version: 66.12
glider: 179
mission: 13
dive: 109
start: 10 19 114 17 33 19
data:
$ID,179
$MISSION,13
$DIVE,109
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,191014,172418,1512.901,14439.529,36,0.8,56,0.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.8
$GPS2,191014,173302,1512.927,14439.488,6,0.8,26,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.6,63317,-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,91,end surface,CONTROL_FINISHED_OK
$STATE,91,begin dive
$GC,93,-0.80,-146.0,121,2258,1226,1128,0.0,0.0,0,151,0.00,0.00,-51.88,0.000,16386,0.000,0.000,120,2258,2368,2414,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-0.80,-146.0,120,2258,2415,2323,3.1,-4.7,8,208,11.25,2.33,-29.33,0.000,18692,0.242,0.057,2570,3660,3523,3533,3514,0,0,0,0,0,0,24.74,25.44,25.71
$GC,310,-0.65,-146.0,2569,3660,3534,3515,48.0,-31.4,34,320,0.22,2.17,0.00,0.000,3078,0.149,0.026,2628,2221,3524,3533,3515,0,0,0,0,0,0,25.15,25.60,28.83
$GC,624,-0.60,-146.0,2628,2216,3533,3516,120.4,-20.9,66,632,0.00,2.35,0.00,0.000,260,0.000,0.046,2619,3664,3524,3533,3516,0,0,0,0,0,0,28.83,25.46,28.83
$GC,672,-0.57,-146.0,2618,3664,3533,3516,129.5,-19.4,70,680,0.15,2.15,0.00,0.000,3078,0.135,0.026,2659,2257,3524,3533,3516,0,0,0,0,0,0,25.30,25.58,28.83
$GC,976,-0.57,-146.0,2659,2255,3534,3517,168.9,-12.5,100,984,0.00,2.12,0.00,0.000,516,0.000,0.034,2659,858,3525,3533,3517,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1003,-0.57,-146.0,2659,857,3533,3517,172.4,-12.7,102,1011,0.00,2.17,0.00,0.000,1030,0.000,0.029,2654,2268,3525,3533,3518,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1319,-0.60,-146.0,2654,2268,3534,3518,210.7,-11.3,127,1327,0.00,2.22,0.00,0.000,260,0.000,0.047,2643,3658,3525,3533,3518,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1451,-0.66,-146.0,2643,3658,3533,3518,224.6,-11.3,131,1459,0.00,2.12,0.00,0.000,1030,0.000,0.026,2643,2260,3525,3532,3518,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1768,-0.70,-146.0,2643,2260,3533,3517,257.3,-9.4,142,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2259,3525,3533,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-0.75,-146.0,2643,2260,3530,3518,284.1,-9.2,152,2077,0.12,2.28,0.00,0.000,4356,0.083,0.046,2566,3655,3523,3529,3518,0,0,0,0,0,0,25.58,25.43,28.83
$GC,2181,-0.75,-146.0,2566,3655,3529,3518,295.6,-12.3,155,2191,0.12,2.10,0.00,0.000,3078,0.145,0.027,2599,2276,3523,3528,3518,0,0,0,0,0,0,25.36,25.62,28.83
$GC,2486,-0.75,-146.0,2599,2275,3524,3517,339.4,-13.2,166,2494,0.00,2.17,0.00,0.000,516,0.000,0.036,2599,864,3520,3524,3517,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2583,-0.75,-146.0,2598,864,3523,3518,350.9,-13.2,169,2591,0.00,2.17,0.00,0.000,1030,0.000,0.031,2591,2266,3519,3522,3517,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2900,-0.75,-146.0,2591,2267,3519,3513,391.1,-12.6,180,2908,0.00,2.25,0.00,0.000,260,0.000,0.050,2581,3651,3516,3519,3513,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2972,-0.75,-146.0,2581,3651,3518,3513,398.8,-13.0,182,2980,0.00,2.12,0.00,0.000,1030,0.000,0.028,2580,2274,3515,3518,3513,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3289,-0.75,-146.0,2581,2272,3518,3508,442.6,-12.8,193,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2272,3513,3518,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-0.75,-146.0,2581,2272,3515,3505,476.8,-10.9,203,3600,0.00,2.28,0.00,0.000,260,0.000,0.050,2571,3647,3510,3515,3505,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3679,-0.75,-146.0,2571,3647,3512,3505,486.4,-10.7,206,3687,0.12,2.10,0.00,0.000,3078,0.148,0.030,2602,2294,3508,3512,3505,0,0,0,0,0,0,25.23,25.49,28.83
