version: 66.12
glider: 179
mission: 13
dive: 100
start: 10 17 114 19 0 17
data:
$ID,179
$MISSION,13
$DIVE,100
$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,42
$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,48
$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
$GPS1,171014,183824,1448.995,14449.902,39,0.8,59,0.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.8
$GPS2,171014,185959,1449.114,14449.756,5,0.8,26,0.7
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N3
$TGT_LATLONG,1543.600,14423.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,357.2,111011,-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,-146.0,120,2260,1187,1093,0.0,0.0,0,154,0.00,0.00,-56.65,0.000,16386,0.000,0.000,120,2260,2452,2496,2408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.80,-146.0,120,2260,2496,2407,3.3,-5.7,8,198,11.15,2.30,-25.75,0.000,18692,0.239,0.055,2569,3650,3523,3534,3513,0,0,0,0,0,0,24.81,25.51,25.78
$GC,307,-0.65,-146.0,2569,3649,3534,3515,49.1,-31.7,36,320,0.22,2.15,0.00,0.000,3078,0.149,0.024,2630,2231,3524,3534,3515,0,0,0,0,0,0,25.16,25.61,28.83
$GC,615,-0.56,-146.0,2629,2229,3534,3515,126.6,-23.8,67,623,0.12,2.30,0.00,0.000,2308,0.155,0.043,2657,3648,3524,3533,3515,0,0,0,0,0,0,25.32,25.40,28.83
$GC,737,-0.56,-146.0,2657,3648,3534,3515,147.9,-14.3,78,748,0.00,2.08,0.00,0.000,1030,0.000,0.024,2656,2276,3524,3533,3515,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1043,-0.56,-146.0,2657,2270,3534,3515,196.7,-14.7,109,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2269,3524,3534,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-0.59,-146.0,2656,2269,3534,3515,229.5,-11.3,121,1350,0.00,2.20,0.00,0.000,260,0.000,0.044,2648,3646,3524,3534,3515,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1514,-0.64,-146.0,2647,3646,3534,3515,246.7,-11.6,126,1524,0.00,2.05,0.00,0.000,1030,0.000,0.024,2647,2279,3524,3533,3515,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1819,-0.69,-146.0,2648,2279,3532,3515,280.1,-10.1,137,1831,0.00,2.15,0.00,0.000,516,0.000,0.034,2647,871,3523,3532,3515,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1880,-0.74,-146.0,2648,871,3531,3515,287.2,-11.1,139,1888,0.00,2.17,0.00,0.000,1030,0.000,0.028,2640,2286,3523,3531,3515,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2207,-0.79,-146.0,2640,2287,3525,3515,323.5,-9.6,150,2215,0.12,2.22,0.00,0.000,4612,0.081,0.034,2571,870,3520,3525,3515,0,0,0,0,0,0,25.58,25.48,28.83
$GC,2250,-0.82,-146.0,2571,870,3524,3516,326.8,-9.8,151,2257,0.00,2.20,0.00,0.000,1030,0.000,0.029,2563,2291,3519,3524,3515,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2562,-0.79,-146.0,2563,2291,3519,3513,370.2,-13.5,162,2569,0.00,2.20,0.00,0.000,260,0.000,0.048,2553,3657,3516,3519,3513,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2638,-0.79,-146.0,2553,3657,3518,3513,377.9,-13.4,164,2647,0.15,2.08,0.00,0.000,3078,0.142,0.028,2592,2306,3515,3518,3513,0,0,0,0,0,0,25.27,25.58,28.83
