version: 66.09
glider: 178
mission: 10
dive: 17
start: 1 6 111 16 16 11
data:
$ID,178
$MISSION,10
$DIVE,17
$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,230
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51840
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,60
$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,-9731.0059
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,060111,161136,3248.320,-11906.424,31,1.0,32,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.9
$GPS2,060111,161601,3248.354,-11906.405,10,1.0,15,13.4
$SPEED_LIMITS,0.171,0.368
$TGT_NAME,HEADING
$TGT_LATLONG,3253.753,-11855.268
$TGT_RADIUS,1852.000
$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,46.6,20000,-18.4,-14.348
$D_GRID,945
$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,-1.03,-243.3,0.0,0.0,0,77,0.00,0.00,-59.08,0.000,2,0.000,0.000,163,2562,2893,0,0,0,0,0,0
$GC,78,-1.03,-243.3,3.0,-4.1,10,115,11.70,2.55,-18.38,0.000,4,0.261,0.057,2776,973,3740,0,0,0,0,0,0
$GC,268,-1.03,-243.3,51.8,-23.0,33,276,0.00,2.60,0.00,0.000,6,0.000,0.053,2767,2544,3742,0,0,0,0,0,0
$GC,480,-1.03,-243.3,109.3,-26.6,52,487,0.00,2.03,0.00,0.000,4,0.000,0.063,2757,3789,3743,0,0,0,0,0,0
$GC,555,-1.03,-243.3,130.0,-26.9,54,563,0.00,1.92,0.00,0.000,6,0.000,0.040,2757,2536,3746,0,0,0,0,0,0
$GC,882,-1.03,-243.3,215.3,-25.6,65,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2537,3747,0,0,0,0,0,0
$GC,1184,-1.03,-243.3,288.3,-23.4,75,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2534,3751,0,0,0,0,0,0
$GC,1487,-1.03,-243.3,356.7,-22.8,81,1495,0.00,2.05,0.00,0.000,4,0.000,0.065,2747,3781,3749,0,0,0,0,0,0
$GC,1525,-1.03,-243.3,366.3,-25.0,81,1533,0.12,1.90,0.00,0.000,6,0.194,0.041,2774,2549,3748,0,0,0,0,0,0
$GC,1855,-1.03,-243.3,435.8,-20.9,87,1864,0.00,2.03,0.00,0.000,4,0.000,0.067,2768,3779,3748,0,0,0,0,0,0
$GC,1899,-1.03,-243.3,445.2,-20.7,87,1906,0.00,1.88,0.00,0.000,6,0.000,0.041,2768,2551,3748,0,0,0,0,0,0
$GC,2223,-1.03,-243.3,510.7,-20.2,93,2231,0.00,2.50,0.00,0.000,4,0.000,0.049,2768,970,3748,0,0,0,0,0,0
$GC,2250,-1.03,-243.3,516.8,-21.6,93,2258,0.00,2.58,0.00,0.000,6,0.000,0.054,2756,2566,3748,0,0,0,0,0,0
$GC,2586,-1.03,-243.3,587.5,-21.2,99,2597,0.00,1.98,0.00,0.000,4,0.000,0.068,2747,3774,3747,0,0,0,0,0,0
$GC,2648,-1.03,-243.3,601.1,-21.1,99,2659,0.15,1.88,0.00,0.000,6,0.186,0.041,2782,2538,3747,0,0,0,0,0,0
$GC,2956,-1.03,-243.3,654.9,-17.2,105,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2537,3747,0,0,0,0,0,0
$GC,3258,-1.03,-243.3,707.0,-17.3,110,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2539,3747,0,0,0,0,0,0
$GC,3559,-1.03,-243.3,757.6,-16.6,115,3567,0.00,2.03,0.00,0.000,4,0.000,0.069,2776,3774,3744,0,0,0,0,0,0
$GC,3602,-1.03,-243.3,765.6,-18.0,115,3611,0.00,1.88,0.00,0.000,6,0.000,0.043,2775,2555,3746,0,0,0,0,0,0
$GC,3927,-1.03,-243.3,821.7,-17.3,121,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2551,3745,0,0,0,0,0,0
$GC,4230,-1.03,-243.3,872.9,-17.0,126,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2551,3744,0,0,0,0,0,0
$GC,4531,-1.03,-243.3,925.4,-17.5,131,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2551,3744,0,0,0,0,0,0
$STATE,4651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4651,begin apogee
$GC,4654,-0.20,0.0,946.7,17.5,133,4871,0.90,0.00,208.05,1.209,6,0.155,0.000,3042,2200,2749,0,0,0,0,0,0
$STATE,4872,end apogee,CONTROL_FINISHED_OK
$STATE,4872,begin climb
