version: 66.07
glider: 178
mission: 4
dive: 3
start: 6 7 110 16 1 47
data:
$ID,178
$MISSION,4
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,24.688
$TGT_DEFAULT_LON,-77.613998
$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,-5615.8828
$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,57
$R_STBD_OVSHOOT,36
$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
$GPS1,070610,155714,2440.836,-7735.640,9,1.8,9,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.3
$GPS2,070610,160108,2440.812,-7735.604,11,1.9,11,-7.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,H4E10
$TGT_LATLONG,2441.300,-7725.140
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.232,0.116
$KALMAN_X,180.5,152.7,148.2,762.9,249.8
$KALMAN_Y,-264.9,-198.7,-189.4,63.8,-364.0
$MHEAD_RNG_PITCHd_Wd,70.5,17630,-17.5,-10.000
$D_GRID,180
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.67,-146.0,0.0,0.0,0,129,0.00,0.00,-108.65,0.000,6,0.000,0.000,161,2227,3334,0,0,0,0,0,0
$GC,131,-0.67,-146.0,3.1,-6.7,19,152,11.75,2.40,0.00,0.000,4,0.252,0.041,2948,646,3336,0,0,0,0,0,0
$GC,348,-0.67,-146.0,38.4,-10.7,44,356,0.00,2.40,0.00,0.000,6,0.000,0.047,2938,2217,3336,0,0,0,0,0,0
$GC,540,-0.67,-146.0,60.3,-11.9,62,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2217,3337,0,0,0,0,0,0
$GC,727,-0.67,-146.0,79.4,-10.4,80,735,0.00,2.40,0.00,0.000,4,0.000,0.056,2925,3781,3337,0,0,0,0,0,0
$GC,813,-0.67,-146.0,89.4,-11.4,87,823,0.00,2.30,0.00,0.000,6,0.000,0.035,2926,2224,3338,0,0,0,0,0,0
$GC,1003,-0.67,-146.0,110.4,-10.8,100,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2223,3337,0,0,0,0,0,0
$GC,1306,-0.67,-146.0,141.8,-10.4,110,1314,0.00,2.40,0.00,0.000,4,0.000,0.057,2915,3775,3336,0,0,0,0,0,0
$GC,1414,-0.67,-146.0,153.7,-11.5,113,1422,0.12,2.30,0.00,0.000,6,0.171,0.036,2946,2218,3336,0,0,0,0,0,0
$STATE,1728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1728,begin apogee
$GC,1731,-0.14,0.0,181.1,8.1,124,1845,0.52,0.00,108.10,0.602,6,0.131,0.000,3115,2218,2736,0,0,0,0,0,0
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1847,0.67,146.0,183.0,0.0,127,1969,0.70,2.47,110.15,0.590,4,0.080,0.041,3384,661,2139,0,0,0,0,0,0
$GC,2031,0.67,146.0,169.3,10.7,132,2042,0.00,2.42,0.00,0.000,6,0.000,0.041,3381,2224,2134,0,0,0,0,0,0
$GC,2340,0.67,146.0,134.7,11.2,143,2348,0.00,2.40,0.00,0.000,4,0.000,0.054,3381,3784,2132,0,0,0,0,0,0
$GC,2400,0.67,146.0,127.2,13.1,145,2408,0.00,2.33,0.00,0.000,6,0.000,0.034,3393,2215,2133,0,0,0,0,0,0
$GC,2718,0.67,146.0,90.8,10.4,160,2726,0.00,2.33,0.00,0.000,4,0.000,0.041,3405,651,2130,0,0,0,0,0,0
$GC,2778,0.67,146.0,84.3,10.7,165,2787,0.12,2.40,0.00,0.000,6,0.165,0.040,3374,2236,2130,0,0,0,0,0,0
$GC,2971,0.68,157.2,65.3,9.5,183,2990,0.00,2.38,8.55,0.468,4,0.000,0.054,3373,3771,2097,0,0,0,0,0,0
$GC,3052,0.68,157.2,56.4,10.8,190,3063,0.00,2.30,0.00,0.000,6,0.000,0.034,3383,2215,2095,0,0,0,0,0,0
$GC,3244,0.68,159.1,37.5,9.9,209,3252,0.00,2.35,0.00,0.000,4,0.000,0.041,3394,649,2093,0,0,0,0,0,0
$GC,3282,0.69,161.7,33.6,9.9,212,3298,0.00,2.38,4.85,0.386,6,0.000,0.039,3395,2215,2077,0,0,0,0,0,0
$GC,3481,0.73,196.1,14.6,8.4,236,3516,0.00,0.00,26.92,0.494,6,0.000,0.000,3394,2215,1938,0,0,0,0,0,0
$GC,3578,0.76,220.2,5.7,8.9,253,3605,0.00,2.42,19.50,0.477,4,0.000,0.042,3410,647,1837,0,0,0,0,0,0
$STATE,3618,end climb,SURFACE_DEPTH_REACHED
$STATE,3618,begin surface coast
$FINISH,0.1,1.023409
$STATE,3640,end surface coast,CONTROL_FINISHED_OK
$STATE,3640,begin surface
$SM_CCo,3656,141.82,0.484,0,0,455,560.02
$SM_GC,0.89,0.00,0.00,141.82,0.000,0.000,0.484,161,2236,455,-9.37,0.48,560.02
$IRIDIUM_FIX,2432.32,-7736.76,011211,101006
$TT8_MAMPS,0.129577
$HUMID,1078059990
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.90
$XPDR_PINGS,0
$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,0/44
$PA_USBDRIVE,None
$PA_USBB,100.0/0/0
$PA_USBA,100.0/0/0
$PA_HOME,8.1/483886/444619
$PA_ROOT,80.3/126931/24988
$PA_LOG,4.2/297829/285313
$PA_DATA1,1.4/7836665/7723781
$PA_DATA0,2.6/7836665/7631170
$24V_AH,25.2,8.701
$10V_AH,10.6,6.154
$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,21.825,42.850,278.075,141.825,0.000,0.000,0.000,0.000,0.000,0.000,11.896,0.000,2439.514,512.318,858.335,29.017,31.399,935.868,0.000,536.530,0.000,0.547,0.000
$DEVICE_MAMPS,251.685,56.610,602.055,484.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,172.603,0.000,0.000,0.000,0.000,0.000,3764.370,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.984,0.000,0.000,0.000
$MEM,355184
$DATA_FILE_SIZE,6823,264
$CAP_FILE_SIZE,61093,0
$CFSIZE,260165632,254734336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070610,170543,2441.073,-7735.239,17,1.8,22,-7.1