version: 66.12
glider: 179
mission: 13
dive: 134
start: 10 24 114 8 24 34
data:
$ID,179
$MISSION,13
$DIVE,134
$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,43
$R_STBD_OVSHOOT,45
$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
$GPS1,241014,081743,1522.690,14425.419,42,1.0,62,0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.0
$GPS2,241014,082417,1522.729,14425.404,5,1.1,25,0.5
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,PICKUP
$TGT_LATLONG,1334.700,14438.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,146.2,201454,-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,-146.0,120,2263,1252,1155,0.0,0.0,0,153,0.00,0.00,-51.47,0.000,16386,0.000,0.000,120,2263,2397,2445,2350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.80,-146.0,120,2263,2445,2352,3.4,-5.9,7,197,11.07,2.22,-26.30,0.000,18948,0.237,0.047,2581,836,3523,3534,3513,0,0,0,0,0,0,24.72,25.46,25.74
$GC,253,-0.65,-146.0,2581,836,3533,3516,29.8,-32.3,25,265,0.22,2.17,0.00,0.000,3078,0.157,0.028,2629,2251,3524,3533,3516,0,0,0,0,0,0,25.02,25.49,28.83
$GC,569,-0.58,-146.0,2630,2251,3534,3516,111.8,-20.2,62,583,0.00,2.22,0.00,0.000,260,0.000,0.044,2621,3667,3525,3534,3517,0,0,0,0,0,0,28.83,25.34,28.83
$GC,737,-0.58,-146.0,2621,3667,3534,3518,143.3,-16.9,78,748,0.15,2.20,0.00,0.000,3078,0.132,0.024,2661,2229,3525,3534,3517,0,0,0,0,0,0,25.22,25.51,28.83
$GC,1042,-0.58,-146.0,2661,2229,3534,3519,184.1,-13.1,109,1050,0.00,2.10,0.00,0.000,516,0.000,0.035,2661,857,3526,3533,3519,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1100,-0.61,-146.0,2661,855,3534,3519,191.2,-12.3,114,1108,0.00,2.12,0.00,0.000,1030,0.000,0.027,2655,2243,3526,3534,3519,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1423,-0.66,-146.0,2655,2244,3534,3519,228.7,-11.5,130,1432,0.00,2.15,0.00,0.000,516,0.000,0.035,2655,858,3526,3534,3519,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1467,-0.70,-146.0,2656,859,3534,3519,232.2,-11.4,131,1475,0.00,2.12,0.00,0.000,1030,0.000,0.028,2650,2243,3526,3534,3519,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1779,-0.74,-146.0,2650,2243,3533,3519,268.5,-11.3,142,1787,0.12,2.28,0.00,0.000,4356,0.084,0.044,2574,3654,3526,3533,3519,0,0,0,0,0,0,25.55,25.34,28.83
$GC,1821,-0.74,-146.0,2574,3654,3532,3519,272.1,-11.6,143,1831,0.12,2.17,0.00,0.000,3078,0.148,0.026,2606,2234,3525,3532,3519,0,0,0,0,0,0,25.23,25.52,28.83
$GC,2135,-0.74,-146.0,2606,2235,3529,3519,316.0,-12.9,154,2145,0.00,2.30,0.00,0.000,260,0.000,0.046,2597,3645,3523,3528,3519,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2174,-0.74,-146.0,2597,3645,3528,3519,320.1,-13.1,155,2183,0.00,2.17,0.00,0.000,1030,0.000,0.027,2597,2231,3523,3528,3519,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2492,-0.74,-146.0,2597,2232,3524,3519,366.2,-14.1,166,2503,0.00,2.12,0.00,0.000,516,0.000,0.037,2597,857,3521,3524,3518,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2517,-0.74,-146.0,2598,857,3524,3519,366.2,-14.1,166,2528,0.00,2.15,0.00,0.000,1030,0.000,0.029,2588,2245,3521,3524,3518,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2823,-0.74,-146.0,2588,2245,3521,3515,414.4,-14.2,177,2831,0.00,2.28,0.00,0.000,260,0.000,0.049,2578,3652,3518,3521,3515,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2890,-0.74,-146.0,2578,3653,3519,3515,422.4,-13.9,179,2898,0.00,2.20,0.00,0.000,1030,0.000,0.028,2578,2237,3517,3519,3515,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3212,-0.74,-146.0,2578,2237,3519,3511,466.6,-12.5,190,3220,0.00,2.35,0.00,0.000,260,0.000,0.050,2569,3653,3514,3518,3510,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3274,-0.74,-146.0,2568,3653,3518,3510,473.6,-12.3,192,3282,0.12,2.20,0.00,0.000,3078,0.148,0.029,2600,2242,3514,3518,3510,0,0,0,0,0,0,25.21,25.50,28.83
