version: 66.12
glider: 179
mission: 13
dive: 50
start: 10 7 114 4 42 52
data:
$ID,179
$MISSION,13
$DIVE,50
$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,45
$R_STBD_OVSHOOT,49
$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,22
$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
$GPS1,071014,043624,1429.041,14350.717,58,0.7,78,0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.0
$GPS2,071014,044235,1429.064,14350.657,4,0.8,25,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,73.5,120516,-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,-146.0,120,2268,1341,1252,0.0,0.0,0,140,0.00,0.00,-39.88,0.000,16386,0.000,0.000,120,2268,2199,2252,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.80,-146.0,121,2268,2255,2147,3.1,-5.3,6,202,11.18,2.28,-38.47,0.000,18692,0.243,0.056,2567,3642,3524,3536,3513,0,0,0,0,0,0,24.83,25.29,25.46
$GC,297,-0.62,-146.0,2567,3642,3535,3515,45.5,-33.0,30,308,0.28,2.15,0.00,0.000,3078,0.152,0.025,2638,2229,3524,3535,3514,0,0,0,0,0,0,25.05,25.42,28.83
$GC,606,-0.58,-146.0,2638,2222,3536,3515,116.0,-19.6,62,620,0.00,2.30,0.00,0.000,260,0.000,0.046,2629,3643,3525,3535,3515,0,0,0,0,0,0,28.83,25.31,28.83
$GC,699,-0.54,-146.0,2629,3644,3536,3516,133.0,-18.4,71,707,0.15,2.12,0.00,0.000,3078,0.138,0.025,2668,2248,3525,3535,3516,0,0,0,0,0,0,25.16,25.40,28.83
$GC,1011,-0.54,-146.0,2668,2243,3536,3518,177.1,-11.8,102,1019,0.00,2.12,0.00,0.000,516,0.000,0.033,2668,860,3526,3535,3518,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1043,-0.57,-146.0,2668,860,3536,3518,181.1,-12.3,105,1051,0.00,2.17,0.00,0.000,1030,0.000,0.028,2663,2267,3527,3536,3518,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1359,-0.61,-146.0,2663,2267,3536,3519,219.0,-11.7,126,1367,0.00,2.22,0.00,0.000,260,0.000,0.045,2652,3655,3527,3536,3519,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1461,-0.65,-146.0,2652,3655,3536,3519,229.0,-10.9,129,1470,0.00,2.10,0.00,0.000,1030,0.000,0.024,2652,2276,3527,3536,3519,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1785,-0.70,-146.0,2652,2273,3535,3519,266.8,-11.9,140,1792,0.00,2.22,0.00,0.000,260,0.000,0.046,2642,3647,3526,3534,3519,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1826,-0.75,-146.0,2642,3648,3535,3519,269.6,-11.6,141,1837,0.12,2.10,0.00,0.000,5126,0.083,0.025,2585,2271,3526,3534,3519,0,0,0,0,0,0,25.37,25.42,28.83
$GC,2141,-0.75,-146.0,2585,2268,3533,3519,314.1,-13.9,152,2149,0.00,2.28,0.00,0.000,260,0.000,0.046,2575,3657,3526,3533,3519,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2233,-0.75,-146.0,2575,3657,3532,3519,326.4,-14.1,155,2241,0.00,2.10,0.00,0.000,1030,0.000,0.026,2575,2289,3525,3533,3518,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2555,-0.75,-146.0,2575,2287,3529,3518,372.9,-14.3,166,2563,0.00,2.22,0.00,0.000,516,0.000,0.036,2575,855,3523,3528,3518,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2597,-0.75,-146.0,2575,855,3528,3518,377.0,-14.5,167,2605,0.15,2.25,0.00,0.000,3078,0.148,0.030,2605,2288,3523,3528,3518,0,0,0,0,0,0,25.13,25.36,28.83
