version: 66.07
glider: 23
mission: 14
dive: 43
start: 3 24 110 1 14 53
data:
$ID,23
$MISSION,14
$DIVE,43
$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,-41788.648
$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,2475
$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
$GPS1,240310,010914,1923.085,-15640.251,11,1.4,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.0
$GPS2,240310,011413,1922.995,-15640.196,12,1.8,12,9.6
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.152,0.252
$KALMAN_X,-35328.6,-588.3,-263.9,-22659.3,124.2
$KALMAN_Y,45689.9,-828.6,-441.7,-80784.1,-1678.6
$MHEAD_RNG_PITCHd_Wd,21.4,75978,-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,-233.6,0.0,0.0,0,96,0.00,0.00,-73.07,0.000,2,0.000,0.000,358,2537,2713,0,0,0,0,0,0
$GC,99,-1.20,-233.6,3.1,-3.7,15,144,10.65,2.47,-26.85,0.000,4,0.168,0.039,2204,1272,3796,0,0,0,0,0,0
$GC,239,-1.20,-233.6,28.3,-20.4,38,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1273,3797,0,0,0,0,0,0
$GC,426,-1.20,-233.6,65.8,-19.3,56,430,0.00,2.28,0.00,0.000,4,0.000,0.025,2204,2447,3797,0,0,1,0,0,0
$GC,527,-1.20,-233.6,85.8,-19.4,65,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2447,3797,0,0,0,0,0,0
$GC,732,-1.20,-233.6,122.8,-17.7,77,739,0.00,0.00,0.00,0.000,4,0.000,0.000,2205,2447,3798,0,0,0,0,0,0
$GC,834,-1.20,-233.6,140.1,-16.8,80,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2447,3797,0,0,0,0,0,0
$GC,1166,-1.20,-233.6,186.9,-13.3,91,1174,0.00,2.28,0.00,0.000,4,0.000,0.029,2204,1271,3798,0,0,0,0,0,0
$GC,1253,-1.20,-233.6,197.6,-11.9,93,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1271,3797,0,0,0,0,0,0
$GC,1568,-1.20,-233.6,236.2,-12.6,104,1577,0.00,0.00,0.00,0.000,4,0.000,0.000,2204,1271,3797,0,0,0,0,0,0
$GC,1671,-1.20,-233.6,249.6,-12.4,107,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1271,3797,0,0,0,0,0,0
$STATE,1849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1849,begin apogee
$GC,1854,-0.33,0.0,271.0,11.5,113,2040,0.93,0.00,177.10,0.802,6,0.078,0.000,2400,1271,2841,0,0,0,0,0,0
$STATE,2041,end apogee,CONTROL_FINISHED_OK
$STATE,2041,begin climb
$GC,2043,1.20,233.6,280.2,0.0,119,2232,1.48,2.58,176.07,0.793,4,0.042,0.030,2734,2536,1887,0,0,0,0,0,0
$GC,2327,1.21,246.3,266.8,9.6,128,2345,0.00,0.00,11.20,0.695,6,0.000,0.000,2734,2536,1835,0,0,0,0,0,0
$GC,2658,1.21,246.3,230.0,11.7,139,2666,0.00,2.22,0.00,0.000,4,0.000,0.028,2735,1379,1832,0,0,0,0,0,0
$GC,2681,1.21,246.3,226.9,13.6,139,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1379,1831,0,0,0,0,0,0
$GC,2997,1.22,256.9,191.1,9.7,150,3012,0.00,0.00,8.70,0.677,4,0.000,0.000,2734,1379,1793,0,0,0,0,0,0
$GC,3107,1.35,375.9,183.4,6.6,153,3211,0.15,0.00,93.85,0.773,6,0.056,0.000,2779,1380,1307,0,0,0,0,0,0
$GC,3519,1.35,375.9,130.5,14.5,167,3527,0.00,2.22,0.00,0.000,4,0.000,0.027,2779,2539,1298,0,0,0,0,0,0
$GC,3623,1.35,375.9,114.8,14.1,170,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2539,1296,0,0,0,0,0,0
$GC,3938,1.35,375.9,70.1,13.5,193,3942,0.00,2.22,0.00,0.000,4,0.000,0.027,2779,1386,1294,0,0,0,0,0,0
$GC,4039,1.35,375.9,57.0,13.1,202,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1387,1294,0,0,0,0,0,0
$GC,4230,1.35,375.9,31.4,13.5,221,4234,0.00,2.20,0.00,0.000,4,0.000,0.025,2778,2531,1293,0,0,0,0,0,0
$GC,4331,1.35,375.9,18.2,13.4,231,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2531,1293,0,0,0,0,0,0
$GC,4400,1.35,375.9,9.6,12.0,244,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2531,1292,0,0,0,0,0,0
$STATE,4461,end climb,SURFACE_DEPTH_REACHED
$STATE,4461,begin surface coast
$FINISH,0.4,1.013874
$STATE,4488,end surface coast,CONTROL_FINISHED_OK
$STATE,4488,begin surface
$SM_CCo,4515,9.77,0.556,0,0,1210,400.08
$SM_GC,2.12,0.00,0.00,9.77,0.000,0.000,0.556,358,2532,1210,-9.74,9.39,400.08
$IRIDIUM_FIX,1916.08,-15642.38,160911,191918
$TT8_MAMPS,0.103362
$HUMID,1078056119
$TCM_TEMP,24.10
$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,75/126
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,14.858
$10V_AH,10.0,16.006
$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,23.725,18.475,466.925,9.775,0.000,0.000,0.000,0.000,0.000,0.000,14.660,0.000,3058.573,496.826,1005.858,71.462,33.317,995.151,0.000,659.782,0.000,0.545,0.000
$DEVICE_MAMPS,167.535,39.015,802.485,556.155,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,172.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6806,261
$CAP_FILE_SIZE,74034,0
$CFSIZE,260034560,253489152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240310,023207,1922.328,-15639.874,24,1.8,25,9.6