version: 66.09
glider: 178
mission: 10
dive: 22
start: 1 7 111 5 38 14
data:
$ID,178
$MISSION,10
$DIVE,22
$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,175
$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,-9778.8379
$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,24
$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
$GPS1,070111,053117,3248.830,-11901.247,13,99.0,33,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.2
$GPS2,070111,053804,3248.813,-11901.175,15,99.0,34,13.3
$SPEED_LIMITS,0.159,0.305
$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,107.5,8286,-20.7,-13.306
$D_GRID,1348
$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,-1.04,-170.3,0.0,0.0,0,82,0.00,0.00,-64.72,0.000,2,0.000,0.000,164,2567,3054,0,0,0,0,0,0
$GC,84,-1.04,-170.3,3.7,-6.1,11,111,11.95,2.03,-7.88,0.000,4,0.266,0.080,2768,3776,3446,0,0,0,0,0,0
$GC,323,-1.04,-170.3,73.9,-27.8,37,334,0.00,1.95,0.00,0.000,6,0.000,0.040,2768,2522,3449,0,0,0,0,0,0
$GC,523,-1.04,-170.3,122.8,-23.6,51,531,0.00,2.45,0.00,0.000,4,0.000,0.046,2767,972,3447,0,0,0,0,0,0
$GC,539,-1.04,-170.3,126.5,-22.7,51,547,0.00,2.55,0.00,0.000,6,0.000,0.051,2756,2548,3448,0,0,0,0,0,0
$GC,849,-1.04,-170.3,195.5,-22.5,61,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2547,3450,0,0,0,0,0,0
$GC,1153,-1.04,-170.3,264.7,-21.9,71,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2548,3451,0,0,0,0,0,0
$GC,1455,-1.04,-170.3,331.5,-22.1,79,1464,0.00,2.00,0.00,0.000,4,0.000,0.063,2746,3778,3451,0,0,0,0,0,0
$GC,1477,-1.04,-170.3,336.7,-22.9,79,1485,0.12,1.90,0.00,0.000,6,0.201,0.037,2773,2536,3451,0,0,0,0,0,0
$GC,1824,-1.04,-170.3,402.3,-18.4,85,1835,0.00,2.42,0.00,0.000,4,0.000,0.045,2773,960,3451,0,0,0,0,0,0
$GC,1854,-1.04,-170.3,407.7,-17.2,85,1863,0.00,2.55,0.00,0.000,6,0.000,0.051,2764,2550,3451,0,0,0,0,0,0
$GC,2190,-1.04,-170.3,469.5,-18.8,91,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2550,3449,0,0,0,0,0,0
$GC,2492,-1.04,-170.3,529.1,-19.8,96,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2550,3451,0,0,0,0,0,0
$GC,2793,-1.04,-170.3,585.6,-18.7,101,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2555,3451,0,0,0,0,0,0
$GC,3095,-1.04,-170.3,638.0,-17.2,106,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2553,3451,0,0,0,0,0,0
$GC,3397,-1.04,-170.3,688.4,-16.7,111,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2549,3450,0,0,0,0,0,0
$GC,3698,-1.04,-170.3,737.7,-16.3,116,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2553,3450,0,0,0,0,0,0
$GC,4000,-1.04,-170.3,787.4,-16.5,121,4009,0.00,2.00,0.00,0.000,4,0.000,0.068,2754,3779,3449,0,0,0,0,0,0
$GC,4039,-1.04,-170.3,794.1,-17.3,121,4046,0.00,1.88,0.00,0.000,6,0.000,0.042,2754,2546,3449,0,0,0,0,0,0
$GC,4368,-1.04,-170.3,846.8,-16.1,127,4376,0.00,2.45,0.00,0.000,4,0.000,0.048,2754,973,3451,0,0,0,0,0,0
$GC,4428,-1.04,-170.3,856.4,-15.2,128,4436,0.15,2.53,0.00,0.000,6,0.187,0.055,2778,2548,3450,0,0,0,0,0,0
$GC,4790,-1.04,-170.3,909.5,-15.0,134,4799,0.00,2.03,0.00,0.000,4,0.000,0.069,2771,3782,3448,0,0,0,0,0,0
$GC,4812,-1.04,-170.3,913.1,-15.6,134,4819,0.00,1.88,0.00,0.000,6,0.000,0.042,2771,2550,3448,0,0,0,0,0,0
$GC,5157,-1.04,-170.3,966.1,-15.3,140,5166,0.00,2.47,0.00,0.000,4,0.000,0.049,2771,967,3447,0,0,0,0,0,0
$GC,5238,-1.04,-170.3,977.9,-14.0,141,5246,0.00,2.58,0.00,0.000,6,0.000,0.056,2759,2558,3446,0,0,0,0,0,0
$STATE,5337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5337,begin apogee
$GC,5339,-0.20,0.0,992.4,15.0,143,5496,0.95,0.00,147.88,1.246,6,0.168,0.000,3034,2196,2748,0,0,0,0,0,0
$STATE,5496,end apogee,CONTROL_FINISHED_OK
$STATE,5496,begin climb
$GC,5497,1.04,170.3,997.5,0.0,145,5664,1.23,2.78,155.68,1.222,4,0.073,0.054,3462,627,2052,0,0,0,0,0,0
