version: 66.07
glider: 23
mission: 13
dive: 3
start: 3 9 110 20 13 38
data:
$ID,23
$MISSION,13
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,30
$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,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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51626
$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,47.733299
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-40239.379
$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,2475
$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,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,27
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3248
$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,-28.084686
$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,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$GPS1,090310,200834,4744.661,-12224.367,8,3.3,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-59.3
$GPS2,090310,201301,4744.685,-12224.354,14,1.6,31,18.2
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.237
$KALMAN_X,-14.6,-9.9,-9.3,74.3,-9.3
$KALMAN_Y,249.4,184.4,175.4,-547.3,168.8
$MHEAD_RNG_PITCHd_Wd,155.7,3152,-18.7,-10.000
$D_GRID,180
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.33,-146.6,0.0,0.0,0,204,0.00,0.00,-183.77,0.000,6,0.000,0.000,365,2348,3846,0,0,0,0,0,0
$GC,207,-1.33,-146.6,3.7,-9.9,37,222,10.35,2.35,0.00,0.000,4,0.164,0.040,2177,3775,3847,0,0,0,0,0,0
$GC,462,-1.33,-146.6,50.1,-15.9,68,470,0.00,2.33,0.00,0.000,6,0.000,0.028,2177,2347,3848,0,0,0,0,0,0
$STATE,748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,748,begin apogee
$GC,752,-0.31,0.0,91.1,14.4,95,873,1.10,0.00,111.80,0.833,6,0.102,0.000,2400,2345,3247,0,0,0,0,0,0
$STATE,873,end apogee,CONTROL_FINISHED_OK
$STATE,873,begin climb
$GC,875,1.33,146.6,96.4,0.0,107,1000,1.70,2.92,111.10,0.805,4,0.062,0.042,2768,941,2649,0,0,0,0,0,0
$GC,1068,1.33,146.6,79.6,12.8,126,1077,0.00,2.85,0.00,0.000,6,0.000,0.031,2768,2353,2649,0,0,0,0,0,0
$GC,1385,1.33,146.6,40.1,12.0,156,1394,0.00,2.88,0.00,0.000,4,0.000,0.041,2768,938,2649,0,0,0,0,0,0
$GC,1473,1.33,146.6,29.1,13.2,163,1483,0.00,2.83,0.00,0.000,6,0.000,0.031,2768,2350,2648,0,0,0,0,0,0
$STATE,1663,end climb,SURFACE_DEPTH_REACHED
$STATE,1663,begin surface coast
$FINISH,-0.1,1.012210
$STATE,1694,end surface coast,CONTROL_FINISHED_OK
$STATE,1694,begin surface
$SM_CCo,1717,146.90,0.723,0,0,1412,450.13
$SM_GC,0.55,0.00,0.00,146.90,0.000,0.000,0.723,361,2350,1412,-9.72,0.00,450.13
$IRIDIUM_FIX,4726.11,-12225.08,020911,141404
$TT8_MAMPS,0.149565
$HUMID,1078062571
$TCM_TEMP,19.80
$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,0/13
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,0.5/30829585/30686751
$PA_HOME,9.4/482055/436540
$PA_ROOT,89.3/128908/13739
$PA_LOG,3.6/298663/287890
$PA_DATA1,5.7/7837685/7389064
$PA_DATA0,0.6/7836665/7787153
$24V_AH,23.8,6.328
$10V_AH,9.8,1.377
$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,23.925,16.150,222.900,146.900,0.000,0.000,0.000,0.000,0.000,0.000,32.889,0.000,859.635,484.004,545.550,40.571,31.400,758.563,0.000,354.157,0.000,0.539,0.000
$DEVICE_MAMPS,164.138,42.185,832.962,722.514,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,130.778,0.000,0.000,0.000,0.000,0.000,1848.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,78.042,0.000,0.000,0.000
$MEM,323676
$DATA_FILE_SIZE,6824,199
$CAP_FILE_SIZE,41954,0
$CFSIZE,260034560,256159744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090310,204531,4744.637,-12224.423,9,1.6,26,18.2