version: 66.09
glider: 178
mission: 10
dive: 6
start: 1 5 111 4 51 50
data:
$ID,178
$MISSION,10
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,248
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,501
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51840
$NAV_MODE,1
$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,250
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-9717.0498
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2748
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.583923
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,130
$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,48
$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
$GPS1,050111,044337,3242.881,-11850.008,33,1.9,33,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.0
$GPS2,050111,045106,3242.865,-11850.014,12,1.3,28,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.292,0.142
$KALMAN_X,6795.1,-202.0,26.9,-12131.7,1622.3
$KALMAN_Y,-875.5,-113.7,5.9,5655.1,-308.4
$MHEAD_RNG_PITCHd_Wd,282.5,12295,-19.3,-13.306
$D_GRID,1132
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.84,-194.6,0.0,0.0,0,79,0.00,0.00,-59.12,0.000,2,0.000,0.000,165,2510,3171,0,0,0,0,0,0
$GC,81,-0.84,-194.6,3.8,-8.5,10,109,12.30,2.12,-6.20,0.000,4,0.268,0.080,2836,3781,3545,0,0,0,0,0,0
$GC,252,-0.84,-194.6,54.8,-22.0,28,263,0.00,1.95,0.00,0.000,6,0.000,0.042,2835,2539,3548,0,0,0,0,0,0
$GC,445,-0.84,-194.6,89.6,-17.2,47,453,0.00,2.47,0.00,0.000,4,0.000,0.047,2836,978,3548,0,0,0,0,0,0
$GC,477,-0.84,-194.6,95.7,-18.4,49,488,0.00,2.55,0.00,0.000,6,0.000,0.054,2824,2548,3549,0,0,0,0,0,0
$GC,686,-0.84,-194.6,133.1,-17.8,58,697,0.00,2.05,0.00,0.000,4,0.000,0.068,2814,3780,3549,0,0,0,0,0,0
$GC,796,-0.84,-194.6,152.9,-17.2,61,805,0.15,1.92,0.00,0.000,6,0.175,0.042,2851,2546,3550,0,0,0,0,0,0
$GC,1117,-0.84,-194.6,197.5,-13.8,72,1125,0.00,2.47,0.00,0.000,4,0.000,0.049,2851,977,3550,0,0,0,0,0,0
$GC,1139,-0.84,-194.6,200.6,-13.8,72,1150,0.00,2.55,0.00,0.000,6,0.000,0.054,2841,2553,3551,0,0,0,0,0,0
$GC,1449,-0.84,-194.6,245.2,-14.5,83,1456,0.00,2.03,0.00,0.000,4,0.000,0.069,2832,3778,3550,0,0,0,0,0,0
$GC,1507,-0.84,-194.6,253.9,-14.8,84,1518,0.00,1.90,0.00,0.000,6,0.000,0.042,2832,2551,3551,0,0,0,0,0,0
$GC,1816,-0.84,-194.6,297.5,-14.0,95,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2550,3550,0,0,0,0,0,0
$GC,2150,-0.84,-194.6,346.7,-14.8,101,2157,0.00,2.08,0.00,0.000,4,0.000,0.071,2822,3781,3550,0,0,0,0,0,0
$GC,2176,-0.84,-194.6,351.1,-15.7,101,2184,0.12,1.90,0.00,0.000,6,0.179,0.043,2852,2538,3550,0,0,0,0,0,0
$GC,2516,-0.84,-194.6,396.9,-13.5,107,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2538,3550,0,0,0,0,0,0
$GC,2818,-0.84,-194.6,436.7,-13.1,112,2826,0.00,2.45,0.00,0.000,4,0.000,0.048,2852,975,3553,0,0,0,0,0,0
$GC,2840,-0.84,-194.6,439.8,-13.7,112,2849,0.00,2.53,0.00,0.000,6,0.000,0.056,2843,2552,3550,0,0,0,0,0,0
$GC,3181,-0.84,-194.6,487.5,-14.0,118,3189,0.00,2.03,0.00,0.000,4,0.000,0.070,2834,3779,3549,0,0,0,0,0,0
$GC,3234,-0.84,-194.6,495.3,-14.7,118,3242,0.00,1.92,0.00,0.000,6,0.000,0.044,2834,2538,3549,0,0,0,0,0,0
$GC,3548,-0.84,-194.6,539.5,-14.1,124,3556,0.00,2.45,0.00,0.000,4,0.000,0.049,2834,979,3549,0,0,0,0,0,0
$GC,3591,-0.84,-194.6,545.5,-13.5,124,3600,0.12,2.58,0.00,0.000,6,0.177,0.055,2852,2563,3549,0,0,0,0,0,0
