version: 66.12
glider: 178
mission: 18
dive: 222
start: 11 9 114 19 39 39
data:
$ID,178
$MISSION,18
$DIVE,222
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,220
$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,40
$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
$GPS1,091114,193225,1310.441,14432.105,89,1.3,110,1.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-74.4
$GPS2,091114,193927,1310.420,14431.997,9,1.3,29,1.5
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,PICKUP
$TGT_LATLONG,1310.000,14433.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,110.0,1970,-16.1,-10.000,-19.31,2958
$D_GRID,1495
$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,-0.81,-214.1,162,2155,1616,1618,0.0,0.0,0,164,0.00,0.00,-63.47,0.000,16386,0.000,0.000,163,2155,3345,3397,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-0.81,-214.1,164,2156,3398,3297,3.7,-12.8,10,195,10.57,2.25,-8.77,0.000,18948,0.239,0.051,2602,753,3924,3983,3866,0,0,0,0,0,0,25.41,26.16,26.37
$GC,224,-0.63,-214.1,2603,754,3986,3869,34.3,-41.1,19,235,0.28,2.17,0.00,0.000,3078,0.174,0.034,2664,2144,3926,3986,3867,0,0,0,0,0,0,25.65,26.16,28.83
$GC,535,-0.59,-214.1,2664,2144,3994,3867,111.4,-14.6,54,548,0.00,2.22,0.00,0.000,260,0.000,0.044,2656,3557,3929,3992,3867,0,0,0,0,0,0,28.83,26.13,28.83
$GC,632,-0.59,-214.1,2656,3557,3996,3867,123.3,-13.1,63,645,0.00,2.15,0.00,0.000,1030,0.000,0.024,2656,2126,3931,3995,3867,0,0,0,0,0,0,28.83,26.29,28.83
$GC,939,-0.59,-214.1,2657,2126,4001,3869,169.8,-16.0,94,947,0.00,2.10,0.00,0.000,516,0.000,0.034,2656,759,3934,4000,3868,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1002,-0.59,-214.1,2656,759,4001,3869,179.1,-14.2,100,1010,0.00,2.17,0.00,0.000,1030,0.000,0.030,2653,2165,3934,4000,3869,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1325,-0.59,-214.1,2654,2165,4002,3871,215.5,-10.0,122,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3936,4001,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1625,-0.61,-214.1,2654,2166,4003,3872,239.4,-7.8,132,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2165,3937,4002,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1925,-0.64,-214.1,2654,2164,4004,3872,265.0,-9.2,142,1935,0.00,2.20,0.00,0.000,260,0.000,0.045,2649,3559,3937,4002,3872,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2036,-0.69,-214.1,2650,3559,4003,3872,273.4,-9.3,145,2045,0.00,2.10,0.00,0.000,1030,0.000,0.025,2649,2151,3937,4003,3872,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2351,-0.72,-214.1,2650,2147,4002,3873,312.7,-11.6,156,2361,0.00,2.12,0.00,0.000,516,0.000,0.035,2649,763,3936,4000,3872,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2410,-0.77,-214.1,2650,765,4001,3873,318.5,-10.3,158,2418,0.00,2.15,0.00,0.000,1030,0.000,0.030,2642,2151,3936,4000,3872,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2738,-0.80,-214.1,2643,2152,3996,3873,339.7,-6.1,169,2748,0.00,2.22,0.00,0.000,260,0.000,0.046,2635,3554,3933,3995,3872,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2782,-0.84,-214.1,2636,3554,3996,3871,341.5,-5.7,170,2791,0.12,2.12,0.00,0.000,5126,0.085,0.026,2571,2142,3934,3994,3875,0,0,0,0,0,0,26.11,26.21,28.83
$GC,3106,-0.82,-214.1,2572,2140,3989,3874,388.7,-15.6,181,3114,0.12,2.17,0.00,0.000,2564,0.167,0.034,2606,759,3930,3988,3872,0,0,0,0,0,0,25.96,26.15,28.83
