version: 66.09
glider: 178
mission: 10
dive: 18
start: 1 6 111 19 5 35
data:
$ID,178
$MISSION,10
$DIVE,18
$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,-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,-9773.7119
$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,41
$R_STBD_OVSHOOT,23
$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
$GPS1,060111,190102,3249.242,-11904.364,11,1.2,11,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.2
$GPS2,060111,190525,3249.253,-11904.350,14,1.2,14,13.4
$SPEED_LIMITS,0.171,0.368
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,2000.000
$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,298.0,7126,-18.4,-14.348
$D_GRID,1161
$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,-243.3,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,166,2545,3066,0,0,0,0,0,0
$GC,83,-1.03,-243.3,3.3,-5.3,11,116,11.85,2.55,-13.32,0.000,4,0.265,0.060,2782,965,3743,0,0,0,0,0,0
$GC,205,-1.03,-243.3,39.6,-24.1,26,216,0.00,2.60,0.00,0.000,6,0.000,0.054,2777,2558,3747,0,0,0,0,0,0
$GC,397,-1.03,-243.3,94.7,-27.6,45,405,0.00,2.03,0.00,0.000,4,0.000,0.066,2762,3782,3748,0,0,0,0,0,0
$GC,451,-1.03,-243.3,109.5,-27.8,48,458,0.00,1.90,0.00,0.000,6,0.000,0.039,2762,2542,3746,0,0,0,0,0,0
$GC,766,-1.03,-243.3,190.9,-26.8,59,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2541,3752,0,0,0,0,0,0
$GC,1069,-1.03,-243.3,268.7,-25.0,69,1076,0.00,2.03,0.00,0.000,4,0.000,0.065,2753,3782,3749,0,0,0,0,0,0
$GC,1111,-1.03,-243.3,279.6,-25.8,70,1120,0.00,1.90,0.00,0.000,6,0.000,0.038,2753,2544,3748,0,0,0,0,0,0
$GC,1437,-1.03,-243.3,359.0,-24.3,77,1445,0.00,2.00,0.00,0.000,4,0.000,0.067,2744,3779,3749,0,0,0,0,0,0
$GC,1502,-1.03,-243.3,375.6,-25.0,78,1510,0.12,1.90,0.00,0.000,6,0.196,0.039,2774,2539,3751,0,0,0,0,0,0
$GC,1870,-1.03,-243.3,453.4,-20.9,84,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2544,3749,0,0,0,0,0,0
$GC,2172,-1.03,-243.3,517.4,-21.0,89,2180,0.00,2.05,0.00,0.000,4,0.000,0.067,2767,3786,3748,0,0,0,0,0,0
$GC,2226,-1.03,-243.3,529.7,-21.1,89,2235,0.00,1.88,0.00,0.000,6,0.000,0.040,2767,2554,3748,0,0,0,0,0,0
$GC,2541,-1.03,-243.3,594.2,-20.5,95,2549,0.00,2.00,0.00,0.000,4,0.000,0.067,2758,3780,3751,0,0,0,0,0,0
$GC,2570,-1.03,-243.3,600.2,-21.1,95,2577,0.00,1.88,0.00,0.000,6,0.000,0.041,2759,2548,3747,0,0,0,0,0,0
$GC,2910,-1.03,-243.3,669.6,-20.4,101,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2545,3746,0,0,0,0,0,0
$GC,3212,-1.03,-243.3,729.8,-20.0,106,3220,0.00,2.05,0.00,0.000,4,0.000,0.069,2749,3787,3746,0,0,0,0,0,0
$GC,3266,-1.03,-243.3,741.2,-20.8,106,3274,0.12,1.92,0.00,0.000,6,0.193,0.041,2777,2536,3746,0,0,0,0,0,0
$GC,3580,-1.03,-243.3,792.8,-16.3,112,3588,0.00,2.05,0.00,0.000,4,0.000,0.068,2767,3779,3745,0,0,0,0,0,0
$GC,3617,-1.03,-243.3,799.1,-16.6,112,3625,0.00,1.88,0.00,0.000,6,0.000,0.041,2770,2548,3745,0,0,0,0,0,0
$GC,3947,-1.03,-243.3,852.2,-16.3,118,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2545,3744,0,0,0,0,0,0
$GC,4249,-1.03,-243.3,904.6,-17.4,123,4256,0.00,2.05,0.00,0.000,4,0.000,0.070,2761,3783,3743,0,0,0,0,0,0
$GC,4296,-1.03,-243.3,913.2,-18.0,123,4304,0.00,1.92,0.00,0.000,6,0.000,0.043,2761,2557,3743,0,0,0,0,0,0
$GC,4615,-1.03,-243.3,971.0,-18.3,129,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2556,3742,0,0,0,0,0,0
$STATE,4735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4735,begin apogee
$GC,4738,-0.20,0.0,993.0,18.3,131,4959,0.95,0.00,209.07,1.239,6,0.163,0.000,3039,2201,2748,0,0,0,0,0,0
$STATE,4960,end apogee,CONTROL_FINISHED_OK
$STATE,4960,begin climb
$GC,4961,1.03,243.3,1002.6,0.0,134,5199,1.17,2.85,223.05,1.217,4,0.059,0.054,3464,629,1753,0,0,0,0,0,0