$GC,3911,-0.84,-194.6,581.5,-11.1,130,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2562,3549,0,0,0,0,0,0
$GC,4213,-0.84,-194.6,612.8,-10.3,135,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2563,3549,0,0,0,0,0,0
$GC,4515,-0.84,-194.6,643.1,-10.0,140,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2563,3548,0,0,0,0,0,0
$GC,4817,-0.84,-194.6,671.7,-9.5,145,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2563,3547,0,0,0,0,0,0
$GC,5118,-0.84,-194.6,699.6,-9.2,150,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2562,3545,0,0,0,0,0,0
$GC,5420,-0.84,-194.6,728.3,-9.5,155,5427,0.00,2.00,0.00,0.000,4,0.000,0.073,2845,3775,3546,0,0,0,0,0,0
$GC,5441,-0.84,-194.6,730.6,-10.4,155,5448,0.00,1.90,0.00,0.000,6,0.000,0.046,2845,2547,3548,0,0,0,0,0,0
$GC,5786,-0.84,-194.6,766.5,-10.4,161,5794,0.00,2.50,0.00,0.000,4,0.000,0.050,2845,964,3546,0,0,0,0,0,0
$GC,5820,-0.84,-194.6,770.1,-11.2,161,5828,0.00,2.58,0.00,0.000,6,0.000,0.057,2833,2548,3545,0,0,0,0,0,0
$GC,6145,-0.84,-194.6,804.7,-10.8,167,6153,0.00,2.05,0.00,0.000,4,0.000,0.073,2824,3783,3543,0,0,0,0,0,0
$GC,6172,-0.84,-194.6,807.8,-12.0,167,6179,0.00,1.90,0.00,0.000,6,0.000,0.046,2824,2551,3545,0,0,0,0,0,0
$GC,6512,-0.84,-194.6,845.7,-11.1,173,6520,0.12,2.10,0.00,0.000,4,0.181,0.076,2847,3787,3542,0,0,0,0,0,0
$GC,6540,-0.84,-194.6,848.5,-10.4,173,6547,0.00,1.92,0.00,0.000,6,0.000,0.045,2847,2539,3544,0,0,0,0,0,0
$GC,6874,-0.84,-194.6,879.3,-9.3,179,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2536,3544,0,0,0,0,0,0
$GC,7176,-0.84,-194.6,909.3,-10.0,184,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2538,3544,0,0,0,0,0,0
$GC,7478,-0.84,-194.6,940.4,-10.2,189,7486,0.00,2.47,0.00,0.000,4,0.000,0.050,2847,979,3543,0,0,0,0,0,0
$GC,7505,-0.84,-194.6,943.3,-10.8,189,7514,0.00,2.58,0.00,0.000,6,0.000,0.058,2836,2551,3543,0,0,0,0,0,0
$GC,7835,-0.84,-194.6,977.5,-10.3,195,7843,0.00,2.05,0.00,0.000,4,0.000,0.075,2827,3780,3542,0,0,0,0,0,0
$GC,7863,-0.84,-194.6,980.5,-11.2,195,7871,0.00,1.95,0.00,0.000,6,0.000,0.047,2827,2551,3542,0,0,0,0,0,0
$STATE,7961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7961,begin apogee
$GC,7964,-0.16,0.0,990.9,10.5,197,8144,0.77,0.00,169.38,1.242,6,0.142,0.000,3067,2121,2748,0,0,0,0,0,0
$STATE,8144,end apogee,CONTROL_FINISHED_OK
$STATE,8144,begin climb
$GC,8145,0.84,194.6,996.8,0.0,199,8340,0.93,2.83,179.70,1.219,4,0.053,0.058,3417,549,1953,0,0,0,0,0,0
$GC,8417,0.84,194.6,959.9,20.4,204,8426,0.00,2.67,0.00,0.000,6,0.000,0.050,3415,2122,1947,0,0,0,0,0,0
$GC,8763,0.84,194.6,886.3,21.5,210,8772,0.00,2.65,0.00,0.000,4,0.000,0.060,3427,548,1943,0,0,0,0,0,0
$GC,8802,0.84,194.6,877.9,20.4,210,8810,0.12,2.62,0.00,0.000,6,0.201,0.053,3398,2128,1942,0,0,0,0,0,0
$GC,9121,0.84,194.6,812.2,20.5,216,9130,0.00,2.67,0.00,0.000,4,0.000,0.070,3401,3720,1944,0,0,0,0,0,0
$GC,9165,0.84,194.6,802.6,22.5,216,9174,0.00,2.55,0.00,0.000,6,0.000,0.047,3411,2130,1940,0,0,0,0,0,0
$GC,9479,0.84,194.6,738.5,20.4,222,9487,0.00,2.60,0.00,0.000,4,0.000,0.063,3422,543,1939,0,0,0,0,0,0
$GC,9539,0.84,194.6,726.6,20.7,223,9547,0.00,2.60,0.00,0.000,6,0.000,0.053,3420,2131,1940,0,0,0,0,0,0
$GC,9900,0.84,194.6,652.3,20.4,229,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2131,1939,0,0,0,0,0,0
$GC,10202,0.84,194.6,590.2,20.5,234,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2131,1938,0,0,0,0,0,0
