version: 66.11
glider: 178
mission: 14
dive: 8
start: 6 12 112 8 29 7
data:
$ID,178
$MISSION,14
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,330
$T_MISSION,380
$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,-13163.865
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,120612,082000,4652.257,-12500.801,208,1.5,214,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.1
$GPS2,120612,082820,4652.297,-12500.801,14,1.5,14,18.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,SE
$TGT_LATLONG,4640.000,-12510.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.057,-0.236
$KALMAN_X,1784.8,-752.4,27.5,-7136.1,-256.1
$KALMAN_Y,570.8,879.5,-649.2,-5516.0,935.3
$MHEAD_RNG_PITCHd_Wd,179.6,25600,-17.8,-10.000
$D_GRID,582
$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,-146.0,0.0,0.0,0,76,0.00,0.00,-61.88,0.000,2,0.000,0.000,162,2508,2767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.77,-146.0,3.8,-9.1,10,104,10.65,2.17,-10.12,0.000,4,0.271,0.081,2394,3777,3336,0,0,0,0,0,0,24.78,25.32,25.89
$GC,127,-0.60,-146.0,23.1,-29.1,19,135,0.22,2.08,0.00,0.000,6,0.167,0.043,2456,2503,3338,0,0,0,0,0,0,24.94,25.53,28.83
$GC,434,-0.65,-146.0,54.9,-11.3,80,445,0.00,2.12,0.00,0.000,4,0.000,0.069,2450,3768,3341,0,0,0,0,0,0,28.83,25.39,28.83
$GC,489,-0.69,-146.0,60.6,-9.9,90,500,0.00,2.03,0.00,0.000,6,0.000,0.043,2450,2489,3341,0,0,0,0,0,0,28.83,25.75,28.83
$GC,799,-0.75,-146.0,89.3,-8.9,151,809,0.00,2.17,0.00,0.000,4,0.000,0.067,2440,3778,3344,0,0,0,0,0,0,28.83,25.49,28.83
$GC,978,-0.82,-146.0,106.9,-10.4,186,990,0.15,2.00,0.00,0.000,6,0.082,0.044,2378,2498,3342,0,0,0,0,0,0,25.79,25.88,28.83
$GC,1290,-0.82,-146.0,144.9,-10.8,247,1301,0.00,2.15,0.00,0.000,4,0.000,0.067,2367,3768,3342,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1375,-0.82,-146.0,154.9,-11.0,263,1385,0.00,2.00,0.00,0.000,6,0.000,0.042,2368,2487,3342,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1684,-0.82,-146.0,191.6,-12.7,324,1696,0.00,2.17,0.00,0.000,4,0.000,0.067,2358,3777,3343,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1755,-0.80,-146.0,200.6,-13.0,337,1765,0.17,2.00,0.00,0.000,6,0.164,0.043,2402,2491,3342,0,0,0,0,0,0,25.46,25.98,28.83
$GC,2060,-0.84,-146.0,229.7,-9.6,368,2068,0.00,2.15,0.00,0.000,4,0.000,0.067,2394,3769,3342,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2127,-0.86,-146.0,236.4,-10.3,374,2135,0.00,2.00,0.00,0.000,6,0.000,0.044,2395,2489,3342,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2432,-0.89,-146.0,267.6,-10.7,404,2439,0.00,2.15,0.00,0.000,4,0.000,0.068,2385,3767,3342,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2503,-0.91,-146.0,274.6,-10.7,410,2514,0.00,1.98,0.00,0.000,6,0.000,0.043,2385,2490,3340,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2809,-0.93,-146.0,307.4,-10.7,441,2817,0.00,2.15,0.00,0.000,4,0.000,0.067,2375,3770,3341,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2870,-0.93,-146.0,313.6,-11.1,446,2881,0.00,1.98,0.00,0.000,6,0.000,0.043,2376,2491,3341,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3176,-0.93,-146.0,348.4,-11.5,477,3184,0.00,2.12,0.00,0.000,4,0.000,0.068,2366,3768,3341,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3212,-0.93,-146.0,352.7,-11.6,480,3220,0.00,2.00,0.00,0.000,6,0.000,0.043,2366,2491,3344,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3517,-0.93,-146.0,388.3,-12.3,510,3525,0.00,2.15