version: 66.09
glider: 178
mission: 10
dive: 3
start: 1 4 111 18 12 49
data:
$ID,178
$MISSION,10
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,501
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51840
$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,32.6903
$TGT_DEFAULT_LON,-118.7761
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-9687.7666
$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,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2004
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2748
$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,-44.583923
$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,130
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$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
$GPS1,040111,180804,3240.935,-11845.928,11,2.4,30,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.6
$GPS2,040111,181208,3240.951,-11845.890,10,1.6,10,13.3
$SPEED_LIMITS,0.150,0.374
$TGT_NAME,DM1
$TGT_LATLONG,3241.417,-11846.566
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.369,0.058
$KALMAN_X,504.0,538.9,505.5,-639.5,1297.2
$KALMAN_Y,157.5,168.8,157.9,640.5,408.5
$MHEAD_RNG_PITCHd_Wd,265.7,1363,-19.1,-15.000
$D_GRID,1152
$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,16,-0.89,-243.3,0.0,0.0,0,96,0.00,0.00,-73.57,0.000,2,0.000,0.000,154,2324,3334,0,0,0,0,0,0
$GC,98,-0.89,-243.3,3.6,-8.9,13,127,12.07,2.58,-6.53,0.000,4,0.262,0.056,2863,706,3743,0,0,0,0,0,0
$GC,296,-0.89,-243.3,47.0,-12.4,33,306,0.00,2.55,0.00,0.000,6,0.000,0.052,2854,2283,3746,0,0,0,0,0,0
$GC,488,-0.89,-243.3,72.8,-14.2,52,496,0.00,2.45,0.00,0.000,4,0.000,0.068,2841,3780,3746,0,0,0,0,0,0
$GC,591,-0.89,-243.3,88.2,-14.7,61,599,0.00,2.33,0.00,0.000,6,0.000,0.042,2842,2268,3746,0,0,0,0,0,0
$GC,797,-0.89,-243.3,118.5,-14.5,73,805,0.00,2.50,0.00,0.000,4,0.000,0.069,2831,3786,3746,0,0,0,0,0,0
$GC,904,-0.89,-243.3,135.0,-15.2,76,913,0.12,2.30,0.00,0.000,6,0.168,0.041,2861,2298,3747,0,0,0,0,0,0
$GC,1220,-0.89,-243.3,175.7,-12.6,87,1228,0.00,2.42,0.00,0.000,4,0.000,0.069,2858,3776,3746,0,0,0,0,0,0
$GC,1370,-0.89,-243.3,194.8,-12.0,91,1381,0.00,2.28,0.00,0.000,6,0.000,0.041,2852,2306,3747,0,0,0,0,0,0
$GC,1680,-0.89,-243.3,233.7,-12.3,102,1688,0.00,2.45,0.00,0.000,4,0.000,0.069,2841,3780,3748,0,0,0,0,0,0
$GC,1798,-0.89,-243.3,249.2,-12.4,105,1809,0.00,2.30,0.00,0.000,6,0.000,0.042,2842,2294,3745,0,0,0,0,0,0
$GC,2107,-0.89,-243.3,288.1,-12.5,116,2116,0.00,2.45,0.00,0.000,4,0.000,0.070,2830,3784,3745,0,0,0,0,0,0
$GC,2247,-0.89,-243.3,306.7,-13.3,120,2255,0.12,2.33,0.00,0.000,6,0.162,0.047,2862,2283,3745,0,0,0,0,0,0
$GC,2594,-0.89,-243.3,343.2,-10.4,126,2602,0.00,2.45,0.00,0.000,4,0.000,0.070,2852,3776,3744,0,0,0,0,0,0
$GC,2707,-0.89,-243.3,356.1,-11.3,127,2715,0.00,2.25,0.00,0.000,6,0.000,0.042,2853,2307,3744,0,0,0,0,0,0
$GC,3021,-0.89,-243.3,392.1,-11.6,133,3029,0.00,2.45,0.00,0.000,4,0.000,0.070,2840,3780,3744,0,0,0,0,0,0
$GC,3129,-0.89,-243.3,405.7,-12.9,134,3137,0.00,2.28,0.00,0.000,6,0.000,0.043,2842,2301,3743,0,0,0,0,0,0