$GC,3597,-0.74,-146.0,2600,2243,3516,3506,506.9,-9.7,203,3605,0.00,2.20,0.00,0.000,516,0.000,0.041,2600,853,3511,3516,3506,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3644,-0.74,-146.0,2599,853,3516,3506,510.2,-9.7,204,3651,0.00,2.17,0.00,0.000,1030,0.000,0.032,2593,2239,3510,3515,3506,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3956,-0.74,-146.0,2593,2239,3512,3502,543.2,-10.4,215,3966,0.00,2.33,0.00,0.000,260,0.000,0.051,2583,3645,3506,3511,3502,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4006,-0.74,-146.0,2583,3645,3511,3502,546.5,-10.6,216,4013,0.00,2.20,0.00,0.000,1030,0.000,0.030,2583,2248,3506,3511,3502,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4311,-0.74,-146.0,2583,2248,3509,3498,585.0,-12.0,226,4319,0.00,2.22,0.00,0.000,516,0.000,0.041,2583,850,3503,3509,3498,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4333,-0.74,-146.0,2583,850,3509,3498,585.0,-12.0,226,4343,0.00,2.20,0.00,0.000,1030,0.000,0.033,2575,2242,3503,3508,3498,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4639,-0.74,-146.0,2575,2242,3507,3495,625.6,-12.0,237,4645,0.12,0.00,0.00,0.000,2054,0.167,0.000,2604,2243,3500,3506,3495,0,0,0,0,0,0,25.18,28.83,28.83
$GC,4938,-0.78,-146.0,2604,2243,3505,3492,655.0,-9.5,247,4946,0.00,2.33,0.00,0.000,260,0.000,0.053,2595,3654,3498,3505,3492,0,0,0,0,0,0,28.83,25.11,28.83
$GC,5026,-0.83,-146.0,2594,3654,3504,3492,663.7,-9.8,250,5034,0.00,2.22,0.00,0.000,1030,0.000,0.031,2595,2244,3497,3503,3492,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5358,-0.86,-146.0,2594,2244,3502,3488,697.6,-10.5,261,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2244,3495,3502,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5658,-0.89,-146.0,2594,2244,3501,3486,729.7,-10.9,271,5669,0.12,2.22,0.00,0.000,4612,0.093,0.042,2537,860,3493,3500,3486,0,0,0,0,0,0,25.36,25.14,28.83
$GC,5693,-0.89,-146.0,2537,860,3500,3486,733.7,-11.4,272,5701,0.00,2.22,0.00,0.000,1030,0.000,0.034,2527,2256,3493,3500,3486,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6016,-0.86,-146.0,2527,2257,3498,3485,782.0,-14.6,283,6026,0.12,2.33,0.00,0.000,2308,0.172,0.052,2552,3648,3491,3498,3485,0,0,0,0,0,0,25.02,25.03,28.83
$GC,6126,-0.86,-146.0,2552,3648,3496,3484,793.7,-13.3,286,6134,0.00,2.20,0.00,0.000,1030,0.000,0.033,2552,2267,3490,3496,3485,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6438,-0.86,-146.0,2552,2266,3495,3481,836.0,-12.6,297,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2266,3488,3495,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6738,-0.86,-146.0,2551,2266,3494,3480,873.6,-12.2,307,6746,0.00,2.33,0.00,0.000,260,0.000,0.054,2543,3648,3486,3493,3479,0,0,0,0,0,0,28.83,25.01,28.83
$GC,6770,-0.86,-146.0,2542,3648,3493,3479,877.0,-12.3,308,6778,0.00,2.22,0.00,0.000,1030,0.000,0.034,2542,2258,3486,3493,3480,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7093,-0.86,-146.0,2542,2258,3492,3479,916.5,-11.6,319,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2258,3485,3492,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,-0.86,-146.0,2542,2258,3491,3477,949.9,-10.8,329,7401,0.00,2.35,0.00,0.000,260,0.000,0.054,2533,3647,3483,3491,3476,0,0,0,0,0,0,28.83,24.94,28.83
