version: 66.07
glider: 178
mission: 3
dive: 3
start: 5 13 110 22 4 9
data:
$ID,178
$MISSION,3
$DIVE,3
$D_SURF,7
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,575
$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,-5298.0254
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,130510,215902,4806.793,-12222.485,14,2.0,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-81.3
$GPS2,130510,220330,4806.765,-12222.469,33,1.6,38,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.211
$KALMAN_X,165.9,139.0,134.7,-183.9,119.0
$KALMAN_Y,-198.0,-164.2,-159.0,467.6,-141.0
$MHEAD_RNG_PITCHd_Wd,315.4,2380,-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,-117.3,0.0,0.0,0,117,0.00,0.00,-97.82,0.000,2,0.000,0.000,170,2215,3604,0,0,0,0,0,0
$GC,119,-0.69,-117.3,3.2,-3.6,17,145,13.68,0.00,-7.93,0.000,6,0.302,0.000,2926,2212,3917,0,0,0,0,0,0
$GC,208,-0.69,-117.3,11.3,-8.6,33,215,0.00,2.55,0.00,0.000,4,0.000,0.063,2917,3776,3918,0,0,0,0,0,0
$GC,454,-0.69,-117.3,30.1,-9.2,68,459,0.00,2.42,0.00,0.000,6,0.000,0.041,2916,2213,3921,0,0,0,0,0,0
$GC,651,-0.69,-117.3,48.8,-10.5,87,655,0.00,2.53,0.00,0.000,4,0.000,0.064,2905,3767,3919,0,0,0,0,0,0
$GC,827,-0.69,-117.3,68.7,-11.8,103,835,0.10,2.40,0.00,0.000,6,0.228,0.042,2929,2217,3919,0,0,0,0,0,0
$STATE,1048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1048,begin apogee
$GC,1051,-0.14,0.0,90.3,9.4,125,1143,0.65,0.00,87.57,0.630,6,0.194,0.000,3109,2216,3440,0,0,0,0,0,0
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1144,begin climb
$GC,1145,0.69,117.3,92.2,0.0,134,1241,0.82,2.62,88.85,0.609,4,0.121,0.053,3387,652,2958,0,0,0,0,0,0
$GC,1246,0.69,117.3,81.8,13.9,144,1251,0.00,2.62,0.00,0.000,6,0.000,0.050,3386,2227,2960,0,0,0,0,0,0
$GC,1567,0.69,117.3,30.3,15.9,175,1571,0.00,2.53,0.00,0.000,4,0.000,0.061,3385,3781,2955,0,0,0,0,0,0
$GC,1614,0.69,117.3,21.9,17.9,179,1623,0.00,2.45,0.00,0.000,6,0.000,0.041,3395,2216,2957,0,0,0,0,0,0
$STATE,1720,end climb,SURFACE_DEPTH_REACHED
$STATE,1720,begin surface coast
$FINISH,4.0,1.019367
$STATE,1784,end surface coast,CONTROL_FINISHED_OK
$STATE,1784,begin surface
$SM_CCo,1798,217.57,0.560,0,0,1092,575.23
$SM_GC,0.88,0.00,0.00,217.57,0.000,0.000,0.560,172,2216,1092,-9.34,-0.11,575.23
$IRIDIUM_FIX,4748.51,-12217.40,061111,161652
$TT8_MAMPS,0.118342
$HUMID,1078076764
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.80
$XPDR_PINGS,0
$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,8.2/483886/444321
$PA_ROOT,80.3/126931/24990
$PA_LOG,4.0/297829/286057
$PA_DATA1,0.1/7836665/7825417
$PA_DATA0,3.4/7836665/7573032
$24V_AH,24.8,6.332
$10V_AH,10.3,4.881
$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,24.800,20.125,176.425,217.575,0.000,0.000,0.000,0.000,0.000,0.000,38.973,0.000,996.279,491.987,578.297,18.049,31.400,724.242,0.000,362.554,0.000,0.539,0.000
$DEVICE_MAMPS,302.175,64.260,629.595,559.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,140.194,0.000,0.000,0.000,0.000,0.000,1944.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,88.497,0.000,0.000,0.000
$MEM,323720
$DATA_FILE_SIZE,6823,210
$CAP_FILE_SIZE,51412,0
$CFSIZE,260165632,254713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130510,223813,4806.950,-12222.557,6,1.8,11,18.3