version: 66.12
glider: 179
mission: 13
dive: 76
start: 10 12 114 15 31 5
data:
$ID,179
$MISSION,13
$DIVE,76
$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,47
$R_STBD_OVSHOOT,58
$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,22
$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
$GPS1,121014,152042,1430.342,14435.249,39,0.8,59,0.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.2
$GPS2,121014,153048,1430.316,14435.283,3,0.8,24,0.7
$SPEED_LIMITS,0.092,0.231
$TGT_NAME,N2
$TGT_LATLONG,1432.300,14457.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,117.8,40532,-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,-146.0,120,2276,1240,1147,0.0,0.0,0,147,0.00,0.00,-47.45,0.000,16386,0.000,0.000,120,2276,2279,2327,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,149,-0.80,-146.0,121,2276,2330,2231,3.1,-4.3,6,212,11.25,2.30,-35.08,0.000,18948,0.243,0.046,2581,843,3524,3534,3514,0,0,0,0,0,0,24.77,25.39,25.60
$GC,257,-0.61,-146.0,2581,843,3534,3516,27.2,-33.4,20,275,0.28,2.17,0.00,0.000,3078,0.145,0.032,2645,2232,3525,3534,3516,0,0,0,0,0,0,25.05,25.40,28.83
$GC,589,-0.56,-146.0,2646,2233,3534,3516,100.3,-18.1,57,598,0.00,2.28,0.00,0.000,260,0.000,0.045,2635,3660,3525,3534,3516,0,0,0,0,0,0,28.83,25.36,28.83
$GC,682,-0.52,-146.0,2635,3660,3534,3516,117.4,-17.2,66,690,0.15,2.17,0.00,0.000,3078,0.136,0.024,2676,2248,3525,3534,3516,0,0,0,0,0,0,25.21,25.48,28.83
$GC,987,-0.52,-146.0,2676,2243,3534,3517,161.0,-15.0,96,995,0.00,2.28,0.00,0.000,260,0.000,0.045,2668,3660,3525,3534,3517,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1119,-0.56,-146.0,2668,3660,3534,3517,178.0,-13.2,108,1131,0.00,2.10,0.00,0.000,1030,0.000,0.024,2667,2276,3525,3534,3517,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1436,-0.59,-146.0,2667,2276,3534,3517,217.7,-10.7,130,1446,0.00,2.15,0.00,0.000,516,0.000,0.034,2667,865,3525,3534,3517,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1545,-0.63,-146.0,2667,865,3534,3517,226.3,-9.6,133,1553,0.00,2.15,0.00,0.000,1030,0.000,0.027,2661,2269,3525,3534,3517,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1850,-0.68,-146.0,2661,2269,3534,3517,258.1,-10.1,143,1856,0.10,0.00,0.00,0.000,4102,0.098,0.000,2609,2270,3525,3534,3517,0,0,0,0,0,0,25.48,28.83,28.83
$GC,2151,-0.68,-146.0,2609,2270,3533,3517,294.1,-11.6,153,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2269,3524,3532,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2450,-0.68,-146.0,2609,2270,3529,3517,328.0,-11.3,163,2459,0.00,2.22,0.00,0.000,260,0.000,0.046,2599,3655,3522,3528,3517,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2553,-0.68,-146.0,2599,3655,3528,3517,338.3,-11.8,166,2562,0.00,2.12,0.00,0.000,1030,0.000,0.026,2599,2269,3521,3526,3517,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2871,-0.68,-146.0,2599,2267,3523,3516,376.6,-11.3,177,2878,0.00,2.25,0.00,0.000,260,0.000,0.047,2590,3648,3519,3522,3516,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2897,-0.68,-146.0,2590,3648,3522,3516,379.7,-11.3,178,2905,0.15,2.10,0.00,0.000,3078,0.136,0.028,2629,2280,3518,3521,3516,0,0,0,0,0,0,25.22,25.48,28.83
$GC,3230,-0.73,-146.0,2629,2279,3519,3511,410.2,-9.4,189,3237,0.00,2.22,0.00,0.000,516,0.000,0.038,2629,863,3515,3518,3512,0,0,0,0,0,0,28.83,25.36,28.83
$GC,3311,-0.79,-146.0,2630,862,3518,3511,416.8,-10.1,191,3319,0.00,2.20,0.00,0.000,1030,0.000,0.031,2624,2271,3514,3518,3511,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3623,-0.84,-146.0,2624,2272,3516,3506,453.1,-11.4,202,3632,0.12,2.25,0.00,0.000,4612,0.088,0.037,2559,864,3511,3516,3506,0,0,0,0,0,0,25.41,25.33,28.83
