version: 66.07
glider: 178
mission: 4
dive: 33
start: 6 11 110 14 53 30
data:
$ID,178
$MISSION,4
$DIVE,33
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,20
$T_MISSION,35
$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,-6127.8843
$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,52
$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
$GPS1,110610,144819,2441.766,-7736.993,9,1.1,9,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.4
$GPS2,110610,145249,2441.805,-7737.009,13,1.1,13,-7.1
$SPEED_LIMITS,0.179,0.293
$TGT_NAME,H4
$TGT_LATLONG,2441.300,-7736.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.016,-0.293
$KALMAN_X,-653.2,-100.3,-313.8,-47.3,44.5
$KALMAN_Y,1797.8,53.3,67.4,-685.1,146.4
$MHEAD_RNG_PITCHd_Wd,183.9,981,-24.7,-15.000
$D_GRID,90
$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,-0.87,-146.0,0.0,0.0,0,89,0.00,0.00,-70.80,0.000,2,0.000,0.000,166,2450,3189,0,0,0,0,0,0
$GC,90,-0.87,-146.0,3.4,-5.5,12,111,11.70,0.00,-2.83,0.000,6,0.257,0.000,2875,2451,3335,0,0,0,0,0,0
$GC,177,-0.87,-146.0,29.9,-23.2,24,185,0.00,2.42,0.00,0.000,4,0.000,0.040,2875,861,3336,0,0,0,0,0,0
$GC,199,-0.87,-146.0,34.8,-22.2,25,209,0.00,2.42,0.00,0.000,6,0.000,0.044,2866,2438,3336,0,0,0,0,0,0
$GC,391,-0.87,-146.0,72.2,-18.5,44,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2438,3337,0,0,0,0,0,0
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,495,-0.14,0.0,90.0,16.6,54,610,0.82,0.00,107.15,0.551,6,0.167,0.000,3106,2438,2737,0,0,0,0,0,0
$STATE,610,end apogee,CONTROL_FINISHED_OK
$STATE,610,begin climb
$GC,612,0.87,146.0,94.7,0.0,65,736,0.93,2.58,108.47,0.539,4,0.087,0.037,3442,831,2136,0,0,0,0,0,0
$GC,782,0.88,160.9,79.2,14.0,80,804,0.00,2.45,12.12,0.483,6,0.000,0.038,3442,2408,2081,0,0,0,0,0,0
$GC,985,0.91,180.9,51.1,13.6,100,1013,0.00,2.42,16.65,0.490,4,0.000,0.037,3454,824,1997,0,0,0,0,0,0
$GC,1048,0.92,188.7,42.3,14.5,105,1070,0.00,2.45,7.47,0.432,6,0.000,0.038,3455,2410,1966,0,0,0,0,0,0
$GC,1253,0.94,203.0,12.1,14.0,130,1274,0.00,2.40,12.38,0.461,4,0.000,0.037,3466,827,1907,0,0,0,0,0,0
$STATE,1330,end climb,SURFACE_DEPTH_REACHED
$STATE,1330,begin surface coast
$FINISH,0.9,1.014504
$STATE,1346,end surface coast,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$SM_CCo,1362,61.72,0.484,0,0,1309,350.04
$SM_GC,1.57,0.00,0.00,61.72,0.000,0.000,0.484,162,2440,1309,-9.37,-0.06,350.04
$IRIDIUM_FIX,2432.32,-7729.30,051211,080810
$TT8_MAMPS,0.116095
$HUMID,1077998055
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.00
$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,8.8/483886/441094
$PA_ROOT,80.3/126931/24988
$PA_LOG,5.9/297829/280140
$PA_DATA1,55.6/7836665/3478862
$PA_DATA0,95.1/7836665/381165
$24V_AH,25.1,12.203
$10V_AH,10.5,14.094
$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,22.225,19.675,264.250,61.725,0.000,24.276,29.815,140.128,0.000,0.000,14.269,0.000,644.277,373.219,647.432,32.878,33.325,607.025,0.000,257.837,0.000,0.545,0.000
$DEVICE_MAMPS,257.040,43.605,550.800,484.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,93.404,0.000,0.000,0.000,0.000,0.000,1755.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,74.341,0.000,0.000,0.000
$MEM,355076
$DATA_FILE_SIZE,3492,147
$CAP_FILE_SIZE,30397,0
$CFSIZE,260165632,252874752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110610,151744,2441.756,-7737.063,13,1.1,13,-7.1