version: 66.11
glider: 178
mission: 14
dive: 30
start: 6 17 112 18 3 49
data:
$ID,178
$MISSION,14
$DIVE,30
$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,420
$T_MISSION,450
$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,130
$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,-13191.781
$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,2640
$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,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,23
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,170612,175331,4729.715,-12530.022,296,1.3,296,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-70.4
$GPS2,170612,180302,4729.699,-12529.938,13,1.7,13,18.6
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4730.030,-12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.207,-0.030
$KALMAN_X,18684.5,-1013.8,-738.8,-59846.9,4433.9
$KALMAN_Y,4690.8,-237.7,670.3,59435.0,759.1
$MHEAD_RNG_PITCHd_Wd,239.4,75152,-15.1,-7.857
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.66,-126.5,0.0,0.0,0,77,0.00,0.00,-61.22,0.000,2,0.000,0.000,155,2602,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.66,-126.5,3.6,-8.2,10,104,10.73,0.00,-8.90,0.000,6,0.266,0.000,2419,2600,3255,0,0,0,0,0,0,24.60,28.83,25.45
$GC,403,-0.59,-126.5,60.8,-12.8,74,413,0.00,2.25,0.00,0.000,4,0.000,0.041,2419,1205,3258,0,0,0,0,0,0,28.83,25.20,28.83
$GC,437,-0.55,-126.5,64.8,-11.5,80,449,0.20,2.33,0.00,0.000,6,0.151,0.047,2461,2610,3260,0,0,0,0,0,0,24.86,25.19,28.83
$GC,749,-0.58,-126.5,92.0,-7.9,141,759,0.00,1.98,0.00,0.000,4,0.000,0.063,2455,3776,3260,0,0,0,0,0,0,28.83,25.08,28.83
$GC,773,-0.60,-126.5,94.1,-8.6,145,784,0.00,1.88,0.00,0.000,6,0.000,0.040,2459,2602,3261,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1083,-0.62,-126.5,116.3,-8.2,206,1093,0.00,2.28,0.00,0.000,4,0.000,0.041,2455,1196,3262,0,0,0,0,0,0,28.83,25.17,28.83
$GC,1107,-0.65,-126.5,118.2,-7.5,210,1118,0.00,2.33,0.00,0.000,6,0.000,0.047,2446,2603,3261,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1417,-0.67,-126.5,143.3,-7.7,271,1428,0.00,2.30,0.00,0.000,4,0.000,0.041,2446,1195,3261,0,0,0,0,0,0,28.83,25.17,28.83
$GC,1447,-0.70,-126.5,145.8,-8.7,276,1459,0.00,2.35,0.00,0.000,6,0.000,0.054,2437,2610,3261,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1758,-0.72,-126.5,173.5,-9.0,337,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2611,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.74,-126.5,198.3,-6.7,398,2078,0.12,0.00,0.00,0.000,6,0.088,0.000,2376,2611,3263,0,0,0,0,0,0,25.32,28.83,28.83
$GC,2381,-0.68,-126.5,230.6,-10.9,431,2390,0.15,2.30,0.00,0.000,4,0.165,0.041,2416,1197,3260,0,0,0,0,0,0,24.94,25.18,28.83
$GC,2403,-0.64,-126.5,232.4,-10.8,432,2416,0.00,2.33,0.00,0.000,6,0.000,0.047,2409,2600,3260,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2709,-0.64,-126.5,261.3,-8.9,463,2717,0.00,2.28,0.00,0.000,4,0.000,0.041,2409,1196,3259,0,0,0,0,0,0,28.83,25.18,28.83
$GC,2736,-0.64,-126.5,263.6,-8.7,465,2745,0.12,2.35,0.00,0.000,6,0.157,0.047,2428,2606,3259,0,0,0,0,0,0,24.96,25.17,28.83
$GC,3042,-0.66,-126.5,286.7,-7.3,495,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2606,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3342,-0.68,-126.5,309.1,-7.6,525,3355,0.00,2.28,0.00,0.000,4,0.000,0.041,2428,1201,3257,0,0,0,0,0,0,28.83,25.17,28.83
$GC,3379,-0.70,-126.5,311.5,-7.4,528,3391,0.00,2.33,0.00,0.000,6,0.000,0.047,2423,2602,3258,0,0,0,0,0,0,28.83,25.16,28.83