$GC,10504,0.84,194.6,531.3,19.5,239,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2132,1938,0,0,0,0,0,0
$GC,10806,0.84,194.6,473.7,18.8,244,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2132,1938,0,0,0,0,0,0
$GC,11107,0.84,194.6,417.4,18.6,249,11116,0.00,2.62,0.00,0.000,4,0.000,0.061,3435,540,1938,0,0,0,0,0,0
$GC,11140,0.84,194.6,411.0,18.5,249,11149,0.15,2.55,0.00,0.000,6,0.196,0.050,3401,2130,1938,0,0,0,0,0,0
$GC,11465,0.84,194.6,356.2,16.8,255,11473,0.00,2.65,0.00,0.000,4,0.000,0.070,3401,3720,1936,0,0,0,0,0,0
$GC,11487,0.84,194.6,352.2,17.9,255,11496,0.00,2.53,0.00,0.000,6,0.000,0.045,3411,2115,1937,0,0,0,0,0,0
$GC,11822,0.84,194.6,294.0,17.3,261,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2113,1938,0,0,0,0,0,0
$GC,12126,0.84,194.6,243.4,16.8,271,12134,0.00,2.67,0.00,0.000,4,0.000,0.068,3410,3716,1936,0,0,0,0,0,0
$GC,12186,0.84,194.6,232.7,19.0,273,12194,0.00,2.50,0.00,0.000,6,0.000,0.047,3422,2129,1936,0,0,0,0,0,0
$GC,12517,0.84,194.6,176.2,16.9,284,12526,0.00,2.60,0.00,0.000,4,0.000,0.060,3435,533,1937,0,0,0,0,0,0
$GC,12534,0.84,194.6,173.2,17.0,284,12543,0.15,2.55,0.00,0.000,6,0.190,0.049,3400,2138,1937,0,0,0,0,0,0
$GC,12843,0.84,194.6,122.8,15.6,294,12852,0.00,2.62,0.00,0.000,4,0.000,0.059,3410,534,1937,0,0,0,0,0,0
$GC,12892,0.84,194.6,114.8,15.8,295,12901,0.00,2.53,0.00,0.000,6,0.000,0.048,3409,2124,1937,0,0,0,0,0,0
$GC,13207,0.84,194.6,66.4,14.8,319,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2124,1937,0,0,0,0,0,0
$GC,13393,0.91,247.9,42.9,10.9,337,13442,0.00,0.00,43.42,0.640,6,0.000,0.000,3410,2124,1737,0,0,0,0,0,0
$GC,13623,0.91,247.9,14.5,14.2,362,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2124,1729,0,0,0,0,0,0
$GC,13696,0.91,247.9,4.2,13.9,375,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2122,1729,0,0,0,0,0,0
$STATE,13708,end climb,SURFACE_DEPTH_REACHED
$STATE,13708,begin surface coast
$FINISH,0.4,1.016665
$STATE,13730,end surface coast,CONTROL_FINISHED_OK
$STATE,13730,begin surface
$SM_CCo,13808,0.00,0.000,0,0,1724,251.19
$SM_GC,1.36,8.88,0.00,0.00,0.052,0.000,0.000,160,2552,1724,-9.23,0.06,251.19
$IRIDIUM_FIX,3216.07,-12459.31,040111,232358
$TT8_MAMPS,0.113848
$HUMID,45.51
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.60
$XPDR_PINGS,46
$PA_PMVER,0.4
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010
$PA_BOOTCOUNT,88
$PA_DFQS,0/0
$PA_CMQS,0/0
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,12.8/482055/420485
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.2/298663/277076
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,36.2/7836665/5001985
$24V_AH,22.8,18.123
$10V_AH,10.2,11.496
$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,23.825,114.325,392.500,0.000,0.000,30.339,33.802,248.707,33.250,0.000,29.538,0.000,11552.352,441.172,2172.177,82.674,33.378,1397.939,0.000,1010.311,0.000,138.575,0.000
$DEVICE_MAMPS,267.750,80.325,1242.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,260.537,0.000,0.000,0.000,0.000,0.000,14328.670,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.141,0.000,0.000,0.000
$MEM,316388
$DATA_FILE_SIZE,13465,381
$CAP_FILE_SIZE,119060,0
$CFSIZE,260165632,253730816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,084307,3244.361,-11851.766,52,1.0,52,13.3