version: 66.09
glider: 178
mission: 10
dive: 11
start: 1 5 111 22 54 19
data:
$ID,178
$MISSION,10
$DIVE,11
$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,275
$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,-9723.3564
$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,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2850
$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
$GPS1,050111,224706,3246.154,-11858.390,46,1.6,52,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-79.0
$GPS2,050111,225336,3246.115,-11858.350,15,1.7,25,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.285,0.155
$KALMAN_X,15057.1,330.8,212.3,-34109.1,2338.3
$KALMAN_Y,-1372.5,-23.4,-54.7,12141.2,-937.7
$MHEAD_RNG_PITCHd_Wd,285.2,18062,-19.3,-13.306
$D_GRID,1101
$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,-1.01,-194.6,0.0,0.0,0,77,0.00,0.00,-59.30,0.000,2,0.000,0.000,163,2526,3151,0,0,0,0,0,0
$GC,78,-1.01,-194.6,3.9,-7.7,10,103,12.10,0.00,-9.05,0.000,6,0.270,0.000,2780,2526,3649,0,0,0,0,0,0
$GC,169,-1.01,-194.6,38.4,-33.6,22,170,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2527,3653,0,0,0,0,0,0
$GC,355,-1.01,-194.6,88.9,-24.9,40,360,0.00,2.12,0.00,0.000,4,0.000,0.067,2773,3778,3654,0,0,0,0,0,0
$GC,397,-1.01,-194.6,99.3,-23.5,44,402,0.00,1.98,0.00,0.000,6,0.000,0.041,2773,2539,3654,0,0,0,0,0,0
$GC,591,-1.01,-194.6,145.9,-24.4,51,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2536,3655,0,0,0,0,0,0
$GC,894,-1.01,-194.6,219.4,-23.8,61,902,0.00,2.08,0.00,0.000,4,0.000,0.065,2764,3792,3655,0,0,0,0,0,0
$GC,916,-1.01,-194.6,225.0,-25.2,61,923,0.00,1.92,0.00,0.000,6,0.000,0.040,2764,2548,3655,0,0,0,0,0,0
$GC,1231,-1.01,-194.6,302.0,-23.9,72,1239,0.00,2.05,0.00,0.000,4,0.000,0.067,2754,3787,3655,0,0,0,0,0,0
$GC,1258,-1.01,-194.6,309.0,-25.0,72,1269,0.12,1.90,0.00,0.000,6,0.200,0.041,2782,2543,3656,0,0,0,0,0,0
$GC,1602,-1.01,-194.6,379.8,-20.1,78,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2544,3656,0,0,0,0,0,0
$GC,1903,-1.01,-194.6,436.5,-18.6,83,1912,0.00,2.05,0.00,0.000,4,0.000,0.070,2775,3783,3656,0,0,0,0,0,0
$GC,1953,-1.01,-194.6,446.3,-19.9,83,1960,0.00,1.90,0.00,0.000,6,0.000,0.041,2775,2554,3656,0,0,0,0,0,0
$GC,2272,-1.01,-194.6,508.7,-19.5,89,2280,0.00,2.03,0.00,0.000,4,0.000,0.069,2765,3780,3656,0,0,0,0,0,0
$GC,2304,-1.01,-194.6,515.6,-20.4,89,2312,0.00,1.88,0.00,0.000,6,0.000,0.042,2766,2550,3655,0,0,0,0,0,0
$GC,2639,-1.01,-194.6,581.8,-19.7,95,2650,0.00,2.05,0.00,0.000,4,0.000,0.068,2756,3787,3655,0,0,0,0,0,0
$GC,2658,-1.01,-194.6,585.9,-19.8,95,2666,0.12,1.92,0.00,0.000,6,0.194,0.042,2784,2545,3655,0,0,0,0,0,0
$GC,3010,-1.01,-194.6,648.6,-17.7,101,3018,0.00,2.05,0.00,0.000,4,0.000,0.071,2777,3790,3655,0,0,0,0,0,0
$GC,3037,-1.01,-194.6,654.0,-19.5,101,3045,0.00,1.95,0.00,0.000,6,0.000,0.042,2777,2552,3654,0,0,0,0,0,0
