version: 66.11
glider: 178
mission: 14
dive: 4
start: 6 11 112 21 21 56
data:
$ID,178
$MISSION,14
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$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,-13092.178
$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,2660
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,26
$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
$GPS1,110612,211736,4653.889,-12455.610,16,0.9,32,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-72.0
$GPS2,110612,212114,4653.861,-12455.554,13,1.2,13,18.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,DOGLEG
$TGT_LATLONG,4652.000,-12503.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.242,0.016
$KALMAN_X,709.4,515.4,399.1,-1068.1,365.4
$KALMAN_Y,-1048.5,-698.5,-516.5,453.6,-620.9
$MHEAD_RNG_PITCHd_Wd,245.4,10039,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-77.12,0.000,2,0.000,0.000,165,2313,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.77,-146.0,4.2,-13.0,13,113,10.07,2.28,-6.15,0.000,4,0.260,0.060,2407,888,3336,0,0,0,0,0,0,25.16,25.75,26.20
$GC,137,-0.66,-146.0,21.8,-24.1,21,148,0.20,2.30,0.00,0.000,6,0.158,0.050,2447,2298,3338,0,0,0,0,0,0,25.37,25.67,28.83
$GC,447,-0.69,-146.0,58.0,-11.4,82,459,0.00,2.35,0.00,0.000,4,0.000,0.067,2440,3708,3340,0,0,0,0,0,0,28.83,25.63,28.83
$GC,668,-0.75,-146.0,82.1,-9.8,125,678,0.00,2.20,0.00,0.000,6,0.000,0.041,2439,2298,3341,0,0,0,0,0,0,28.83,26.01,28.83
$GC,978,-0.81,-146.0,103.1,-6.4,186,989,0.12,2.38,0.00,0.000,4,0.092,0.066,2365,3710,3341,0,0,0,0,0,0,26.27,25.65,28.83
$GC,1163,-0.81,-146.0,123.2,-12.1,222,1175,0.12,2.20,0.00,0.000,6,0.168,0.042,2393,2302,3341,0,0,0,0,0,0,25.68,26.04,28.83
$GC,1474,-0.84,-146.0,156.3,-11.2,283,1485,0.00,2.38,0.00,0.000,4,0.000,0.068,2385,3708,3341,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1605,-0.87,-146.0,172.0,-12.3,308,1616,0.00,2.20,0.00,0.000,6,0.000,0.042,2385,2301,3341,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1920,-0.89,-146.0,208.0,-10.7,363,1928,0.00,2.33,0.00,0.000,4,0.000,0.067,2375,3706,3341,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2047,-0.89,-146.0,222.9,-11.9,375,2060,0.00,2.20,0.00,0.000,6,0.000,0.041,2375,2296,3340,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2356,-0.91,-146.0,257.6,-10.7,406,2364,0.00,2.38,0.00,0.000,4,0.000,0.069,2364,3716,3340,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2518,-0.91,-146.0,274.8,-10.9,421,2528,0.00,2.22,0.00,0.000,6,0.000,0.042,2364,2296,3340,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2823,-0.91,-146.0,307.5,-10.4,452,2831,0.00,2.38,0.00,0.000,4,0.000,0.070,2354,3706,3339,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3010,-0.91,-146.0,329.2,-11.6,470,3018,0.00,2.22,0.00,0.000,6,0.000,0.042,2353,2290,3338,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,3285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3285,begin apogee
$GC,3288,-0.17,0.0,360.8,-11.4,497,3420,0.80,0.00,121.82,0.848,6,0.137,0.000,2597,2192,2734,0,0,0,0,0,0,25.27,28.83,23.61
$STATE,3422,end apogee,CONTROL_FINISHED_OK
$STATE,3422,begin climb
$GC,3423,0.77,146.0,366.4,0.0,510,3563,0.88,2.40,126.40,0.826,4,0.054,0.050,2930,804,2140,0,0,0,0,0,0,24.75,24.30,23.37
$GC,3696,0.70,146.0,354.1,11.1,537,3707,0.20,2.33,0.00,0.000,6,0.166,0.046,2883,2199,2132,0,0,0,0,0,0,24.75,25.05,28.83
$GC,4002,0.69,165.9,324.5,9.1,568,4027,0.00,2.40,16.50,0.772,4,0.000,0.066,2883,3611,2061,0,0,0,0,0,0,28.83,25.31,24.32
