version: 66.12
glider: 179
mission: 13
dive: 94
start: 10 16 114 12 39 6
data:
$ID,179
$MISSION,13
$DIVE,94
$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,1
$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,37
$R_STBD_OVSHOOT,40
$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,21
$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,48
$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
$GPS1,161014,123224,1432.205,14457.107,29,0.9,49,0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.4
$GPS2,161014,123848,1432.192,14457.027,4,0.9,25,0.8
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.1,144907,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-146.0,121,2263,1227,1126,0.0,0.0,0,141,0.00,0.00,-46.20,0.000,16386,0.000,0.000,121,2264,2239,2295,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-0.80,-146.0,121,2264,2296,2185,3.1,-5.3,7,197,11.05,2.22,-37.15,0.000,18948,0.239,0.047,2582,839,3524,3534,3514,0,0,0,0,0,0,24.84,25.48,25.71
$GC,252,-0.64,-146.0,2581,839,3534,3516,27.2,-30.7,27,263,0.22,2.20,0.00,0.000,3078,0.153,0.031,2631,2256,3524,3533,3516,0,0,0,0,0,0,25.11,25.51,28.83
$GC,568,-0.56,-146.0,2631,2256,3534,3517,108.6,-22.3,65,577,0.12,2.22,0.00,0.000,2308,0.164,0.043,2657,3653,3525,3533,3517,0,0,0,0,0,0,25.27,25.41,28.83
$GC,706,-0.56,-146.0,2657,3652,3534,3517,134.4,-19.2,78,717,0.00,2.10,0.00,0.000,1030,0.000,0.024,2657,2267,3525,3533,3517,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1011,-0.56,-146.0,2657,2265,3534,3519,185.8,-14.1,109,1019,0.00,2.15,0.00,0.000,516,0.000,0.034,2657,862,3526,3534,3519,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1043,-0.56,-146.0,2657,862,3534,3520,189.8,-14.6,111,1054,0.00,2.22,0.00,0.000,1030,0.000,0.028,2649,2308,3526,3533,3520,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1358,-0.56,-146.0,2649,2308,3534,3520,226.4,-7.7,127,1367,0.00,2.15,0.00,0.000,260,0.000,0.046,2638,3655,3527,3534,3520,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1406,-0.59,-146.0,2638,3656,3534,3520,228.9,-7.2,128,1413,0.00,2.05,0.00,0.000,1030,0.000,0.025,2638,2302,3526,3533,3520,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1718,-0.63,-146.0,2639,2295,3533,3520,265.5,-12.1,139,1726,0.00,2.20,0.00,0.000,260,0.000,0.046,2630,3655,3526,3533,3520,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1769,-0.67,-146.0,2629,3655,3534,3520,269.5,-12.0,140,1777,0.00,2.00,0.00,0.000,1030,0.000,0.026,2630,2339,3526,3533,3520,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2075,-0.70,-146.0,2629,2338,3532,3520,309.4,-11.9,150,2085,0.00,2.30,0.00,0.000,516,0.000,0.036,2630,857,3526,3532,3520,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2165,-0.74,-146.0,2629,858,3531,3519,319.3,-11.3,153,2173,0.00,2.30,0.00,0.000,1030,0.000,0.029,2624,2340,3525,3530,3520,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2497,-0.78,-146.0,2623,2340,3527,3518,353.3,-10.5,164,2505,0.00,2.35,0.00,0.000,516,0.000,0.037,2623,856,3522,3527,3518,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2554,-0.82,-146.0,2623,856,3526,3518,356.8,-10.7,165,2564,0.00,2.30,0.00,0.000,1030,0.000,0.030,2614,2329,3521,3525,3518,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2859,-0.85,-146.0,2614,2329,3523,3513,390.1,-9.8,176,2865,0.12,0.00,0.00,0.000,4102,0.086,0.000,2553,2329,3518,3523,3513,0,0,0,0,0,0,25.48,28.83,28.83
$GC,3159,-0.81,-146.0,2553,2330,3519,3511,436.7,-16.6,186,3166,0.12,0.00,0.00,0.000,2054,0.156,0.000,2583,2330,3515,3519,3511,0,0,0,0,0,0,25.24,28.83,28.83
