version: 66.12
glider: 179
mission: 13
dive: 55
start: 10 8 114 6 21 22
data:
$ID,179
$MISSION,13
$DIVE,55
$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,45
$R_STBD_OVSHOOT,47
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,081014,061054,1429.321,14357.980,27,0.8,47,0.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.1
$GPS2,081014,062104,1429.448,14357.976,4,0.8,25,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,78.8,107377,-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,-146.0,120,2277,1254,1158,0.0,0.0,0,145,0.00,0.00,-45.38,0.000,16386,0.000,0.000,120,2277,2235,2294,2177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,147,-0.80,-146.0,120,2277,2295,2178,3.1,-4.5,7,204,11.20,2.22,-38.88,0.000,18692,0.245,0.053,2568,3651,3523,3535,3511,0,0,0,0,0,0,24.85,25.31,25.51
$GC,432,-0.67,-146.0,2567,3651,3535,3513,81.9,-30.4,45,443,0.22,2.17,0.00,0.000,3078,0.151,0.024,2626,2231,3523,3534,3513,0,0,0,0,0,0,25.06,25.44,28.83
$GC,737,-0.63,-146.0,2626,2226,3535,3514,147.7,-16.4,76,751,0.00,2.28,0.00,0.000,260,0.000,0.044,2616,3644,3524,3535,3514,0,0,0,0,0,0,28.83,25.31,28.83
$GC,825,-0.63,-146.0,2616,3644,3535,3514,161.6,-17.3,84,836,0.00,2.12,0.00,0.000,1030,0.000,0.025,2616,2255,3524,3535,3514,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1130,-0.63,-146.0,2616,2254,3535,3516,208.7,-13.5,111,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2254,3525,3535,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-0.63,-146.0,2616,2251,3535,3516,251.3,-14.6,121,1439,0.00,2.15,0.00,0.000,516,0.000,0.034,2616,855,3525,3534,3516,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1477,-0.63,-146.0,2616,855,3535,3516,255.4,-14.5,122,1485,0.12,2.22,0.00,0.000,3078,0.140,0.029,2639,2278,3526,3535,3517,0,0,0,0,0,0,25.21,25.40,28.83
$GC,1783,-0.67,-146.0,2639,2278,3534,3515,294.2,-11.4,132,1791,0.00,2.20,0.00,0.000,260,0.000,0.046,2630,3654,3523,3532,3515,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1819,-0.71,-146.0,2631,3654,3533,3516,297.2,-11.3,133,1828,0.00,2.12,0.00,0.000,1030,0.000,0.026,2630,2265,3524,3533,3516,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2142,-0.74,-146.0,2630,2264,3530,3515,335.3,-11.1,144,2150,0.00,2.28,0.00,0.000,260,0.000,0.047,2625,3657,3522,3529,3516,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2255,-0.79,-146.0,2625,3657,3528,3515,345.7,-11.8,147,2266,0.10,2.12,0.00,0.000,5126,0.099,0.027,2577,2277,3521,3528,3515,0,0,0,0,0,0,25.34,25.41,28.83
$GC,2559,-0.79,-146.0,2577,2276,3522,3515,394.0,-14.5,158,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2276,3518,3522,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.79,-146.0,2577,2273,3519,3512,435.5,-13.5,168,2867,0.00,2.25,0.00,0.000,260,0.000,0.049,2567,3645,3515,3518,3513,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2906,-0.79,-146.0,2567,3645,3520,3512,439.3,-13.6,169,2914,0.00,2.12,0.00,0.000,1030,0.000,0.028,2568,2275,3515,3519,3512,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3211,-0.79,-146.0,2567,2274,3517,3508,482.9,-12.9,179,3219,0.00,2.28,0.00,0.000,260,0.000,0.050,2558,3652,3512,3517,3507,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3248,-0.79,-146.0,2557,3652,3517,3507,486.4,-12.8,180,3256,0.12,2.15,0.00,0.000,3078,0.151,0.029,2588,2273,3512,3516,3508,0,0,0,0,0,0,25.09,25.35,28.83
