version: 66.12
glider: 179
mission: 13
dive: 105
start: 10 18 114 20 54 16
data:
$ID,179
$MISSION,13
$DIVE,105
$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,55
$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
$GPS1,181014,204725,1503.335,14444.373,33,0.9,53,0.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.3
$GPS2,181014,205359,1503.314,14444.379,5,0.9,26,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,331.3,83141,-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,-146.0,120,2277,1143,1040,0.0,0.0,0,166,0.00,0.00,-62.33,0.000,16386,0.000,0.000,121,2277,2532,2572,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,168,-0.80,-146.0,120,2277,2573,2495,3.3,-3.7,9,206,11.15,2.20,-19.92,0.000,18692,0.240,0.056,2567,3639,3524,3535,3513,0,0,0,0,0,0,24.74,25.46,25.76
$GC,322,-0.64,-146.0,2566,3640,3535,3516,54.7,-32.5,36,336,0.25,2.15,0.00,0.000,3078,0.147,0.026,2632,2238,3525,3534,3516,0,0,0,0,0,0,25.10,25.55,28.83
$GC,632,-0.58,-146.0,2632,2236,3535,3516,126.2,-17.6,67,640,0.00,2.25,0.00,0.000,260,0.000,0.044,2623,3636,3525,3534,3516,0,0,0,0,0,0,28.83,25.43,28.83
$GC,743,-0.58,-146.0,2623,3636,3535,3517,145.5,-17.0,77,757,0.12,2.08,0.00,0.000,3078,0.141,0.025,2655,2276,3525,3534,3517,0,0,0,0,0,0,25.33,25.58,28.83
$GC,1051,-0.58,-146.0,2655,2276,3535,3518,186.2,-13.1,108,1067,0.00,2.17,0.00,0.000,516,0.000,0.035,2655,854,3526,3534,3519,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1201,-0.58,-146.0,2655,853,3535,3520,202.7,-13.4,119,1214,0.00,2.20,0.00,0.000,1030,0.000,0.028,2650,2284,3526,3534,3519,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1506,-0.62,-146.0,2649,2285,3535,3519,242.6,-11.6,130,1514,0.00,2.17,0.00,0.000,260,0.000,0.046,2638,3648,3526,3534,3519,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1634,-0.67,-146.0,2638,3648,3535,3519,254.1,-9.8,134,1643,0.00,2.05,0.00,0.000,1030,0.000,0.026,2638,2292,3526,3534,3519,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1957,-0.72,-146.0,2638,2292,3533,3519,287.1,-9.5,145,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2292,3526,3533,3519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2257,-0.77,-146.0,2638,2292,3529,3519,318.4,-10.7,155,2265,0.12,2.20,0.00,0.000,4356,0.083,0.044,2565,3647,3524,3529,3519,0,0,0,0,0,0,25.52,25.41,28.83
$GC,2354,-0.77,-146.0,2565,3646,3527,3519,331.4,-13.4,158,2362,0.12,2.03,0.00,0.000,3078,0.147,0.027,2597,2323,3522,3526,3519,0,0,0,0,0,0,25.29,25.58,28.83
$GC,2676,-0.77,-146.0,2597,2322,3523,3517,371.0,-11.0,169,2684,0.00,2.25,0.00,0.000,516,0.000,0.037,2597,873,3520,3523,3517,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2778,-0.77,-146.0,2597,872,3522,3516,380.9,-11.2,172,2786,0.00,2.22,0.00,0.000,1030,0.000,0.031,2589,2302,3518,3521,3516,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3090,-0.77,-146.0,2589,2303,3518,3512,420.6,-12.3,183,3101,0.00,2.17,0.00,0.000,260,0.000,0.049,2579,3650,3515,3519,3512,0,0,0,0,0,0,28.83,25.36,28.83
