version: 66.12
glider: 179
mission: 13
dive: 86
start: 10 14 114 18 9 15
data:
$ID,179
$MISSION,13
$DIVE,86
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,141014,180025,1430.307,14448.932,24,0.8,44,0.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.1
$GPS2,141014,180858,1430.270,14448.890,5,0.8,26,0.8
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,86.4,16409,-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,88,end surface,CONTROL_FINISHED_OK
$STATE,88,begin dive
$GC,90,-0.80,-146.0,120,2268,991,895,0.0,0.0,0,148,0.00,0.00,-55.20,0.000,16386,0.000,0.000,120,2268,2228,2287,2169,0,0,0,0,0,0,28.83,28.83,28.83
$GC,149,-0.80,-146.0,121,2268,2287,2171,3.2,-6.1,9,203,11.10,2.22,-35.78,0.000,18692,0.242,0.055,2573,3650,3522,3533,3512,0,0,0,0,0,0,24.85,25.44,25.70
$GC,307,-0.65,-146.0,2573,3650,3532,3514,44.9,-32.9,39,319,0.22,2.17,0.00,0.000,3078,0.150,0.025,2630,2234,3523,3532,3514,0,0,0,0,0,0,25.13,25.53,28.83
$GC,618,-0.57,-146.0,2631,2235,3533,3514,120.9,-25.2,71,623,0.12,0.00,0.00,0.000,2054,0.158,0.000,2662,2233,3523,3533,3514,0,0,0,0,0,0,25.29,28.83,28.83
$GC,918,-0.57,-146.0,2662,2233,3533,3516,170.5,-11.8,101,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2233,3524,3533,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.61,-146.0,2662,2233,3533,3517,203.9,-11.3,130,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2233,3525,3533,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1528,-0.67,-146.0,2661,2231,3533,3517,235.7,-10.0,140,1536,0.00,2.28,0.00,0.000,260,0.000,0.044,2654,3647,3525,3533,3517,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1565,-0.72,-146.0,2654,3647,3533,3517,238.3,-10.0,141,1574,0.12,2.12,0.00,0.000,5126,0.080,0.025,2593,2254,3525,3533,3517,0,0,0,0,0,0,25.51,25.58,28.83
$GC,1888,-0.72,-146.0,2592,2253,3531,3517,282.8,-12.4,152,1896,0.00,2.25,0.00,0.000,260,0.000,0.045,2583,3647,3523,3530,3517,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2040,-0.72,-146.0,2583,3647,3529,3517,301.9,-13.0,157,2048,0.00,2.12,0.00,0.000,1030,0.000,0.026,2583,2262,3523,3529,3517,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2367,-0.72,-146.0,2583,2262,3525,3517,348.2,-14.0,168,2374,0.00,2.17,0.00,0.000,516,0.000,0.037,2583,859,3520,3524,3517,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2428,-0.72,-146.0,2583,859,3523,3517,355.8,-13.4,170,2436,0.15,2.17,0.00,0.000,3078,0.140,0.030,2613,2252,3520,3523,3517,0,0,0,0,0,0,25.20,25.44,28.83
$GC,2751,-0.76,-146.0,2613,2252,3520,3512,394.9,-11.4,181,2758,0.00,2.25,0.00,0.000,260,0.000,0.049,2604,3647,3515,3519,3512,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2878,-0.79,-146.0,2604,3647,3519,3511,406.8,-10.1,185,2885,0.00,2.12,0.00,0.000,1030,0.000,0.028,2604,2267,3514,3518,3511,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3194,-0.79,-146.0,2604,2267,3518,3507,439.5,-10.6,196,3205,0.00,2.28,0.00,0.000,260,0.000,0.049,2595,3653,3512,3518,3507,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3244,-0.79,-146.0,2595,3653,3517,3506,442.9,-10.9,197,3252,0.00,2.12,0.00,0.000,1030,0.000,0.029,2595,2283,3511,3517,3506,0,0,0,0,0,0,28.83,25.47,28.83