$GC,4873,1.03,243.3,957.7,0.0,136,5106,1.15,0.00,223.02,1.187,6,0.057,0.000,3449,2199,1757,0,0,0,0,0,0
$GC,5385,1.03,243.3,851.1,15811.3,145,5393,0.00,2.60,0.00,0.000,4,0.000,0.057,3461,627,1747,0,0,0,0,0,0
$GC,5445,1.03,243.3,835.1,15811.3,146,5454,0.00,2.60,0.00,0.000,6,0.000,0.050,3461,2203,1746,0,0,0,0,0,0
$GC,5807,1.03,243.3,735.7,15811.3,152,5816,0.00,2.58,0.00,0.000,4,0.000,0.055,3473,617,1746,0,0,0,0,0,0
$GC,5835,1.03,243.3,727.8,15811.3,152,5843,0.00,2.58,0.00,0.000,6,0.000,0.049,3473,2209,1746,0,0,0,0,0,0
$GC,6165,1.03,243.3,637.4,15811.3,158,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2209,1745,0,0,0,0,0,0
$GC,6466,1.03,243.3,555.8,15811.3,163,6475,0.00,2.58,0.00,0.000,4,0.000,0.056,3485,616,1745,0,0,0,0,0,0
$GC,6510,1.03,243.3,544.5,15811.3,163,6519,0.15,2.55,0.00,0.000,6,0.210,0.050,3452,2206,1744,0,0,0,0,0,0
$GC,6824,1.03,243.3,470.3,15811.3,169,6832,0.00,2.58,0.00,0.000,4,0.000,0.055,3462,621,1743,0,0,0,0,0,0
$GC,6852,1.03,243.3,463.6,15811.3,169,6860,0.00,2.53,0.00,0.000,6,0.000,0.050,3458,2198,1743,0,0,0,0,0,0
$GC,7181,1.03,243.3,382.8,15811.3,175,7189,0.00,2.53,0.00,0.000,4,0.000,0.054,3474,623,1743,0,0,0,0,0,0
$GC,7213,1.03,243.3,374.5,15811.3,175,7221,0.00,2.53,0.00,0.000,6,0.000,0.050,3474,2208,1741,0,0,0,0,0,0
$GC,7537,1.03,243.3,290.5,15811.3,181,7545,0.00,2.55,0.00,0.000,4,0.000,0.054,3486,625,1742,0,0,0,0,0,0
$GC,7559,1.03,243.3,285.0,15811.3,181,7570,0.15,2.53,0.00,0.000,6,0.206,0.049,3452,2199,1745,0,0,0,0,0,0
$GC,7868,1.03,243.3,214.1,15811.3,192,7877,0.00,2.53,0.00,0.000,4,0.000,0.054,3461,620,1742,0,0,0,0,0,0
$GC,7917,1.03,243.3,202.5,15811.3,193,7926,0.00,2.55,0.00,0.000,6,0.000,0.049,3461,2210,1740,0,0,0,0,0,0
$GC,8226,1.03,243.3,132.9,15811.3,203,8235,0.00,2.58,0.00,0.000,4,0.000,0.054,3474,614,1742,0,0,0,0,0,0
$GC,8259,1.03,243.3,125.5,15811.3,204,8267,0.00,2.53,0.00,0.000,6,0.000,0.047,3474,2211,1742,0,0,0,0,0,0
$GC,8580,1.03,243.3,55.5,15811.3,228,8584,0.00,2.58,0.00,0.000,4,0.000,0.054,3486,627,1742,0,0,0,0,0,0
$GC,8643,1.03,243.3,43.8,15811.3,234,8649,0.10,2.55,0.00,0.000,6,0.181,0.049,3458,2205,1742,0,0,0,0,0,0
$GC,8837,1.03,243.3,9.6,15811.3,257,8845,0.00,2.60,0.00,0.000,4,0.000,0.063,3462,3786,1742,0,0,0,0,0,0
$STATE,8874,end climb,SURFACE_DEPTH_REACHED
$STATE,8874,begin surface coast
$FINISH,1.3,1.025141
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8895,31.50,0.613,0,0,1525,300.25
$SM_GC,2.15,0.00,0.00,31.50,0.000,0.000,0.613,166,2545,1525,-9.21,-0.14,300.25
$IRIDIUM_FIX,3233.95,-11907.51,060111,131339
$TT8_MAMPS,0.113848
$HUMID,46.73
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.30
$XPDR_PINGS,16
$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,13.2/482055/418480
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.0/298663/274919
$PA_DATA1,5.5/7837685/7406927
$PA_DATA0,97.8/7836665/172576
$24V_AH,23.0,19.811
$10V_AH,10.1,14.690
$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,23.375,80.850,431.075,31.500,0.000,27.458,29.375,133.859,24.250,0.000,16.957,0.000,7198.240,504.573,1431.589,58.987,0.000,1155.279,0.000,711.790,0.000,129.620,0.000
$DEVICE_MAMPS,260.865,68.850,1209.465,612.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,180.292,0.000,0.000,0.000,0.000,0.000,9260.851,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,82.700,0.000,0.000,0.000
$MEM,317708
$DATA_FILE_SIZE,10123,265
$CAP_FILE_SIZE,81937,0
$CFSIZE,260165632,253116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,184546,3249.205,-11904.423,11,99.0,31,13.4