version: 66.12
glider: 179
mission: 11
dive: 4
start: 8 27 114 19 5 46
data:
$ID,179
$MISSION,11
$DIVE,4
$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,-22096.445
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,270814,190011,4744.303,-12224.370,2,2.3,23,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.5
$GPS2,270814,190529,4744.325,-12224.405,5,2.2,26,16.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,167.4,1698,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.80,-146.6,139,2304,1335,1257,0.0,0.0,0,105,0.00,0.00,-90.62,0.000,16386,0.000,0.000,139,2303,3103,3150,3056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-146.6,140,2304,3150,3057,3.1,-2.4,14,129,11.73,2.22,-5.07,0.000,18948,0.272,0.055,2597,898,3325,3368,3283,0,0,0,0,0,0,25.22,25.89,26.41
$GC,359,-0.80,-146.6,2597,899,3368,3284,49.7,-18.4,62,366,0.00,2.17,0.00,0.000,1030,0.000,0.040,2590,2303,3326,3368,3284,0,0,0,0,0,0,28.83,25.84,28.83
$GC,375,-0.80,-146.6,2590,2303,3369,3285,53.4,-18.5,65,383,0.00,2.22,0.00,0.000,516,0.000,0.042,2590,898,3326,3368,3284,0,0,0,0,0,0,28.83,25.84,28.83
$GC,480,-0.80,-146.6,2591,899,3368,3284,69.6,-14.1,85,486,0.00,2.17,0.00,0.000,1030,0.000,0.041,2587,2298,3326,3368,3284,0,0,0,0,0,0,28.83,25.82,28.83
$GC,495,-0.80,-146.6,2587,2299,3368,3284,72.0,-13.6,88,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2298,3326,3368,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,505,-0.80,-146.6,2587,2299,3368,3284,73.5,-14.2,90,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2298,3326,3368,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,515,-0.77,-146.6,2587,2298,3368,3284,75.1,-15.4,92,523,0.12,0.00,0.00,0.000,2054,0.184,0.000,2616,2298,3326,3368,3284,0,0,0,0,0,0,26.05,28.83,28.83
$GC,533,-0.77,-146.6,2616,2299,3369,3285,77.9,-16.0,95,539,0.00,2.28,0.00,0.000,260,0.000,0.062,2608,3670,3326,3368,3284,0,0,0,0,0,0,28.83,25.58,28.83
$GC,569,-0.84,-146.6,2608,3670,3369,3285,83.3,-14.6,102,577,0.00,2.17,0.00,0.000,1030,0.000,0.037,2608,2287,3326,3368,3284,0,0,0,0,0,0,28.83,26.08,28.83
$GC,586,-0.90,-146.6,2608,2287,3368,3284,85.6,-14.0,105,593,0.00,2.17,0.00,0.000,516,0.000,0.044,2608,907,3326,3368,3284,0,0,0,0,0,0,28.83,25.81,28.83
$GC,612,-0.95,-146.6,2608,908,3369,3285,89.3,-13.7,110,620,0.08,2.22,0.00,0.000,5126,0.072,0.041,2562,2300,3326,3368,3284,0,0,0,0,0,0,25.72,25.78,28.83
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,628,-0.18,0.0,2562,1982,3369,3285,90.9,-14.0,112,755,0.80,0.00,118.53,0.578,10246,0.138,0.000,2803,1981,2725,2793,2658,0,0,0,0,0,0,25.05,28.83,24.18
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,757,0.80,146.6,2803,1981,2794,2659,97.3,0.0,131,887,0.93,0.00,119.28,0.562,10758,0.077,0.000,3123,1981,2127,2202,2052,0,0,0,0,0,0,25.17,28.83,24.09
$GC,896,0.60,146.6,3123,1981,2203,2051,91.6,10.7,153,904,0.22,0.00,0.00,0.000,4102,0.160,0.000,3066,1980,2125,2202,2049,0,0,0,0,0,0,24.97,28.83,28.83
$GC,915,0.47,146.6,3067,1981,2202,2048,89.9,10.1,156,922,0.15,0.00,0.00,0.000,4102,0.164,0.000,3024,1981,2124,2202,2047,0,0,0,0,0,0,25.22,28.83,28.83
