version: 66.12
glider: 179
mission: 11
dive: 3
start: 8 27 114 18 30 19
data:
$ID,179
$MISSION,11
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,150
$D_NO_BLEED,100
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.023
$MASS,51438
$MASS_COMP,10000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,350
$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_GPS_CHARGE,-22095.188
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,22
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2727
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-37.407799
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,270814,182607,4744.141,-12224.135,4,1.6,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.2
$GPS2,270814,183003,4744.322,-12224.183,39,1.3,39,16.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,197.5,1832,-17.5,-10.000,-21.04,2225
$D_GRID,175
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.80,-146.6,145,2311,1135,1048,0.0,0.0,0,118,0.00,0.00,-102.18,0.000,16386,0.000,0.000,145,2311,3142,3187,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.80,-146.6,145,2311,3188,3098,3.5,-4.8,15,140,11.62,2.28,-4.12,0.000,18948,0.269,0.056,2601,898,3327,3369,3286,0,0,0,0,0,0,25.32,26.01,26.54
$GC,367,-0.80,-146.6,2602,899,3368,3288,42.1,-13.3,63,373,0.00,2.17,0.00,0.000,1030,0.000,0.041,2596,2301,3327,3367,3288,0,0,0,0,0,0,28.83,25.79,28.83
$GC,382,-0.80,-146.6,2597,2301,3369,3288,44.0,-11.7,66,389,0.00,2.22,0.00,0.000,516,0.000,0.042,2596,900,3328,3369,3288,0,0,0,0,0,0,28.83,25.82,28.83
$GC,434,-0.80,-146.6,2597,901,3370,3288,51.4,-14.3,76,441,0.00,2.22,0.00,0.000,1030,0.000,0.040,2590,2300,3328,3368,3288,0,0,0,0,0,0,28.83,25.79,28.83
$GC,450,-0.80,-146.6,2590,2301,3369,3288,53.6,-14.3,79,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2300,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,465,-0.80,-146.6,2590,2301,3369,3289,55.7,-13.6,82,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2300,3328,3369,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-0.80,-146.6,2590,2301,3369,3288,57.1,-13.3,84,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2300,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,485,-0.80,-146.6,2591,2301,3369,3288,58.2,-12.7,86,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2300,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,495,-0.80,-146.6,2591,2301,3369,3288,59.6,-12.3,88,502,0.00,2.22,0.00,0.000,516,0.000,0.042,2590,893,3328,3368,3288,0,0,0,0,0,0,28.83,25.82,28.83
$GC,561,-0.80,-146.6,2591,893,3369,3288,68.1,-13.6,101,569,0.00,2.22,0.00,0.000,1030,0.000,0.040,2586,2298,3328,3368,3288,0,0,0,0,0,0,28.83,25.78,28.83
$GC,579,-0.80,-146.6,2587,2299,3368,3288,70.4,-14.1,104,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2298,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,594,-0.80,-146.6,2586,2299,3369,3288,72.7,-13.7,107,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2298,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,604,-0.80,-146.6,2587,2299,3368,3288,74.2,-14.6,109,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2298,3328,3369,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,616,-0.80,-146.6,2586,2298,3371,3289,75.7,-14.9,111,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2298,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,630,-0.80,-146.6,2587,2298,3369,3288,78.1,-14.9,114,637,0.00,2.22,0.00,0.000,516,0.000,0.042,2586,894,3328,3368,3288,0,0,0,0,0,0,28.83,25.82,28.83
$GC,665,-0.80,-146.6,2586,895,3369,3288,82.7,-15.1,120,671,0.00,2.17,0.00,0.000,1030,0.000,0.041,2586,2301,3328,3368,3288,0,0,0,0,0,0,28.83,25.79,28.83
$GC,680,-0.80,-146.6,2586,2301,3369,3289,85.4,-14.5,123,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2301,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,690,-0.80,-146.6,2587,2301,3369,3288,86.6,-13.6,125,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2301,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,700,-0.80,-146.6,2586,2301,3369,3288,88.1,-13.4,127,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2301,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,710,-0.80,-146.6,2586,2302,3369,3288,89.4,-13.8,129,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2301,3328,3368,3288,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,720,begin apogee
$GC,723,-0.18,0.0,2587,1986,3368,3288,90.7,-12.6,131,846,0.70,0.00,118.68,0.575,10246,0.132,0.000,2803,1985,2727,2793,2661,0,0,0,0,0,0,25.24,28.83,24.18
$STATE,847,end apogee,CONTROL_FINISHED_OK
$STATE,847,begin climb
$GC,848,0.80,146.6,2803,1986,2794,2661,94.7,0.0,150,978,0.93,2.28,119.18,0.558,10756,0.078,0.046,3134,607,2127,2203,2052,0,0,0,0,0,0,25.17,25.09,24.11
$GC,1088,0.61,146.6,3134,607,2204,2044,75.3,12.7,191,1095,0.25,2.17,0.00,0.000,5126,0.159,0.031,3069,2023,2123,2203,2043,0,0,0,0,0,0,25.27,25.80,28.83
