version: 66.11
glider: 178
mission: 14
dive: 6
start: 6 12 112 1 39 45
data:
$ID,178
$MISSION,14
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,380
$T_MISSION,330
$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,350
$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,-13094.789
$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,2500
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,28
$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
$GPS1,120612,013321,4654.171,-12457.474,54,4.3,73,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.2
$GPS2,120612,013858,4654.122,-12457.521,18,4.4,37,18.4
$SPEED_LIMITS,0.150,0.231
$TGT_NAME,SE
$TGT_LATLONG,4640.000,-12510.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.086,-0.214
$KALMAN_X,1697.4,709.9,-144.2,-4192.0,58.1
$KALMAN_Y,-615.2,-863.5,526.0,-388.5,914.0
$MHEAD_RNG_PITCHd_Wd,196.0,30587,-15.4,-8.684
$D_GRID,668
$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,-0.69,-146.0,0.0,0.0,0,82,0.00,0.00,-67.53,0.000,2,0.000,0.000,160,2313,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.69,-146.0,3.2,-6.9,11,115,10.32,2.53,-13.02,0.000,4,0.260,0.083,2419,3777,3336,0,0,0,0,0,0,24.89,25.37,25.96
$GC,139,-0.56,-146.0,20.0,-25.3,21,146,0.17,2.08,0.00,0.000,6,0.156,0.044,2470,2501,3337,0,0,0,0,0,0,25.13,25.61,28.83
$GC,445,-0.59,-146.0,50.9,-8.6,82,456,0.00,2.17,0.00,0.000,4,0.000,0.070,2466,3778,3339,0,0,0,0,0,0,28.83,25.47,28.83
$GC,505,-0.63,-146.0,56.6,-9.9,93,515,0.00,2.03,0.00,0.000,6,0.000,0.044,2463,2501,3340,0,0,0,0,0,0,28.83,25.82,28.83
$GC,814,-0.66,-146.0,85.0,-7.9,154,825,0.00,2.17,0.00,0.000,4,0.000,0.070,2453,3777,3342,0,0,0,0,0,0,28.83,25.56,28.83
$GC,849,-0.70,-146.0,87.8,-8.2,160,862,0.00,2.03,0.00,0.000,6,0.000,0.044,2453,2494,3341,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1162,-0.75,-146.0,110.5,-8.7,221,1173,0.12,2.12,0.00,0.000,4,0.095,0.067,2382,3771,3341,0,0,0,0,0,0,26.16,25.61,28.83
$GC,1252,-0.72,-146.0,121.7,-12.8,238,1263,0.17,2.00,0.00,0.000,6,0.150,0.044,2429,2500,3339,0,0,0,0,0,0,25.53,25.99,28.83
$GC,1562,-0.75,-146.0,150.0,-8.0,299,1573,0.00,2.15,0.00,0.000,4,0.000,0.070,2421,3774,3342,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1713,-0.78,-146.0,162.3,-8.6,328,1724,0.00,2.00,0.00,0.000,6,0.000,0.045,2421,2502,3341,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2023,-0.80,-146.0,188.4,-8.7,389,2034,0.00,2.15,0.00,0.000,4,0.000,0.070,2412,3778,3341,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2083,-0.82,-146.0,194.2,-10.0,400,2094,0.00,2.03,0.00,0.000,6,0.000,0.045,2412,2497,3342,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2398,-0.82,-146.0,222.2,-8.8,437,2406,0.00,2.15,0.00,0.000,4,0.000,0.070,2402,3774,3341,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2460,-0.82,-146.0,227.6,-9.4,442,2470,0.00,2.00,0.00,0.000,6,0.000,0.045,2403,2504,3341,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2765,-0.82,-146.0,256.1,-9.0,473,2773,0.00,2.15,0.00,0.000,4,0.000,0.070,2394,3778,3341,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2826,-0.82,-146.0,261.3,-9.6,478,2837,0.00,2.03,0.00,0.000,6,0.000,0.045,2394,2486,3340,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3132,-0.82,-146.0,290.1,-9.3,509,3139,0.00,2.17,0.00,0.000,4,0.000,0.069,2385,3778,3340,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3178,-0.82,-146.0,294.8,-10.0,513,3186,0.00,1.98,0.00,0.000,6,0.000,0.045,2384,2507,3343,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3489,-0.82,-146.0,326.1,-10.2,544,3497,0.00,2.12,0.00,0.000,4,0.000,0.070,2375,3771,3340,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3531,-0.80,-146.0,329.9,-10.2,547,3542,0.00,2.00,0.00,0.000,6,0.000,0.045,2375,2495,3340,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3836,-0.78,-146.0,362.3,-11.0,578,3844,0.12,2.15,0.00,0.000,4,0.175,0.069,2403,3778,3338,0,0,0,0,0,0,26.05,25.60,28.83
$GC,3883,-0.78,-146.0,367.2,-10.4,582,3891,0.00,2.00,0.00,0.000,6,0.000,0.045,2403,2499,3339,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4189,-0.78,-146.0,394.0,-7.9,612,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2498,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.80,-146.0,417.5,-7.8,642,4497,0.00,2.12,0.00,0.000,4,0.000,0.070,2394,3771,3338,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4551,-0.80,-146.0,423.2,-8.9,648,4559,0.00,1.98,0.00,0.000,6,0.000,0.047,2394,2503,3338,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4856,-0.80,-146.0,452.4,-10.3,678,4864,0.00,2.15,0.00,0.000,4,0.000,0.071,2385,3777,3337,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4947,-0.80,-146.0,462.3,-11.5,686,4958,0.00,2.00,0.00,0.000,6,0.000,0.046,2384,2493,3337,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,5252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5252,begin apogee
$GC,5255,-0.17,0.0,495.3,-9.9,717,5368,0.70,0.00,104.90,0.938,2,0.129,0.000,2602,2249,2832,0,0,0,0,0,0,25.35,28.83,28.83
$STATE,5369,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,5379,554.42,0.868,18,0,425,567.38
$SM_GC,1.00,6.78,0.00,0.00,0.061,0.000,0.000,163,2244,418,-7.76,-0.17,568.36,0,0,0,0,0,0,25.60,28.83,28.83
$IRIDIUM_FIX,4632.36,-12507.77,110612,232336
$TT8_MAMPS,0.145306,0.145306
$HUMID,43.14
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,17.00
$XPDR_PINGS,49
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,43305.81 19257.58
$PA_BOOTCOUNT,140
$PA_DFQS,0/0
$PA_CMQS,178/122
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.606/111.448
$PA_USBA,0.02/2.633/117.609/109.003
$PA_HOME,0.06/0.027/0.461/0.411
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.11/0.031/0.284/0.238
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.03/3.397/117.213/107.862
$24V_AH,23.0,23.941
$10V_AH,9.9,20.449
$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,18.400,54.825,104.900,554.425,0.000,32.332,38.538,138.252,12.250,0.000,39.417,0.000,7581.641,870.246,2124.406,62.274,33.207,1649.127,0.000,1125.839,0.000,0.530,0.000
$DEVICE_MAMPS,260.100,82.620,937.890,867.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,500.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297168
$DATA_FILE_SIZE,26735,728
$CAP_FILE_SIZE,91514,1
$CFSIZE,260165632,256245760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,120612,043258,4653.608,-12458.449,42,99.0,62,18.4