version: 66.09
glider: 178
mission: 10
dive: 9
start: 1 5 111 15 57 47
data:
$ID,178
$MISSION,10
$DIVE,9
$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,-9720.8369
$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,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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,050111,155022,3245.354,-11855.341,12,99.0,31,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-77.1
$GPS2,050111,155704,3245.374,-11855.271,15,99.0,34,13.3
$SPEED_LIMITS,0.230,0.325
$TGT_NAME,DM4
$TGT_LATLONG,3251.800,-11907.783
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.324,-0.013
$KALMAN_X,12024.6,-141.8,-347.8,-25228.2,3464.2
$KALMAN_Y,-437.2,244.2,-393.9,9907.5,1028.8
$MHEAD_RNG_PITCHd_Wd,254.4,22816,-19.3,-13.306
$D_GRID,1217
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-81.82,0.000,2,0.000,0.000,163,2558,3040,0,0,0,0,0,0
$GC,101,-0.84,-194.6,3.0,-4.1,14,132,12.10,2.62,-10.07,0.000,4,0.264,0.060,2837,957,3544,0,0,0,0,0,0
$GC,279,-0.84,-194.6,40.4,-13.6,36,288,0.00,2.62,0.00,0.000,6,0.000,0.052,2828,2546,3546,0,0,0,0,0,0
$GC,471,-0.84,-194.6,75.4,-19.5,55,476,0.00,2.05,0.00,0.000,4,0.000,0.065,2818,3776,3546,0,0,0,0,0,0
$GC,518,-0.84,-194.6,85.2,-20.9,59,527,0.00,2.00,0.00,0.000,6,0.000,0.040,2818,2517,3545,0,0,0,0,0,0
$GC,728,-0.84,-194.6,124.5,-18.7,72,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2518,3550,0,0,0,0,0,0
$GC,1032,-0.84,-194.6,183.3,-19.4,82,1040,0.00,2.08,0.00,0.000,4,0.000,0.067,2809,3787,3548,0,0,0,0,0,0
$GC,1071,-0.84,-194.6,190.7,-19.6,83,1078,0.12,1.92,0.00,0.000,6,0.187,0.041,2837,2547,3548,0,0,0,0,0,0
$GC,1396,-0.84,-194.6,242.3,-14.7,94,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2546,3548,0,0,0,0,0,0
$GC,1700,-0.84,-194.6,282.8,-12.8,104,1708,0.00,2.03,0.00,0.000,4,0.000,0.068,2831,3787,3549,0,0,0,0,0,0
$GC,1738,-0.84,-194.6,288.2,-14.3,105,1745,0.00,1.92,0.00,0.000,6,0.000,0.042,2827,2539,3548,0,0,0,0,0,0
$GC,2067,-0.84,-194.6,332.2,-13.3,112,2076,0.00,2.42,0.00,0.000,4,0.000,0.047,2830,978,3548,0,0,0,0,0,0
$GC,2116,-0.84,-194.6,339.1,-13.0,112,2125,0.00,2.55,0.00,0.000,6,0.000,0.054,2815,2555,3548,0,0,0,0,0,0
$GC,2425,-0.84,-194.6,386.4,-15.7,117,2433,0.00,2.00,0.00,0.000,4,0.000,0.068,2809,3785,3548,0,0,0,0,0,0
$GC,2452,-0.84,-194.6,391.3,-17.8,117,2460,0.08,1.92,0.00,0.000,6,0.162,0.041,2839,2552,3548,0,0,0,0,0,0
$GC,2792,-0.84,-194.6,438.5,-13.6,123,2800,0.00,2.03,0.00,0.000,4,0.000,0.069,2833,3779,3548,0,0,0,0,0,0
$GC,2830,-0.84,-194.6,443.7,-12.8,123,2837,0.00,1.88,0.00,0.000,6,0.000,0.043,2833,2549,3548,0,0,0,0,0,0
$GC,3159,-0.84,-194.6,487.3,-13.3,129,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2548,3548,0,0,0,0,0,0
$GC,3461,-0.84,-194.6,527.5,-13.3,134,3468,0.00,2.05,0.00,0.000,4,0.000,0.070,2824,3786,3547,0,0,0,0,0,0
$GC,3483,-0.84,-194.6,530.4,-13.4,134,3491,0.00,1.92,0.00,0.000,6,0.000,0.043,2824,2538,3547,0,0,0,0,0,0
$GC,3829,-0.84,-194.6,578.1,-13.7,140,3838,0.00,2.45,0.00,0.000,4,0.000,0.047,2824,972,3546,0,0,0,0,0,0
$GC,3868,-0.84,-194.6,583.5,-13.0,140,3877,0.12,2.55,0.00,0.000,6,0.174,0.054,2842,2553,3546,0,0,0,0,0,0
