version: 66.11
glider: 178
mission: 14
dive: 10
start: 6 12 112 14 50 59
data:
$ID,178
$MISSION,14
$DIVE,10
$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,-13166.384
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,120612,144536,4649.630,-12503.382,58,1.9,70,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.2
$GPS2,120612,145016,4649.582,-12503.327,13,2.5,32,18.3
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,SE
$TGT_LATLONG,4640.000,-12510.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.197,-0.141
$KALMAN_X,1031.1,-1126.5,-262.2,-8909.3,957.5
$KALMAN_Y,-420.2,830.9,415.0,-10560.0,-1347.3
$MHEAD_RNG_PITCHd_Wd,173.5,19668,-17.8,-10.000
$D_GRID,616
$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,11,begin dive
$GC,12,-0.77,-146.0,0.0,0.0,0,76,0.00,0.00,-61.47,0.000,2,0.000,0.000,163,2498,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.77,-146.0,3.6,-8.4,10,104,10.50,2.17,-11.65,0.000,4,0.269,0.082,2394,3774,3337,0,0,0,0,0,0,24.87,25.37,25.96
$GC,303,-0.74,-146.0,53.3,-16.2,54,313,0.00,2.03,0.00,0.000,6,0.000,0.042,2394,2484,3341,0,0,0,0,0,0,28.83,25.72,28.83
$GC,612,-0.74,-146.0,98.7,-12.8,115,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2485,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,922,-0.74,-146.0,133.1,-9.9,176,933,0.00,2.15,0.00,0.000,4,0.000,0.067,2384,3763,3343,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1002,-0.74,-146.0,141.2,-10.3,191,1013,0.15,1.98,0.00,0.000,6,0.160,0.043,2422,2490,3343,0,0,0,0,0,0,25.51,25.93,28.83
$GC,1313,-0.80,-146.0,167.2,-7.8,252,1324,0.00,2.15,0.00,0.000,4,0.000,0.066,2414,3773,3343,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1413,-0.85,-146.0,175.9,-9.0,271,1424,0.00,2.00,0.00,0.000,6,0.000,0.042,2414,2493,3343,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1723,-0.90,-146.0,203.3,-9.5,329,1731,0.12,2.12,0.00,0.000,4,0.095,0.065,2348,3771,3343,0,0,0,0,0,0,26.22,25.63,28.83
$GC,1795,-0.86,-146.0,212.2,-13.7,335,1806,0.12,1.98,0.00,0.000,6,0.177,0.043,2376,2490,3343,0,0,0,0,0,0,25.63,26.03,28.83
$GC,2100,-0.86,-146.0,250.5,-12.2,366,2107,0.00,2.12,0.00,0.000,4,0.000,0.067,2370,3777,3343,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2161,-0.86,-146.0,257.8,-12.8,371,2172,0.00,1.98,0.00,0.000,6,0.000,0.043,2369,2499,3346,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2467,-0.86,-146.0,295.2,-11.3,402,2474,0.00,2.10,0.00,0.000,4,0.000,0.067,2359,3766,3343,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2508,-0.86,-146.0,299.5,-11.6,405,2518,0.00,1.98,0.00,0.000,6,0.000,0.042,2359,2499,3343,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2813,-0.86,-146.0,334.1,-10.4,436,2821,0.00,2.12,0.00,0.000,4,0.000,0.068,2350,3774,3343,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2865,-0.84,-146.0,339.7,-11.1,441,2873,0.15,1.98,0.00,0.000,6,0.167,0.043,2386,2488,3342,0,0,0,0,0,0,25.62,26.09,28.83
