version: 66.12
glider: 178
mission: 19
dive: 2
start: 1 21 115 18 51 5
data:
$ID,178
$MISSION,19
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,100
$D_NO_BLEED,200
$D_BOOST,3
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51393
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$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,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-45.60128
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,210115,184659,4743.0659,-12224.6455,10,1.6,14,18.2,0.4,250.0,8,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.3
$GPS2,210115,185054,4743.0542,-12224.7158,13,1.3,13,18.2,0.4,271.0,7,9.8
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,328.1,898,-17.6,-10.000,-21.21,2209
$D_GRID,177
$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,-0.75,-146.6,161,2136,475,452,0.0,0.0,0,240,0.00,0.00,-139.88,0.000,16390,0.000,0.000,162,2135,3541,3594,3488,0,0,0,0,0,0,27.02,25.50,27.09
$GC,242,-0.75,-146.6,161,2136,3596,3489,4.0,-10.2,22,261,10.80,2.28,0.00,0.000,2308,0.272,0.063,2616,3545,3544,3599,3489,0,0,0,0,0,0,26.36,26.70,26.68
$GC,391,-0.58,-146.6,2615,3547,3604,3491,35.2,-15.5,51,398,0.17,2.15,0.00,0.000,3078,0.151,0.037,2679,2152,3546,3603,3490,0,0,0,0,0,0,26.63,26.88,26.81
$GC,704,-0.58,-146.6,2680,2152,3603,3491,69.2,-11.0,95,707,0.00,2.20,0.00,0.000,516,0.000,0.047,2683,751,3547,3604,3490,0,0,0,0,0,0,27.22,26.94,27.28
$GC,794,-0.58,-146.6,2684,752,3603,3491,78.8,-10.9,104,797,0.00,2.22,0.00,0.000,1030,0.000,0.050,2676,2139,3547,3604,3490,0,0,0,0,0,0,27.01,26.92,27.03
$STATE,902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,902,begin apogee
$GC,906,-0.14,0.0,2675,2274,3604,3491,90.5,-10.8,115,1027,0.47,0.00,117.60,0.716,10246,0.144,0.000,2818,2273,2941,2975,2908,0,0,0,0,0,0,26.78,25.53,24.98
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1030,0.75,146.6,2818,2274,2977,2908,95.5,0.0,127,1158,0.88,2.35,120.72,0.699,10756,0.094,0.043,3122,846,2341,2377,2306,0,0,0,0,0,0,25.65,25.20,24.82
$GC,1199,0.60,146.6,3123,846,2372,2302,82.3,12.4,144,1203,0.22,2.30,0.00,0.000,5126,0.161,0.046,3065,2256,2337,2372,2302,0,0,0,0,0,0,25.77,25.92,25.94
$GC,1504,0.60,146.6,3065,2257,2369,2298,52.9,11.3,174,1507,0.00,2.25,0.00,0.000,516,0.000,0.045,3072,853,2333,2370,2297,0,0,0,0,0,0,26.84,26.62,26.91
$GC,1635,0.62,158.0,3071,853,2371,2297,40.0,9.5,197,1649,0.00,2.20,9.43,0.600,9222,0.000,0.045,3073,2261,2296,2332,2260,0,0,0,0,0,0,26.79,26.72,25.90
$GC,1948,0.62,158.0,3073,2265,2329,2258,5.3,11.8,259,1955,0.00,2.25,0.00,0.000,260,0.000,0.063,3072,3659,2293,2329,2257,0,0,0,0,0,0,27.05,26.77,27.12
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.0,1.021599
$STATE,1995,end surface coast,CONTROL_FINISHED_OK
$STATE,1995,begin surface
$SM_CCo,2021,115.75,0.066,0,0,1106,450.13
$SM_GC,0.91,7.75,2.35,115.75,0.050,0.037,0.066,153,2160,1106,-8.43,1.47,450.13,0,0,0,0,0,0,26.82,26.87,26.67
$IRIDIUM_FIX,4726.11,-12224.09,210115,184425
$TT8_MAMPS,0.159537,0.159537
$HUMID,39.44
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,18.80
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,2105.19 851.76
$PA_BOOTCOUNT,242
$PA_DFQS,0/0
$PA_LOG,0.06/0.126/1.969/1.743
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.02/2.203/117.199/109.042
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.045/1.764/1.629
$PA_DISK_BANK,0
$24V_AH,24.82,0.369
$10V_AH,10.22,0.548
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.300,22.750,247.750,115.750,0.000,0.000,0.000,0.000,0.000,0.000,15.904,0.000,963.901,436.010,752.626,35.240,0.000,740.033,0.000,434.115,0.000,0.548,0.000
$DEVICE_MAMPS,271.575,81.855,716.040,65.790,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,179.318,0.000,0.000,0.000,0.000,0.000,2077.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,145.573,0.000,0.000,0.000
$MEM,264080
$DATA_FILE_SIZE,10162,268
$CAP_FILE_SIZE,46998,0
$CFSIZE,260034560,256921600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2125.83,0x236db2,7,5
$CURRENT,0.069,301.87,1
$GPS,210115,192734,4743.234,-12224.847,12,1.5,33,18.2,0.3,274.8,9,5.4