version: 66.09
glider: 178
mission: 10
dive: 7
start: 1 5 111 8 52 39
data:
$ID,178
$MISSION,10
$DIVE,7
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-9718.3105
$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,3025
$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,2550
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,21
$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
$GPS1,050111,084307,3244.361,-11851.766,52,1.0,52,13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.2
$GPS2,050111,085156,3244.374,-11851.763,14,1.1,14,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.283,0.159
$KALMAN_X,9223.4,-1176.3,195.7,-16480.3,2304.7
$KALMAN_Y,-695.0,-391.2,789.7,7756.7,-1349.8
$MHEAD_RNG_PITCHd_Wd,285.9,8524,-19.3,-13.306
$D_GRID,1294
$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,-0.84,-194.6,0.0,0.0,0,77,0.00,0.00,-59.08,0.000,2,0.000,0.000,160,2552,3151,0,0,0,0,0,0
$GC,78,-0.84,-194.6,3.5,-7.1,10,103,12.20,2.03,-7.25,0.000,4,0.275,0.078,2735,3780,3545,0,0,0,0,0,0
$GC,192,-0.84,-194.6,49.9,-39.9,24,201,0.00,2.00,0.00,0.000,6,0.000,0.041,2742,2534,3547,0,0,0,0,0,0
$GC,386,-0.84,-194.6,101.7,-25.3,43,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2535,3549,0,0,0,0,0,0
$GC,688,-0.84,-194.6,177.4,-24.4,53,696,0.00,2.08,0.00,0.000,4,0.000,0.066,2734,3782,3548,0,0,0,0,0,0
$GC,731,-0.84,-194.6,189.2,-27.3,54,740,0.00,1.95,0.00,0.000,6,0.000,0.041,2735,2548,3552,0,0,0,0,0,0
$GC,1053,-0.84,-194.6,269.6,-25.3,65,1063,0.00,2.05,0.00,0.000,4,0.000,0.078,2725,3782,3550,0,0,0,0,0,0
$GC,1120,-0.84,-194.6,287.8,-26.7,67,1128,0.00,1.92,0.00,0.000,6,0.000,0.041,2725,2545,3549,0,0,0,0,0,0
$GC,1486,-0.84,-194.6,376.5,-24.2,74,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2542,3550,0,0,0,0,0,0
$GC,1787,-0.84,-194.6,442.8,-21.9,79,1796,0.00,2.05,0.00,0.000,4,0.000,0.068,2715,3788,3550,0,0,0,0,0,0
$GC,1853,-0.84,-194.6,458.4,-23.7,80,1862,0.15,1.95,0.00,0.000,6,0.206,0.044,2749,2535,3550,0,0,0,0,0,0
$GC,2216,-0.84,-194.6,528.8,-19.3,86,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2535,3551,0,0,0,0,0,0
$GC,2518,-0.84,-194.6,585.6,-18.8,91,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2535,3549,0,0,0,0,0,0
$GC,2819,-0.84,-194.6,641.6,-18.5,96,2830,0.00,2.08,0.00,0.000,4,0.000,0.070,2742,3785,3552,0,0,0,0,0,0
$GC,2866,-0.84,-194.6,650.8,-19.3,96,2874,0.00,1.90,0.00,0.000,6,0.000,0.043,2742,2548,3549,0,0,0,0,0,0
$GC,3191,-0.84,-194.6,712.3,-18.9,102,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2547,3549,0,0,0,0,0,0
$GC,3492,-0.84,-194.6,766.6,-17.9,107,3501,0.00,2.08,0.00,0.000,4,0.000,0.073,2735,3789,3547,0,0,0,0,0,0
$GC,3520,-0.84,-194.6,772.2,-19.6,107,3527,0.00,1.92,0.00,0.000,6,0.000,0.044,2735,2551,3546,0,0,0,0,0,0
$GC,3860,-0.84,-194.6,834.6,-18.4,113,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2552,3547,0,0,0,0,0,0