$GC,3550,-0.79,-146.0,2595,2282,3515,3502,482.7,-12.7,207,3558,0.00,2.25,0.00,0.000,516,0.000,0.040,2595,862,3508,3515,3502,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3607,-0.79,-146.0,2594,861,3513,3502,486.8,-12.6,208,3617,0.00,2.22,0.00,0.000,1030,0.000,0.032,2587,2275,3507,3513,3502,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3912,-0.79,-146.0,2587,2276,3511,3498,529.0,-12.5,219,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2276,3504,3510,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-0.79,-146.0,2587,2276,3508,3496,564.9,-11.5,229,4220,0.00,2.25,0.00,0.000,260,0.000,0.052,2577,3653,3502,3508,3496,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4294,-0.79,-146.0,2577,3653,3507,3495,571.7,-11.2,231,4301,0.00,2.15,0.00,0.000,1030,0.000,0.031,2577,2283,3501,3506,3496,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4605,-0.79,-146.0,2578,2282,3506,3492,606.8,-10.3,242,4614,0.00,2.28,0.00,0.000,260,0.000,0.052,2567,3648,3498,3505,3492,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4657,-0.79,-146.0,2567,3649,3504,3492,610.3,-10.2,243,4665,0.00,2.15,0.00,0.000,1030,0.000,0.031,2567,2288,3497,3504,3491,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4963,-0.79,-146.0,2568,2287,3502,3489,646.9,-11.4,253,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2287,3495,3502,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5263,-0.79,-146.0,2567,2287,3501,3486,682.3,-11.8,263,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2287,3493,3501,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5562,-0.79,-146.0,2568,2287,3499,3485,716.2,-11.4,273,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2287,3491,3499,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5863,-0.79,-146.0,2567,2286,3497,3482,750.9,-11.7,283,5870,0.00,2.30,0.00,0.000,516,0.000,0.042,2567,847,3489,3497,3482,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5899,-0.79,-146.0,2568,847,3496,3482,754.4,-12.0,284,5907,0.12,2.30,0.00,0.000,3078,0.158,0.034,2591,2286,3489,3496,3482,0,0,0,0,0,0,25.01,25.24,28.83
$GC,6217,-0.79,-146.0,2591,2287,3494,3480,787.4,-10.1,295,6224,0.00,2.28,0.00,0.000,260,0.000,0.054,2582,3648,3486,3494,3479,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6278,-0.82,-146.0,2582,3648,3494,3479,793.5,-10.4,297,6286,0.00,2.17,0.00,0.000,1030,0.000,0.033,2582,2277,3486,3493,3479,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6601,-0.82,-146.0,2582,2276,3493,3477,828.5,-10.9,308,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2276,3485,3493,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6900,-0.82,-146.0,2582,2276,3492,3476,861.0,-10.7,318,6908,0.00,2.30,0.00,0.000,516,0.000,0.044,2582,857,3484,3492,3476,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6952,-0.82,-146.0,2582,857,3491,3476,864.0,-10.8,319,6962,0.00,2.30,0.00,0.000,1030,0.000,0.034,2573,2292,3483,3491,3475,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7258,-0.82,-146.0,2573,2292,3487,3475,901.8,-11.6,330,7265,0.00,2.25,0.00,0.000,260,0.000,0.055,2563,3649,3481,3487,3475,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7304,-0.82,-146.0,2563,3649,3487,3475,905.5,-11.6,331,7312,0.00,2.17,0.00,0.000,1030,0.000,0.034,2563,2292,3481,3487,3475,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7617,-0.82,-146.0,2563,2291,3487,3474,944.4,-11.9,342,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2291,3480,3486,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7916,-0.82,-146.0,2563,2290,3487,3473,977.8,-11.0,352,7924,0.00,2.30,0.00,0.000,260,0.000,0.055,2554,3654,3479,3485,3473,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7943,-0.82,-146.0,2554,3654,3486,3473,980.8,-11.0,353,7951,0.00,2.17,0.00,0.000,1030,0.000,0.033,2554,2293,3479,3485,3473,0,0,0,0,0,0,28.83,25.26,28.83
