version: 66.12
glider: 179
mission: 13
dive: 21
start: 10 2 114 4 24 10
data:
$ID,179
$MISSION,13
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,2.5
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51623
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00267967
$HD_B,0.0102786
$HD_C,3.7969199e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,147
$PITCH_MAX,3923
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2926
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$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,140
$AH0_10V,95.099998
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.156891
$PRESSURE_SLOPE,0.0001164844
$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,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,75000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,021014,041855,1354.746,14415.942,15,0.6,35,0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.1
$GPS2,021014,042352,1354.704,14415.914,5,0.8,25,0.8
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N1
$TGT_LATLONG,1429.500,14339.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,315.5,91611,-16.7,-9.167,-21.61,2230
$D_GRID,1000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.80,-146.0,120,2262,1327,1251,0.0,0.0,0,78,0.00,0.00,-55.20,0.000,16386,0.000,0.000,119,2262,2561,2602,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.80,-146.0,120,2263,2602,2521,3.6,-3.6,8,119,11.25,2.22,-20.35,0.000,18948,0.255,0.047,2579,817,3525,3539,3511,0,0,0,0,0,0,25.20,25.79,26.17
$GC,262,-0.80,-146.0,2579,818,3538,3514,65.2,-31.2,38,267,0.00,2.20,0.00,0.000,1030,0.000,0.030,2570,2235,3526,3538,3514,0,0,0,0,0,0,28.83,25.88,28.83
$GC,572,-0.80,-146.0,2570,2236,3538,3517,152.5,-24.6,69,577,0.00,2.25,0.00,0.000,260,0.000,0.044,2560,3659,3526,3537,3516,0,0,0,0,0,0,28.83,25.95,28.83
$GC,672,-0.80,-146.0,2560,3659,3538,3517,176.5,-23.0,79,677,0.00,2.17,0.00,0.000,1030,0.000,0.025,2559,2230,3528,3538,3518,0,0,0,0,0,0,28.83,26.15,28.83
$GC,993,-0.80,-146.0,2559,2227,3538,3520,241.5,-19.0,97,997,0.00,2.28,0.00,0.000,260,0.000,0.044,2549,3653,3529,3538,3520,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1137,-0.80,-146.0,2549,3654,3538,3520,265.0,-19.6,101,1145,0.10,2.10,0.00,0.000,3078,0.142,0.024,2581,2264,3529,3538,3520,0,0,0,0,0,0,25.88,26.26,28.83
$GC,1443,-0.80,-146.0,2581,2264,3538,3520,315.1,-14.2,112,1448,0.00,2.15,0.00,0.000,516,0.000,0.036,2581,856,3529,3538,3520,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1487,-0.80,-146.0,2581,856,3538,3521,319.5,-14.6,113,1492,0.00,2.17,0.00,0.000,1030,0.000,0.029,2572,2282,3529,3538,3520,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1803,-0.80,-146.0,2572,2282,3537,3519,367.8,-14.2,124,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2282,3528,3537,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2103,-0.80,-146.0,2572,2282,3535,3517,408.3,-13.9,134,2107,0.00,2.15,0.00,0.000,260,0.000,0.049,2562,3639,3525,3534,3516,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2147,-0.80,-146.0,2562,3639,3534,3516,412.4,-13.9,135,2152,0.00,2.08,0.00,0.000,1030,0.000,0.028,2562,2272,3524,3533,3516,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2462,-0.80,-146.0,2562,2272,3532,3513,459.5,-14.2,146,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2271,3522,3532,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,-0.80,-146.0,2562,2268,3528,3509,502.3,-13.9,156,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2268,3518,3527,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-0.80,-146.0,2562,2267,3524,3506,542.5,-13.3,166,3067,0.00,2.22,0.00,0.000,260,0.000,0.051,2553,3637,3515,3524,3506,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3123,-0.80,-146.0,2552,3638,3523,3505,550.5,-13.3,168,3127,0.10,2.10,0.00,0.000,3078,0.140,0.031,2585,2281,3513,3522,3505,0,0,0,0,0,0,25.94,26.31,28.83