$GC,3570,-0.79,-146.0,2588,2271,3513,3504,523.8,-11.4,191,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2271,3508,3513,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.79,-146.0,2588,2270,3511,3501,558.1,-11.4,201,3878,0.00,2.30,0.00,0.000,260,0.000,0.050,2579,3652,3505,3511,3500,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3942,-0.79,-146.0,2579,3653,3509,3500,565.2,-11.4,203,3950,0.00,2.15,0.00,0.000,1030,0.000,0.031,2579,2283,3503,3507,3500,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4259,-0.79,-146.0,2579,2282,3507,3497,601.0,-10.3,214,4267,0.00,2.28,0.00,0.000,260,0.000,0.053,2569,3648,3502,3507,3497,0,0,0,0,0,0,28.83,25.19,28.83
$GC,4295,-0.79,-146.0,2569,3648,3507,3497,603.7,-10.2,215,4303,0.00,2.15,0.00,0.000,1030,0.000,0.031,2569,2285,3501,3506,3497,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4612,-0.79,-146.0,2569,2283,3505,3493,639.2,-11.0,226,4620,0.00,2.28,0.00,0.000,260,0.000,0.054,2559,3647,3498,3504,3493,0,0,0,0,0,0,28.83,25.17,28.83
$GC,4658,-0.79,-146.0,2559,3647,3503,3493,642.4,-11.2,227,4667,0.12,2.15,0.00,0.000,3078,0.152,0.031,2589,2285,3498,3503,3493,0,0,0,0,0,0,25.06,25.30,28.83
$GC,4970,-0.79,-146.0,2589,2284,3502,3489,677.1,-10.4,238,4979,0.00,2.30,0.00,0.000,260,0.000,0.054,2581,3647,3495,3501,3489,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5003,-0.79,-146.0,2581,3647,3501,3490,680.3,-10.3,239,5010,0.00,2.15,0.00,0.000,1030,0.000,0.032,2581,2291,3494,3500,3489,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5329,-0.79,-146.0,2580,2289,3500,3486,714.1,-10.2,250,5337,0.00,2.30,0.00,0.000,516,0.000,0.043,2581,856,3492,3499,3486,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5361,-0.79,-146.0,2581,856,3499,3486,716.9,-10.1,251,5369,0.00,2.30,0.00,0.000,1030,0.000,0.035,2573,2291,3492,3498,3486,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5683,-0.79,-146.0,2572,2292,3497,3484,749.7,-9.8,262,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2292,3490,3496,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.79,-146.0,2572,2292,3494,3481,778.3,-9.7,272,5990,0.00,2.25,0.00,0.000,260,0.000,0.055,2563,3651,3487,3494,3481,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6044,-0.79,-146.0,2563,3651,3494,3481,784.1,-9.9,274,6052,0.00,2.15,0.00,0.000,1030,0.000,0.033,2563,2304,3487,3493,3481,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6366,-0.79,-146.0,2562,2298,3493,3479,818.4,-10.5,285,6374,0.00,2.28,0.00,0.000,260,0.000,0.055,2553,3657,3485,3492,3479,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6412,-0.79,-146.0,2553,3657,3492,3479,821.4,-10.6,286,6420,0.15,2.15,0.00,0.000,3078,0.148,0.032,2591,2309,3485,3492,3479,0,0,0,0,0,0,25.00,25.27,28.83
$GC,6718,-0.82,-146.0,2590,2306,3491,3477,853.3,-9.8,296,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2307,3484,3491,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-0.85,-146.0,2590,2305,3490,3474,884.1,-10.5,306,7026,0.00,2.28,0.00,0.000,260,0.000,0.057,2582,3650,3482,3489,3475,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7060,-0.89,-146.0,2581,3649,3489,3475,887.1,-10.6,307,7071,0.00,2.15,0.00,0.000,1030,0.000,0.034,2582,2310,3482,3489,3475,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7375,-0.89,-146.0,2582,2307,3488,3474,923.1,-10.8,318,7384,0.00,2.28,0.00,0.000,260,0.000,0.057,2573,3655,3480,3488,3473,0,0,0,0,0,0,28.83,25.11,28.83
$GC,7408,-0.89,-146.0,2572,3655,3487,3473,926.9,-10.8,319,7416,0.00,2.15,0.00,0.000,1030,0.000,0.034,2572,2314,3480,3487,3473,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7735,-0.89,-146.0,2572,2311,3487,3472,961.9,-10.4,330,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2311,3480,3487,3473,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8034,begin apogee
