version: 66.12
glider: 178
mission: 18
dive: 197
start: 11 5 114 3 27 44
data:
$ID,178
$MISSION,18
$DIVE,197
$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,59
$R_STBD_OVSHOOT,41
$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
$GPS1,051114,032019,1235.814,14423.779,35,0.9,55,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-72.9
$GPS2,051114,032733,1235.811,14423.692,13,0.9,33,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,30.4,65505,-17.3,-11.000,-20.18,2764
$D_GRID,1833
$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,-214.1,149,2131,1138,1121,0.0,0.0,0,192,0.00,0.00,-86.45,0.000,16386,0.000,0.000,148,2131,3559,3622,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,195,-0.84,-214.1,149,2132,3608,3520,4.4,-13.9,12,224,10.82,2.30,-4.25,0.000,18692,0.246,0.057,2577,3551,3922,3972,3873,0,0,0,0,0,0,25.48,26.15,26.39
$GC,276,-0.68,-214.1,2578,3551,3982,3873,54.5,-38.7,22,295,0.28,2.12,0.00,0.000,3078,0.168,0.031,2648,2158,3927,3982,3873,0,0,0,0,0,0,25.75,26.22,28.83
$GC,590,-0.65,-214.1,2649,2155,3987,3874,127.3,-18.8,53,598,0.00,2.20,0.00,0.000,516,0.000,0.038,2649,738,3929,3986,3873,0,0,0,0,0,0,28.83,26.23,28.83
$GC,692,-0.65,-214.1,2649,738,3989,3875,143.3,-14.0,63,700,0.00,2.17,0.00,0.000,1030,0.000,0.031,2643,2152,3930,3988,3873,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1005,-0.65,-214.1,2642,2154,3993,3874,181.9,-11.4,94,1013,0.00,2.22,0.00,0.000,260,0.000,0.044,2632,3559,3933,3993,3873,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1052,-0.65,-214.1,2633,3559,3994,3875,187.2,-12.2,98,1063,0.12,2.15,0.00,0.000,3078,0.144,0.026,2666,2127,3933,3994,3873,0,0,0,0,0,0,26.09,26.34,28.83
$GC,1359,-0.69,-214.1,2666,2127,3998,3875,215.2,-8.0,117,1368,0.00,2.25,0.00,0.000,260,0.000,0.044,2657,3555,3935,3997,3874,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1423,-0.74,-214.1,2658,3555,3998,3874,219.7,-7.3,119,1430,0.00,2.12,0.00,0.000,1030,0.000,0.025,2657,2142,3935,3997,3874,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1755,-0.79,-214.1,2658,2138,3998,3873,246.0,-8.4,130,1762,0.12,0.00,0.00,0.000,4102,0.086,0.000,2587,2138,3935,3997,3873,0,0,0,0,0,0,26.32,28.83,28.83
$GC,2055,-0.79,-214.1,2587,2138,3996,3873,286.1,-13.0,140,2065,0.12,2.15,0.00,0.000,2564,0.152,0.035,2623,755,3933,3994,3873,0,0,0,0,0,0,26.08,26.24,28.83
$GC,2074,-0.79,-214.1,2623,756,3995,3875,286.1,-13.0,140,2082,0.00,2.17,0.00,0.000,1030,0.000,0.031,2622,2152,3934,3994,3874,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2380,-0.81,-214.1,2616,2153,3992,3873,318.4,-9.5,150,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2153,3932,3991,3873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-0.84,-214.1,2617,2154,3987,3875,348.7,-9.6,160,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2153,3930,3986,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.87,-214.1,2615,2153,3984,3873,374.5,-8.1,170,2990,0.00,2.25,0.00,0.000,260,0.000,0.047,2605,3550,3927,3982,3873,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3045,-0.90,-214.1,2606,3552,3982,3874,379.7,-8.3,172,3052,0.00,2.12,0.00,0.000,1030,0.000,0.028,2606,2144,3927,3981,3873,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3372,-0.93,-214.1,2606,2141,3976,3870,411.1,-9.9,183,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2141,3923,3976,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3672,-0.95,-214.1,2606,2141,3975,3867,438.9,-7.9,193,3683,0.12,2.17,0.00,0.000,4612,0.090,0.038,2545,761,3919,3973,3865,0,0,0,0,0,0,26.26,26.16,28.83
