version: 66.07
glider: 22
mission: 14
dive: 3
start: 10 27 109 21 10 15
data:
$ID,22
$MISSION,14
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,90
$T_MISSION,105
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52177
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-244619.81
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-22.757658
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$GPS1,271009,210531,1942.010,-15605.540,372,1.4,381,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.0
$GPS2,271009,210938,1942.083,-15605.562,12,2.0,12,9.7
$SPEED_LIMITS,0.100,0.258
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.060,-0.251
$KALMAN_X,-367.7,-287.4,-276.5,60.5,-529.9
$KALMAN_Y,1474.6,1088.8,1039.1,-77.9,2161.1
$MHEAD_RNG_PITCHd_Wd,156.0,3980,-18.5,-10.000
$D_GRID,270
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.31,-146.1,0.0,0.0,0,102,0.00,0.00,-85.05,0.000,2,0.000,0.000,369,2573,2676,0,0,0,0,0,0
$GC,104,-1.31,-146.1,3.2,-7.8,16,135,10.02,2.38,-14.75,0.000,4,0.160,0.056,2258,1153,3214,0,0,0,0,0,0
$GC,370,-1.31,-146.1,55.4,-19.2,50,379,0.00,2.30,0.00,0.000,6,0.000,0.044,2258,2534,3214,0,0,0,0,0,0
$GC,563,-1.31,-146.1,87.8,-16.5,68,571,0.00,2.47,0.00,0.000,4,0.000,0.064,2258,3946,3214,0,0,0,0,0,0
$GC,597,-1.31,-146.1,93.8,-17.9,70,607,0.00,2.30,0.00,0.000,6,0.000,0.040,2258,2527,3214,0,0,0,0,0,0
$GC,796,-1.31,-146.1,125.8,-16.3,80,805,0.00,2.50,0.00,0.000,4,0.000,0.064,2258,3941,3214,0,0,0,0,0,0
$GC,916,-1.31,-146.1,145.5,-17.1,83,927,0.00,2.28,0.00,0.000,6,0.000,0.041,2258,2553,3214,0,0,0,0,0,0
$GC,1226,-1.31,-146.1,190.8,-14.0,94,1234,0.00,2.47,0.00,0.000,4,0.000,0.066,2259,3942,3214,0,0,0,0,0,0
$GC,1361,-1.31,-146.1,210.4,-14.6,98,1369,0.00,2.30,0.00,0.000,6,0.000,0.041,2259,2542,3214,0,0,0,0,0,0
$GC,1682,-1.31,-146.1,253.2,-12.9,109,1691,0.00,2.50,0.00,0.000,4,0.000,0.067,2258,3942,3214,0,0,0,0,0,0
$STATE,1810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1812,begin apogee
$GC,1818,-0.31,0.0,270.5,12.6,113,1942,1.02,0.00,116.45,0.653,6,0.099,0.000,2477,2542,2618,0,0,0,0,0,0
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1945,1.31,146.1,274.7,0.0,117,2077,1.60,2.42,118.90,0.643,4,0.074,0.048,2831,1145,2021,0,0,0,0,0,0
$GC,2167,1.31,146.1,251.7,14.5,124,2175,0.00,2.42,0.00,0.000,6,0.000,0.043,2831,2560,2017,0,0,0,0,0,0
$GC,2493,1.31,146.1,211.3,12.2,135,2502,0.00,2.47,0.00,0.000,4,0.000,0.060,2831,3953,2013,0,0,0,0,0,0
$GC,2554,1.31,146.1,203.7,13.1,136,2563,0.00,2.33,0.00,0.000,6,0.000,0.040,2832,2527,2009,0,0,0,0,0,0
$GC,2863,1.32,147.8,169.7,9.9,147,2872,0.00,2.50,0.00,0.000,4,0.000,0.058,2831,3947,2007,0,0,0,0,0,0
$GC,3010,1.32,147.8,151.8,12.4,151,3019,0.00,2.35,0.00,0.000,6,0.000,0.040,2831,2540,2005,0,0,0,0,0,0
$GC,3320,1.32,147.8,116.5,11.9,161,3328,0.00,2.47,0.00,0.000,4,0.000,0.057,2831,3951,2005,0,0,0,0,0,0
$GC,3568,1.32,147.8,86.5,12.7,174,3579,0.00,2.33,0.00,0.000,6,0.000,0.040,2831,2546,2003,0,0,0,0,0,0
$GC,3761,1.34,168.2,67.7,9.1,193,3786,0.00,2.33,15.95,0.533,4,0.000,0.047,2831,1146,1931,0,0,0,0,0,0
$GC,3860,1.34,168.2,57.8,11.3,202,3868,0.00,2.38,0.00,0.000,6,0.000,0.041,2831,2565,1929,0,0,0,0,0,0
$GC,4053,1.43,250.2,43.4,6.2,220,4130,0.12,2.53,67.30,0.532,4,0.093,0.056,2863,3948,1596,0,0,0,0,0,0
$GC,4323,1.43,250.2,9.0,13.0,252,4329,0.00,2.40,0.00,0.000,6,0.000,0.039,2863,2540,1591,0,0,0,0,0,0
$STATE,4368,end climb,SURFACE_DEPTH_REACHED
$STATE,4368,begin surface coast
$FINISH,0.3,1.022860
$STATE,4390,end surface coast,CONTROL_FINISHED_OK
$STATE,4390,begin surface
$SM_CCo,4408,71.88,0.479,0,0,985,400.08
$SM_GC,1.07,0.00,0.00,71.88,0.000,0.000,0.479,376,2534,985,-10.00,-0.42,400.08
$IRIDIUM_FIX,1929.80,-15926.37,220411,151520
$TT8_MAMPS,0.152633
$HUMID,1078641926
$TCM_TEMP,24.00
$XPDR_PINGS,0
$PA_PMVER,0.2
$PA_ROOTFSVER,rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009
$PA_DFQS,0/0
$PA_CMQS,0/67
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470964
$PA_LOG,3.7/297829/286950
$PA_DATA0,4.3/7836665/7501253
$PA_DATA1,0.1/7836665/7825417
$PA_USB,0.4/30829585/30721596
$24V_AH,23.9,3.247
$10V_AH,9.9,3.583
$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,23.625,52.800,318.600,71.875,0.000,0.000,0.000,0.000,0.000,0.000,12.735,0.000,2992.327,457.124,997.122,77.927,31.394,970.983,0.000,693.611,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,66.729,653.484,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,172.358,0.000,0.000,0.000,0.000,0.000,4525.080,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,91.847,0.000
$MEM,324712
$DATA_FILE_SIZE,9593,265
$CAP_FILE_SIZE,76281,0
$CFSIZE,260034560,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.317,341.1,1
$GPS,271009,222526,1942.327,-15605.637,11,1.7,11,9.7