$GC,2909,-0.78,-146.0,2605,2289,3525,3514,420.9,-13.3,178,2917,0.00,2.22,0.00,0.000,260,0.000,0.050,2595,3657,3518,3524,3513,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2997,-0.78,-146.0,2595,3657,3524,3513,432.3,-13.1,181,3004,0.00,2.10,0.00,0.000,1030,0.000,0.028,2595,2313,3518,3523,3513,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3328,-0.78,-146.0,2595,2307,3520,3508,474.4,-12.3,192,3336,0.00,2.22,0.00,0.000,260,0.000,0.050,2586,3655,3514,3520,3508,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3370,-0.78,-146.0,2586,3655,3519,3508,478.2,-12.1,193,3378,0.00,2.10,0.00,0.000,1030,0.000,0.029,2586,2316,3513,3519,3508,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3692,-0.78,-146.0,2586,2310,3519,3504,518.7,-12.5,204,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2310,3511,3518,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3992,-0.78,-146.0,2586,2310,3515,3501,554.3,-11.6,214,4000,0.00,2.22,0.00,0.000,260,0.000,0.051,2577,3657,3508,3516,3501,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4088,-0.78,-146.0,2575,3657,3514,3500,565.2,-11.8,217,4096,0.00,2.10,0.00,0.000,1030,0.000,0.030,2576,2332,3507,3514,3500,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4410,-0.78,-146.0,2576,2326,3512,3497,603.5,-11.4,228,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2326,3504,3512,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.78,-146.0,2576,2326,3510,3494,635.5,-10.6,238,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2326,3501,3509,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5010,-0.78,-146.0,2577,2326,3507,3491,668.0,-11.0,248,5019,0.00,2.33,0.00,0.000,516,0.000,0.041,2576,865,3499,3507,3491,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5038,-0.78,-146.0,2576,864,3507,3491,668.0,-11.0,248,5048,0.00,2.33,0.00,0.000,1030,0.000,0.034,2568,2314,3499,3507,3491,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5344,-0.78,-146.0,2568,2314,3505,3488,709.3,-12.7,259,5351,0.00,2.20,0.00,0.000,260,0.000,0.054,2559,3647,3496,3505,3488,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5410,-0.78,-146.0,2559,3647,3503,3488,716.9,-13.1,261,5418,0.15,2.10,0.00,0.000,3078,0.149,0.032,2596,2333,3495,3503,3488,0,0,0,0,0,0,24.98,25.27,28.83
$GC,5728,-0.81,-146.0,2596,2327,3503,3485,754.2,-11.2,272,5735,0.00,2.22,0.00,0.000,260,0.000,0.054,2587,3646,3493,3502,3485,0,0,0,0,0,0,28.83,25.13,28.83
$GC,5774,-0.85,-146.0,2587,3646,3502,3485,757.2,-11.2,273,5782,0.00,2.08,0.00,0.000,1030,0.000,0.033,2587,2351,3493,3501,3485,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6086,-0.85,-146.0,2588,2345,3498,3484,795.4,-11.6,284,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3490,3497,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,-0.85,-146.0,2588,2345,3495,3482,828.8,-10.8,294,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3488,3495,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6686,-0.85,-146.0,2588,2345,3494,3479,860.9,-10.6,304,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3486,3493,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,-0.85,-146.0,2587,2345,3493,3478,893.1,-10.8,314,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2345,3485,3492,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7286,-0.88,-146.0,2587,2344,3491,3477,923.9,-9.9,324,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2344,3484,3491,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7586,-0.91,-146.0,2587,2344,3490,3475,952.9,-9.5,334,7591,0.12,0.00,0.00,0.000,4102,0.090,0.000,2537,2344,3482,3489,3475,0,0,0,0,0,0,25.20,28.83,28.83