$GC,7460,-0.86,-146.0,2533,3647,3491,3476,956.3,-11.0,331,7468,0.15,2.22,0.00,0.000,3078,0.151,0.034,2570,2261,3483,3490,3476,0,0,0,0,0,0,24.88,25.22,28.83
$GC,7777,-0.86,-146.0,2570,2262,3490,3474,987.8,-9.5,342,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2261,3481,3489,3474,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7806,begin apogee
$GC,7810,-0.13,0.0,2570,1992,3490,3475,990.6,-9.5,343,7946,0.75,0.00,129.00,1.105,10244,0.112,0.000,2797,1991,2926,2973,2880,0,0,0,0,0,0,24.65,28.83,22.16
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7948,0.80,146.0,2797,1991,2973,2879,994.0,0.0,347,8104,0.88,2.40,142.40,1.089,10756,0.056,0.049,3100,607,2330,2388,2272,0,0,0,0,0,0,23.96,23.94,21.80
$GC,8139,0.83,202.6,3100,607,2386,2266,987.4,6.6,354,8203,0.00,2.30,53.83,1.067,9222,0.000,0.031,3100,2000,2100,2169,2031,0,0,0,0,0,0,28.83,24.32,22.09
$GC,8499,0.76,202.6,3100,2000,2167,2019,946.2,11.3,366,8509,0.00,2.28,0.00,0.000,260,0.000,0.048,3100,3405,2093,2167,2019,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8573,0.69,202.6,3100,3404,2167,2018,939.0,11.6,368,8581,0.17,2.20,0.00,0.000,5126,0.161,0.033,3066,2015,2093,2167,2019,0,0,0,0,0,0,25.11,25.47,28.83
$GC,8891,0.74,224.4,3065,2015,2167,2016,910.4,8.2,379,8917,0.00,0.00,20.33,0.988,8198,0.000,0.000,3065,2015,2011,2081,1941,0,0,0,0,0,0,28.83,28.83,23.47
$GC,9191,0.82,256.7,3065,2015,2074,1937,887.0,7.7,389,9228,0.15,0.00,30.23,1.006,10246,0.082,0.000,3126,2015,1879,1945,1814,0,0,0,0,0,0,25.43,28.83,23.30
$GC,9521,0.74,256.7,3126,2015,1944,1806,846.5,13.1,400,9529,0.12,2.30,0.00,0.000,4612,0.171,0.048,3101,597,1875,1944,1806,0,0,0,0,0,0,25.20,25.34,28.83
$GC,9553,0.67,256.7,3101,598,1944,1805,843.1,13.0,401,9562,0.15,2.22,0.00,0.000,5126,0.149,0.033,3064,2011,1874,1944,1805,0,0,0,0,0,0,25.15,25.44,28.83
$GC,9881,0.67,256.7,3064,2011,1944,1803,810.3,10.2,412,9889,0.00,2.28,0.00,0.000,260,0.000,0.049,3064,3406,1873,1944,1803,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9982,0.67,256.7,3064,3406,1943,1803,800.5,11.0,415,9991,0.00,2.20,0.00,0.000,1030,0.000,0.034,3070,2021,1873,1943,1803,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10295,0.67,256.7,3071,2021,1943,1803,764.7,11.2,426,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2021,1873,1943,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10595,0.67,256.7,3071,2022,1943,1802,729.3,12.1,436,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2022,1872,1943,1802,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17334,end climb,SURFACE_DEPTH_REACHED
$STATE,17334,begin surface coast
$FINISH,0.9,1.020382
$STATE,17359,end surface coast,CONTROL_FINISHED_OK
$STATE,17360,begin surface
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$IRIDIUM_FIX,1518.86,14425.66,241014,031031
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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,17388.94 8355.94
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$10V_AH,9.58,34.439
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.350,0.000,0.000,0.000
$MEM,230244
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