version: 66.07
glider: 23
mission: 14
dive: 42
start: 3 23 110 23 18 24
data:
$ID,23
$MISSION,14
$DIVE,42
$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,90
$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,-41726.547
$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,2200
$C_ROLL_CLIMB,2300
$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,1
$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
$GPS1,230310,231237,1924.753,-15640.678,7,1.9,12,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.2
$GPS2,230310,231744,1924.643,-15640.669,11,1.9,11,9.6
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.278,-0.097
$KALMAN_X,-34853.1,-610.5,-117.8,-24088.2,126.0
$KALMAN_Y,48074.2,-503.4,-643.8,-80211.0,-1990.5
$MHEAD_RNG_PITCHd_Wd,99.5,77773,-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,-233.6,0.0,0.0,0,101,0.00,0.00,-76.55,0.000,2,0.000,0.000,360,2628,2801,0,0,0,0,0,0
$GC,104,-1.20,-233.6,3.3,-4.4,15,139,10.80,0.00,-22.80,0.000,4,0.166,0.000,2231,2628,3795,0,0,0,0,0,0
$GC,235,-1.20,-233.6,26.2,-16.9,37,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2628,3796,0,0,0,0,0,0
$GC,425,-1.20,-233.6,58.4,-16.7,56,428,0.00,0.00,0.00,0.000,4,0.000,0.000,2231,2628,3797,0,0,0,0,0,0
$GC,525,-1.20,-233.6,73.8,-14.4,65,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2628,3796,0,0,0,0,0,0
$GC,716,-1.20,-233.6,98.6,-11.7,84,720,0.00,2.58,0.00,0.000,4,0.000,0.028,2231,1279,3798,0,0,0,0,0,0
$GC,774,-1.20,-233.6,105.4,-11.4,87,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1279,3797,0,0,0,0,0,0
$GC,1085,-1.20,-233.6,143.3,-12.2,98,1093,0.00,0.00,0.00,0.000,4,0.000,0.000,2231,1279,3797,0,0,0,0,0,0
$GC,1188,-1.20,-233.6,155.4,-11.4,101,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1279,3797,0,0,0,0,0,0
$GC,1521,-1.20,-233.6,187.8,-9.6,112,1529,0.00,0.00,0.00,0.000,4,0.000,0.000,2231,1279,3797,0,0,0,0,0,0
$GC,1624,-1.20,-233.6,199.2,-11.4,115,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1279,3797,0,0,0,0,0,0
$GC,1955,-1.20,-233.6,236.6,-10.7,126,1964,0.00,0.00,0.00,0.000,4,0.000,0.000,2231,1279,3796,0,0,0,0,0,0
$GC,2059,-1.20,-233.6,247.1,-9.6,129,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1279,3796,0,0,0,0,0,0
$STATE,2327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2327,begin apogee
$GC,2332,-0.33,0.0,273.0,9.7,138,2517,0.90,0.00,176.98,0.814,6,0.070,0.000,2425,1279,2841,0,0,0,0,0,0
$STATE,2518,end apogee,CONTROL_FINISHED_OK
$STATE,2518,begin climb
$GC,2521,1.20,233.6,286.1,0.0,144,2707,1.48,0.00,176.65,0.805,4,0.035,0.000,2764,1279,1888,0,0,0,0,0,0
$GC,2722,1.20,233.6,284.0,10.2,150,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1279,1886,0,0,0,0,0,0
$GC,3042,1.20,233.6,244.7,12.0,161,3049,0.00,0.00,0.00,0.000,4,0.000,0.000,2765,1279,1883,0,0,0,0,0,0
$GC,3144,1.20,233.6,232.5,11.1,164,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1279,1882,0,0,0,0,0,0
$GC,3477,1.20,233.6,197.1,10.2,175,3485,0.00,2.42,0.00,0.000,4,0.000,0.031,2764,2533,1879,0,0,1,0,0,0
$GC,3494,1.21,243.4,195.6,9.7,175,3509,0.00,0.00,7.72,0.669,6,0.000,0.000,2764,2532,1848,0,0,0,0,0,0
$GC,3810,1.21,243.4,163.2,11.2,186,3818,0.00,0.00,0.00,0.000,4,0.000,0.000,2764,2532,1844,0,0,0,0,0,0
$GC,3913,1.21,243.4,150.9,11.0,189,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2532,1844,0,0,0,0,0,0
$GC,4246,1.21,243.4,113.0,11.5,200,4254,0.00,0.00,0.00,0.000,4,0.000,0.000,2764,2532,1843,0,0,0,0,0,0
$GC,4349,1.22,250.0,102.7,9.8,203,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2532,1843,0,0,0,0,0,0
$GC,4669,1.32,342.3,74.9,7.4,232,4750,0.10,2.25,76.20,0.698,4,0.069,0.025,2797,1383,1444,0,0,0,0,0,0
$GC,4847,1.32,342.3,54.4,13.9,249,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1384,1440,0,0,0,0,0,0
$GC,5043,1.32,342.3,28.3,12.2,268,5047,0.00,2.22,0.00,0.000,4,0.000,0.026,2797,2533,1438,0,0,0,0,0,0
$GC,5144,1.32,342.3,15.1,13.2,280,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2533,1437,0,0,0,0,0,0
$GC,5212,1.32,342.3,5.8,14.0,293,5217,0.00,0.00,0.00,0.000,4,0.000,0.000,2798,2533,1436,0,0,0,0,0,0
$STATE,5236,end climb,SURFACE_DEPTH_REACHED
$STATE,5237,begin surface coast
$FINISH,0.3,1.000100
$STATE,5258,end surface coast,CONTROL_FINISHED_OK
$STATE,5258,begin surface
$SM_CCo,5284,26.60,0.600,0,0,1209,400.08
$SM_GC,1.18,0.00,0.00,26.60,0.000,0.000,0.600,357,2534,1209,-9.86,9.44,400.08
$IRIDIUM_FIX,1918.37,-15642.38,160911,171745
$TT8_MAMPS,0.11984
$HUMID,1078076764
$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,49/112
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,14.710
$10V_AH,10.0,15.966
$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,23.975,9.475,437.550,26.600,0.000,0.000,0.000,0.000,0.000,0.000,13.617,0.000,3723.386,494.711,1117.805,82.004,33.334,1047.680,0.000,729.057,0.000,0.546,0.000
$DEVICE_MAMPS,166.005,31.365,813.960,599.760,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,199.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10139,302
$CAP_FILE_SIZE,78001,0
$CFSIZE,260034560,253530112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240310,004849,1923.455,-15640.441,12,1.7,30,9.6