version: 66.12
glider: 178
mission: 18
dive: 205
start: 11 6 114 17 57 32
data:
$ID,178
$MISSION,18
$DIVE,205
$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,48
$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
$GPS1,061114,174519,1247.477,14427.455,54,1.0,74,1.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-76.6
$GPS2,061114,175721,1247.545,14427.292,12,1.8,32,1.6
$SPEED_LIMITS,0.191,0.299
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,31.1,42842,-17.3,-11.000,-20.18,2764
$D_GRID,820
$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,-214.1,142,2157,1455,1429,0.0,0.0,0,162,0.00,0.00,-65.20,0.000,16386,0.000,0.000,141,2155,3173,3222,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-0.84,-214.1,142,2156,3223,3128,3.1,-12.3,11,194,10.73,2.25,-11.68,0.000,18948,0.242,0.053,2594,752,3923,3983,3864,0,0,0,0,0,0,25.48,26.22,26.43
$GC,219,-0.63,-214.1,2595,753,3985,3867,33.2,-49.6,21,231,0.30,2.20,0.00,0.000,3078,0.190,0.036,2659,2148,3925,3984,3867,0,0,0,0,0,0,25.63,26.20,28.83
$GC,537,-0.57,-214.1,2660,2150,3991,3869,105.7,-20.6,58,549,0.00,2.25,0.00,0.000,260,0.000,0.047,2650,3565,3928,3990,3867,0,0,0,0,0,0,28.83,26.16,28.83
$GC,559,-0.53,-214.1,2651,3567,3992,3869,109.2,-17.6,60,572,0.17,2.12,0.00,0.000,3078,0.141,0.026,2698,2140,3930,3992,3868,0,0,0,0,0,0,25.98,26.31,28.83
$GC,869,-0.59,-214.1,2699,2140,3997,3869,141.8,-11.4,91,883,0.00,2.25,0.00,0.000,260,0.000,0.046,2694,3559,3932,3997,3868,0,0,0,0,0,0,28.83,26.17,28.83
$GC,957,-0.67,-214.1,2695,3559,3998,3869,148.4,-7.3,99,968,0.12,2.12,0.00,0.000,5126,0.082,0.025,2621,2144,3932,3998,3867,0,0,0,0,0,0,26.27,26.34,28.83
$GC,1262,-0.67,-214.1,2622,2143,4000,3868,188.2,-13.8,130,1275,0.12,2.15,0.00,0.000,2564,0.161,0.034,2657,758,3933,3999,3868,0,0,0,0,0,0,26.06,26.23,28.83
$GC,1325,-0.71,-214.1,2658,759,4000,3870,195.5,-10.4,136,1333,0.00,2.17,0.00,0.000,1030,0.000,0.031,2655,2159,3934,3999,3869,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1651,-0.75,-214.1,2656,2161,3999,3870,226.2,-9.1,150,1659,0.00,2.20,0.00,0.000,260,0.000,0.047,2646,3560,3934,3999,3869,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1729,-0.80,-214.1,2646,3560,4000,3869,232.0,-9.3,152,1737,0.00,2.10,0.00,0.000,1030,0.000,0.026,2646,2156,3934,3999,3869,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2043,-0.84,-214.1,2645,2153,4001,3870,261.3,-9.4,163,2050,0.15,0.00,0.00,0.000,4102,0.073,0.000,2566,2151,3934,3999,3869,0,0,0,0,0,0,26.32,28.83,28.83
$GC,2342,-0.84,-214.1,2566,2151,3998,3869,304.8,-15.4,173,2353,0.12,2.20,0.00,0.000,2308,0.161,0.044,2592,3545,3932,3996,3869,0,0,0,0,0,0,26.05,26.16,28.83
$GC,2412,-0.84,-214.1,2592,3550,3997,3869,312.4,-13.8,175,2420,0.00,2.12,0.00,0.000,1030,0.000,0.028,2591,2150,3932,3996,3868,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2730,-0.84,-214.1,2593,2148,3991,3870,350.1,-10.5,186,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2146,3929,3990,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.84,-214.1,2593,2146,3985,3869,379.5,-9.8,196,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2146,3926,3984,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.84,-214.1,2593,2147,3980,3869,410.6,-10.2,206,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2146,3923,3979,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3630,-0.84,-214.1,2593,2147,3976,3867,442.9,-10.5,216,3641,0.00,2.17,0.00,0.000,516,0.000,0.041,2592,759,3920,3975,3865,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3650,-0.84,-214.1,2592,759,3976,3865,442.9,-10.5,216,