$GC,3661,-0.87,-146.0,2558,862,3516,3506,457.8,-12.0,203,3675,0.00,2.22,0.00,0.000,1030,0.000,0.031,2549,2277,3510,3515,3506,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3989,-0.87,-146.0,2550,2277,3512,3502,508.0,-14.6,214,3997,0.00,2.22,0.00,0.000,260,0.000,0.051,2539,3647,3506,3511,3502,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4080,-0.87,-146.0,2539,3647,3511,3502,520.9,-14.7,217,4089,0.00,2.12,0.00,0.000,1030,0.000,0.030,2539,2285,3506,3510,3502,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4408,-0.83,-146.0,2539,2280,3506,3499,570.6,-14.8,228,4414,0.15,0.00,0.00,0.000,2054,0.159,0.000,2577,2278,3503,3506,3500,0,0,0,0,0,0,25.10,28.83,28.83
$GC,4708,-0.83,-146.0,2577,2278,3503,3497,609.9,-13.3,238,4719,0.00,2.28,0.00,0.000,260,0.000,0.052,2567,3655,3500,3503,3497,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4762,-0.83,-146.0,2567,3654,3502,3497,614.0,-13.4,239,4773,0.00,2.15,0.00,0.000,1030,0.000,0.031,2567,2283,3499,3502,3497,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5068,-0.83,-146.0,2567,2282,3501,3493,660.3,-14.0,250,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2282,3497,3501,3494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,-0.83,-146.0,2567,2282,3499,3491,699.5,-12.7,260,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2282,3494,3498,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5668,-0.83,-146.0,2568,2282,3495,3488,734.3,-11.4,270,5676,0.00,2.28,0.00,0.000,516,0.000,0.043,2567,862,3491,3495,3488,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5700,-0.83,-146.0,2567,862,3495,3489,737.5,-11.5,271,5707,0.00,2.28,0.00,0.000,1030,0.000,0.034,2560,2288,3491,3495,3488,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6022,-0.83,-146.0,2561,2288,3493,3486,774.8,-11.3,282,6030,0.00,2.28,0.00,0.000,260,0.000,0.055,2550,3650,3489,3493,3486,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6079,-0.83,-146.0,2550,3649,3493,3486,781.3,-11.3,284,6086,0.00,2.15,0.00,0.000,1030,0.000,0.033,2550,2290,3489,3492,3486,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6405,-0.83,-146.0,2550,2289,3490,3483,818.8,-11.8,295,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2289,3487,3491,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6705,-0.83,-146.0,2550,2288,3490,3480,854.6,-11.7,305,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2288,3484,3489,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7005,-0.83,-146.0,2550,2286,3488,3479,891.2,-12.5,315,7013,0.00,2.30,0.00,0.000,260,0.000,0.054,2541,3657,3483,3487,3479,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7042,-0.83,-146.0,2541,3657,3487,3479,894.6,-12.6,316,7050,0.15,2.17,0.00,0.000,3078,0.151,0.032,2578,2293,3483,3487,3479,0,0,0,0,0,0,24.94,25.27,28.83
$GC,7364,-0.83,-146.0,2578,2292,3487,3477,930.0,-10.5,327,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2293,3481,3486,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7664,-0.83,-146.0,2578,2292,3486,3475,961.8,-10.7,337,7672,0.00,2.30,0.00,0.000,260,0.000,0.055,2569,3657,3480,3486,3475,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7691,-0.83,-146.0,2569,3657,3486,3475,961.8,-10.7,337,7701,0.00,2.17,0.00,0.000,1030,0.000,0.034,2569,2294,3480,3486,3475,0,0,0,0,0,0,28.83,25.24,28.83
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7934,begin apogee
$GC,7938,-0.13,0.0,2569,1993,3485,3474,992.2,-11.3,346,8073,0.75,0.00,127.50,1.128,10244,0.115,0.000,2795,1992,2926,2971,2882,0,0,0,0,0,0,24.84,28.83,22.34
