version: 66.09
glider: 178
mission: 10
dive: 16
start: 1 6 111 13 42 39
data:
$ID,178
$MISSION,10
$DIVE,16
$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,-9729.6562
$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,27
$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
$GPS1,060111,133730,3247.312,-11905.662,31,1.7,36,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.7
$GPS2,060111,134156,3247.329,-11905.652,13,1.9,13,13.4
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,0.234
$KALMAN_X,27786.1,-970.9,-283.4,-56403.4,4895.0
$KALMAN_Y,-3083.2,520.9,-127.8,15626.3,-304.9
$MHEAD_RNG_PITCHd_Wd,302.8,8919,-19.3,-13.306
$D_GRID,834
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.01,-194.6,0.0,0.0,0,77,0.00,0.00,-58.62,0.000,2,0.000,0.000,163,2552,2884,0,0,0,0,0,0
$GC,78,-1.01,-194.6,3.0,-4.1,10,110,11.93,2.58,-14.52,0.000,4,0.265,0.059,2784,961,3545,0,0,0,0,0,0
$GC,193,-1.01,-194.6,34.1,-27.7,26,201,0.00,2.62,0.00,0.000,6,0.000,0.052,2774,2545,3548,0,0,0,0,0,0
$GC,385,-1.01,-194.6,88.6,-25.4,45,389,0.00,2.08,0.00,0.000,4,0.000,0.063,2764,3791,3548,0,0,0,0,0,0
$GC,432,-1.01,-194.6,101.5,-25.3,49,437,0.00,2.00,0.00,0.000,6,0.000,0.038,2765,2528,3548,0,0,0,0,0,0
$GC,752,-1.01,-194.6,175.4,-23.3,60,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2525,3550,0,0,0,0,0,0
$GC,1055,-1.01,-194.6,247.5,-22.9,70,1060,0.00,2.45,0.00,0.000,4,0.000,0.045,2765,986,3550,0,0,0,0,0,0
$GC,1087,-1.01,-194.6,254.7,-22.5,71,1092,0.10,2.58,0.00,0.000,6,0.177,0.051,2780,2564,3550,0,0,0,0,0,0
$GC,1452,-1.01,-194.6,326.0,-19.2,81,1456,0.00,2.00,0.00,0.000,4,0.000,0.065,2774,3772,3550,0,0,0,0,0,0
$GC,1483,-1.01,-194.6,332.3,-20.4,81,1488,0.00,1.92,0.00,0.000,6,0.000,0.039,2774,2547,3550,0,0,0,0,0,0
$GC,1817,-1.01,-194.6,399.3,-20.3,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2546,3551,0,0,0,0,0,0
$GC,2119,-1.01,-194.6,458.2,-19.6,92,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2546,3551,0,0,0,0,0,0
$GC,2421,-1.01,-194.6,513.2,-17.8,97,2426,0.00,2.05,0.00,0.000,4,0.000,0.067,2764,3773,3550,0,0,0,0,0,0
$GC,2441,-1.01,-194.6,516.9,-17.7,97,2446,0.00,1.92,0.00,0.000,6,0.000,0.041,2761,2548,3551,0,0,0,0,0,0
$GC,2786,-1.01,-194.6,576.3,-17.0,103,2790,0.00,2.50,0.00,0.000,4,0.000,0.047,2764,981,3551,0,0,0,0,0,0
$GC,2817,-1.01,-194.6,581.4,-16.3,103,2822,0.10,2.55,0.00,0.000,6,0.171,0.052,2780,2546,3550,0,0,0,0,0,0
$GC,3152,-1.01,-194.6,633.5,-15.8,109,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2547,3550,0,0,0,0,0,0
$GC,3453,-1.01,-194.6,682.4,-16.2,114,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2547,3550,0,0,0,0,0,0
$GC,3754,-1.01,-194.6,729.8,-15.5,119,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2546,3549,0,0,0,0,0,0
$GC,4057,-1.01,-194.6,773.6,-14.4,124,4061,0.00,2.05,0.00,0.000,4,0.000,0.068,2774,3777,3549,0,0,0,0,0,0
$GC,4088,-1.01,-194.6,778.1,-14.6,124,4092,0.00,1.92,0.00,0.000,6,0.000,0.041,2774,2553,3547,0,0,0,0,0,0
$GC,4422,-1.01,-194.6,826.9,-14.6,130,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2551,3548,0,0,0,0,0,0
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4482,begin apogee
$GC,4484,-0.20,0.0,835.9,14.6,131,4655,0.93,0.00,165.12,1.137,6,0.161,0.000,3045,2200,2748,0,0,0,0,0,0
$STATE,4656,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4657,1.01,194.6,840.9,0.0,133,4839,1.12,2.78,174.55,1.113,4,0.060,0.054,3455,631,1955,0,0,0,0,0,0
$GC,4869,1.01,194.6,812.4,22.7,137,4874,0.00,2.75,0.00,0.000,6,0.000,0.048,3455,2199,1950,0,0,0,0,0,0
