version: 66.09
glider: 178
mission: 10
dive: 10
start: 1 5 111 19 48 9
data:
$ID,178
$MISSION,10
$DIVE,10
$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,275
$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,-9722.0957
$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,3115
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2850
$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
$GPS1,050111,194137,3245.391,-11857.376,48,1.4,48,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.1
$GPS2,050111,194726,3245.392,-11857.323,13,1.5,13,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.283,0.159
$KALMAN_X,12918.9,276.8,-199.5,-29891.9,2275.0
$KALMAN_Y,-1058.1,275.8,359.0,9780.8,-949.0
$MHEAD_RNG_PITCHd_Wd,285.9,20139,-19.3,-13.306
$D_GRID,1075
$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,-1.01,-194.6,0.0,0.0,0,78,0.00,0.00,-59.75,0.000,2,0.000,0.000,163,2552,3176,0,0,0,0,0,0
$GC,79,-1.01,-194.6,4.0,-8.1,10,104,12.10,2.03,-8.48,0.000,4,0.270,0.080,2775,3776,3650,0,0,0,0,0,0
$GC,134,-1.01,-194.6,27.5,-36.8,19,139,0.00,2.00,0.00,0.000,6,0.000,0.040,2772,2531,3652,0,0,0,0,0,0
$GC,331,-1.01,-194.6,83.0,-28.0,38,335,0.00,2.10,0.00,0.000,4,0.000,0.066,2766,3771,3652,0,0,0,0,0,0
$GC,400,-1.01,-194.6,102.9,-26.6,44,407,0.00,1.92,0.00,0.000,6,0.000,0.040,2766,2541,3652,0,0,0,0,0,0
$GC,731,-1.01,-194.6,184.3,-23.9,55,739,0.00,2.05,0.00,0.000,4,0.000,0.065,2757,3776,3655,0,0,0,0,0,0
$GC,764,-1.01,-194.6,192.9,-25.8,56,772,0.12,1.90,0.00,0.000,6,0.202,0.040,2783,2537,3655,0,0,0,0,0,0
$GC,1101,-1.01,-194.6,263.1,-20.2,67,1108,0.00,2.05,0.00,0.000,4,0.000,0.065,2777,3779,3655,0,0,0,0,0,0
$GC,1127,-1.01,-194.6,268.7,-21.1,67,1137,0.00,1.90,0.00,0.000,6,0.000,0.041,2777,2536,3655,0,0,0,0,0,0
$GC,1466,-1.01,-194.6,338.4,-20.5,76,1473,0.00,2.05,0.00,0.000,4,0.000,0.066,2768,3780,3655,0,0,0,0,0,0
$GC,1487,-1.01,-194.6,343.0,-20.8,76,1495,0.00,1.88,0.00,0.000,6,0.000,0.039,2767,2548,3655,0,0,0,0,0,0
$GC,1833,-1.01,-194.6,414.9,-20.9,82,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2547,3658,0,0,0,0,0,0
$GC,2134,-1.01,-194.6,476.1,-20.2,87,2143,0.00,2.03,0.00,0.000,4,0.000,0.069,2758,3777,3655,0,0,0,0,0,0
$GC,2194,-1.01,-194.6,488.8,-21.3,87,2205,0.12,1.90,0.00,0.000,6,0.194,0.041,2782,2546,3655,0,0,0,0,0,0
$GC,2502,-1.01,-194.6,544.5,-17.9,93,2511,0.00,2.47,0.00,0.000,4,0.000,0.049,2785,975,3655,0,0,0,0,0,0
$GC,2537,-1.01,-194.6,550.6,-17.3,93,2545,0.00,2.55,0.00,0.000,6,0.000,0.053,2776,2554,3653,0,0,0,0,0,0
$GC,2867,-1.01,-194.6,610.0,-18.3,99,2877,0.00,2.03,0.00,0.000,4,0.000,0.069,2767,3771,3655,0,0,0,0,0,0
$GC,2928,-1.01,-194.6,621.6,-18.5,99,2939,0.00,1.90,0.00,0.000,6,0.000,0.043,2767,2545,3655,0,0,0,0,0,0