$GC,3708,-0.95,-214.1,2545,760,3973,3867,442.0,-8.2,194,3716,0.00,2.20,0.00,0.000,1030,0.000,0.035,2537,2148,3919,3972,3867,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4030,-0.93,-214.1,2538,2148,3968,3865,486.2,-14.1,205,4039,0.12,2.20,0.00,0.000,2564,0.178,0.038,2570,764,3916,3967,3865,0,0,0,0,0,0,25.94,26.14,28.83
$GC,4069,-0.93,-214.1,2571,765,3967,3866,490.6,-13.9,206,4077,0.00,2.20,0.00,0.000,1030,0.000,0.035,2565,2159,3915,3966,3864,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4391,-0.93,-214.1,2566,2160,3964,3862,528.4,-11.1,217,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2159,3911,3963,3860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,-0.93,-214.1,2566,2160,3961,3860,561.2,-10.6,227,4699,0.00,2.28,0.00,0.000,260,0.000,0.051,2555,3554,3909,3960,3859,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4739,-0.93,-214.1,2556,3554,3960,3859,564.2,-10.5,228,4747,0.00,2.17,0.00,0.000,1030,0.000,0.031,2555,2150,3908,3958,3859,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5051,-0.93,-214.1,2556,2147,3956,3856,601.0,-11.3,239,5059,0.00,2.20,0.00,0.000,516,0.000,0.041,2555,757,3905,3955,3855,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5078,-0.93,-214.1,2555,758,3956,3855,601.0,-11.3,239,5089,0.00,2.22,0.00,0.000,1030,0.000,0.037,2547,2152,3904,3954,3855,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5384,-0.93,-214.1,2548,2153,3954,3854,635.5,-9.9,250,5393,0.00,2.28,0.00,0.000,260,0.000,0.051,2536,3562,3902,3952,3853,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5412,-0.93,-214.1,2536,3562,3954,3848,635.5,-9.9,250,5423,0.12,2.17,0.00,0.000,3078,0.163,0.031,2565,2147,3902,3952,3853,0,0,0,0,0,0,25.85,26.17,28.83
$GC,5718,-0.93,-214.1,2565,2148,3952,3852,666.7,-9.5,261,5726,0.00,2.20,0.00,0.000,516,0.000,0.041,2565,759,3900,3950,3850,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5776,-0.93,-214.1,2566,759,3951,3850,670.0,-9.6,262,5786,0.00,2.22,0.00,0.000,1030,0.000,0.037,2560,2147,3899,3949,3850,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6081,-0.93,-214.1,2560,2148,3949,3849,703.3,-10.4,273,6091,0.00,2.28,0.00,0.000,260,0.000,0.053,2550,3553,3898,3948,3848,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6116,-0.93,-214.1,2551,3555,3943,3849,706.8,-10.6,274,6124,0.00,2.20,0.00,0.000,1030,0.000,0.031,2550,2141,3897,3946,3848,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6439,-0.93,-214.1,2551,2140,3947,3848,747.7,-12.8,285,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2138,3896,3945,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6738,-0.93,-214.1,2551,2139,3943,3846,788.3,-14.0,295,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2138,3893,3942,3845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7038,-0.93,-214.1,2550,2139,3941,3848,828.5,-13.0,305,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2138,3891,3940,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7339,-0.93,-214.1,2551,2139,3940,3843,865.4,-12.1,315,7348,0.00,2.22,0.00,0.000,516,0.000,0.043,2550,753,3890,3938,3842,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7363,-0.93,-214.1,2551,754,3939,3843,865.4,-12.1,315,7373,0.00,2.25,0.00,0.000,1030,0.000,0.039,2543,2157,3889,3938,3841,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7668,-0.93,-214.1,2544,2157,3937,3840,907.2,-12.8,326,7676,0.00,2.30,0.00,0.000,260,0.000,0.054,2534,3555,3888,3937,3840,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7716,-0.93,-214.1,2534,3553,3936,3839,910.9,-12.9,327,7724,0.15,2.20,0.00,0.000,3078,0.154,0.032,2570,2142,3888,3936,3840,0,0,0,0,0,0,25.70,26.06,28.83