,0.00,0.000,4,0.000,0.068,2356,3768,3340,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3604,-0.93,-146.0,399.0,-12.4,518,3611,0.00,1.98,0.00,0.000,6,0.000,0.044,2356,2500,3340,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3909,-0.93,-146.0,433.8,-11.2,548,3917,0.00,2.12,0.00,0.000,4,0.000,0.070,2346,3777,3339,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3956,-0.91,-146.0,439.3,-11.7,552,3963,0.00,2.00,0.00,0.000,6,0.000,0.044,2347,2496,3340,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4267,-0.91,-146.0,476.4,-12.2,583,4274,0.00,2.15,0.00,0.000,4,0.000,0.069,2337,3771,3339,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4324,-0.88,-146.0,483.6,-13.1,588,4331,0.15,2.00,0.00,0.000,6,0.171,0.044,2373,2500,3337,0,0,0,0,0,0,25.59,26.08,28.83
$GC,4635,-0.88,-146.0,516.1,-10.0,619,4643,0.00,2.12,0.00,0.000,4,0.000,0.070,2362,3772,3338,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4692,-0.88,-146.0,521.8,-10.1,624,4700,0.00,2.00,0.00,0.000,6,0.000,0.045,2366,2496,3338,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5003,-0.88,-146.0,554.2,-10.7,655,5012,0.00,2.15,0.00,0.000,4,0.000,0.070,2356,3768,3338,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5051,-0.88,-146.0,559.0,-10.4,659,5058,0.00,1.98,0.00,0.000,6,0.000,0.045,2356,2497,3342,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,5275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5275,begin apogee
$GC,5278,-0.17,0.0,582.9,-10.1,681,5413,0.80,0.00,126.62,0.998,6,0.137,0.000,2599,2253,2737,0,0,0,0,0,0,25.28,28.83,23.19
$STATE,5414,end apogee,CONTROL_FINISHED_OK
$STATE,5414,begin climb
$GC,5415,0.77,146.0,588.3,0.0,694,5560,0.88,2.58,131.75,0.973,4,0.058,0.069,2913,3652,2143,0,0,0,0,0,0,24.46,23.87,22.86
$GC,5613,0.65,146.0,583.0,11.2,713,5624,0.22,2.38,0.00,0.000,6,0.177,0.041,2873,2230,2135,0,0,0,0,0,0,24.26,24.61,28.83
$GC,5919,0.66,173.7,554.6,8.7,744,5954,0.00,2.30,24.55,0.920,4,0.000,0.050,2881,855,2027,0,0,0,0,0,0,28.83,24.87,23.77
$GC,6007,0.64,173.7,546.5,10.2,752,6019,0.00,2.30,0.00,0.000,6,0.000,0.047,2881,2249,2026,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6313,0.61,173.7,514.2,10.6,783,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2248,2021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6614,0.59,173.7,482.9,10.6,813,6627,0.12,2.28,0.00,0.000,4,0.188,0.049,2857,850,2020,0,0,0,0,0,0,25.50,25.56,28.83
$GC,6676,0.62,200.2,477.2,8.8,819,6711,0.00,2.28,23.88,0.890,6,0.000,0.047,2857,2254,1920,0,0,0,0,0,0,28.83,25.56,24.18
$GC,7006,0.62,200.2,444.2,10.3,852,7014,0.00,2.30,0.00,0.000,4,0.000,0.050,2867,843,1915,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7053,0.63,200.2,439.4,10.3,856,7060,0.00,2.28,0.00,0.000,6,0.000,0.046,2868,2250,1915,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7357,0.63,200.2,406.8,10.6,886,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2250,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7658,0.64,200.9,376.1,10.0,916,7666,0.00,2.28,0.00,0.000,4,0.000,0.050,2878,853,1914,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7704,0.64,200.9,371.1,10.5,920,7720,0.00,2.25,0.00,0.000,6,0.000,0.047,2878,2251,1913,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8014,0.64,200.9,338.4,10.3,951,8022,0.00,2.28,0.00,0.000,4,0.000,0.050,2885,851,1913,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8086,0.64,200.9,331