0.13,0.0,2572,2257,3933,3834,990.6,-9.8,363,8816,0.82,0.00,184.73,1.268,10246,0.122,0.000,2825,2258,3048,3087,3009,0,0,0,0,0,0,25.52,28.83,23.24
$STATE,8817,end apogee,CONTROL_FINISHED_OK
$STATE,8817,begin climb
$GC,8818,0.84,214.1,2826,2258,3086,3007,998.5,0.0,369,9029,0.88,2.47,198.38,1.252,10500,0.044,0.052,3149,3644,2172,2214,2131,0,0,0,0,0,0,24.62,24.20,22.98
$GC,9173,0.76,214.1,3145,3645,2201,2129,950.0,20.9,381,9184,0.17,2.20,0.00,0.000,5126,0.180,0.031,3119,2249,2164,2200,2128,0,0,0,0,0,0,25.47,25.76,28.83
$GC,9490,0.72,214.1,3116,2247,2200,2124,892.5,16.9,392,9498,0.00,2.22,0.00,0.000,516,0.000,0.042,3127,849,2161,2199,2123,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9538,0.69,214.1,3128,850,2200,2123,887.1,16.7,393,9546,0.15,2.22,0.00,0.000,5126,0.173,0.037,3092,2246,2160,2199,2121,0,0,0,0,0,0,25.95,26.23,28.83
$GC,9851,0.67,214.1,3092,2246,2199,2120,839.7,14.3,404,9859,0.00,2.30,0.00,0.000,260,0.000,0.053,3091,3653,2159,2198,2120,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9879,0.64,214.1,3092,3653,2199,2120,835.6,14.4,405,9888,0.00,2.20,0.00,0.000,1030,0.000,0.032,3100,2245,2158,2197,2120,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10208,0.62,214.1,3100,2242,2197,2120,787.7,14.5,416,10217,0.00,2.20,0.00,0.000,516,0.000,0.043,3110,855,2158,2196,2120,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10293,0.59,214.1,3111,856,2197,2120,778.8,14.7,418,10304,0.17,2.22,0.00,0.000,5126,0.165,0.039,3067,2249,2157,2196,2118,0,0,0,0,0,0,25.84,26.17,28.83
$GC,10598,0.59,214.1,3068,2251,2197,2119,737.7,12.3,429,10606,0.00,2.28,0.00,0.000,516,0.000,0.044,3075,843,2157,2196,2118,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10620,0.59,214.1,3076,844,2196,2119,737.7,12.3,429,10630,0.00,2.25,0.00,0.000,1030,0.000,0.037,3075,2250,2156,2196,2117,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,16462,end climb,SURFACE_DEPTH_REACHED
$STATE,16462,begin surface coast
$FINISH,-0.8,1.021111
$STATE,16478,end surface coast,CONTROL_FINISHED_OK
$STATE,16478,begin surface
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$IRIDIUM_FIX,1227.78,14423.37,041114,223526
$TT8_MAMPS,0.051681,0.051681
$HUMID,49.52
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$TCM_TEMP,24.50
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$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,16508.50 7363.89
$PA_BOOTCOUNT,200
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$PA_HOME,0.04/0.068/1.764/1.607
$PA_DISK_BANK,2
$24V_AH,22.98,63.111
$10V_AH,9.94,38.791
$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,262932
$DATA_FILE_SIZE,33439,772
$CAP_FILE_SIZE,151832,0
$CFSIZE,260034560,241745920
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$GPS,051114,032019,1235.814,14423.779,35,0.9,55,1.6