version: 66.12
glider: 179
mission: 13
dive: 108
start: 10 19 114 12 14 42
data:
$ID,179
$MISSION,13
$DIVE,108
$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,42
$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,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
$GPS1,191014,120818,1510.277,14440.889,39,0.9,59,0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.3
$GPS2,191014,121425,1510.314,14440.902,5,0.9,26,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,337.0,68772,-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,-146.0,121,2264,1235,1135,0.0,0.0,0,154,0.00,0.00,-52.75,0.000,16386,0.000,0.000,120,2264,2400,2448,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.80,-146.0,121,2264,2447,2356,3.2,-4.8,8,204,11.05,2.28,-27.25,0.000,18692,0.237,0.056,2567,3645,3523,3534,3513,0,0,0,0,0,0,24.72,25.42,25.69
$GC,321,-0.66,-146.0,2568,3645,3533,3515,50.9,-30.2,36,335,0.22,2.15,0.00,0.000,3078,0.147,0.025,2627,2234,3524,3533,3515,0,0,0,0,0,0,25.14,25.58,28.83
$GC,630,-0.61,-146.0,2627,2227,3534,3516,122.5,-21.2,67,638,0.00,2.28,0.00,0.000,260,0.000,0.045,2617,3644,3524,3533,3516,0,0,0,0,0,0,28.83,25.46,28.83
$GC,647,-0.57,-146.0,2617,3644,3533,3516,125.8,-20.3,68,655,0.15,2.15,0.00,0.000,3078,0.142,0.026,2657,2235,3525,3534,3516,0,0,0,0,0,0,25.28,25.60,28.83
$GC,952,-0.57,-146.0,2657,2231,3534,3518,167.1,-12.1,98,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2231,3526,3534,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-0.60,-146.0,2657,2231,3534,3519,200.2,-10.5,128,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2231,3526,3534,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.65,-146.0,2657,2231,3533,3519,234.9,-11.3,138,1560,0.00,2.30,0.00,0.000,260,0.000,0.045,2648,3652,3526,3533,3519,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1644,-0.70,-146.0,2648,3652,3534,3519,244.2,-10.8,141,1652,0.00,2.12,0.00,0.000,1030,0.000,0.025,2648,2254,3526,3533,3519,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1967,-0.75,-146.0,2648,2252,3533,3519,279.8,-11.4,152,1975,0.12,2.15,0.00,0.000,4612,0.082,0.033,2580,858,3526,3533,3519,0,0,0,0,0,0,25.58,25.49,28.83
$GC,2019,-0.78,-146.0,2580,858,3532,3519,283.9,-12.2,153,2029,0.00,2.15,0.00,0.000,1030,0.000,0.030,2571,2251,3525,3532,3519,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2324,-0.78,-146.0,2571,2252,3529,3519,333.0,-13.2,164,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2252,3524,3529,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-0.78,-146.0,2571,2252,3525,3519,371.7,-12.6,174,2633,0.00,2.28,0.00,0.000,260,0.000,0.047,2561,3655,3521,3524,3519,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2801,-0.78,-146.0,2561,3656,3522,3519,391.7,-13.1,179,2813,0.12,2.17,0.00,0.000,3078,0.145,0.028,2593,2244,3520,3522,3519,0,0,0,0,0,0,25.26,25.55,28.83
$GC,3107,-0.78,-146.0,2593,2243,3520,3514,430.9,-11.5,190,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2243,3517,3520,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.78,-146.0,2593,2243,3519,3511,463.9,-11.1,200,3415,0.00,2.33,0.00,0.000,260,0.000,0.050,2584,3653,3514,3518,3510,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3469,-0.78,-146.0,2584,3653,3518,3510,470.8,-10.8,202,3478,0.00,2.17,0.00,0.000,1030,0.000,0.029,2584,2257,3514,3518,3510,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3802,-0.78,-146.0,2584,2257,3516,3506,506.4,-10.4,213,3810,0.00,2.30,0.00,0.000,260,0.000,0.050,2574,3647,3511,3516,3506,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3884,-0.78,-146