$GC,932,0.50,176.0,3024,1981,2202,2047,88.4,8.6,159,962,0.00,2.38,24.33,0.537,8452,0.000,0.050,3024,3394,2008,2089,1928,0,0,0,0,0,0,28.83,25.28,24.26
$GC,986,0.58,201.1,3024,3395,2087,1928,84.1,8.8,168,1013,0.00,2.20,20.77,0.531,9222,0.000,0.032,3026,2009,1906,1981,1832,0,0,0,0,0,0,28.83,25.58,24.30
$GC,1022,0.72,257.7,3027,2010,1981,1831,81.2,7.4,174,1075,0.22,2.30,45.92,0.543,10500,0.073,0.047,3112,3402,1674,1746,1602,0,0,0,0,0,0,25.51,25.16,24.17
$GC,1115,0.64,257.7,3113,3402,1744,1602,70.7,13.2,190,1122,0.10,2.22,0.00,0.000,5126,0.145,0.032,3081,1998,1673,1744,1602,0,0,0,0,0,0,25.27,25.58,28.83
$GC,1131,0.58,257.7,3082,1998,1744,1601,68.5,12.8,193,1138,0.00,2.25,0.00,0.000,516,0.000,0.048,3086,603,1671,1744,1599,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1162,0.62,257.7,3086,603,1744,1598,65.0,11.0,199,1170,0.00,2.20,0.00,0.000,1030,0.000,0.031,3085,2006,1671,1745,1597,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1179,0.66,257.7,3085,2007,1746,1598,63.2,11.2,202,1186,0.00,2.25,0.00,0.000,260,0.000,0.048,3085,3396,1670,1744,1597,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1207,0.66,257.7,3086,3397,1745,1597,60.1,12.1,207,1213,0.00,2.15,0.00,0.000,1030,0.000,0.032,3092,1996,1670,1744,1597,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1222,0.66,257.7,3092,1997,1746,1597,58.1,11.5,210,1229,0.00,2.22,0.00,0.000,516,0.000,0.048,3099,602,1670,1744,1597,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1283,0.70,257.7,3099,604,1746,1595,51.4,10.9,222,1290,0.00,2.17,0.00,0.000,1030,0.000,0.031,3099,2003,1669,1745,1594,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1299,0.70,257.7,3100,2004,1745,1595,49.6,11.2,225,1307,0.00,2.22,0.00,0.000,260,0.000,0.047,3099,3394,1669,1745,1594,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1347,0.67,257.7,3100,3394,1744,1594,43.9,12.9,234,1355,0.00,2.12,0.00,0.000,1030,0.000,0.032,3106,1998,1669,1744,1594,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1365,0.63,257.7,3106,1998,1745,1595,41.5,13.1,237,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1998,1669,1744,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1383,0.63,257.7,3106,1998,1744,1594,39.1,12.4,240,1384,0.12,0.00,0.00,0.000,4102,0.168,0.000,3076,1998,1669,1745,1594,0,0,0,0,0,0,25.93,28.83,28.83
$GC,1393,0.63,257.7,3076,1998,1745,1595,37.8,12.4,242,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1669,1744,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1405,0.63,257.7,3076,1998,1744,1594,36.7,11.6,244,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1669,1744,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,0.70,257.7,3077,1998,1744,1595,34.9,10.6,247,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1998,1669,1744,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1444,0.76,257.7,3076,1998,1745,1595,32.9,10.6,250,1449,0.12,0.00,0.00,0.000,2054,0.098,0.000,3129,1997,1669,1744,1594,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1460,0.76,257.7,3128,1998,1745,1595,30.7,11.2,253,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1998,1669,1744,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1475,0.69,257.7,3128,1998,1745,1595,28.4,13.5,256,1476,0.15,0.00,0.00,0.000,4102,0.162,0.000,3091,1998,1669,1744,1594,0,0,0,0,0,0,25.89,28.83,28.83
