version: 66.12
glider: 179
mission: 13
dive: 87
start: 10 15 114 0 26 22
data:
$ID,179
$MISSION,13
$DIVE,87
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,151014,002206,1430.436,14448.889,2,0.8,3,0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.4
$GPS2,151014,002605,1430.446,14448.821,5,0.8,26,0.8
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,83.7,16458,-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,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,92,-0.80,-146.0,121,2251,492,421,0.0,0.0,0,167,0.00,0.00,-73.07,0.000,16386,0.000,0.000,121,2251,2193,2249,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,169,-0.80,-146.0,121,2251,2251,2138,3.1,-4.7,12,230,10.88,2.20,-41.42,0.000,18692,0.236,0.051,2570,3650,3523,3533,3513,0,0,0,0,0,0,24.98,25.69,25.93
$GC,369,-0.67,-146.0,2570,3650,3532,3513,53.7,-27.6,49,377,0.22,2.15,0.00,0.000,3078,0.143,0.023,2630,2215,3522,3532,3513,0,0,0,0,0,0,25.37,25.75,28.83
$GC,674,-0.59,-146.0,2630,2211,3532,3513,120.4,-19.3,79,682,0.00,2.28,0.00,0.000,260,0.000,0.041,2621,3655,3522,3531,3513,0,0,0,0,0,0,28.83,25.62,28.83
$GC,827,-0.59,-146.0,2620,3655,3532,3513,152.0,-17.9,94,835,0.12,2.08,0.00,0.000,3078,0.142,0.023,2652,2261,3522,3531,3513,0,0,0,0,0,0,25.51,25.75,28.83
$GC,1131,-0.59,-146.0,2652,2261,3531,3513,193.0,-12.1,124,1139,0.00,2.10,0.00,0.000,516,0.000,0.033,2652,866,3522,3531,3513,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1178,-0.59,-146.0,2652,867,3531,3513,198.8,-12.3,128,1186,0.00,2.17,0.00,0.000,1030,0.000,0.026,2645,2306,3521,3530,3513,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1493,-0.59,-146.0,2645,2306,3529,3513,234.7,-10.9,139,1501,0.00,2.12,0.00,0.000,260,0.000,0.044,2635,3655,3520,3528,3513,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1616,-0.63,-146.0,2636,3655,3526,3512,248.7,-11.4,143,1623,0.00,2.03,0.00,0.000,1030,0.000,0.024,2636,2308,3519,3526,3513,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1947,-0.66,-146.0,2635,2307,3523,3511,289.4,-10.4,154,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2307,3517,3523,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-0.70,-146.0,2636,2307,3520,3507,320.1,-10.6,164,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2307,3513,3520,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.76,-146.0,2635,2307,3518,3504,350.9,-9.8,174,2555,0.00,2.15,0.00,0.000,260,0.000,0.047,2628,3644,3510,3518,3503,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2599,-0.81,-146.0,2628,3644,3518,3503,353.4,-9.7,175,2610,0.12,2.03,0.00,0.000,5126,0.085,0.026,2566,2307,3510,3518,3503,0,0,0,0,0,0,25.63,25.68,28.83
$GC,2905,-0.81,-146.0,2567,2307,3514,3499,400.3,-15.3,186,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2306,3506,3513,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3205,-0.81,-146.0,2567,2306,3511,3495,442.9,-13.8,196,3212,0.00,2.20,0.00,0.000,260,0.000,0.048,2557,3654,3502,3511,3494,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3251,-0.81,-146.0,2557,3654,3509,3494,446.7,-13.9,197,3258,0.00,2.05,0.00,0.000,1030,0.000,0.028,2557,2306,3501,3509,3494,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3557,-0.81,-146.0,2556,2306,3507,3490,487.2,-11.8,207,3564,0.00,2.22,0.00,0.000,516,0.000,0.037,2557,870,3498,3506,3490,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3608,-0.81,-146.0,2557,870,3505,3490,490.5,-11.8,208,3619,0.12,2.20,0.00,0.000,3078,0.155,0.031,2579,2286,3497,3505,3490,0,0,0,0,0,0,25.34,25.58,28.83
