version: 66.12
glider: 179
mission: 13
dive: 155
start: 10 28 114 17 48 12
data:
$ID,179
$MISSION,13
$DIVE,155
$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,10
$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,40
$R_STBD_OVSHOOT,40
$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,9.5
$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,0
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,281014,174018,1448.490,14426.830,37,0.8,57,0.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.5
$GPS2,281014,174756,1448.551,14426.712,4,0.8,25,0.6
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N5
$TGT_LATLONG,1334.700,14438.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,158.6,138408,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.80,-146.0,120,2277,1217,1120,0.0,0.0,0,77,0.00,0.00,-62.08,0.000,16386,0.000,0.000,120,2277,2622,2654,2591,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.80,-146.0,120,2277,2654,2592,4.5,-6.1,2,115,11.27,2.28,-18.12,0.000,18948,0.240,0.047,2578,833,3525,3535,3515,0,0,0,0,0,0,24.82,25.93,26.55
$GC,296,-0.65,-146.0,2578,832,3534,3517,71.3,-30.9,9,300,0.22,2.20,0.00,0.000,3078,0.145,0.028,2629,2255,3525,3534,3517,0,0,0,0,0,0,25.53,26.06,28.83
$GC,606,-0.61,-146.0,2629,2255,3535,3518,133.4,-16.4,20,609,0.00,2.20,0.00,0.000,516,0.000,0.034,2629,840,3526,3534,3518,0,0,0,0,0,0,28.83,26.06,28.83
$GC,685,-0.57,-146.0,2630,840,3534,3519,146.1,-15.8,23,689,0.12,2.12,0.00,0.000,3078,0.146,0.028,2655,2222,3527,3535,3519,0,0,0,0,0,0,25.89,26.16,28.83
$GC,1005,-0.57,-146.0,2656,2222,3535,3520,188.2,-12.7,34,1009,0.00,2.28,0.00,0.000,260,0.000,0.044,2646,3655,3527,3535,3520,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1145,-0.62,-146.0,2646,3656,3535,3520,205.2,-12.0,39,1149,0.00,2.20,0.00,0.000,1030,0.000,0.024,2646,2205,3527,3535,3520,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1465,-0.66,-146.0,2646,2205,3535,3520,240.4,-10.7,50,1469,0.00,2.33,0.00,0.000,260,0.000,0.043,2636,3648,3527,3534,3520,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1495,-0.70,-146.0,2636,3648,3535,3520,242.4,-10.7,51,1499,0.00,2.15,0.00,0.000,1030,0.000,0.024,2636,2233,3527,3535,3520,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1806,-0.73,-146.0,2636,2232,3533,3520,276.0,-10.4,62,1809,0.00,2.30,0.00,0.000,260,0.000,0.045,2630,3651,3526,3533,3520,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1875,-0.78,-146.0,2630,3651,3533,3520,282.0,-11.5,64,1879,0.12,2.12,0.00,0.000,5126,0.085,0.024,2567,2258,3526,3533,3520,0,0,0,0,0,0,26.22,26.32,28.83
$GC,2176,-0.78,-146.0,2567,2257,3529,3520,326.4,-13.5,74,2179,0.00,2.15,0.00,0.000,516,0.000,0.036,2567,864,3524,3529,3519,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2255,-0.75,-146.0,2567,863,3528,3520,337.1,-13.3,77,2259,0.15,2.15,0.00,0.000,3078,0.146,0.028,2599,2256,3523,3528,3519,0,0,0,0,0,0,25.81,26.15,28.83
$GC,2576,-0.75,-146.0,2600,2256,3524,3519,374.8,-12.4,88,2579,0.00,2.25,0.00,0.000,260,0.000,0.047,2590,3653,3520,3523,3518,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2645,-0.75,-146.0,2590,3653,3522,3518,381.3,-12.8,90,2648,0.00,2.15,0.00,0.000,1030,0.000,0.026,2590,2254,3520,3522,3518,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2946,-0.75,-146.0,2590,2255,3519,3514,421.3,-11.8,100,2949,0.00,2.17,0.00,0.000,516,0.000,0.037,2590,859,3516,3519,3514,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3055,-0.75,-146.0,2590,859,3519,3513,434.6,-12.2,104,3059,0.00,2.17,0.00,0.000,1030,0.000,0.030,2583,2254,3515,3518,3513,