version: 66.07
glider: 23
mission: 14
dive: 48
start: 3 24 110 9 13 14
data:
$ID,23
$MISSION,14
$DIVE,48
$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,-41889.598
$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
$GPS1,240310,090549,1918.124,-15637.431,26,1.8,27,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.2
$GPS2,240310,091232,1917.964,-15637.289,12,1.8,12,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.189,0.213
$KALMAN_X,-37792.0,337.8,-72.7,-16256.8,-856.0
$KALMAN_Y,33946.6,-915.5,100.5,-78800.0,-1186.7
$MHEAD_RNG_PITCHd_Wd,32.0,68585,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-69.90,0.000,2,0.000,0.000,356,2349,2774,0,0,0,0,0,0
$GC,93,-1.15,-146.0,3.4,-5.0,14,124,10.77,0.00,-15.07,0.000,6,0.168,0.000,2215,2349,3437,0,0,0,0,0,0
$GC,187,-1.15,-146.0,20.9,-16.3,32,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3437,0,0,0,0,0,0
$GC,373,-1.15,-146.0,53.0,-17.0,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3439,0,0,0,0,0,0
$GC,559,-1.15,-146.0,83.6,-16.1,68,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3440,0,0,0,0,0,0
$GC,764,-1.15,-146.0,112.1,-12.9,82,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3441,0,0,0,0,0,0
$GC,1068,-1.15,-146.0,155.4,-14.7,92,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$GC,1371,-1.15,-146.0,195.9,-12.1,102,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$GC,1675,-1.15,-146.0,232.2,-11.2,112,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$GC,1978,-1.15,-146.0,263.3,-10.8,122,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2349,3442,0,0,0,0,0,0
$STATE,2037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2037,begin apogee
$GC,2042,-0.33,0.0,270.6,11.6,124,2162,0.90,0.00,112.00,0.813,6,0.085,0.000,2401,2349,2841,0,0,0,0,0,0
$STATE,2164,end apogee,CONTROL_FINISHED_OK
$STATE,2164,begin climb
$GC,2166,1.15,146.0,278.8,0.0,128,2286,1.45,0.00,111.85,0.806,6,0.045,0.000,2726,2349,2245,0,0,0,0,0,0
$GC,2583,1.23,221.3,264.1,7.7,142,2648,0.00,0.00,58.45,0.806,6,0.000,0.000,2726,2349,1937,0,0,0,0,0,0
$GC,2946,1.31,297.3,234.2,7.6,154,3014,0.15,0.00,59.75,0.803,6,0.059,0.000,2766,2349,1629,0,0,0,0,0,0
$GC,3310,1.31,297.3,190.5,12.2,166,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2349,1621,0,0,0,0,0,0
$GC,3613,1.31,297.3,155.5,11.7,176,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2349,1619,0,0,0,0,0,0
$GC,3917,1.31,297.3,117.3,12.3,186,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2348,1618,0,0,0,0,0,0
$GC,4223,1.31,297.3,84.9,10.0,204,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2349,1618,0,0,0,0,0,0
$GC,4409,1.31,297.3,64.3,11.4,222,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2349,1617,0,0,0,0,0,0
$GC,4596,1.31,297.3,43.3,11.1,240,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2349,1617,0,0,0,0,0,0
$GC,4782,1.37,352.0,25.7,8.3,258,4826,0.00,0.00,42.45,0.656,6,0.000,0.000,2766,2349,1405,0,0,0,0,0,0
$STATE,5011,end climb,SURFACE_DEPTH_REACHED
$STATE,5011,begin surface coast
$FINISH,0.3,1.023952
$STATE,5038,end surface coast,CONTROL_FINISHED_OK
$STATE,5038,begin surface
$SM_CCo,5064,12.15,0.579,0,0,1311,375.06
$SM_GC,1.69,0.00,0.00,12.15,0.000,0.000,0.579,360,2349,1311,-9.73,-0.03,375.06
$IRIDIUM_FIX,1909.23,-15638.19,170911,010152
$TT8_MAMPS,0.104111
$HUMID,1078072893
$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,182/182
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,15.425
$10V_AH,10.0,16.157
$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,23.775,0.000,384.500,12.150,0.000,22.924,28.734,212.713,0.000,0.000,14.803,0.000,3908.650,466.403,1031.474,136.726,33.328,778.466,0.000,436.125,0.000,0.544,0.000
$DEVICE_MAMPS,168.300,0.000,813.195,579.105,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,199.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10154,300
$CAP_FILE_SIZE,43994,0
$CFSIZE,260034560,253284352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,104006,1916.960,-15637.116,48,0.9,49,9.6