$GC,5208,1.01,194.6,734.4,23.1,143,5213,0.00,2.62,0.00,0.000,4,0.000,0.054,3467,637,1943,0,0,0,0,0,0
$GC,5223,1.01,194.6,730.7,23.0,143,5229,0.00,2.62,0.00,0.000,6,0.000,0.049,3467,2210,1943,0,0,0,0,0,0
$GC,5573,1.01,194.6,649.6,22.9,149,5578,0.00,2.62,0.00,0.000,4,0.000,0.055,3479,630,1941,0,0,0,0,0,0
$GC,5658,1.01,194.6,630.0,22.6,150,5664,0.12,2.58,0.00,0.000,6,0.190,0.050,3446,2198,1940,0,0,0,0,0,0
$GC,6003,1.01,194.6,556.3,21.0,156,6007,0.00,2.58,0.00,0.000,4,0.000,0.054,3455,631,1940,0,0,0,0,0,0
$GC,6083,1.01,194.6,539.6,20.2,157,6087,0.00,2.58,0.00,0.000,6,0.000,0.050,3461,2201,1939,0,0,0,0,0,0
$GC,6432,1.01,194.6,465.0,21.3,163,6437,0.00,2.58,0.00,0.000,4,0.000,0.054,3468,627,1939,0,0,0,0,0,0
$GC,6469,1.01,194.6,457.2,21.6,163,6474,0.00,2.58,0.00,0.000,6,0.000,0.049,3468,2206,1939,0,0,0,0,0,0
$GC,6798,1.01,194.6,384.6,22.1,169,6802,0.00,2.58,0.00,0.000,4,0.000,0.054,3479,627,1939,0,0,0,0,0,0
$GC,6845,1.01,194.6,373.6,23.0,169,6850,0.12,2.55,0.00,0.000,6,0.186,0.047,3446,2201,1939,0,0,0,0,0,0
$GC,7163,1.01,194.6,306.8,21.1,175,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2201,1938,0,0,0,0,0,0
$GC,7466,1.01,194.6,244.7,19.7,184,7471,0.00,2.55,0.00,0.000,4,0.000,0.052,3455,628,1938,0,0,0,0,0,0
$GC,7486,1.01,194.6,240.5,20.2,184,7492,0.00,2.55,0.00,0.000,6,0.000,0.048,3459,2199,1940,0,0,0,0,0,0
$GC,7801,1.01,194.6,178.6,19.7,195,7805,0.00,2.55,0.00,0.000,4,0.000,0.053,3467,630,1938,0,0,0,0,0,0
$GC,7902,1.01,194.6,157.9,20.3,198,7907,0.00,2.53,0.00,0.000,6,0.000,0.048,3467,2195,1938,0,0,0,0,0,0
$GC,8212,1.01,194.6,93.4,20.4,209,8217,0.00,2.53,0.00,0.000,4,0.000,0.052,3479,633,1937,0,0,0,0,0,0
$GC,8222,1.01,194.6,91.6,19.5,210,8227,0.12,2.53,0.00,0.000,6,0.182,0.047,3445,2201,1938,0,0,0,0,0,0
$GC,8419,1.01,194.6,57.6,16.1,229,8424,0.00,2.55,0.00,0.000,4,0.000,0.053,3454,628,1937,0,0,0,0,0,0
$GC,8456,1.01,194.6,52.4,13.4,232,8464,0.00,2.53,0.00,0.000,6,0.000,0.047,3454,2197,1938,0,0,0,0,0,0
$GC,8648,1.01,194.6,25.5,13.7,251,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2197,1938,0,0,0,0,0,0
$STATE,8800,end climb,SURFACE_DEPTH_REACHED
$STATE,8800,begin surface coast
$FINISH,0.7,1.012224
$STATE,8822,end surface coast,CONTROL_FINISHED_OK
$STATE,8822,begin surface
$SM_CCo,8836,51.88,0.614,0,0,1524,300.00
$SM_GC,1.67,0.00,0.00,51.88,0.000,0.000,0.614,163,2562,1524,-9.23,0.48,300.00
$IRIDIUM_FIX,3236.51,-11905.27,060111,101026
$TT8_MAMPS,0.114597
$HUMID,45.94
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.70
$XPDR_PINGS,12
$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,13.2/482055/418655
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.9/298663/275092
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,97.8/7836665/172576
$24V_AH,23.1,19.647
$10V_AH,10.1,14.443
$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,23.400,84.025,339.675,51.875,0.000,27.319,28.854,130.261,20.750,0.000,14.446,0.000,7359.429,479.664,1253.219,61.196,33.332,953.341,0.000,745.833,0.000,113.242,0.000
$DEVICE_MAMPS,265.455,68.085,1136.790,613.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,191.067,0.000,0.000,0.000,0.000,0.000,9235.750,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,51.791,0.000,0.000,0.000
$MEM,317692
$DATA_FILE_SIZE,10170,280
$CAP_FILE_SIZE,82226,0
$CFSIZE,260165632,253153280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,161136,3248.320,-11906.424,31,1.0,32,13.4