$GC,3237,-1.01,-194.6,678.3,-18.5,105,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2545,3654,0,0,0,0,0,0
$GC,3539,-1.01,-194.6,734.2,-18.6,110,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2545,3653,0,0,0,0,0,0
$GC,3840,-1.01,-194.6,788.6,-18.0,115,3849,0.00,2.03,0.00,0.000,4,0.000,0.072,2758,3774,3653,0,0,0,0,0,0
$GC,3894,-1.01,-194.6,798.9,-18.3,115,3902,0.10,1.88,0.00,0.000,6,0.202,0.044,2782,2553,3653,0,0,0,0,0,0
$GC,4208,-1.01,-194.6,850.7,-16.5,121,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2553,3653,0,0,0,0,0,0
$GC,4510,-1.01,-194.6,897.9,-15.6,126,4518,0.00,2.03,0.00,0.000,4,0.000,0.071,2775,3774,3651,0,0,0,0,0,0
$GC,4548,-1.01,-194.6,904.4,-17.1,126,4555,0.00,1.90,0.00,0.000,6,0.000,0.045,2775,2551,3651,0,0,0,0,0,0
$GC,4877,-1.01,-194.6,958.4,-16.4,132,4886,0.00,2.50,0.00,0.000,4,0.000,0.053,2775,967,3651,0,0,0,0,0,0
$GC,4900,-1.01,-194.6,962.4,-16.4,132,4908,0.00,2.55,0.00,0.000,6,0.000,0.057,2764,2548,3651,0,0,0,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5116,-0.20,0.0,997.2,16.4,136,5296,0.95,0.00,168.73,1.248,6,0.162,0.000,3042,2124,2849,0,0,0,0,0,0
$STATE,5296,end apogee,CONTROL_FINISHED_OK
$STATE,5297,begin climb
$GC,5298,1.01,194.6,1005.4,0.0,138,5492,1.12,2.88,177.65,1.226,4,0.058,0.057,3454,552,2055,0,0,0,0,0,0
$GC,5527,1.01,194.6,980.3,22.1,142,5535,0.00,2.70,0.00,0.000,6,0.000,0.048,3455,2123,2051,0,0,0,0,0,0
$GC,5851,1.01,194.6,908.2,22.2,148,5859,0.00,2.62,0.00,0.000,4,0.000,0.058,3466,549,2045,0,0,0,0,0,0
$GC,5905,1.01,194.6,896.3,21.4,148,5916,0.00,2.60,0.00,0.000,6,0.000,0.050,3466,2132,2044,0,0,0,0,0,0
$GC,6213,1.01,194.6,829.4,21.7,154,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2132,2043,0,0,0,0,0,0
$GC,6514,1.01,194.6,764.1,21.8,159,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2132,2042,0,0,0,0,0,0
$GC,6816,1.01,194.6,698.6,21.4,164,6824,0.00,2.60,0.00,0.000,4,0.000,0.058,3476,548,2041,0,0,0,0,0,0
$GC,6865,1.01,194.6,688.4,21.6,164,6873,0.15,2.58,0.00,0.000,6,0.210,0.050,3445,2137,2041,0,0,0,0,0,0
$GC,7173,1.01,194.6,625.9,20.3,169,7181,0.00,2.60,0.00,0.000,4,0.000,0.066,3445,3714,2042,0,0,0,0,0,0
$GC,7216,1.01,194.6,616.1,22.1,169,7225,0.00,2.53,0.00,0.000,6,0.000,0.045,3454,2130,2040,0,0,0,0,0,0
$GC,7531,1.01,194.6,550.4,20.9,175,7539,0.00,2.60,0.00,0.000,4,0.000,0.060,3467,536,2040,0,0,0,0,0,0
$GC,7580,1.01,194.6,540.0,21.0,175,7588,0.00,2.55,0.00,0.000,6,0.000,0.050,3467,2133,2040,0,0,0,0,0,0
$GC,7888,1.01,194.6,474.9,21.2,180,7896,0.12,2.60,0.00,0.000,4,0.218,0.057,3452,535,2040,0,0,0,0,0,0
$GC,7942,1.01,194.6,463.9,19.2,180,7953,0.00,2.58,0.00,0.000,6,0.000,0.050,3450,2130,2039,0,0,0,0,0,0
