version: 66.12
glider: 179
mission: 13
dive: 118
start: 10 21 114 14 58 37
data:
$ID,179
$MISSION,13
$DIVE,118
$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,44
$R_STBD_OVSHOOT,56
$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
$GPS1,211014,144742,1536.873,14428.157,39,0.8,59,0.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.4
$GPS2,211014,145819,1536.886,14427.941,5,0.8,26,0.4
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,332.1,14461,-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,-146.0,120,2282,1293,1204,0.0,0.0,0,152,0.00,0.00,-48.30,0.000,16386,0.000,0.000,120,2282,2341,2390,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,154,-0.80,-146.0,120,2282,2391,2296,3.1,-5.2,7,204,11.15,2.20,-29.95,0.000,18692,0.239,0.056,2568,3641,3524,3534,3514,0,0,0,0,0,0,24.72,25.43,25.72
$GC,342,-0.64,-146.0,2568,3641,3533,3516,61.7,-34.8,36,357,0.22,2.12,0.00,0.000,3078,0.136,0.024,2634,2239,3524,3533,3516,0,0,0,0,0,0,25.08,25.58,28.83
$GC,652,-0.60,-146.0,2634,2234,3534,3516,128.0,-17.4,67,659,0.00,2.28,0.00,0.000,260,0.000,0.045,2626,3635,3524,3533,3516,0,0,0,0,0,0,28.83,25.35,28.83
$GC,833,-0.60,-146.0,2625,3635,3534,3518,158.4,-16.1,84,844,0.00,2.10,0.00,0.000,1030,0.000,0.024,2625,2257,3525,3534,3517,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1149,-0.60,-146.0,2625,2256,3534,3518,205.0,-13.7,114,1157,0.00,2.15,0.00,0.000,516,0.000,0.034,2625,849,3526,3534,3519,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1291,-0.60,-146.0,2625,849,3534,3519,220.6,-13.3,118,1302,0.12,2.15,0.00,0.000,3078,0.139,0.028,2649,2247,3526,3533,3519,0,0,0,0,0,0,25.31,25.51,28.83
$GC,1596,-0.64,-146.0,2649,2247,3534,3519,265.3,-13.3,129,1604,0.00,2.25,0.00,0.000,260,0.000,0.045,2640,3654,3526,3533,3519,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1698,-0.69,-146.0,2640,3654,3533,3519,276.2,-12.0,132,1707,0.00,2.12,0.00,0.000,1030,0.000,0.026,2640,2264,3526,3533,3519,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2021,-0.73,-146.0,2640,2264,3529,3519,313.4,-11.3,143,2029,0.00,2.25,0.00,0.000,260,0.000,0.046,2632,3654,3523,3529,3518,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2063,-0.78,-146.0,2632,3654,3529,3519,316.5,-11.2,144,2071,0.12,2.10,0.00,0.000,5126,0.084,0.026,2571,2277,3524,3528,3520,0,0,0,0,0,0,25.47,25.58,28.83
$GC,2375,-0.78,-146.0,2571,2275,3524,3519,360.1,-12.5,155,2383,0.00,2.22,0.00,0.000,260,0.000,0.047,2561,3644,3521,3524,3519,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2437,-0.78,-146.0,2561,3644,3523,3518,367.1,-12.4,157,2445,0.12,2.08,0.00,0.000,3078,0.147,0.027,2593,2287,3520,3523,3518,0,0,0,0,0,0,25.32,25.59,28.83
$GC,2760,-0.78,-146.0,2593,2286,3520,3515,406.5,-12.7,168,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2286,3518,3520,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3059,-0.78,-146.0,2593,2286,3519,3512,441.7,-10.8,178,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2285,3514,3517,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3359,-0.78,-146.0,2593,2285,3517,3508,473.2,-10.7,188,3367,0.00,2.25,0.00,0.000,260,0.000,0.050,2584,3644,3512,3517,3508,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3432,-0.78,-146.0,2584,3644,3516,3507,480.2,-11.1,190,3439,0.00,2.10,0.00,0.000,1030,0.000,0.029,2584,2290,3511,3516,3507,