version: 66.07
glider: 178
mission: 3
dive: 1
start: 5 13 110 20 25 13
data:
$ID,178
$MISSION,3
$DIVE,1
$D_SURF,7
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,500
$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,-5223.6201
$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,3160
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,130510,202014,4806.829,-12222.742,10,1.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-80.3
$GPS2,130510,202432,4806.794,-12222.676,13,1.0,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.041,0.231
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,331.5,2270,-19.7,-10.000
$D_GRID,107
$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,-0.69,-117.3,0.0,0.0,0,124,0.00,0.00,-104.57,0.000,2,0.000,0.000,172,2213,3144,0,0,0,0,0,0
$GC,125,-0.69,-117.3,3.6,-7.7,18,164,12.57,2.50,-20.77,0.000,4,0.275,0.073,2918,3775,3918,0,0,0,0,0,0
$GC,205,-0.69,-117.3,7.5,-5.0,32,213,0.00,2.40,0.00,0.000,6,0.000,0.041,2917,2215,3920,0,0,0,0,0,0
$GC,275,-0.69,-117.3,12.0,-4.7,45,283,0.00,2.50,0.00,0.000,4,0.000,0.059,2907,3770,3918,0,0,0,0,0,0
$GC,308,-0.69,-117.3,13.5,-4.5,51,316,0.00,2.38,0.00,0.000,6,0.000,0.040,2914,2224,3920,0,0,0,0,0,0
$GC,379,-0.69,-117.3,15.5,-3.0,64,386,0.00,2.47,0.00,0.000,4,0.000,0.053,2911,650,3918,0,0,0,0,0,0
$GC,619,-0.69,-117.3,32.9,-8.5,94,627,0.10,2.47,0.00,0.000,6,0.222,0.051,2927,2202,3919,0,0,0,0,0,0
$STATE,758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,758,begin apogee
$GC,760,-0.14,0.0,45.4,9.3,108,852,0.68,0.00,86.60,0.578,6,0.197,0.000,3110,2202,3437,0,0,0,0,0,0
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,854,0.69,117.3,47.0,0.0,117,952,0.80,2.60,86.70,0.561,4,0.118,0.050,3384,646,2957,0,0,0,0,0,0
$GC,956,0.69,117.3,36.7,13.3,126,964,0.00,2.58,0.00,0.000,6,0.000,0.047,3385,2220,2957,0,0,0,0,0,0
$GC,1150,0.69,117.3,7.3,11.1,153,1158,0.00,2.50,0.00,0.000,4,0.000,0.058,3385,3768,2956,0,0,0,0,0,0
$STATE,1160,end climb,SURFACE_DEPTH_REACHED
$STATE,1160,begin surface coast
$FINISH,4.1,1.018149
$STATE,1235,end surface coast,CONTROL_FINISHED_OK
$STATE,1235,begin surface
$SM_CCo,1252,179.20,0.539,0,0,1399,500.17
$SM_GC,1.55,0.00,0.00,179.20,0.000,0.000,0.539,166,2204,1399,-9.36,-0.37,500.17
$IRIDIUM_FIX,4748.51,-12221.84,061111,141445
$TT8_MAMPS,0.117593
$HUMID,1077972248
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,19.50
$XPDR_PINGS,3
$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,8.1/483886/444499
$PA_ROOT,80.3/126931/24990
$PA_LOG,3.9/297829/286132
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,0.9/7836665/7763836
$24V_AH,25.0,6.139
$10V_AH,10.5,4.696
$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,23.675,24.825,173.300,179.200,0.000,0.000,0.000,0.000,0.750,0.000,14.723,0.000,547.177,477.021,436.193,19.643,29.225,682.100,0.000,286.340,0.000,0.541,0.000
$DEVICE_MAMPS,275.400,73.440,578.340,539.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,110.879,0.000,0.000,0.000,0.000,0.000,1373.720,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,81.902,0.000,0.000,0.000
$MEM,324288
$DATA_FILE_SIZE,3516,169
$CAP_FILE_SIZE,82236,0
$CFSIZE,260165632,254799872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,204932,4806.856,-12222.657,11,1.5,11,18.3