version: 66.09
glider: 178
mission: 10
dive: 12
start: 1 6 111 1 56 57
data:
$ID,178
$MISSION,10
$DIVE,12
$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,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,-9724.6162
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,060111,015037,3246.913,-11859.295,39,1.9,39,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.0
$GPS2,060111,015614,3246.870,-11859.263,13,1.8,13,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.316,0.073
$KALMAN_X,18111.3,116.5,193.2,-38354.0,3224.3
$KALMAN_Y,-1725.0,-302.3,-329.7,14445.7,-67.5
$MHEAD_RNG_PITCHd_Wd,269.7,16096,-19.3,-13.306
$D_GRID,1138
$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,-194.6,0.0,0.0,0,71,0.00,0.00,-53.65,0.000,2,0.000,0.000,162,2559,2970,0,0,0,0,0,0
$GC,73,-1.01,-194.6,3.1,-4.3,9,103,12.10,2.03,-11.98,0.000,4,0.270,0.084,2775,3778,3543,0,0,0,0,0,0
$GC,160,-1.01,-194.6,30.9,-32.2,22,168,0.00,2.00,0.00,0.000,6,0.000,0.040,2775,2533,3545,0,0,0,0,0,0
$GC,352,-1.01,-194.6,81.6,-22.9,41,357,0.00,2.10,0.00,0.000,4,0.000,0.066,2766,3776,3546,0,0,0,0,0,0
$GC,415,-1.01,-194.6,97.7,-24.5,47,420,0.00,1.95,0.00,0.000,6,0.000,0.039,2766,2552,3546,0,0,0,0,0,0
$GC,609,-1.01,-194.6,142.2,-23.0,54,617,0.00,2.50,0.00,0.000,4,0.000,0.047,2766,976,3545,0,0,0,0,0,0
$GC,631,-1.01,-194.6,147.8,-24.7,54,641,0.12,2.58,0.00,0.000,6,0.200,0.052,2782,2561,3545,0,0,0,0,0,0
$GC,941,-1.01,-194.6,212.1,-20.8,65,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2561,3548,0,0,0,0,0,0
$GC,1244,-1.01,-194.6,273.1,-19.7,75,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2561,3550,0,0,0,0,0,0
$GC,1576,-1.01,-194.6,338.5,-19.3,83,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2561,3549,0,0,0,0,0,0
$GC,1879,-1.01,-194.6,394.8,-18.8,88,1889,0.00,2.00,0.00,0.000,4,0.000,0.067,2775,3780,3547,0,0,0,0,0,0
$GC,1941,-1.01,-194.6,407.1,-20.1,88,1951,0.00,1.90,0.00,0.000,6,0.000,0.041,2776,2546,3549,0,0,0,0,0,0
$GC,2249,-1.01,-194.6,467.3,-19.7,94,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2546,3549,0,0,0,0,0,0
$GC,2550,-1.01,-194.6,524.0,-18.6,99,2559,0.00,2.47,0.00,0.000,4,0.000,0.047,2778,967,3549,0,0,0,0,0,0
$GC,2573,-1.01,-194.6,528.3,-18.7,99,2581,0.00,2.55,0.00,0.000,6,0.000,0.053,2764,2550,3548,0,0,0,0,0,0
$GC,2914,-1.01,-194.6,590.6,-18.3,105,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2550,3548,0,0,0,0,0,0
$GC,3215,-1.01,-194.6,645.5,-18.1,110,3224,0.00,2.00,0.00,0.000,4,0.000,0.068,2754,3776,3548,0,0,0,0,0,0
$GC,3281,-1.01,-194.6,658.2,-19.3,111,3288,0.12,1.88,0.00,0.000,6,0.193,0.043,2782,2547,3547,0,0,0,0,0,0
$GC,3648,-1.01,-194.6,719.0,-16.4,117,3656,0.00,2.47,0.00,0.000,4,0.000,0.050,2783,970,3547,0,0,0,0,0,0
$GC,3670,-1.01,-194.6,723.0,-17.4,117,3678,0.00,2.55,0.00,0.000,6,0.000,0.055,2771,2549,3550,0,0,0,0,0,0
$GC,4005,-1.01,-194.6,779.9,-16.9,123,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2549,3544,0,0,0,0,0,0
$GC,4307,-1.01,-194.6,830.2,-16.6,128,4318,0.00,2.03,0.00,0.000,4,0.000,0.070,2759,3781,3545,0,0,0,0,0,0
$GC,4331,-1.01,-194.6,834.6,-16.9,128,4339,0.00,1.90,0.00,0.000,6,0.000,0.044,2763,2555,3545,0,0,0,0,0,0
$GC,4677,-1.01,-194.6,891.3,-16.3,134,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2554,3545,0,0,0,0,0,0
$GC,4978,-1.01,-194.6,940.5,-16.4,139,4986,0.00,2.50,0.00,0.000,4,0.000,0.052,2763,975,3544,0,0,0,0,0,0
$GC,5000,-1.01,-194.6,944.2,-16.4,139,5008,0.15,2.55,0.00,0.000,6,0.189,0.056,2787,2559,3544,0,0,0,0,0,0
$STATE,5335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5335,begin apogee
$GC,5338,-0.20,0.0,991.7,14.2,145,5515,0.85,0.00,168.38,1.240,6,0.152,0.000,3045,2197,2748,0,0,0,0,0,0
$STATE,5516,end apogee,CONTROL_FINISHED_OK
$STATE,5516,begin climb
$GC,5517,1.01,194.6,998.8,0.0,147,5711,1.12,2.85,178.45,1.216,4,0.057,0.057,3456,630,1953,0,0,0,0,0,0
