version: 66.07
glider: 23
mission: 14
dive: 44
start: 3 24 110 3 7 41
data:
$ID,23
$MISSION,14
$DIVE,44
$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,20
$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,-41884.562
$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,30
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2450
$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
$GPS1,240310,030208,1921.798,-15639.275,11,1.2,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.5
$GPS2,240310,030701,1921.707,-15639.179,12,1.2,12,9.6
$SPEED_LIMITS,0.275,0.294
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.253,0.151
$KALMAN_X,-34941.4,-216.8,-161.4,-21771.0,353.0
$KALMAN_Y,42699.1,-1473.7,-357.3,-79597.4,-1348.0
$MHEAD_RNG_PITCHd_Wd,49.5,73554,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.20,-233.6,0.0,0.0,0,99,0.00,0.00,-79.38,0.000,2,0.000,0.000,357,2535,2871,0,0,0,0,0,0
$GC,102,-1.20,-233.6,3.5,-5.4,16,138,10.62,1.33,-20.23,0.000,4,0.166,0.042,2204,1758,3795,0,0,0,0,0,0
$GC,233,-1.20,-233.6,29.2,-19.9,37,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1758,3797,0,0,0,0,0,0
$GC,419,-1.20,-233.6,63.4,-17.9,55,422,0.00,0.00,0.00,0.000,4,0.000,0.000,2204,1758,3796,0,0,0,0,0,0
$GC,520,-1.20,-233.6,80.4,-16.8,64,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1758,3796,0,0,0,0,0,0
$GC,719,-1.20,-233.6,109.4,-13.4,80,727,0.00,0.95,0.00,0.000,4,0.000,0.025,2204,2270,3796,0,0,0,0,0,0
$GC,822,-1.20,-233.6,124.7,-14.9,83,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2270,3796,0,0,0,0,0,0
$GC,1153,-1.20,-233.6,176.6,-15.7,94,1161,0.00,0.00,0.00,0.000,4,0.000,0.000,2204,2270,3797,0,0,0,0,0,0
$GC,1251,-1.20,-233.6,191.7,-15.7,97,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2270,3797,0,0,0,0,0,0
$GC,1588,-1.20,-233.6,240.3,-13.4,108,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2270,3796,0,0,0,0,0,0
$STATE,1828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1828,begin apogee
$GC,1833,-0.33,0.0,270.6,12.3,116,2018,0.93,0.00,176.65,0.802,6,0.078,0.000,2400,2270,2841,0,0,0,0,0,0
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2022,1.20,233.6,280.0,0.0,122,2208,1.48,0.80,175.95,0.793,4,0.042,0.026,2734,1866,1888,0,0,0,0,0,0
$GC,2255,1.20,233.6,268.2,12.1,129,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1861,1886,0,0,0,0,0,0
$GC,2576,1.20,233.6,229.7,11.3,140,2583,0.00,0.93,0.00,0.000,4,0.000,0.032,2734,2349,1883,0,0,0,0,0,0
$GC,2678,1.30,327.3,221.4,7.3,143,2758,0.10,0.00,72.75,0.783,6,0.067,0.000,2768,2349,1505,0,0,0,0,0,0
$GC,3066,1.30,327.3,173.7,13.7,156,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2349,1497,0,0,0,0,0,0
$GC,3370,1.30,327.3,131.3,14.4,166,3378,0.00,0.88,0.00,0.000,4,0.000,0.024,2768,1864,1494,0,0,0,0,0,0
$GC,3473,1.30,327.3,117.2,12.6,169,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1864,1494,0,0,0,0,0,0
$GC,3787,1.30,327.3,82.2,10.1,190,3791,0.00,0.00,0.00,0.000,4,0.000,0.000,2768,1864,1492,0,0,0,0,0,0
$GC,3888,1.30,327.3,71.2,10.9,199,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1864,1493,0,0,0,0,0,0
$GC,4074,1.30,327.3,50.9,10.4,217,4077,0.00,0.00,0.00,0.000,4,0.000,0.000,2768,1865,1492,0,0,0,0,0,0
$GC,4175,1.30,327.3,39.5,11.1,226,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1864,1492,0,0,0,0,0,0
$GC,4362,1.30,327.3,17.9,11.7,245,4366,0.00,0.00,0.00,0.000,4,0.000,0.000,2768,1864,1492,0,0,0,0,0,0
$GC,4462,1.30,327.3,7.6,10.7,264,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1864,1492,0,0,0,0,0,0
$STATE,4507,end climb,SURFACE_DEPTH_REACHED
$STATE,4507,begin surface coast
$FINISH,0.4,1.022158
$STATE,4540,end surface coast,CONTROL_FINISHED_OK
$STATE,4540,begin surface
$SM_CCo,4566,32.78,0.606,0,0,1209,400.08
$SM_GC,1.38,0.00,0.00,32.78,0.000,0.000,0.606,361,1860,1209,-9.72,-13.85,400.08
$IRIDIUM_FIX,1913.80,-15637.28,160911,212117
$TT8_MAMPS,0.111601
$HUMID,1078057410
$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,79/126
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,15.015
$10V_AH,10.1,16.048
$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,23.550,4.875,425.350,32.775,0.000,0.000,0.000,0.000,0.000,0.000,14.640,0.000,3186.717,492.611,958.656,71.279,33.325,945.097,0.000,629.964,0.000,0.546,0.000
$DEVICE_MAMPS,166.005,42.075,801.720,605.880,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,185.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353552
$DATA_FILE_SIZE,10172,279
$CAP_FILE_SIZE,78749,0
$CFSIZE,260034560,253427712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,042613,1920.890,-15638.452,26,1.4,27,9.6