$GC,1104,0.46,146.6,3070,2023,2203,2043,73.6,11.3,194,1110,0.17,0.00,0.00,0.000,4102,0.164,0.000,3022,2024,2122,2202,2042,0,0,0,0,0,0,25.56,28.83,28.83
$GC,1119,0.50,184.8,3022,2025,2203,2042,72.4,8.2,197,1153,0.00,0.00,30.62,0.533,8198,0.000,0.000,3023,2024,1972,2048,1896,0,0,0,0,0,0,28.83,28.83,24.49
$GC,1162,0.72,289.3,3022,2025,2048,1897,70.1,5.2,204,1253,0.22,2.30,81.95,0.539,10500,0.070,0.049,3107,3400,1546,1620,1472,0,0,0,0,0,0,25.63,25.15,24.21
$GC,1283,0.69,289.3,3108,3400,1619,1471,56.3,13.3,223,1290,0.00,2.17,0.00,0.000,1030,0.000,0.034,3115,2005,1545,1619,1471,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1298,0.65,289.3,3115,2004,1619,1471,54.0,14.6,226,1306,0.12,2.28,0.00,0.000,4612,0.174,0.049,3094,594,1543,1618,1469,0,0,0,0,0,0,25.48,25.54,28.83
$GC,1336,0.70,289.3,3094,595,1620,1466,48.5,15.2,233,1342,0.00,2.20,0.00,0.000,1030,0.000,0.031,3094,2026,1542,1618,1466,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1351,0.75,289.3,3094,2026,1620,1466,46.0,15.3,236,1359,0.00,2.22,0.00,0.000,260,0.000,0.047,3094,3405,1542,1618,1466,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1389,0.75,289.3,3094,3405,1618,1466,40.4,14.1,243,1396,0.00,2.20,0.00,0.000,1030,0.000,0.033,3099,2002,1542,1618,1466,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1405,0.75,289.3,3100,2002,1618,1466,38.4,13.1,246,1412,0.00,2.25,0.00,0.000,516,0.000,0.049,3105,592,1541,1618,1465,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1431,0.75,289.3,3105,593,1619,1466,35.2,12.4,251,1439,0.00,2.20,0.00,0.000,1030,0.000,0.030,3105,2007,1541,1618,1465,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1449,0.75,289.3,3106,2007,1619,1466,33.2,11.8,254,1455,0.00,2.17,0.00,0.000,260,0.000,0.047,3106,3399,1541,1618,1465,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1494,0.75,289.3,3106,3400,1618,1466,27.0,13.8,263,1501,0.00,2.17,0.00,0.000,1030,0.000,0.033,3112,2001,1541,1618,1465,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1510,0.75,289.3,3112,2001,1619,1466,24.9,13.5,266,1517,0.00,2.22,0.00,0.000,516,0.000,0.047,3122,603,1542,1619,1466,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1532,0.75,289.3,3122,603,1619,1466,21.9,14.2,270,1538,0.00,2.15,0.00,0.000,1030,0.000,0.031,3122,1998,1541,1618,1465,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1547,0.75,289.3,3122,1998,1619,1465,19.9,13.1,273,1555,0.00,2.22,0.00,0.000,260,0.000,0.047,3122,3390,1541,1618,1465,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1585,0.70,289.3,3122,3391,1619,1465,14.7,14.3,280,1592,0.12,2.12,0.00,0.000,5126,0.173,0.032,3098,1993,1541,1618,1464,0,0,0,0,0,0,25.67,25.98,28.83
$GC,1601,0.66,289.3,3098,1994,1620,1465,12.3,13.8,283,1608,0.00,2.22,0.00,0.000,516,0.000,0.049,3099,595,1541,1618,1465,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1623,0.66,289.3,3099,596,1619,1465,10.0,11.1,287,1631,0.00,2.12,0.00,0.000,1030,0.000,0.030,3099,2007,1541,1618,1464,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1642,0.66,289.3,3099,2008,1620,1465,8.0,11.1,290,1648,0.00,2.17,0.00,0.000,260,0.000,0.047,3099,3404,1541,1618,1464,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1675,0.66,289.3,3100,3404,1619,1464,4.1,12.4,296,1683,0.00,2.12,0.00,0.000,1030,0.000,0.032,3107,2003,1541,1618,1464,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,1685,end climb,SURFACE_DEPTH_REACHED
$STATE,1685,begin surface coast
$FINISH,0.4,1.008674
$STATE,1712,end surface coast,CONTROL_FINISHED_OK
$STATE,1712,begin surface
$SM_CCo,1728,23.58,0.053,0,0,1299,350.04
$SM_GC,1.29,8.07,0.47,23.58,0.048,0.046,0.053,140,2302,1299,-8.48,-1.02,350.04,0,0,0,0,0,0,25.91,26.12,25.89
$IRIDIUM_FIX,4726.11,-12223.37,270814,182245
$TT8_MAMPS,0.162533,0.162533
$HUMID,54.44
$INTERNAL_PRESSURE,9.0074
$TCM_TEMP,20.90
$XPDR_PINGS,0
$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,12181.38 9115.79
$PA_BOOTCOUNT,601
$PA_DFQS,0/0
$PA_LOG,0.06/0.118/1.969/1.750
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.01/1.219/117.199/110.026
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.03/0.059/1.764/1.616
$24V_AH,24.11,0.675
$10V_AH,9.93,1.784
$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,22.225,62.700,350.425,23.575,0.000,0.000,0.000,0.000,0.000,0.000,46.168,0.000,446.396,489.217,865.674,29.010,0.000,896.830,0.000,439.313,0.000,0.540,0.000
$DEVICE_MAMPS,269.280,55.845,574.515,52.785,0.000,0.000,0.000,0.000,420.000,0.000,29.210,0.000,2.190,21.460,48.420,55.910,0.000,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,195.696,0.000,0.000,0.000,0.000,0.000,1848.641,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,142.080,0.000,0.000,0.000
$MEM,264368
$DATA_FILE_SIZE,10156,303
$CAP_FILE_SIZE,73667,1
$CFSIZE,260034560,258899968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2568.16,0x236dde,7,5
$CURRENT,0.202,356.85,1
$GPS,270814,190011,4744.303,-12224.370,2,2.3,23,16.3