$GC,2951,-0.79,-146.0,2592,2305,3517,3507,420.0,-12.7,175,2959,0.00,2.25,0.00,0.000,516,0.000,0.037,2592,869,3512,3517,3508,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2993,-0.79,-146.0,2592,869,3516,3508,424.2,-12.6,176,3001,0.00,2.22,0.00,0.000,1030,0.000,0.031,2584,2293,3511,3516,3507,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3315,-0.79,-146.0,2584,2294,3512,3503,464.1,-11.7,187,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2294,3507,3512,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.79,-146.0,2584,2294,3509,3499,498.6,-11.2,197,3624,0.00,2.22,0.00,0.000,260,0.000,0.050,2574,3658,3504,3509,3499,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3703,-0.79,-146.0,2574,3658,3508,3499,506.3,-11.7,199,3713,0.00,2.10,0.00,0.000,1030,0.000,0.031,2574,2308,3503,3507,3500,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4009,-0.79,-146.0,2574,2307,3506,3494,546.3,-11.8,210,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2307,3499,3505,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4309,-0.79,-146.0,2574,2307,3503,3491,581.9,-12.0,220,4317,0.00,2.25,0.00,0.000,260,0.000,0.051,2565,3657,3496,3502,3491,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4375,-0.79,-146.0,2564,3657,3502,3491,589.1,-12.2,222,4383,0.00,2.10,0.00,0.000,1030,0.000,0.031,2565,2316,3496,3501,3491,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4692,-0.79,-146.0,2565,2313,3499,3487,631.2,-12.6,233,4700,0.00,2.30,0.00,0.000,516,0.000,0.042,2565,872,3493,3500,3487,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4734,-0.79,-146.0,2565,872,3499,3486,635.3,-12.6,234,4742,0.12,2.28,0.00,0.000,3078,0.154,0.034,2588,2306,3492,3499,3486,0,0,0,0,0,0,25.13,25.36,28.83
$GC,5056,-0.79,-146.0,2588,2306,3496,3484,669.9,-9.9,245,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2306,3490,3496,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5356,-0.79,-146.0,2588,2305,3494,3480,698.5,-9.3,255,5364,0.00,2.33,0.00,0.000,516,0.000,0.043,2588,875,3487,3494,3480,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5398,-0.79,-146.0,2588,874,3493,3480,701.6,-9.4,256,5406,0.00,2.25,0.00,0.000,1030,0.000,0.034,2581,2291,3486,3493,3480,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5720,-0.79,-146.0,2581,2291,3492,3478,735.1,-10.2,267,5727,0.00,2.25,0.00,0.000,260,0.000,0.054,2571,3650,3484,3491,3478,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5757,-0.79,-146.0,2571,3651,3490,3478,737.8,-10.2,268,5764,0.00,2.12,0.00,0.000,1030,0.000,0.033,2571,2306,3484,3491,3478,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6073,-0.79,-146.0,2570,2305,3489,3475,774.3,-11.6,279,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2305,3482,3489,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6373,-0.79,-146.0,2571,2305,3487,3473,810.9,-12.4,289,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2305,3480,3487,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6673,-0.79,-146.0,2571,2305,3486,3473,849.0,-12.9,299,6681,0.00,2.30,0.00,0.000,516,0.000,0.044,2571,872,3479,3486,3472,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6745,-0.79,-146.0,2571,872,3487,3472,856.7,-13.2,301,6753,0.00,2.30,0.00,0.000,1030,0.000,0.035,2563,2302,3479,3486,3472,0,0,0,0,0,0,28.83,25.24,28.83
$GC,7062,-0.79,-146.0,2563,2302,3486,3469,901.4,-13.4,312,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2302,3477,3485,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,-0.79,-146.0,2563,2302,3484,3467,940.0,-12.6,322,7370,0.00,2.25,0.00,0.000,260,0.000,0.054,2554,3650,3476,3484,3468,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7388,-0.79,-146.0,2553,3650,3483,3467,943.6,-12.7,323,7396,0.15,2.12,0.00,0.000,3078,0.145,0.034,2592,2316,3475,3483,3467,0,0,0,0,0,0,24.98,25.27,28.83