$GC,3685,-0.70,-126.5,334.4,-7.2,559,3693,0.00,2.28,0.00,0.000,4,0.000,0.041,2422,1200,3258,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3722,-0.71,-126.5,337.1,-7.6,562,3735,0.00,2.35,0.00,0.000,6,0.000,0.047,2414,2610,3258,0,0,0,0,0,0,28.83,25.16,28.83
$GC,4032,-0.71,-126.5,360.7,-7.5,593,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2610,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.71,-126.5,382.7,-7.2,623,4345,0.00,2.30,0.00,0.000,4,0.000,0.041,2414,1198,3257,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4408,-0.71,-126.5,388.4,-7.8,630,4419,0.00,2.33,0.00,0.000,6,0.000,0.047,2405,2606,3256,0,0,0,0,0,0,28.83,25.16,28.83
$GC,4714,-0.71,-126.5,415.1,-8.6,661,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2606,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,-0.71,-126.5,439.6,-8.1,691,5022,0.00,2.30,0.00,0.000,4,0.000,0.041,2404,1195,3255,0,0,0,0,0,0,28.83,25.19,28.83
$GC,5065,-0.71,-126.5,443.6,-8.4,695,5076,0.00,2.35,0.00,0.000,6,0.000,0.047,2395,2610,3255,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5371,-0.71,-126.5,471.4,-9.6,726,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2610,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5671,-0.71,-126.5,498.6,-8.8,756,5679,0.00,2.30,0.00,0.000,4,0.000,0.041,2395,1200,3254,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5698,-0.71,-126.5,501.1,-9.1,758,5706,0.00,2.35,0.00,0.000,6,0.000,0.047,2385,2604,3254,0,0,0,0,0,0,28.83,25.16,28.83
$GC,6003,-0.69,-126.5,528.4,-8.8,788,6011,0.12,2.30,0.00,0.000,4,0.167,0.039,2420,1196,3253,0,0,0,0,0,0,24.98,25.18,28.83
$GC,6025,-0.67,-126.5,529.7,-8.4,789,6035,0.00,2.33,0.00,0.000,6,0.000,0.047,2411,2598,3253,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6330,-0.67,-126.5,553.4,-8.4,820,6338,0.00,2.25,0.00,0.000,4,0.000,0.041,2411,1200,3253,0,0,0,0,0,0,28.83,25.17,28.83
$GC,6357,-0.67,-126.5,555.8,-8.9,822,6364,0.00,2.35,0.00,0.000,6,0.000,0.047,2402,2605,3251,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6661,-0.67,-126.5,584.3,-9.4,852,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2606,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6962,-0.67,-126.5,611.0,-8.6,876,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2606,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7262,-0.67,-126.5,635.1,-7.8,891,7272,0.00,2.30,0.00,0.000,4,0.000,0.041,2402,1199,3252,0,0,0,0,0,0,28.83,25.17,28.83
$GC,7306,-0.67,-126.5,638.1,-7.7,893,7315,0.12,2.35,0.00,0.000,6,0.160,0.049,2421,2606,3251,0,0,0,0,0,0,24.93,25.13,28.83
$GC,7619,-0.71,-126.5,657.6,-6.1,909,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2606,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,-0.74,-126.5,675.5,-5.9,924,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2606,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8219,-0.78,-126.5,694.1,-6.5,939,8227,0.00,2.30,0.00,0.000,4,0.000,0.043,2421,1202,3250,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8281,-0.82,-126.5,698.0,-6.7,942,8289,0.12,2.35,0.00,0.000,6,0.087,0.049,2365,2609,3250,0,0,0,0,0,0,25.15,25.13,28.83
$GC,8593,-0.78,-126.5,727.4,-9.5,958,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2609,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,-0.75,-126.5,755.5,-9.4,973,8901,0.12,2.30,0.00,0.000,4,0.177,0.041,2398,1195,3249,0,0,0,0,0,0,24.95,25.14,28.83
$GC,8925,-0.72,-126.5,757.0,-9.3,974,8935,0.00,2.35,0.00,0.000,6,0.000,0.049,2390,2600,3250,0,0,0,0,0,0,28.83,25.10,28.83
$GC,9230,-0.72,-126.5,781.4,-7.4,990,9237,0.00,2.28,0.00,0.000,4,0.000,0.042,2390,1201,3249,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9276,-0.72,-126.5,784.1,-7.3,992,9284,0.00,2.35,0.00,0.000,6,0.000,0.049,2380,2605,3249,0,0,0,0,0,0,28.83,25.11,28.83
