version: 66.07
glider: 178
mission: 4
dive: 1
start: 6 7 110 14 28 39
data:
$ID,178
$MISSION,4
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51773
$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,24.666
$TGT_DEFAULT_LON,77.666
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-5545.2002
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$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,-49.540699
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$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
$GPS1,070610,142514,2441.146,-7736.365,13,1.7,13,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.2
$GPS2,070610,142802,2441.134,-7736.343,14,1.6,14,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4E10
$TGT_LATLONG,2441.300,7725.140
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.260,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,97.1,15651736,-17.5,-10.000
$D_GRID,45
$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,-0.67,-146.0,0.0,0.0,0,133,0.00,0.00,-112.53,0.000,6,0.000,0.000,166,2231,3334,0,0,0,0,0,0
$GC,135,-0.67,-146.0,2.3,-2.3,20,150,11.35,2.42,0.00,0.000,4,0.238,0.039,2943,622,3335,0,0,0,0,0,0
$GC,154,-0.67,-146.0,7.9,-20.4,23,162,0.00,2.45,0.00,0.000,6,0.000,0.041,2933,2211,3336,0,0,0,0,0,0
$GC,224,-0.67,-146.0,18.4,-13.4,36,233,0.00,2.40,0.00,0.000,4,0.000,0.039,2932,633,3335,0,0,0,0,0,0
$STATE,454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,455,begin apogee
$GC,459,-0.14,0.0,45.0,11.2,59,568,0.60,0.00,105.20,0.502,6,0.143,0.000,3107,2222,2736,0,0,0,0,0,0
$STATE,569,end apogee,CONTROL_FINISHED_OK
$STATE,569,begin climb
$GC,570,0.67,146.0,48.4,0.0,70,690,0.75,2.53,107.53,0.491,4,0.092,0.053,3372,3772,2140,0,0,0,0,0,0
$GC,699,0.68,154.1,40.6,9.6,83,712,0.00,2.40,7.57,0.406,6,0.000,0.033,3384,2201,2107,0,0,0,0,0,0
$GC,895,0.70,175.2,21.0,9.0,102,921,0.00,2.38,16.62,0.455,4,0.000,0.041,3396,652,2019,0,0,0,0,0,0
$GC,968,0.71,182.8,14.6,9.7,113,982,0.00,2.42,6.78,0.392,6,0.000,0.039,3396,2213,1991,0,0,0,0,0,0
$GC,1045,0.71,182.8,7.2,10.0,127,1052,0.00,2.42,0.00,0.000,4,0.000,0.052,3396,3781,1993,0,0,0,0,0,0
$GC,1077,0.72,189.0,3.7,9.7,133,1086,0.00,2.35,4.20,0.326,6,0.000,0.032,3412,2209,1965,0,0,0,0,0,0
$STATE,1093,end climb,SURFACE_DEPTH_REACHED
$STATE,1093,begin surface coast
$FINISH,0.5,1.023720
$STATE,1110,end surface coast,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$SM_CCo,1123,150.90,0.462,0,0,453,560.02
$SM_GC,1.02,0.00,0.00,150.90,0.000,0.000,0.462,160,2208,453,-9.38,-0.34,560.02
$IRIDIUM_FIX,2429.95,-7734.44,011211,080823
$TT8_MAMPS,0.116844
$HUMID,1077912885
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,26.00
$XPDR_PINGS,3
$PA_PMVER,0.4
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010
$PA_BOOTCOUNT,31
$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,8.1/483886/444864
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.2/297829/285424
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,0.9/7836665/7769324
$24V_AH,25.3,8.525
$10V_AH,10.6,5.924
$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,21.300,24.250,247.900,150.900,0.000,0.000,0.000,0.000,0.750,0.000,14.915,0.000,418.836,495.104,389.056,16.465,29.222,690.724,0.000,243.742,0.000,0.550,0.000
$DEVICE_MAMPS,237.915,52.785,501.840,462.060,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,87.120,0.000,0.000,0.000,0.000,0.000,1180.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.307,0.000,0.000,0.000
$MEM,355156
$DATA_FILE_SIZE,3516,139
$CAP_FILE_SIZE,42286,0
$CFSIZE,260165632,254832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,145020,2441.072,-7736.184,10,1.6,10,-7.1