version: 66.12
glider: 179
mission: 13
dive: 40
start: 10 5 114 3 2 28
data:
$ID,179
$MISSION,13
$DIVE,40
$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,0.015
$PITCH_ADJ_DBAND,2
$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,38
$R_STBD_OVSHOOT,41
$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,1.0
$GPS1,051014,025620,1420.713,14349.069,40,0.8,60,0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.5
$GPS2,051014,030211,1420.710,14349.022,5,0.9,25,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N1
$TGT_LATLONG,1429.500,14339.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,345.3,23463,-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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-146.0,121,2253,1066,964,0.0,0.0,0,166,0.00,0.00,-62.08,0.000,16386,0.000,0.000,120,2253,2457,2501,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,168,-0.80,-146.0,120,2253,2501,2417,3.1,-3.8,9,217,11.02,2.28,-22.05,0.000,18692,0.248,0.055,2564,3652,3524,3536,3512,0,0,0,0,0,0,25.25,25.82,26.22
$GC,346,-0.61,-146.0,2565,3652,3536,3515,62.9,-36.5,34,359,0.30,2.12,0.00,0.000,3078,0.152,0.025,2645,2232,3525,3536,3514,0,0,0,0,0,0,25.53,26.01,28.83
$GC,653,-0.55,-146.0,2645,2233,3536,3516,134.5,-18.8,65,662,0.00,2.05,0.00,0.000,516,0.000,0.034,2645,852,3525,3536,3515,0,0,0,0,0,0,28.83,26.07,28.83
$GC,691,-0.50,-146.0,2645,852,3536,3516,141.8,-19.9,68,699,0.15,2.10,0.00,0.000,3078,0.147,0.029,2678,2257,3526,3536,3516,0,0,0,0,0,0,25.86,26.13,28.83
$GC,996,-0.54,-146.0,2678,2257,3536,3517,180.2,-10.2,98,1004,0.00,2.15,0.00,0.000,260,0.000,0.045,2669,3649,3527,3537,3517,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1058,-0.58,-146.0,2669,3649,3536,3517,187.4,-11.7,104,1067,0.00,2.05,0.00,0.000,1030,0.000,0.025,2669,2259,3526,3536,3517,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1381,-0.62,-146.0,2669,2259,3537,3517,223.6,-11.6,122,1389,0.00,2.08,0.00,0.000,516,0.000,0.036,2669,859,3526,3536,3517,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1433,-0.67,-146.0,2669,859,3536,3518,226.8,-11.6,123,1443,0.10,2.10,0.00,0.000,5126,0.100,0.028,2613,2273,3526,3536,3517,0,0,0,0,0,0,26.23,26.28,28.83
$GC,1738,-0.67,-146.0,2613,2274,3535,3518,274.7,-15.2,134,1746,0.00,2.10,0.00,0.000,260,0.000,0.047,2602,3646,3525,3534,3517,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1794,-0.67,-146.0,2602,3646,3534,3517,279.8,-15.4,135,1804,0.00,2.03,0.00,0.000,1030,0.000,0.027,2602,2272,3525,3534,3517,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2100,-0.67,-146.0,2603,2273,3532,3517,323.0,-11.5,146,2108,0.00,2.10,0.00,0.000,516,0.000,0.037,2602,859,3524,3532,3517,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2171,-0.67,-146.0,2602,859,3531,3517,330.4,-12.4,148,2179,0.12,2.10,0.00,0.000,3078,0.156,0.030,2626,2266,3524,3531,3517,0,0,0,0,0,0,26.08,26.33,28.83
$GC,2489,-0.67,-146.0,2626,2266,3528,3514,367.6,-10.7,159,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2266,3521,3528,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2789,-0.70,-146.0,2626,2266,3525,3511,397.5,-9.6,169,2796,0.00,2.15,0.00,0.000,516,0.000,0.039,2626,859,3517,3524,3510,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2850,-0.74,-146.0,2626,859,3524,3510,403.9,-10.0,171,2858,0.00,2.10,0.00,0.000,1030,0.000,0.031,2620,2262,3517,3524,3510,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3177,-0.77,-146.0,2620,2263,3521,3506,437.3,-10.3,182,3185,0