$GC,3145,-0.77,-146.0,2579,3650,3518,3512,424.5,-12.5,184,3156,0.00,2.05,0.00,0.000,1030,0.000,0.028,2579,2319,3515,3519,3512,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3451,-0.77,-146.0,2579,2318,3518,3508,465.5,-12.1,195,3458,0.00,2.28,0.00,0.000,516,0.000,0.039,2579,866,3513,3518,3508,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3508,-0.77,-146.0,2579,865,3517,3507,472.5,-12.3,197,3516,0.00,2.28,0.00,0.000,1030,0.000,0.032,2570,2314,3512,3517,3507,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3835,-0.77,-146.0,2570,2314,3513,3504,517.3,-14.4,208,3843,0.00,2.20,0.00,0.000,260,0.000,0.052,2560,3648,3508,3513,3504,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3877,-0.77,-146.0,2561,3649,3512,3504,521.2,-14.4,209,3885,0.15,2.08,0.00,0.000,3078,0.140,0.031,2599,2321,3508,3512,3504,0,0,0,0,0,0,25.17,25.46,28.83
$GC,4189,-0.77,-146.0,2599,2319,3511,3500,559.9,-11.2,220,4197,0.00,2.30,0.00,0.000,516,0.000,0.041,2599,873,3505,3510,3500,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4231,-0.77,-146.0,2600,873,3510,3500,563.0,-11.1,221,4240,0.00,2.28,0.00,0.000,1030,0.000,0.034,2592,2310,3505,3510,3500,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4544,-0.77,-146.0,2592,2311,3508,3497,596.3,-9.7,232,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2311,3502,3508,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.77,-146.0,2592,2311,3506,3494,626.3,-10.2,242,4852,0.00,2.20,0.00,0.000,260,0.000,0.053,2583,3644,3499,3506,3493,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4911,-0.77,-146.0,2582,3644,3505,3493,632.4,-10.4,244,4919,0.00,2.08,0.00,0.000,1030,0.000,0.032,2583,2331,3499,3505,3493,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5233,-0.77,-146.0,2583,2328,3504,3490,669.9,-11.5,255,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2329,3496,3503,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5533,-0.77,-146.0,2583,2329,3501,3487,704.6,-11.6,265,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2329,3494,3501,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,-0.77,-146.0,2583,2328,3500,3485,740.0,-12.0,275,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2328,3492,3499,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6133,-0.77,-146.0,2582,2324,3494,3485,776.1,-12.3,285,6141,0.00,2.20,0.00,0.000,260,0.000,0.054,2573,3641,3489,3494,3485,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6166,-0.77,-146.0,2573,3641,3494,3484,780.2,-12.4,286,6173,0.00,2.08,0.00,0.000,1030,0.000,0.034,2573,2330,3489,3494,3485,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6492,-0.77,-146.0,2573,2328,3493,3482,821.1,-12.1,297,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2329,3487,3493,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,-0.77,-146.0,2573,2328,3491,3480,854.7,-10.7,307,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2329,3485,3491,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,-0.77,-146.0,2573,2328,3490,3479,885.4,-10.2,317,7100,0.00,2.20,0.00,0.000,260,0.000,0.054,2564,3640,3484,3489,3479,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7124,-0.77,-146.0,2564,3640,3489,3479,888.4,-10.4,318,7132,0.12,2.08,0.00,0.000,3078,0.153,0.034,2594,2333,3484,3489,3479,0,0,0,0,0,0,25.02,25.29,28.83
$GC,7447,-0.81,-146.0,2594,2332,3488,3477,920.1,-9.7,329,7456,0.00,2.20,0.00,0.000,260,0.000,0.054,2586,3641,3482,3488,3477,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7481,-0.85,-146.0,2585,3641,3488,3477,923.1,-9.7,330,7489,0.00,2.08,0.00,0.000,1030,0.000,0.034,2586,2342,3482,3487,3477,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7808,-0.88,-146.0,2586,2341,3487,3475,957.4,-10.4,341,7816,0.00,2.38,0.00,0.000,516,0.000,0.045,2586,869,3481,3487,3475,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7880,-0.88,-146.0,2586,869,3487,3475,963.6,-10.6,343,7888,0.00,2.33,0.00,0.000,1030,0.000,0.036,2578,2314,3480,3486,3475,0,0,0,0,0,0,28.83,25.17,28.83