$GC,4007,-0.79,-146.0,2602,2292,3511,3501,515.8,-9.0,217,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2292,3506,3511,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-0.83,-146.0,2602,2292,3508,3497,544.2,-9.5,227,4315,0.00,2.25,0.00,0.000,516,0.000,0.041,2602,864,3502,3508,3497,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4358,-0.87,-146.0,2602,864,3508,3497,547.1,-9.6,228,4370,0.00,2.28,0.00,0.000,1030,0.000,0.034,2595,2299,3502,3507,3497,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4664,-0.90,-146.0,2595,2299,3506,3494,581.5,-10.6,239,4675,0.12,2.22,0.00,0.000,4356,0.088,0.052,2524,3648,3499,3505,3493,0,0,0,0,0,0,25.46,25.25,28.83
$GC,4739,-0.90,-146.0,2524,3648,3504,3493,589.6,-12.0,241,4746,0.00,2.10,0.00,0.000,1030,0.000,0.031,2524,2307,3498,3503,3493,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5050,-0.86,-146.0,2524,2306,3502,3490,638.2,-15.0,252,5057,0.15,0.00,0.00,0.000,2054,0.158,0.000,2561,2300,3496,3502,3490,0,0,0,0,0,0,25.13,28.83,28.83
$GC,5350,-0.86,-146.0,2561,2300,3501,3487,678.4,-13.4,262,5358,0.00,2.28,0.00,0.000,260,0.000,0.054,2552,3657,3493,3500,3487,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5422,-0.86,-146.0,2552,3657,3499,3487,686.8,-13.5,264,5430,0.00,2.10,0.00,0.000,1030,0.000,0.032,2552,2322,3493,3499,3487,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5740,-0.86,-146.0,2551,2318,3498,3485,729.6,-12.7,275,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2318,3491,3498,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.86,-146.0,2552,2316,3495,3482,766.3,-12.0,285,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2316,3488,3495,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,-0.86,-146.0,2551,2316,3494,3480,802.2,-12.0,295,6347,0.00,2.25,0.00,0.000,260,0.000,0.055,2542,3655,3486,3493,3479,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6371,-0.86,-146.0,2542,3656,3493,3480,805.5,-12.1,296,6378,0.00,2.12,0.00,0.000,1030,0.000,0.033,2542,2317,3486,3493,3480,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6693,-0.86,-146.0,2542,2309,3493,3478,848.2,-13.7,307,6703,0.00,2.33,0.00,0.000,516,0.000,0.044,2542,865,3485,3492,3478,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6767,-0.86,-146.0,2542,865,3491,3478,855.9,-13.3,309,6775,0.12,2.33,0.00,0.000,3078,0.160,0.037,2562,2308,3484,3491,3478,0,0,0,0,0,0,24.98,25.23,28.83
$GC,7079,-0.86,-146.0,2562,2308,3490,3476,891.9,-10.9,320,7088,0.00,2.25,0.00,0.000,260,0.000,0.057,2554,3651,3482,3490,3475,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7141,-0.86,-146.0,2553,3651,3489,3475,898.3,-10.9,322,7149,0.00,2.15,0.00,0.000,1030,0.000,0.034,2554,2322,3482,3489,3475,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7464,-0.86,-146.0,2553,2316,3488,3473,934.6,-10.8,333,7472,0.00,2.25,0.00,0.000,260,0.000,0.057,2544,3648,3480,3488,3473,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7515,-0.86,-146.0,2544,3648,3488,3474,938.1,-10.8,334,7523,0.00,2.10,0.00,0.000,1030,0.000,0.034,2543,2344,3481,3488,3474,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7827,-0.86,-146.0,2543,2338,3488,3472,977.1,-12.1,345,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2338,3480,3487,3473,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7946,begin apogee