3658,0.00,2.17,0.00,0.000,1030,0.000,0.034,2585,2146,3920,3975,3865,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3956,-0.84,-214.1,2585,2147,3970,3862,476.5,-10.1,226,3965,0.00,2.25,0.00,0.000,260,0.000,0.050,2574,3555,3915,3970,3861,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4030,-0.84,-214.1,2574,3555,3970,3862,483.5,-11.1,228,4039,0.00,2.15,0.00,0.000,1030,0.000,0.030,2574,2148,3915,3970,3861,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4348,-0.84,-214.1,2574,2144,3965,3859,523.3,-11.0,239,4356,0.00,2.20,0.00,0.000,516,0.000,0.041,2580,749,3911,3964,3859,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4381,-0.84,-214.1,2575,750,3965,3860,526.5,-10.6,240,4389,0.00,2.22,0.00,0.000,1030,0.000,0.037,2573,2159,3911,3964,3858,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4704,-0.84,-214.1,2573,2159,3962,3855,556.6,-9.3,251,4712,0.00,2.25,0.00,0.000,260,0.000,0.052,2564,3555,3908,3961,3855,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4746,-0.84,-214.1,2565,3556,3961,3856,558.8,-8.8,252,4755,0.12,2.17,0.00,0.000,3078,0.155,0.031,2593,2150,3907,3960,3855,0,0,0,0,0,0,25.88,26.18,28.83
$GC,5060,-0.87,-214.1,2594,2147,3958,3854,579.5,-6.3,263,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2146,3905,3957,3853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.89,-214.1,2595,2147,3956,3851,603.8,-8.3,273,5370,0.00,2.33,0.00,0.000,260,0.000,0.051,2585,3558,3902,3954,3850,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5395,-0.92,-214.1,2586,3560,3955,3856,606.5,-8.6,274,5404,0.00,2.17,0.00,0.000,1030,0.000,0.031,2586,2148,3901,3953,3850,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5720,-1.01,-214.1,2586,2146,3952,3849,634.7,-6.3,285,5730,0.12,2.30,0.00,0.000,4356,0.096,0.045,2529,3560,3899,3951,3847,0,0,0,0,0,0,26.12,25.96,28.83
$STATE,5929,end dive,NO_VERTICAL_VELOCITY
$STATE,5929,begin apogee
$GC,5935,-0.13,0.0,2530,2244,3949,3849,635.5,0.0,292,6120,0.85,0.00,177.25,1.036,10246,0.058,0.000,2839,2243,3046,3086,3006,0,0,0,0,0,0,26.01,28.83,24.00
$STATE,6120,end apogee,CONTROL_FINISHED_OK
$STATE,6120,begin climb
$GC,6122,0.84,214.1,2840,2242,3087,3003,635.9,0.0,298,6325,0.90,2.47,185.00,1.016,11012,0.092,0.048,3136,3649,2172,2212,2132,0,0,0,0,0,0,25.17,24.72,23.61
$GC,6505,0.77,214.1,3137,3650,2199,2130,587.0,21.0,311,6516,0.00,2.20,0.00,0.000,1030,0.000,0.031,3147,2239,2163,2198,2129,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6836,0.71,214.1,3148,2235,2198,2125,521.1,21.0,322,6847,0.17,2.17,0.00,0.000,4612,0.177,0.038,3108,853,2160,2197,2124,0,0,0,0,0,0,25.95,26.27,28.83
$GC,6911,0.66,214.1,3108,853,2198,2122,509.8,20.5,324,6919,0.00,2.20,0.00,0.000,1030,0.000,0.036,3108,2256,2159,2197,2122,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7224,0.62,214.1,3108,2257,2197,2121,451.4,15.5,335,7230,0.15,0.00,0.00,0.000,4102,0.174,0.000,3072,2257,2158,2195,2122,0,0,0,0,0,0,25.99,28.83,28.83
$GC,7524,0.62,214.1,3073,2258,2194,2122,408.4,12.8,345,7532,0.00,2.25,0.00,0.000,516,0.000,0.041,3080,852,2156,2193,2120,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7562,0.62,214.1,3081,852,2194,2120,403.7,13.1,346,7570,0.00,2.20,0.00,0.000,1030,0.000,0.036,3080,2252,2155,2193,2118,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7884,0.65,230.6,3080,2252,2193,2118,364.2,10.4,357,7903,0.00,0.00,13.35,0.802,8198,0.000,0.000,3080,2252,2106,2142,2070,0,0,0,0,0,0,28.83,28.83,24.98
$GC,8184,0.76,287.9,3081,2254,2137,2068,336.8,8.9,367,8249,0.10,2.30,51.28,0.831,10756,0.110,0.040,3135,844,1871,1903,1839,0,0,0,0,0,0,26.22,25.81,24.74
