version: 66.11
glider: 179
mission: 9
dive: 24
start: 6 15 112 23 8 43
data:
$ID,179
$MISSION,9
$DIVE,24
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51739
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-18709.959
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2737
$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
$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,-38.870029
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$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,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,150612,230225,4705.806,-12513.190,68,1.4,68,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-76.8
$GPS2,150612,230756,4705.807,-12513.075,12,1.6,12,18.5
$SPEED_LIMITS,0.079,0.232
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.085,0.216
$KALMAN_X,15483.2,453.8,109.3,-37738.9,803.4
$KALMAN_Y,-9837.2,114.0,17.0,30020.3,371.6
$MHEAD_RNG_PITCHd_Wd,323.1,46003,-14.4,-7.857
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,12,-0.77,-136.3,0.0,0.0,0,68,0.00,0.00,-53.67,0.000,2,0.000,0.000,132,2353,2557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.77,-136.3,3.1,-3.5,9,107,13.98,2.33,-15.40,0.000,4,0.293,0.055,2742,947,3296,0,0,0,0,0,0,24.48,24.96,25.13
$GC,261,-0.64,-136.3,42.3,-16.7,46,269,0.17,2.33,0.00,0.000,6,0.151,0.043,2783,2341,3299,0,0,0,0,0,0,24.75,25.06,28.83
$GC,568,-0.59,-136.3,80.1,-12.1,107,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2341,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-0.56,-136.3,109.3,-9.5,167,875,0.12,2.28,0.00,0.000,4,0.168,0.039,2814,945,3301,0,0,0,0,0,0,25.10,25.26,28.83
$GC,909,-0.59,-136.3,113.0,-8.8,175,916,0.00,2.33,0.00,0.000,6,0.000,0.043,2808,2356,3301,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1215,-0.60,-136.3,138.4,-6.4,236,1223,0.00,2.22,0.00,0.000,4,0.000,0.061,2799,3667,3301,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1263,-0.62,-136.3,141.6,-7.1,245,1270,0.00,2.12,0.00,0.000,6,0.000,0.037,2799,2343,3301,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1569,-0.62,-136.3,164.4,-7.7,306,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2342,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1869,-0.62,-136.3,188.9,-8.0,366,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2343,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.62,-136.3,214.6,-8.1,410,2177,0.00,2.25,0.00,0.000,4,0.000,0.040,2799,950,3301,0,0,0,0,0,0,28.83,25.23,28.83
$GC,2198,-0.62,-136.3,216.2,-8.3,412,2207,0.00,2.30,0.00,0.000,6,0.000,0.042,2790,2346,3300,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2503,-0.62,-136.3,242.6,-8.4,443,2507,0.00,2.28,0.00,0.000,4,0.000,0.040,2790,947,3301,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2528,-0.62,-136.3,244.3,-8.6,445,2536,0.00,2.30,0.00,0.000,6,0.000,0.041,2781,2346,3301,0,0,0,0,0,0,28.83,25.24,28.83
$GC,2833,-0.62,-136.3,270.5,-8.2,476,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2346,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3134,-0.62,-136.3,295.6,-8.4,506,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2345,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-0.62,-136.3,318.8,-7.9,536,3437,0.00,2.25,0.00,0.000,4,0.000,0.041,2781,948,3300,0,0,0,0,0,0,28.83,25.23,28.83