$GC,3914,-0.81,-146.0,2580,2286,3503,3485,525.1,-10.4,219,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2286,3493,3502,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4214,-0.81,-146.0,2579,2286,3500,3481,558.7,-11.4,229,4222,0.00,2.22,0.00,0.000,260,0.000,0.051,2570,3653,3490,3500,3480,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4261,-0.81,-146.0,2570,3653,3499,3480,562.3,-11.3,230,4268,0.00,2.10,0.00,0.000,1030,0.000,0.029,2570,2293,3489,3499,3480,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4573,-0.81,-146.0,2570,2292,3496,3477,599.4,-11.0,241,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,3486,3495,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4872,-0.81,-146.0,2570,2292,3493,3473,631.5,-10.3,251,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2292,3482,3492,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5173,-0.81,-146.0,2570,2292,3490,3472,662.4,-10.5,261,5183,0.00,2.25,0.00,0.000,260,0.000,0.051,2560,3652,3480,3490,3471,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5217,-0.81,-146.0,2560,3652,3490,3472,665.5,-10.6,262,5225,0.00,2.12,0.00,0.000,1030,0.000,0.031,2560,2293,3480,3489,3472,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5529,-0.81,-146.0,2559,2291,3488,3468,702.6,-11.7,273,5537,0.00,2.25,0.00,0.000,260,0.000,0.053,2550,3648,3477,3487,3467,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5556,-0.81,-146.0,2550,3648,3487,3467,705.7,-11.7,274,5564,0.12,2.12,0.00,0.000,3078,0.155,0.031,2581,2290,3477,3487,3467,0,0,0,0,0,0,25.20,25.49,28.83
$GC,5883,-0.81,-146.0,2581,2289,3486,3465,741.2,-10.8,285,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2290,3475,3486,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6184,-0.81,-146.0,2580,2289,3484,3463,772.1,-10.2,295,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2289,3473,3484,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6483,-0.81,-146.0,2580,2289,3482,3461,802.0,-10.1,305,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2289,3471,3481,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6783,-0.81,-146.0,2581,2289,3479,3459,830.6,-9.2,315,6792,0.00,2.25,0.00,0.000,260,0.000,0.053,2572,3645,3469,3479,3459,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6831,-0.81,-146.0,2572,3645,3479,3458,833.6,-9.2,316,6838,0.00,2.12,0.00,0.000,1030,0.000,0.032,2572,2303,3468,3478,3458,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7143,-0.81,-146.0,2572,2302,3477,3456,864.7,-9.5,327,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2302,3466,3477,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7443,-0.81,-146.0,2572,2298,3473,3455,892.8,-9.1,337,7451,0.00,2.25,0.00,0.000,260,0.000,0.054,2562,3645,3464,3473,3455,0,0,0,0,0,0,28.83,25.16,28.83
$GC,7475,-0.81,-146.0,2562,3645,3474,3455,895.4,-9.0,338,7483,0.00,2.10,0.00,0.000,1030,0.000,0.033,2562,2310,3464,3473,3455,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7798,-0.81,-146.0,2562,2310,3472,3455,928.8,-10.3,349,7808,0.00,2.33,0.00,0.000,516,0.000,0.044,2562,861,3463,3472,3454,0,0,0,0,0,0,28.83,25.19,28.83
$GC,7832,-0.81,-146.0,2561,861,3472,3454,931.9,-10.3,350,7840,0.00,2.30,0.00,0.000,1030,0.000,0.035,2555,2300,3462,3471,3454,0,0,0,0,0,0,28.83,25.26,28.83
$GC,8154,-0.81,-146.0,2554,2300,3471,3453,966.7,-10.4,361,8164,0.12,2.25,0.00,0.000,2308,0.163,0.054,2580,3651,3461,3470,3453,0,0,0,0,0,0,25.08,25.12,28.83