$GC,4162,-0.84,-194.6,889.6,-18.2,118,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2550,3547,0,0,0,0,0,0
$GC,4464,-0.84,-194.6,942.6,-17.5,123,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2550,3544,0,0,0,0,0,0
$STATE,4764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4764,begin apogee
$GC,4767,-0.16,0.0,993.4,16.8,128,4944,0.80,0.00,168.57,1.244,6,0.174,0.000,2964,2120,2750,0,0,0,0,0,0
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4946,0.84,194.6,999.9,0.0,130,5140,1.02,2.83,180.18,1.219,4,0.109,0.059,3296,553,1953,0,0,0,0,0,0
$GC,5180,0.85,197.6,978.1,13.2,134,5189,0.00,2.70,0.00,0.000,6,0.000,0.050,3296,2121,1946,0,0,0,0,0,0
$GC,5499,0.85,199.8,935.9,13.2,140,5512,0.00,2.72,4.15,0.741,4,0.000,0.069,3296,3714,1931,0,0,0,0,0,0
$GC,5569,0.85,199.8,925.9,14.2,141,5578,0.00,2.60,0.00,0.000,6,0.000,0.047,3308,2132,1931,0,0,0,0,0,0
$GC,5926,0.85,202.8,878.6,13.2,147,5934,0.00,2.67,0.00,0.000,4,0.000,0.070,3308,3725,1931,0,0,0,0,0,0
$GC,5948,0.85,202.8,875.5,13.7,147,5961,0.00,2.60,4.20,0.741,6,0.000,0.047,3321,2114,1922,0,0,0,0,0,0
$GC,6287,0.85,202.8,827.1,14.5,153,6296,0.00,2.67,0.00,0.000,4,0.000,0.070,3320,3717,1918,0,0,0,0,0,0
$GC,6310,0.85,202.8,823.5,16.1,153,6318,0.12,2.55,0.00,0.000,6,0.199,0.044,3305,2115,1919,0,0,0,0,0,0
$GC,6645,0.87,217.5,780.0,12.6,159,6667,0.00,0.00,15.20,1.040,6,0.000,0.000,3305,2110,1861,0,0,0,0,0,0
$GC,6946,0.90,241.2,743.1,12.2,164,6979,0.00,2.78,22.80,1.050,4,0.000,0.069,3305,3712,1764,0,0,0,0,0,0
$GC,7004,0.90,241.2,735.7,13.5,164,7014,0.00,2.60,0.00,0.000,6,0.000,0.046,3315,2123,1763,0,0,0,0,0,0
$GC,7312,0.91,252.6,696.3,12.8,170,7329,0.00,0.00,11.43,0.964,6,0.000,0.000,3316,2124,1718,0,0,0,0,0,0
$GC,7613,0.92,257.8,657.0,13.1,175,7630,0.00,2.67,6.22,0.830,4,0.000,0.068,3315,3714,1697,0,0,0,0,0,0
$GC,7643,0.92,257.8,652.7,13.8,175,7651,0.00,2.58,0.00,0.000,6,0.000,0.046,3327,2112,1696,0,0,0,0,0,0
$GC,7973,0.93,266.2,609.6,12.9,181,7988,0.00,0.00,9.25,0.894,6,0.000,0.000,3327,2110,1661,0,0,0,0,0,0
$GC,8275,0.94,272.9,570.8,13.0,186,8292,0.00,2.75,7.32,0.835,4,0.000,0.069,3327,3722,1635,0,0,0,0,0,0
$GC,8317,0.94,272.9,564.7,15.8,186,8325,0.00,2.58,0.00,0.000,6,0.000,0.046,3339,2127,1634,0,0,0,0,0,0
$GC,8636,0.94,272.9,517.1,15.0,192,8645,0.00,2.62,0.00,0.000,4,0.000,0.060,3351,535,1632,0,0,0,0,0,0
$GC,8659,0.94,272.9,513.5,15.2,192,8667,0.00,2.60,0.00,0.000,6,0.000,0.049,3351,2139,1632,0,0,0,0,0,0
$GC,8994,0.94,272.9,459.8,16.1,198,9003,0.00,2.60,0.00,0.000,4,0.000,0.068,3352,3710,1632,0,0,0,0,0,0
$GC,9049,0.94,272.9,450.1,17.8,198,9060,0.15,2.53,0.00,0.000,6,0.190,0.045,3330,2124,1632,0,0,0,0,0,0
$GC,9356,0.94,272.9,407.0,13.9,204,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2122,1632,0,0,0,0,0,0
$GC,9658,0.94,272.9,366.1,13.5,209,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2123,1631,0,0,0,0,0,0
$GC,9960,0.94,272.9,324.8,13.7,214,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2123,1631,0,0,0,0,0,0