$GC,8250,1.01,194.6,403.5,19.5,186,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2131,2039,0,0,0,0,0,0
$GC,8551,1.01,194.6,345.3,19.4,191,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2131,2039,0,0,0,0,0,0
$GC,8853,1.01,194.6,286.8,19.4,197,8862,0.00,2.58,0.00,0.000,4,0.000,0.057,3462,530,2039,0,0,0,0,0,0
$GC,8940,1.01,194.6,269.8,19.0,199,8951,0.00,2.58,0.00,0.000,6,0.000,0.050,3462,2130,2039,0,0,0,0,0,0
$GC,9250,1.01,194.6,208.7,19.6,210,9258,0.00,2.58,0.00,0.000,4,0.000,0.057,3479,537,2039,0,0,0,0,0,0
$GC,9298,1.01,194.6,198.8,19.0,211,9307,0.15,2.53,0.00,0.000,6,0.206,0.048,3441,2127,2036,0,0,0,0,0,0
$GC,9607,1.01,194.6,146.5,15.8,221,9616,0.00,2.58,0.00,0.000,4,0.000,0.057,3450,537,2037,0,0,0,0,0,0
$GC,9635,1.01,194.6,142.1,15.2,222,9643,0.00,2.53,0.00,0.000,6,0.000,0.049,3447,2131,2039,0,0,0,0,0,0
$GC,9947,1.01,194.6,94.7,15.0,233,9951,0.00,2.60,0.00,0.000,4,0.000,0.057,3461,543,2039,0,0,0,0,0,0
$GC,9999,1.01,194.6,87.0,13.7,238,10004,0.00,2.55,0.00,0.000,6,0.000,0.047,3462,2121,2039,0,0,0,0,0,0
$GC,10196,1.01,194.6,57.4,14.0,257,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2121,2039,0,0,0,0,0,0
$GC,10382,1.01,194.6,30.7,13.4,275,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2122,2039,0,0,0,0,0,0
$GC,10573,1.01,194.6,4.7,14.3,303,10580,0.00,2.62,0.00,0.000,4,0.000,0.065,3462,3729,2039,0,0,0,0,0,0
$STATE,10588,end climb,SURFACE_DEPTH_REACHED
$STATE,10588,begin surface coast
$FINISH,0.6,0.999908
$STATE,10609,end surface coast,CONTROL_FINISHED_OK
$STATE,10609,begin surface
$SM_CCo,10625,41.85,0.616,0,0,1727,275.23
$SM_GC,1.88,0.00,0.00,41.85,0.000,0.000,0.616,163,2525,1727,-9.23,-0.68,275.23
$IRIDIUM_FIX,3236.51,-11843.37,050111,151559
$TT8_MAMPS,0.113848
$HUMID,45.66
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,18.50
$XPDR_PINGS,35
$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,12.9/482055/419647
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.6/298663/276108
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,66.3/7836665/2642806
$24V_AH,22.9,18.787
$10V_AH,10.1,12.848
$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,24.000,102.725,346.375,41.850,0.000,26.146,29.281,187.380,30.500,0.000,14.448,0.000,8783.906,450.766,1707.560,69.723,33.323,1202.472,0.000,823.590,0.000,138.562,0.000
$DEVICE_MAMPS,270.045,79.560,1248.480,615.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,211.553,0.000,0.000,0.000,0.000,0.000,11093.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.389,0.000,0.000,0.000
$MEM,316328
$DATA_FILE_SIZE,10145,310
$CAP_FILE_SIZE,98558,0
$CFSIZE,260165632,253489152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,224706,3246.154,-11858.390,46,1.6,52,13.3