$GC,3459,-0.81,-146.0,2583,2330,3519,3507,477.8,-12.9,196,3466,0.00,2.15,0.00,0.000,260,0.000,0.050,2574,3654,3512,3518,3506,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3540,-0.81,-146.0,2574,3654,3517,3506,484.9,-12.6,198,3550,0.00,2.08,0.00,0.000,1030,0.000,0.029,2574,2315,3511,3517,3506,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3846,-0.81,-146.0,2574,2314,3515,3503,525.6,-12.4,209,3853,0.00,2.30,0.00,0.000,516,0.000,0.040,2574,862,3508,3515,3502,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3912,-0.81,-146.0,2574,862,3514,3502,533.1,-12.9,211,3920,0.00,2.28,0.00,0.000,1030,0.000,0.032,2566,2303,3508,3514,3502,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4229,-0.81,-146.0,2566,2303,3511,3498,576.9,-13.9,222,4237,0.00,2.30,0.00,0.000,516,0.000,0.041,2566,867,3504,3511,3498,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4265,-0.81,-146.0,2566,868,3511,3498,580.7,-14.1,223,4274,0.00,2.28,0.00,0.000,1030,0.000,0.033,2559,2303,3504,3511,3498,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4583,-0.81,-146.0,2559,2304,3508,3496,625.1,-13.5,234,4591,0.00,2.20,0.00,0.000,260,0.000,0.052,2549,3647,3502,3508,3496,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4620,-0.81,-146.0,2549,3647,3508,3495,628.9,-13.6,235,4628,0.12,2.10,0.00,0.000,3078,0.157,0.031,2579,2306,3502,3508,3496,0,0,0,0,0,0,25.11,25.39,28.83
$GC,4937,-0.81,-146.0,2579,2305,3506,3492,670.2,-12.4,246,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2305,3499,3506,3492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,-0.81,-146.0,2579,2305,3504,3490,710.4,-13.5,256,5245,0.00,2.25,0.00,0.000,260,0.000,0.053,2570,3645,3496,3504,3489,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5304,-0.81,-146.0,2570,3645,3503,3489,718.3,-13.6,258,5312,0.00,2.10,0.00,0.000,1030,0.000,0.032,2570,2312,3496,3503,3489,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5621,-0.81,-146.0,2570,2311,3502,3487,763.2,-13.4,269,5629,0.00,2.33,0.00,0.000,516,0.000,0.044,2570,863,3493,3501,3486,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5678,-0.81,-146.0,2570,863,3501,3486,771.2,-13.7,271,5686,0.00,2.30,0.00,0.000,1030,0.000,0.034,2562,2303,3493,3501,3486,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6005,-0.81,-146.0,2562,2303,3499,3484,813.0,-12.7,282,6013,0.00,2.22,0.00,0.000,260,0.000,0.055,2553,3648,3491,3499,3484,0,0,0,0,0,0,28.83,25.09,28.83
$GC,6052,-0.81,-146.0,2553,3648,3498,3484,816.5,-12.8,283,6060,0.12,2.12,0.00,0.000,3078,0.155,0.033,2583,2311,3491,3499,3484,0,0,0,0,0,0,25.06,25.34,28.83
$GC,6357,-0.81,-146.0,2583,2310,3498,3481,853.4,-11.2,293,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2310,3489,3498,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6657,-0.81,-146.0,2583,2310,3495,3480,885.8,-10.4,303,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2310,3487,3495,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6957,-0.81,-146.0,2583,2310,3494,3478,917.1,-10.3,313,6965,0.00,2.25,0.00,0.000,260,0.000,0.055,2574,3647,3486,3494,3478,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7019,-0.81,-146.0,2574,3646,3493,3478,923.0,-10.2,315,7026,0.00,2.10,0.00,0.000,1030,0.000,0.034,2574,2332,3485,3493,3478,0,0,0,0,0,0,28.83,25.26,28.83
$GC,7346,-0.81,-146.0,2574,2330,3493,3476,956.7,-10.1,326,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2330,3484,3492,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7645,-0.81,-146.0,2574,2330,3492,3474,987.2,-10.5,336,7653,0.00,2.38,0.00,0.000,516,0.000,0.046,2574,866,3483,3492,3474,0,0,0,0,0,0,28.83,25.10,28.83
$STATE,7702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7702,begin apogee