$STATE,8034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8034,begin apogee
$GC,8037,-0.13,0.0,2554,1991,3485,3473,991.3,-11.3,356,8172,0.82,0.00,127.72,1.117,10244,0.117,0.000,2801,1991,2926,2971,2882,0,0,0,0,0,0,24.79,28.83,22.40
$STATE,8173,end apogee,CONTROL_FINISHED_OK
$STATE,8173,begin climb
$GC,8174,0.80,146.0,2801,1991,2971,2880,995.3,0.0,360,8327,0.88,2.42,140.85,1.100,10756,0.054,0.048,3104,601,2330,2385,2276,0,0,0,0,0,0,23.92,23.89,22.22
$GC,8356,0.90,236.3,3104,601,2384,2269,990.2,5.0,366,8450,0.00,2.33,84.40,1.081,9222,0.000,0.031,3104,2001,1963,2024,1902,0,0,0,0,0,0,28.83,24.22,22.17
$GC,8754,0.83,236.3,3104,2001,2022,1888,931.7,15.1,380,8765,0.00,2.30,0.00,0.000,260,0.000,0.049,3104,3405,1954,2021,1888,0,0,0,0,0,0,28.83,25.26,28.83
$GC,8849,0.75,236.3,3104,3405,2021,1888,917.4,15.8,383,8857,0.00,2.20,0.00,0.000,1030,0.000,0.033,3113,2020,1954,2021,1888,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9171,0.67,236.3,3113,2019,2021,1887,867.0,15.1,394,9179,0.17,2.33,0.00,0.000,4612,0.161,0.047,3074,593,1954,2021,1887,0,0,0,0,0,0,25.11,25.34,28.83
$GC,9208,0.61,236.3,3074,593,2020,1886,863.5,14.8,395,9217,0.12,2.25,0.00,0.000,5126,0.161,0.032,3043,2021,1953,2020,1886,0,0,0,0,0,0,25.17,25.42,28.83
$GC,9526,0.61,236.3,3043,2021,2021,1884,830.3,9.4,406,9534,0.00,2.25,0.00,0.000,260,0.000,0.048,3043,3400,1952,2021,1884,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9613,0.61,236.3,3043,3400,2020,1884,821.5,9.9,409,9621,0.00,2.20,0.00,0.000,1030,0.000,0.033,3051,2015,1952,2020,1884,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9945,0.65,252.0,3051,2015,2020,1883,792.7,8.4,420,9967,0.00,2.30,14.05,0.910,8708,0.000,0.049,3061,604,1898,1966,1830,0,0,0,0,0,0,28.83,25.18,23.72
$GC,10006,0.69,268.0,3061,604,1966,1826,787.7,8.4,422,10036,0.00,2.28,16.00,0.916,9222,0.000,0.032,3061,2027,1833,1902,1764,0,0,0,0,0,0,28.83,25.26,23.61
$GC,10331,0.69,268.0,3061,2027,1900,1759,757.1,9.5,433,10339,0.00,2.22,0.00,0.000,260,0.000,0.048,3061,3400,1830,1900,1760,0,0,0,0,0,0,28.83,25.28,28.83
$GC,10407,0.69,268.0,3061,3400,1900,1759,751.3,9.8,435,10415,0.00,2.17,0.00,0.000,1030,0.000,0.033,3070,2032,1829,1900,1759,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10713,0.69,268.0,3070,2031,1900,1759,717.3,10.7,445,10721,0.00,2.33,0.00,0.000,516,0.000,0.050,3080,595,1829,1899,1759,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10764,0.69,268.0,3080,596,1899,1758,714.3,10.8,446,10775,0.00,2.25,0.00,0.000,1030,0.000,0.031,3080,2022,1828,1899,1758,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,17572,end climb,SURFACE_DEPTH_REACHED
$STATE,17572,begin surface coast
$FINISH,0.8,1.020167
$STATE,17603,end surface coast,CONTROL_FINISHED_OK
$STATE,17603,begin surface
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17631.91 8956.62
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$10V_AH,9.53,30.481
$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,230236
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