.00,2.17,0.00,0.000,260,0.000,0.051,2610,3652,3513,3520,3506,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3279,-0.80,-146.0,2610,3652,3519,3505,446.7,-10.6,185,3288,0.00,2.08,0.00,0.000,1030,0.000,0.030,2610,2257,3512,3519,3505,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3592,-0.80,-146.0,2610,2257,3518,3501,484.6,-11.7,196,3601,0.00,2.22,0.00,0.000,260,0.000,0.051,2600,3644,3509,3518,3501,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3634,-0.80,-146.0,2600,3644,3518,3501,487.9,-11.9,197,3642,0.00,2.05,0.00,0.000,1030,0.000,0.031,2600,2271,3509,3518,3501,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3946,-0.80,-146.0,2600,2270,3515,3498,529.0,-12.5,208,3954,0.00,2.12,0.00,0.000,516,0.000,0.042,2600,863,3506,3516,3497,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3988,-0.80,-146.0,2600,864,3515,3497,532.4,-12.6,209,3995,0.00,2.12,0.00,0.000,1030,0.000,0.034,2592,2273,3506,3515,3497,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4299,-0.80,-146.0,2592,2273,3512,3494,573.2,-12.0,220,4307,0.00,2.17,0.00,0.000,260,0.000,0.054,2582,3649,3502,3511,3494,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4365,-0.80,-146.0,2582,3649,3511,3493,580.6,-11.9,222,4373,0.00,2.05,0.00,0.000,1030,0.000,0.032,2582,2287,3501,3510,3493,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4687,-0.80,-146.0,2582,2286,3509,3491,619.1,-11.8,233,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2286,3499,3508,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.80,-146.0,2582,2286,3508,3487,654.1,-11.8,243,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2286,3496,3506,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5287,-0.80,-146.0,2582,2286,3504,3485,691.8,-12.8,253,5295,0.00,2.20,0.00,0.000,260,0.000,0.055,2573,3652,3494,3504,3485,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5374,-0.80,-146.0,2573,3652,3503,3485,703.4,-13.2,256,5381,0.00,2.08,0.00,0.000,1030,0.000,0.034,2572,2280,3494,3503,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5701,-0.80,-146.0,2573,2280,3501,3481,746.8,-13.3,267,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2280,3491,3501,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-0.80,-146.0,2573,2280,3499,3480,785.6,-12.8,277,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2280,3489,3499,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6301,-0.80,-146.0,2573,2280,3498,3478,822.4,-12.1,287,6309,0.00,2.22,0.00,0.000,260,0.000,0.056,2563,3654,3487,3497,3477,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6352,-0.80,-146.0,2563,3654,3496,3478,825.6,-12.1,288,6362,0.00,2.08,0.00,0.000,1030,0.000,0.034,2563,2289,3486,3496,3477,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6658,-0.80,-146.0,2563,2288,3495,3475,865.5,-11.7,299,6666,0.00,2.22,0.00,0.000,516,0.000,0.047,2563,848,3485,3495,3475,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6694,-0.80,-146.0,2563,848,3495,3475,869.0,-11.9,300,6702,0.12,2.22,0.00,0.000,3078,0.165,0.037,2586,2295,3484,3494,3475,0,0,0,0,0,0,25.91,26.19,28.83
$GC,7011,-0.80,-146.0,2586,2296,3491,3474,902.2,-9.7,311,7019,0.00,2.17,0.00,0.000,260,0.000,0.057,2577,3651,3482,3491,3474,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7049,-0.80,-146.0,2577,3651,3491,3474,905.4,-9.8,312,7056,0.00,2.08,0.00,0.000,1030,0.000,0.036,2577,2293,3482,3490,3474,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7370,-0.80,-146.0,2577,2292,3490,3473,938.4,-10.1,323,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2291,3481,3489,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7670,-0.80,-146.0,2576,2291,3489,3472,968.4,-10.0,333,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2291,3480,3488,3472,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7909,begin apogee