$GC,8293,0.76,287.9,3135,845,1903,1833,325.1,11.9,370,8301,0.00,2.25,0.00,0.000,1030,0.000,0.037,3135,2251,1867,1902,1832,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8611,0.73,287.9,3135,2251,1898,1829,272.3,17.9,381,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2251,1863,1898,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8911,0.70,287.9,3135,2251,1894,1826,228.9,11.4,391,8922,0.12,2.25,0.00,0.000,4612,0.170,0.037,3108,843,1859,1892,1826,0,0,0,0,0,0,25.98,26.20,28.83
$GC,8946,0.70,287.9,3109,843,1895,1824,225.9,11.1,392,8954,0.00,2.20,0.00,0.000,1030,0.000,0.034,3108,2253,1858,1893,1824,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9258,0.70,287.9,3108,2255,1892,1822,189.4,12.0,408,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2255,1856,1890,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9560,0.70,287.9,3108,2255,1889,1822,155.0,11.5,438,9573,0.00,2.22,0.00,0.000,516,0.000,0.040,3118,849,1855,1888,1822,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9593,0.70,287.9,3119,848,1890,1820,150.8,12.2,441,9606,0.00,2.20,0.00,0.000,1030,0.000,0.034,3118,2257,1854,1888,1820,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9903,0.89,394.3,3119,2257,1890,1820,121.4,7.0,472,10002,0.12,2.28,88.80,0.671,10756,0.090,0.037,3198,849,1436,1455,1418,0,0,0,0,0,0,26.22,25.74,24.81
$GC,10082,0.89,394.3,3199,850,1455,1409,98.0,12.8,489,10093,0.15,2.22,0.00,0.000,5126,0.158,0.033,3161,2254,1431,1454,1408,0,0,0,0,0,0,25.79,26.06,28.83
$GC,10397,0.92,394.3,3162,2254,1451,1407,58.1,13.5,520,10406,0.00,2.20,0.00,0.000,516,0.000,0.038,3169,851,1429,1450,1408,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10435,0.95,394.3,3170,852,1451,1406,53.8,13.2,523,10446,0.00,2.17,0.00,0.000,1030,0.000,0.032,3170,2258,1428,1450,1406,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10746,1.12,456.9,3170,2260,1451,1407,23.2,8.7,581,10804,0.15,0.00,51.85,0.582,10246,0.078,0.000,3241,2259,1182,1197,1168,0,0,0,0,0,0,26.33,28.83,25.10
$STATE,10882,end climb,SURFACE_DEPTH_REACHED
$STATE,10882,begin surface coast
$FINISH,-0.2,1.021322
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10974,0.00,0.000,0,0,1174,458.96
$SM_GC,-0.70,8.23,0.15,0.00,0.038,0.064,0.000,159,2145,1174,-8.43,1.30,458.96,0,0,0,0,0,0,26.16,26.23,28.83
$IRIDIUM_FIX,1241.04,14426.97,061114,174728
$TT8_MAMPS,0.059171,0.059171
$HUMID,49.92
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.70
$XPDR_PINGS,1
$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,10932.95 5064.10
$PA_BOOTCOUNT,208
$PA_DFQS,0/0
$PA_LOG,0.06/0.120/1.969/1.749
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.13/15.262/117.199/95.984
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.04/0.069/1.764/1.605
$PA_DISK_BANK,3
$24V_AH,23.61,67.242
$10V_AH,10.09,39.412
$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,22.925,88.600,567.525,0.000,0.000,0.000,0.000,521.500,0.250,11754.521,35.096,0.000,8299.426,613.073,2597.615,168.642,0.000,2120.152,0.000,1266.319,0.000,0.551,0.000
$DEVICE_MAMPS,241.740,64.260,1035.810,0.000,0.000,0.000,0.000,94.095,420.000,64.452,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,408.835,0.000,0.000,0.000,0.000,0.000,11754.580,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,262832
$DATA_FILE_SIZE,26774,610
$CAP_FILE_SIZE,111625,0
$CFSIZE,260034560,241078272
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17639.36,0x236bc6,7,5
$INTR,1,8200.20,0x233820,1,24
$CURRENT,0.260,231.24,1
$GPS,061114,210143,1247.800,14427.271,37,0.8,57,1.6