version: 66.09
glider: 178
mission: 10
dive: 8
start: 1 5 111 12 27 49
data:
$ID,178
$MISSION,10
$DIVE,8
$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,-9719.5723
$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,3025
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,050111,122030,3245.458,-11853.318,37,1.6,37,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.7
$GPS2,050111,122706,3245.455,-11853.313,15,1.1,31,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.324,-0.017
$KALMAN_X,11361.6,-1051.0,-273.9,-20688.0,3962.3
$KALMAN_Y,-144.8,-167.8,-325.3,10098.5,586.5
$MHEAD_RNG_PITCHd_Wd,253.7,5491,-19.3,-13.306
$D_GRID,1376
$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,-194.6,0.0,0.0,0,106,0.00,0.00,-87.95,0.000,2,0.000,0.000,163,2564,3194,0,0,0,0,0,0
$GC,107,-0.84,-194.6,3.8,-7.9,15,132,11.98,2.03,-6.38,0.000,4,0.270,0.076,2739,3780,3544,0,0,0,0,0,0
$GC,179,-0.84,-194.6,35.9,-40.5,25,183,0.00,2.00,0.00,0.000,6,0.000,0.041,2745,2529,3545,0,0,0,0,0,0
$GC,375,-0.84,-194.6,88.6,-25.7,44,380,0.00,2.50,0.00,0.000,4,0.000,0.046,2745,974,3547,0,0,0,0,0,0
$GC,396,-0.84,-194.6,94.2,-27.0,46,401,0.00,2.60,0.00,0.000,6,0.000,0.052,2736,2551,3547,0,0,0,0,0,0
$GC,610,-0.84,-194.6,151.6,-27.5,55,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2554,3548,0,0,0,0,0,0
$GC,914,-0.84,-194.6,230.2,-25.5,65,922,0.00,2.00,0.00,0.000,4,0.000,0.066,2726,3781,3550,0,0,0,0,0,0
$GC,994,-0.84,-194.6,251.9,-26.0,67,1002,0.00,1.95,0.00,0.000,6,0.000,0.040,2726,2536,3548,0,0,0,0,0,0
$GC,1315,-0.84,-194.6,332.2,-24.2,76,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2535,3548,0,0,0,0,0,0
$GC,1616,-0.84,-194.6,402.4,-23.3,81,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2535,3548,0,0,0,0,0,0
$GC,1918,-0.84,-194.6,471.7,-23.2,86,1929,0.00,2.05,0.00,0.000,4,0.000,0.067,2717,3780,3548,0,0,0,0,0,0
$GC,1964,-0.84,-194.6,483.7,-24.5,86,1972,0.15,1.90,0.00,0.000,6,0.203,0.040,2751,2545,3548,0,0,0,0,0,0
$GC,2289,-0.84,-194.6,550.9,-20.3,92,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2545,3551,0,0,0,0,0,0
$GC,2590,-0.84,-194.6,611.0,-19.8,97,2601,0.00,2.03,0.00,0.000,4,0.000,0.070,2744,3781,3547,0,0,0,0,0,0
$GC,2621,-0.84,-194.6,617.2,-20.3,97,2628,0.00,1.88,0.00,0.000,6,0.000,0.041,2744,2552,3547,0,0,0,0,0,0
$GC,2961,-0.84,-194.6,683.7,-19.4,103,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2551,3547,0,0,0,0,0,0
$GC,3262,-0.84,-194.6,740.2,-18.5,108,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2551,3547,0,0,0,0,0,0
$GC,3564,-0.84,-194.6,798.2,-19.3,113,3573,0.00,2.05,0.00,0.000,4,0.000,0.072,2735,3787,3544,0,0,0,0,0,0
$GC,3603,-0.84,-194.6,806.3,-20.0,113,3611,0.00,1.92,0.00,0.000,6,0.000,0.044,2735,2548,3547,0,0,0,0,0,0
