version: 66.07
glider: 178
mission: 3
dive: 6
start: 5 14 110 0 20 25
data:
$ID,178
$MISSION,3
$DIVE,6
$D_SURF,7
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,50
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51315
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$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,-5376.1919
$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,3140
$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,36
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3438
$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,-48.395416
$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
$GPS1,140510,001532,4807.088,-12222.995,14,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-78.0
$GPS2,140510,001944,4807.086,-12223.005,14,1.1,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.211
$KALMAN_X,291.8,248.2,152.0,-1099.7,18.6
$KALMAN_Y,-153.2,-210.7,-177.4,1079.2,65.5
$MHEAD_RNG_PITCHd_Wd,135.8,2364,-19.7,-10.000
$D_GRID,105
$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,-0.69,-117.3,0.0,0.0,0,111,0.00,0.00,-92.72,0.000,2,0.000,0.000,168,2213,3374,0,0,0,0,0,0
$GC,113,-0.69,-117.3,3.2,-9.4,16,146,14.48,2.53,-14.12,0.000,4,0.315,0.067,2913,641,3919,0,0,0,0,0,0
$GC,295,-0.69,-117.3,17.1,-7.7,49,302,0.00,2.58,0.00,0.000,6,0.000,0.057,2903,2212,3921,0,0,0,0,0,0
$GC,364,-0.69,-117.3,22.7,-8.6,59,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2213,3921,0,0,0,0,0,0
$GC,550,-0.69,-117.3,41.2,-10.6,77,555,0.00,2.55,0.00,0.000,4,0.000,0.066,2892,3777,3921,0,0,0,0,0,0
$GC,587,-0.69,-117.3,45.9,-12.6,80,596,0.00,2.42,0.00,0.000,6,0.000,0.042,2891,2224,3921,0,0,0,0,0,0
$GC,778,-0.69,-117.3,69.3,-12.6,99,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2222,3921,0,0,0,0,0,0
$STATE,1057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1057,begin apogee
$GC,1060,-0.14,0.0,105.1,12.3,126,1152,0.75,0.00,88.60,0.639,6,0.214,0.000,3087,2222,3438,0,0,0,0,0,0
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1154,0.69,117.3,107.8,0.0,135,1255,0.85,2.62,88.97,0.620,4,0.133,0.053,3364,636,2957,0,0,0,0,0,0
$GC,1286,0.69,117.3,94.6,13.2,147,1290,0.00,2.65,0.00,0.000,6,0.000,0.053,3361,2218,2957,0,0,0,0,0,0
$GC,1606,0.69,117.3,46.7,14.8,178,1611,0.00,2.55,0.00,0.000,4,0.000,0.064,3364,3775,2959,0,0,0,0,0,0
$GC,1702,0.69,117.3,30.3,17.0,187,1707,0.00,2.42,0.00,0.000,6,0.000,0.041,3375,2227,2955,0,0,0,0,0,0
$STATE,1860,end climb,SURFACE_DEPTH_REACHED
$STATE,1860,begin surface coast
$FINISH,2.8,1.019482
$STATE,1918,end surface coast,CONTROL_FINISHED_OK
$STATE,1918,begin surface
$SM_CCo,1932,216.80,0.565,0,0,1094,575.23
$SM_GC,0.78,0.00,0.00,216.80,0.000,0.000,0.565,167,2224,1094,-9.28,0.11,575.23
$IRIDIUM_FIX,4748.51,-12229.01,061111,181859
$TT8_MAMPS,0.113848
$HUMID,1078090958
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.60
$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,20
$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,8.2/483886/444065
$PA_ROOT,80.3/126931/24990
$PA_LOG,4.0/297829/285946
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,6.9/7836665/7294265
$24V_AH,24.6,6.589
$10V_AH,10.2,5.126
$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,25.500,20.325,177.575,216.800,0.000,29.810,29.474,120.358,0.000,0.000,15.017,0.000,1125.932,481.359,764.329,32.946,33.306,723.707,0.000,362.550,0.000,0.538,0.000
$DEVICE_MAMPS,315.180,67.320,638.775,564.570,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,147.991,0.000,0.000,0.000,0.000,0.000,2471.290,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.634,0.000,0.000,0.000
$MEM,323668
$DATA_FILE_SIZE,6823,221
$CAP_FILE_SIZE,34560,0
$CFSIZE,260165632,254636032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,005644,4806.969,-12222.835,13,1.1,13,18.3