version: 66.07
glider: 22
mission: 17
dive: 3
start: 3 16 110 21 22 22
data:
$ID,22
$MISSION,17
$DIVE,3
$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,52198
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-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,350
$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,-254716.78
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-22.561892
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,15
$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,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,160310,211722,1942.957,-15606.668,11,2.5,30,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.6
$GPS2,160310,212143,1943.092,-15606.726,17,1.3,34,9.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.106,-0.235
$KALMAN_X,-1069.5,-596.8,-583.1,-275.7,-1859.4
$KALMAN_Y,2137.5,1180.7,1153.4,583.6,3714.1
$MHEAD_RNG_PITCHd_Wd,146.0,6469,-18.5,-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,-1.25,-146.1,0.0,0.0,0,99,0.00,0.00,-80.40,0.000,2,0.000,0.000,371,2068,2668,0,0,0,0,0,0
$GC,102,-1.25,-146.1,3.4,-6.3,16,132,10.38,2.40,-14.70,0.000,4,0.148,0.068,2371,3460,3214,0,0,0,0,0,0
$GC,233,-1.25,-146.1,27.2,-17.6,37,239,0.00,2.40,0.00,0.000,6,0.000,0.041,2371,2042,3214,0,0,0,0,0,0
$GC,424,-1.25,-146.1,58.3,-16.1,56,432,0.00,2.47,0.00,0.000,4,0.000,0.056,2371,3459,3214,0,0,0,0,0,0
$GC,602,-1.25,-146.1,88.2,-16.4,72,611,0.00,2.33,0.00,0.000,6,0.000,0.041,2371,2034,3214,0,0,0,0,0,0
$GC,801,-1.25,-146.1,119.6,-14.7,84,810,0.00,2.47,0.00,0.000,4,0.000,0.055,2371,3463,3214,0,0,0,0,0,0
$GC,969,-1.25,-146.1,146.3,-15.3,89,977,0.00,2.35,0.00,0.000,6,0.000,0.041,2371,2047,3214,0,0,0,0,0,0
$GC,1295,-1.25,-146.1,189.9,-13.2,100,1303,0.00,2.47,0.00,0.000,4,0.000,0.056,2371,3460,3214,0,0,0,0,0,0
$GC,1505,-1.25,-146.1,216.9,-12.3,106,1513,0.00,2.38,0.00,0.000,6,0.000,0.041,2371,2049,3214,0,0,0,0,0,0
$GC,1815,-1.25,-146.1,251.6,-11.2,116,1823,0.00,2.47,0.00,0.000,4,0.000,0.057,2370,3455,3214,0,0,0,0,0,0
$STATE,1980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1980,begin apogee
$GC,1987,-0.29,0.0,270.6,11.2,121,2109,0.98,0.00,114.22,0.662,6,0.088,0.000,2585,2045,2617,0,0,0,0,0,0
$STATE,2110,end apogee,CONTROL_FINISHED_OK
$STATE,2110,begin climb
$GC,2111,1.25,146.1,274.3,0.0,125,2242,1.48,2.50,118.15,0.656,4,0.057,0.056,2924,642,2022,0,0,0,0,0,0
$GC,2481,1.25,146.1,238.7,13.2,136,2491,0.00,2.38,0.00,0.000,6,0.000,0.044,2924,2058,2013,0,0,0,0,0,0
$GC,2791,1.25,146.1,200.3,11.8,147,2799,0.00,2.47,0.00,0.000,4,0.000,0.054,2924,642,2010,0,0,0,0,0,0
$GC,3038,1.27,163.7,173.5,9.2,154,3061,0.00,2.42,13.23,0.581,6,0.000,0.043,2924,2060,1950,0,0,0,0,0,0
$GC,3384,1.27,163.7,136.4,10.8,166,3392,0.00,2.45,0.00,0.000,4,0.000,0.051,2924,649,1945,0,0,0,0,0,0
$GC,3514,1.27,163.7,123.0,10.1,170,3522,0.00,2.40,0.00,0.000,6,0.000,0.042,2924,2069,1943,0,0,0,0,0,0
$GC,3827,1.27,166.3,92.6,9.9,185,3835,0.00,2.40,0.00,0.000,4,0.000,0.055,2924,3453,1941,0,0,0,0,0,0
$GC,4075,1.27,169.5,69.1,9.9,208,4090,0.00,2.38,4.62,0.412,6,0.000,0.041,2924,2039,1925,0,0,0,0,0,0
$GC,4274,1.33,221.6,52.7,7.6,227,4327,0.00,2.53,43.85,0.535,4,0.000,0.053,2924,3458,1712,0,0,0,0,0,0
$GC,4470,1.33,221.6,29.9,13.0,245,4476,0.00,2.40,0.00,0.000,6,0.000,0.039,2924,2053,1707,0,0,0,0,0,0
$GC,4666,1.33,221.6,6.8,12.3,274,4671,0.00,2.33,0.00,0.000,4,0.000,0.050,2924,653,1705,0,0,0,0,0,0
$STATE,4694,end climb,SURFACE_DEPTH_REACHED
$STATE,4694,begin surface coast
$FINISH,0.3,1.023446
$STATE,4716,end surface coast,CONTROL_FINISHED_OK
$STATE,4716,begin surface
$SM_CCo,4736,58.97,0.476,0,0,1190,350.04
$SM_GC,1.01,0.00,0.00,58.97,0.000,0.000,0.476,375,2066,1190,-10.47,0.40,350.04
$IRIDIUM_FIX,1934.38,-15606.90,090911,151547
$TT8_MAMPS,0.190246
$HUMID,1077979990
$TCM_TEMP,24.00
$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,0/58
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.2/30830577/30782530
$PA_USBA,0.6/30829585/30656346
$PA_HOME,6.3/483886/453552
$PA_ROOT,89.3/128908/13733
$PA_LOG,3.7/297829/286805
$PA_DATA1,0.3/7836665/7813701
$PA_DATA0,2.5/7836665/7644025
$24V_AH,23.9,4.259
$10V_AH,10.0,2.568
$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,23.775,53.225,294.075,58.975,0.000,0.000,0.000,0.000,0.000,0.000,35.442,0.000,3232.782,419.195,1124.951,86.744,31.396,962.982,0.000,815.161,0.000,0.537,0.000
$DEVICE_MAMPS,148.410,68.085,662.490,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,185.686,0.000,0.000,0.000,0.000,0.000,4867.650,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.425,0.000,0.000,0.000
$MEM,344780
$DATA_FILE_SIZE,10164,284
$CAP_FILE_SIZE,69059,0
$CFSIZE,260034560,257048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160310,224337,1943.928,-15607.635,59,1.7,59,9.7