version: 66.07
glider: 22
mission: 17
dive: 20
start: 3 19 110 18 16 7
data:
$ID,22
$MISSION,17
$DIVE,20
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,280
$T_MISSION,320
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52198
$NAV_MODE,1
$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,19.6
$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,-255228.12
$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,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2600
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2944
$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,-22.561892
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,190310,180937,1932.933,-15600.010,38,1.6,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-70.0
$GPS2,190310,181526,1933.073,-15600.055,12,1.8,12,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.051,-0.198
$KALMAN_X,-15868.9,304.8,363.4,25657.9,-3329.7
$KALMAN_Y,24856.7,-548.4,-538.2,-37207.2,5870.4
$MHEAD_RNG_PITCHd_Wd,184.9,5083,-28.1,-11.786
$D_GRID,990
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.74,-82.6,0.0,0.0,0,89,0.00,0.00,-69.93,0.000,2,0.000,0.000,374,2616,2631,0,0,0,0,0,0
$GC,91,-1.80,-135.4,3.2,-6.8,14,127,9.70,2.30,-21.25,0.000,4,0.151,0.070,2203,3945,3497,0,0,0,0,0,0
$GC,345,-1.80,-135.4,94.0,-32.1,44,349,0.00,2.35,0.00,0.000,6,0.000,0.040,2203,2596,3499,0,0,0,0,0,0
$GC,548,-1.80,-135.4,159.4,-32.2,52,552,0.00,2.47,0.00,0.000,4,0.000,0.060,2203,3943,3500,0,0,0,0,0,0
$GC,580,-1.80,-135.4,169.6,-31.6,53,584,0.00,2.33,0.00,0.000,6,0.000,0.037,2203,2570,3500,0,0,0,0,0,0
$GC,915,-1.80,-135.4,266.1,-27.5,64,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2565,3501,0,0,0,0,0,0
$GC,1248,-1.80,-135.4,350.0,-24.6,72,1252,0.00,2.53,0.00,0.000,4,0.000,0.062,2203,3940,3503,0,0,0,0,0,0
$GC,1365,-1.80,-135.4,381.9,-26.8,73,1369,0.00,2.30,0.00,0.000,6,0.000,0.039,2203,2608,3502,0,0,0,0,0,0
$GC,1677,-1.80,-135.4,460.7,-25.4,79,1685,0.00,2.45,0.00,0.000,4,0.000,0.065,2202,3943,3502,0,0,0,0,0,0
$GC,1732,-1.80,-135.4,475.7,-26.6,79,1742,0.00,2.30,0.00,0.000,6,0.000,0.041,2203,2598,3502,0,0,0,0,0,0
$GC,2040,-1.80,-135.4,556.4,-26.3,85,2048,0.00,2.47,0.00,0.000,4,0.000,0.068,2203,3939,3500,0,0,0,0,0,0
$GC,2090,-1.80,-135.4,569.6,-25.3,85,2098,0.00,2.35,0.00,0.000,6,0.000,0.042,2203,2590,3501,0,0,0,0,0,0
$GC,2398,-1.80,-135.4,644.8,-24.4,90,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2584,3498,0,0,0,0,0,0
$GC,2699,-1.90,-233.6,659.7,-0.2,95,2708,0.00,2.53,0.00,0.000,4,0.000,0.073,2203,3941,3495,0,0,0,0,0,0
$STATE,2929,end dive,NO_VERTICAL_VELOCITY
$STATE,2929,begin apogee
$GC,2937,-0.29,0.0,661.2,0.0,98,3059,1.62,0.00,113.68,1.032,6,0.122,0.000,2529,2009,2944,0,0,0,0,0,0
$STATE,3060,end apogee,CONTROL_FINISHED_OK
$STATE,3060,begin climb