$GC,7721,-0.83,-146.0,2592,2316,3482,3466,977.5,-9.8,334,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2316,3474,3482,3466,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7869,begin apogee
$GC,7873,-0.13,0.0,2592,2016,3481,3466,991.5,-9.3,339,8007,0.68,0.00,126.28,1.113,10244,0.107,0.000,2800,2016,2926,2972,2881,0,0,0,0,0,0,24.81,28.83,22.38
$STATE,8008,end apogee,CONTROL_FINISHED_OK
$STATE,8008,begin climb
$GC,8009,0.80,146.0,2799,2016,2973,2879,995.5,0.0,343,8163,0.88,2.40,141.07,1.096,10756,0.054,0.049,3105,615,2330,2386,2274,0,0,0,0,0,0,23.99,23.97,22.14
$GC,8182,0.92,246.1,3105,615,2384,2268,991.1,4.6,349,8285,0.12,2.30,93.65,1.081,11270,0.085,0.031,3153,2001,1922,1983,1862,0,0,0,0,0,0,24.13,24.15,22.11
$GC,8590,0.80,246.1,3153,2001,1981,1848,921.2,17.6,363,8599,0.17,2.30,0.00,0.000,4356,0.161,0.047,3106,3401,1914,1981,1848,0,0,0,0,0,0,25.14,25.35,28.83
$GC,8672,0.70,246.1,3106,3401,1981,1848,912.3,16.6,365,8683,0.17,2.20,0.00,0.000,5126,0.156,0.033,3070,2014,1914,1981,1848,0,0,0,0,0,0,25.18,25.48,28.83
$GC,8978,0.70,246.1,3069,2014,1981,1844,874.6,10.8,376,8986,0.00,2.30,0.00,0.000,516,0.000,0.050,3078,593,1912,1980,1845,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9005,0.70,246.1,3079,594,1980,1844,871.6,10.7,377,9013,0.00,2.22,0.00,0.000,1030,0.000,0.033,3079,2012,1912,1980,1844,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9332,0.67,246.1,3079,2012,1980,1843,837.7,10.1,388,9340,0.00,2.28,0.00,0.000,260,0.000,0.049,3079,3404,1911,1980,1843,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9419,0.63,246.1,3079,3404,1980,1843,828.1,10.8,391,9427,0.15,2.20,0.00,0.000,5126,0.159,0.034,3049,2017,1911,1980,1843,0,0,0,0,0,0,25.13,25.41,28.83
$GC,9746,0.64,249.4,3049,2017,1981,1842,798.6,9.0,402,9754,0.00,2.30,0.00,0.000,516,0.000,0.050,3059,601,1911,1980,1842,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9793,0.64,250.4,3059,601,1980,1841,796.0,9.1,403,9801,0.00,2.22,0.00,0.000,1030,0.000,0.033,3059,2015,1910,1980,1841,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10098,0.64,250.4,3059,2015,1980,1841,764.0,10.2,413,10106,0.00,2.25,0.00,0.000,260,0.000,0.049,3059,3398,1910,1980,1841,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10185,0.64,250.4,3059,3399,1980,1840,754.3,11.0,416,10193,0.00,2.17,0.00,0.000,1030,0.000,0.034,3068,2036,1910,1980,1841,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10512,0.64,250.4,3068,2036,1979,1841,718.6,11.0,427,10524,0.00,2.33,0.00,0.000,516,0.000,0.050,3079,601,1910,1979,1841,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10543,0.64,250.4,3079,602,1979,1840,715.1,11.1,428,10550,0.00,2.28,0.00,0.000,1030,0.000,0.034,3079,2034,1909,1978,1841,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10870,0.64,250.4,3079,2035,1978,1840,679.2,10.7,439,10880,0.00,2.22,0.00,0.000,260,0.000,0.049,3079,3399,1909,1978,1840,0,0,0,0,0,0,28.83,25.19,28.83
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$STATE,17588,end climb,SURFACE_DEPTH_REACHED
$STATE,17588,begin surface coast
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17638.07 8259.46
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