$GC,3179,-0.82,-214.1,2606,760,3988,3871,395.4,-13.4,183,3187,0.00,2.17,0.00,0.000,1030,0.000,0.031,2599,2148,3928,3986,3871,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3496,-0.82,-214.1,2599,2148,3983,3870,426.0,-8.1,194,3505,0.00,2.25,0.00,0.000,260,0.000,0.048,2589,3560,3926,3982,3870,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3560,-0.82,-214.1,2589,3561,3982,3871,430.6,-7.7,196,3569,0.00,2.12,0.00,0.000,1030,0.000,0.028,2588,2155,3925,3981,3870,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3884,-0.82,-214.1,2589,2153,3978,3867,457.4,-9.0,207,3893,0.00,2.28,0.00,0.000,260,0.000,0.047,2580,3560,3922,3977,3867,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3927,-0.82,-214.1,2581,3560,3977,3867,460.6,-9.2,208,3935,0.00,2.15,0.00,0.000,1030,0.000,0.028,2581,2147,3921,3976,3867,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4251,-0.82,-214.1,2581,2144,3974,3866,494.8,-10.8,219,4260,0.00,2.28,0.00,0.000,260,0.000,0.047,2572,3561,3919,3973,3865,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4310,-0.82,-214.1,2572,3556,3972,3866,501.2,-10.9,221,4318,0.15,2.15,0.00,0.000,3078,0.149,0.028,2610,2141,3918,3971,3865,0,0,0,0,0,0,25.84,26.21,28.83
$GC,4638,-0.82,-214.1,2610,2137,3970,3862,525.5,-7.5,232,4649,0.00,2.28,0.00,0.000,260,0.000,0.049,2601,3554,3915,3969,3861,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4673,-0.84,-214.1,2602,3555,3969,3861,527.9,-7.6,233,4682,0.00,2.15,0.00,0.000,1030,0.000,0.028,2602,2143,3914,3968,3861,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,4820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4820,begin apogee
$GC,4824,-0.13,0.0,2601,2263,3967,3857,540.7,-8.4,238,5011,0.73,0.00,177.77,0.972,10246,0.112,0.000,2828,2264,3046,3089,3003,0,0,0,0,0,0,25.68,28.83,24.17
$STATE,5012,end apogee,CONTROL_FINISHED_OK
$STATE,5012,begin climb
$GC,5014,0.81,214.1,2829,2264,3090,3000,548.8,0.0,244,5208,0.82,2.38,180.93,0.960,10500,0.047,0.047,3149,3642,2172,2214,2131,0,0,0,0,0,0,25.46,25.13,23.99
$GC,5300,0.73,214.1,3149,3642,2203,2130,523.1,16.3,253,5312,0.22,2.15,0.00,0.000,5126,0.166,0.028,3102,2254,2166,2202,2131,0,0,0,0,0,0,25.71,26.04,28.83
$GC,5603,0.69,214.1,3108,2252,2200,2127,480.2,12.2,264,5614,0.00,2.20,0.00,0.000,516,0.000,0.040,3111,860,2162,2199,2125,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5659,0.66,214.1,3110,859,2201,2124,476.5,12.2,265,5669,0.00,2.17,0.00,0.000,1030,0.000,0.033,3110,2247,2162,2200,2124,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5964,0.62,214.1,3111,2249,2197,2124,434.1,12.7,276,5974,0.12,2.22,0.00,0.000,4356,0.174,0.044,3076,3650,2159,2196,2123,0,0,0,0,0,0,26.04,26.22,28.83
$GC,6008,0.58,214.1,3074,3649,2196,2123,430.4,12.6,277,6016,0.00,2.15,0.00,0.000,1030,0.000,0.028,3083,2249,2159,2195,2123,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6321,0.56,214.1,3084,2245,2193,2123,393.1,12.0,288,6332,0.12,2.17,0.00,0.000,4612,0.177,0.036,3059,856,2156,2192,2121,0,0,0,0,0,0,25.98,26.27,28.83
$GC,6382,0.56,214.1,3059,857,2194,2121,386.1,12.0,290,6389,0.00,2.17,0.00,0.000,1030,0.000,0.032,3059,2256,2155,2192,2119,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6709,0.56,214.1,3059,2258,2191,2120,348.6,11.6,301,6718,0.00,2.22,0.00,0.000,516,0.000,0.039,3069,858,2155,2191,2119,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6845,0.56,214.1,3070,858,2191,2113,335.4,11.0,305,6853,0.00,2.17,0.00,0.000,1030,0.000,0.033,3070,2251,2153,2190,2117,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7163,0.56,214.1,3070,2254,2190,2118,298.2,11.3,316,7172,0.00,2.22,0.00,0.000,516,0.000,0.039,3080,856,2152,2188,2117,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7207,0.56,214.1,3080,856,2189,2115,294.4,11.5,317,7215,0.00,2.17,0.00,0.000,1030,0.000,0.034,3079,2248,2151,2188,2115,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7520,0.57,219.2,3080,2249,2188,2115,253.7,9.8,328,7528,0.00,2.22,0.00,0.000,516,0.000,0.039,3090,849,2150,2186,2115,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7583,0.59,229.2,3091,850,2187,2115,248.2,9.7,330,7604,0.12,2.20,11.05,0.719,13318,0.169,0.032,3061,2254,2111,2146,2076,0,0,0,0,0,0,25.87,26.16,24.88
