version: 66.07
glider: 178
mission: 4
dive: 19
start: 6 9 110 19 9 10
data:
$ID,178
$MISSION,4
$DIVE,19
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,120
$T_MISSION,150
$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,275
$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,350
$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,-6003.4028
$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,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,2440
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,31
$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,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,090610,185527,2442.437,-7736.075,177,2.7,196,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.6
$GPS2,090610,190828,2442.427,-7735.998,11,3.0,30,-7.1
$SPEED_LIMITS,0.318,0.416
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.207,-0.294
$KALMAN_X,-1035.9,-184.3,63.4,1732.8,85.3
$KALMAN_Y,-1279.4,-43.7,-60.5,3773.8,34.7
$MHEAD_RNG_PITCHd_Wd,222.2,2517,-24.8,-18.333
$D_GRID,660
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.93,-198.2,0.0,0.0,0,122,0.00,0.00,-104.57,0.000,2,0.000,0.000,163,2446,3349,0,0,0,0,0,0
$GC,124,-1.02,-267.6,4.1,-10.4,18,149,12.10,2.15,-7.97,0.000,4,0.269,0.071,2814,3786,3832,0,0,0,0,0,0
$GC,179,-1.02,-267.6,29.6,-38.7,26,184,0.00,2.05,0.00,0.000,6,0.000,0.034,2820,2443,3834,0,0,0,0,0,0
$GC,376,-1.02,-267.6,89.8,-29.2,45,381,0.00,2.12,0.00,0.000,4,0.000,0.055,2812,3769,3834,0,0,0,0,0,0
$GC,418,-1.02,-267.6,102.8,-31.5,49,423,0.00,2.05,0.00,0.000,6,0.000,0.034,2816,2428,3833,0,0,0,0,0,0
$GC,744,-1.02,-267.6,193.6,-27.5,60,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2425,3835,0,0,0,0,0,0
$GC,1046,-1.02,-267.6,265.4,-22.9,70,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2425,3834,0,0,0,0,0,0
$GC,1350,-1.02,-267.6,332.1,-21.8,78,1358,0.00,2.12,0.00,0.000,4,0.000,0.056,2808,3783,3835,0,0,0,0,0,0
$GC,1372,-1.02,-267.6,337.1,-21.5,78,1380,0.00,2.00,0.00,0.000,6,0.000,0.035,2808,2439,3835,0,0,0,0,0,0
$GC,1712,-1.02,-267.6,410.9,-21.8,84,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2438,3834,0,0,0,0,0,0
$GC,2014,-1.02,-267.6,475.8,-21.4,89,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2438,3832,0,0,0,0,0,0
$GC,2316,-1.02,-267.6,537.4,-20.2,94,2324,0.00,2.10,0.00,0.000,4,0.000,0.059,2798,3776,3830,0,0,0,0,0,0
$GC,2359,-1.02,-267.6,546.6,-21.3,94,2367,0.12,2.00,0.00,0.000,6,0.210,0.037,2828,2435,3829,0,0,0,0,0,0
$GC,2673,-1.02,-267.6,601.4,-17.2,100,2681,0.00,2.12,0.00,0.000,4,0.000,0.059,2820,3784,3828,0,0,0,0,0,0
$GC,2695,-1.02,-267.6,605.3,-17.1,100,2703,0.00,2.00,0.00,0.000,6,0.000,0.037,2820,2440,3830,0,0,0,0,0,0
$STATE,3034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3034,begin apogee
$GC,3037,-0.14,0.0,662.3,16.6,106,3255,1.00,0.00,210.52,0.952,6,0.171,0.000,3112,2439,2738,0,0,0,0,0,0
