version: 66.12
glider: 178
mission: 20
dive: 1
start: 3 2 115 0 35 15
data:
$ID,178
$MISSION,20
$DIVE,1
$N_DIVES,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,100
$D_NO_BLEED,200
$D_BOOST,3
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,607.1748
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,020315,003117,1311.8667,14435.7334,7,1.3,29,1.5,0.6,294.9,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.9
$GPS2,020315,003429,1311.8654,14435.6895,12,1.2,28,1.5,0.3,295.0,8,8.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,83.8,19340,-17.6,-10.000,-21.24,2209
$D_GRID,1452
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,90,end surface,CONTROL_FINISHED_OK
$STATE,90,begin dive
$GC,92,-0.75,-146.0,147,2172,474,459,0.0,0.0,0,210,0.00,0.00,-114.93,0.000,16386,0.000,0.000,139,2174,3253,3300,3207,0,0,0,0,0,0,27.41,28.83,27.48
$GC,212,-0.75,-146.0,139,2175,3301,3208,3.4,-7.7,19,234,10.20,2.03,-5.40,0.000,18692,0.243,0.054,2610,3523,3537,3620,3454,0,0,0,0,0,0,26.60,26.48,26.95
$GC,310,-0.67,-146.0,2611,3523,3623,3454,29.7,-18.7,37,316,0.17,2.03,0.00,0.000,3078,0.155,0.026,2659,2115,3538,3623,3454,0,0,0,0,0,0,26.89,27.22,27.05
$STATE,410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,410,begin apogee
$GC,414,-0.14,0.0,2660,2229,3623,3455,45.6,-14.9,57,528,0.47,0.00,107.78,0.582,10246,0.128,0.000,2814,2229,2941,2990,2892,0,0,0,0,0,0,26.91,26.14,25.60
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,533,0.75,146.0,2815,2229,2989,2892,51.4,0.0,74,654,0.82,2.20,112.85,0.568,11012,0.070,0.041,3118,3642,2346,2392,2300,0,0,0,0,0,0,26.36,25.88,25.53
$GC,879,0.82,290.3,3119,3643,2387,2297,51.2,3.3,109,996,0.00,2.05,108.20,0.562,9222,0.000,0.025,3129,2240,1758,1812,1704,0,0,0,0,0,0,27.05,27.03,25.62
$GC,1300,0.82,290.3,3129,2237,1808,1697,4.7,13.0,186,1306,0.00,2.12,0.00,0.000,260,0.000,0.042,3129,3644,1752,1808,1696,0,0,0,0,0,0,27.30,27.03,27.36
$STATE,1309,end climb,SURFACE_DEPTH_REACHED
$STATE,1309,begin surface coast
$FINISH,0.4,1.012005
$STATE,1330,end surface coast,CONTROL_FINISHED_OK
$STATE,1330,begin surface
$SM_CCo,1346,121.35,0.053,0,0,464,607.36
$SM_GC,0.99,7.53,2.20,121.35,0.034,0.027,0.053,152,2154,464,-8.42,2.21,607.36,0,0,0,0,0,0,27.05,27.13,26.99
$IRIDIUM_FIX,1307.59,14435.98,020315,002818
$TT8_MAMPS,0.155043,0.155043
$HUMID,40.62
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,26.00
$XPDR_PINGS,0
$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1649996
$PA_UPTIME,1436.15 677.30
$PA_BOOTCOUNT,250
$PA_DFQS,0/0
$PA_LOG,0.06/0.126/1.969/1.743
$PA_DATA1,0.00/0.058/117.199/111.187
$PA_DATA0,0.02/1.874/117.199/109.371
$PA_ROOT,0.86/0.104/0.121/0.011
$PA_HOME,0.03/0.045/1.764/1.629
$PA_DISK_BANK,0
$24V_AH,25.53,0.691
$10V_AH,10.56,1.392
$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,19.200,12.775,328.825,121.350,0.000,0.000,0.000,0.000,0.000,0.000,30.951,0.000,441.004,462.882,609.324,54.532,0.000,737.703,0.000,339.434,0.000,0.559,0.000
$DEVICE_MAMPS,242.505,75.735,582.165,52.785,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,120.569,0.000,0.000,0.000,0.000,0.000,1390.010,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,137.772,0.000,0.000,0.000
$MEM,230620
$DATA_FILE_SIZE,6872,192
$CAP_FILE_SIZE,89352,0
$CFSIZE,260034560,256905216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7302.59,0x236db2,7,5
$CURRENT,0.390,264.19,1
$GPS,020315,010029,1311.881,14435.488,10,1.1,26,1.5,1.3,274.3,8,7.8