version: 66.09
glider: 178
mission: 10
dive: 14
start: 1 6 111 7 58 33
data:
$ID,178
$MISSION,10
$DIVE,14
$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,300
$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,-9727.1367
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$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
$GPS1,060111,075207,3247.678,-11902.423,28,1.0,28,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-77.1
$GPS2,060111,075750,3247.640,-11902.444,13,1.1,13,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.325,0.006
$KALMAN_X,23790.2,-501.5,-503.6,-47660.4,5702.4
$KALMAN_Y,-2721.7,-146.7,308.9,16072.4,-898.1
$MHEAD_RNG_PITCHd_Wd,257.8,11328,-19.3,-13.306
$D_GRID,1098
$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,-194.6,0.0,0.0,0,83,0.00,0.00,-64.88,0.000,2,0.000,0.000,162,2552,3060,0,0,0,0,0,0
$GC,84,-1.01,-194.6,3.7,-7.1,11,115,12.20,2.10,-9.20,0.000,4,0.272,0.079,2778,3781,3547,0,0,0,0,0,0
$GC,177,-1.01,-194.6,37.4,-33.0,24,181,0.00,2.00,0.00,0.000,6,0.000,0.040,2778,2528,3546,0,0,0,0,0,0
$GC,374,-1.01,-194.6,90.9,-25.6,43,378,0.00,2.10,0.00,0.000,4,0.000,0.067,2769,3774,3549,0,0,0,0,0,0
$GC,474,-1.01,-194.6,115.3,-24.5,49,482,0.00,1.90,0.00,0.000,6,0.000,0.039,2769,2538,3548,0,0,0,0,0,0
$GC,806,-1.01,-194.6,193.8,-23.1,60,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2535,3549,0,0,0,0,0,0
$GC,1109,-1.01,-194.6,261.3,-21.8,70,1117,0.00,2.03,0.00,0.000,4,0.000,0.065,2759,3779,3550,0,0,0,0,0,0
$GC,1147,-1.01,-194.6,270.0,-23.1,71,1155,0.12,1.90,0.00,0.000,6,0.200,0.039,2785,2544,3550,0,0,0,0,0,0
$GC,1508,-1.01,-194.6,341.2,-19.8,80,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2544,3550,0,0,0,0,0,0
$GC,1810,-1.01,-194.6,399.9,-19.3,85,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2544,3550,0,0,0,0,0,0
$GC,2111,-1.01,-194.6,455.9,-18.5,90,2120,0.00,2.47,0.00,0.000,4,0.000,0.047,2786,971,3550,0,0,0,0,0,0
$GC,2144,-1.01,-194.6,462.0,-17.0,90,2153,0.00,2.55,0.00,0.000,6,0.000,0.053,2776,2552,3550,0,0,0,0,0,0
$GC,2475,-1.01,-194.6,524.0,-18.8,96,2484,0.00,2.00,0.00,0.000,4,0.000,0.067,2767,3776,3550,0,0,0,0,0,0
$GC,2497,-1.01,-194.6,528.6,-19.2,96,2505,0.00,1.90,0.00,0.000,6,0.000,0.040,2767,2546,3550,0,0,0,0,0,0
$GC,2843,-1.01,-194.6,593.4,-19.0,102,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2544,3550,0,0,0,0,0,0
$GC,3144,-1.01,-194.6,648.2,-18.0,107,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2544,3549,0,0,0,0,0,0
$GC,3446,-1.01,-194.6,701.5,-17.7,112,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2544,3549,0,0,0,0,0,0
$GC,3748,-1.01,-194.6,754.6,-17.6,117,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2544,3546,0,0,0,0,0,0
$GC,4050,-1.01,-194.6,805.8,-16.8,122,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2544,3547,0,0,0,0,0,0
$GC,4352,-1.01,-194.6,854.4,-16.1,127,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2544,3547,0,0,0,0,0,0
$GC,4653,-1.01,-194.6,902.6,-16.0,132,4662,0.00,2.05,0.00,0.000,4,0.000,0.071,2758,3780,3546,0,0,0,0,0,0
$GC,4670,-1.01,-194.6,905.6,-15.9,132,4678,0.08,1.92,0.00,0.000,6,0.180,0.045,2779,2554,3546,0,0,0,0,0,0
$GC,5022,-1.01,-194.6,956.3,-14.3,138,5030,0.00,2.53,0.00,0.000,4,0.000,0.051,2776,964,3545,0,0,0,0,0,0
$GC,5050,-1.01,-194.6,960.4,-14.0,138,5058,0.00,2.58,0.00,0.000,6,0.000,0.055,2770,2551,3545,0,0,0,0,0,0
$STATE,5259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5259,begin apogee
$GC,5262,-0.20,0.0,991.2,14.8,142,5441,0.93,0.00,168.48,1.238,6,0.160,0.000,3042,2192,2749,0,0,0,0,0,0
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5443,1.01,194.6,997.2,0.0,144,5637,1.12,2.83,177.90,1.216,4,0.057,0.054,3454,629,1955,0,0,0,0,0,0