$GC,8037,-0.13,0.0,2572,1998,3486,3472,992.2,-10.0,340,8170,0.75,0.00,126.43,1.147,10244,0.117,0.000,2798,1998,2926,2970,2882,0,0,0,0,0,0,24.91,28.83,22.73
$STATE,8171,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8172,0.80,146.0,2798,1998,2970,2880,996.0,0.0,344,8322,0.88,2.38,137.88,1.131,10756,0.060,0.049,3099,615,2330,2385,2276,0,0,0,0,0,0,24.01,23.99,22.54
$GC,8336,0.94,250.9,3099,614,2383,2271,992.1,4.3,350,8443,0.15,2.33,95.97,1.120,11270,0.082,0.031,3155,2007,1903,1962,1844,0,0,0,0,0,0,24.05,24.06,22.54
$GC,8753,0.82,250.9,3155,2007,1961,1831,924.1,17.3,364,8763,0.15,2.30,0.00,0.000,4356,0.169,0.047,3116,3400,1896,1960,1832,0,0,0,0,0,0,24.87,25.06,28.83
$GC,8792,0.71,250.9,3116,3400,1961,1831,919.1,17.0,365,8800,0.20,2.22,0.00,0.000,5126,0.155,0.033,3073,2013,1895,1960,1831,0,0,0,0,0,0,24.91,25.18,28.83
$GC,9110,0.68,250.9,3073,2013,1961,1828,880.1,11.6,376,9118,0.00,2.30,0.00,0.000,516,0.000,0.051,3082,603,1894,1960,1828,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9137,0.65,250.9,3082,603,1960,1827,876.9,11.6,377,9144,0.00,2.22,0.00,0.000,1030,0.000,0.033,3082,2009,1894,1960,1828,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9469,0.61,250.9,3083,2009,1960,1826,834.8,12.8,388,9477,0.12,2.28,0.00,0.000,4356,0.169,0.047,3048,3398,1893,1960,1826,0,0,0,0,0,0,25.03,25.18,28.83
$GC,9546,0.61,250.9,3048,3398,1960,1826,827.3,12.5,390,9554,0.00,2.22,0.00,0.000,1030,0.000,0.034,3056,2009,1893,1960,1826,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9858,0.61,250.9,3057,2008,1960,1826,790.0,11.3,401,9866,0.00,2.30,0.00,0.000,516,0.000,0.052,3066,602,1892,1960,1825,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9890,0.61,250.9,3066,601,1960,1825,787.0,11.2,402,9897,0.00,2.25,0.00,0.000,1030,0.000,0.033,3066,2018,1892,1959,1826,0,0,0,0,0,0,28.83,25.23,28.83
$GC,10212,0.61,250.9,3066,2018,1960,1825,749.0,11.5,413,10220,0.00,2.28,0.00,0.000,260,0.000,0.049,3066,3400,1892,1959,1825,0,0,0,0,0,0,28.83,25.12,28.83
$GC,10293,0.61,250.9,3066,3400,1960,1825,742.1,11.7,415,10304,0.12,2.20,0.00,0.000,5126,0.166,0.034,3046,2027,1892,1960,1825,0,0,0,0,0,0,24.96,25.20,28.83
$GC,10599,0.61,250.9,3046,2027,1960,1825,708.7,9.6,426,10609,0.00,2.35,0.00,0.000,516,0.000,0.052,3057,594,1892,1960,1825,0,0,0,0,0,0,28.83,25.09,28.83
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$STATE,17075,end climb,SURFACE_DEPTH_REACHED
$STATE,17075,begin surface coast
$FINISH,0.8,1.020511
$STATE,17097,end surface coast,CONTROL_FINISHED_OK
$STATE,17097,begin surface
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$IRIDIUM_FIX,1425.31,14300.67,081014,061257
$TT8_MAMPS,0.053179,0.053179
$HUMID,50.19
$INTERNAL_PRESSURE,9.36875
$TCM_TEMP,25.60
$XPDR_PINGS,8
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17125.16 8623.65
$PA_BOOTCOUNT,641
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$PA_LOG,0.07/0.133/1.969/1.736
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$10V_AH,9.85,27.969
$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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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.349,0.000,0.000,0.000
$MEM,230328
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$CAP_FILE_SIZE,162488,0
$CFSIZE,260034560,253431808
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