$STATE,3256,end apogee,CONTROL_FINISHED_OK
$STATE,3256,begin climb
$GC,3257,1.02,267.6,670.9,0.0,109,3489,1.02,2.30,218.02,0.933,4,0.060,0.057,3487,3777,1646,0,0,0,0,0,0
$GC,3680,1.02,267.6,580.1,27.8,115,3688,0.00,2.12,0.00,0.000,6,0.000,0.034,3499,2392,1639,0,0,0,0,0,0
$GC,3993,1.02,267.6,497.1,26.3,121,4002,0.00,2.40,0.00,0.000,4,0.000,0.044,3512,824,1635,0,0,0,0,0,0
$GC,4069,1.02,267.6,477.7,24.4,122,4077,0.00,2.47,0.00,0.000,6,0.000,0.047,3511,2397,1633,0,0,0,0,0,0
$GC,4415,1.02,267.6,383.1,27.4,128,4424,0.00,2.45,0.00,0.000,4,0.000,0.044,3523,815,1631,0,0,0,0,0,0
$GC,4491,1.02,267.6,362.8,25.1,129,4499,0.12,2.47,0.00,0.000,6,0.200,0.046,3494,2406,1630,0,0,0,0,0,0
$GC,4807,1.02,267.6,279.4,26.5,135,4816,0.00,2.45,0.00,0.000,4,0.000,0.045,3504,814,1632,0,0,0,0,0,0
$GC,4856,1.02,267.6,266.7,24.5,136,4864,0.00,2.47,0.00,0.000,6,0.000,0.045,3504,2405,1629,0,0,0,0,0,0
$GC,5166,1.02,267.6,185.3,25.6,146,5174,0.00,2.42,0.00,0.000,4,0.000,0.045,3516,825,1628,0,0,0,0,0,0
$GC,5274,1.02,267.6,158.6,23.5,149,5283,0.00,2.42,0.00,0.000,6,0.000,0.045,3516,2401,1629,0,0,0,0,0,0
$GC,5591,1.02,267.6,78.7,24.9,164,5596,0.00,2.45,0.00,0.000,4,0.000,0.042,3528,818,1627,0,0,0,0,0,0
$GC,5634,1.02,267.6,68.0,24.8,168,5638,0.12,2.47,0.00,0.000,6,0.174,0.044,3491,2404,1626,0,0,0,0,0,0
$GC,5830,1.02,267.6,26.9,20.5,187,5835,0.00,2.17,0.00,0.000,4,0.000,0.055,3491,3783,1626,0,0,0,0,0,0
$GC,5883,1.02,267.6,15.2,22.6,194,5891,0.00,2.10,0.00,0.000,6,0.000,0.033,3496,2391,1629,0,0,0,0,0,0
$STATE,5952,end climb,SURFACE_DEPTH_REACHED
$STATE,5952,begin surface coast
$FINISH,0.2,1.023387
$STATE,5963,end surface coast,CONTROL_FINISHED_OK
$STATE,5963,begin surface
$SM_CCo,5977,36.60,0.521,0,0,1309,350.29
$SM_GC,1.04,0.00,0.00,36.60,0.000,0.000,0.521,169,2442,1309,-9.35,0.06,350.29
$IRIDIUM_FIX,2432.32,-7736.76,031211,090946
$TT8_MAMPS,0.111601
$HUMID,1078182571
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,23.50
$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,34
$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,8.5/483886/442529
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.1/297829/282549
$PA_DATA1,18.8/7836665/6360462
$PA_DATA0,63.4/7836665/2871367
$24V_AH,24.4,10.949
$10V_AH,10.5,10.714
$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,23.500,54.000,428.550,36.600,0.000,27.974,29.984,466.553,0.000,0.000,32.205,0.000,4578.031,546.000,1586.357,78.253,33.367,1019.811,0.000,576.274,0.000,0.543,0.000
$DEVICE_MAMPS,269.280,117.810,952.425,520.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,137.979,0.000,0.000,0.000,0.000,0.000,7186.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,79.819,0.000,0.000,0.000
$MEM,355008
$DATA_FILE_SIZE,6821,209
$CAP_FILE_SIZE,71767,0
$CFSIZE,260165632,253677568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090610,205031,2441.637,-7736.920,50,1.5,50,-7.1