$GC,5223,1.03,243.3,960.6,16523.9,138,5232,0.00,2.72,0.00,0.000,6,0.000,0.047,3463,2199,1752,0,0,0,0,0,0
$GC,5531,1.03,243.3,875.8,16523.9,143,5540,0.00,2.58,0.00,0.000,4,0.000,0.053,3476,627,1746,0,0,0,0,0,0
$GC,5553,1.03,243.3,869.4,16523.9,143,5561,0.00,2.60,0.00,0.000,6,0.000,0.049,3472,2199,1746,0,0,0,0,0,0
$GC,5889,1.03,243.3,771.0,16523.9,149,5897,0.00,2.55,0.00,0.000,4,0.000,0.054,3488,627,1745,0,0,0,0,0,0
$GC,5959,1.03,243.3,751.2,16523.9,150,5968,0.17,2.58,0.00,0.000,6,0.204,0.050,3447,2205,1743,0,0,0,0,0,0
$GC,6311,1.03,243.3,661.1,16523.9,156,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2204,1744,0,0,0,0,0,0
$GC,6612,1.03,243.3,588.0,16523.9,161,6621,0.00,2.55,0.00,0.000,4,0.000,0.054,3457,617,1743,0,0,0,0,0,0
$GC,6683,1.03,243.3,571.4,16523.9,162,6691,0.00,2.58,0.00,0.000,6,0.000,0.050,3457,2211,1743,0,0,0,0,0,0
$GC,7034,1.03,243.3,485.7,16523.9,168,7042,0.00,2.55,0.00,0.000,4,0.000,0.054,3469,627,1742,0,0,0,0,0,0
$GC,7083,1.03,243.3,473.5,16523.9,168,7091,0.00,2.55,0.00,0.000,6,0.000,0.050,3469,2209,1742,0,0,0,0,0,0
$GC,7390,1.03,243.3,398.2,16523.9,173,7399,0.00,2.55,0.00,0.000,4,0.000,0.054,3481,631,1739,0,0,0,0,0,0
$GC,7440,1.03,243.3,386.1,16523.9,173,7448,0.15,2.53,0.00,0.000,6,0.199,0.048,3447,2206,1740,0,0,0,0,0,0
$GC,7747,1.03,243.3,318.1,16523.9,178,7755,0.00,2.53,0.00,0.000,4,0.000,0.054,3456,623,1741,0,0,0,0,0,0
$GC,7769,1.03,243.3,313.0,16523.9,178,7777,0.00,2.53,0.00,0.000,6,0.000,0.048,3460,2210,1743,0,0,0,0,0,0
$GC,8106,1.03,243.3,237.7,16523.9,188,8114,0.00,2.53,0.00,0.000,4,0.000,0.054,3468,617,1738,0,0,0,0,0,0
$GC,8134,1.03,243.3,231.2,16523.9,189,8142,0.00,2.50,0.00,0.000,6,0.000,0.047,3468,2202,1740,0,0,0,0,0,0
$GC,8465,1.03,243.3,152.4,16523.9,200,8473,0.00,2.50,0.00,0.000,4,0.000,0.053,3480,625,1740,0,0,0,0,0,0
$GC,8519,1.03,243.3,139.2,16523.9,201,8530,0.12,2.53,0.00,0.000,6,0.203,0.048,3458,2207,1741,0,0,0,0,0,0
$GC,8831,1.03,243.3,72.8,16523.9,220,8840,0.00,2.50,0.00,0.000,4,0.000,0.052,3462,625,1741,0,0,0,0,0,0
$GC,8934,1.03,243.3,53.1,16523.9,229,8942,0.00,2.50,0.00,0.000,6,0.000,0.048,3462,2208,1740,0,0,0,0,0,0
$GC,9126,1.03,243.3,18.5,16523.9,247,9137,0.00,2.53,0.00,0.000,4,0.000,0.052,3474,625,1740,0,0,0,0,0,0
$GC,9172,1.03,243.3,10.9,16523.9,255,9183,0.00,2.50,0.00,0.000,6,0.000,0.047,3474,2201,1741,0,0,0,0,0,0
$STATE,9218,end climb,SURFACE_DEPTH_REACHED
$STATE,9218,begin surface coast
$FINISH,1.1,1.025234
$STATE,9224,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9237,32.00,0.592,1,0,1524,300.00
$SM_GC,2.03,0.00,0.00,32.00,0.000,0.000,0.592,163,2555,1524,-9.24,0.14,300.00
$IRIDIUM_FIX,3236.51,-11907.51,060111,181839
$TT8_MAMPS,0.107856
$HUMID,45.90
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.30
$XPDR_PINGS,70
$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,13.2/482055/418304
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.0/298663/274719
$PA_DATA1,11.4/7837685/6943089
$PA_DATA0,97.8/7836665/172576
$24V_AH,22.9,20.003
$10V_AH,10.1,14.980
$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,23.600,93.950,432.125,32.000,0.000,0.000,0.000,0.000,39.000,0.000,14.759,0.000,7398.832,488.326,1385.209,49.445,0.000,1238.240,0.000,803.853,0.000,137.392,0.000
$DEVICE_MAMPS,264.690,70.380,1239.300,592.110,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,179.720,0.000,0.000,0.000,0.000,0.000,9318.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,88.633,0.000,0.000,0.000
$MEM,317728
$DATA_FILE_SIZE,10134,264
$CAP_FILE_SIZE,105332,0
$CFSIZE,260165632,253034496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060111,214107,3250.381,-11905.239,39,0.9,39,13.4