version: 66.07
glider: 178
mission: 4
dive: 31
start: 6 11 110 13 7 28
data:
$ID,178
$MISSION,4
$DIVE,31
$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,40
$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,-6125.041
$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,2440
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,32
$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
$GPS1,110610,130128,2441.769,-7736.395,20,2.4,39,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.8
$GPS2,110610,130646,2441.804,-7736.404,13,3.7,32,-7.1
$SPEED_LIMITS,0.119,0.260
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,-0.227
$KALMAN_X,-461.5,-135.1,-70.3,559.9,-63.3
$KALMAN_Y,847.6,-54.2,-92.1,540.1,140.0
$MHEAD_RNG_PITCHd_Wd,216.3,1180,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.67,-146.0,0.0,0.0,0,89,0.00,0.00,-71.07,0.000,2,0.000,0.000,162,2404,3186,0,0,0,0,0,0
$GC,90,-0.67,-146.0,3.2,-5.9,12,110,12.48,2.38,-2.80,0.000,4,0.268,0.056,2945,865,3335,0,0,0,0,0,0
$GC,167,-0.67,-146.0,24.2,-15.9,24,171,0.00,2.47,0.00,0.000,6,0.000,0.044,2935,2431,3337,0,0,0,0,0,0
$GC,364,-0.67,-146.0,54.2,-14.5,43,371,0.00,2.12,0.00,0.000,4,0.000,0.056,2925,3785,3338,0,0,0,0,0,0
$GC,401,-0.67,-146.0,59.7,-14.7,46,409,0.00,2.00,0.00,0.000,6,0.000,0.034,2925,2441,3338,0,0,0,0,0,0
$GC,599,-0.67,-146.0,85.6,-11.6,65,607,0.00,2.10,0.00,0.000,4,0.000,0.056,2916,3778,3339,0,0,0,0,0,0
$GC,648,-0.67,-146.0,91.9,-12.9,69,655,0.00,1.98,0.00,0.000,6,0.000,0.034,2916,2441,3339,0,0,0,0,0,0
$GC,842,-0.67,-146.0,116.9,-12.8,80,850,0.00,2.10,0.00,0.000,4,0.000,0.056,2905,3783,3339,0,0,0,0,0,0
$GC,874,-0.67,-146.0,121.2,-13.3,81,882,0.15,2.00,0.00,0.000,6,0.190,0.033,2941,2429,3340,0,0,0,0,0,0
$GC,1200,-0.67,-146.0,155.4,-10.2,92,1208,0.00,2.10,0.00,0.000,4,0.000,0.054,2933,3778,3341,0,0,0,0,0,0
$GC,1222,-0.67,-146.0,157.7,-10.4,92,1233,0.00,1.98,0.00,0.000,6,0.000,0.034,2933,2438,3341,0,0,0,0,0,0
$STATE,1469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1469,begin apogee
$GC,1472,-0.14,0.0,182.2,9.7,101,1588,0.57,0.00,109.57,0.619,6,0.150,0.000,3105,2438,2738,0,0,0,0,0,0
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1590,0.67,146.0,184.7,0.0,104,1708,0.75,0.00,111.50,0.608,6,0.088,0.000,3370,2438,2144,0,0,0,0,0,0
$GC,1989,0.67,146.0,145.8,11.2,118,1997,0.00,2.45,0.00,0.000,4,0.000,0.039,3382,830,2135,0,0,0,0,0,0
$GC,2129,0.67,146.0,130.5,11.3,122,2137,0.00,2.42,0.00,0.000,6,0.000,0.039,3382,2407,2133,0,0,0,0,0,0
$GC,2445,0.67,146.0,95.6,10.3,135,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2407,2132,0,0,0,0,0,0
$GC,2631,0.67,146.0,75.4,10.7,153,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2407,2132,0,0,0,0,0,0
$GC,2818,0.68,159.8,57.4,9.4,171,2837,0.00,2.12,10.80,0.490,4,0.000,0.050,3383,3778,2085,0,0,0,0,0,0
$GC,2862,0.68,159.8,53.0,10.2,174,2873,0.00,2.05,0.00,0.000,6,0.000,0.031,3393,2385,2085,0,0,0,0,0,0
$GC,3054,0.68,159.8,33.5,10.4,193,3059,0.00,2.38,0.00,0.000,4,0.000,0.039,3405,826,2082,0,0,0,0,0,0
$GC,3123,0.73,195.2,27.0,8.4,199,3156,0.00,2.42,28.20,0.509,6,0.000,0.038,3404,2399,1943,0,0,0,0,0,0
$GC,3348,0.74,209.7,3.1,9.3,235,3361,0.00,2.40,7.88,0.433,4,0.000,0.038,3416,831,1880,0,0,0,0,0,0
$STATE,3364,end climb,SURFACE_DEPTH_REACHED
$STATE,3364,begin surface coast
$FINISH,0.6,0.999529
$STATE,3385,end surface coast,CONTROL_FINISHED_OK
$STATE,3385,begin surface
$SM_CCo,3401,59.15,0.494,0,0,1309,350.04
$SM_GC,1.32,0.00,0.00,59.15,0.000,0.000,0.494,168,2447,1309,-9.35,0.20,350.04
$IRIDIUM_FIX,2429.95,-7736.76,051211,040424
$TT8_MAMPS,0.116844
$HUMID,1078021281
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.80
$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,37
$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,8.8/483886/441239
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.9/297829/280204
$PA_DATA1,54.0/7836665/3608577
$PA_DATA0,95.1/7836665/381165
$24V_AH,24.9,12.079
$10V_AH,10.5,13.968
$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,22.625,40.000,267.950,59.150,0.000,26.899,29.109,150.398,0.000,0.000,34.138,0.000,2334.168,416.277,979.418,46.989,33.336,755.406,0.000,444.622,0.000,0.544,0.000
$DEVICE_MAMPS,267.750,55.845,618.885,494.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,159.249,0.000,0.000,0.000,0.000,0.000,3922.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,77.779,0.000,0.000,0.000
$MEM,355028
$DATA_FILE_SIZE,6803,242
$CAP_FILE_SIZE,46980,0
$CFSIZE,260165632,252915712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,140558,2441.802,-7736.784,13,5.2,32,-7.1