$GC,8021,-0.93,-214.1,2571,2140,3935,3840,948.4,-11.5,337,8028,0.00,2.22,0.00,0.000,516,0.000,0.043,2570,758,3887,3935,3839,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8068,-0.93,-214.1,2571,759,3935,3840,952.1,-11.5,338,8076,0.00,2.25,0.00,0.000,1030,0.000,0.039,2570,2148,3886,3934,3838,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8381,-0.93,-214.1,2571,2150,3934,3838,987.3,-10.6,349,8392,0.00,2.33,0.00,0.000,260,0.000,0.055,2563,3555,3884,3932,3837,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,8410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8410,begin apogee
$GC,8415,-0.13,0.0,2563,2251,3933,3839,990.6,-10.6,350,8608,0.85,0.00,185.27,1.277,10246,0.121,0.000,2822,2247,3047,3086,3008,0,0,0,0,0,0,25.53,28.83,23.19
$STATE,8609,end apogee,CONTROL_FINISHED_OK
$STATE,8609,begin climb
$GC,8611,0.84,214.1,2822,2247,3086,3005,999.7,0.0,356,8822,0.90,2.58,198.02,1.261,10500,0.044,0.051,3154,3657,2171,2213,2130,0,0,0,0,0,0,24.61,24.20,22.95
$GC,8972,0.76,214.1,3154,3657,2201,2127,955.0,19.3,368,8980,0.20,2.22,0.00,0.000,5126,0.175,0.031,3117,2254,2164,2200,2128,0,0,0,0,0,0,25.49,25.81,28.83
$GC,9277,0.72,214.1,3117,2251,2201,2123,903.9,15.4,378,9285,0.00,2.25,0.00,0.000,516,0.000,0.042,3126,844,2161,2200,2122,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9320,0.68,214.1,3126,845,2200,2122,898.5,15.6,379,9329,0.15,2.25,0.00,0.000,5126,0.168,0.038,3089,2267,2160,2200,2120,0,0,0,0,0,0,25.95,26.23,28.83
$GC,9643,0.68,214.1,3089,2267,2199,2120,850.5,14.2,390,9651,0.00,2.25,0.00,0.000,260,0.000,0.053,3089,3651,2159,2198,2120,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9675,0.66,214.1,3089,3651,2197,2120,846.2,14.5,391,9683,0.00,2.17,0.00,0.000,1030,0.000,0.032,3097,2243,2158,2197,2119,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10003,0.63,214.1,3098,2240,2197,2119,793.1,16.1,402,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2240,2158,2198,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,0.61,214.1,3098,2240,2196,2119,743.3,17.1,412,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2240,2157,2195,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10603,0.59,214.1,3098,2239,2194,2119,693.8,16.6,422,10614,0.12,2.22,0.00,0.000,4612,0.186,0.041,3073,853,2156,2193,2119,0,0,0,0,0,0,25.86,26.13,28.83
$GC,10638,0.59,214.1,3074,852,2194,2117,689.1,16.6,423,10645,0.00,2.22,0.00,0.000,1030,0.000,0.038,3074,2254,2155,2193,2118,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,15931,end climb,SURFACE_DEPTH_REACHED
$STATE,15931,begin surface coast
$FINISH,0.1,1.021182
$STATE,15946,end surface coast,CONTROL_FINISHED_OK
$STATE,15946,begin surface
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$HUMID,49.64
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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,15976.56 7135.83
$PA_BOOTCOUNT,201
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$10V_AH,9.94,38.860
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$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.326,0.000,0.000,0.000
$MEM,262828
$DATA_FILE_SIZE,33475,742
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$CFSIZE,260034560,241672192
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