$GC,10262,0.94,272.9,283.8,13.6,220,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2127,1631,0,0,0,0,0,0
$GC,10565,0.97,296.5,245.0,12.2,230,10601,0.00,2.70,21.83,0.763,4,0.000,0.067,3328,3716,1537,0,0,0,0,0,0
$GC,10615,0.97,296.5,238.5,13.4,231,10623,0.00,2.55,0.00,0.000,6,0.000,0.046,3337,2120,1536,0,0,0,0,0,0
$GC,10930,0.97,296.5,195.7,13.7,242,10938,0.00,2.58,0.00,0.000,4,0.000,0.059,3347,537,1533,0,0,0,0,0,0
$GC,10952,0.97,296.5,192.5,13.4,242,10962,0.00,2.55,0.00,0.000,6,0.000,0.047,3349,2131,1533,0,0,0,0,0,0
$GC,11261,0.97,296.5,149.1,13.8,253,11270,0.00,2.60,0.00,0.000,4,0.000,0.065,3349,3719,1534,0,0,0,0,0,0
$GC,11327,0.97,296.5,139.0,15.5,255,11335,0.00,2.55,0.00,0.000,6,0.000,0.044,3362,2112,1533,0,0,0,0,0,0
$GC,11644,0.97,296.5,91.2,15.3,269,11648,0.00,2.58,0.00,0.000,4,0.000,0.059,3374,537,1533,0,0,0,0,0,0
$GC,11670,0.97,296.5,87.3,14.0,271,11678,0.10,2.58,0.00,0.000,6,0.151,0.047,3343,2126,1532,0,0,0,0,0,0
$GC,11861,0.97,296.5,61.1,14.0,290,11866,0.00,2.62,0.00,0.000,4,0.000,0.064,3343,3714,1532,0,0,0,0,0,0
$GC,11887,0.97,296.5,57.3,14.4,292,11896,0.00,2.53,0.00,0.000,6,0.000,0.043,3353,2121,1530,0,0,0,0,0,0
$GC,12079,1.03,343.2,32.1,11.2,311,12125,0.00,2.58,39.53,0.636,4,0.000,0.056,3364,543,1347,0,0,0,0,0,0
$GC,12160,1.10,399.7,22.9,10.7,318,12214,0.00,2.60,46.67,0.623,6,0.000,0.045,3368,2134,1117,0,0,0,0,0,0
$GC,12276,1.11,410.2,9.0,12.8,337,12290,0.00,2.67,9.18,0.560,4,0.000,0.062,3364,3717,1075,0,0,0,0,0,0
$GC,12310,1.11,410.2,4.3,13.4,343,12318,0.00,2.60,0.00,0.000,6,0.000,0.042,3376,2129,1074,0,0,0,0,0,0
$STATE,12320,end climb,SURFACE_DEPTH_REACHED
$STATE,12320,begin surface coast
$FINISH,0.5,1.014558
$STATE,12342,end surface coast,CONTROL_FINISHED_OK
$STATE,12342,begin surface
$SM_CCo,12417,0.00,0.000,0,0,1069,411.86
$SM_GC,1.45,8.98,0.00,0.00,0.057,0.000,0.000,163,2564,1069,-8.91,0.40,411.86
$IRIDIUM_FIX,3231.39,-11853.58,050111,080853
$TT8_MAMPS,0.113848
$HUMID,44.68
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,18.60
$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,12.8/482055/420273
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.3/298663/276830
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,43.9/7836665/4396601
$24V_AH,22.9,18.310
$10V_AH,10.1,11.844
$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,23.525,109.300,546.525,0.000,0.000,56.351,76.577,218.945,31.750,0.000,15.002,0.000,10321.510,584.787,1950.801,83.582,33.325,1427.687,0.000,902.885,0.000,135.823,0.000
$DEVICE_MAMPS,275.400,78.030,1243.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,237.151,0.000,0.000,0.000,0.000,0.000,13049.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.343,0.000,0.000,0.000
$MEM,316300
$DATA_FILE_SIZE,13512,349
$CAP_FILE_SIZE,111094,0
$CFSIZE,260165632,253669376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,122030,3245.458,-11853.318,37,1.6,37,13.3