version: 66.09
glider: 178
mission: 10
dive: 21
start: 1 7 111 2 58 23
data:
$ID,178
$MISSION,10
$DIVE,21
$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,230
$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,250
$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,-9777.5742
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,070111,025237,3250.007,-11903.468,38,1.0,39,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.6
$GPS2,070111,025813,3249.991,-11903.413,9,1.0,14,13.4
$SPEED_LIMITS,0.171,0.368
$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,107.8,12399,-18.4,-14.348
$D_GRID,1296
$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,-1.03,-243.3,0.0,0.0,0,83,0.00,0.00,-64.65,0.000,2,0.000,0.000,162,2566,3038,0,0,0,0,0,0
$GC,84,-1.03,-243.3,3.3,-4.6,11,117,12.05,2.03,-13.77,0.000,4,0.269,0.082,2769,3774,3743,0,0,0,0,0,0
$GC,356,-1.03,-243.3,86.0,-31.0,40,366,0.00,1.95,0.00,0.000,6,0.000,0.040,2769,2528,3746,0,0,0,0,0,0
$GC,565,-1.03,-243.3,143.6,-26.7,51,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2526,3747,0,0,0,0,0,0
$GC,869,-1.03,-243.3,220.6,-25.1,61,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2527,3748,0,0,0,0,0,0
$GC,1172,-1.03,-243.3,296.6,-24.6,71,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2531,3749,0,0,0,0,0,0
$GC,1505,-1.03,-243.3,373.1,-23.1,77,1513,0.00,2.05,0.00,0.000,4,0.000,0.065,2759,3777,3749,0,0,0,0,0,0
$GC,1575,-1.03,-243.3,389.6,-23.5,78,1583,0.00,1.88,0.00,0.000,6,0.000,0.050,2759,2546,3749,0,0,0,0,0,0
$GC,1938,-1.03,-243.3,470.9,-22.3,84,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2545,3749,0,0,0,0,0,0
$GC,2239,-1.03,-243.3,538.9,-22.6,89,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2544,3749,0,0,0,0,0,0
$GC,2541,-1.03,-243.3,603.1,-21.0,94,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2544,3749,0,0,0,0,0,0
$GC,2843,-1.03,-243.3,665.5,-20.6,99,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2544,3748,0,0,0,0,0,0
$GC,3144,-1.03,-243.3,724.4,-19.5,104,3153,0.00,2.00,0.00,0.000,4,0.000,0.068,2750,3776,3748,0,0,0,0,0,0
$GC,3168,-1.03,-243.3,729.2,-19.8,104,3176,0.12,1.90,0.00,0.000,6,0.191,0.042,2778,2551,3747,0,0,0,0,0,0
$GC,3514,-1.03,-243.3,793.1,-18.4,110,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2545,3747,0,0,0,0,0,0
$GC,3816,-1.03,-243.3,847.1,-17.9,115,3824,0.00,2.47,0.00,0.000,4,0.000,0.050,2779,972,3745,0,0,0,0,0,0
$GC,3838,-1.03,-243.3,851.2,-17.8,115,3846,0.00,2.55,0.00,0.000,6,0.000,0.054,2769,2548,3744,0,0,0,0,0,0
$GC,4179,-1.03,-243.3,909.4,-17.1,121,4187,0.00,2.03,0.00,0.000,4,0.000,0.068,2759,3785,3746,0,0,0,0,0,0
$GC,4217,-1.03,-243.3,916.0,-17.4,121,4224,0.00,1.92,0.00,0.000,6,0.000,0.043,2759,2537,3744,0,0,0,0,0,0
$GC,4547,-1.03,-243.3,974.9,-18.3,127,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2535,3745,0,0,0,0,0,0
$STATE,4666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4666,begin apogee
$GC,4669,-0.20,0.0,996.3,18.3,129,4890,0.98,0.00,210.48,1.245,6,0.161,0.000,3044,2199,2747,0,0,0,0,0,0
$STATE,4891,end apogee,CONTROL_FINISHED_OK
$STATE,4891,begin climb
$GC,4892,1.03,243.3,1005.8,0.0,132,5129,1.15,2.90,224.75,1.219,4,0.054,0.063,3454,3783,1757,0,0,0,0,0,0
$GC,5137,1.03,243.3,967.1,15.7,136,5145,0.00,2.70,0.00,0.000,6,0.000,0.043,3462,2217,1754,0,0,0,0,0,0
$GC,5456,1.03,243.3,880.1,17065.9,142,5465,0.00,2.65,0.00,0.000,4,0.000,0.055,3478,602,1748,0,0,0,0,0,0