$GC,7909,0.76,324.6,3062,2256,2142,2073,225.7,6.7,341,8005,0.12,2.33,83.75,0.766,10500,0.092,0.048,3121,3642,1722,1747,1698,0,0,0,0,0,0,26.22,25.70,24.65
$GC,8075,0.76,324.6,3120,3642,1739,1694,207.7,12.8,346,8083,0.00,2.15,0.00,0.000,1030,0.000,0.027,3130,2254,1716,1737,1695,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8388,0.76,324.6,3130,2251,1735,1690,158.3,16.4,375,8396,0.00,2.20,0.00,0.000,516,0.000,0.038,3141,849,1711,1734,1689,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8501,0.76,324.6,3142,849,1735,1685,142.5,13.7,386,8508,0.00,2.17,0.00,0.000,1030,0.000,0.032,3141,2252,1709,1734,1684,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8806,0.85,375.4,3141,2252,1732,1683,111.8,8.2,416,8860,0.00,2.25,42.22,0.666,8452,0.000,0.047,3142,3648,1513,1531,1495,0,0,0,0,0,0,28.83,25.98,24.96
$GC,8884,0.90,392.0,3141,3648,1530,1495,105.1,9.4,423,8914,0.00,2.17,15.52,0.623,9222,0.000,0.026,3149,2242,1447,1461,1433,0,0,0,0,0,0,28.83,26.13,24.91
$GC,9210,0.93,392.0,3149,2244,1458,1430,66.9,11.1,456,9225,0.00,2.15,0.00,0.000,516,0.000,0.035,3161,853,1443,1457,1429,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9254,0.99,404.0,3160,854,1458,1428,62.6,9.6,460,9278,0.00,2.15,10.88,0.566,9222,0.000,0.030,3160,2256,1399,1415,1383,0,0,0,0,0,0,28.83,26.27,25.11
$GC,9575,1.12,445.9,3160,2256,1413,1382,39.8,8.5,511,9622,0.17,2.22,36.72,0.593,10756,0.070,0.035,3254,849,1226,1240,1213,0,0,0,0,0,0,26.32,26.11,25.10
$GC,9703,1.12,445.9,3255,850,1239,1210,22.2,15.2,534,9709,0.00,2.20,0.00,0.000,1030,0.000,0.029,3254,2254,1223,1238,1208,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,9822,end climb,SURFACE_DEPTH_REACHED
$STATE,9822,begin surface coast
$FINISH,-1.0,1.021431
$STATE,9842,end surface coast,CONTROL_FINISHED_OK
$STATE,9843,begin surface
$SM_CCo,9919,0.00,0.000,0,0,1219,448.16
$SM_GC,-0.36,8.23,0.15,0.00,0.039,0.061,0.000,158,2123,1219,-8.43,1.24,448.16,0,0,0,0,0,0,26.24,26.38,28.83
$IRIDIUM_FIX,1300.95,14435.98,091114,152047
$TT8_MAMPS,0.054677,0.054677
$HUMID,49.09
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.10
$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,9879.21 4702.68
$PA_BOOTCOUNT,225
$PA_DFQS,0/0
$PA_LOG,0.06/0.125/1.969/1.743
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.55/64.659/117.199/46.586
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.04/0.073/1.764/1.602
$PA_DISK_BANK,3
$24V_AH,23.99,74.746
$10V_AH,9.98,40.556
$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,21.925,101.175,558.850,0.000,0.000,0.000,0.000,288.025,0.250,10404.610,32.412,0.000,7262.443,589.296,2311.346,163.587,0.000,1868.316,0.000,1246.706,0.000,0.554,0.000
$DEVICE_MAMPS,238.680,70.380,972.315,0.000,0.000,0.000,0.000,94.860,420.000,64.260,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,375.904,0.000,0.000,0.000,0.000,0.000,10404.671,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.325,0.000,0.000,0.000
$MEM,262352
$DATA_FILE_SIZE,23479,562
$CAP_FILE_SIZE,107518,0
$CFSIZE,260034560,239775744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15220.25,0x236bc6,7,5
$CURRENT,0.422,298.12,1
$GPS,091114,222613,1310.807,14431.222,35,0.9,55,1.5