version: 66.11
glider: 178
mission: 14
dive: 2
start: 6 11 112 18 53 22
data:
$ID,178
$MISSION,14
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,500
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-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,557.13361
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12983.655
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2004
$C_ROLL_CLIMB,2004
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.288708
$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,1
$ALTIM_PING_DEPTH,0
$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,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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,110612,184904,4654.589,-12455.823,11,2.9,30,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.9
$GPS2,110612,185243,4654.569,-12455.776,13,1.5,13,18.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,DOGLEG
$TGT_LATLONG,4652.000,-12503.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.226,0.088
$KALMAN_X,113.3,113.3,113.3,-74.3,270.4
$KALMAN_Y,-95.9,-95.9,-95.9,-207.3,-228.9
$MHEAD_RNG_PITCHd_Wd,272.8,10311,-17.8,-10.000
$D_GRID,472
$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,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.77,-146.0,0.0,0.0,0,118,0.00,0.00,-103.15,0.000,2,0.000,0.000,154,2016,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.77,-146.0,3.8,-9.8,18,144,10.05,2.30,-6.38,0.000,4,0.255,0.060,2446,595,3336,0,0,0,0,0,0,25.34,25.88,26.34
$GC,253,-0.77,-146.0,31.8,-12.4,44,264,0.00,2.28,0.00,0.000,6,0.000,0.044,2438,2010,3337,0,0,0,0,0,0,28.83,25.72,28.83
$GC,563,-0.77,-146.0,66.9,-9.5,105,574,0.00,2.25,0.00,0.000,4,0.000,0.047,2438,604,3339,0,0,0,0,0,0,28.83,25.77,28.83
$GC,792,-0.77,-146.0,89.4,-10.3,150,803,0.00,2.25,0.00,0.000,6,0.000,0.044,2429,2007,3340,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,805,begin apogee
$GC,807,-0.17,0.0,90.6,-9.3,152,933,0.68,0.00,116.53,0.650,6,0.122,0.000,2641,2007,2740,0,0,0,0,0,0,25.42,28.83,24.08
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,934,begin climb
$GC,935,0.77,146.0,97.5,0.0,173,1071,0.82,2.45,121.45,0.637,4,0.041,0.066,2966,3416,2140,0,0,0,0,0,0,25.06,24.65,23.89
$GC,1295,0.82,181.2,76.0,8.4,241,1335,0.00,2.25,29.12,0.616,6,0.000,0.038,2976,1998,1998,0,0,0,0,0,0,28.83,25.56,24.39
$GC,1635,0.82,181.2,43.2,10.4,307,1646,0.00,2.38,0.00,0.000,4,0.000,0.060,2977,3424,1988,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1869,0.93,270.0,23.0,5.9,353,1954,0.00,2.22,71.20,0.610,6,0.000,0.039,2988,1997,1635,0,0,0,0,0,0,28.83,25.86,24.34
$STATE,2122,end climb,SURFACE_DEPTH_REACHED
$STATE,2122,begin surface coast
$FINISH,0.3,1.023525
$STATE,2148,end surface coast,CONTROL_FINISHED_OK
$STATE,2148,begin surface
$SM_CCo,2161,129.55,0.070,0,0,466,557.32
$SM_GC,0.88,7.80,0.00,129.55,0.053,0.000,0.070,162,1996,466,-7.88,-0.23,557.32,0,0,0,0,0,0,25.49,28.83,25.46
$IRIDIUM_FIX,4641.78,-12506.24,110612,181808
$TT8_MAMPS,0.163282,0.163282
$HUMID,39.91
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.50
$XPDR_PINGS,3
$PA_PMVER,0.5
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012
$PA_UPTIME,10931.67 8726.72
$PA_BOOTCOUNT,140
$PA_DFQS,0/0
$PA_CMQS,21/10
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.00/0.183/117.606/111.448
$PA_USBA,0.00/0.537/117.609/111.098
$PA_HOME,0.06/0.026/0.461/0.412
$PA_ROOT,0.81/0.098/0.121/0.017
$PA_LOG,0.11/0.030/0.284/0.239
$PA_DATA1,0.00/0.058/117.213/111.201
$PA_DATA0,0.00/0.176/117.213/111.084
$24V_AH,23.9,23.445
$10V_AH,10.1,19.592
$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,19.350,18.375,338.300,129.550,0.000,0.000,0.000,0.000,0.750,0.000,15.926,0.000,908.622,511.587,897.746,20.327,30.061,905.179,0.000,586.085,0.000,0.531,0.000
$DEVICE_MAMPS,254.745,65.790,650.250,70.380,0.000,0.000,0.000,0.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,270.669,0.000,0.000,0.000,0.000,0.000,2278.520,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,93.654,0.000,0.000,0.000
$MEM,297108
$DATA_FILE_SIZE,16795,406
$CAP_FILE_SIZE,47962,0
$CFSIZE,260165632,256536576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110612,193202,4654.253,-12455.771,12,1.5,12,18.4