version: 66.12
glider: 179
mission: 13
dive: 116
start: 10 21 114 4 40 38
data:
$ID,179
$MISSION,13
$DIVE,116
$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,46
$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,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
$GPS1,211014,043354,1531.038,14430.006,33,0.9,53,0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.8
$GPS2,211014,044020,1531.018,14429.882,5,0.8,26,0.4
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,358.6,25700,-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,-146.0,121,2265,1206,1106,0.0,0.0,0,149,0.00,0.00,-50.20,0.000,16386,0.000,0.000,121,2265,2299,2353,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.80,-146.0,121,2265,2353,2247,3.2,-4.8,8,207,11.10,2.28,-34.17,0.000,18692,0.237,0.057,2567,3644,3523,3533,3514,0,0,0,0,0,0,24.70,25.41,25.71
$GC,267,-0.63,-146.0,2566,3644,3533,3515,31.9,-34.2,26,277,0.28,2.15,0.00,0.000,3078,0.149,0.025,2639,2233,3524,3533,3515,0,0,0,0,0,0,25.08,25.60,28.83
$GC,577,-0.56,-146.0,2639,2227,3533,3516,110.5,-20.6,62,585,0.00,2.30,0.00,0.000,260,0.000,0.045,2630,3643,3524,3533,3516,0,0,0,0,0,0,28.83,25.32,28.83
$GC,614,-0.51,-146.0,2630,3644,3533,3516,117.6,-19.3,65,623,0.17,2.12,0.00,0.000,3078,0.130,0.026,2677,2255,3524,3533,3516,0,0,0,0,0,0,25.13,25.45,28.83
$GC,927,-0.54,-146.0,2678,2252,3533,3518,158.7,-12.4,96,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2252,3525,3533,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.59,-146.0,2678,2252,3533,3519,193.4,-11.3,126,1241,0.00,2.22,0.00,0.000,260,0.000,0.044,2669,3635,3526,3533,3519,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1395,-0.65,-146.0,2670,3635,3533,3519,209.4,-10.0,135,1403,0.12,2.12,0.00,0.000,5126,0.080,0.025,2607,2243,3526,3533,3519,0,0,0,0,0,0,25.46,25.53,28.83
$GC,1708,-0.65,-146.0,2607,2243,3533,3519,251.2,-12.3,146,1719,0.00,2.15,0.00,0.000,516,0.000,0.034,2607,850,3526,3533,3519,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1808,-0.65,-146.0,2606,850,3533,3519,263.2,-13.0,149,1819,0.12,2.15,0.00,0.000,3078,0.142,0.029,2631,2242,3526,3533,3519,0,0,0,0,0,0,25.25,25.44,28.83
$GC,2130,-0.69,-146.0,2630,2242,3530,3519,306.9,-13.4,160,2140,0.00,2.25,0.00,0.000,260,0.000,0.047,2623,3650,3524,3530,3519,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2233,-0.73,-146.0,2623,3650,3529,3519,318.2,-12.6,163,2242,0.00,2.15,0.00,0.000,1030,0.000,0.026,2623,2245,3523,3528,3519,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2546,-0.76,-146.0,2623,2245,3525,3519,352.2,-9.5,174,2556,0.00,2.30,0.00,0.000,260,0.000,0.047,2613,3648,3521,3524,3519,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2631,-0.80,-146.0,2613,3648,3524,3519,357.6,-9.3,176,2641,0.00,2.12,0.00,0.000,1030,0.000,0.028,2613,2265,3521,3523,3519,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2936,-0.83,-146.0,2612,2264,3523,3515,392.0,-11.5,187,2946,0.10,2.20,0.00,0.000,4612,0.097,0.036,2562,854,3518,3521,3515,0,0,0,0,0,0,25.48,25.43,28.83
$GC,2970,-0.83,-146.0,2562,854,3521,3516,396.3,-12.1,188,2978,0.00,2.22,0.00,0.000,1030,0.000,0.031,2554,2278,3518,3520,3516,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3293,-0.83,-146.0,2554,2278,3519,3512,445.8,-14.9,199,3301,0.00,2.22,0.00,0.000,260,0.000,0.049,2544,3649,3515,3518,3512,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3370,-0.83,-146.0,2544,3648,3518,3512,454.0,-14.4,201,3378,0.12,2.12,0.00,0.000,3078,0.151,0.029,2575,2275,3514,3517,3512,0,0,0,0,0,0,25.24,25.52,28.83
$GC,3675,-0.83,-146.0,2574,2274,3516,3507,494.2,-12.0,211,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2274,3511,3516,3507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.83,-146.0,2575,2274,3513,3504,530.7,-12.1,221,3982,0.00,2.28,0.00,0.000,260,0.000,0.050,2566,3645,3508,3513,3504,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4026,-0.83,-146.0,2566,3645,3512,3504,533.9,-12.1,222,4037,0.00,2.12,0.00,0.000,1030,0.000,0.030,2566,2280,3507,3511,3504,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4332,-0.83,-146.0,2566,2280,3510,3501,572.9,-11.5,233,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2279,3505,3510,3500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4631,-0.83,-146.0,2566,2279,3508,3497,609.3,-12.5,243,4640,0.00,2.28,0.00,0.000,260,0.000,0.051,2556,3644,3502,3508,3497,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4674,-0.83,-146.0,2556,3644,3507,3497,612.7,-12.6,244,4682,0.00,2.12,0.00,0.000,1030,0.000,0.031,2556,2287,3502,3507,3497,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4986,-0.83,-146.0,2556,2285,3505,3494,655.0,-13.1,255,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2285,3499,3505,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.83,-146.0,2556,2285,3504,3491,692.4,-12.3,265,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2285,3497,3504,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.83,-146.0,2557,2284,3501,3489,727.8,-11.5,275,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2284,3494,3501,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5886,-0.83,-146.0,2556,2283,3499,3486,762.9,-11.7,285,5894,0.00,2.30,0.00,0.000,260,0.000,0.054,2547,3648,3492,3499,3486,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5918,-0.83,-146.0,2546,3648,3499,3486,767.0,-11.9,286,5926,0.12,2.15,0.00,0.000,3078,0.152,0.033,2577,2286,3492,3499,3486,0,0,0,0,0,0,25.07,25.34,28.83