$STATE,8131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8131,begin apogee
$GC,8134,-0.13,0.0,2578,2020,3486,3474,992.7,-10.8,352,8271,0.73,0.00,129.05,1.105,10244,0.110,0.000,2798,2020,2926,2972,2881,0,0,0,0,0,0,24.79,28.83,22.25
$STATE,8272,end apogee,CONTROL_FINISHED_OK
$STATE,8272,begin climb
$GC,8273,0.80,146.0,2798,2020,2972,2879,997.8,0.0,356,8429,0.88,2.42,141.77,1.091,10756,0.056,0.048,3100,612,2330,2386,2274,0,0,0,0,0,0,23.91,23.89,22.05
$GC,8443,1.04,292.9,3101,612,2384,2270,997.0,2.4,362,8592,0.25,2.30,138.02,1.077,11270,0.060,0.031,3190,1990,1731,1791,1672,0,0,0,0,0,0,24.05,24.03,22.04
$GC,8912,0.89,292.9,3190,1989,1789,1660,909.8,20.2,378,8920,0.20,2.33,0.00,0.000,4356,0.169,0.047,3138,3412,1724,1789,1660,0,0,0,0,0,0,25.07,25.34,28.83
$GC,8974,0.76,292.9,3138,3411,1788,1660,899.3,19.4,380,8982,0.22,2.20,0.00,0.000,5126,0.158,0.034,3088,2023,1724,1788,1660,0,0,0,0,0,0,25.11,25.47,28.83
$GC,9296,0.73,292.9,3088,2023,1788,1659,856.2,12.9,391,9304,0.00,2.30,0.00,0.000,516,0.000,0.050,3097,600,1723,1788,1659,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9338,0.73,292.9,3097,600,1788,1656,852.1,12.9,392,9346,0.00,2.25,0.00,0.000,1030,0.000,0.034,3097,2032,1722,1788,1656,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9661,0.69,292.9,3097,2032,1788,1656,807.9,13.4,403,9670,0.00,2.22,0.00,0.000,260,0.000,0.049,3097,3397,1722,1788,1656,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9745,0.65,292.9,3097,3397,1788,1655,799.4,13.8,405,9756,0.20,2.17,0.00,0.000,5126,0.151,0.034,3051,2032,1721,1788,1655,0,0,0,0,0,0,25.08,25.44,28.83
$GC,10050,0.65,292.9,3051,2032,1788,1655,765.9,9.3,416,10058,0.00,2.35,0.00,0.000,516,0.000,0.051,3061,589,1721,1788,1655,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10092,0.65,292.9,3062,589,1788,1654,763.3,9.4,417,10101,0.00,2.28,0.00,0.000,1030,0.000,0.033,3061,2029,1721,1788,1654,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10405,0.65,292.9,3062,2031,1788,1654,731.5,9.5,428,10416,0.00,2.22,0.00,0.000,260,0.000,0.047,3061,3400,1720,1788,1653,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10640,0.70,316.4,3061,3400,1788,1653,714.4,8.1,435,10672,0.00,2.17,21.25,0.893,9222,0.000,0.033,3070,2038,1635,1701,1569,0,0,0,0,0,0,28.83,25.28,23.63
$GC,10977,0.85,332.9,3070,2038,1700,1564,684.5,8.4,447,11003,0.12,2.40,16.12,0.855,10756,0.086,0.052,3142,608,1568,1634,1502,0,0,0,0,0,0,25.38,25.18,23.75
$GC,11091,0.85,332.9,3142,608,1634,1498,673.3,11.3,450,11102,0.00,2.38,0.00,0.000,1030,0.000,0.034,3142,2104,1566,1634,1498,0,0,0,0,0,0,28.83,25.32,28.83
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$STATE,17114,end climb,SURFACE_DEPTH_REACHED
$STATE,17114,begin surface coast
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$STATE,17140,end surface coast,CONTROL_FINISHED_OK
$STATE,17140,begin surface
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$IRIDIUM_FIX,1452.06,14445.12,181014,154033
$TT8_MAMPS,0.054677,0.054677
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17168.97 8018.77
$PA_BOOTCOUNT,693
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$10V_AH,9.57,32.167
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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