version: 66.12
glider: 179
mission: 13
dive: 101
start: 10 18 114 0 13 1
data:
$ID,179
$MISSION,13
$DIVE,101
$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,40
$R_STBD_OVSHOOT,44
$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,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
$GPS1,181014,000851,1452.099,14448.455,3,0.7,3,0.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.6
$GPS2,181014,001244,1452.108,14448.430,5,0.8,26,0.7
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,354.8,104985,-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,-146.0,121,2272,1318,1221,0.0,0.0,0,149,0.00,0.00,-47.40,0.000,16386,0.000,0.000,120,2272,2354,2406,2303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.80,-146.0,121,2273,2407,2307,3.2,-5.4,7,200,11.10,2.25,-27.33,0.000,18692,0.238,0.055,2569,3658,3524,3534,3514,0,0,0,0,0,0,24.79,25.51,25.79
$GC,259,-0.64,-146.0,2568,3658,3534,3516,32.6,-33.7,25,270,0.25,2.17,0.00,0.000,3078,0.148,0.024,2634,2225,3525,3534,3516,0,0,0,0,0,0,25.15,25.63,28.83
$GC,571,-0.55,-146.0,2634,2220,3534,3516,116.6,-24.6,61,579,0.12,2.30,0.00,0.000,2308,0.155,0.042,2662,3648,3525,3534,3516,0,0,0,0,0,0,25.33,25.46,28.83
$GC,658,-0.55,-146.0,2662,3648,3534,3516,130.4,-14.3,69,668,0.00,2.08,0.00,0.000,1030,0.000,0.024,2662,2278,3525,3534,3516,0,0,0,0,0,0,28.83,25.61,28.83
$GC,964,-0.55,-146.0,2662,2278,3535,3517,173.5,-13.1,100,972,0.00,2.20,0.00,0.000,260,0.000,0.044,2652,3652,3525,3534,3517,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1056,-0.55,-146.0,2652,3652,3535,3517,186.5,-13.7,109,1063,0.00,2.05,0.00,0.000,1030,0.000,0.024,2652,2298,3525,3534,3517,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1388,-0.58,-146.0,2652,2298,3535,3517,231.4,-12.3,126,1396,0.00,2.20,0.00,0.000,516,0.000,0.034,2652,858,3525,3534,3517,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1480,-0.61,-146.0,2652,858,3534,3517,241.0,-10.6,129,1488,0.00,2.20,0.00,0.000,1030,0.000,0.028,2644,2290,3525,3534,3517,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1807,-0.66,-146.0,2645,2291,3533,3517,273.4,-10.5,140,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2291,3525,3533,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2108,-0.71,-146.0,2645,2291,3529,3517,304.8,-10.1,150,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2291,3523,3529,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2407,-0.77,-146.0,2645,2292,3524,3517,334.3,-9.4,160,2415,0.12,2.17,0.00,0.000,4356,0.084,0.045,2570,3645,3520,3523,3517,0,0,0,0,0,0,25.57,25.41,28.83
$GC,2484,-0.80,-146.0,2570,3645,3522,3517,341.3,-10.6,162,2492,0.00,2.08,0.00,0.000,1030,0.000,0.028,2571,2289,3519,3521,3517,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2796,-0.80,-146.0,2571,2289,3519,3513,383.0,-12.6,173,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2289,3516,3519,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3096,-0.80,-146.0,2571,2289,3518,3509,422.5,-13.6,183,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2289,3513,3518,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3396,-0.80,-146.0,2571,2289,3514,3505,464.6,-14.0,193,3404,0.00,2.25,0.00,0.000,516,0.000,0.039,2571,858,3509,3514,3505,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3433,-0.80,-146.0,2570,859,3513,3505,469.2,-14.0,194,3441,0.00,2.28,0.00,0.000,1030,0.000,0.031,2562,2307,3509,3513,3505,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3755,-0.80,-146.0,2561,2306,3510,3501,513.3,-13.6,205,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2307,3505,3510,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4055,-0.80,-146.0,2562,2307,3507,3497,548.8,-11.5,215,4063,0.00,2.20,0.00,0.000,260,0.000,0.051,2552,3650,3502,3507,3497,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4162,-0.80,-146.0,2552,3650,3506,3497,559.3,-12.0,218,4170,0.12,2.10,0.00,0.000,3078,0.154,0.031,2582,2309,3501,3506,3497,0,0,0,0,0,0,25.16,25.45,28.83
