version: 66.06
glider: 23
mission: 9
dive: 1
start: 8 5 109 18 13 28
data:
$ID,23
$MISSION,9
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,30
$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,670
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34126.301
$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,64
$R_STBD_OVSHOOT,49
$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
$GPS1,180013,4743.820,-12224.246,27,1.8,27,18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-64.6
$GPS2,181231,4743.846,-12224.334,14,2.3,33,18.2
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,THREE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.230
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,146.9,1621,-18.7,-10.000
$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,-1.33,-146.6,0.0,0.0,0,147,0.00,0.00,-128.77,0.000,6,0.000,0.000,358,1863,3886,0,0,0,0,0,0
$GC,149,-1.33,-146.6,0.5,-0.4,26,165,10.75,0.00,0.00,0.000,6,0.180,0.000,2171,1863,3888,0,0,0,0,0,0
$GC,228,-1.33,-146.6,0.6,0.2,41,234,0.00,2.55,0.00,0.000,4,0.000,0.030,2171,496,3889,0,0,0,0,0,0
$GC,244,-1.33,-146.6,1.3,-3.5,44,250,0.00,2.53,0.00,0.000,6,0.000,0.025,2171,1868,3888,0,0,0,0,0,0
$GC,313,-1.33,-146.6,7.2,-9.4,57,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1869,3888,0,0,0,0,0,0
$GC,381,-1.33,-146.6,13.5,-8.4,70,387,0.00,2.60,0.00,0.000,4,0.000,0.040,2171,507,3889,0,0,0,0,0,0
$GC,392,-1.33,-146.6,14.4,-8.7,72,398,0.00,2.55,0.00,0.000,6,0.000,0.025,2171,1887,3888,0,0,0,0,0,0
$GC,466,-1.33,-146.6,21.0,-8.1,85,470,0.00,2.50,0.00,0.000,4,0.000,0.037,2171,3311,3889,0,0,0,0,0,0
$GC,535,-1.33,-146.6,26.5,-8.2,91,541,0.00,2.45,0.00,0.000,6,0.000,0.028,2171,1919,3889,0,0,0,0,0,0
$GC,727,-1.33,-146.6,41.5,-7.8,110,730,0.00,2.45,0.00,0.000,4,0.000,0.036,2169,3314,3888,0,0,0,0,0,0
$STATE,767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,767,begin apogee
$GC,774,-0.31,0.0,45.0,8.6,114,890,1.12,0.00,108.30,0.691,6,0.100,0.000,2399,1880,3288,0,0,0,0,0,0
$STATE,891,end apogee,CONTROL_FINISHED_OK
$STATE,891,begin climb
$GC,893,1.33,146.6,45.8,0.0,126,1010,1.60,2.78,107.97,0.660,4,0.044,0.048,2759,477,2690,0,0,0,0,0,0
$GC,1084,1.33,146.6,13.1,22.7,146,1090,0.00,2.62,0.00,0.000,6,0.000,0.023,2759,1891,2689,0,0,0,0,0,0
$STATE,1130,end climb,SURFACE_DEPTH_REACHED
$STATE,1130,begin surface coast
$FINISH,0.5,1.021926
$STATE,1141,end surface coast,CONTROL_FINISHED_OK
$STATE,1141,begin surface
$SM_CCo,1160,289.88,0.620,0,0,556,670.16
$SM_GC,0.54,0.00,0.00,289.88,0.000,0.000,0.620,362,1891,556,-9.70,0.08,670.16
$IRIDIUM_FIX,4726.11,-12222.38,301098,181814
$TT8_MAMPS,0.106613
$HUMID,3224995811
$TCM_TEMP,21.50
$XPDR_PINGS,29
$PA_PMVER,0.1
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 24 14:06:58 PDT 2009
$24V_AH,24.0,3.460
$10V_AH,9.9,1.099
$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,24.150,25.575,216.275,289.875,0.000,0.000,0.000,0.000,7.250,0.000,35.331,0.000,462.291,605.401,420.069,51.242,29.225,818.619,0.000,272.087,0.000,0.544,0.000
$DEVICE_MAMPS,180.245,47.554,691.067,619.736,0.000,103.000,160.000,223.000,420.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,101.578,0.000,0.000,0.000,0.000,0.000,1265.381,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,89.509,0.000
$MEM,324808
$DATA_FILE_SIZE,3346,157
$CAP_FILE_SIZE,75209,0
$CFSIZE,260034560,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050809,183808,4743.789,-12224.457,8,1.9,8,18.2