version: 66.06
glider: 23
mission: 9
dive: 4
start: 8 5 109 21 14 2
data:
$ID,23
$MISSION,9
$DIVE,4
$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,350
$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,-34467.555
$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,1887
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$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
$GPS1,210458,4743.197,-12224.875,8,7.2,27,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-60.7
$GPS2,211325,4743.179,-12224.966,14,1.7,31,18.2
$SPEED_LIMITS,0.192,0.246
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.245,-0.024
$KALMAN_X,-771.9,-404.8,-276.5,680.1,-235.0
$KALMAN_Y,-177.0,-57.8,-22.0,-972.5,-56.5
$MHEAD_RNG_PITCHd_Wd,77.3,1248,-20.6,-11.111
$D_GRID,178
$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,-146.6,0.0,0.0,0,111,0.00,0.00,-94.60,0.000,6,0.000,0.000,365,1861,3886,0,0,0,0,0,0
$GC,113,-1.45,-146.6,2.7,-7.1,19,129,10.20,2.58,0.00,0.000,4,0.171,0.031,2119,3314,3888,0,0,0,0,0,0
$GC,369,-1.45,-146.6,40.0,-13.4,54,373,0.00,2.55,0.00,0.000,6,0.000,0.031,2120,1871,3890,0,0,0,0,0,0
$GC,565,-1.45,-146.6,62.9,-11.6,73,569,0.00,2.58,0.00,0.000,4,0.000,0.038,2119,3295,3891,0,0,0,0,0,0
$GC,592,-1.45,-146.6,66.0,-11.0,75,598,0.00,2.53,0.00,0.000,6,0.000,0.030,2119,1886,3891,0,0,0,0,0,0
$GC,909,-1.45,-146.6,100.3,-11.4,106,913,0.00,2.72,0.00,0.000,4,0.000,0.046,2120,467,3890,0,0,0,0,0,0
$GC,1043,-1.45,-146.6,114.2,-8.3,118,1047,0.00,2.62,0.00,0.000,6,0.000,0.028,2120,1888,3890,0,0,0,0,0,0
$GC,1358,-1.45,-146.6,143.5,-9.3,148,1362,0.00,2.53,0.00,0.000,4,0.000,0.041,2119,3294,3890,0,0,0,0,0,0
$STATE,1414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1414,begin apogee
$GC,1421,-0.31,0.0,150.4,12.1,153,1537,1.23,0.00,111.62,0.779,6,0.104,0.000,2365,1889,3288,0,0,0,0,0,0
$STATE,1538,end apogee,CONTROL_FINISHED_OK
$STATE,1538,begin climb
$GC,1540,1.45,146.6,155.2,0.0,165,1663,1.77,2.85,110.00,0.752,4,0.050,0.050,2757,485,2689,0,0,0,0,0,0
$GC,1726,1.45,146.6,120.7,29.7,183,1730,0.00,2.62,0.00,0.000,6,0.000,0.024,2756,1887,2688,0,0,0,0,0,0
$GC,2047,1.45,146.6,36.9,23.0,214,2051,0.00,2.55,0.00,0.000,4,0.000,0.036,2757,3297,2688,0,0,0,0,0,0
$STATE,2212,end climb,SURFACE_DEPTH_REACHED
$STATE,2212,begin surface coast
$FINISH,0.1,1.021790
$STATE,2222,end surface coast,CONTROL_FINISHED_OK
$STATE,2222,begin surface
$SM_CCo,2243,106.03,0.660,0,0,1861,350.04
$SM_GC,0.49,0.00,0.00,106.03,0.000,0.000,0.660,362,1879,1861,-9.56,-0.23,350.04
$IRIDIUM_FIX,4726.11,-12223.37,301098,212127
$TT8_MAMPS,0.105846
$HUMID,3225003553
$TCM_TEMP,20.70
$XPDR_PINGS,17
$PA_PMVER,0.1
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 24 14:06:58 PDT 2009
$24V_AH,23.9,3.813
$10V_AH,9.9,1.423
$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,23.950,31.200,221.625,106.025,0.000,0.000,0.000,0.000,4.250,0.000,33.218,0.000,1367.462,391.447,610.019,43.666,32.318,670.306,0.000,437.782,0.000,0.540,0.000
$DEVICE_MAMPS,171.041,49.855,778.505,659.620,0.000,103.000,160.000,223.000,420.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,159.492,0.000,0.000,0.000,0.000,0.000,2372.441,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,89.509,0.000
$MEM,324696
$DATA_FILE_SIZE,6449,239
$CAP_FILE_SIZE,52193,0
$CFSIZE,260034560,255143936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,215406,4742.894,-12225.172,29,0.9,33,18.2