$GC,3170,-0.87,-146.0,367.3,-9.1,471,3178,0.00,2.15,0.00,0.000,4,0.000,0.067,2379,3774,3342,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3227,-0.88,-146.0,372.6,-9.4,476,3235,0.00,1.98,0.00,0.000,6,0.000,0.042,2379,2500,3342,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3532,-0.88,-146.0,401.9,-9.6,506,3539,0.00,2.10,0.00,0.000,4,0.000,0.069,2367,3771,3342,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3573,-0.88,-146.0,405.7,-10.2,509,3583,0.00,1.98,0.00,0.000,6,0.000,0.043,2370,2493,3341,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3878,-0.88,-146.0,438.2,-10.5,540,3886,0.00,2.15,0.00,0.000,4,0.000,0.067,2360,3774,3341,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3924,-0.88,-146.0,442.7,-10.9,544,3935,0.00,1.98,0.00,0.000,6,0.000,0.043,2360,2489,3343,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4229,-0.88,-146.0,476.3,-11.0,575,4237,0.00,2.15,0.00,0.000,4,0.000,0.067,2350,3775,3340,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4291,-0.88,-146.0,482.8,-11.4,580,4303,0.00,1.98,0.00,0.000,6,0.000,0.042,2350,2492,3340,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4596,-0.88,-146.0,518.6,-11.7,611,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2491,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4897,-0.88,-146.0,555.6,-12.3,641,4904,0.00,2.12,0.00,0.000,4,0.000,0.068,2340,3765,3338,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4958,-0.86,-146.0,563.6,-12.7,647,4967,0.15,1.98,0.00,0.000,6,0.167,0.044,2377,2502,3339,0,0,0,0,0,0,25.63,26.10,28.83
$GC,5264,-0.89,-146.0,593.9,-9.1,677,5271,0.00,2.12,0.00,0.000,4,0.000,0.069,2372,3772,3339,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5310,-0.90,-146.0,598.3,-10.6,681,5320,0.00,2.00,0.00,0.000,6,0.000,0.044,2371,2494,3339,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,5605,end dive,NO_VERTICAL_VELOCITY
$STATE,5605,begin apogee
$GC,5608,-0.17,0.0,609.0,0.0,697,5743,0.68,0.00,127.00,1.017,6,0.090,0.000,2604,2247,2738,0,0,0,0,0,0,25.70,28.83,23.19
$STATE,5744,end apogee,CONTROL_FINISHED_OK
$STATE,5744,begin climb
$GC,5745,0.77,146.0,609.0,0.0,703,5889,0.93,2.55,133.40,0.992,4,0.081,0.069,2906,3657,2140,0,0,0,0,0,0,24.37,23.87,22.87
$GC,5933,0.71,176.7,600.8,8.6,712,5973,0.12,2.35,28.05,0.949,6,0.194,0.040,2894,2231,2015,0,0,0,0,0,0,24.25,24.53,23.12
$GC,6268,0.68,176.7,558.1,12.2,746,6275,0.00,2.28,0.00,0.000,4,0.000,0.050,2902,856,2008,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6355,0.64,176.7,547.1,13.0,754,6368,0.15,2.28,0.00,0.000,6,0.173,0.046,2866,2254,2007,0,0,0,0,0,0,25.00,25.30,28.83
$GC,6664,0.64,176.7,513.2,10.7,785,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2254,2006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6965,0.64,177.3,482.1,10.0,815,6972,0.00,2.30,0.00,0.000,4,0.000,0.050,2876,852,2003,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7081,0.64,179.3,470.5,9.9,826,7090,0.00,2.28,0.00,0.000,6,0.000,0.046,2876,2258,2005,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7387,0.63,179.3,438.9,10.6,856,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2258,2005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7687,0.62,185.9,407.8,9.7,886,7701,0.00,0.00,7.62,0.773,6,0.000,0.000,2875,2259,1979,0,0,0,0,0,0,28.83,28.83,24.60
$GC,7996,0.62,185.9,376.3,10.1,917,8004,0.00,2.28,0.00,0.000,4,0.000,0.050,2886,856,1978,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8047,0.62,185.9,371.5,10.4,921,8058,0.00,2.25,0.00,0.000,6,0.000,0.045,2887,2255,1977,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8353,0.60,188.3,340.3,9.9,952,8369,0.12,2.28,3.15,0.464,4,0.189,0.050,2863,853,1971,0,0,0,0,0,0,25.75,25.98,24.49
$GC,8418,0.65,216.1,334.5,8.7,958,8454,0.00,2.22,26.83,0.832,6,0.000,0.045,2863,2255,1854,0,0,0,0,0,0,28.83,25.83,24.46
