version: 66.06
glider: 23
mission: 9
dive: 2
start: 8 5 109 19 10 6
data:
$ID,23
$MISSION,9
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,50
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51600
$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,4743
$TGT_DEFAULT_LON,-12224
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,-34295.746
$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,2471
$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,208
$ROLL_MAX,3567
$ROLL_DEG,40
$C_ROLL_DIVE,1887
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3288
$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,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.853617
$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
$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_RECORDABOVE,0.0
$PA_PROFILE,0.0
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,0.0
$PA_ERRORS,0.0
$GPS1,190457,4743.792,-12224.502,11,2.2,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-53.9
$GPS2,190931,4743.794,-12224.509,30,1.9,30,18.2
$SPEED_LIMITS,0.192,0.246
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.199
$KALMAN_X,-66.5,-66.5,-66.5,-11.5,-129.0
$KALMAN_Y,27.2,27.2,27.2,-180.1,52.7
$MHEAD_RNG_PITCHd_Wd,125.9,1601,-20.6,-11.111
$D_GRID,173
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-1.45,-146.6,0.0,0.0,0,137,0.00,0.00,-118.22,0.000,6,0.000,0.000,362,1892,3887,0,0,0,0,0,0
$GC,139,-1.45,-146.6,2.9,-7.3,24,155,10.23,2.45,0.00,0.000,4,0.166,0.033,2147,3294,3887,0,0,0,0,0,0
$GC,346,-1.45,-146.6,29.6,-9.8,54,353,0.00,2.50,0.00,0.000,6,0.000,0.031,2148,1887,3891,0,0,0,0,0,0
$GC,538,-1.45,-146.6,47.7,-8.8,73,542,0.00,2.50,0.00,0.000,4,0.000,0.038,2147,3299,3890,0,0,0,0,0,0
$GC,783,-1.45,-146.6,73.8,-9.7,95,790,0.00,2.53,0.00,0.000,6,0.000,0.031,2148,1882,3890,0,0,0,0,0,0
$STATE,1057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1057,begin apogee
$GC,1062,-0.31,0.0,100.1,9.2,122,1179,1.25,0.00,110.15,0.734,6,0.096,0.000,2401,1882,3288,0,0,0,0,0,0
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1182,1.45,146.6,100.6,0.0,134,1304,1.73,2.88,108.68,0.711,4,0.045,0.051,2788,474,2689,0,0,0,0,0,0
$GC,1378,1.45,146.6,62.1,26.0,153,1382,0.00,2.65,0.00,0.000,6,0.000,0.025,2788,1885,2688,0,0,0,0,0,0
$STATE,1627,end climb,SURFACE_DEPTH_REACHED
$STATE,1627,begin surface coast
$FINISH,-0.0,1.021912
$STATE,1638,end surface coast,CONTROL_FINISHED_OK
$STATE,1638,begin surface
$SM_CCo,1657,185.90,0.644,0,0,1250,500.17
$SM_GC,0.45,0.00,0.00,185.90,0.000,0.000,0.644,361,1885,1250,-9.70,-0.06,500.17
$IRIDIUM_FIX,4726.11,-12220.67,301098,191916
$TT8_MAMPS,0.105846
$HUMID,3225011295
$TCM_TEMP,21.10
$XPDR_PINGS,49
$PA_PMVER,0.1
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 24 14:06:58 PDT 2009
$24V_AH,24.0,3.586
$10V_AH,9.9,1.204
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,24.075,15.500,218.825,185.900,0.000,0.000,0.000,0.000,12.250,0.000,32.115,0.000,900.184,481.345,488.899,36.194,30.170,716.135,0.000,347.844,0.000,0.541,0.000
$DEVICE_MAMPS,166.439,51.389,734.019,643.513,0.000,103.000,160.000,223.000,420.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,122.188,0.000,0.000,0.000,0.000,0.000,1786.671,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,89.509,0.000
$MEM,324716
$DATA_FILE_SIZE,6468,186
$CAP_FILE_SIZE,52627,0
$CFSIZE,260034560,255205376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,194125,4743.592,-12224.617,9,1.8,14,18.2