$GC,4056,0.64,165.9,319.0,10.4,573,4064,0.00,2.28,0.00,0.000,6,0.000,0.042,2891,2194,2059,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4361,0.62,171.0,288.6,9.8,603,4378,0.12,2.28,5.70,0.631,4,0.183,0.050,2871,794,2039,0,0,0,0,0,0,25.53,25.67,24.52
$GC,4427,0.65,197.7,282.7,8.8,609,4463,0.00,2.30,24.08,0.770,6,0.000,0.047,2867,2210,1932,0,0,0,0,0,0,28.83,25.61,24.32
$GC,4757,0.65,197.7,245.3,11.6,642,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2211,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5057,0.65,197.7,212.1,10.0,672,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2210,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5357,0.69,228.3,184.6,8.6,719,5394,0.00,2.33,26.35,0.731,4,0.000,0.051,2878,803,1806,0,0,0,0,0,0,28.83,25.53,24.60
$GC,5433,0.73,234.4,177.5,9.7,732,5449,0.00,2.30,6.55,0.614,6,0.000,0.047,2878,2210,1781,0,0,0,0,0,0,28.83,25.58,24.53
$GC,5749,0.74,234.4,143.0,10.4,794,5759,0.00,2.30,0.00,0.000,4,0.000,0.052,2888,804,1776,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5783,0.77,234.4,139.4,10.7,800,5794,0.00,2.28,0.00,0.000,6,0.000,0.047,2888,2204,1780,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6093,0.79,234.4,104.8,11.1,861,6103,0.00,2.33,0.00,0.000,4,0.000,0.066,2888,3611,1775,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6282,0.81,250.9,84.1,9.2,898,6306,0.00,2.25,14.57,0.660,6,0.000,0.043,2899,2192,1715,0,0,0,0,0,0,28.83,25.92,24.82
$GC,6605,0.86,271.2,57.3,9.1,961,6630,0.12,0.00,18.25,0.649,6,0.099,0.000,2956,2192,1632,0,0,0,0,0,0,26.05,28.83,24.72
$GC,6930,0.86,292.1,19.8,9.0,1024,6960,0.00,2.40,18.45,0.629,4,0.000,0.064,2956,3613,1545,0,0,0,0,0,0,28.83,25.56,24.73
$GC,7110,0.85,293.2,3.7,9.9,1058,7117,0.10,2.28,0.00,0.000,6,0.162,0.041,2939,2193,1541,0,0,0,0,0,0,25.39,25.75,28.83
$STATE,7120,end climb,SURFACE_DEPTH_REACHED
$STATE,7120,begin surface coast
$FINISH,0.3,1.023614
$STATE,7150,end surface coast,CONTROL_FINISHED_OK
$STATE,7150,begin surface
$SM_CCo,7164,55.17,0.077,0,0,1105,400.08
$SM_GC,0.75,7.68,0.17,55.17,0.055,0.081,0.077,161,2310,1105,-7.77,-0.93,400.08,0,0,0,0,0,0,25.62,25.84,25.53
$IRIDIUM_FIX,4638.64,-12446.09,110612,212105
$TT8_MAMPS,0.158788,0.158788
$HUMID,42.95
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.10
$XPDR_PINGS,13
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,24762.15 14227.75
$PA_BOOTCOUNT,140
$PA_DFQS,0/0
$PA_CMQS,103/100
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.606/111.448
$PA_USBA,0.01/1.453/117.609/110.182
$PA_HOME,0.06/0.026/0.461/0.412
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.11/0.031/0.284/0.239
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.01/1.329/117.213/109.930
$24V_AH,23.4,23.660
$10V_AH,10.0,20.104
$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,20.425,64.725,378.675,55.175,0.000,0.000,0.000,0.000,3.250,0.000,13.989,0.000,4201.637,496.080,2508.284,59.853,32.207,1502.957,0.000,1670.619,0.000,0.530,0.000
$DEVICE_MAMPS,260.100,82.620,848.385,77.265,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,730.977,0.000,0.000,0.000,0.000,0.000,7283.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,108.275,0.000,0.000,0.000
$MEM,297108
$DATA_FILE_SIZE,43358,1066
$CAP_FILE_SIZE,112169,0
$CFSIZE,260165632,256352256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,102.4,1
$GPS,110612,232307,4654.043,-12456.449,27,1.4,32,18.4