version: 66.07
glider: 23
mission: 14
dive: 41
start: 3 23 110 21 24 53
data:
$ID,23
$MISSION,14
$DIVE,41
$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,125
$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,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$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,19.6
$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,-41678.082
$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,2500
$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,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,525
$R_STBD_OVSHOOT,1209
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$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,-28.779308
$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,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,230310,211656,1926.350,-15640.899,11,2.0,11,9.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.7
$GPS2,230310,212413,1926.191,-15640.879,12,1.7,12,9.6
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,0.258
$KALMAN_X,-34740.1,-530.8,43.6,-24817.4,34.0
$KALMAN_Y,51577.9,-16.5,-592.9,-81380.9,-1721.5
$MHEAD_RNG_PITCHd_Wd,19.2,79160,-14.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.20,-233.5,0.0,0.0,0,102,0.00,0.00,-78.10,0.000,2,0.000,0.000,359,1437,2749,0,0,0,0,0,0
$GC,104,-1.20,-233.6,3.0,-4.4,16,145,10.95,0.10,-25.40,0.000,4,0.171,0.379,2230,1373,3795,0,0,0,0,0,0
$GC,304,-1.20,-233.6,34.8,-15.5,46,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1373,3795,0,0,0,0,0,0
$GC,500,-1.20,-233.6,63.3,-13.7,65,504,0.00,2.25,0.00,0.000,4,0.000,0.024,2230,2539,3796,0,0,0,0,0,0
$GC,526,-1.20,-233.6,67.2,-14.7,67,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2540,3795,0,0,0,0,0,0
$GC,713,-1.20,-233.6,93.0,-13.8,85,716,0.00,0.00,0.00,0.000,4,0.000,0.000,2230,2540,3796,0,0,0,0,0,0
$GC,958,-1.20,-233.6,126.8,-13.3,96,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2539,3796,0,0,0,0,0,0
$GC,1273,-1.20,-233.6,167.1,-12.5,107,1281,0.00,2.20,0.00,0.000,4,0.000,0.027,2230,1379,3797,0,0,0,0,0,0
$GC,1302,-1.20,-233.6,170.7,-12.7,108,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1379,3796,0,0,0,0,0,0
$GC,1638,-1.20,-233.6,207.3,-10.7,119,1646,0.00,0.00,0.00,0.000,4,0.000,0.000,2230,1380,3795,0,0,0,0,0,0
$GC,1827,-1.20,-233.6,228.1,-10.8,124,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1380,3795,0,0,0,0,0,0
$GC,2137,-1.20,-233.6,259.9,-9.9,135,2144,0.00,0.00,0.00,0.000,4,0.000,0.000,2230,1379,3794,0,0,0,0,0,0
$STATE,2242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2242,begin apogee
$GC,2247,-0.33,0.0,270.1,9.5,138,2432,0.90,0.00,177.15,0.815,6,0.070,0.000,2427,1379,2841,0,0,0,0,0,0
$STATE,2434,end apogee,CONTROL_FINISHED_OK
$STATE,2434,begin climb
$GC,2436,1.20,233.6,281.3,0.0,144,2625,1.48,2.47,176.90,0.807,4,0.037,0.032,2764,2631,1887,0,0,1,0,0,0
$GC,2865,1.20,233.6,255.7,11.4,157,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2631,1883,0,0,0,0,0,0
$GC,3180,1.20,233.6,216.9,12.6,168,3187,0.00,0.00,0.00,0.000,4,0.000,0.000,2764,2631,1880,0,0,0,0,0,0
$GC,3245,1.20,233.6,208.6,12.4,170,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2631,1880,0,0,0,0,0,0
$GC,3582,1.21,242.9,171.8,9.7,181,3595,0.00,0.03,7.10,0.653,4,0.000,0.161,2764,2564,1850,0,0,0,0,0,0
$GC,3835,1.30,331.0,152.6,7.5,189,3913,0.00,0.00,69.80,0.768,6,0.000,0.000,2764,2564,1489,0,0,0,0,0,0
$GC,4231,1.30,331.0,104.9,13.3,202,4239,0.00,0.08,0.00,0.000,4,0.000,0.083,2764,2637,1482,0,0,0,0,0,0
$GC,4319,1.30,331.0,94.2,11.9,206,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2637,1481,0,0,0,0,0,0
$GC,4514,1.30,331.0,70.2,10.7,225,4518,0.00,2.22,0.00,0.000,4,0.000,0.024,2764,1476,1481,0,0,0,0,0,0
$GC,4760,1.33,354.5,45.4,9.3,248,4781,0.10,0.00,18.38,0.646,6,0.068,0.000,2798,1477,1394,0,0,0,0,0,0
$GC,4968,1.33,354.5,19.4,12.8,268,4973,0.00,2.17,0.00,0.000,4,0.000,0.027,2798,2622,1391,0,0,0,0,0,0
$STATE,5093,end climb,SURFACE_DEPTH_REACHED
$STATE,5093,begin surface coast
$FINISH,0.4,1.011464
$STATE,5114,end surface coast,CONTROL_FINISHED_OK
$STATE,5114,begin surface
$SM_CCo,5141,23.15,0.604,0,0,1209,400.08
$SM_GC,0.98,0.00,0.00,23.15,0.000,0.000,0.604,360,2627,1209,-9.84,9.24,400.08
$IRIDIUM_FIX,1918.37,-15639.38,160911,151559
$TT8_MAMPS,0.104111
$HUMID,1078070313
$TCM_TEMP,23.90
$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,33/89
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.9,14.567
$10V_AH,10.1,15.925
$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,24.075,11.525,449.325,23.150,0.000,0.000,0.000,0.000,0.000,0.000,14.648,0.000,3508.110,497.863,1179.838,84.031,33.339,1052.870,0.000,825.228,0.000,0.545,0.000
$DEVICE_MAMPS,170.595,378.675,814.725,603.585,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,196.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353500
$DATA_FILE_SIZE,10168,296
$CAP_FILE_SIZE,83939,0
$CFSIZE,260034560,253583360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230310,225300,1925.194,-15640.706,34,2.0,41,9.6