version: 66.09
glider: 178
mission: 10
dive: 20
start: 1 7 111 0 21 6
data:
$ID,178
$MISSION,10
$DIVE,20
$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,-9776.3203
$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,40
$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
$GPS1,070111,001500,3251.197,-11906.040,37,1.0,43,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.6
$GPS2,070111,002056,3251.177,-11905.929,14,1.6,14,13.4
$SPEED_LIMITS,0.171,0.368
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$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,107.3,16887,-18.4,-14.348
$D_GRID,1287
$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,-243.3,0.0,0.0,0,83,0.00,0.00,-64.97,0.000,2,0.000,0.000,162,2557,3054,0,0,0,0,0,0
$GC,84,-1.03,-243.3,3.6,-5.9,11,117,12.12,2.03,-13.15,0.000,4,0.272,0.080,2767,3775,3744,0,0,0,0,0,0
$GC,319,-1.03,-243.3,77.6,-30.3,37,326,0.00,1.90,0.00,0.000,6,0.000,0.040,2767,2547,3746,0,0,0,0,0,0
$GC,514,-1.03,-243.3,134.9,-28.4,48,522,0.00,2.50,0.00,0.000,4,0.000,0.045,2767,965,3747,0,0,0,0,0,0
$GC,537,-1.03,-243.3,141.1,-26.8,48,547,0.00,2.58,0.00,0.000,6,0.000,0.052,2756,2550,3747,0,0,0,0,0,0
$GC,847,-1.03,-243.3,227.0,-28.2,59,855,0.00,2.05,0.00,0.000,4,0.000,0.065,2746,3800,3748,0,0,0,0,0,0
$GC,868,-1.03,-243.3,233.5,-28.1,59,876,0.15,1.92,0.00,0.000,6,0.199,0.038,2780,2534,3748,0,0,0,0,0,0
$GC,1184,-1.03,-243.3,304.5,-22.1,70,1192,0.00,2.45,0.00,0.000,4,0.000,0.044,2780,972,3750,0,0,0,0,0,0
$GC,1212,-1.03,-243.3,311.0,-22.4,70,1220,0.00,2.53,0.00,0.000,6,0.000,0.051,2771,2549,3749,0,0,0,0,0,0
$GC,1542,-1.03,-243.3,385.1,-22.8,76,1553,0.00,1.98,0.00,0.000,4,0.000,0.065,2762,3776,3749,0,0,0,0,0,0
$GC,1588,-1.03,-243.3,395.9,-22.9,76,1595,0.00,1.88,0.00,0.000,6,0.000,0.039,2761,2542,3749,0,0,0,0,0,0
$GC,1912,-1.03,-243.3,467.1,-21.9,82,1920,0.00,2.42,0.00,0.000,4,0.000,0.045,2761,964,3749,0,0,0,0,0,0
$GC,1929,-1.03,-243.3,471.1,-22.3,82,1938,0.12,2.58,0.00,0.000,6,0.197,0.053,2777,2559,3749,0,0,0,0,0,0
$GC,2277,-1.03,-243.3,540.5,-19.7,88,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2557,3749,0,0,0,0,0,0
$GC,2578,-1.03,-243.3,596.5,-18.5,93,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2560,3749,0,0,0,0,0,0
$GC,2880,-1.03,-243.3,652.6,-18.7,98,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2560,3748,0,0,0,0,0,0
$GC,3181,-1.03,-243.3,711.5,-19.7,103,3190,0.00,2.47,0.00,0.000,4,0.000,0.047,2777,978,3748,0,0,0,0,0,0
$GC,3209,-1.03,-243.3,717.1,-19.2,103,3217,0.00,2.55,0.00,0.000,6,0.000,0.055,2767,2552,3746,0,0,0,0,0,0
$GC,3545,-1.03,-243.3,780.4,-18.9,109,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2552,3747,0,0,0,0,0,0
$GC,3847,-1.03,-243.3,837.2,-18.9,114,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2552,3747,0,0,0,0,0,0
$GC,4148,-1.03,-243.3,895.1,-18.9,119,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2555,3746,0,0,0,0,0,0
$GC,4450,-1.03,-243.3,950.1,-18.2,124,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2553,3746,0,0,0,0,0,0
$STATE,4691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4691,begin apogee
$GC,4694,-0.20,0.0,993.3,17.9,128,4916,0.95,0.00,209.73,1.243,6,0.157,0.000,3049,2209,2748,0,0,0,0,0,0
$STATE,4917,end apogee,CONTROL_FINISHED_OK
$STATE,4917,begin climb
$GC,4918,1.03,243.3,1003.9,0.0,131,5156,1.12,2.92,223.15,1.218,4,0.052,0.063,3452,3777,1755,0,0,0,0,0,0