$GC,7912,-0.13,0.0,2577,1990,3487,3472,992.1,-9.9,341,8045,0.70,0.00,125.22,1.161,10244,0.122,0.000,2796,1989,2926,2972,2880,0,0,0,0,0,0,25.56,28.83,22.97
$STATE,8045,end apogee,CONTROL_FINISHED_OK
$STATE,8045,begin climb
$GC,8046,0.80,146.0,2796,1989,2972,2879,995.5,0.0,345,8198,0.88,2.35,139.10,1.140,10756,0.061,0.050,3101,600,2330,2385,2275,0,0,0,0,0,0,24.46,24.44,22.33
$GC,8241,0.78,186.9,3101,601,2383,2268,988.4,7.3,352,8289,0.00,2.30,38.95,1.097,9222,0.000,0.033,3101,1998,2163,2226,2100,0,0,0,0,0,0,28.83,24.59,22.58
$GC,8595,0.69,186.9,3101,1998,2225,2086,943.5,12.8,364,8606,0.12,2.30,0.00,0.000,4356,0.179,0.048,3068,3404,2155,2224,2086,0,0,0,0,0,0,25.30,25.39,28.83
$GC,8705,0.61,186.9,3068,3404,2223,2086,932.0,12.4,367,8714,0.12,2.17,0.00,0.000,5126,0.175,0.032,3047,2017,2154,2222,2086,0,0,0,0,0,0,25.36,25.65,28.83
$GC,9010,0.61,186.9,3047,2017,2223,2083,899.1,9.6,377,9018,0.00,2.25,0.00,0.000,516,0.000,0.051,3057,599,2152,2222,2082,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9042,0.61,186.9,3057,599,2223,2082,896.0,9.6,378,9050,0.00,2.20,0.00,0.000,1030,0.000,0.034,3057,2027,2152,2223,2082,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9369,0.59,191.0,3057,2027,2223,2081,865.6,9.0,389,9377,0.00,2.17,0.00,0.000,260,0.000,0.050,3057,3403,2151,2222,2081,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9451,0.54,191.0,3057,3403,2223,2081,860.1,9.2,391,9461,0.17,2.15,0.00,0.000,5126,0.165,0.034,3021,2013,2152,2223,2081,0,0,0,0,0,0,25.60,26.00,28.83
$GC,9756,0.71,256.5,3021,2013,2223,2080,837.6,6.2,402,9827,0.12,2.38,60.33,1.056,10756,0.090,0.050,3089,600,1880,1944,1816,0,0,0,0,0,0,26.22,24.62,23.39
$GC,9891,0.67,256.5,3090,601,1944,1809,826.4,9.4,406,9899,0.00,2.25,0.00,0.000,1030,0.000,0.034,3089,2013,1876,1944,1809,0,0,0,0,0,0,28.83,25.24,28.83
$GC,10203,0.61,256.5,3089,2013,1943,1805,791.1,10.7,417,10214,0.15,2.25,0.00,0.000,4356,0.169,0.049,3047,3403,1873,1943,1804,0,0,0,0,0,0,25.49,25.63,28.83
$GC,10294,0.58,256.5,3048,3404,1942,1805,782.6,9.8,420,10301,0.00,2.15,0.00,0.000,1030,0.000,0.034,3056,2027,1873,1942,1804,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10620,0.63,275.5,3056,2027,1941,1803,754.9,8.3,431,10648,0.00,2.38,17.12,0.954,8708,0.000,0.052,3066,597,1801,1870,1733,0,0,0,0,0,0,28.83,25.46,24.24
$GC,10661,0.67,292.7,3066,597,1870,1732,752.3,8.4,432,10687,0.00,2.25,16.55,0.940,9222,0.000,0.034,3066,2031,1732,1800,1664,0,0,0,0,0,0,28.83,25.58,23.91
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$STATE,17930,end climb,SURFACE_DEPTH_REACHED
$STATE,17930,begin surface coast
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$STATE,17951,end surface coast,CONTROL_FINISHED_OK
$STATE,17951,begin surface
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$IRIDIUM_FIX,1411.96,14346.09,041014,215231
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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
$PA_UPTIME,17978.26 8739.04
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$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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