$GC,3448,-0.89,-243.3,447.0,-13.2,140,3457,0.00,2.42,0.00,0.000,4,0.000,0.070,2831,3776,3741,0,0,0,0,0,0
$STATE,3470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3470,begin apogee
$GC,3476,-0.16,0.0,450.3,13.4,140,3681,0.85,0.00,194.45,0.881,6,0.138,0.000,3095,2001,2748,0,0,0,0,0,0
$STATE,3682,end apogee,CONTROL_FINISHED_OK
$STATE,3682,begin climb
$GC,3683,0.89,243.3,460.4,0.0,143,3900,0.93,2.75,204.90,0.856,4,0.049,0.057,3456,437,1755,0,0,0,0,0,0
$GC,3963,0.89,243.3,421.6,23.1,148,3971,0.00,2.62,0.00,0.000,6,0.000,0.046,3455,2004,1750,0,0,0,0,0,0
$GC,4308,0.89,243.3,344.6,22.3,154,4317,0.00,2.62,0.00,0.000,4,0.000,0.067,3455,3598,1745,0,0,0,0,0,0
$GC,4438,0.89,243.3,313.0,23.8,156,4446,0.00,2.55,0.00,0.000,6,0.000,0.047,3467,2015,1743,0,0,0,0,0,0
$GC,4765,0.89,243.3,239.4,22.5,165,4774,0.00,2.60,0.00,0.000,4,0.000,0.059,3480,410,1743,0,0,0,0,0,0
$GC,4798,0.89,243.3,232.0,21.6,166,4807,0.17,2.58,0.00,0.000,6,0.190,0.047,3438,2014,1743,0,0,0,0,0,0
$GC,5124,0.89,243.3,169.4,19.0,177,5132,0.00,2.60,0.00,0.000,4,0.000,0.065,3438,3602,1741,0,0,0,0,0,0
$GC,5168,0.89,243.3,160.5,20.8,178,5176,0.00,2.53,0.00,0.000,6,0.000,0.047,3448,2002,1742,0,0,0,0,0,0
$GC,5483,0.89,243.3,99.4,19.3,189,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1998,1742,0,0,0,0,0,0
$GC,5669,0.89,243.3,64.9,18.9,207,5677,0.00,2.62,0.00,0.000,4,0.000,0.065,3447,3597,1742,0,0,0,0,0,0
$GC,5744,0.89,243.3,49.2,20.9,213,5756,0.00,2.55,0.00,0.000,6,0.000,0.047,3460,1987,1744,0,0,0,0,0,0
$GC,5938,0.89,243.3,15.6,16.9,234,5949,0.00,2.60,0.00,0.000,4,0.000,0.063,3460,3594,1741,0,0,0,0,0,0
$GC,5963,0.89,243.3,11.0,18.3,238,5974,0.15,2.50,0.00,0.000,6,0.207,0.045,3438,2009,1740,0,0,0,0,0,0
$STATE,6014,end climb,SURFACE_DEPTH_REACHED
$STATE,6014,begin surface coast
$FINISH,0.3,1.011657
$STATE,6035,end surface coast,CONTROL_FINISHED_OK
$STATE,6035,begin surface
$SM_CCo,6053,26.40,0.600,0,0,1523,300.00
$SM_GC,1.41,0.00,0.00,26.40,0.000,0.000,0.600,162,2301,1523,-9.34,-0.11,300.00
$IRIDIUM_FIX,3228.84,-11810.07,040111,181856
$TT8_MAMPS,0.113848
$HUMID,48.11
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,18.50
$XPDR_PINGS,42
$PA_PMVER,0.4
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010
$PA_BOOTCOUNT,88
$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,12.6/482055/421268
$PA_ROOT,80.3/126931/24979
$PA_LOG,6.9/298663/278051
$PA_DATA1,0.1/7837685/7826437
$PA_DATA0,5.9/7836665/7376275
$24V_AH,23.8,17.650
$10V_AH,10.1,10.223
$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,23.325,75.175,399.350,26.400,0.000,0.000,0.000,0.000,18.750,0.000,13.026,0.000,4378.992,450.260,1256.823,38.975,31.402,1102.999,0.000,806.801,0.000,53.196,0.000
$DEVICE_MAMPS,262.395,73.440,880.515,599.760,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,170.013,0.000,0.000,0.000,0.000,0.000,6162.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.573,0.000,0.000,0.000
$MEM,316552
$DATA_FILE_SIZE,6810,251
$CAP_FILE_SIZE,81998,0
$CFSIZE,260165632,253984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,195438,3241.430,-11846.413,12,1.1,12,13.3