version: 66.09
glider: 178
mission: 10
dive: 4
start: 1 4 111 20 10 37
data:
$ID,178
$MISSION,10
$DIVE,4
$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,220
$T_MISSION,260
$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,45
$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,250
$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,-9714.5264
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2500
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$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
$GPS1,040111,200550,3241.417,-11846.359,10,1.7,10,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-76.0
$GPS2,040111,200955,3241.414,-11846.338,12,1.3,12,13.3
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.337,0.161
$KALMAN_X,1243.9,1132.4,705.7,-2866.0,517.9
$KALMAN_Y,414.9,366.7,216.4,985.4,207.0
$MHEAD_RNG_PITCHd_Wd,282.2,18574,-19.1,-15.000
$D_GRID,1172
$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,16,-0.89,-243.3,0.0,0.0,0,90,0.00,0.00,-68.00,0.000,2,0.000,0.000,157,2511,3159,0,0,0,0,0,0
$GC,92,-0.89,-243.3,3.2,-7.1,12,126,12.07,2.12,-10.05,0.000,4,0.265,0.082,2820,3767,3746,0,0,0,0,0,0
$GC,323,-0.89,-243.3,62.1,-17.7,37,331,0.00,2.03,0.00,0.000,6,0.000,0.041,2820,2481,3746,0,0,0,0,0,0
$GC,520,-0.89,-243.3,99.3,-18.4,56,529,0.00,2.15,0.00,0.000,4,0.000,0.069,2812,3779,3747,0,0,0,0,0,0
$GC,548,-0.89,-243.3,104.6,-19.4,57,559,0.00,2.00,0.00,0.000,6,0.000,0.041,2811,2489,3747,0,0,0,0,0,0
$GC,858,-0.89,-243.3,163.1,-19.2,68,865,0.00,2.12,0.00,0.000,4,0.000,0.068,2801,3771,3750,0,0,0,0,0,0
$GC,896,-0.89,-243.3,170.9,-20.5,69,904,0.12,1.98,0.00,0.000,6,0.182,0.041,2829,2489,3747,0,0,0,0,0,0
$GC,1217,-0.89,-243.3,225.7,-16.6,80,1224,0.00,2.12,0.00,0.000,4,0.000,0.068,2822,3776,3749,0,0,0,0,0,0
$GC,1249,-0.89,-243.3,231.2,-17.6,81,1256,0.00,1.98,0.00,0.000,6,0.000,0.041,2822,2493,3747,0,0,0,0,0,0
$GC,1580,-0.89,-243.3,284.2,-16.0,92,1588,0.00,2.12,0.00,0.000,4,0.000,0.068,2812,3780,3747,0,0,0,0,0,0
$GC,1608,-0.89,-243.3,288.9,-16.6,92,1618,0.00,1.95,0.00,0.000,6,0.000,0.042,2812,2496,3747,0,0,0,0,0,0
$GC,1946,-0.89,-243.3,344.3,-16.3,100,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2496,3749,0,0,0,0,0,0
$GC,2248,-0.89,-243.3,394.4,-16.7,105,2256,0.00,2.12,0.00,0.000,4,0.000,0.070,2803,3779,3746,0,0,0,0,0,0
$GC,2328,-0.89,-243.3,408.0,-15.7,106,2336,0.12,1.98,0.00,0.000,6,0.177,0.042,2832,2495,3745,0,0,0,0,0,0
$GC,2669,-0.89,-243.3,453.6,-13.1,112,2677,0.00,2.10,0.00,0.000,4,0.000,0.071,2825,3774,3745,0,0,0,0,0,0
$GC,2723,-0.89,-243.3,461.1,-13.9,112,2734,0.00,1.98,0.00,0.000,6,0.000,0.043,2825,2493,3746,0,0,0,0,0,0
$GC,3031,-0.89,-243.3,502.0,-13.1,118,3039,0.00,2.12,0.00,0.000,4,0.000,0.070,2815,3774,3747,0,0,0,0,0,0
$GC,3069,-0.89,-243.3,507.3,-13.5,118,3077,0.00,1.95,0.00,0.000,6,0.000,0.043,2816,2496,3745,0,0,0,0,0,0
$GC,3394,-0.89,-243.3,553.5,-14.4,124,3401,0.00,2.10,0.00,0.000,4,0.000,0.070,2806,3773,3744,0,0,0,0,0,0
$GC,3442,-0.89,-243.3,561.3,-16.1,124,3450,0.12,1.98,0.00,0.000,6,0.171,0.043,2836,2493,3744,0,0,0,0,0,0