$GC,3933,-0.84,-194.6,869.0,-18.9,119,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2547,3546,0,0,0,0,0,0
$GC,4235,-0.84,-194.6,925.1,-18.6,124,4244,0.00,2.03,0.00,0.000,4,0.000,0.073,2726,3779,3545,0,0,0,0,0,0
$GC,4268,-0.84,-194.6,931.6,-19.7,124,4276,0.00,1.92,0.00,0.000,6,0.000,0.044,2725,2542,3544,0,0,0,0,0,0
$STATE,4603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4603,begin apogee
$GC,4606,-0.16,0.0,993.4,18.4,130,4783,0.85,0.00,168.38,1.247,6,0.171,0.000,2969,2130,2748,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4785,0.84,194.6,1001.7,0.0,132,4979,1.00,2.85,178.52,1.225,4,0.105,0.056,3297,558,1952,0,0,0,0,0,0
$GC,5025,0.89,232.1,982.3,11.6,136,5069,0.00,2.70,35.38,1.171,6,0.000,0.048,3297,2126,1801,0,0,0,0,0,0
$GC,5401,0.90,241.1,934.1,12.9,143,5419,0.00,2.75,8.02,0.981,4,0.000,0.069,3297,3709,1765,0,0,0,0,0,0
$GC,5470,0.90,241.1,924.1,15.2,144,5478,0.00,2.58,0.00,0.000,6,0.000,0.046,3309,2133,1763,0,0,0,0,0,0
$GC,5827,0.90,241.1,873.9,14.0,150,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2130,1762,0,0,0,0,0,0
$GC,6128,0.90,241.1,832.0,13.8,155,6137,0.00,2.65,0.00,0.000,4,0.000,0.070,3310,3718,1761,0,0,0,0,0,0
$GC,6188,0.90,241.1,822.8,15.9,156,6196,0.00,2.55,0.00,0.000,6,0.000,0.045,3322,2123,1761,0,0,0,0,0,0
$GC,6550,0.90,241.1,770.2,14.6,162,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2120,1762,0,0,0,0,0,0
$GC,6855,0.90,241.1,725.7,14.7,167,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2120,1760,0,0,0,0,0,0
$GC,7153,0.90,241.1,683.0,14.2,172,7162,0.00,2.65,0.00,0.000,4,0.000,0.069,3322,3714,1760,0,0,0,0,0,0
$GC,7186,0.90,241.1,678.0,15.4,172,7194,0.00,2.55,0.00,0.000,6,0.000,0.047,3334,2114,1759,0,0,0,0,0,0
$GC,7510,0.90,241.1,629.9,14.9,178,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2112,1758,0,0,0,0,0,0
$GC,7812,0.90,241.1,583.4,15.5,183,7820,0.00,2.65,0.00,0.000,4,0.000,0.069,3334,3710,1758,0,0,0,0,0,0
$GC,7839,0.90,241.1,578.4,17.7,183,7848,0.12,2.53,0.00,0.000,6,0.189,0.047,3318,2125,1761,0,0,0,0,0,0
$GC,8169,0.90,241.1,531.6,13.8,189,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2122,1759,0,0,0,0,0,0
$GC,8471,0.90,241.1,490.8,13.5,194,8480,0.00,2.65,0.00,0.000,4,0.000,0.070,3318,3722,1759,0,0,0,0,0,0
$GC,8515,0.90,241.1,484.5,14.7,194,8524,0.00,2.53,0.00,0.000,6,0.000,0.045,3327,2121,1759,0,0,0,0,0,0
$GC,8829,0.90,241.1,442.6,13.3,200,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2121,1758,0,0,0,0,0,0
$GC,9130,0.90,241.1,402.1,13.4,205,9139,0.00,2.62,0.00,0.000,4,0.000,0.067,3327,3712,1759,0,0,0,0,0,0
$GC,9185,0.90,241.1,393.9,15.6,205,9196,0.00,2.53,0.00,0.000,6,0.000,0.046,3340,2120,1758,0,0,0,0,0,0
$GC,9493,0.90,241.1,350.2,14.3,211,9501,0.00,2.55,0.00,0.000,4,0.000,0.060,3351,531,1758,0,0,0,0,0,0