$GC,1486,0.63,257.7,3092,1998,1745,1594,27.1,14.2,258,1493,0.00,2.25,0.00,0.000,260,0.000,0.047,3091,3394,1669,1745,1594,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1512,0.63,257.7,3091,3395,1745,1594,23.8,12.3,263,1519,0.00,2.12,0.00,0.000,1030,0.000,0.032,3096,1995,1669,1745,1594,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1527,0.63,257.7,3096,1995,1744,1594,21.9,11.7,266,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1994,1669,1744,1594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1537,0.63,257.7,3096,1995,1746,1595,20.7,11.8,268,1546,0.00,2.20,0.00,0.000,516,0.000,0.048,3103,603,1669,1745,1594,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1559,0.63,257.7,3104,603,1745,1594,18.0,12.5,272,1568,0.08,2.15,0.00,0.000,5126,0.138,0.030,3078,2000,1669,1745,1593,0,0,0,0,0,0,25.76,26.05,28.83
$GC,1579,0.63,257.7,3079,2000,1745,1594,16.1,11.4,275,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2000,1669,1745,1593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,0.68,257.7,3078,2001,1745,1594,14.4,10.8,278,1601,0.00,2.17,0.00,0.000,260,0.000,0.047,3078,3396,1669,1745,1593,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1631,0.68,257.7,3079,3396,1745,1594,10.4,11.5,285,1638,0.00,2.12,0.00,0.000,1030,0.000,0.032,3082,1992,1669,1745,1593,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1648,0.68,264.5,3082,1992,1744,1594,8.7,9.7,288,1662,0.00,2.22,6.20,0.417,8708,0.000,0.049,3089,597,1646,1723,1570,0,0,0,0,0,0,28.83,26.03,24.81
$STATE,1707,end climb,SURFACE_DEPTH_REACHED
$STATE,1707,begin surface coast
$FINISH,0.5,1.008204
$STATE,1738,end surface coast,CONTROL_FINISHED_OK
$STATE,1738,begin surface
$SM_CCo,1755,34.55,0.053,0,0,1299,350.04
$SM_GC,1.66,8.05,2.67,34.55,0.050,0.035,0.053,142,2292,1299,-8.48,-1.07,350.04,0,0,0,0,0,0,25.92,25.94,25.89
$IRIDIUM_FIX,4726.11,-12223.37,270814,182641
$TT8_MAMPS,0.161784,0.161784
$HUMID,54.33
$INTERNAL_PRESSURE,8.98787
$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,14344.30 10057.53
$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_DATA0,0.01/1.686/117.199/109.559
$PA_ROOT,0.75/0.091/0.121/0.024
$PA_HOME,0.03/0.059/1.764/1.615
$24V_AH,24.09,0.735
$10V_AH,9.90,1.893
$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,22.875,62.750,335.025,34.550,0.000,0.000,0.000,237.175,0.000,0.000,33.620,0.000,417.105,503.468,1153.268,36.824,0.000,1165.655,0.000,443.341,0.000,0.540,0.000
$DEVICE_MAMPS,271.575,61.965,577.575,52.785,0.000,0.000,0.000,94.095,420.000,0.000,29.210,0.000,2.190,21.460,48.420,55.910,0.000,10.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,196.777,0.000,0.000,0.000,0.000,0.000,2150.910,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,137.936,0.000,0.000,0.000
$MEM,264340
$DATA_FILE_SIZE,10124,305
$CAP_FILE_SIZE,68218,1
$CFSIZE,260034560,258863104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2125.47,0x236dde,7,5
$CURRENT,0.163,347.90,1
$GPS,270814,193615,4744.188,-12224.440,3,1.1,23,16.3