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3748,-0.78,-146.0,2584,2289,3513,3504,519.4,-11.9,201,3758,0.00,2.22,0.00,0.000,516,0.000,0.041,2584,865,3508,3512,3504,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3797,-0.78,-146.0,2584,864,3512,3504,523.3,-11.8,202,3805,0.00,2.22,0.00,0.000,1030,0.000,0.032,2575,2275,3507,3511,3503,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4114,-0.78,-146.0,2576,2275,3509,3500,563.7,-12.2,213,4122,0.00,2.25,0.00,0.000,260,0.000,0.051,2565,3647,3504,3509,3500,0,0,0,0,0,0,28.83,25.24,28.83
$GC,4195,-0.78,-146.0,2565,3647,3508,3500,570.8,-12.4,215,4206,0.00,2.12,0.00,0.000,1030,0.000,0.031,2565,2286,3504,3508,3500,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4501,-0.78,-146.0,2565,2285,3507,3496,613.3,-12.9,226,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2284,3501,3506,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.78,-146.0,2566,2283,3504,3493,650.4,-12.1,236,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2283,3498,3504,3493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5101,-0.78,-146.0,2565,2283,3502,3490,686.7,-12.2,246,5109,0.00,2.28,0.00,0.000,260,0.000,0.054,2556,3647,3495,3501,3490,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5148,-0.78,-146.0,2557,3647,3501,3490,690.8,-12.4,247,5156,0.15,2.15,0.00,0.000,3078,0.142,0.032,2595,2289,3495,3501,3490,0,0,0,0,0,0,25.08,25.41,28.83
$GC,5461,-0.81,-146.0,2595,2288,3500,3487,724.8,-10.1,258,5468,0.00,2.28,0.00,0.000,260,0.000,0.054,2586,3648,3493,3500,3486,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5502,-0.85,-146.0,2586,3648,3499,3487,727.6,-10.1,259,5510,0.00,2.12,0.00,0.000,1030,0.000,0.033,2586,2295,3493,3499,3487,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5815,-0.85,-146.0,2586,2293,3498,3485,761.0,-10.2,270,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2293,3491,3498,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.85,-146.0,2586,2294,3495,3482,793.3,-10.8,280,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2293,3488,3494,3482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-0.88,-146.0,2586,2293,3494,3479,825.8,-10.8,290,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2293,3486,3494,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6715,-0.91,-146.0,2586,2293,3493,3478,856.6,-10.1,300,6721,0.12,0.00,0.00,0.000,4102,0.090,0.000,2533,2293,3485,3492,3478,0,0,0,0,0,0,25.35,28.83,28.83
$GC,7015,-0.91,-146.0,2534,2293,3490,3477,894.3,-12.7,310,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2293,3483,3490,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.91,-146.0,2533,2293,3489,3474,932.5,-13.0,320,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2293,3482,3489,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,-0.91,-146.0,2533,2291,3487,3473,972.9,-13.6,330,7623,0.00,2.30,0.00,0.000,260,0.000,0.054,2523,3652,3480,3487,3473,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7651,-0.91,-146.0,2523,3652,3487,3473,976.8,-13.6,331,7660,0.00,2.17,0.00,0.000,1030,0.000,0.034,2524,2296,3480,3487,3473,0,0,0,0,0,0,28.83,25.27,28.83
$STATE,7763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7763,begin apogee
$GC,7766,-0.13,0.0,2523,1996,3487,3473,993.9,-14.1,335,7903,0.93,0.00,129.55,1.107,10244,0.122,0.000,2798,1996,2926,2972,2880,0,0,0,0,0,0,24.66,28.83,22.13