$GC,9525,0.90,241.1,345.2,14.7,211,9534,0.15,2.58,0.00,0.000,6,0.168,0.050,3314,2134,1758,0,0,0,0,0,0
$GC,9851,0.92,254.3,303.4,12.7,217,9868,0.00,0.00,12.05,0.766,6,0.000,0.000,3314,2134,1713,0,0,0,0,0,0
$GC,10154,0.98,307.2,269.1,10.9,226,10212,0.00,2.72,47.45,0.786,4,0.000,0.065,3314,3717,1494,0,0,0,0,0,0
$GC,10253,1.01,326.3,257.9,12.4,229,10284,0.00,2.58,17.40,0.742,6,0.000,0.044,3323,2117,1417,0,0,0,0,0,0
$GC,10582,1.06,367.8,221.0,11.4,240,10628,0.12,2.72,36.38,0.742,4,0.099,0.065,3376,3715,1246,0,0,0,0,0,0
$GC,10659,1.06,367.8,208.8,18.1,242,10667,0.00,2.60,0.00,0.000,6,0.000,0.044,3388,2127,1243,0,0,0,0,0,0
$GC,10974,1.06,367.8,154.7,16.0,253,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2124,1240,0,0,0,0,0,0
$GC,11277,1.06,367.8,105.5,16.1,263,11286,0.00,2.65,0.00,0.000,4,0.000,0.066,3388,3710,1239,0,0,0,0,0,0
$GC,11321,1.06,367.8,97.5,19.0,264,11329,0.15,2.55,0.00,0.000,6,0.184,0.044,3364,2114,1238,0,0,0,0,0,0
$GC,11643,1.06,367.8,51.3,13.9,295,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2111,1238,0,0,0,0,0,0
$GC,11830,1.09,395.5,26.3,12.0,313,11857,0.00,2.67,22.52,0.621,4,0.000,0.066,3364,3719,1132,0,0,0,0,0,0
$GC,11904,1.09,395.5,16.0,13.4,322,11912,0.00,2.58,0.00,0.000,6,0.000,0.043,3373,2126,1130,0,0,0,0,0,0
$GC,11975,1.09,395.5,6.5,13.5,335,11982,0.00,2.62,0.00,0.000,4,0.000,0.057,3385,533,1131,0,0,0,0,0,0
$GC,12002,1.10,407.3,3.1,12.8,340,12011,0.00,2.60,4.60,0.468,2,0.000,0.045,3385,2131,1115,0,0,0,0,0,0
$STATE,12011,end climb,SURFACE_DEPTH_REACHED
$STATE,12011,begin surface coast
$FINISH,0.6,1.008036
$STATE,12030,end surface coast,CONTROL_FINISHED_OK
$STATE,12030,begin surface
$SM_CCo,12104,0.00,0.000,0,0,1110,401.80
$SM_GC,1.57,8.82,0.00,0.00,0.054,0.000,0.000,163,2557,1110,-8.91,0.20,401.80
$IRIDIUM_FIX,3233.95,-11852.58,050111,080809
$TT8_MAMPS,0.113099
$HUMID,44.80
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,18.70
$XPDR_PINGS,22
$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,12.9/482055/420068
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.4/298663/276590
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,51.4/7836665/3812463
$24V_AH,22.9,18.493
$10V_AH,10.1,12.180
$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,23.350,98.350,530.700,0.000,0.000,27.724,31.376,212.924,27.000,0.000,32.073,0.000,9970.339,562.440,1886.709,75.286,33.334,1399.039,0.000,902.958,0.000,137.000,0.000
$DEVICE_MAMPS,270.045,75.735,1246.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,234.866,0.000,0.000,0.000,0.000,0.000,12586.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.550,0.000,0.000,0.000
$MEM,316316
$DATA_FILE_SIZE,10148,345
$CAP_FILE_SIZE,106323,0
$CFSIZE,260165632,253616128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,155022,3245.354,-11855.341,12,99.0,31,13.3