version: 66.07
glider: 23
mission: 14
dive: 2
start: 3 16 110 21 37 32
data:
$ID,23
$MISSION,14
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,120
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,-40719.703
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2677
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.779308
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,14
$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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,160310,213249,1943.492,-15606.866,26,1.1,26,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-57.9
$GPS2,160310,213655,1943.619,-15606.919,8,1.7,8,9.7
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.094,-0.219
$KALMAN_X,-227.1,-227.1,-227.1,-129.1,-1070.1
$KALMAN_Y,490.9,490.9,490.9,300.4,2312.9
$MHEAD_RNG_PITCHd_Wd,147.2,7492,-18.7,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.41,-146.1,0.0,0.0,0,134,0.00,0.00,-114.57,0.000,2,0.000,0.000,366,2350,2858,0,0,0,0,0,0
$GC,138,-1.41,-146.1,3.2,-3.3,23,164,10.65,2.22,-9.98,0.000,4,0.169,0.051,2209,3763,3273,0,0,0,0,0,0
$GC,323,-1.41,-146.1,36.3,-17.5,49,332,0.00,2.17,0.00,0.000,6,0.000,0.020,2210,2363,3273,0,0,0,0,0,0
$GC,515,-1.41,-146.1,68.9,-17.3,68,523,0.00,2.25,0.00,0.000,4,0.000,0.038,2210,3764,3272,0,0,0,0,0,0
$GC,640,-1.41,-146.1,91.5,-18.9,79,649,0.00,2.20,0.00,0.000,6,0.000,0.020,2210,2353,3272,0,0,0,0,0,0
$GC,850,-1.41,-146.1,123.8,-14.6,89,859,0.00,2.30,0.00,0.000,4,0.000,0.040,2209,3765,3273,0,0,0,0,0,0
$GC,1009,-1.41,-146.1,148.6,-14.6,94,1017,0.00,2.20,0.00,0.000,6,0.000,0.020,2209,2346,3273,0,0,0,0,0,0
$GC,1341,-1.41,-146.1,190.6,-11.3,105,1349,0.00,2.33,0.00,0.000,4,0.000,0.041,2209,3771,3272,0,0,0,0,0,0
$GC,1423,-1.41,-146.1,199.9,-11.6,107,1431,0.00,2.22,0.00,0.000,6,0.000,0.021,2209,2344,3272,0,0,0,0,0,0
$GC,1739,-1.41,-146.1,236.5,-12.9,118,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2342,3271,0,0,0,0,0,0
$STATE,2040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2040,begin apogee
$GC,2045,-0.33,0.0,272.1,11.3,128,2165,1.15,0.00,110.22,0.795,6,0.086,0.000,2449,2341,2676,0,0,0,0,0,0
$STATE,2166,end apogee,CONTROL_FINISHED_OK
$STATE,2166,begin climb
$GC,2168,1.41,146.1,276.5,0.0,132,2295,1.67,2.47,110.22,0.785,4,0.038,0.045,2833,3758,2080,0,0,0,0,0,0
$GC,2534,1.41,146.1,234.5,15.1,143,2542,0.00,2.25,0.00,0.000,6,0.000,0.024,2833,2351,2077,0,0,0,0,0,0
$GC,2850,1.41,146.1,196.5,11.7,154,2858,0.00,2.38,0.00,0.000,4,0.000,0.049,2833,3767,2075,0,0,0,0,0,0
$GC,2959,1.41,146.1,182.6,12.0,157,2967,0.00,2.25,0.00,0.000,6,0.000,0.023,2833,2344,2074,0,0,0,0,0,0
$GC,3275,1.41,146.1,150.4,10.3,168,3283,0.00,2.38,0.00,0.000,4,0.000,0.048,2833,3772,2072,0,0,0,0,0,0
$GC,3522,1.43,171.7,125.5,8.8,175,3550,0.00,2.20,19.00,0.703,6,0.000,0.021,2833,2341,1976,0,0,0,0,0,0
$GC,3861,1.49,227.5,96.9,7.4,188,3915,0.00,2.80,43.58,0.698,4,0.000,0.034,2833,956,1748,0,0,0,0,0,0
$GC,4129,1.49,227.5,62.9,12.5,213,4137,0.00,2.72,0.00,0.000,6,0.000,0.026,2833,2347,1744,0,0,0,0,0,0
$GC,4321,1.49,227.5,36.8,13.1,231,4329,0.00,2.33,0.00,0.000,4,0.000,0.044,2833,3770,1743,0,0,0,0,0,0
$GC,4371,1.49,227.5,29.8,15.3,235,4380,0.00,2.20,0.00,0.000,6,0.000,0.019,2833,2355,1743,0,0,0,0,0,0
$GC,4568,1.49,227.5,3.8,13.5,265,4574,0.00,2.72,0.00,0.000,4,0.000,0.034,2833,956,1743,0,0,0,0,0,0
$STATE,4576,end climb,SURFACE_DEPTH_REACHED
$STATE,4576,begin surface coast
$FINISH,0.3,1.022745
$STATE,4598,end surface coast,CONTROL_FINISHED_OK
$STATE,4598,begin surface
$SM_CCo,4619,79.22,0.591,0,0,1045,400.08
$SM_GC,1.09,0.00,0.00,79.22,0.000,0.000,0.591,358,2355,1045,-9.97,0.14,400.08
$IRIDIUM_FIX,1936.66,-15608.99,090911,151524
$TT8_MAMPS,0.119091
$HUMID,1078080635
$TCM_TEMP,24.40
$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,0/0
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,6.854
$10V_AH,10.0,2.034
$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,24.150,47.375,283.025,79.225,0.000,0.000,0.000,0.000,0.000,0.000,10.802,0.000,3212.107,454.706,1056.380,69.890,30.168,956.842,0.000,702.197,0.000,0.548,0.000
$DEVICE_MAMPS,169.065,51.255,794.835,590.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,178.889,0.000,0.000,0.000,0.000,0.000,4723.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,82.221,0.000,0.000,0.000
$MEM,353456
$DATA_FILE_SIZE,10133,271
$CAP_FILE_SIZE,66431,0
$CFSIZE,260034560,256733184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160310,225736,1944.445,-15607.494,30,1.9,31,9.7