$GC,4188,-0.84,-194.6,622.7,-12.5,146,4196,0.00,2.00,0.00,0.000,4,0.000,0.070,2835,3782,3546,0,0,0,0,0,0
$GC,4226,-0.84,-194.6,627.5,-12.8,146,4233,0.00,1.90,0.00,0.000,6,0.000,0.044,2835,2540,3545,0,0,0,0,0,0
$GC,4554,-0.84,-194.6,668.2,-12.3,152,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2539,3545,0,0,0,0,0,0
$GC,4857,-0.84,-194.6,705.3,-12.4,157,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2539,3544,0,0,0,0,0,0
$GC,5158,-0.84,-194.6,740.1,-11.6,162,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2539,3544,0,0,0,0,0,0
$GC,5461,-0.84,-194.6,774.6,-11.5,167,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2539,3543,0,0,0,0,0,0
$GC,5761,-0.84,-194.6,809.0,-11.3,172,5769,0.00,2.03,0.00,0.000,4,0.000,0.071,2826,3774,3543,0,0,0,0,0,0
$GC,5799,-0.84,-194.6,813.5,-12.8,172,5806,0.00,1.88,0.00,0.000,6,0.000,0.045,2826,2556,3543,0,0,0,0,0,0
$GC,6129,-0.84,-194.6,855.5,-13.1,178,6137,0.00,2.50,0.00,0.000,4,0.000,0.051,2826,972,3543,0,0,0,0,0,0
$GC,6151,-0.84,-194.6,858.8,-13.7,178,6159,0.00,2.55,0.00,0.000,6,0.000,0.057,2814,2552,3543,0,0,0,0,0,0
$GC,6486,-0.84,-194.6,906.2,-14.2,184,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2552,3541,0,0,0,0,0,0
$GC,6788,-0.84,-194.6,947.3,-13.5,189,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2552,3541,0,0,0,0,0,0
$GC,7089,-0.84,-194.6,986.7,-13.1,194,7097,0.00,2.03,0.00,0.000,4,0.000,0.073,2805,3778,3539,0,0,0,0,0,0
$GC,7110,-0.84,-194.6,989.8,-14.2,194,7119,0.15,1.90,0.00,0.000,6,0.171,0.045,2843,2536,3541,0,0,0,0,0,0
$STATE,7121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7121,begin apogee
$GC,7124,-0.16,0.0,991.2,14.1,194,7301,0.68,0.00,168.23,1.245,6,0.137,0.000,3063,2121,2749,0,0,0,0,0,0
$STATE,7302,end apogee,CONTROL_FINISHED_OK
$STATE,7302,begin climb
$GC,7303,0.84,194.6,998.6,0.0,197,7494,0.93,2.85,178.18,1.225,4,0.057,0.057,3398,560,1954,0,0,0,0,0,0
$GC,7539,0.84,194.6,971.2,19.5,201,7548,0.00,2.70,0.00,0.000,6,0.000,0.049,3399,2119,1950,0,0,0,0,0,0
$GC,7885,0.84,194.6,903.8,19.6,207,7894,0.00,2.70,0.00,0.000,4,0.000,0.067,3400,3713,1944,0,0,0,0,0,0
$GC,7913,0.84,194.6,897.9,21.9,207,7922,0.00,2.58,0.00,0.000,6,0.000,0.046,3412,2134,1942,0,0,0,0,0,0
$GC,8243,0.84,194.6,831.6,20.1,213,8252,0.00,2.62,0.00,0.000,4,0.000,0.060,3422,546,1941,0,0,0,0,0,0
$GC,8292,0.84,194.6,821.8,18.4,213,8301,0.15,2.60,0.00,0.000,6,0.194,0.050,3390,2139,1941,0,0,0,0,0,0
$GC,8599,0.84,194.6,767.3,17.6,218,8608,0.00,2.60,0.00,0.000,4,0.000,0.069,3391,3710,1940,0,0,0,0,0,0
$GC,8691,0.84,194.6,749.0,20.5,219,8700,0.00,2.55,0.00,0.000,6,0.000,0.047,3401,2119,1940,0,0,0,0,0,0
$GC,9021,0.84,194.6,690.2,17.8,225,9030,0.00,2.60,0.00,0.000,4,0.000,0.062,3411,535,1939,0,0,0,0,0,0
$GC,9070,0.84,194.6,681.3,18.2,225,9078,0.00,2.55,0.00,0.000,6,0.000,0.050,3412,2124,1939,0,0,0,0,0,0
$GC,9378,0.84,194.6,626.5,17.9,230,9386,0.00,2.62,0.00,0.000,4,0.000,0.067,3412,3713,1939,0,0,0,0,0,0
$GC,9427,0.84,194.6,616.7,20.0,230,9435,0.15,2.53,0.00,0.000,6,0.212,0.046,3391,2124,1938,0,0,0,0,0,0
$GC,9734,0.84,194.6,566.3,16.2,235,9743,0.00,2.60,0.00,0.000,4,0.000,0.060,3401,530,1939,0,0,0,0,0,0