.0,2574,3647,3514,3506,513.4,-10.7,215,3892,0.00,2.15,0.00,0.000,1030,0.000,0.030,2574,2264,3510,3514,3506,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4196,-0.78,-146.0,2574,2263,3512,3502,554.1,-12.7,226,4204,0.00,2.22,0.00,0.000,516,0.000,0.041,2574,855,3506,3511,3502,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4238,-0.78,-146.0,2573,854,3511,3502,558.3,-12.7,227,4247,0.00,2.22,0.00,0.000,1030,0.000,0.034,2566,2264,3506,3511,3501,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4561,-0.78,-146.0,2566,2264,3509,3497,598.3,-11.7,238,4569,0.00,2.28,0.00,0.000,260,0.000,0.054,2556,3647,3503,3509,3498,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4638,-0.78,-146.0,2556,3647,3508,3498,605.0,-11.7,240,4646,0.12,2.15,0.00,0.000,3078,0.146,0.031,2588,2276,3502,3507,3498,0,0,0,0,0,0,25.18,25.43,28.83
$GC,4943,-0.78,-146.0,2588,2275,3507,3494,638.5,-10.0,250,4951,0.00,2.30,0.00,0.000,260,0.000,0.054,2579,3657,3500,3506,3494,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4986,-0.81,-146.0,2579,3657,3506,3494,641.7,-10.0,251,4994,0.00,2.15,0.00,0.000,1030,0.000,0.032,2579,2286,3500,3506,3494,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5309,-0.81,-146.0,2579,2284,3504,3491,675.2,-10.1,262,5318,0.00,2.28,0.00,0.000,260,0.000,0.054,2570,3647,3497,3503,3491,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5353,-0.81,-146.0,2569,3647,3503,3491,678.3,-10.2,263,5361,0.00,2.15,0.00,0.000,1030,0.000,0.032,2570,2284,3497,3503,3491,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5666,-0.81,-146.0,2570,2279,3499,3490,713.0,-10.5,274,5673,0.00,2.33,0.00,0.000,260,0.000,0.055,2560,3654,3494,3499,3490,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5722,-0.81,-146.0,2560,3655,3498,3490,719.3,-10.7,276,5730,0.00,2.12,0.00,0.000,1030,0.000,0.033,2560,2306,3494,3498,3490,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6050,-0.81,-146.0,2560,2303,3496,3487,754.3,-10.7,287,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2303,3491,3495,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6349,-0.81,-146.0,2560,2302,3494,3485,786.0,-10.8,297,6357,0.00,2.28,0.00,0.000,260,0.000,0.056,2550,3645,3489,3494,3485,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6411,-0.81,-146.0,2551,3645,3493,3485,792.4,-11.0,299,6419,0.12,2.15,0.00,0.000,3078,0.154,0.034,2581,2303,3489,3493,3485,0,0,0,0,0,0,25.05,25.33,28.83
$GC,6733,-0.81,-146.0,2581,2302,3493,3483,825.4,-10.3,310,6743,0.00,2.28,0.00,0.000,260,0.000,0.056,2572,3645,3487,3492,3482,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6783,-0.81,-146.0,2572,3645,3492,3482,828.7,-10.5,311,6790,0.00,2.12,0.00,0.000,1030,0.000,0.034,2572,2319,3486,3491,3482,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7094,-0.81,-146.0,2572,2317,3491,3480,864.9,-10.9,322,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2317,3485,3490,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7394,-0.81,-146.0,2572,2315,3489,3479,897.4,-10.8,332,7402,0.00,2.35,0.00,0.000,516,0.000,0.044,2572,853,3484,3489,3479,0,0,0,0,0,0,28.83,25.14,28.83
$GC,7461,-0.81,-146.0,2572,853,3489,3479,903.8,-11.0,334,7469,0.00,2.35,0.00,0.000,1030,0.000,0.037,2564,2309,3483,3488,3479,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7779,-0.81,-146.0,2564,2310,3488,3478,939.8,-11.0,345,7787,0.00,2.22,0.00,0.000,260,0.000,0.057,2554,3645,3482,3487,3478,0,0,0,0,0,0,28.83,25.02,28.83