$GC,3518,-0.62,-136.3,325.2,-8.1,544,3527,0.00,2.30,0.00,0.000,6,0.000,0.043,2772,2342,3301,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3823,-0.62,-136.3,350.9,-8.7,575,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2343,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-0.62,-136.3,376.3,-8.3,605,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2343,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4424,-0.62,-136.3,399.8,-7.7,635,4427,0.00,2.25,0.00,0.000,4,0.000,0.041,2771,951,3299,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4488,-0.62,-136.3,404.8,-7.9,641,4499,0.15,2.28,0.00,0.000,6,0.153,0.044,2799,2353,3298,0,0,0,0,0,0,24.98,25.22,28.83
$GC,4794,-0.66,-136.3,425.4,-7.0,672,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2353,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.69,-136.3,446.6,-7.0,702,5102,0.00,2.25,0.00,0.000,4,0.000,0.040,2799,950,3299,0,0,0,0,0,0,28.83,25.19,28.83
$GC,5141,-0.73,-136.3,450.0,-7.4,706,5154,0.00,2.30,0.00,0.000,6,0.000,0.043,2794,2359,3296,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5451,-0.75,-136.3,471.2,-6.6,737,5457,0.12,0.00,0.00,0.000,6,0.087,0.000,2745,2359,3298,0,0,0,0,0,0,25.29,28.83,28.83
$GC,5751,-0.71,-136.3,497.9,-9.4,767,5759,0.00,2.25,0.00,0.000,4,0.000,0.041,2745,954,3299,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5788,-0.67,-136.3,501.4,-9.4,770,5797,0.17,2.28,0.00,0.000,6,0.157,0.044,2778,2352,3297,0,0,0,0,0,0,24.85,25.14,28.83
$GC,6093,-0.67,-136.3,524.3,-7.8,800,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2350,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6393,-0.67,-136.3,546.9,-7.3,830,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2350,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,-0.67,-136.3,568.8,-7.4,860,6707,0.00,2.25,0.00,0.000,4,0.000,0.042,2778,957,3296,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6741,-0.67,-136.3,572.1,-7.7,864,6752,0.00,2.30,0.00,0.000,6,0.000,0.044,2771,2359,3296,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7046,-0.67,-136.3,595.6,-7.8,895,7054,0.00,2.28,0.00,0.000,4,0.000,0.042,2771,949,3295,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7118,-0.67,-136.3,600.2,-8.0,900,7130,0.00,2.30,0.00,0.000,6,0.000,0.044,2762,2348,3295,0,0,0,0,0,0,28.83,25.01,28.83
$GC,7423,-0.67,-136.3,627.3,-8.8,916,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2348,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,-0.67,-136.3,653.5,-8.3,931,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2344,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8023,-0.67,-136.3,677.7,-7.7,946,8031,0.00,2.28,0.00,0.000,4,0.000,0.042,2763,950,3294,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8060,-0.67,-136.3,680.9,-8.1,948,8069,0.12,2.33,0.00,0.000,6,0.158,0.044,2782,2359,3294,0,0,0,0,0,0,24.91,25.11,28.83
$GC,8378,-0.69,-136.3,700.4,-5.8,964,8388,0.00,2.30,0.00,0.000,4,0.000,0.041,2782,944,3293,0,0,0,0,0,0,28.83,25.11,28.83
$GC,8420,-0.72,-136.3,702.8,-5.7,966,8429,0.00,2.30,0.00,0.000,6,0.000,0.044,2776,2343,3293,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8738,-0.73,-136.3,722.8,-6.4,982,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2344,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,-0.75,-136.3,743.2,-7.0,997,9048,0.00,2.25,0.00,0.000,4,0.000,0.043,2776,954,3296,0,0,0,0,0,0,28.83,25.10,28.83
$GC,9073,-0.76,-136.3,744.5,-7.1,998,9083,0.00,2.30,0.00,0.000,6,0.000,0.044,2768,2357,3293,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9378,-0.76,-136.3,769.0,-7.7,1014,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2357,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9678,-0.76,-136.3,792.4,-7.6,1029,9688,0.00,2.30,0.00,0.000,4,0.000,0.042,2768,948,3292,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9758,-0.76,-136.3,798.7,-7.7,1033,9766,0.00,2.30,0.00,0.000,6,0.000,0.045,2762,2349,3292,0,0,0,0,0,0,28.83,25.07,28.83