$GC,3378,-1.01,-194.6,715.7,-18.2,107,3385,0.00,2.05,0.00,0.000,4,0.000,0.072,2768,3780,3653,0,0,0,0,0,0
$GC,3447,-1.01,-194.6,729.6,-19.3,108,3456,0.00,1.95,0.00,0.000,6,0.000,0.044,2768,2525,3653,0,0,0,0,0,0
$GC,3810,-1.01,-194.6,798.1,-18.9,114,3818,0.00,2.10,0.00,0.000,4,0.000,0.071,2758,3787,3653,0,0,0,0,0,0
$GC,3859,-1.01,-194.6,808.3,-20.4,114,3867,0.05,1.95,0.00,0.000,6,0.161,0.044,2783,2551,3656,0,0,0,0,0,0
$GC,4173,-1.01,-194.6,863.6,-17.5,120,4181,0.00,2.47,0.00,0.000,4,0.000,0.050,2782,975,3650,0,0,0,0,0,0
$GC,4216,-1.01,-194.6,871.2,-16.8,120,4224,0.00,2.58,0.00,0.000,6,0.000,0.057,2774,2558,3652,0,0,0,0,0,0
$GC,4531,-1.01,-194.6,925.2,-17.3,126,4538,0.00,2.03,0.00,0.000,4,0.000,0.071,2764,3782,3654,0,0,0,0,0,0
$GC,4573,-1.01,-194.6,933.1,-18.2,126,4580,0.00,1.92,0.00,0.000,6,0.000,0.046,2764,2551,3652,0,0,0,0,0,0
$GC,4897,-1.01,-194.6,989.4,-17.4,132,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2549,3651,0,0,0,0,0,0
$STATE,4957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4957,begin apogee
$GC,4960,-0.20,0.0,999.5,17.2,133,5140,0.95,0.00,168.62,1.245,6,0.160,0.000,3044,2197,2850,0,0,0,0,0,0
$STATE,5140,end apogee,CONTROL_FINISHED_OK
$STATE,5140,begin climb
$GC,5141,1.01,194.6,1008.6,0.0,135,5335,1.12,2.85,177.60,1.228,4,0.057,0.057,3457,635,2056,0,0,0,0,0,0
$GC,5536,1.01,194.6,950.3,21.3,142,5545,0.00,2.62,0.00,0.000,6,0.000,0.053,3457,2198,2048,0,0,0,0,0,0
$GC,5887,1.01,194.6,873.2,22.2,148,5896,0.00,2.60,0.00,0.000,4,0.000,0.058,3469,625,2045,0,0,0,0,0,0
$GC,5963,1.01,194.6,856.9,21.6,149,5971,0.00,2.58,0.00,0.000,6,0.000,0.052,3469,2201,2044,0,0,0,0,0,0
$GC,6308,1.01,194.6,780.7,22.1,155,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2202,2044,0,0,0,0,0,0
$GC,6610,1.01,194.6,714.4,21.9,160,6619,0.00,2.55,0.00,0.000,4,0.000,0.057,3481,626,2043,0,0,0,0,0,0
$GC,6680,1.01,194.6,699.3,20.4,161,6689,0.17,2.55,0.00,0.000,6,0.207,0.052,3444,2205,2043,0,0,0,0,0,0
$GC,7032,1.01,194.6,630.3,19.7,167,7040,0.00,2.60,0.00,0.000,4,0.000,0.067,3441,3783,2042,0,0,0,0,0,0
$GC,7049,1.01,194.6,626.8,19.6,167,7057,0.00,2.50,0.00,0.000,6,0.000,0.046,3450,2209,2040,0,0,0,0,0,0
$GC,7388,1.01,194.6,557.8,20.3,173,7397,0.00,2.58,0.00,0.000,4,0.000,0.060,3463,612,2041,0,0,0,0,0,0
$GC,7443,1.01,194.6,546.6,20.1,173,7454,0.00,2.55,0.00,0.000,6,0.000,0.051,3462,2204,2041,0,0,0,0,0,0
$GC,7751,1.01,194.6,483.5,20.6,179,7759,0.00,2.60,0.00,0.000,4,0.000,0.059,3475,610,2044,0,0,0,0,0,0
$GC,7763,1.01,194.6,481.0,20.5,179,7771,0.15,2.55,0.00,0.000,6,0.209,0.050,3442,2202,2043,0,0,0,0,0,0
$GC,8108,1.01,194.6,416.3,18.5,185,8117,0.00,2.58,0.00,0.000,4,0.000,0.057,3451,614,2041,0,0,0,0,0,0
$GC,8163,1.01,194.6,406.5,17.8,185,8174,0.00,2.58,0.00,0.000,6,0.000,0.050,3451,2213,2041,0,0,0,0,0,0