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7904,begin climb
$GC,7905,0.80,146.0,2797,1996,2972,2879,999.7,0.0,339,8061,0.88,2.40,142.98,1.089,10756,0.056,0.048,3101,608,2329,2387,2272,0,0,0,0,0,0,23.94,23.91,21.83
$GC,8100,0.89,225.4,3100,607,2386,2266,995.8,5.5,346,8191,0.00,2.30,75.40,1.072,9222,0.000,0.031,3101,2001,2005,2067,1943,0,0,0,0,0,0,28.83,24.37,21.96
$GC,8485,0.83,225.4,3101,2001,2062,1932,948.8,12.8,359,8493,0.00,2.30,0.00,0.000,260,0.000,0.050,3101,3409,1997,2063,1932,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8573,0.76,225.4,3101,3409,2062,1931,936.7,13.6,362,8581,0.00,2.20,0.00,0.000,1030,0.000,0.033,3108,2017,1996,2062,1931,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8905,0.69,225.4,3108,2017,2062,1930,891.8,13.5,373,8913,0.12,2.30,0.00,0.000,4612,0.174,0.048,3083,598,1995,2061,1930,0,0,0,0,0,0,25.19,25.33,28.83
$GC,8938,0.63,225.4,3083,598,2062,1928,887.7,13.3,374,8948,0.15,2.22,0.00,0.000,5126,0.151,0.034,3045,2011,1995,2062,1928,0,0,0,0,0,0,25.14,25.42,28.83
$GC,9268,0.63,225.4,3045,2011,2062,1926,855.4,9.5,385,9276,0.00,2.28,0.00,0.000,260,0.000,0.049,3045,3404,1993,2061,1926,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9325,0.63,225.4,3045,3404,2062,1926,849.5,9.8,387,9333,0.00,2.25,0.00,0.000,1030,0.000,0.034,3053,2001,1994,2061,1927,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9652,0.63,228.2,3053,2000,2061,1926,819.1,9.0,398,9660,0.00,2.28,0.00,0.000,516,0.000,0.050,3062,603,1993,2060,1926,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9699,0.64,231.6,3062,603,2061,1926,816.1,9.0,399,9712,0.00,2.22,4.82,0.679,9222,0.000,0.033,3062,2007,1981,2048,1914,0,0,0,0,0,0,28.83,25.34,23.48
$GC,10010,0.65,234.8,3062,2007,2048,1913,786.2,9.0,409,10025,0.00,2.28,4.82,0.671,8452,0.000,0.047,3062,3397,1968,2036,1901,0,0,0,0,0,0,28.83,25.37,23.48
$GC,10084,0.65,234.8,3062,3397,2036,1901,780.2,9.4,411,10092,0.00,2.22,0.00,0.000,1030,0.000,0.034,3071,2004,1968,2036,1901,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10401,0.65,234.8,3071,2004,2037,1900,747.1,10.2,422,10410,0.00,2.28,0.00,0.000,516,0.000,0.050,3081,602,1968,2036,1900,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10434,0.65,234.8,3081,603,2036,1900,744.2,10.3,423,10442,0.00,2.22,0.00,0.000,1030,0.000,0.033,3081,2012,1968,2036,1900,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10757,0.65,234.8,3081,2012,2036,1899,709.3,10.5,434,10766,0.00,2.28,0.00,0.000,260,0.000,0.048,3081,3401,1967,2036,1899,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10801,0.62,234.8,3081,3401,2036,1899,706.1,10.5,435,10809,0.17,2.20,0.00,0.000,5126,0.155,0.033,3045,2023,1968,2036,1900,0,0,0,0,0,0,24.93,25.28,28.83
$GC,11114,0.65,248.5,3045,2023,2036,1899,678.2,8.5,446,11137,0.00,2.33,14.35,0.849,8708,0.000,0.049,3056,599,1912,1980,1844,0,0,0,0,0,0,28.83,25.22,23.65
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$STATE,17927,end climb,SURFACE_DEPTH_REACHED
$STATE,17927,begin surface coast
$FINISH,0.8,1.020527
$STATE,17948,end surface coast,CONTROL_FINISHED_OK
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17976.14 8393.34
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$10V_AH,9.56,33.232
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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