$GC,7949,-0.13,0.0,2544,2008,3487,3473,991.8,-12.3,349,8085,0.85,0.00,128.38,1.112,10244,0.117,0.000,2798,2008,2926,2972,2881,0,0,0,0,0,0,24.75,28.83,22.18
$STATE,8086,end apogee,CONTROL_FINISHED_OK
$STATE,8086,begin climb
$GC,8087,0.80,146.0,2798,2008,2973,2879,996.5,0.0,353,8241,0.88,2.42,141.62,1.102,10756,0.056,0.048,3102,608,2330,2386,2274,0,0,0,0,0,0,23.93,23.90,21.93
$GC,8255,1.00,274.1,3102,608,2385,2269,994.3,3.3,359,8387,0.20,2.33,120.12,1.094,11270,0.067,0.031,3180,1999,1807,1869,1746,0,0,0,0,0,0,24.01,24.02,21.92
$GC,8697,0.87,274.1,3180,1999,1868,1735,919.5,17.6,374,8705,0.17,2.30,0.00,0.000,4356,0.174,0.049,3133,3406,1801,1867,1735,0,0,0,0,0,0,25.10,25.33,28.83
$GC,8795,0.77,274.1,3133,3406,1868,1734,905.0,16.0,377,8806,0.17,2.20,0.00,0.000,5126,0.161,0.034,3098,2021,1800,1867,1734,0,0,0,0,0,0,25.16,25.49,28.83
$GC,9120,0.73,274.1,3097,2021,1868,1732,866.6,11.4,388,9128,0.00,2.30,0.00,0.000,516,0.000,0.050,3107,598,1799,1867,1732,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9158,0.69,274.1,3106,598,1868,1730,863.5,11.4,389,9166,0.15,2.22,0.00,0.000,5126,0.143,0.033,3068,2012,1798,1867,1730,0,0,0,0,0,0,25.20,25.44,28.83
$GC,9475,0.69,274.1,3068,2012,1867,1730,833.0,9.3,400,9483,0.00,2.28,0.00,0.000,260,0.000,0.050,3069,3403,1798,1867,1730,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9537,0.69,274.1,3068,3403,1868,1730,827.2,9.8,402,9545,0.00,2.22,0.00,0.000,1030,0.000,0.034,3074,2015,1798,1867,1730,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9859,0.69,274.1,3075,2015,1867,1730,793.3,10.5,413,9867,0.00,2.30,0.00,0.000,516,0.000,0.050,3084,600,1798,1867,1730,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9905,0.69,274.1,3084,600,1867,1729,789.7,10.7,414,9913,0.00,2.22,0.00,0.000,1030,0.000,0.034,3084,2012,1797,1866,1729,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10218,0.69,274.1,3084,2012,1866,1729,750.6,12.5,425,10228,0.00,2.25,0.00,0.000,260,0.000,0.050,3084,3396,1797,1866,1729,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10297,0.69,274.1,3084,3395,1866,1729,742.4,13.2,427,10305,0.00,2.20,0.00,0.000,1030,0.000,0.033,3091,2016,1797,1866,1729,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10603,0.69,274.1,3090,2016,1867,1729,698.3,13.6,437,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2016,1797,1866,1729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10902,0.69,274.1,3091,2016,1866,1729,659.3,12.6,447,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2016,1797,1866,1729,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17179,end climb,SURFACE_DEPTH_REACHED
$STATE,17179,begin surface coast
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$STATE,17205,end surface coast,CONTROL_FINISHED_OK
$STATE,17205,begin surface
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$IRIDIUM_FIX,1505.45,14442.54,191014,172616
$TT8_MAMPS,0.05992,0.05992
$HUMID,49.37
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$TCM_TEMP,26.10
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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,17235.37 8073.57
$PA_BOOTCOUNT,697
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$10V_AH,9.57,32.496
$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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$MEM,230336
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$CFSIZE,260034560,248508416
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