$GC,7706,-0.13,0.0,2568,2000,3491,3474,993.2,-10.7,338,7842,0.75,0.00,128.43,1.112,10244,0.115,0.000,2795,2001,2926,2972,2880,0,0,0,0,0,0,24.77,28.83,22.34
$STATE,7842,end apogee,CONTROL_FINISHED_OK
$STATE,7842,begin climb
$GC,7844,0.80,146.0,2795,2001,2972,2879,998.5,0.0,342,7997,0.90,2.40,140.77,1.100,10756,0.059,0.047,3103,628,2330,2386,2275,0,0,0,0,0,0,23.90,23.89,22.14
$GC,8031,0.86,217.5,3103,628,2385,2268,994.2,5.9,349,8108,0.00,2.28,67.55,1.082,9222,0.000,0.031,3103,1999,2039,2109,1970,0,0,0,0,0,0,28.83,24.26,22.13
$GC,8422,0.79,217.5,3103,1999,2105,1958,949.4,11.7,362,8430,0.00,2.30,0.00,0.000,260,0.000,0.049,3103,3402,2032,2106,1958,0,0,0,0,0,0,28.83,25.30,28.83
$GC,8474,0.72,217.5,3103,3401,2105,1958,946.0,11.8,363,8486,0.15,2.20,0.00,0.000,5126,0.167,0.032,3076,2012,2031,2105,1958,0,0,0,0,0,0,25.15,25.44,28.83
$GC,8780,0.68,217.5,3076,2012,2105,1955,909.8,10.8,374,8791,0.00,2.28,0.00,0.000,260,0.000,0.047,3076,3401,2029,2104,1955,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8840,0.63,217.5,3076,3401,2104,1955,902.8,11.2,376,8848,0.12,2.20,0.00,0.000,5126,0.164,0.033,3053,2010,2029,2104,1955,0,0,0,0,0,0,25.18,25.43,28.83
$GC,9167,0.63,217.5,3053,2009,2104,1954,867.9,10.9,387,9175,0.00,2.28,0.00,0.000,516,0.000,0.051,3063,603,2029,2104,1954,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9209,0.63,217.5,3063,603,2103,1953,864.9,10.9,388,9218,0.00,2.20,0.00,0.000,1030,0.000,0.032,3063,2011,2028,2103,1953,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9522,0.63,217.5,3064,2011,2103,1953,829.5,10.3,399,9530,0.00,2.28,0.00,0.000,260,0.000,0.049,3064,3399,2027,2103,1952,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9614,0.60,217.5,3063,3399,2103,1952,820.5,10.3,402,9623,0.12,2.20,0.00,0.000,5126,0.164,0.033,3043,2015,2027,2103,1952,0,0,0,0,0,0,25.08,25.34,28.83
$GC,9942,0.74,272.1,3043,2015,2103,1951,796.3,6.7,413,9997,0.12,0.00,48.70,0.985,10758,0.088,0.000,3099,2015,1816,1885,1748,0,0,0,0,0,0,25.37,28.83,23.30
$GC,10272,0.69,272.1,3098,2015,1881,1741,758.8,12.0,424,10281,0.00,2.28,0.00,0.000,516,0.000,0.050,3109,602,1811,1881,1741,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10330,0.65,272.1,3109,602,1881,1740,751.4,12.5,426,10340,0.20,2.22,0.00,0.000,5126,0.142,0.032,3056,2018,1810,1880,1740,0,0,0,0,0,0,25.06,25.38,28.83
$GC,10661,0.65,272.1,3055,2018,1880,1737,717.7,10.1,437,10669,0.00,2.28,0.00,0.000,260,0.000,0.049,3055,3410,1809,1880,1739,0,0,0,0,0,0,28.83,25.25,28.83
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$STATE,17564,end climb,SURFACE_DEPTH_REACHED
$STATE,17564,begin surface coast
$FINISH,0.6,1.008534
$STATE,17584,end surface coast,CONTROL_FINISHED_OK
$STATE,17584,begin surface
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$IRIDIUM_FIX,1427.54,14455.19,161014,073749
$TT8_MAMPS,0.054677,0.054677
$HUMID,49.88
$INTERNAL_PRESSURE,9.35898
$TCM_TEMP,25.90
$XPDR_PINGS,17
$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,17613.31 8655.33
$PA_BOOTCOUNT,681
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.079/1.764/1.596
$PA_DISK_BANK,0
$24V_AH,22.13,33.261
$10V_AH,9.53,31.219
$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
$DEVICE_SECS,23.200,169.625,568.125,0.000,0.000,0.000,0.000,261.975,4.250,18076.160,32.326,0.000,14013.791,651.353,3224.190,138.992,0.000,2359.729,0.000,1847.344,0.000,0.543,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,558.485,0.000,0.000,0.000,0.000,0.000,18076.180,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.350,0.000,0.000,0.000
$MEM,230296
$DATA_FILE_SIZE,36735,828
$CAP_FILE_SIZE,164057,0
$CFSIZE,260034560,249827328
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