$GC,5677,1.01,194.6,962.3,22.5,148,5686,0.00,2.70,0.00,0.000,6,0.000,0.047,3454,2199,1951,0,0,0,0,0,0
$GC,5997,1.01,194.6,885.9,24.0,154,6005,0.00,2.67,0.00,0.000,4,0.000,0.063,3454,3781,1946,0,0,0,0,0,0
$GC,6024,1.01,194.6,878.9,25.3,154,6033,0.00,2.58,0.00,0.000,6,0.000,0.044,3466,2196,1944,0,0,0,0,0,0
$GC,6354,1.01,194.6,798.2,24.4,160,6363,0.00,2.58,0.00,0.000,4,0.000,0.057,3480,608,1943,0,0,0,0,0,0
$GC,6377,1.01,194.6,792.7,24.4,160,6385,0.15,2.60,0.00,0.000,6,0.203,0.047,3445,2203,1943,0,0,0,0,0,0
$GC,6712,1.01,194.6,720.6,21.3,166,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2205,1941,0,0,0,0,0,0
$GC,7013,1.01,194.6,655.9,21.4,171,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2205,1941,0,0,0,0,0,0
$GC,7316,1.01,194.6,592.8,20.9,176,7324,0.00,2.60,0.00,0.000,4,0.000,0.066,3445,3780,1939,0,0,0,0,0,0
$GC,7338,1.01,194.6,587.6,22.8,176,7346,0.00,2.50,0.00,0.000,6,0.000,0.044,3455,2200,1940,0,0,0,0,0,0
$GC,7673,1.01,194.6,517.1,20.9,182,7681,0.00,2.58,0.00,0.000,4,0.000,0.057,3468,608,1940,0,0,0,0,0,0
$GC,7705,1.01,194.6,510.0,21.3,182,7714,0.00,2.55,0.00,0.000,6,0.000,0.048,3467,2213,1938,0,0,0,0,0,0
$GC,8030,1.01,194.6,440.0,21.4,188,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2213,1940,0,0,0,0,0,0
$GC,8331,1.01,194.6,376.8,21.0,193,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2213,1937,0,0,0,0,0,0
$GC,8633,1.01,194.6,313.3,21.0,198,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2213,1939,0,0,0,0,0,0
$GC,8936,1.01,194.6,251.2,20.1,206,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2213,1939,0,0,0,0,0,0
$GC,9240,1.01,194.6,190.4,20.2,216,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2213,1939,0,0,0,0,0,0
$GC,9543,1.01,194.6,128.2,19.8,226,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2213,1939,0,0,0,0,0,0
$GC,9850,1.01,194.6,69.9,18.2,246,9855,0.00,2.55,0.00,0.000,4,0.000,0.063,3467,3768,1939,0,0,0,0,0,0
$GC,9865,1.01,194.6,66.7,18.7,247,9874,0.12,2.47,0.00,0.000,6,0.193,0.041,3446,2189,1939,0,0,0,0,0,0
$GC,10057,1.01,195.6,40.5,13.3,266,10061,0.00,2.53,0.00,0.000,4,0.000,0.055,3455,632,1939,0,0,0,0,0,0
$GC,10083,1.01,195.6,37.0,13.5,268,10091,0.00,2.53,0.00,0.000,6,0.000,0.046,3455,2205,1939,0,0,0,0,0,0
$GC,10278,1.01,195.6,8.6,15.5,294,10285,0.00,2.58,0.00,0.000,4,0.000,0.053,3467,618,1942,0,0,0,0,0,0
$STATE,10314,end climb,SURFACE_DEPTH_REACHED
$STATE,10314,begin surface coast
$FINISH,0.7,1.025104
$STATE,10330,end surface coast,CONTROL_FINISHED_OK
$STATE,10330,begin surface
$SM_CCo,10346,51.17,0.611,0,0,1526,300.00
$SM_GC,1.65,0.00,0.00,51.17,0.000,0.000,0.611,163,2555,1526,-9.23,0.14,300.00
$IRIDIUM_FIX,3233.95,-11858.30,060111,040456
$TT8_MAMPS,0.113848
$HUMID,45.19
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.50
$XPDR_PINGS,20
$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,13.1/482055/418910
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.8/298663/275278
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,92.1/7836665/619421
$24V_AH,22.9,19.374
$10V_AH,10.1,14.014
$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,23.725,72.550,346.375,51.175,0.000,27.818,35.039,180.138,26.750,0.000,14.742,0.000,8690.645,446.328,1538.100,64.585,33.331,1099.902,0.000,710.485,0.000,138.966,0.000
$DEVICE_MAMPS,271.575,78.795,1237.770,611.235,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,207.626,0.000,0.000,0.000,0.000,0.000,10818.351,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.506,0.000,0.000,0.000
$MEM,317696
$DATA_FILE_SIZE,10176,304
$CAP_FILE_SIZE,86848,0
$CFSIZE,260165632,253251584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,105254,3247.558,-11904.165,28,1.4,45,13.4