$GC,8470,1.01,194.6,351.0,18.1,191,8478,0.00,2.55,0.00,0.000,4,0.000,0.067,3451,3778,2039,0,0,0,0,0,0
$GC,8486,1.01,194.6,347.8,17.8,191,8494,0.00,2.47,0.00,0.000,6,0.000,0.044,3463,2190,2040,0,0,0,0,0,0
$GC,8797,1.01,194.6,291.4,18.3,197,8805,0.00,2.53,0.00,0.000,4,0.000,0.058,3475,616,2040,0,0,0,0,0,0
$GC,8845,1.01,194.6,282.1,18.1,198,8855,0.15,2.53,0.00,0.000,6,0.203,0.049,3441,2205,2040,0,0,0,0,0,0
$GC,9155,1.01,194.6,225.6,18.1,208,9163,0.00,2.58,0.00,0.000,4,0.000,0.057,3451,610,2041,0,0,0,0,0,0
$GC,9209,1.01,194.6,215.6,18.8,209,9220,0.00,2.53,0.00,0.000,6,0.000,0.050,3451,2199,2040,0,0,0,0,0,0
$GC,9519,1.01,194.6,160.1,17.9,220,9527,0.00,2.55,0.00,0.000,4,0.000,0.057,3463,618,2040,0,0,0,0,0,0
$GC,9584,1.01,194.6,148.1,18.5,222,9592,0.00,2.53,0.00,0.000,6,0.000,0.049,3463,2201,2040,0,0,0,0,0,0
$GC,9901,1.01,194.6,89.9,17.5,236,9905,0.00,2.58,0.00,0.000,4,0.000,0.057,3475,623,2040,0,0,0,0,0,0
$GC,9948,1.01,194.6,81.2,18.4,240,9956,0.10,2.53,0.00,0.000,6,0.184,0.047,3448,2191,2040,0,0,0,0,0,0
$GC,10140,1.01,194.6,47.0,16.4,259,10144,0.00,2.60,0.00,0.000,4,0.000,0.063,3448,3771,2040,0,0,0,0,0,0
$GC,10321,1.01,194.6,19.2,13.6,276,10329,0.00,2.47,0.00,0.000,6,0.000,0.042,3457,2196,2041,0,0,0,0,0,0
$GC,10391,1.02,202.9,10.2,12.9,289,10405,0.00,2.55,5.60,0.526,4,0.000,0.056,3469,623,2023,0,0,0,0,0,0
$GC,10419,1.02,202.9,6.5,13.8,294,10427,0.00,2.53,0.00,0.000,6,0.000,0.047,3469,2200,2021,0,0,0,0,0,0
$STATE,10445,end climb,SURFACE_DEPTH_REACHED
$STATE,10445,begin surface coast
$FINISH,0.7,1.001760
$STATE,10467,end surface coast,CONTROL_FINISHED_OK
$STATE,10467,begin surface
$SM_CCo,10481,40.05,0.614,0,0,1728,275.23
$SM_GC,2.16,0.00,0.00,40.05,0.000,0.000,0.614,162,2564,1728,-9.23,0.25,275.23
$IRIDIUM_FIX,3233.95,-11858.30,050111,191913
$TT8_MAMPS,0.113848
$HUMID,45.66
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,18.60
$XPDR_PINGS,38
$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,13.0/482055/419458
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.6/298663/275900
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,72.7/7836665/2135845
$24V_AH,22.9,18.936
$10V_AH,10.1,13.146
$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,23.975,117.800,351.825,40.050,0.000,29.359,30.096,216.587,31.250,0.000,26.244,0.000,8472.810,467.269,1888.811,80.564,33.332,1292.740,0.000,957.951,0.000,138.582,0.000
$DEVICE_MAMPS,270.045,71.910,1245.420,614.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,206.614,0.000,0.000,0.000,0.000,0.000,11017.820,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.050,0.000,0.000,0.000
$MEM,317772
$DATA_FILE_SIZE,10196,303
$CAP_FILE_SIZE,107205,0
$CFSIZE,260165632,253419520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,015037,3246.913,-11859.295,39,1.9,39,13.3