$GC,3453,-0.80,-146.0,2585,2280,3520,3501,591.4,-12.5,179,3457,0.00,2.22,0.00,0.000,516,0.000,0.042,2585,847,3510,3519,3501,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3487,-0.80,-146.0,2585,847,3520,3501,595.3,-12.6,180,3492,0.00,2.20,0.00,0.000,1030,0.000,0.034,2577,2264,3509,3519,3500,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3813,-0.80,-146.0,2577,2264,3518,3497,635.4,-11.8,191,3817,0.00,2.25,0.00,0.000,260,0.000,0.054,2567,3651,3507,3518,3497,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3857,-0.80,-146.0,2566,3651,3518,3497,639.0,-12.0,192,3862,0.00,2.12,0.00,0.000,1030,0.000,0.032,2567,2279,3507,3518,3497,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4173,-0.80,-146.0,2567,2278,3516,3494,681.6,-13.1,203,4177,0.00,2.25,0.00,0.000,260,0.000,0.054,2557,3649,3504,3515,3494,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4197,-0.80,-146.0,2557,3650,3515,3494,681.6,-13.1,203,4205,0.08,2.10,0.00,0.000,3078,0.148,0.033,2581,2290,3504,3515,3494,0,0,0,0,0,0,25.96,26.27,28.83
$GC,4503,-0.80,-146.0,2582,2289,3513,3491,721.7,-12.0,214,4507,0.00,2.25,0.00,0.000,516,0.000,0.044,2581,851,3502,3513,3491,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4562,-0.80,-146.0,2582,851,3512,3491,729.3,-12.4,216,4567,0.00,2.22,0.00,0.000,1030,0.000,0.036,2574,2274,3500,3511,3490,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4893,-0.80,-146.0,2574,2274,3511,3487,771.4,-13.0,227,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2274,3499,3510,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5193,-0.80,-146.0,2574,2274,3509,3486,810.0,-13.0,237,5197,0.00,2.25,0.00,0.000,260,0.000,0.057,2564,3649,3496,3508,3485,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5272,-0.80,-146.0,2564,3650,3507,3486,817.7,-12.9,239,5277,0.00,2.10,0.00,0.000,1030,0.000,0.034,2564,2309,3496,3507,3485,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5583,-0.80,-146.0,2564,2306,3506,3484,860.2,-12.9,250,5587,0.00,2.28,0.00,0.000,516,0.000,0.045,2564,859,3494,3506,3483,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5612,-0.80,-146.0,2564,859,3506,3484,864.3,-13.1,251,5617,0.08,2.25,0.00,0.000,3078,0.149,0.038,2581,2285,3494,3506,3483,0,0,0,0,0,0,25.79,26.08,28.83
$GC,5943,-0.80,-146.0,2581,2286,3505,3480,902.1,-11.2,262,5947,0.00,2.22,0.00,0.000,260,0.000,0.058,2571,3645,3492,3505,3480,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5973,-0.80,-146.0,2571,3645,3504,3480,905.4,-11.1,263,5977,0.00,2.12,0.00,0.000,1030,0.000,0.036,2571,2296,3491,3503,3480,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6302,-0.80,-146.0,2571,2294,3504,3479,940.8,-10.4,274,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2294,3491,3503,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6603,-0.80,-146.0,2571,2294,3502,3478,972.1,-10.3,284,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2294,3489,3501,3478,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6782,begin apogee
$GC,6785,-0.13,0.0,2571,1991,3501,3477,991.2,-10.8,290,6915,0.75,0.00,127.70,1.180,10244,0.127,0.000,2800,1991,2926,2975,2878,0,0,0,0,0,0,25.48,28.83,22.79
$STATE,6916,end apogee,CONTROL_FINISHED_OK
$STATE,6916,begin climb
$GC,6917,0.80,146.0,2801,1991,2975,2878,994.9,0.0,294,7064,0.88,2.38,138.80,1.157,10756,0.067,0.050,3100,605,2329,2386,2273,0,0,0,0,0,0,24.28,24.27,22.41
$GC,7098,1.03,242.1,3099,605,2386,2268,990.4,4.7,300,7193,0.20,2.33,89.28,1.141,11270,0.051,0.031,3180,1993,1938,1998,1878,0,0,0,0,0,0,24.44,24.46,22.42
