version: 66.11
glider: 178
mission: 14
dive: 3
start: 6 11 112 19 55 12
data:
$ID,178
$MISSION,14
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,500
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-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,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_GPS_CHARGE,-13023.904
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.288708
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,110612,195026,4654.082,-12455.572,11,1.3,11,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.9
$GPS2,110612,195431,4654.039,-12455.527,9,1.4,9,18.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,DOGLEG
$TGT_LATLONG,4652.000,-12503.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.176,0.166
$KALMAN_X,404.9,315.5,301.3,-439.3,486.1
$KALMAN_Y,-546.9,-405.3,-383.4,-133.0,-658.7
$MHEAD_RNG_PITCHd_Wd,229.8,10188,-17.8,-10.000
$D_GRID,486
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.77,-146.0,0.0,0.0,0,118,0.00,0.00,-102.82,0.000,2,0.000,0.000,160,2119,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.77,-146.0,3.8,-10.1,17,139,10.00,0.00,-6.38,0.000,6,0.256,0.000,2425,2118,3336,0,0,0,0,0,0,25.29,28.83,26.32
$GC,438,-0.79,-146.0,54.0,-11.8,80,448,0.00,2.28,0.00,0.000,4,0.000,0.063,2417,3499,3340,0,0,0,0,0,0,28.83,25.57,28.83
$GC,672,-0.79,-146.0,83.9,-13.0,126,682,0.00,2.20,0.00,0.000,6,0.000,0.040,2417,2093,3340,0,0,0,0,0,0,28.83,25.97,28.83
$GC,981,-0.83,-146.0,115.4,-9.1,187,993,0.00,2.22,0.00,0.000,4,0.000,0.047,2417,696,3339,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1217,-0.89,-146.0,136.8,-8.2,233,1228,0.00,2.22,0.00,0.000,6,0.000,0.045,2409,2086,3340,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1528,-0.93,-146.0,162.8,-8.1,294,1538,0.00,2.35,0.00,0.000,4,0.000,0.064,2397,3506,3339,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,1716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1716,begin apogee
$GC,1721,-0.17,0.0,180.5,-9.5,331,1851,0.73,0.00,118.45,0.722,6,0.125,0.000,2623,2090,2735,0,0,0,0,0,0,25.38,28.83,23.92
$STATE,1852,end apogee,CONTROL_FINISHED_OK
$STATE,1852,begin climb
$GC,1854,0.77,146.0,185.9,0.0,352,1989,0.85,2.50,123.15,0.705,4,0.051,0.062,2940,3513,2140,0,0,0,0,0,0,24.95,24.50,23.71
$GC,2104,0.66,146.0,175.4,11.6,397,2115,0.22,2.28,0.00,0.000,6,0.171,0.041,2896,2102,2133,0,0,0,0,0,0,24.82,25.25,28.83
$GC,2414,0.66,176.3,148.0,8.6,458,2449,0.00,0.00,25.02,0.675,6,0.000,0.000,2896,2102,2017,0,0,0,0,0,0,28.83,28.83,24.48
$GC,2749,0.66,193.4,114.7,9.2,523,2773,0.00,2.30,14.80,0.645,4,0.000,0.051,2905,698,1948,0,0,0,0,0,0,28.83,25.56,24.66
$GC,2862,0.66,193.4,103.6,10.1,544,2873,0.00,2.28,0.00,0.000,6,0.000,0.044,2906,2101,1944,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3172,0.68,211.7,79.1,9.1,605,3201,0.00,2.38,16.40,0.642,4,0.000,0.066,2905,3500,1871,0,0,0,0,0,0,28.83,25.60,24.77
$GC,3260,0.69,239.9,70.8,8.7,621,3295,0.00,2.22,24.25,0.642,6,0.000,0.041,2916,2094,1759,0,0,0,0,0,0,28.83,25.75,24.55
$GC,3595,0.75,273.0,43.0,8.5,686,3636,0.00,2.45,27.85,0.633,4,0.000,0.064,2915,3509,1623,0,0,0,0,0,0,28.83,25.36,24.57
$GC,3750,0.75,273.0,27.8,11.0,715,3762,0.00,2.25,0.00,0.000,6,0.000,0.041,2926,2095,1619,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4062,0.86,327.6,3.9,7.5,776,4081,0.00,0.00,17.52,0.603,2,0.000,0.000,2926,2095,1539,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4081,end climb,SURFACE_DEPTH_REACHED
$STATE,4081,begin surface coast
$FINISH,0.0,1.010884
$STATE,4119,end surface coast,CONTROL_FINISHED_OK
$STATE,4119,begin surface
$SM_CCo,4132,52.10,0.076,0,0,1106,400.08
$SM_GC,0.56,7.60,0.00,52.10,0.053,0.000,0.076,160,2098,1106,-7.83,-0.14,400.08,0,0,0,0,0,0,25.65,28.83,25.53
$IRIDIUM_FIX,4632.36,-12500.81,110612,191940
$TT8_MAMPS,0.155792,0.155792
$HUMID,42.91
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.20
$XPDR_PINGS,2
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,16529.84 11453.27
$PA_BOOTCOUNT,140
$PA_DFQS,0/0
$PA_CMQS,47/43
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.606/111.448
$PA_USBA,0.01/0.821/117.609/110.814
$PA_HOME,0.06/0.026/0.461/0.412
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.11/0.030/0.284/0.239
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.00/0.576/117.213/110.683
$24V_AH,23.7,23.549
$10V_AH,10.1,19.798
$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,19.400,32.175,367.450,52.100,0.000,0.000,0.000,0.000,0.500,0.000,11.909,0.000,2002.712,488.089,1701.963,35.798,31.286,1160.562,0.000,1124.951,0.000,0.530,0.000
$DEVICE_MAMPS,255.510,65.790,722.160,75.735,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,534.226,0.000,0.000,0.000,0.000,0.000,4245.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,106.494,0.000,0.000,0.000
$MEM,297180
$DATA_FILE_SIZE,30048,787
$CAP_FILE_SIZE,80953,0
$CFSIZE,260165632,256446464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,136.8,1
$GPS,110612,210526,4653.992,-12455.794,12,2.0,12,18.4