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8075,0.80,146.0,2795,1992,2971,2880,997.2,0.0,350,8228,0.90,2.40,139.95,1.109,10756,0.057,0.049,3106,607,2330,2385,2275,0,0,0,0,0,0,23.95,23.93,22.20
$GC,8247,0.95,258.6,3106,607,2384,2269,993.9,4.0,356,8363,0.15,2.33,104.60,1.097,11270,0.078,0.031,3167,2004,1871,1931,1812,0,0,0,0,0,0,24.13,24.14,22.19
$GC,8658,0.81,258.6,3167,2004,1930,1800,919.4,19.5,370,8669,0.20,2.30,0.00,0.000,4356,0.168,0.047,3113,3410,1864,1930,1799,0,0,0,0,0,0,25.01,25.24,28.83
$GC,8718,0.70,258.6,3113,3410,1930,1799,908.7,18.8,372,8726,0.20,2.22,0.00,0.000,5126,0.156,0.032,3070,2011,1864,1930,1799,0,0,0,0,0,0,25.08,25.37,28.83
$GC,9045,0.70,258.6,3070,2010,1930,1796,865.2,13.1,383,9053,0.00,2.28,0.00,0.000,516,0.000,0.050,3079,600,1862,1930,1795,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9072,0.70,258.6,3079,600,1930,1795,861.6,13.0,384,9079,0.00,2.20,0.00,0.000,1030,0.000,0.031,3079,2008,1862,1929,1795,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9399,0.66,258.6,3079,2008,1930,1794,819.7,12.6,395,9406,0.00,2.28,0.00,0.000,260,0.000,0.048,3079,3398,1861,1929,1794,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9495,0.62,258.6,3079,3398,1930,1794,808.2,13.0,398,9503,0.15,2.20,0.00,0.000,5126,0.161,0.033,3050,2016,1861,1929,1794,0,0,0,0,0,0,25.09,25.37,28.83
$GC,9812,0.62,258.6,3050,2015,1929,1793,774.8,9.8,409,9820,0.00,2.33,0.00,0.000,516,0.000,0.050,3060,597,1860,1929,1792,0,0,0,0,0,0,28.83,25.23,28.83
$GC,9854,0.62,258.6,3060,597,1929,1792,772.0,9.8,410,9862,0.00,2.25,0.00,0.000,1030,0.000,0.032,3060,2023,1860,1929,1792,0,0,0,0,0,0,28.83,25.33,28.83
$GC,10166,0.62,258.6,3060,2024,1928,1792,739.4,9.8,421,10177,0.00,2.25,0.00,0.000,260,0.000,0.049,3060,3397,1860,1929,1792,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10286,0.62,258.6,3059,3397,1929,1792,726.0,11.2,425,10294,0.00,2.17,0.00,0.000,1030,0.000,0.033,3068,2034,1860,1929,1792,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10614,0.62,258.6,3069,2034,1929,1792,690.8,10.3,436,10624,0.00,2.35,0.00,0.000,516,0.000,0.050,3079,594,1860,1929,1792,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10688,0.62,258.6,3079,594,1929,1792,684.7,10.2,438,10696,0.12,2.28,0.00,0.000,5126,0.155,0.032,3049,2033,1860,1928,1792,0,0,0,0,0,0,25.06,25.31,28.83
$GC,11006,0.67,277.6,3049,2033,1928,1791,656.8,8.3,449,11032,0.00,2.30,16.70,0.858,8452,0.000,0.048,3049,3394,1793,1862,1725,0,0,0,0,0,0,28.83,25.09,23.76
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$STATE,17302,end climb,SURFACE_DEPTH_REACHED
$STATE,17302,begin surface coast
$FINISH,0.7,1.011617
$STATE,17333,end surface coast,CONTROL_FINISHED_OK
$STATE,17333,begin surface
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$IRIDIUM_FIX,1420.86,14437.32,121014,152237
$TT8_MAMPS,0.053179,0.053179
$HUMID,50.66
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$TCM_TEMP,26.00
$XPDR_PINGS,8
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649255
$PA_UPTIME,17361.25 8266.42
$PA_BOOTCOUNT,662
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$PA_LOG,0.07/0.135/1.969/1.734
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$PA_HOME,0.04/0.074/1.764/1.600
$PA_DISK_BANK,3
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$10V_AH,9.59,29.662
$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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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.350,0.000,0.000,0.000
$MEM,230288
$DATA_FILE_SIZE,36806,824
$CAP_FILE_SIZE,166931,0
$CFSIZE,260034560,251592704
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