version: 66.07
glider: 23
mission: 14
dive: 49
start: 3 24 110 10 48 19
data:
$ID,23
$MISSION,14
$DIVE,49
$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,-41890.855
$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
$GPS1,240310,104006,1916.960,-15637.116,48,0.9,49,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.1
$GPS2,240310,104737,1916.794,-15636.986,15,1.6,15,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.281,-0.043
$KALMAN_X,-38112.5,352.6,-275.8,-15225.2,-536.4
$KALMAN_Y,30070.3,-261.1,79.0,-77717.6,-2304.4
$MHEAD_RNG_PITCHd_Wd,89.2,67631,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.15,-146.0,0.0,0.0,0,90,0.00,0.00,-69.03,0.000,2,0.000,0.000,359,2349,2737,0,0,0,0,0,0
$GC,93,-1.15,-146.0,3.2,-5.2,14,123,10.82,0.00,-16.83,0.000,6,0.171,0.000,2218,2349,3438,0,0,0,0,0,0
$GC,186,-1.15,-146.0,19.7,-17.4,32,191,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2349,3438,0,0,0,0,0,0
$GC,253,-1.15,-146.0,30.4,-16.4,39,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3439,0,0,0,0,0,0
$GC,439,-1.15,-146.0,59.7,-14.2,57,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3440,0,0,0,0,0,0
$GC,625,-1.15,-146.0,88.7,-17.0,75,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3441,0,0,0,0,0,0
$GC,819,-1.15,-146.0,123.3,-17.8,86,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3441,0,0,0,0,0,0
$GC,1123,-1.15,-146.0,163.2,-12.0,96,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3442,0,0,0,0,0,0
$GC,1426,-1.15,-146.0,195.7,-11.2,106,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3442,0,0,0,0,0,0
$GC,1730,-1.15,-146.0,227.5,-10.6,116,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2349,3443,0,0,0,0,0,0
$GC,2033,-1.15,-146.0,260.6,-10.9,126,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2349,3442,0,0,0,0,0,0
$STATE,2122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2122,begin apogee
$GC,2127,-0.33,0.0,270.2,10.6,129,2247,0.88,0.00,111.88,0.819,6,0.080,0.000,2402,2348,2841,0,0,0,0,0,0
$STATE,2249,end apogee,CONTROL_FINISHED_OK
$STATE,2249,begin climb
$GC,2251,1.15,146.0,273.5,0.0,133,2372,1.45,0.00,111.85,0.805,6,0.043,0.000,2727,2349,2245,0,0,0,0,0,0
$GC,2668,1.27,258.8,249.8,6.5,147,2762,0.12,0.00,87.07,0.805,6,0.062,0.000,2763,2348,1785,0,0,0,0,0,0
$GC,3062,1.27,258.8,209.8,11.3,160,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2349,1779,0,0,0,0,0,0
$GC,3365,1.27,258.8,178.0,10.6,170,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2349,1777,0,0,0,0,0,0
$GC,3669,1.29,280.3,150.8,9.3,180,3692,0.00,0.00,16.62,0.731,6,0.000,0.000,2763,2349,1698,0,0,0,0,0,0
$GC,3972,1.29,280.3,116.8,10.5,190,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2348,1694,0,0,0,0,0,0
$GC,4277,1.35,334.3,90.5,8.3,206,4322,0.00,0.00,43.05,0.710,6,0.000,0.000,2763,2349,1478,0,0,0,0,0,0
$GC,4504,1.35,334.3,69.2,10.6,228,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2349,1472,0,0,0,0,0,0
$GC,4690,1.35,334.3,49.1,11.2,246,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2348,1472,0,0,0,0,0,0
$GC,4877,1.36,344.8,30.0,9.7,264,4887,0.00,0.00,8.98,0.576,6,0.000,0.000,2763,2349,1434,0,0,0,0,0,0
$GC,5077,1.36,344.8,10.6,10.3,291,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2348,1433,0,0,0,0,0,0
$GC,5145,1.36,344.8,3.2,10.8,304,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2349,1433,0,0,0,0,0,0
$STATE,5152,end climb,SURFACE_DEPTH_REACHED
$STATE,5152,begin surface coast
$FINISH,0.2,1.023830
$STATE,5179,end surface coast,CONTROL_FINISHED_OK
$STATE,5179,begin surface
$SM_CCo,5206,15.12,0.583,0,0,1312,375.06
$SM_GC,1.39,0.00,0.00,15.12,0.000,0.000,0.583,360,2349,1312,-9.73,-0.03,375.06
$IRIDIUM_FIX,1909.23,-15631.00,170911,030340
$TT8_MAMPS,0.124334
$HUMID,1078087087
$TCM_TEMP,24.10
$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,207/262
$PA_USBDRIVE,/mnt/usba
$24V_AH,24.0,15.528
$10V_AH,10.0,16.185
$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,23.725,0.000,379.450,15.125,0.000,31.174,23.910,230.680,0.000,0.000,17.346,0.000,4013.780,471.865,1082.962,164.756,33.338,796.174,0.000,451.700,0.000,0.544,0.000
$DEVICE_MAMPS,170.595,0.000,819.315,582.930,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,207.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353496
$DATA_FILE_SIZE,10165,311
$CAP_FILE_SIZE,47489,0
$CFSIZE,260034560,253235200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,121719,1915.832,-15636.812,27,1.7,34,9.6