version: 66.09
glider: 178
mission: 10
dive: 15
start: 1 6 111 10 59 22
data:
$ID,178
$MISSION,10
$DIVE,15
$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,-9728.3984
$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,37
$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
$GPS1,060111,105254,3247.558,-11904.165,28,1.4,45,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.5
$GPS2,060111,105838,3247.556,-11904.166,15,1.4,15,13.4
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.323,-0.030
$KALMAN_X,25755.6,-812.3,-340.2,-52155.5,5247.9
$KALMAN_Y,-2922.3,233.0,-58.1,16103.5,-555.5
$MHEAD_RNG_PITCHd_Wd,251.3,9666,-19.3,-13.306
$D_GRID,935
$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,-64.93,0.000,2,0.000,0.000,163,2555,3066,0,0,0,0,0,0
$GC,84,-1.01,-194.6,3.6,-7.1,11,109,12.20,0.00,-9.10,0.000,6,0.272,0.000,2779,2556,3543,0,0,0,0,0,0
$GC,169,-1.01,-194.6,35.0,-33.8,23,174,0.00,2.58,0.00,0.000,4,0.000,0.047,2779,971,3545,0,0,0,0,0,0
$GC,201,-1.01,-194.6,44.9,-30.6,26,206,0.00,2.60,0.00,0.000,6,0.000,0.050,2771,2546,3546,0,0,0,0,0,0
$GC,400,-1.01,-194.6,102.6,-26.2,45,407,0.00,2.03,0.00,0.000,4,0.000,0.063,2760,3789,3547,0,0,0,0,0,0
$GC,453,-1.01,-194.6,117.6,-27.5,46,461,0.00,1.98,0.00,0.000,6,0.000,0.038,2760,2535,3546,0,0,0,0,0,0
$GC,769,-1.01,-194.6,196.6,-24.4,57,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2534,3548,0,0,0,0,0,0
$GC,1072,-1.01,-194.6,270.9,-24.1,67,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2533,3550,0,0,0,0,0,0
$GC,1405,-1.01,-194.6,346.7,-22.5,75,1414,0.00,2.05,0.00,0.000,4,0.000,0.064,2751,3782,3549,0,0,0,0,0,0
$GC,1449,-1.01,-194.6,356.8,-22.6,75,1457,0.15,1.90,0.00,0.000,6,0.197,0.039,2781,2543,3549,0,0,0,0,0,0
$GC,1773,-1.01,-194.6,418.9,-18.7,81,1782,0.00,2.42,0.00,0.000,4,0.000,0.044,2784,982,3549,0,0,0,0,0,0
$GC,1790,-1.01,-194.6,422.4,-18.7,81,1799,0.00,2.55,0.00,0.000,6,0.000,0.051,2772,2564,3549,0,0,0,0,0,0
$GC,2138,-1.01,-194.6,488.1,-18.9,87,2146,0.00,1.98,0.00,0.000,4,0.000,0.067,2766,3774,3549,0,0,0,0,0,0
$GC,2154,-1.01,-194.6,491.5,-18.1,87,2162,0.00,1.88,0.00,0.000,6,0.000,0.040,2766,2552,3549,0,0,0,0,0,0
$GC,2505,-1.01,-194.6,558.9,-19.2,93,2516,0.00,2.00,0.00,0.000,4,0.000,0.067,2757,3781,3549,0,0,0,0,0,0
$GC,2546,-1.01,-194.6,567.2,-20.1,93,2554,0.08,1.92,0.00,0.000,6,0.179,0.042,2786,2552,3549,0,0,0,0,0,0
$GC,2876,-1.01,-194.6,627.0,-17.9,99,2884,0.00,2.00,0.00,0.000,4,0.000,0.067,2780,3779,3548,0,0,0,0,0,0
$GC,2898,-1.01,-194.6,631.3,-18.9,99,2905,0.00,1.90,0.00,0.000,6,0.000,0.042,2780,2550,3551,0,0,0,0,0,0
$GC,3243,-1.01,-194.6,696.2,-18.8,105,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2550,3548,0,0,0,0,0,0
$GC,3545,-1.01,-194.6,752.0,-18.6,110,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2550,3547,0,0,0,0,0,0
$GC,3847,-1.01,-194.6,806.9,-18.0,115,3856,0.00,2.03,0.00,0.000,4,0.000,0.070,2770,3782,3546,0,0,0,0,0,0
$GC,3875,-1.01,-194.6,812.7,-19.6,115,3883,0.00,1.90,0.00,0.000,6,0.000,0.044,2771,2543,3546,0,0,0,0,0,0
$GC,4215,-1.01,-194.6,873.5,-17.8,121,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2542,3546,0,0,0,0,0,0
$GC,4517,-1.01,-194.6,923.9,-16.7,126,4528,0.00,2.05,0.00,0.000,4,0.000,0.070,2761,3779,3545,0,0,0,0,0,0
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4584,begin apogee
$GC,4589,-0.20,0.0,935.9,17.8,127,4766,0.98,0.00,167.32,1.204,6,0.164,0.000,3045,2201,2748,0,0,0,0,0,0
$STATE,4766,end apogee,CONTROL_FINISHED_OK
$STATE,4766,begin climb
$GC,4767,1.01,194.6,945.2,0.0,129,4961,1.12,2.85,176.73,1.181,4,0.058,0.054,3455,629,1951,0,0,0,0,0,0
$GC,5012,1.01,194.6,912.6,21.3,133,5020,0.00,2.67,0.00,0.000,6,0.000,0.047,3455,2197,1947,0,0,0,0,0,0