$GC,5719,1.01,194.6,974.9,20.3,151,5728,0.00,2.75,0.00,0.000,6,0.000,0.048,3456,2198,1951,0,0,0,0,0,0
$GC,6070,1.01,194.6,894.5,22.9,157,6079,0.00,2.62,0.00,0.000,4,0.000,0.057,3468,620,1944,0,0,0,0,0,0
$GC,6093,1.01,194.6,889.4,22.5,157,6101,0.00,2.62,0.00,0.000,6,0.000,0.050,3468,2202,1943,0,0,0,0,0,0
$GC,6428,1.01,194.6,810.6,23.6,163,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2202,1942,0,0,0,0,0,0
$GC,6729,1.01,194.6,739.8,23.4,168,6738,0.00,2.55,0.00,0.000,4,0.000,0.056,3480,634,1941,0,0,0,0,0,0
$GC,6784,1.01,194.6,727.5,22.7,168,6795,0.17,2.58,0.00,0.000,6,0.200,0.050,3439,2211,1941,0,0,0,0,0,0
$GC,7091,1.01,194.6,662.1,21.2,174,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2212,1940,0,0,0,0,0,0
$GC,7393,1.01,194.6,599.1,20.8,179,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2212,1939,0,0,0,0,0,0
$GC,7695,1.01,194.6,536.1,20.9,184,7703,0.00,2.55,0.00,0.000,4,0.000,0.057,3449,630,1940,0,0,0,0,0,0
$GC,7727,1.01,194.6,529.2,20.7,184,7736,0.00,2.55,0.00,0.000,6,0.000,0.050,3449,2209,1938,0,0,0,0,0,0
$GC,8052,1.01,194.6,459.9,21.5,190,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,1941,0,0,0,0,0,0
$GC,8353,1.01,194.6,396.5,21.0,195,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2209,1938,0,0,0,0,0,0
$GC,8655,1.01,194.6,334.6,20.6,200,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2209,1938,0,0,0,0,0,0
$GC,8958,1.01,194.6,274.5,19.5,207,8966,0.00,2.55,0.00,0.000,4,0.000,0.056,3460,626,1940,0,0,0,0,0,0
$GC,9006,1.01,194.6,265.0,19.2,208,9014,0.00,2.53,0.00,0.000,6,0.000,0.050,3461,2199,1938,0,0,0,0,0,0
$GC,9315,1.01,194.6,204.3,19.8,218,9324,0.00,2.58,0.00,0.000,4,0.000,0.067,3461,3775,1938,0,0,0,0,0,0
$GC,9364,1.01,194.6,193.1,23.8,219,9373,0.15,2.47,0.00,0.000,6,0.217,0.043,3440,2197,1937,0,0,0,0,0,0
$GC,9673,1.01,194.6,137.3,17.5,229,9681,0.00,2.53,0.00,0.000,4,0.000,0.058,3450,620,1937,0,0,0,0,0,0
$GC,9776,1.01,194.6,120.4,16.4,232,9784,0.00,2.53,0.00,0.000,6,0.000,0.047,3449,2200,1936,0,0,0,0,0,0
$GC,10090,1.01,194.6,67.4,15.6,254,10094,0.00,2.60,0.00,0.000,4,0.000,0.064,3449,3778,1936,0,0,0,0,0,0
$GC,10122,1.01,194.6,61.7,18.5,257,10126,0.00,2.50,0.00,0.000,6,0.000,0.043,3462,2199,1938,0,0,0,0,0,0
$GC,10318,1.01,194.6,30.4,15.1,276,10323,0.00,2.60,0.00,0.000,4,0.000,0.063,3461,3774,1938,0,0,0,0,0,0
$GC,10387,1.01,194.6,19.2,16.9,282,10395,0.10,2.47,0.00,0.000,6,0.197,0.042,3447,2204,1937,0,0,0,0,0,0
$STATE,10505,end climb,SURFACE_DEPTH_REACHED
$STATE,10505,begin surface coast
$FINISH,0.8,1.004962
$STATE,10526,end surface coast,CONTROL_FINISHED_OK
$STATE,10527,begin surface
$SM_CCo,10540,52.53,0.611,0,0,1524,300.00
$SM_GC,1.52,0.00,0.00,52.53,0.000,0.000,0.611,163,2559,1524,-9.23,0.25,300.00
$IRIDIUM_FIX,3233.95,-11900.54,050111,222241
$TT8_MAMPS,0.113848
$HUMID,45.43
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.60
$XPDR_PINGS,33
$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,13.0/482055/419273
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.7/298663/275689
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,79.3/7836665/1619861
$24V_AH,22.9,19.082
$10V_AH,10.1,13.440
$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,23.725,87.500,346.825,52.525,0.000,25.261,28.768,182.308,30.000,0.000,14.267,0.000,8776.347,454.551,1628.479,67.836,33.335,1157.006,0.000,781.180,0.000,139.146,0.000
$DEVICE_MAMPS,270.045,84.150,1240.065,611.235,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,210.342,0.000,0.000,0.000,0.000,0.000,11007.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.673,0.000,0.000,0.000
$MEM,317724
$DATA_FILE_SIZE,10166,308
$CAP_FILE_SIZE,93196,0
$CFSIZE,260165632,253370368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,045424,3247.338,-11900.822,36,1.1,36,13.3