$GC,3750,-0.89,-243.3,601.0,-12.8,129,3759,0.00,2.12,0.00,0.000,4,0.000,0.071,2829,3773,3744,0,0,0,0,0,0
$GC,3794,-0.89,-243.3,607.1,-13.4,129,3801,0.00,1.95,0.00,0.000,6,0.000,0.044,2829,2498,3744,0,0,0,0,0,0
$GC,4112,-0.89,-243.3,647.7,-12.7,135,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2496,3743,0,0,0,0,0,0
$GC,4415,-0.89,-243.3,685.5,-12.4,140,4423,0.00,2.12,0.00,0.000,4,0.000,0.073,2820,3771,3740,0,0,0,0,0,0
$GC,4475,-0.89,-243.3,693.5,-12.8,141,4483,0.00,1.98,0.00,0.000,6,0.000,0.044,2819,2498,3742,0,0,0,0,0,0
$GC,4842,-0.89,-243.3,739.4,-12.3,147,4850,0.00,2.12,0.00,0.000,4,0.000,0.073,2808,3769,3741,0,0,0,0,0,0
$GC,4880,-0.89,-243.3,744.3,-13.1,147,4888,0.00,1.98,0.00,0.000,6,0.000,0.045,2810,2500,3740,0,0,0,0,0,0
$GC,5205,-0.89,-243.3,787.0,-13.1,153,5213,0.00,2.12,0.00,0.000,4,0.000,0.074,2801,3769,3740,0,0,0,0,0,0
$GC,5237,-0.89,-243.3,791.5,-13.8,153,5245,0.12,1.98,0.00,0.000,6,0.172,0.046,2831,2499,3740,0,0,0,0,0,0
$GC,5561,-0.89,-243.3,827.4,-11.0,159,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2501,3739,0,0,0,0,0,0
$GC,5864,-0.89,-243.3,863.6,-12.1,164,5872,0.00,2.10,0.00,0.000,4,0.000,0.075,2824,3767,3737,0,0,0,0,0,0
$GC,5918,-0.89,-243.3,870.7,-12.6,164,5929,0.00,1.98,0.00,0.000,6,0.000,0.046,2823,2501,3738,0,0,0,0,0,0
$GC,6226,-0.89,-243.3,908.7,-12.3,170,6234,0.00,2.12,0.00,0.000,4,0.000,0.074,2814,3771,3738,0,0,0,0,0,0
$GC,6253,-0.89,-243.3,912.2,-12.6,170,6261,0.00,2.00,0.00,0.000,6,0.000,0.047,2814,2493,3736,0,0,0,0,0,0
$GC,6589,-0.89,-243.3,954.7,-12.7,176,6597,0.00,2.15,0.00,0.000,4,0.000,0.074,2805,3778,3737,0,0,0,0,0,0
$GC,6616,-0.89,-243.3,958.6,-13.5,176,6625,0.12,2.00,0.00,0.000,6,0.171,0.047,2835,2495,3737,0,0,0,0,0,0
$STATE,6946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6946,begin apogee
$GC,6950,-0.16,0.0,994.2,10.7,182,7172,0.73,0.00,209.15,1.244,6,0.132,0.000,3067,2052,2746,0,0,0,0,0,0
$STATE,7173,end apogee,CONTROL_FINISHED_OK
$STATE,7173,begin climb
$GC,7174,0.89,243.3,1003.4,0.0,185,7411,0.98,2.88,222.75,1.218,4,0.052,0.065,3422,3626,1759,0,0,0,0,0,0
$GC,7591,0.89,243.3,930.6,25506.9,192,7600,0.00,2.58,0.00,0.000,6,0.000,0.047,3434,2064,1748,0,0,0,0,0,0
$GC,7937,0.89,243.3,853.5,25506.9,198,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2060,1746,0,0,0,0,0,0
$GC,8239,0.89,243.3,786.0,25506.9,203,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2060,1745,0,0,0,0,0,0
$GC,8541,0.89,243.3,718.1,25506.9,208,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2060,1744,0,0,0,0,0,0
$GC,8843,0.89,243.3,649.8,25506.9,213,8852,0.00,2.60,0.00,0.000,4,0.000,0.070,3434,3633,1743,0,0,0,0,0,0
$GC,8876,0.89,243.3,641.6,25506.9,213,8885,0.15,2.53,0.00,0.000,6,0.206,0.049,3413,2046,1744,0,0,0,0,0,0
$GC,9201,0.89,243.3,578.2,25506.9,219,9209,0.00,2.62,0.00,0.000,4,0.000,0.069,3413,3627,1743,0,0,0,0,0,0
$GC,9223,0.89,243.3,573.7,25506.9,219,9231,0.00,2.53,0.00,0.000,6,0.000,0.047,3422,2044,1743,0,0,0,0,0,0