$GC,5239,1.03,243.3,943.0,16281.7,136,5247,0.00,2.62,0.00,0.000,6,0.000,0.044,3464,2214,1750,0,0,0,0,0,0
$GC,5553,1.03,243.3,854.9,16281.7,142,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2211,1746,0,0,0,0,0,0
$GC,5854,1.03,243.3,772.1,16281.7,147,5863,0.00,2.62,0.00,0.000,4,0.000,0.057,3476,603,1745,0,0,0,0,0,0
$GC,5904,1.03,243.3,758.7,16281.7,147,5912,0.00,2.60,0.00,0.000,6,0.000,0.050,3477,2198,1744,0,0,0,0,0,0
$GC,6211,1.03,243.3,673.8,16281.7,152,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2197,1744,0,0,0,0,0,0
$GC,6513,1.03,243.3,591.6,16281.7,157,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2198,1743,0,0,0,0,0,0
$GC,6814,1.03,243.3,510.1,16281.7,162,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2198,1743,0,0,0,0,0,0
$GC,7116,1.03,243.3,430.1,16281.7,167,7125,0.12,2.58,0.00,0.000,4,0.221,0.055,3460,612,1743,0,0,0,0,0,0
$GC,7150,1.03,243.3,421.7,16281.7,167,7158,0.00,2.55,0.00,0.000,6,0.000,0.050,3460,2210,1742,0,0,0,0,0,0
$GC,7475,1.03,243.3,343.4,16281.7,173,7483,0.00,2.55,0.00,0.000,4,0.000,0.066,3459,3777,1742,0,0,0,0,0,0
$GC,7507,1.03,243.3,334.4,16281.7,173,7516,0.00,2.50,0.00,0.000,6,0.000,0.044,3472,2192,1742,0,0,0,0,0,0
$GC,7832,1.03,243.3,253.0,16281.7,182,7841,0.00,2.53,0.00,0.000,4,0.000,0.056,3484,615,1742,0,0,0,0,0,0
$GC,7850,1.03,243.3,248.9,16281.7,182,7858,0.15,2.53,0.00,0.000,6,0.207,0.049,3455,2206,1741,0,0,0,0,0,0
$GC,8159,1.03,243.3,177.9,16281.7,192,8167,0.00,2.55,0.00,0.000,4,0.000,0.055,3460,607,1742,0,0,0,0,0,0
$GC,8202,1.03,243.3,167.7,16281.7,193,8210,0.00,2.55,0.00,0.000,6,0.000,0.049,3460,2202,1741,0,0,0,0,0,0
$GC,8517,1.03,243.3,95.9,16281.7,204,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2203,1742,0,0,0,0,0,0
$GC,8703,1.03,243.3,58.2,16281.7,222,8711,0.00,2.53,0.00,0.000,4,0.000,0.063,3460,3778,1742,0,0,0,0,0,0
$GC,8774,1.03,243.3,43.1,16281.7,228,8782,0.00,2.47,0.00,0.000,6,0.000,0.041,3473,2194,1744,0,0,0,0,0,0
$GC,8968,1.03,243.3,5.7,16281.7,253,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2191,1745,0,0,0,0,0,0
$STATE,8982,end climb,SURFACE_DEPTH_REACHED
$STATE,8982,begin surface coast
$FINISH,1.7,1.025186
$STATE,8988,end surface coast,CONTROL_FINISHED_OK
$STATE,8988,begin surface
$SM_CCo,9001,32.97,0.616,0,0,1525,300.00
$SM_GC,2.08,0.00,0.00,32.97,0.000,0.000,0.616,162,2563,1525,-9.23,0.37,300.00
$IRIDIUM_FIX,3236.51,-11905.27,060111,212142
$TT8_MAMPS,0.114597
$HUMID,45.98
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.30
$XPDR_PINGS,50
$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,13.3/482055/417970
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.1/298663/274332
$PA_DATA1,23.1/7837685/6026138
$PA_DATA0,97.8/7836665/172576
$24V_AH,22.9,20.350
$10V_AH,10.1,15.508
$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,23.800,69.050,432.875,32.975,0.000,22.841,33.807,197.598,33.500,0.000,14.900,0.000,7358.191,469.635,1492.887,69.407,0.000,1123.714,0.000,676.493,0.000,133.808,0.000
$DEVICE_MAMPS,272.340,80.325,1243.125,615.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,175.166,0.000,0.000,0.000,0.000,0.000,9451.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.831,0.000,0.000,0.000
$MEM,317784
$DATA_FILE_SIZE,6808,257
$CAP_FILE_SIZE,82211,0
$CFSIZE,260165632,252944384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,025237,3250.007,-11903.468,38,1.0,39,13.4