$GC,5763,1.04,170.3,956.6,18403.3,149,5775,0.00,2.67,0.00,0.000,6,0.000,0.048,3463,2197,2045,0,0,0,0,0,0
$GC,6072,1.04,170.3,888.2,18403.3,155,6080,0.00,2.60,0.00,0.000,4,0.000,0.054,3475,623,2040,0,0,0,0,0,0
$GC,6094,1.04,170.3,883.3,18403.3,155,6102,0.00,2.60,0.00,0.000,6,0.000,0.050,3475,2205,2038,0,0,0,0,0,0
$GC,6429,1.04,170.3,804.9,18403.3,161,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2205,2038,0,0,0,0,0,0
$GC,6731,1.04,170.3,733.4,18403.3,166,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2207,2038,0,0,0,0,0,0
$GC,7033,1.04,170.3,664.1,18403.3,171,7041,0.00,2.55,0.00,0.000,4,0.000,0.054,3487,625,2036,0,0,0,0,0,0
$GC,7055,1.04,170.3,658.8,18403.3,171,7063,0.15,2.55,0.00,0.000,6,0.214,0.050,3455,2209,2037,0,0,0,0,0,0
$GC,7391,1.04,170.3,585.7,18403.3,177,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2208,2035,0,0,0,0,0,0
$GC,7692,1.04,170.3,524.7,18403.3,182,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2208,2036,0,0,0,0,0,0
$GC,7994,1.04,170.3,461.1,18403.3,187,8002,0.00,2.55,0.00,0.000,4,0.000,0.054,3464,626,2036,0,0,0,0,0,0
$GC,8032,1.04,170.3,452.6,18403.3,187,8040,0.00,2.53,0.00,0.000,6,0.000,0.050,3464,2195,2035,0,0,0,0,0,0
$GC,8351,1.04,170.3,386.7,18403.3,193,8361,0.00,2.53,0.00,0.000,4,0.000,0.054,3476,624,2036,0,0,0,0,0,0
$GC,8386,1.04,170.3,379.5,18403.3,193,8394,0.00,2.53,0.00,0.000,6,0.000,0.049,3476,2210,2036,0,0,0,0,0,0
$GC,8710,1.04,170.3,312.3,18403.3,199,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2210,2036,0,0,0,0,0,0
$GC,9013,1.04,170.3,250.9,18403.3,208,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2209,2035,0,0,0,0,0,0
$GC,9317,1.04,170.3,191.5,18403.3,218,9325,0.00,2.55,0.00,0.000,4,0.000,0.054,3488,619,2035,0,0,0,0,0,0
$GC,9403,1.04,170.3,173.9,18403.3,220,9414,0.15,2.53,0.00,0.000,6,0.208,0.049,3455,2198,2035,0,0,0,0,0,0
$GC,9713,1.04,170.3,118.1,18403.3,231,9721,0.00,2.50,0.00,0.000,4,0.000,0.051,3464,624,2035,0,0,0,0,0,0
$GC,9756,1.04,170.3,110.4,18403.3,232,9764,0.00,2.53,0.00,0.000,6,0.000,0.048,3464,2215,2035,0,0,0,0,0,0
$GC,10076,1.04,170.3,57.2,18403.3,259,10086,0.00,2.53,0.00,0.000,4,0.000,0.052,3476,623,2035,0,0,0,0,0,0
$GC,10185,1.04,170.3,40.5,18403.3,268,10196,0.00,2.47,0.00,0.000,6,0.000,0.047,3474,2193,2033,0,0,0,0,0,0
$GC,10379,1.04,170.3,12.9,18403.3,291,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2193,2033,0,0,0,0,0,0
$GC,10451,1.04,170.3,3.0,18403.3,304,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2194,2035,0,0,0,0,0,0
$STATE,10456,end climb,SURFACE_DEPTH_REACHED
$STATE,10456,begin surface coast
$FINISH,1.5,1.025263
$STATE,10461,end surface coast,CONTROL_FINISHED_OK
$STATE,10461,begin surface
$SM_CCo,10476,68.47,0.622,0,0,1523,300.00
$SM_GC,1.91,0.00,0.00,68.47,0.000,0.000,0.622,162,2558,1523,-9.23,0.23,300.00
$IRIDIUM_FIX,3239.07,-11905.27,070111,020208
$TT8_MAMPS,0.114597
$HUMID,44.52
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.40
$XPDR_PINGS,42
$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,13.4/482055/417611
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.3/298663/273908
$PA_DATA1,36.4/7837685/4987103
$PA_DATA0,97.8/7836665/172576
$24V_AH,22.9,20.661
$10V_AH,10.0,16.078
$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,23.825,77.750,303.550,68.475,0.000,27.588,41.008,205.795,32.250,0.000,36.275,0.000,8693.760,426.519,1761.434,70.490,0.000,1153.905,0.000,796.639,0.000,139.212,0.000
$DEVICE_MAMPS,266.220,80.325,1246.185,621.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,208.998,0.000,0.000,0.000,0.000,0.000,10971.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.075,0.000,0.000,0.000
$MEM,317752
$DATA_FILE_SIZE,10138,306
$CAP_FILE_SIZE,92856,0
$CFSIZE,260165632,252829696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,083455,3247.780,-11859.075,39,1.0,39,13.3