$GC,10075,-0.76,-136.3,821.4,-7.0,1049,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2349,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10375,-0.76,-136.3,841.8,-6.9,1064,10383,0.00,2.28,0.00,0.000,4,0.000,0.043,2762,954,3292,0,0,0,0,0,0,28.83,25.08,28.83
$GC,10422,-0.76,-136.3,844.5,-7.0,1066,10430,0.00,2.30,0.00,0.000,6,0.000,0.044,2756,2350,3292,0,0,0,0,0,0,28.83,25.07,28.83
$GC,10727,-0.76,-136.3,865.9,-6.7,1081,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2350,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11027,-0.76,-136.3,887.3,-7.3,1096,11035,0.00,2.28,0.00,0.000,4,0.000,0.043,2761,957,3292,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11094,-0.76,-136.3,891.5,-7.4,1099,11102,0.00,2.30,0.00,0.000,6,0.000,0.045,2749,2351,3292,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11400,-0.75,-136.3,915.0,-7.3,1114,11407,0.00,2.28,0.00,0.000,4,0.000,0.044,2748,951,3291,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11426,-0.73,-136.3,916.2,-7.3,1115,11434,0.00,2.33,0.00,0.000,6,0.000,0.045,2739,2360,3291,0,0,0,0,0,0,28.83,25.05,28.83
$GC,11732,-0.70,-136.3,940.9,-7.9,1130,11738,0.12,0.00,0.00,0.000,6,0.176,0.000,2766,2360,3291,0,0,0,0,0,0,24.92,28.83,28.83
$GC,12032,-0.72,-136.3,960.6,-6.7,1145,12040,0.00,2.30,0.00,0.000,4,0.000,0.044,2766,957,3291,0,0,0,0,0,0,28.83,25.05,28.83
$GC,12083,-0.72,-136.3,963.1,-6.9,1147,12094,0.00,2.30,0.00,0.000,6,0.000,0.044,2762,2351,3291,0,0,0,0,0,0,28.83,25.02,28.83
$GC,12389,-0.72,-136.3,985.2,-6.8,1163,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2352,3290,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12468,begin apogee
$GC,12471,-0.21,0.0,990.8,-6.9,1167,12612,0.55,0.00,128.93,1.192,6,0.121,0.000,2928,2100,2736,0,0,0,0,0,0,24.76,28.83,22.71
$STATE,12614,end apogee,CONTROL_FINISHED_OK
$STATE,12614,begin climb
$GC,12615,0.77,136.3,995.3,0.0,1174,12755,0.95,0.00,131.43,1.176,6,0.051,0.000,3258,2100,2181,0,0,0,0,0,0,23.92,28.83,22.57
$GC,13049,0.60,136.3,946.9,13.9,1196,13059,0.22,2.30,0.00,0.000,4,0.184,0.046,3210,698,2171,0,0,0,0,0,0,24.49,24.84,28.83
$GC,13089,0.46,136.3,942.1,13.1,1198,13097,0.25,2.33,0.00,0.000,6,0.166,0.041,3151,2111,2170,0,0,0,0,0,0,24.56,24.93,28.83
$GC,13407,0.42,136.3,913.4,9.0,1214,13414,0.00,2.38,0.00,0.000,4,0.000,0.060,3151,3515,2167,0,0,0,0,0,0,28.83,25.08,28.83
$GC,13433,0.38,136.3,911.7,9.2,1215,13441,0.15,2.28,0.00,0.000,6,0.178,0.037,3126,2099,2168,0,0,0,0,0,0,24.87,25.22,28.83
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$STATE,24228,end climb,SURFACE_DEPTH_REACHED
$STATE,24228,begin surface coast
$FINISH,0.9,1.023956
$STATE,24253,end surface coast,CONTROL_FINISHED_OK
$STATE,24253,begin surface
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$IRIDIUM_FIX,4648.08,-12507.29,150612,161616
$TT8_MAMPS,0.054677,0.054677
$HUMID,39.09
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,31725.45 12663.28
$PA_BOOTCOUNT,136
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$PA_CMQS,0/0
$PA_USBDRIVE,/mnt/usbb
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$24V_AH,22.6,24.697
$10V_AH,9.9,23.053
$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
$DEVICE_SECS,26.775,165.375,439.050,16.575,0.000,25.688,37.741,159.353,0.000,24746.170,13.215,0.000,18192.111,655.729,5583.032,159.403,33.221,2808.262,0.000,3667.500,0.000,0.534,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,96521,2364
$CAP_FILE_SIZE,245679,0
$CFSIZE,260165632,255938560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.046,321.2,1
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