$GC,4474,-0.80,-146.0,2582,2308,3505,3492,597.0,-11.6,229,4484,0.00,2.22,0.00,0.000,260,0.000,0.051,2574,3643,3498,3504,3492,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4513,-0.80,-146.0,2573,3643,3503,3492,601.1,-11.8,230,4521,0.00,2.08,0.00,0.000,1030,0.000,0.031,2573,2317,3497,3503,3492,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4835,-0.80,-146.0,2574,2317,3501,3489,640.7,-12.1,241,4843,0.00,2.30,0.00,0.000,516,0.000,0.041,2573,866,3495,3501,3489,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4892,-0.80,-146.0,2573,866,3500,3489,648.0,-12.4,243,4900,0.00,2.30,0.00,0.000,1030,0.000,0.034,2565,2313,3494,3500,3489,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5225,-0.80,-146.0,2565,2314,3499,3486,688.9,-12.4,254,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2314,3492,3498,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5524,-0.80,-146.0,2565,2314,3496,3484,723.4,-11.3,264,5534,0.00,2.35,0.00,0.000,516,0.000,0.043,2565,859,3489,3496,3483,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5554,-0.80,-146.0,2565,859,3495,3483,726.9,-11.3,265,5562,0.00,2.30,0.00,0.000,1030,0.000,0.034,2558,2303,3489,3495,3483,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5886,-0.80,-146.0,2557,2303,3494,3480,765.2,-11.5,276,5895,0.00,2.22,0.00,0.000,260,0.000,0.054,2548,3645,3486,3493,3480,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5924,-0.80,-146.0,2547,3645,3493,3480,769.0,-11.6,277,5932,0.15,2.08,0.00,0.000,3078,0.147,0.033,2586,2330,3486,3493,3480,0,0,0,0,0,0,25.03,25.35,28.83
$GC,6246,-0.80,-146.0,2585,2328,3493,3478,801.1,-9.7,288,6254,0.00,2.35,0.00,0.000,516,0.000,0.044,2585,863,3485,3492,3478,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6298,-0.80,-146.0,2585,862,3492,3478,803.9,-9.9,289,6308,0.00,2.33,0.00,0.000,1030,0.000,0.034,2578,2315,3485,3492,3478,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6603,-0.80,-146.0,2577,2315,3490,3475,839.2,-11.1,300,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2315,3482,3490,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6903,-0.80,-146.0,2577,2316,3488,3474,873.4,-11.4,310,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2316,3481,3488,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7203,-0.80,-146.0,2577,2315,3487,3473,907.9,-11.6,320,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2316,3480,3487,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,-0.80,-146.0,2577,2315,3487,3472,941.2,-10.9,330,7511,0.00,2.22,0.00,0.000,260,0.000,0.055,2568,3645,3478,3486,3471,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7560,-0.80,-146.0,2568,3646,3486,3471,944.7,-10.9,331,7570,0.00,2.10,0.00,0.000,1030,0.000,0.034,2568,2334,3479,3486,3472,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7866,-0.80,-146.0,2568,2333,3485,3469,981.1,-10.8,342,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2333,3477,3485,3469,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7954,begin apogee
$GC,7958,-0.13,0.0,2568,2003,3486,3468,990.6,-10.7,345,8092,0.75,0.00,127.22,1.111,10244,0.114,0.000,2795,2003,2926,2972,2881,0,0,0,0,0,0,24.80,28.83,22.34