$GC,7806,-0.81,-146.0,2554,3645,3488,3477,943.0,-11.1,346,7814,0.00,2.12,0.00,0.000,1030,0.000,0.035,2554,2326,3482,3487,3478,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8138,-0.81,-146.0,2554,2321,3487,3476,982.0,-12.0,357,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2321,3481,3486,3476,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8227,begin apogee
$GC,8230,-0.13,0.0,2554,1996,3487,3474,992.7,-11.9,360,8368,0.82,0.00,128.90,1.118,10244,0.116,0.000,2802,1996,2926,2972,2881,0,0,0,0,0,0,24.76,28.83,22.16
$STATE,8368,end apogee,CONTROL_FINISHED_OK
$STATE,8368,begin climb
$GC,8370,0.80,146.0,2802,1996,2972,2880,997.7,0.0,364,8525,0.88,2.40,141.57,1.109,10756,0.055,0.048,3105,606,2330,2386,2274,0,0,0,0,0,0,23.90,23.87,21.92
$GC,8590,0.72,156.5,3105,606,2384,2266,988.9,8.7,372,8611,0.00,2.28,10.55,0.937,9222,0.000,0.032,3105,2002,2288,2346,2230,0,0,0,0,0,0,28.83,24.60,22.80
$GC,8921,0.64,156.5,3104,2002,2344,2221,950.9,11.4,383,8931,0.17,2.30,0.00,0.000,4356,0.161,0.048,3055,3410,2282,2344,2220,0,0,0,0,0,0,25.15,25.34,28.83
$GC,9051,0.59,156.5,3055,3410,2342,2220,938.5,10.3,387,9058,0.00,2.20,0.00,0.000,1030,0.000,0.034,3063,2022,2281,2342,2220,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9368,0.56,158.6,3063,2023,2342,2218,908.1,9.1,398,9376,0.12,2.30,0.00,0.000,4612,0.173,0.048,3039,601,2280,2342,2218,0,0,0,0,0,0,25.18,25.32,28.83
$GC,9416,0.54,164.0,3039,601,2343,2216,905.3,8.9,399,9435,0.00,2.22,7.10,0.839,9222,0.000,0.033,3039,2019,2257,2321,2194,0,0,0,0,0,0,28.83,25.45,23.61
$GC,9730,0.63,201.0,3039,2019,2321,2191,880.3,7.5,410,9776,0.00,2.40,35.80,1.015,8452,0.000,0.050,3039,3404,2105,2175,2036,0,0,0,0,0,0,28.83,24.81,23.30
$GC,9806,0.71,233.2,3039,3405,2173,2035,875.5,7.7,412,9847,0.00,2.25,30.40,0.990,9222,0.000,0.034,3047,2012,1974,2038,1911,0,0,0,0,0,0,28.83,25.10,23.11
$GC,10151,0.71,233.2,3047,2012,2035,1902,841.7,9.5,424,10160,0.00,2.30,0.00,0.000,516,0.000,0.050,3057,599,1968,2035,1902,0,0,0,0,0,0,28.83,25.33,28.83
$GC,10199,0.71,233.2,3057,599,2035,1901,838.5,9.6,425,10206,0.00,2.22,0.00,0.000,1030,0.000,0.033,3058,2013,1968,2035,1901,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10511,0.71,233.2,3058,2013,2034,1900,806.5,9.8,436,10518,0.00,2.28,0.00,0.000,260,0.000,0.050,3058,3403,1967,2034,1900,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10612,0.71,233.2,3058,3403,2033,1899,797.2,10.4,439,10620,0.00,2.22,0.00,0.000,1030,0.000,0.034,3066,2014,1966,2033,1900,0,0,0,0,0,0,28.83,25.41,28.83
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$STATE,18399,end climb,SURFACE_DEPTH_REACHED
$STATE,18399,begin surface coast
$FINISH,0.8,1.011494
$STATE,18425,end surface coast,CONTROL_FINISHED_OK
$STATE,18425,begin surface
$SM_CCo,18502,0.00,0.000,0,0,1173,430.01
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$IRIDIUM_FIX,1500.99,14442.54,191014,065528
$TT8_MAMPS,0.053928,0.053928
$HUMID,49.56
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$TCM_TEMP,26.10
$XPDR_PINGS,16
$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,18454.58 8823.09
$PA_BOOTCOUNT,696
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$PA_LOG,0.07/0.143/1.969/1.725
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$PA_HOME,0.05/0.081/1.764/1.593
$PA_DISK_BANK,0
$24V_AH,21.92,40.200
$10V_AH,9.56,32.414
$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,23.220,0.000,0.000,0.000,0.000,0.000,0.348,0.000,0.000,0.000
$MEM,230244
$DATA_FILE_SIZE,40078,879
$CAP_FILE_SIZE,173468,0
$CFSIZE,260034560,248586240
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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$GPS,191014,172418,1512.901,14439.529,36,0.8,56,0.6