version: 66.11
glider: 179
mission: 9
dive: 6
start: 6 12 112 1 15 35
data:
$ID,179
$MISSION,9
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,2.5
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51739
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$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,-18443.924
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.870029
$PRESSURE_SLOPE,0.0001164844
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,120612,010858,4653.904,-12458.202,9,2.6,28,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-78.4
$GPS2,120612,011452,4653.862,-12458.223,33,2.3,52,18.4
$SPEED_LIMITS,0.087,0.240
$TGT_NAME,SE
$TGT_LATLONG,4640.000,-12510.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.089,-0.223
$KALMAN_X,1358.5,616.8,-105.4,-4769.7,-22.6
$KALMAN_Y,-1063.3,-943.3,207.0,-10.0,760.4
$MHEAD_RNG_PITCHd_Wd,201.0,29718,-15.9,-8.684
$D_GRID,683
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.83,-136.3,0.0,0.0,0,79,0.00,0.00,-64.05,0.000,2,0.000,0.000,144,2097,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.83,-136.3,3.3,-5.5,11,112,13.15,2.62,-13.82,0.000,4,0.288,0.073,2711,3658,3295,0,0,0,0,0,0,24.88,25.34,25.82
$GC,166,-0.68,-136.3,29.4,-26.5,27,174,0.20,2.25,0.00,0.000,6,0.146,0.040,2769,2256,3298,0,0,0,0,0,0,25.12,25.53,28.83
$GC,472,-0.65,-136.3,72.2,-13.1,88,483,0.00,2.22,0.00,0.000,4,0.000,0.044,2768,856,3299,0,0,0,0,0,0,28.83,25.60,28.83
$GC,492,-0.62,-136.3,74.9,-13.5,91,502,0.15,2.28,0.00,0.000,6,0.155,0.047,2798,2260,3299,0,0,0,0,0,0,25.37,25.60,28.83
$GC,801,-0.64,-136.3,105.6,-8.8,152,812,0.00,2.33,0.00,0.000,4,0.000,0.063,2789,3666,3299,0,0,0,0,0,0,28.83,25.60,28.83
$GC,886,-0.68,-136.3,112.7,-8.6,168,896,0.00,2.22,0.00,0.000,6,0.000,0.041,2791,2239,3299,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1195,-0.71,-136.3,138.3,-9.5,229,1207,0.00,2.35,0.00,0.000,4,0.000,0.063,2780,3658,3299,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1251,-0.74,-136.3,143.7,-9.8,239,1261,0.00,2.20,0.00,0.000,6,0.000,0.040,2780,2241,3299,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1561,-0.75,-136.3,173.6,-8.5,300,1571,0.00,2.35,0.00,0.000,4,0.000,0.063,2770,3661,3299,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1640,-0.75,-136.3,180.6,-8.0,315,1651,0.00,2.20,0.00,0.000,6,0.000,0.041,2770,2240,3299,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1954,-0.75,-136.3,208.2,-8.8,368,1963,0.00,2.35,0.00,0.000,4,0.000,0.063,2760,3658,3299,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2006,-0.75,-136.3,212.4,-8.9,372,2017,0.00,2.15,0.00,0.000,6,0.000,0.041,2760,2251,3299,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2312,-0.75,-136.3,239.9,-8.9,403,2319,0.00,2.20,0.00,0.000,4,0.000,0.045,2760,850,3299,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2408,-0.75,-136.3,248.4,-8.7,412,2416,0.00,2.25,0.00,0.000,6,0.000,0.046,2751,2261,3299,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2713,-0.73,-136.3,278.2,-10.2,442,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2261,3299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3014,-0.73,-136.3,309.1,-10.2,472,3027,0.00,2.28,0.00,0.000,4,0.000,0.064,2740,3656,3299,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3035,-0.73,-136.3,311.5,-10.4,474,3044,0.00,2.17,0.00,0.000,6,0.000,0.041,2740,2250,3299,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3341,-0.71,-136.3,344.2,-10.9,504,3346,0.12,0.00,0.00,0.000,6,0.175,0.000,2770,2249,3299,0,0,0,0,0,0,26.05,28.83,28.83
$GC,3641,-0.73,-136.3,370.6,-8.5,534,3649,0.00,2.35,0.00,0.000,4,0.000,0.065,2762,3664,3298,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3668,-0.75,-136.3,373.1,-8.7,536,3676,0.00,2.20,0.00,0.000,6,0.000,0.043,2762,2237,3299,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3973,-0.75,-136.3,400.4,-9.4,566,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2239,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4273,-0.75,-136.3,429.2,-9.6,596,4281,0.00,2.35,0.00,0.000,4,0.000,0.065,2752,3655,3298,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4300,-0.75,-136.3,431.6,-9.2,598,4308,0.00,2.20,0.00,0.000,6,0.000,0.041,2748,2242,3297,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4605,-0.75,-136.3,461.1,-10.5,628,4613,0.00,2.35,0.00,0.000,4,0.000,0.064,2742,3656,3298,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4626,-0.75,-136.3,462.8,-10.2,629,4637,0.00,2.17,0.00,0.000,6,0.000,0.041,2741,2251,3298,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,4922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4922,begin apogee
$GC,4925,-0.21,0.0,495.4,-11.2,659,5018,0.57,0.00,85.40,0.861,2,0.132,0.000,2919,2114,2893,0,0,0,0,0,0,25.42,28.83,28.83
$STATE,5018,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,5028,525.70,0.831,4,0,461,558.79
$SM_GC,1.52,7.85,0.00,0.00,0.064,0.000,0.000,143,2114,462,-8.89,0.40,558.06,0,0,0,0,0,0,25.64,28.83,28.83
$IRIDIUM_FIX,4632.36,-12438.13,110612,232303
$TT8_MAMPS,0.137816,0.137816
$HUMID,42.91
$INTERNAL_PRESSURE,8.97811
$TCM_TEMP,17.80
$XPDR_PINGS,0
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,40178.70 30627.45
$PA_BOOTCOUNT,133
$PA_DFQS,0/0
$PA_CMQS,0/0
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.608/111.451
$PA_USBA,0.00/0.286/117.609/111.349
$PA_HOME,0.09/0.043/0.460/0.393
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.09/0.026/0.285/0.244
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.02/2.229/117.213/109.031
$24V_AH,23.0,20.344
$10V_AH,9.9,18.270
$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,22.050,50.250,85.400,525.700,0.000,27.965,39.736,144.958,0.000,0.000,54.660,0.000,7747.342,746.893,1968.050,55.544,33.215,1460.758,0.000,1014.218,0.000,0.533,0.000
$DEVICE_MAMPS,287.640,73.440,861.390,830.790,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,459.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297140
$DATA_FILE_SIZE,26714,668
$CAP_FILE_SIZE,85757,1
$CFSIZE,260165632,257966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,8,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,120612,040607,4653.164,-12458.677,40,1.1,41,18.4