$GC,8192,-0.81,-146.0,2579,3651,3470,3453,970.0,-10.1,362,8201,0.00,2.12,0.00,0.000,1030,0.000,0.033,2580,2313,3461,3470,3453,0,0,0,0,0,0,28.83,25.34,28.83
$STATE,8423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8423,begin apogee
$GC,8427,-0.13,0.0,2579,1993,3470,3453,990.3,-8.4,370,8557,0.73,0.00,122.97,1.110,10244,0.112,0.000,2801,1992,2926,2971,2881,0,0,0,0,0,0,24.89,28.83,22.68
$STATE,8558,end apogee,CONTROL_FINISHED_OK
$STATE,8558,begin climb
$GC,8559,0.80,146.0,2800,1992,2972,2879,992.4,0.0,374,8711,0.85,2.38,138.98,1.093,10756,0.055,0.048,3100,596,2330,2384,2277,0,0,0,0,0,0,24.20,24.18,22.38
$GC,8730,0.88,222.6,3100,596,2382,2272,986.2,5.6,380,8811,0.00,2.33,71.82,1.066,9222,0.000,0.031,3100,2002,2018,2083,1954,0,0,0,0,0,0,28.83,24.29,22.37
$GC,9116,0.81,222.6,3100,2002,2072,1944,934.0,13.1,393,9124,0.00,2.28,0.00,0.000,260,0.000,0.048,3100,3403,2007,2071,1944,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9228,0.73,222.6,3100,3402,2071,1943,921.9,13.4,396,9239,0.00,2.17,0.00,0.000,1030,0.000,0.032,3109,2022,2007,2071,1944,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9533,0.65,222.6,3109,2022,2071,1943,880.1,12.2,407,9544,0.17,2.28,0.00,0.000,4612,0.161,0.047,3069,604,2006,2070,1942,0,0,0,0,0,0,25.16,25.40,28.83
$GC,9573,0.59,222.6,3069,604,2070,1942,876.8,12.1,408,9582,0.12,2.22,0.00,0.000,5126,0.156,0.031,3039,2024,2006,2070,1942,0,0,0,0,0,0,25.23,25.48,28.83
$GC,9891,0.65,247.5,3040,2024,2070,1940,850.6,8.0,419,9926,0.00,2.33,21.92,0.969,8452,0.000,0.048,3039,3400,1915,1982,1849,0,0,0,0,0,0,28.83,25.09,23.72
$GC,9980,0.70,266.3,3039,3399,1980,1848,845.2,8.3,421,10008,0.00,2.20,18.33,0.947,9222,0.000,0.033,3045,2019,1840,1907,1773,0,0,0,0,0,0,28.83,25.31,23.63
$GC,10317,0.71,271.3,3045,2019,1906,1766,812.9,8.9,433,10329,0.00,0.00,5.72,0.741,8198,0.000,0.000,3045,2019,1819,1889,1750,0,0,0,0,0,0,28.83,28.83,23.85
$GC,10617,0.73,279.2,3045,2020,1888,1747,786.1,8.8,443,10632,0.10,0.00,8.90,0.837,10246,0.102,0.000,3087,2020,1787,1857,1718,0,0,0,0,0,0,25.46,28.83,23.91
$GC,10917,0.69,279.2,3087,2020,1856,1714,752.6,11.3,453,10925,0.00,2.30,0.00,0.000,516,0.000,0.050,3098,598,1784,1855,1714,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10954,0.66,279.2,3098,598,1854,1714,749.6,11.1,454,10962,0.15,2.22,0.00,0.000,5126,0.147,0.032,3060,2017,1784,1854,1714,0,0,0,0,0,0,25.19,25.46,28.83
$GC,11276,0.66,279.2,3060,2017,1854,1713,718.4,9.4,465,11284,0.00,2.25,0.00,0.000,260,0.000,0.048,3060,3404,1783,1854,1713,0,0,0,0,0,0,28.83,25.29,28.83
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$STATE,17778,end climb,SURFACE_DEPTH_REACHED
$STATE,17778,begin surface coast
$FINISH,0.7,1.020152
$STATE,17793,end surface coast,CONTROL_FINISHED_OK
$STATE,17793,begin surface
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$IRIDIUM_FIX,1423.08,14447.16,151014,001342
$TT8_MAMPS,0.053928,0.053928
$HUMID,51.77
$INTERNAL_PRESSURE,9.36875
$TCM_TEMP,25.90
$XPDR_PINGS,19
$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,17823.30 9052.78
$PA_BOOTCOUNT,674
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$PA_LOG,0.07/0.136/1.969/1.733
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$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.04/0.077/1.764/1.597
$PA_DISK_BANK,0
$24V_AH,22.37,29.401
$10V_AH,9.55,30.614
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.341,0.000,0.000,0.000
$MEM,230404
$DATA_FILE_SIZE,36699,855
$CAP_FILE_SIZE,218317,1
$CFSIZE,260034560,250556416
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