$GC,9558,0.89,243.3,510.7,25506.9,225,9566,0.00,2.62,0.00,0.000,4,0.000,0.068,3422,3632,1743,0,0,0,0,0,0
$GC,9585,0.89,243.3,505.1,25506.9,225,9594,0.00,2.53,0.00,0.000,6,0.000,0.046,3435,2042,1741,0,0,0,0,0,0
$GC,9915,0.89,243.3,435.5,25506.9,231,9923,0.00,2.58,0.00,0.000,4,0.000,0.061,3447,462,1745,0,0,0,0,0,0
$GC,9980,0.89,243.3,421.4,25506.9,232,9988,0.12,2.55,0.00,0.000,6,0.199,0.050,3419,2052,1742,0,0,0,0,0,0
$GC,10336,0.89,243.3,349.3,25506.9,238,10344,0.00,2.60,0.00,0.000,4,0.000,0.067,3419,3641,1742,0,0,0,0,0,0
$GC,10374,0.89,243.3,340.9,25506.9,238,10382,0.00,2.53,0.00,0.000,6,0.000,0.049,3428,2047,1743,0,0,0,0,0,0
$GC,10693,0.89,243.3,275.0,25506.9,246,10702,0.00,2.60,0.00,0.000,4,0.000,0.062,3442,461,1745,0,0,0,0,0,0
$GC,10737,0.89,243.3,266.1,25506.9,247,10746,0.00,2.55,0.00,0.000,6,0.000,0.050,3441,2048,1742,0,0,0,0,0,0
$GC,11053,0.89,243.3,201.2,25506.9,258,11061,0.00,2.62,0.00,0.000,4,0.000,0.067,3442,3645,1743,0,0,0,0,0,0
$GC,11074,0.89,243.3,196.5,25506.9,258,11086,0.17,2.53,0.00,0.000,6,0.201,0.047,3413,2043,1743,0,0,0,0,0,0
$GC,11384,0.89,243.3,142.3,25506.9,269,11392,0.00,2.62,0.00,0.000,4,0.000,0.067,3414,3640,1743,0,0,0,0,0,0
$GC,11422,0.89,243.3,135.1,25506.9,270,11430,0.00,2.53,0.00,0.000,6,0.000,0.047,3422,2045,1743,0,0,0,0,0,0
$GC,11735,0.89,243.3,79.7,25506.9,288,11743,0.00,2.62,0.00,0.000,4,0.000,0.067,3423,3638,1743,0,0,0,0,0,0
$GC,11784,0.89,243.3,70.1,25506.9,292,11793,0.00,2.50,0.00,0.000,6,0.000,0.046,3435,2052,1743,0,0,0,0,0,0
$GC,11977,0.89,243.3,37.1,25506.9,310,11985,0.00,2.60,0.00,0.000,4,0.000,0.066,3434,3639,1742,0,0,0,0,0,0
$GC,12128,0.89,243.3,9.9,25506.9,328,12139,0.15,2.53,0.00,0.000,6,0.195,0.045,3413,2039,1743,0,0,0,0,0,0
$STATE,12174,end climb,SURFACE_DEPTH_REACHED
$STATE,12174,begin surface coast
$FINISH,1.9,1.025175
$STATE,12180,end surface coast,CONTROL_FINISHED_OK
$STATE,12180,begin surface
$SM_CCo,12198,3.15,0.382,0,0,1730,250.21
$SM_GC,2.87,0.00,0.00,3.15,0.000,0.000,0.382,163,2503,1730,-9.26,0.11,250.21
$IRIDIUM_FIX,3228.84,-11850.11,040111,202051
$TT8_MAMPS,0.115346
$HUMID,49.05
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,18.40
$XPDR_PINGS,39
$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,12.7/482055/421064
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.0/298663/277792
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,14.2/7836665/6721526
$24V_AH,23.0,17.830
$10V_AH,10.1,10.586
$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,24.025,123.875,431.900,3.150,0.000,0.000,0.000,0.000,31.500,0.000,12.985,0.000,9933.187,479.020,1776.412,58.202,32.316,1427.478,0.000,1033.003,0.000,138.568,0.000
$DEVICE_MAMPS,264.690,81.855,1243.890,381.735,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,230.074,0.000,0.000,0.000,0.000,0.000,12302.120,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.867,0.000,0.000,0.000
$MEM,316444
$DATA_FILE_SIZE,10154,337
$CAP_FILE_SIZE,127318,0
$CFSIZE,260165632,253890560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,233554,3242.031,-11847.946,97,1.1,97,13.3