version: 66.09
glider: 178
mission: 10
dive: 23
start: 1 7 111 8 40 48
data:
$ID,178
$MISSION,10
$DIVE,23
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,480
$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,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,501
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51840
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,-9780.6143
$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,3115
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2550
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,27
$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
$GPS1,070111,083455,3247.780,-11859.075,39,1.0,39,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-77.3
$GPS2,070111,084038,3247.760,-11859.081,14,1.1,14,13.3
$SPEED_LIMITS,0.159,0.305
$TGT_NAME,MDW
$TGT_LATLONG,3246.522,-11856.604
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,0.234
$KALMAN_X,27786.1,-970.9,-283.4,-56403.4,4895.0
$KALMAN_Y,-3083.2,520.9,-127.8,15626.3,-304.9
$MHEAD_RNG_PITCHd_Wd,107.4,4489,-20.7,-13.333
$D_GRID,1354
$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,-1.04,-170.3,0.0,0.0,0,83,0.00,0.00,-64.55,0.000,2,0.000,0.000,162,2558,3043,0,0,0,0,0,0
$GC,84,-1.04,-170.3,3.7,-7.0,11,111,12.05,2.05,-8.05,0.000,4,0.269,0.080,2767,3782,3446,0,0,0,0,0,0
$GC,275,-1.04,-170.3,59.7,-24.0,33,283,0.00,1.92,0.00,0.000,6,0.000,0.041,2767,2542,3448,0,0,0,0,0,0
$GC,472,-1.04,-170.3,107.9,-25.1,50,480,0.00,2.47,0.00,0.000,4,0.000,0.045,2766,977,3449,0,0,0,0,0,0
$GC,515,-1.04,-170.3,118.5,-24.2,51,523,0.00,2.55,0.00,0.000,6,0.000,0.051,2756,2557,3450,0,0,0,0,0,0
$GC,831,-1.04,-170.3,192.6,-23.0,62,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2558,3450,0,0,0,0,0,0
$GC,1133,-1.04,-170.3,258.5,-22.1,72,1142,0.00,2.47,0.00,0.000,4,0.000,0.045,2755,975,3451,0,0,0,0,0,0
$GC,1166,-1.04,-170.3,265.7,-21.9,73,1175,0.15,2.55,0.00,0.000,6,0.192,0.052,2778,2552,3451,0,0,0,0,0,0
$GC,1523,-1.04,-170.3,335.3,-19.4,82,1530,0.00,2.03,0.00,0.000,4,0.000,0.064,2772,3804,3448,0,0,0,0,0,0
$GC,1560,-1.04,-170.3,342.4,-19.0,82,1568,0.00,1.92,0.00,0.000,6,0.000,0.038,2771,2539,3453,0,0,0,0,0,0
$GC,1890,-1.04,-170.3,403.2,-18.3,88,1899,0.00,2.42,0.00,0.000,4,0.000,0.044,2771,981,3451,0,0,0,0,0,0
$GC,1930,-1.04,-170.3,410.1,-17.6,88,1938,0.00,2.53,0.00,0.000,6,0.000,0.050,2759,2549,3451,0,0,0,0,0,0
$GC,2255,-1.04,-170.3,471.0,-18.9,94,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2550,3451,0,0,0,0,0,0
$STATE,2314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2314,begin apogee
$GC,2316,-0.20,0.0,482.8,18.8,95,2464,1.00,0.00,138.65,0.908,6,0.174,0.000,3042,2194,2749,0,0,0,0,0,0
$STATE,2465,end apogee,CONTROL_FINISHED_OK
$STATE,2465,begin climb
$GC,2466,1.04,170.3,490.1,0.0,97,2622,1.17,2.70,144.20,0.890,4,0.076,0.049,3458,633,2052,0,0,0,0,0,0
