version: 66.07
glider: 22
mission: 14
dive: 19
start: 10 30 109 13 55 23
data:
$ID,22
$MISSION,14
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,200
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52177
$NAV_MODE,2
$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,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-246490.83
$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,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,2950
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,34
$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,-22.757658
$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
$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,100000.0
$GPS1,301009,135031,1912.219,-15557.310,11,1.4,28,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.6
$GPS2,301009,135444,1912.163,-15557.313,17,1.8,17,9.6
$SPEED_LIMITS,0.100,0.294
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15558.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.141,-0.258
$KALMAN_X,-6961.5,-173.2,-322.8,20965.5,79.1
$KALMAN_Y,22253.0,-757.0,83.8,-73410.2,72.1
$MHEAD_RNG_PITCHd_Wd,187.1,4182,-15.9,-10.000
$D_GRID,45
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.27,-194.7,0.0,0.0,0,91,0.00,0.00,-74.10,0.000,2,0.000,0.000,376,2960,2689,0,0,0,0,0,0
$GC,94,-1.27,-194.7,3.4,-8.0,14,126,9.98,1.77,-17.65,0.000,4,0.160,0.077,2240,3943,3415,0,0,0,0,0,0
$STATE,241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,241,begin apogee
$GC,247,-0.33,0.0,45.5,28.5,34,404,1.00,0.00,151.50,0.466,6,0.107,0.000,2445,2781,2617,0,0,0,0,0,0
$STATE,406,end apogee,CONTROL_FINISHED_OK
$STATE,406,begin climb
$GC,408,1.27,194.7,59.5,0.0,50,574,1.62,2.40,153.60,0.457,4,0.082,0.045,2795,1412,1823,0,0,0,0,0,0
$GC,670,1.40,309.8,49.3,6.0,75,773,0.12,2.38,93.47,0.444,6,0.088,0.043,2828,2815,1352,0,0,0,0,0,0
$GC,958,1.40,309.8,19.7,12.0,103,964,0.00,1.98,0.00,0.000,4,0.000,0.059,2828,3948,1348,0,0,0,0,0,0
$GC,990,1.40,309.8,15.6,12.0,109,995,0.00,1.92,0.00,0.000,6,0.000,0.039,2828,2802,1347,0,0,0,0,0,0
$GC,1058,1.40,309.8,7.3,11.5,122,1064,0.00,2.40,0.00,0.000,4,0.000,0.050,2828,1416,1346,0,0,0,0,0,0
$GC,1078,1.40,309.8,4.8,12.2,126,1085,0.00,2.38,0.00,0.000,6,0.000,0.044,2828,2792,1346,0,0,0,0,0,0
$STATE,1092,end climb,SURFACE_DEPTH_REACHED
$STATE,1092,begin surface coast
$FINISH,0.2,0.999740
$STATE,1119,end surface coast,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$SM_CCo,1137,41.08,0.405,0,0,987,400.08
$SM_GC,0.97,0.00,0.00,41.08,0.000,0.000,0.405,370,2964,987,-9.89,0.37,400.08
$IRIDIUM_FIX,1906.95,-15556.22,250411,080807
$TT8_MAMPS,0.301431
$HUMID,1078248377
$TCM_TEMP,25.60
$XPDR_PINGS,0
$PA_PMVER,0.2
$PA_ROOTFSVER,rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009
$PA_DFQS,0/0
$PA_CMQS,0/0
$PA_ROOT,87.1/128908/16631
$PA_HOME,2.9/483886/469900
$PA_LOG,3.7/297829/286872
$PA_DATA0,22.1/7836665/6106592
$PA_DATA1,0.6/7836665/7791576
$PA_USB,87.1/128908/16631
$24V_AH,24.0,5.831
$10V_AH,9.9,10.439
$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,23.400,17.450,398.575,41.075,0.000,0.000,0.000,0.000,0.000,0.000,17.389,0.000,372.555,457.307,354.724,43.653,33.329,680.221,0.000,260.749,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,76.700,466.336,404.976,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,81.716,0.000,0.000,0.000,0.000,0.000,1256.900,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,240.822,0.000
$MEM,324156
$DATA_FILE_SIZE,3312,134
$CAP_FILE_SIZE,56337,0
$CFSIZE,260034560,255545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.380,181.9,1
$GPS,301009,141606,1911.877,-15557.387,34,1.3,44,9.6