$GC,6246,-0.83,-146.0,2577,2285,3497,3484,803.2,-11.2,297,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2285,3490,3497,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6545,-0.83,-146.0,2577,2285,3494,3480,838.1,-11.5,307,6553,0.00,2.30,0.00,0.000,260,0.000,0.055,2568,3647,3487,3494,3480,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6608,-0.83,-146.0,2568,3647,3494,3481,845.0,-11.7,309,6615,0.00,2.15,0.00,0.000,1030,0.000,0.034,2568,2292,3487,3494,3480,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6930,-0.83,-146.0,2568,2291,3493,3479,883.5,-11.7,320,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2291,3486,3493,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,-0.83,-146.0,2568,2291,3492,3477,919.6,-12.2,330,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2291,3485,3492,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-0.83,-146.0,2568,2291,3490,3476,955.5,-11.7,340,7538,0.00,2.30,0.00,0.000,260,0.000,0.055,2559,3647,3482,3490,3475,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7566,-0.83,-146.0,2559,3647,3489,3475,958.7,-11.7,341,7574,0.00,2.17,0.00,0.000,1030,0.000,0.034,2559,2286,3482,3489,3475,0,0,0,0,0,0,28.83,25.27,28.83
$STATE,7827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7827,begin apogee
$GC,7830,-0.13,0.0,2558,2000,3489,3474,991.0,-11.8,350,7967,0.80,0.00,129.75,1.106,10244,0.115,0.000,2800,1999,2926,2972,2880,0,0,0,0,0,0,24.77,28.83,22.22
$STATE,7968,end apogee,CONTROL_FINISHED_OK
$STATE,7968,begin climb
$GC,7969,0.80,146.0,2800,1999,2972,2879,996.1,0.0,354,8125,0.88,2.40,142.05,1.090,10756,0.054,0.049,3103,611,2330,2388,2272,0,0,0,0,0,0,23.96,23.93,21.96
$GC,8165,0.86,213.6,3103,611,2386,2266,991.3,6.1,361,8238,0.00,2.30,63.97,1.069,9222,0.000,0.032,3103,1999,2055,2125,1986,0,0,0,0,0,0,28.83,24.40,22.12
$GC,8547,0.79,213.6,3103,1999,2122,1972,942.4,13.2,374,8555,0.00,2.30,0.00,0.000,260,0.000,0.050,3103,3406,2046,2121,1972,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8644,0.71,213.6,3103,3406,2121,1972,930.2,13.8,377,8652,0.15,2.20,0.00,0.000,5126,0.168,0.034,3076,2018,2046,2121,1972,0,0,0,0,0,0,25.18,25.49,28.83
$GC,8962,0.67,213.6,3076,2018,2121,1970,892.3,11.4,388,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2018,2045,2121,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9262,0.64,213.6,3076,2019,2120,1969,859.3,10.9,398,9270,0.00,2.30,0.00,0.000,516,0.000,0.050,3085,599,2044,2120,1969,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9309,0.60,213.6,3085,599,2120,1968,855.7,10.9,399,9317,0.17,2.22,0.00,0.000,5126,0.148,0.034,3040,2009,2044,2120,1969,0,0,0,0,0,0,25.04,25.39,28.83
$GC,9622,0.61,217.3,3040,2010,2120,1967,825.4,9.0,410,9629,0.00,2.28,0.00,0.000,260,0.000,0.049,3040,3407,2043,2120,1967,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9713,0.61,217.3,3040,3407,2120,1967,816.7,9.9,413,9723,0.00,2.22,0.00,0.000,1030,0.000,0.034,3047,2015,2043,2120,1967,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10037,0.62,221.1,3046,2015,2120,1966,786.3,9.0,424,10053,0.00,2.35,6.43,0.767,8708,0.000,0.051,3057,605,2024,2100,1949,0,0,0,0,0,0,28.83,25.34,23.53
$GC,10082,0.62,224.0,3057,605,2100,1948,783.6,9.0,425,10095,0.00,2.25,4.40,0.633,9222,0.000,0.034,3057,2029,2012,2086,1938,0,0,0,0,0,0,28.83,25.37,23.46
$GC,10393,0.62,224.0,3057,2029,2082,1938,753.5,9.3,435,10401,0.00,2.22,0.00,0.000,260,0.000,0.049,3057,3398,2009,2081,1937,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10454,0.62,224.0,3057,3399,2081,1938,747.7,9.8,437,10462,0.00,2.20,0.00,0.000,1030,0.000,0.034,3065,2017,2009,2081,1938,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10777,0.62,224.0,3065,2017,2080,1938,715.8,9.7,448,10785,0.00,2.30,0.00,0.000,516,0.000,0.050,3076,603,2008,2079,1938,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10804,0.62,224.0,3076,603,2080,1937,715.8,9.7,448,10814,0.00,2.25,0.00,0.000,1030,0.000,0.034,3076,2026,2008,2079,1937,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11109,0.62,224.0,3076,2027,2079,1938,681.6,10.3,459,11117,0.00,2.25,0.00,0.000,260,0.000,0.049,3076,3406,2008,2079,1938,0,0,0,0,0,0,28.83,25.15,28.83
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$STATE,17877,end climb,SURFACE_DEPTH_REACHED
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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
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