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3375,-0.75,-146.0,2583,2254,3517,3508,475.6,-13.1,115,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2254,3512,3517,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.75,-146.0,2582,2254,3514,3505,512.7,-11.8,125,3679,0.00,2.28,0.00,0.000,260,0.000,0.050,2573,3651,3509,3513,3505,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3725,-0.75,-146.0,2573,3651,3512,3505,518.5,-11.6,127,3729,0.00,2.17,0.00,0.000,1030,0.000,0.028,2573,2251,3508,3512,3505,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4045,-0.75,-146.0,2573,2252,3510,3501,555.5,-11.1,138,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2251,3505,3510,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4345,-0.75,-146.0,2573,2251,3508,3498,588.8,-11.2,148,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2251,3503,3508,3498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.75,-146.0,2572,2251,3506,3495,623.0,-11.5,158,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2251,3500,3506,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.75,-146.0,2573,2251,3504,3493,658.3,-11.9,168,4948,0.00,2.20,0.00,0.000,516,0.000,0.041,2573,858,3497,3503,3492,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4985,-0.75,-146.0,2573,859,3503,3492,660.8,-12.1,169,4989,0.12,2.20,0.00,0.000,3078,0.155,0.032,2598,2254,3497,3503,3492,0,0,0,0,0,0,25.72,25.99,28.83
$GC,5286,-0.79,-146.0,2598,2255,3501,3490,691.9,-8.9,179,5289,0.00,2.30,0.00,0.000,260,0.000,0.051,2589,3654,3495,3501,3489,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5315,-0.83,-146.0,2589,3654,3501,3489,693.7,-8.9,180,5318,0.00,2.20,0.00,0.000,1030,0.000,0.030,2589,2250,3495,3501,3489,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5625,-0.83,-146.0,2589,2250,3500,3487,721.2,-8.4,191,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2250,3493,3499,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,-0.83,-146.0,2589,2249,3499,3485,748.5,-9.4,201,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2249,3491,3498,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6225,-0.86,-146.0,2589,2249,3496,3483,777.9,-9.9,211,6229,0.00,2.35,0.00,0.000,260,0.000,0.051,2580,3656,3489,3495,3483,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6255,-0.89,-146.0,2580,3656,3495,3483,780.0,-10.0,212,6258,0.00,2.20,0.00,0.000,1030,0.000,0.029,2580,2254,3489,3495,3483,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6565,-0.89,-146.0,2580,2254,3494,3480,814.3,-10.9,223,6569,0.00,2.22,0.00,0.000,516,0.000,0.042,2580,856,3487,3494,3480,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6595,-0.89,-146.0,2581,856,3494,3480,816.7,-10.9,224,6598,0.00,2.22,0.00,0.000,1030,0.000,0.033,2572,2259,3486,3493,3480,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6905,-0.89,-146.0,2572,2259,3493,3479,851.2,-10.5,235,6909,0.00,2.30,0.00,0.000,260,0.000,0.053,2562,3650,3485,3492,3479,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6945,-0.89,-146.0,2562,3650,3492,3479,853.4,-10.6,236,6949,0.00,2.20,0.00,0.000,1030,0.000,0.031,2562,2259,3485,3492,3479,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7245,-0.89,-146.0,2562,2259,3491,3478,888.2,-10.7,246,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2259,3484,3491,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7546,-0.89,-146.0,2562,2258,3490,3476,920.5,-10.7,256,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2259,3483,3490,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7846,-0.89,-146.0,2562,2259,3489,3474,953.0,-10.7,266,7849,0.00,2.35,0.00,0.000,260,0.000,0.054,2553,3650,3481,3489,3474,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7865,-0.89,-146.0,2552,3650,3489,3474,955.2,-10.7,267,7868,0.00,2.20,0.00,0.000,1030,0.000,0.031,2553,2265,3481,3488,3474,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8188,-0.13,0.0,2552,1993,3487,3473,992.2,-11.6,278,8320,0.80,0.00,129.57,1.101,10244,0.119,0.000,2798,1993,2926,2971,2881,0,0,0,0,0,0,24.96,28.83,22.13
