version: 66.07
glider: 23
mission: 14
dive: 46
start: 3 24 110 6 1 18
data:
$ID,23
$MISSION,14
$DIVE,46
$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,-41887.078
$T_RSLEEP,7
$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,360
$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
$GPS1,240310,055331,1919.627,-15637.993,11,1.6,12,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.7
$GPS2,240310,060036,1919.480,-15637.896,40,1.1,40,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.278,-0.063
$KALMAN_X,-35976.5,43.9,128.3,-19022.5,-38.9
$KALMAN_Y,37924.4,-1456.8,-55.5,-79296.5,-2205.3
$MHEAD_RNG_PITCHd_Wd,93.2,70271,-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,18,-1.15,-146.0,0.0,0.0,0,90,0.00,0.00,-69.97,0.000,2,0.000,0.000,357,2349,2754,0,0,0,0,0,0
$GC,93,-1.15,-146.0,3.3,-4.6,14,123,10.73,0.00,-16.08,0.000,6,0.167,0.000,2215,2349,3437,0,0,0,0,0,0
$GC,187,-1.15,-146.0,20.4,-17.7,32,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3438,0,0,0,0,0,0
$GC,373,-1.15,-146.0,55.3,-17.8,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3440,0,0,0,0,0,0
$GC,559,-1.15,-146.0,83.3,-14.8,68,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3440,0,0,0,0,0,0
$GC,765,-1.15,-146.0,114.0,-15.1,82,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3441,0,0,0,0,0,0
$GC,1068,-1.15,-146.0,154.7,-12.5,92,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3442,0,0,0,0,0,0
$GC,1371,-1.15,-146.0,188.6,-10.6,102,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$GC,1675,-1.15,-146.0,221.7,-10.9,112,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$GC,1978,-1.15,-146.0,256.2,-10.7,122,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$STATE,2128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2128,begin apogee
$GC,2132,-0.33,0.0,273.3,11.1,127,2253,0.90,0.00,111.78,0.823,6,0.084,0.000,2403,2349,2840,0,0,0,0,0,0
$STATE,2255,end apogee,CONTROL_FINISHED_OK
$STATE,2255,begin climb
$GC,2257,1.15,146.0,277.0,0.0,131,2377,1.45,0.00,111.93,0.808,6,0.044,0.000,2725,2349,2245,0,0,0,0,0,0
$GC,2674,1.22,213.8,251.0,7.9,145,2737,0.00,0.00,52.58,0.799,6,0.000,0.000,2726,2349,1969,0,0,0,0,0,0
$GC,3037,1.30,290.6,220.4,7.6,157,3105,0.15,0.00,60.47,0.797,6,0.057,0.000,2767,2349,1656,0,0,0,0,0,0
$GC,3401,1.30,290.6,176.5,13.4,169,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2349,1649,0,0,0,0,0,0
$GC,3704,1.30,290.6,139.4,11.3,179,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2349,1646,0,0,0,0,0,0
$GC,4007,1.30,290.6,106.1,11.6,189,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2349,1646,0,0,0,0,0,0
$GC,4317,1.30,290.6,70.0,11.7,215,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2348,1644,0,0,0,0,0,0
$GC,4503,1.30,290.6,48.7,10.3,233,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2349,1644,0,0,0,0,0,0
$GC,4689,1.33,316.9,30.9,9.2,251,4711,0.00,0.00,19.95,0.648,6,0.000,0.000,2767,2349,1549,0,0,0,0,0,0
$GC,4898,1.35,331.8,10.2,9.5,280,4914,0.00,0.00,12.80,0.601,6,0.000,0.000,2767,2349,1487,0,0,0,0,0,0
$STATE,4970,end climb,SURFACE_DEPTH_REACHED
$STATE,4970,begin surface coast
$FINISH,0.2,1.023832
$STATE,4999,end surface coast,CONTROL_FINISHED_OK
$STATE,4999,begin surface
$SM_CCo,5025,21.90,0.610,0,0,1311,375.06
$SM_GC,0.67,0.00,0.00,21.90,0.000,0.000,0.610,359,2349,1311,-9.73,-0.03,375.06
$IRIDIUM_FIX,1913.80,-15638.19,160911,222219
$TT8_MAMPS,0.340795
$HUMID,1078072893
$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,127/179
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,15.219
$10V_AH,10.0,16.105
$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,23.750,0.000,369.500,21.900,0.000,32.663,25.266,205.481,0.000,0.000,42.238,0.000,3873.976,466.009,1053.806,137.662,33.319,777.669,0.000,434.687,0.000,0.545,0.000
$DEVICE_MAMPS,166.770,0.000,823.140,609.705,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,199.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353516
$DATA_FILE_SIZE,10130,299
$CAP_FILE_SIZE,43660,0
$CFSIZE,260034560,253366272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,072701,1919.072,-15637.608,6,1.3,12,9.6