.6,10.2,957,8097,0.00,2.25,0.00,0.000,6,0.000,0.047,2888,2260,1915,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8391,0.62,200.9,299.5,10.0,988,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2260,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8692,0.62,200.9,268.1,11.1,1018,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2260,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,0.62,200.9,234.3,11.7,1048,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2260,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9292,0.62,200.9,200.3,11.2,1078,9300,0.00,2.28,0.00,0.000,4,0.000,0.049,2899,850,1912,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9399,0.62,200.9,189.2,10.1,1097,9409,0.15,2.22,0.00,0.000,6,0.172,0.047,2863,2252,1912,0,0,0,0,0,0,25.46,25.82,28.83
$GC,9709,0.66,231.9,161.4,8.6,1158,9749,0.00,2.38,27.27,0.725,4,0.000,0.063,2863,3649,1790,0,0,0,0,0,0,28.83,25.70,24.75
$GC,9783,0.66,231.9,153.7,11.2,1171,9794,0.00,2.22,0.00,0.000,6,0.000,0.041,2872,2237,1788,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10093,0.68,231.9,120.7,10.5,1232,10104,0.00,2.22,0.00,0.000,4,0.000,0.050,2882,860,1785,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10259,0.73,240.8,103.9,9.6,1264,10276,0.00,2.22,8.40,0.633,6,0.000,0.046,2882,2254,1755,0,0,0,0,0,0,28.83,25.69,24.75
$GC,10576,0.84,294.8,79.3,7.5,1326,10636,0.12,2.42,46.42,0.676,4,0.099,0.065,2936,3655,1533,0,0,0,0,0,0,26.04,25.22,24.38
$GC,10670,0.82,294.8,69.1,12.6,1342,10680,0.00,2.28,0.00,0.000,6,0.000,0.041,2947,2244,1531,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10981,0.82,294.8,32.5,11.7,1403,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2243,1528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11281,0.92,350.2,7.0,7.4,1463,11332,0.00,2.42,45.38,0.627,4,0.000,0.062,2947,3658,1309,0,0,0,0,0,0,28.83,25.18,24.39
$STATE,11340,end climb,SURFACE_DEPTH_REACHED
$STATE,11340,begin surface coast
$FINISH,0.0,1.003360
$STATE,11375,end surface coast,CONTROL_FINISHED_OK
$STATE,11375,begin surface
$SM_CCo,11451,0.00,0.000,0,0,1300,351.76
$SM_GC,1.34,7.80,1.90,0.00,0.054,0.042,0.000,165,2508,1300,-7.76,1.44,351.76,0,0,0,0,0,0,25.31,25.38,28.83
$IRIDIUM_FIX,4635.50,-12458.23,120612,040405
$TT8_MAMPS,0.196238,0.196238
$HUMID,40.86
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.10
$XPDR_PINGS,38
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,68984.16 26747.26
$PA_BOOTCOUNT,140
$PA_DFQS,0/0
$PA_CMQS,488/484
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.606/111.448
$PA_USBA,0.04/4.689/117.609/106.946
$PA_HOME,0.06/0.027/0.461/0.410
$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_DATA0,0.05/5.597/117.213/105.662
$24V_AH,22.9,24.204
$10V_AH,9.9,21.744
$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,21.450,108.750,434.275,0.000,0.000,27.927,39.022,257.013,9.500,0.000,14.827,0.000,7388.983,516.009,3921.525,105.518,33.211,1948.670,0.000,2299.252,0.000,0.528,0.000
$DEVICE_MAMPS,270.810,81.090,998.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1017.452,0.000,0.000,0.000,0.000,0.000,12160.811,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,111.661,0.000,0.000,0.000
$MEM,297264
$DATA_FILE_SIZE,60040,1480
$CAP_FILE_SIZE,150208,0
$CFSIZE,260165632,255991808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,225.7,1
$GPS,120612,114137,4650.806,-12502.015,73,1.5,79,18.4