$GC,5320,1.01,194.6,842.3,23.2,138,5328,0.00,2.65,0.00,0.000,4,0.000,0.066,3456,3778,1943,0,0,0,0,0,0
$GC,5369,1.01,194.6,829.7,26.0,138,5376,0.00,2.55,0.00,0.000,6,0.000,0.044,3468,2210,1941,0,0,0,0,0,0
$GC,5676,1.01,194.6,754.1,24.6,143,5685,0.00,2.62,0.00,0.000,4,0.000,0.058,3480,608,1938,0,0,0,0,0,0
$GC,5693,1.01,194.6,749.8,23.8,143,5702,0.17,2.60,0.00,0.000,6,0.202,0.050,3440,2214,1939,0,0,0,0,0,0
$GC,6034,1.01,194.6,673.4,22.2,149,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2212,1939,0,0,0,0,0,0
$GC,6336,1.01,194.6,608.3,21.3,154,6344,0.00,2.60,0.00,0.000,4,0.000,0.058,3450,613,1939,0,0,0,0,0,0
$GC,6385,1.01,194.6,598.1,21.0,154,6393,0.00,2.58,0.00,0.000,6,0.000,0.050,3450,2205,1936,0,0,0,0,0,0
$GC,6692,1.01,194.6,532.7,21.4,159,6702,0.00,2.60,0.00,0.000,4,0.000,0.067,3450,3779,1938,0,0,0,0,0,0
$GC,6721,1.01,194.6,525.9,24.4,159,6730,0.00,2.53,0.00,0.000,6,0.000,0.045,3462,2194,1937,0,0,0,0,0,0
$GC,7051,1.01,194.6,452.7,22.1,165,7059,0.00,2.55,0.00,0.000,4,0.000,0.058,3479,614,1937,0,0,0,0,0,0
$GC,7073,1.01,194.6,447.9,21.6,165,7082,0.12,2.55,0.00,0.000,6,0.210,0.047,3446,2211,1940,0,0,0,0,0,0
$GC,7408,1.01,194.6,379.4,20.6,171,7416,0.00,2.58,0.00,0.000,4,0.000,0.065,3447,3778,1938,0,0,0,0,0,0
$GC,7430,1.01,194.6,374.3,23.1,171,7438,0.00,2.47,0.00,0.000,6,0.000,0.044,3455,2200,1936,0,0,0,0,0,0
$GC,7770,1.01,194.6,298.7,22.4,177,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2197,1937,0,0,0,0,0,0
$GC,8073,1.01,194.6,232.5,20.9,187,8081,0.00,2.53,0.00,0.000,4,0.000,0.057,3468,613,1936,0,0,0,0,0,0
$GC,8127,1.01,194.6,220.5,22.8,188,8138,0.00,2.55,0.00,0.000,6,0.000,0.049,3468,2205,1937,0,0,0,0,0,0
$GC,8437,1.01,194.6,152.4,22.0,199,8442,0.12,0.00,0.00,0.000,6,0.211,0.000,3446,2207,1937,0,0,0,0,0,0
$GC,8742,1.01,194.6,97.2,17.5,209,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2207,1937,0,0,0,0,0,0
$GC,8926,1.01,194.6,67.7,13.6,227,8931,0.00,2.58,0.00,0.000,4,0.000,0.054,3451,618,1937,0,0,0,0,0,0
$GC,8947,1.04,214.2,65.1,12.4,229,8971,0.00,2.53,15.30,0.633,6,0.000,0.046,3450,2193,1873,0,0,0,0,0,0
$GC,9154,1.04,214.2,34.7,15.4,249,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2196,1870,0,0,0,0,0,0
$GC,9343,1.04,214.2,5.5,15.7,275,9351,0.00,2.58,0.00,0.000,4,0.000,0.054,3462,612,1869,0,0,0,0,0,0
$STATE,9359,end climb,SURFACE_DEPTH_REACHED
$STATE,9359,begin surface coast
$FINISH,0.8,1.025023
$STATE,9375,end surface coast,CONTROL_FINISHED_OK
$STATE,9375,begin surface
$SM_CCo,9391,43.40,0.607,0,0,1524,300.00
$SM_GC,1.35,0.00,0.00,43.40,0.000,0.000,0.607,163,2552,1524,-9.23,0.06,300.00
$IRIDIUM_FIX,3236.51,-11907.51,060111,070743
$TT8_MAMPS,0.108605
$HUMID,45.43
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.60
$XPDR_PINGS,25
$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,13.1/482055/418771
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.9/298663/275093
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,97.8/7836665/172576
$24V_AH,23.0,19.517
$10V_AH,10.1,14.278
$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,23.975,90.550,359.350,43.400,0.000,29.265,29.477,184.113,26.500,0.000,16.801,0.000,7698.739,452.269,1562.336,66.306,33.340,1135.652,0.000,743.013,0.000,129.093,0.000
$DEVICE_MAMPS,271.575,70.380,1204.110,607.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,191.511,0.000,0.000,0.000,0.000,0.000,9885.050,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,82.733,0.000,0.000,0.000
$MEM,317724
$DATA_FILE_SIZE,10131,281
$CAP_FILE_SIZE,90071,0
$CFSIZE,260165632,253194240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,133730,3247.312,-11905.662,31,1.7,36,13.4