version: 66.07
glider: 23
mission: 14
dive: 47
start: 3 24 110 7 35 1
data:
$ID,23
$MISSION,14
$DIVE,47
$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,-41888.336
$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
$GPS1,240310,072701,1919.072,-15637.608,6,1.3,12,9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.1
$GPS2,240310,073419,1918.940,-15637.494,32,1.3,32,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.240,0.154
$KALMAN_X,-37066.8,308.6,176.0,-17549.1,-896.2
$KALMAN_Y,37004.2,-1309.2,-16.5,-79583.3,-929.1
$MHEAD_RNG_PITCHd_Wd,47.7,69345,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-64.68,0.000,2,0.000,0.000,358,2350,2643,0,0,0,0,0,0
$GC,87,-1.15,-146.0,3.0,-4.5,13,122,10.82,0.00,-20.65,0.000,6,0.170,0.000,2216,2349,3438,0,0,0,0,0,0
$GC,185,-1.15,-146.0,18.3,-17.9,32,190,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3439,0,0,0,0,0,0
$GC,252,-1.15,-146.0,28.9,-15.1,40,253,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3439,0,0,0,0,0,0
$GC,438,-1.15,-146.0,60.7,-17.2,58,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3440,0,0,0,0,0,0
$GC,625,-1.15,-146.0,90.4,-16.2,76,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3442,0,0,0,0,0,0
$GC,819,-1.15,-146.0,117.5,-13.4,87,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3442,0,0,0,0,0,0
$GC,1122,-1.15,-146.0,158.7,-14.4,97,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3442,0,0,0,0,0,0
$GC,1425,-1.15,-146.0,194.3,-11.3,107,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3443,0,0,0,0,0,0
$GC,1729,-1.15,-146.0,229.6,-11.9,117,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3443,0,0,0,0,0,0
$GC,2032,-1.15,-146.0,260.6,-9.9,127,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2348,3442,0,0,0,0,0,0
$STATE,2121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2121,begin apogee
$GC,2126,-0.33,0.0,270.6,10.7,130,2247,0.88,0.00,112.15,0.822,6,0.086,0.000,2397,2349,2840,0,0,0,0,0,0
$STATE,2248,end apogee,CONTROL_FINISHED_OK
$STATE,2249,begin climb
$GC,2251,1.15,146.0,277.2,0.0,134,2371,1.48,0.00,111.90,0.811,6,0.043,0.000,2727,2349,2245,0,0,0,0,0,0
$GC,2667,1.24,230.2,260.8,7.4,148,2739,0.00,0.00,65.45,0.809,6,0.000,0.000,2727,2348,1901,0,0,0,0,0,0
$GC,3031,1.24,231.4,226.8,10.0,160,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2349,1896,0,0,0,0,0,0
$GC,3334,1.27,256.8,197.7,9.2,170,3366,0.10,0.00,21.10,0.775,6,0.070,0.000,2756,2348,1793,0,0,0,0,0,0
$GC,3667,1.28,265.5,163.5,9.7,181,3680,0.00,0.00,7.95,0.672,6,0.000,0.000,2756,2349,1758,0,0,0,0,0,0
$GC,3970,1.28,265.5,131.9,10.3,191,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2349,1756,0,0,0,0,0,0
$GC,4273,1.29,281.0,103.9,9.5,201,4292,0.00,0.00,13.10,0.693,6,0.000,0.000,2756,2348,1694,0,0,0,0,0,0
$GC,4584,1.29,281.0,71.8,11.0,227,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2349,1692,0,0,0,0,0,0
$GC,4769,1.34,324.3,52.9,8.7,245,4809,0.00,0.00,35.00,0.683,6,0.000,0.000,2756,2349,1516,0,0,0,0,0,0
$GC,4996,1.39,372.9,32.3,8.5,267,5036,0.10,0.00,38.85,0.654,6,0.067,0.000,2789,2349,1320,0,0,0,0,0,0
$GC,5225,1.39,372.9,4.3,14.0,300,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2349,1313,0,0,0,0,0,0
$STATE,5233,end climb,SURFACE_DEPTH_REACHED
$STATE,5233,begin surface coast
$FINISH,0.4,1.023801
$STATE,5254,end surface coast,CONTROL_FINISHED_OK
$STATE,5255,begin surface
$SM_CCo,5341,0.00,0.000,0,0,1310,375.55
$SM_GC,1.40,10.57,0.00,0.00,0.022,0.000,0.000,356,2349,1310,-9.65,0.06,375.55
$IRIDIUM_FIX,1911.51,-15636.09,170911,000028
$TT8_MAMPS,0.103362
$HUMID,1078101281
$TCM_TEMP,23.80
$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,152/208
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,15.323
$10V_AH,10.1,16.131
$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,23.950,0.000,405.500,0.000,0.000,24.660,29.763,227.962,0.000,0.000,35.002,0.000,4133.047,484.514,1077.749,140.828,33.327,810.979,0.000,444.634,0.000,0.545,0.000
$DEVICE_MAMPS,169.830,0.000,822.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,203.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353588
$DATA_FILE_SIZE,10179,306
$CAP_FILE_SIZE,46153,0
$CFSIZE,260034560,253321216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,090549,1918.124,-15637.431,26,1.8,27,9.6