version: 66.07
glider: 23
mission: 14
dive: 45
start: 3 24 110 4 34 18
data:
$ID,23
$MISSION,14
$DIVE,45
$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,150
$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,375
$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,-41885.82
$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
$GPS1,240310,042613,1920.890,-15638.452,26,1.4,27,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-64.8
$GPS2,240310,043336,1920.714,-15638.360,16,2.0,26,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.275,-0.072
$KALMAN_X,-35066.1,-143.6,-5.0,-20433.2,470.6
$KALMAN_Y,40082.6,-1577.6,-173.5,-78910.3,-1976.6
$MHEAD_RNG_PITCHd_Wd,95.1,71657,-14.8,-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,17,-1.15,-146.0,0.0,0.0,0,90,0.00,0.00,-70.38,0.000,2,0.000,0.000,361,1859,2633,0,0,0,0,0,0
$GC,93,-1.15,-146.0,3.1,-4.8,14,129,10.68,0.17,-21.73,0.000,4,0.164,0.223,2218,1725,3438,0,0,0,0,0,0
$GC,224,-1.15,-146.0,23.2,-17.5,37,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1726,3440,0,0,0,0,0,0
$GC,414,-1.15,-146.0,55.8,-17.0,56,418,0.00,1.02,0.00,0.000,4,0.000,0.023,2218,2285,3441,0,0,0,0,0,0
$GC,515,-1.15,-146.0,74.1,-17.9,65,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2285,3441,0,0,0,0,0,0
$GC,705,-1.15,-146.0,104.4,-14.8,82,713,0.00,0.00,0.00,0.000,4,0.000,0.000,2218,2285,3442,0,0,0,0,0,0
$GC,808,-1.15,-146.0,120.1,-15.0,85,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2285,3442,0,0,0,0,0,0
$GC,1139,-1.15,-146.0,166.2,-13.7,96,1148,0.00,0.00,0.00,0.000,4,0.000,0.000,2218,2285,3442,0,0,0,0,0,0
$GC,1243,-1.15,-146.0,179.1,-11.4,99,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2285,3443,0,0,0,0,0,0
$GC,1575,-1.15,-146.0,218.4,-13.1,110,1583,0.00,0.00,0.00,0.000,4,0.000,0.000,2218,2284,3443,0,0,0,0,0,0
$GC,1678,-1.15,-146.0,230.8,-11.5,113,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2285,3443,0,0,0,0,0,0
$GC,2009,-1.15,-146.0,269.4,-11.8,124,2018,0.00,0.00,0.00,0.000,4,0.000,0.000,2218,2285,3442,0,0,0,0,0,0
$STATE,2020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2020,begin apogee
$GC,2025,-0.33,0.0,270.6,11.1,124,2144,0.85,0.00,111.97,0.812,6,0.083,0.000,2398,2285,2841,0,0,0,0,0,0
$STATE,2146,end apogee,CONTROL_FINISHED_OK
$STATE,2146,begin climb
$GC,2148,1.15,146.0,275.2,0.0,128,2270,1.45,0.80,110.88,0.799,4,0.044,0.024,2725,1863,2244,0,0,0,0,0,0
$GC,2301,1.29,280.2,273.9,5.8,132,2414,0.12,0.00,102.43,0.793,6,0.059,0.000,2766,1861,1698,0,0,0,0,0,0
$GC,2727,1.29,280.2,220.9,12.0,146,2736,0.00,0.90,0.00,0.000,4,0.000,0.031,2766,2348,1692,0,0,0,0,0,0
$GC,2831,1.29,280.2,208.4,11.4,149,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2347,1690,0,0,0,0,0,0
$GC,3162,1.29,280.2,166.7,12.3,160,3170,0.00,0.00,0.00,0.000,4,0.000,0.000,2766,2348,1688,0,0,0,0,0,0
$GC,3266,1.29,280.2,154.6,12.3,163,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2347,1688,0,0,0,0,0,0
$GC,3596,1.30,287.0,118.9,9.8,174,3605,0.00,0.85,0.00,0.000,4,0.000,0.024,2766,1865,1687,0,0,0,0,0,0
$GC,3700,1.38,355.6,109.9,7.9,177,3765,0.00,0.00,58.22,0.731,6,0.000,0.000,2766,1865,1391,0,0,0,0,0,0
$GC,4074,1.38,355.6,64.6,14.1,206,4077,0.00,0.00,0.00,0.000,4,0.000,0.000,2766,1865,1384,0,0,0,0,0,0
$GC,4175,1.38,355.6,50.6,13.3,215,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1865,1384,0,0,0,0,0,0
$GC,4365,1.38,355.6,28.6,11.4,234,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1865,1383,0,0,0,0,0,0
$GC,4555,1.39,368.5,8.9,9.6,262,4571,0.00,0.90,10.10,0.576,4,0.000,0.028,2766,2347,1337,0,0,0,0,0,0
$STATE,4611,end climb,SURFACE_DEPTH_REACHED
$STATE,4611,begin surface coast
$FINISH,1.2,1.023810
$STATE,4627,end surface coast,CONTROL_FINISHED_OK
$STATE,4628,begin surface
$SM_CCo,4654,3.65,0.397,0,0,1311,375.06
$SM_GC,2.31,0.00,0.00,3.65,0.000,0.000,0.397,357,2347,1311,-9.74,-0.08,375.06
$IRIDIUM_FIX,1911.51,-15640.29,160911,212126
$TT8_MAMPS,0.11235
$HUMID,1078087087
$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,101/154
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,15.118
$10V_AH,10.1,16.079
$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,23.600,4.650,393.600,3.650,0.000,24.193,30.390,227.060,0.000,0.000,28.466,0.000,3243.318,413.076,1344.903,156.469,33.324,920.974,0.000,685.143,0.000,0.544,0.000
$DEVICE_MAMPS,163.710,222.615,811.665,397.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,183.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353568
$DATA_FILE_SIZE,10140,276
$CAP_FILE_SIZE,57156,0
$CFSIZE,260034560,253399040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,055331,1919.627,-15637.993,11,1.6,12,9.6