$STATE,8092,end apogee,CONTROL_FINISHED_OK
$STATE,8092,begin climb
$GC,8094,0.80,146.0,2795,2002,2973,2879,995.2,0.0,349,8248,0.88,2.40,141.30,1.094,10756,0.057,0.049,3099,618,2329,2386,2273,0,0,0,0,0,0,23.97,23.95,22.11
$GC,8272,0.97,258.4,3099,619,2385,2268,991.7,4.0,355,8389,0.17,2.28,104.97,1.083,11270,0.072,0.031,3169,1989,1872,1932,1812,0,0,0,0,0,0,24.20,24.21,22.08
$GC,8709,0.83,258.4,3169,1988,1932,1799,915.7,17.9,370,8717,0.20,2.33,0.00,0.000,4356,0.167,0.047,3116,3413,1865,1931,1799,0,0,0,0,0,0,25.10,25.34,28.83
$GC,8817,0.72,258.4,3116,3413,1931,1799,902.1,16.2,373,8830,0.17,2.22,0.00,0.000,5126,0.158,0.033,3080,2015,1865,1931,1799,0,0,0,0,0,0,25.16,25.48,28.83
$GC,9126,0.72,258.4,3079,2015,1932,1796,861.0,12.1,384,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2015,1863,1931,1796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9427,0.69,258.4,3080,2015,1931,1795,825.8,11.6,394,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2015,1863,1931,1795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9727,0.69,258.4,3080,2015,1931,1794,790.8,11.6,404,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2015,1862,1931,1794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10027,0.69,258.4,3080,2015,1932,1793,757.5,10.9,414,10035,0.00,2.30,0.00,0.000,516,0.000,0.050,3089,602,1862,1931,1794,0,0,0,0,0,0,28.83,25.23,28.83
$GC,10068,0.69,258.4,3089,602,1931,1793,753.9,10.8,415,10076,0.00,2.25,0.00,0.000,1030,0.000,0.033,3089,2024,1862,1931,1793,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10391,0.66,258.4,3089,2025,1931,1793,716.9,11.4,426,10401,0.12,2.28,0.00,0.000,4356,0.171,0.048,3054,3408,1862,1931,1793,0,0,0,0,0,0,25.10,25.19,28.83
$GC,10480,0.66,258.4,3055,3408,1931,1792,707.1,10.9,429,10488,0.00,2.20,0.00,0.000,1030,0.000,0.034,3062,2031,1861,1931,1792,0,0,0,0,0,0,28.83,25.33,28.83
$GC,10812,0.66,258.4,3062,2031,1931,1793,672.7,10.2,440,10821,0.00,2.33,0.00,0.000,516,0.000,0.050,3073,603,1861,1931,1792,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10885,0.66,258.4,3073,603,1931,1792,666.2,10.3,442,10893,0.00,2.25,0.00,0.000,1030,0.000,0.033,3073,2024,1861,1931,1792,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11202,0.66,258.4,3073,2024,1931,1792,633.0,10.2,453,11210,0.00,2.28,0.00,0.000,260,0.000,0.050,3073,3407,1862,1931,1793,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11264,0.66,258.4,3073,3407,1931,1792,626.6,10.6,455,11272,0.00,2.22,0.00,0.000,1030,0.000,0.034,3082,2014,1861,1931,1792,0,0,0,0,0,0,28.83,25.30,28.83
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$STATE,17637,end climb,SURFACE_DEPTH_REACHED
$STATE,17637,begin surface coast
$FINISH,0.7,1.009023
$STATE,17663,end surface coast,CONTROL_FINISHED_OK
$STATE,17663,begin surface
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$IRIDIUM_FIX,1445.37,14448.23,181014,000530
$TT8_MAMPS,0.053928,0.053928
$HUMID,49.40
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$XPDR_PINGS,6
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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,17692.15 8462.07
$PA_BOOTCOUNT,689
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.05/0.080/1.764/1.594
$PA_DISK_BANK,0
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$10V_AH,9.55,31.798
$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
$SENSOR_SECS,570.121,0.000,0.000,0.000,0.000,0.000,17733.430,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.347,0.000,0.000,0.000
$MEM,230364
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