$GC,3062,1.90,233.6,660.8,0.0,100,3277,2.33,2.67,201.25,1.011,4,0.101,0.070,3011,589,1991,0,0,0,0,0,0
$GC,3517,1.90,233.6,595.1,21.8,107,3526,0.00,2.53,0.00,0.000,6,0.000,0.047,3011,2003,1981,0,0,0,0,0,0
$GC,3859,1.90,233.6,524.3,20.7,113,3867,0.00,2.58,0.00,0.000,4,0.000,0.056,3011,577,1977,0,0,0,0,0,0
$GC,4084,1.90,233.6,480.1,19.0,116,4093,0.00,2.55,0.00,0.000,6,0.000,0.044,3011,2013,1974,0,0,0,0,0,0
$GC,4410,1.90,233.6,420.9,18.3,122,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2015,1974,0,0,0,0,0,0
$GC,4711,1.90,233.6,368.6,17.0,127,4716,0.00,2.60,0.00,0.000,4,0.000,0.054,3011,580,1971,0,0,0,0,0,0
$GC,4839,1.90,233.6,347.3,16.9,129,4843,0.00,2.53,0.00,0.000,6,0.000,0.044,3010,2008,1970,0,0,0,0,0,0
$GC,5175,1.90,233.6,287.9,17.5,135,5179,0.00,2.53,0.00,0.000,4,0.000,0.056,3011,3403,1969,0,0,0,0,0,0
$GC,5196,1.90,233.6,284.3,16.9,135,5200,0.00,2.50,0.00,0.000,6,0.000,0.042,3011,1989,1968,0,0,0,0,0,0
$GC,5510,1.90,233.6,235.4,15.3,146,5514,0.00,2.47,0.00,0.000,4,0.000,0.053,3011,597,1967,0,0,0,0,0,0
$GC,5718,1.90,233.6,203.9,15.9,152,5722,0.00,2.47,0.00,0.000,6,0.000,0.042,3011,2006,1967,0,0,0,0,0,0
$GC,6037,1.90,233.6,157.7,12.6,163,6041,0.00,2.53,0.00,0.000,4,0.000,0.050,3011,590,1965,0,0,0,0,0,0
$GC,6282,1.90,233.6,122.4,14.4,170,6287,0.00,2.45,0.00,0.000,6,0.000,0.039,3011,2011,1965,0,0,0,0,0,0
$GC,6599,1.95,276.2,84.7,7.7,189,6641,0.00,2.60,32.92,0.626,4,0.000,0.047,3011,584,1816,0,0,0,0,0,0
$GC,6880,1.95,276.2,53.0,14.0,215,6886,0.00,2.45,0.00,0.000,6,0.000,0.038,3011,2005,1812,0,0,0,0,0,0
$GC,7071,1.95,276.2,29.3,12.4,234,7075,0.00,2.47,0.00,0.000,4,0.000,0.047,3010,594,1812,0,0,0,0,0,0
$STATE,7278,end climb,SURFACE_DEPTH_REACHED
$STATE,7278,begin surface coast
$FINISH,0.1,1.023404
$STATE,7299,end surface coast,CONTROL_FINISHED_OK
$STATE,7299,begin surface
$SM_CCo,7322,72.28,0.520,0,0,1311,400.08
$SM_GC,0.63,0.00,0.00,72.28,0.000,0.000,0.520,378,2596,1311,-10.21,-0.11,400.08
$IRIDIUM_FIX,1927.51,-15608.75,120911,080830
$TT8_MAMPS,0.113848
$HUMID,1077991603
$TCM_TEMP,23.40
$XPDR_PINGS,0
$PA_PMVER,0.2
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010
$PA_DFQS,0/0
$PA_CMQS,0/44
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.6,7.483
$10V_AH,10.0,8.834
$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,25.125,71.275,347.850,72.275,0.000,24.297,30.183,181.227,0.000,0.000,12.863,0.000,5632.599,487.309,1507.608,161.559,33.334,1086.210,0.000,943.863,0.000,0.533,0.000
$DEVICE_MAMPS,151.470,72.675,1031.985,520.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,178.483,0.000,0.000,0.000,0.000,0.000,7896.150,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,68.794,0.000,0.000,0.000
$MEM,344672
$DATA_FILE_SIZE,10173,270
$CAP_FILE_SIZE,72142,0
$CFSIZE,260034560,255881216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,202124,1933.288,-15601.111,31,1.3,49,9.7