$GC,9582,-0.72,-126.5,807.0,-7.2,1007,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2605,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9881,-0.72,-126.5,828.7,-7.2,1022,9889,0.00,2.30,0.00,0.000,4,0.000,0.043,2380,1202,3248,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9933,-0.72,-126.5,831.4,-7.2,1024,9945,0.15,2.35,0.00,0.000,6,0.155,0.050,2405,2605,3248,0,0,0,0,0,0,24.86,25.10,28.83
$GC,10239,-0.74,-126.5,851.7,-6.4,1040,10248,0.00,2.30,0.00,0.000,4,0.000,0.042,2406,1201,3248,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10263,-0.77,-126.5,853.0,-6.4,1041,10270,0.00,2.35,0.00,0.000,6,0.000,0.049,2399,2604,3248,0,0,0,0,0,0,28.83,25.11,28.83
$GC,10574,-0.77,-126.5,874.3,-7.1,1057,10585,0.00,2.30,0.00,0.000,4,0.000,0.041,2399,1201,3247,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10609,-0.77,-126.5,875.8,-7.0,1058,10619,0.00,2.35,0.00,0.000,6,0.000,0.050,2389,2603,3247,0,0,0,0,0,0,28.83,25.08,28.83
$GC,10915,-0.77,-126.5,900.1,-7.5,1074,10923,0.00,2.30,0.00,0.000,4,0.000,0.042,2389,1201,3247,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10941,-0.77,-126.5,901.1,-7.3,1075,10949,0.00,2.35,0.00,0.000,6,0.000,0.049,2379,2603,3247,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11247,-0.77,-126.5,926.1,-7.9,1090,11255,0.00,2.30,0.00,0.000,4,0.000,0.042,2379,1194,3247,0,0,0,0,0,0,28.83,25.12,28.83
$GC,11273,-0.77,-126.5,927.5,-7.9,1091,11281,0.00,2.35,0.00,0.000,6,0.000,0.049,2371,2600,3247,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11579,-0.74,-126.5,953.3,-7.7,1106,11587,0.12,2.30,0.00,0.000,4,0.175,0.041,2401,1198,3246,0,0,0,0,0,0,24.92,25.13,28.83
$GC,11646,-0.74,-126.5,957.2,-7.1,1109,11653,0.00,2.35,0.00,0.000,6,0.000,0.049,2394,2601,3246,0,0,0,0,0,0,28.83,25.09,28.83
$GC,11951,-0.74,-126.5,977.6,-6.4,1124,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2601,3246,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12150,begin apogee
$GC,12153,-0.17,0.0,990.4,-6.2,1134,12279,0.62,0.00,116.30,1.255,6,0.126,0.000,2581,2198,2735,0,0,0,0,0,0,24.78,28.83,22.74
$STATE,12280,end apogee,CONTROL_FINISHED_OK
$STATE,12280,begin climb
$GC,12281,0.66,126.5,993.5,0.0,1140,12417,0.80,2.50,121.20,1.236,4,0.063,0.049,2868,801,2221,0,0,0,0,0,0,24.04,23.63,22.53
$GC,12496,0.58,126.5,981.8,9.8,1151,12506,0.17,2.40,0.00,0.000,6,0.167,0.042,2829,2204,2214,0,0,0,0,0,0,24.25,24.47,28.83
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$STATE,23846,end climb,SURFACE_DEPTH_REACHED
$STATE,23846,begin surface coast
$FINISH,2.0,1.023734
$STATE,23857,end surface coast,CONTROL_FINISHED_OK
$STATE,23857,begin surface
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$IRIDIUM_FIX,4713.38,-12513.36,170612,171711
$TT8_MAMPS,0.054677,0.054677
$HUMID,38.62
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$XPDR_PINGS,5
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$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,6008.08 1610.66
$PA_BOOTCOUNT,143
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$PA_CMQS,1249/1248
$PA_USBDRIVE,/mnt/usba
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$24V_AH,22.5,27.934
$10V_AH,9.8,24.805
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$MEM,297252
$DATA_FILE_SIZE,93208,2256
$CAP_FILE_SIZE,255661,0
$CFSIZE,260165632,253657088
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$CURRENT,0.080,338.8,1
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