$GC,9768,0.84,194.6,560.3,17.3,235,9776,0.00,2.58,0.00,0.000,6,0.000,0.049,3401,2131,1938,0,0,0,0,0,0
$GC,10092,0.84,194.6,503.0,17.7,241,10100,0.00,2.60,0.00,0.000,4,0.000,0.058,3413,545,1938,0,0,0,0,0,0
$GC,10114,0.84,194.6,499.0,18.4,241,10122,0.00,2.53,0.00,0.000,6,0.000,0.049,3413,2125,1938,0,0,0,0,0,0
$GC,10449,0.84,194.6,437.0,18.5,247,10457,0.00,2.60,0.00,0.000,4,0.000,0.066,3414,3710,1938,0,0,0,0,0,0
$GC,10482,0.84,194.6,430.2,21.2,247,10491,0.15,2.53,0.00,0.000,6,0.207,0.045,3391,2114,1938,0,0,0,0,0,0
$GC,10807,0.84,194.6,374.7,16.9,253,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2113,1935,0,0,0,0,0,0
$GC,11108,0.84,194.6,325.3,16.3,258,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2112,1937,0,0,0,0,0,0
$GC,11411,0.84,194.6,278.2,15.1,265,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2113,1938,0,0,0,0,0,0
$GC,11714,0.84,194.6,234.2,14.5,275,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2113,1938,0,0,0,0,0,0
$GC,12018,0.84,194.6,188.7,15.0,285,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2113,1940,0,0,0,0,0,0
$GC,12321,0.84,194.6,142.8,15.2,295,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2112,1937,0,0,0,0,0,0
$GC,12627,0.84,194.6,97.8,14.8,305,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2113,1938,0,0,0,0,0,0
$GC,12811,0.84,194.6,69.6,13.4,323,12815,0.00,2.55,0.00,0.000,4,0.000,0.057,3400,546,1940,0,0,0,0,0,0
$GC,12858,0.84,194.6,63.2,13.4,327,12867,0.00,2.53,0.00,0.000,6,0.000,0.047,3401,2120,1939,0,0,0,0,0,0
$GC,13050,0.88,223.3,38.2,12.0,346,13077,0.00,2.60,23.05,0.636,4,0.000,0.065,3401,3713,1835,0,0,0,0,0,0
$GC,13280,0.88,223.3,6.8,15.9,375,13287,0.00,2.53,0.00,0.000,6,0.000,0.044,3413,2130,1835,0,0,0,0,0,0
$STATE,13306,end climb,SURFACE_DEPTH_REACHED
$STATE,13306,begin surface coast
$FINISH,0.7,1.010543
$STATE,13327,end surface coast,CONTROL_FINISHED_OK
$STATE,13327,begin surface
$SM_CCo,13342,20.92,0.617,0,0,1729,250.21
$SM_GC,2.27,0.00,0.00,20.92,0.000,0.000,0.617,164,2552,1729,-9.23,0.06,250.21
$IRIDIUM_FIX,3236.51,-11852.58,050111,121207
$TT8_MAMPS,0.113848
$HUMID,45.11
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.60
$XPDR_PINGS,25
$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,12.9/482055/419839
$PA_ROOT,80.3/126931/24979
$PA_LOG,7.5/298663/276321
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,59.7/7836665/3155494
$24V_AH,22.9,18.641
$10V_AH,10.1,12.551
$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,23.525,114.250,369.450,20.925,0.000,29.796,30.198,216.399,28.000,0.000,36.799,0.000,11181.937,465.574,2030.107,84.687,33.338,1354.437,0.000,992.029,0.000,138.553,0.000
$DEVICE_MAMPS,263.925,72.675,1245.420,616.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,262.321,0.000,0.000,0.000,0.000,0.000,13883.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,84.030,0.000,0.000,0.000
$MEM,316796
$DATA_FILE_SIZE,13492,384
$CAP_FILE_SIZE,115792,0
$CFSIZE,260165632,253530112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,194137,3245.391,-11857.376,48,1.4,48,13.3