$GC,7503,1.03,242.1,3180,1994,1995,1866,914.1,19.4,314,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1993,1930,1995,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,1.03,242.1,3180,1994,1995,1864,855.3,19.7,324,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1994,1929,1995,1864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8103,1.03,242.1,3180,1993,1994,1863,797.5,19.0,334,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1993,1928,1994,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,1.03,242.1,3180,1994,1994,1862,742.1,18.1,344,8407,0.00,2.30,0.00,0.000,260,0.000,0.049,3180,3410,1927,1993,1862,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8463,1.03,242.1,3180,3410,1993,1862,730.5,18.7,346,8467,0.00,2.22,0.00,0.000,1030,0.000,0.034,3189,2008,1927,1992,1862,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8793,1.03,242.1,3189,2008,1994,1862,666.2,19.5,357,8797,0.00,2.28,0.00,0.000,516,0.000,0.050,3200,598,1927,1993,1862,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8888,1.03,242.1,3200,598,1993,1861,648.2,19.8,360,8893,0.00,2.17,0.00,0.000,1030,0.000,0.034,3200,1986,1926,1992,1861,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9213,1.03,242.1,3200,1987,1993,1860,582.9,20.2,371,9217,0.00,2.30,0.00,0.000,260,0.000,0.049,3200,3407,1926,1993,1860,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9283,1.03,242.1,3200,3407,1993,1860,570.1,20.8,373,9288,0.10,2.25,0.00,0.000,5126,0.185,0.034,3184,1987,1926,1993,1860,0,0,0,0,0,0,25.61,26.07,28.83
$GC,9603,1.03,242.1,3184,1986,1993,1860,509.2,17.9,384,9607,0.00,2.22,0.00,0.000,516,0.000,0.051,3192,603,1926,1992,1860,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9643,1.03,242.1,3192,603,1993,1860,503.7,17.9,385,9647,0.00,2.17,0.00,0.000,1030,0.000,0.033,3192,1997,1925,1992,1859,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9963,1.03,242.1,3192,1997,1993,1859,447.1,16.6,396,9967,0.00,2.25,0.00,0.000,260,0.000,0.049,3192,3393,1926,1993,1859,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9998,1.03,242.1,3192,3393,1992,1859,442.0,16.5,397,10003,0.00,2.20,0.00,0.000,1030,0.000,0.034,3202,1996,1925,1992,1859,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10323,1.03,242.1,3202,1996,1992,1859,386.9,16.8,408,10327,0.00,2.25,0.00,0.000,516,0.000,0.050,3212,594,1925,1992,1859,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10403,1.03,242.1,3213,595,1992,1859,375.2,18.7,410,10407,0.10,2.17,0.00,0.000,5126,0.161,0.033,3184,1994,1925,1992,1859,0,0,0,0,0,0,25.72,26.14,28.83
$GC,10713,1.03,242.1,3184,1994,1992,1859,318.1,16.5,421,10717,0.00,2.28,0.00,0.000,260,0.000,0.050,3184,3399,1925,1992,1859,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10788,1.03,242.1,3184,3399,1992,1859,308.0,16.6,423,10792,0.00,2.20,0.00,0.000,1030,0.000,0.034,3192,1998,1925,1992,1859,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11103,1.03,242.1,3192,1998,1992,1859,263.4,12.1,434,11107,0.00,2.25,0.00,0.000,516,0.000,0.050,3202,594,1925,1992,1859,0,0,0,0,0,0,28.83,25.95,28.83
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$GC,12344,1.23,323.3,3184,2025,1992,1859,130.1,5.4,524,12416,0.17,2.30,64.05,0.594,10756,0.077,0.046,3266,596,1606,1669,1543,0,0,0,0,0,0,26.43,25.25,24.37
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$STATE,13430,end climb,SURFACE_DEPTH_REACHED
$STATE,13430,begin surface coast
$FINISH,0.8,1.020139
$STATE,13456,end surface coast,CONTROL_FINISHED_OK
$STATE,13456,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,29221.63 20841.09
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$10V_AH,9.91,11.964
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$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,23.220,0.000,0.000,0.000,0.000,0.000,109.160,0.000,0.000,0.000
$MEM,230316
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$CAP_FILE_SIZE,121966,0
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$GPS,021014,081002,1356.287,14414.365,17,0.8,37,0.8