version: 66.06
glider: 23
mission: 9
dive: 3
start: 8 5 109 20 9 38
data:
$ID,23
$MISSION,9
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,45
$T_MISSION,60
$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,-34367.562
$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,2440
$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,1990
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,29
$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
$GPS1,200444,4743.548,-12224.670,9,1.6,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-60.7
$GPS2,200902,4743.541,-12224.684,12,1.6,12,18.2
$SPEED_LIMITS,0.192,0.246
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.200,-0.144
$KALMAN_X,-288.2,-178.8,-168.8,207.4,-209.9
$KALMAN_Y,-15.9,4.8,6.1,-557.2,-3.0
$MHEAD_RNG_PITCHd_Wd,107.6,1314,-20.6,-11.111
$D_GRID,174
$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,-146.6,0.0,0.0,0,110,0.00,0.00,-94.60,0.000,6,0.000,0.000,362,2002,3886,0,0,0,0,0,0
$GC,113,-1.45,-146.6,2.6,-6.7,19,129,10.12,2.40,0.00,0.000,4,0.168,0.033,2118,3405,3887,0,0,0,0,0,0
$GC,368,-1.45,-146.6,39.5,-12.0,54,372,0.00,2.42,0.00,0.000,6,0.000,0.029,2118,2003,3890,0,0,0,0,0,0
$GC,565,-1.45,-146.6,61.2,-11.0,73,569,0.00,2.47,0.00,0.000,4,0.000,0.038,2118,3409,3890,0,0,0,0,0,0
$GC,811,-1.45,-146.6,87.7,-10.5,96,815,0.00,2.47,0.00,0.000,6,0.000,0.030,2118,1970,3890,0,0,0,0,0,0
$GC,1132,-1.45,-146.6,114.8,-9.0,127,1135,0.00,2.70,0.00,0.000,4,0.000,0.044,2118,575,3889,0,0,0,0,0,0
$GC,1377,-1.45,-146.6,140.1,-10.4,150,1381,0.00,2.70,0.00,0.000,6,0.000,0.028,2118,1987,3890,0,0,0,0,0,0
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1484,-0.31,0.0,150.8,9.9,160,1602,1.25,0.00,111.15,0.775,6,0.102,0.000,2368,1866,3288,0,0,0,0,0,0
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1603,begin climb
$GC,1605,1.45,146.6,152.4,0.0,172,1728,1.75,2.65,109.72,0.747,4,0.048,0.037,2756,3291,2689,0,0,0,0,0,0
$GC,1781,1.45,146.6,122.1,21.4,189,1785,0.00,2.55,0.00,0.000,6,0.000,0.039,2757,1910,2688,0,0,0,0,0,0
$GC,2101,1.45,146.6,40.5,24.5,220,2105,0.00,2.50,0.00,0.000,4,0.000,0.035,2757,3292,2689,0,0,0,0,0,0
$STATE,2292,end climb,SURFACE_DEPTH_REACHED
$STATE,2292,begin surface coast
$FINISH,0.4,1.021912
$STATE,2302,end surface coast,CONTROL_FINISHED_OK
$STATE,2302,begin surface
$SM_CCo,2323,189.23,0.658,0,0,1249,500.17
$SM_GC,0.34,0.00,0.00,189.23,0.000,0.000,0.658,365,1988,1249,-9.55,-0.06,500.17
$IRIDIUM_FIX,4726.11,-12227.78,301098,202020
$TT8_MAMPS,0.105846
$HUMID,3224990649
$TCM_TEMP,20.80
$XPDR_PINGS,1
$PA_PMVER,0.1
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 24 14:06:58 PDT 2009
$24V_AH,24.0,3.709
$10V_AH,9.9,1.318
$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,23.825,25.400,220.875,189.225,0.000,0.000,0.000,0.000,0.250,0.000,14.202,0.000,1402.288,471.229,642.786,40.904,31.404,767.125,0.000,486.872,0.000,0.540,0.000
$DEVICE_MAMPS,167.973,49.855,775.437,658.086,0.000,103.000,160.000,223.000,420.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,165.740,0.000,0.000,0.000,0.000,0.000,2433.221,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,89.509,0.000
$MEM,324708
$DATA_FILE_SIZE,6453,248
$CAP_FILE_SIZE,58405,0
$CFSIZE,260034560,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,205225,4743.242,-12224.771,33,1.2,33,18.2