version: 66.09
glider: 178
mission: 10
dive: 24
start: 1 7 111 10 15 24
data:
$ID,178
$MISSION,10
$DIVE,24
$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,-9781.8711
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,070111,101004,3247.194,-11858.011,9,4.2,28,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.2
$GPS2,070111,101513,3247.202,-11858.031,12,1.1,17,13.3
$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,106.2,2555,-20.7,-13.333
$D_GRID,1337
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.04,-170.3,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,162,2563,3023,0,0,0,0,0,0
$GC,83,-1.04,-170.3,3.2,-4.5,11,111,12.07,2.03,-8.73,0.000,4,0.270,0.079,2768,3774,3445,0,0,0,0,0,0
$GC,226,-1.04,-170.3,48.1,-29.8,28,237,0.00,1.90,0.00,0.000,6,0.000,0.039,2768,2544,3448,0,0,0,0,0,0
$GC,418,-1.04,-170.3,93.7,-24.6,47,426,0.00,2.45,0.00,0.000,4,0.000,0.044,2768,978,3449,0,0,0,0,0,0
$GC,461,-1.04,-170.3,104.1,-23.6,49,469,0.00,2.55,0.00,0.000,6,0.000,0.050,2759,2546,3449,0,0,0,0,0,0
$GC,777,-1.04,-170.3,172.7,-21.8,60,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2547,3450,0,0,0,0,0,0
$GC,1080,-1.04,-170.3,239.5,-22.1,70,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2547,3449,0,0,0,0,0,0
$GC,1414,-1.04,-170.3,312.8,-21.5,80,1423,0.00,2.47,0.00,0.000,4,0.000,0.044,2759,969,3450,0,0,0,0,0,0
$GC,1458,-1.04,-170.3,322.0,-19.6,80,1466,0.12,2.53,0.00,0.000,6,0.198,0.051,2774,2552,3450,0,0,0,0,0,0
$GC,1772,-1.04,-170.3,383.5,-19.6,86,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2552,3450,0,0,0,0,0,0
$GC,2074,-1.04,-170.3,438.4,-17.7,91,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2552,3450,0,0,0,0,0,0
$STATE,2375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2375,begin apogee
$GC,2377,-0.20,0.0,489.4,16.7,96,2525,0.93,0.00,138.18,0.910,6,0.168,0.000,3043,2195,2749,0,0,0,0,0,0
$STATE,2525,end apogee,CONTROL_FINISHED_OK
$STATE,2525,begin climb
$GC,2526,1.04,170.3,494.9,0.0,98,2682,1.17,2.67,144.10,0.888,4,0.074,0.049,3461,627,2054,0,0,0,0,0,0
$GC,2755,1.04,170.3,467.3,19.3,101,2763,0.00,2.62,0.00,0.000,6,0.000,0.046,3460,2199,2048,0,0,0,0,0,0
$GC,3106,1.04,170.3,397.7,19.6,107,3114,0.00,2.55,0.00,0.000,4,0.000,0.050,3473,624,2044,0,0,0,0,0,0
$GC,3138,1.04,170.3,391.3,19.1,107,3146,0.00,2.58,0.00,0.000,6,0.000,0.047,3473,2213,2043,0,0,0,0,0,0
$GC,3462,1.04,170.3,324.9,21.0,113,3470,0.00,2.53,0.00,0.000,4,0.000,0.050,3485,632,2042,0,0,0,0,0,0
$GC,3500,1.04,170.3,317.1,20.1,113,3509,0.15,2.50,0.00,0.000,6,0.205,0.047,3452,2194,2041,0,0,0,0,0,0
$GC,3820,1.04,170.3,255.6,18.9,122,3828,0.00,2.50,0.00,0.000,4,0.000,0.050,3461,630,2043,0,0,0,0,0,0
$GC,3853,1.04,170.3,249.4,19.2,123,3861,0.00,2.53,0.00,0.000,6,0.000,0.047,3462,2201,2040,0,0,0,0,0,0
$GC,4179,1.04,170.3,184.9,20.1,134,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2201,2040,0,0,0,0,0,0
$GC,4482,1.04,170.3,124.4,19.4,144,4491,0.00,2.50,0.00,0.000,4,0.000,0.050,3473,631,2039,0,0,0,0,0,0
$GC,4499,1.04,170.3,121.1,19.0,144,4507,0.00,2.50,0.00,0.000,6,0.000,0.047,3473,2214,2039,0,0,0,0,0,0
$GC,4812,1.04,170.3,66.8,14.4,166,4820,0.00,2.53,0.00,0.000,4,0.000,0.050,3485,630,2038,0,0,0,0,0,0
$GC,5058,1.04,170.3,32.1,14.5,188,5070,0.15,2.47,0.00,0.000,6,0.200,0.047,3451,2198,2038,0,0,0,0,0,0
$GC,5253,1.08,204.6,7.3,11.5,216,5285,0.00,2.53,27.50,0.607,4,0.000,0.050,3460,631,1912,0,0,0,0,0,0
$STATE,5288,end climb,SURFACE_DEPTH_REACHED
$STATE,5288,begin surface coast
$FINISH,0.8,1.012480
$STATE,5309,end surface coast,CONTROL_FINISHED_OK
$STATE,5309,begin surface
$SM_CCo,5326,49.28,0.606,0,0,1524,300.00
$SM_GC,1.54,0.00,0.00,49.28,0.000,0.000,0.606,162,2551,1524,-9.23,0.03,300.00
$IRIDIUM_FIX,3236.51,-11901.78,070111,080832
$TT8_MAMPS,0.114597
$HUMID,44.36
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.60
$XPDR_PINGS,43
$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,13.4/482055/417367
$PA_ROOT,80.3/126931/24979
$PA_LOG,8.4/298663/273683
$PA_DATA1,43.2/7837685/4448922
$PA_DATA0,97.8/7836665/172576
$24V_AH,23.6,20.861
$10V_AH,10.1,16.399
$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,23.575,50.600,309.775,49.275,0.000,22.841,34.298,159.337,19.500,0.000,18.120,0.000,4095.536,384.588,1161.047,46.508,0.000,850.898,0.000,549.160,0.000,56.326,0.000
$DEVICE_MAMPS,270.045,78.795,909.585,605.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,153.131,0.000,0.000,0.000,0.000,0.000,5752.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,84.289,0.000,0.000,0.000
$MEM,317704
$DATA_FILE_SIZE,6815,226
$CAP_FILE_SIZE,58975,0
$CFSIZE,260165632,252764160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,114531,3246.581,-11856.939,10,1.7,15,13.3