$GC,2726,1.04,170.3,458.6,19.4,100,2734,0.00,2.62,0.00,0.000,6,0.000,0.045,3458,2207,2047,0,0,0,0,0,0
$GC,3045,1.04,170.3,392.0,21.1,106,3054,0.00,2.58,0.00,0.000,4,0.000,0.050,3470,626,2043,0,0,0,0,0,0
$GC,3079,1.04,170.3,385.0,20.5,106,3087,0.00,2.55,0.00,0.000,6,0.000,0.047,3470,2201,2043,0,0,0,0,0,0
$GC,3403,1.04,170.3,316.1,21.4,112,3411,0.00,2.55,0.00,0.000,4,0.000,0.050,3479,622,2041,0,0,0,0,0,0
$GC,3435,1.04,170.3,309.2,20.9,112,3445,0.15,2.53,0.00,0.000,6,0.204,0.046,3449,2200,2041,0,0,0,0,0,0
$GC,3762,1.04,170.3,244.8,19.4,122,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2200,2040,0,0,0,0,0,0
$GC,4066,1.04,170.3,189.2,18.1,132,4074,0.00,2.50,0.00,0.000,4,0.000,0.051,3458,626,2039,0,0,0,0,0,0
$GC,4131,1.04,170.3,177.4,18.5,134,4140,0.00,2.53,0.00,0.000,6,0.000,0.054,3458,2211,2039,0,0,0,0,0,0
$GC,4457,1.04,170.3,116.5,18.7,145,4465,0.00,2.53,0.00,0.000,4,0.000,0.050,3471,629,2037,0,0,0,0,0,0
$GC,4495,1.04,170.3,109.8,17.4,146,4503,0.00,2.50,0.00,0.000,6,0.000,0.047,3471,2207,2039,0,0,0,0,0,0
$GC,4811,1.04,170.3,54.4,17.5,172,4819,0.00,2.50,0.00,0.000,4,0.000,0.050,3482,624,2039,0,0,0,0,0,0
$GC,4957,1.04,173.3,35.6,13.2,185,4965,0.12,2.50,0.00,0.000,6,0.203,0.046,3453,2211,2038,0,0,0,0,0,0
$GC,5151,1.04,173.3,10.6,14.3,209,5160,0.00,2.53,0.00,0.000,4,0.000,0.050,3465,622,2038,0,0,0,0,0,0
$GC,5179,1.04,173.3,6.7,13.9,214,5187,0.00,2.53,0.00,0.000,6,0.000,0.045,3466,2196,2038,0,0,0,0,0,0
$STATE,5206,end climb,SURFACE_DEPTH_REACHED
$STATE,5206,begin surface coast
$FINISH,0.8,1.012575
$STATE,5227,end surface coast,CONTROL_FINISHED_OK
$STATE,5227,begin surface
$SM_CCo,5241,67.80,0.615,0,0,1524,300.00
$SM_GC,1.94,0.00,0.00,67.80,0.000,0.000,0.615,162,2562,1524,-9.23,0.31,300.00
$IRIDIUM_FIX,3236.51,-11907.51,070111,050511
$TT8_MAMPS,0.114597
$HUMID,43.85
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,18.50
$XPDR_PINGS,53
$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,13.4/482055/417489
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.3/298663/273795
$PA_DATA1,39.8/7837685/4721181
$PA_DATA0,97.8/7836665/172576
$24V_AH,23.6,20.761
$10V_AH,10.2,16.238
$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,23.625,59.650,282.850,67.800,0.000,31.721,30.859,179.306,22.000,0.000,15.986,0.000,3969.127,386.081,1242.539,53.418,0.000,883.368,0.000,581.698,0.000,56.707,0.000
$DEVICE_MAMPS,269.280,80.325,908.055,615.060,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,151.582,0.000,0.000,0.000,0.000,0.000,5714.720,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.874,0.000,0.000,0.000
$MEM,317728
$DATA_FILE_SIZE,6814,223
$CAP_FILE_SIZE,62983,0
$CFSIZE,260165632,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,101004,3247.194,-11858.011,9,4.2,28,13.3