$GC,5506,1.03,243.3,866.4,17065.9,142,5515,0.12,2.65,0.00,0.000,6,0.207,0.049,3453,2204,1747,0,0,0,0,0,0
$GC,5814,1.03,243.3,785.1,17065.9,147,5822,0.00,2.60,0.00,0.000,4,0.000,0.054,3462,611,1746,0,0,0,0,0,0
$GC,5847,1.03,243.3,776.5,17065.9,147,5855,0.00,2.58,0.00,0.000,6,0.000,0.049,3462,2202,1746,0,0,0,0,0,0
$GC,6171,1.03,243.3,691.0,17065.9,153,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2203,1745,0,0,0,0,0,0
$GC,6472,1.03,243.3,611.5,17065.9,158,6481,0.00,2.58,0.00,0.000,4,0.000,0.054,3475,610,1745,0,0,0,0,0,0
$GC,6510,1.03,243.3,601.3,17065.9,158,6519,0.00,2.55,0.00,0.000,6,0.000,0.049,3475,2202,1745,0,0,0,0,0,0
$GC,6829,1.03,243.3,518.4,17065.9,164,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2202,1744,0,0,0,0,0,0
$GC,7131,1.03,243.3,440.8,17065.9,169,7140,0.00,2.58,0.00,0.000,4,0.000,0.054,3487,601,1744,0,0,0,0,0,0
$GC,7234,1.03,243.3,414.5,17065.9,170,7245,0.15,2.58,0.00,0.000,6,0.206,0.050,3453,2200,1744,0,0,0,0,0,0
$GC,7555,1.03,243.3,336.1,17065.9,176,7564,0.00,2.58,0.00,0.000,4,0.000,0.054,3463,604,1743,0,0,0,0,0,0
$GC,7583,1.03,243.3,329.4,17065.9,176,7591,0.00,2.55,0.00,0.000,6,0.000,0.048,3463,2211,1744,0,0,0,0,0,0
$GC,7914,1.03,243.3,251.9,17065.9,185,7922,0.00,2.58,0.00,0.000,4,0.000,0.054,3475,607,1743,0,0,0,0,0,0
$GC,7957,1.03,243.3,241.5,17065.9,186,7966,0.00,2.55,0.00,0.000,6,0.000,0.049,3474,2215,1743,0,0,0,0,0,0
$GC,8274,1.03,243.3,161.3,17065.9,197,8282,0.00,2.58,0.00,0.000,4,0.000,0.053,3487,606,1743,0,0,0,0,0,0
$GC,8312,1.03,243.3,151.1,17065.9,198,8320,0.15,2.55,0.00,0.000,6,0.203,0.047,3453,2208,1743,0,0,0,0,0,0
$GC,8623,1.03,243.3,84.9,17065.9,212,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2208,1743,0,0,0,0,0,0
$GC,8810,1.03,243.3,47.8,17065.9,230,8818,0.00,2.55,0.00,0.000,4,0.000,0.052,3459,608,1743,0,0,0,0,0,0
$GC,8827,1.03,243.3,44.7,17065.9,231,8836,0.00,2.53,0.00,0.000,6,0.000,0.047,3463,2198,1743,0,0,0,0,0,0
$GC,9023,1.03,243.3,10.4,17065.9,254,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2199,1743,0,0,0,0,0,0
$STATE,9065,end climb,SURFACE_DEPTH_REACHED
$STATE,9065,begin surface coast
$FINISH,1.7,1.025225
$STATE,9071,end surface coast,CONTROL_FINISHED_OK
$STATE,9071,begin surface
$SM_CCo,9085,32.50,0.598,1,0,1525,300.25
$SM_GC,2.08,0.00,0.00,32.50,0.000,0.000,0.598,164,2567,1525,-9.22,0.48,300.25
$IRIDIUM_FIX,3239.07,-11905.27,070111,000028
$TT8_MAMPS,0.136318
$HUMID,45.43
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.40
$XPDR_PINGS,45
$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,13.3/482055/417800
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.2/298663/274138
$PA_DATA1,29.2/7837685/5549750
$PA_DATA0,97.8/7836665/172576
$24V_AH,22.9,20.524
$10V_AH,10.1,15.773
$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,23.800,68.650,435.225,32.500,0.000,28.165,29.498,178.340,33.000,0.000,15.231,0.000,7375.299,511.114,1511.150,62.516,0.000,1160.339,0.000,687.797,0.000,139.164,0.000
$DEVICE_MAMPS,268.515,81.855,1245.420,598.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,179.196,0.000,0.000,0.000,0.000,0.000,9511.471,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.825,0.000,0.000,0.000
$MEM,317708
$DATA_FILE_SIZE,10137,263
$CAP_FILE_SIZE,82307,0
$CFSIZE,260165632,252891136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070111,053117,3248.830,-11901.247,13,99.0,33,13.3