$GC,8748,0.70,241.1,305.1,8.8,991,8783,0.00,2.38,22.42,0.806,4,0.000,0.051,2873,852,1754,0,0,0,0,0,0,28.83,25.37,24.32
$GC,8826,0.73,241.6,297.8,10.0,998,8837,0.00,2.30,0.00,0.000,6,0.000,0.044,2873,2256,1752,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9132,0.75,241.6,262.7,12.0,1029,9139,0.00,2.28,0.00,0.000,4,0.000,0.050,2884,854,1750,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9178,0.77,241.6,257.1,12.3,1033,9186,0.00,2.25,0.00,0.000,6,0.000,0.045,2883,2252,1749,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9483,0.77,241.6,220.1,12.4,1063,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2253,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9783,0.77,241.6,184.4,11.8,1106,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2253,1748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10093,0.77,241.6,147.6,10.9,1167,10103,0.00,2.25,0.00,0.000,4,0.000,0.049,2894,846,1748,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10152,0.79,241.6,140.7,11.3,1178,10163,0.00,2.22,0.00,0.000,6,0.000,0.044,2894,2252,1747,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10463,0.80,241.6,105.0,11.0,1239,10473,0.00,2.30,0.00,0.000,4,0.000,0.063,2893,3654,1747,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10533,0.80,241.6,97.0,11.3,1252,10544,0.00,2.17,0.00,0.000,6,0.000,0.041,2910,2246,1747,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10844,0.85,278.4,69.9,8.3,1313,10885,0.00,2.28,31.88,0.678,4,0.000,0.050,2916,849,1602,0,0,0,0,0,0,28.83,25.64,24.72
$GC,11050,0.88,278.4,48.9,10.4,1352,11058,0.00,2.30,0.00,0.000,6,0.000,0.044,2915,2253,1597,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11358,0.99,339.2,19.7,7.2,1413,11414,0.17,0.00,50.65,0.641,6,0.081,0.000,2987,2253,1354,0,0,0,0,0,0,25.96,28.83,24.37
$STATE,11531,end climb,SURFACE_DEPTH_REACHED
$STATE,11531,begin surface coast
$FINISH,0.4,1.023538
$STATE,11557,end surface coast,CONTROL_FINISHED_OK
$STATE,11557,begin surface
$SM_CCo,11571,12.30,0.177,1,0,1311,350.04
$SM_GC,2.41,7.93,0.40,12.30,0.056,0.069,0.177,163,2499,1311,-7.76,-0.99,350.04,0,0,0,0,1,0,25.29,25.39,24.22
$IRIDIUM_FIX,4635.50,-12458.23,120612,111129
$TT8_MAMPS,0.176015,0.176015
$HUMID,40.58
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.00
$XPDR_PINGS,86
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,12041.93 3607.94
$PA_BOOTCOUNT,141
$PA_DFQS,0/0
$PA_CMQS,661/658
$PA_USBDRIVE,/mnt/usba
$PA_USBB,1.10/0.000/0.000/0.000
$PA_USBA,0.06/6.513/117.609/105.122
$PA_HOME,0.06/0.028/0.461/0.410
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.11/0.032/0.284/0.237
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.07/7.877/117.213/103.382
$24V_AH,22.9,24.450
$10V_AH,9.8,22.576
$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,21.300,100.075,431.000,12.300,0.000,24.533,35.299,116.642,21.500,0.000,34.432,0.000,7489.839,561.664,3711.959,90.237,33.215,1957.343,0.000,2270.753,0.000,0.528,0.000
$DEVICE_MAMPS,268.515,81.855,1016.685,176.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,999.076,0.000,0.000,0.000,0.000,0.000,11971.921,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,105.257,0.000,0.000,0.000
$MEM,297304
$DATA_FILE_SIZE,56726,1451
$CAP_FILE_SIZE,143509,0
$CFSIZE,260165632,255840256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072,235.6,1
$GPS,120612,180556,4647.890,-12504.711,68,99.0,87,18.3