$GC,7886,-0.91,-146.0,2537,2344,3488,3474,988.1,-11.8,344,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2344,3481,3488,3474,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7915,begin apogee
$GC,7918,-0.13,0.0,2537,2008,3488,3474,991.6,-11.7,345,8054,0.88,0.00,128.30,1.147,10244,0.123,0.000,2797,2007,2926,2971,2881,0,0,0,0,0,0,24.91,28.83,22.51
$STATE,8054,end apogee,CONTROL_FINISHED_OK
$STATE,8054,begin climb
$GC,8055,0.80,146.0,2796,2007,2972,2879,994.4,0.0,349,8208,0.90,2.42,139.50,1.130,10756,0.060,0.049,3106,603,2330,2385,2275,0,0,0,0,0,0,24.05,24.03,22.39
$GC,8272,0.72,164.5,3106,603,2382,2267,984.9,8.3,356,8299,0.00,2.30,17.62,1.034,9222,0.000,0.031,3106,2003,2255,2314,2196,0,0,0,0,0,0,28.83,24.47,22.95
$GC,8609,0.63,164.5,3106,2003,2312,2187,937.9,13.2,368,8619,0.17,2.30,0.00,0.000,4356,0.163,0.046,3057,3398,2249,2312,2187,0,0,0,0,0,0,24.86,25.06,28.83
$GC,8693,0.55,164.5,3057,3398,2311,2186,930.4,12.9,370,8704,0.15,2.22,0.00,0.000,5126,0.166,0.033,3029,2011,2248,2310,2186,0,0,0,0,0,0,24.93,25.18,28.83
$GC,8998,0.55,164.5,3028,2011,2311,2184,898.0,9.3,381,9006,0.00,2.30,0.00,0.000,516,0.000,0.050,3038,602,2247,2310,2184,0,0,0,0,0,0,28.83,25.16,28.83
$GC,9040,0.55,164.5,3037,602,2310,2183,895.4,9.2,382,9050,0.00,2.28,0.00,0.000,1030,0.000,0.032,3037,2024,2246,2310,2183,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9355,0.55,164.5,3037,2024,2310,2182,864.2,9.3,393,9363,0.00,2.28,0.00,0.000,260,0.000,0.049,3037,3408,2246,2310,2182,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9431,0.55,164.5,3037,3408,2310,2182,858.8,9.5,395,9439,0.00,2.22,0.00,0.000,1030,0.000,0.034,3046,2019,2246,2310,2182,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9737,0.61,187.1,3046,2019,2309,2182,830.6,8.1,405,9763,0.00,0.00,21.05,0.996,8198,0.000,0.000,3046,2019,2163,2230,2097,0,0,0,0,0,0,28.83,28.83,23.56
$GC,10037,0.68,216.7,3046,2019,2229,2090,806.9,7.8,415,10076,0.00,2.38,28.08,1.001,8708,0.000,0.050,3056,604,2042,2113,1971,0,0,0,0,0,0,28.83,24.61,23.45
$GC,10095,0.75,244.7,3056,603,2112,1969,802.2,7.9,417,10130,0.00,2.30,26.42,0.982,9222,0.000,0.033,3056,2027,1928,1992,1864,0,0,0,0,0,0,28.83,24.87,23.28
$GC,10425,0.75,244.7,3056,2027,1989,1855,771.3,9.6,428,10433,0.00,2.25,0.00,0.000,260,0.000,0.049,3056,3400,1921,1989,1854,0,0,0,0,0,0,28.83,25.09,28.83
$GC,10502,0.75,244.7,3056,3400,1989,1854,765.4,9.9,430,10509,0.00,2.20,0.00,0.000,1030,0.000,0.034,3064,2032,1921,1988,1854,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10813,0.75,244.7,3064,2032,1988,1853,731.7,10.2,441,10822,0.00,2.35,0.00,0.000,516,0.000,0.051,3075,598,1921,1989,1853,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10850,0.75,244.7,3075,598,1987,1853,728.2,10.3,442,10859,0.00,2.30,0.00,0.000,1030,0.000,0.033,3075,2041,1920,1987,1853,0,0,0,0,0,0,28.83,25.21,28.83
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$STATE,18116,end climb,SURFACE_DEPTH_REACHED
$STATE,18116,begin surface coast
$FINISH,0.8,1.009869
$STATE,18162,end surface coast,CONTROL_FINISHED_OK
$STATE,18162,begin surface
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$HUMID,49.25
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,18188.83 9079.48
$PA_BOOTCOUNT,636
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$10V_AH,9.88,27.561
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.349,0.000,0.000,0.000
$MEM,230288
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