$STATE,8320,end apogee,CONTROL_FINISHED_OK
$STATE,8320,begin climb
$GC,8322,0.80,146.0,2798,1993,2971,2880,996.8,0.0,282,8475,0.88,2.35,146.88,1.083,10756,0.057,0.048,3104,615,2330,2387,2273,0,0,0,0,0,0,24.29,24.26,21.63
$GC,8486,0.99,269.9,3104,615,2386,2269,994.4,3.5,288,8611,0.17,2.38,119.00,1.075,11270,0.071,0.029,3173,1999,1825,1887,1764,0,0,0,0,0,0,24.01,24.04,21.63
$GC,8925,0.86,269.9,3172,1999,1886,1751,919.0,18.1,303,8929,0.20,2.30,0.00,0.000,4356,0.169,0.049,3122,3403,1818,1886,1751,0,0,0,0,0,0,25.58,25.73,28.83
$GC,8985,0.74,269.9,3122,3403,1885,1751,910.9,17.3,305,8989,0.17,2.20,0.00,0.000,5126,0.158,0.031,3085,2021,1818,1885,1751,0,0,0,0,0,0,25.56,25.98,28.83
$GC,9295,0.74,269.9,3085,2021,1886,1749,873.5,11.1,316,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2021,1817,1885,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9595,0.74,269.9,3085,2021,1886,1748,841.3,10.7,326,9599,0.00,2.30,0.00,0.000,516,0.000,0.049,3094,602,1816,1885,1748,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9625,0.74,269.9,3094,602,1886,1746,839.1,10.8,327,9628,0.00,2.22,0.00,0.000,1030,0.000,0.031,3094,2021,1815,1885,1746,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9936,0.71,269.9,3094,2021,1885,1746,801.7,12.0,338,9939,0.00,2.25,0.00,0.000,260,0.000,0.049,3094,3397,1815,1885,1746,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10015,0.66,269.9,3094,3398,1885,1746,791.3,12.7,341,10019,0.15,2.17,0.00,0.000,5126,0.161,0.031,3062,2025,1815,1885,1746,0,0,0,0,0,0,25.67,26.07,28.83
$GC,10336,0.66,269.9,3062,2024,1885,1746,757.5,10.6,352,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2024,1815,1885,1745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10635,0.66,269.9,3062,2024,1885,1745,723.9,11.3,362,10638,0.00,2.33,0.00,0.000,516,0.000,0.049,3071,595,1815,1885,1745,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10695,0.66,269.9,3071,594,1885,1745,718.3,11.3,364,10698,0.00,2.25,0.00,0.000,1030,0.000,0.031,3071,2032,1815,1885,1745,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11006,0.66,269.9,3071,2032,1885,1744,681.4,11.6,375,11009,0.00,2.25,0.00,0.000,260,0.000,0.049,3071,3403,1814,1884,1745,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,17504,end climb,SURFACE_DEPTH_REACHED
$STATE,17504,begin surface coast
$FINISH,1.0,0.968492
$STATE,17535,end surface coast,CONTROL_FINISHED_OK
$STATE,17535,begin surface
$SM_CCo,17611,0.00,0.000,0,0,1115,444.48
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$TT8_MAMPS,0.05243,0.05243
$HUMID,56.97
$INTERNAL_PRESSURE,9.37851
$TCM_TEMP,25.80
$XPDR_PINGS,6
$24V_AH,21.63,57.855
$10V_AH,10.13,38.112
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.600,166.100,548.650,0.000,0.000,0.000,0.000,311.525,1.500,0.000,33.259,0.000,15236.988,776.651,1903.188,141.733,0.000,1733.072,0.000,1170.212,0.000,0.541,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230192
$DATA_FILE_SIZE,23476,598
$CAP_FILE_SIZE,140822,0
$CFSIZE,260034560,244625408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17877.45,0x236bc6,7,5
$CURRENT,0.057,251.38,1
$GPS,281014,224254,1446.369,14426.916,33,0.8,53,0.6