version: 66.07
glider: 23
mission: 14
dive: 53
start: 3 24 110 15 32 1
data:
$ID,23
$MISSION,14
$DIVE,53
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,-41939.449
$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
$GPS1,240310,152620,1913.207,-15634.313,10,1.5,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.4
$GPS2,240310,153119,1913.105,-15634.175,32,1.5,32,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.277,0.065
$KALMAN_X,-37987.4,305.0,151.7,-10849.5,262.8
$KALMAN_Y,23800.2,622.4,-652.0,-78424.8,-188.6
$MHEAD_RNG_PITCHd_Wd,67.2,61800,-14.8,-10.000
$D_GRID,90
$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,-146.0,0.0,0.0,0,93,0.00,0.00,-68.28,0.000,2,0.000,0.000,363,2349,2734,0,0,0,0,0,0
$GC,95,-1.15,-146.0,3.3,-4.8,13,126,10.80,0.00,-17.12,0.000,6,0.171,0.000,2216,2349,3438,0,0,0,0,0,0
$GC,189,-1.15,-146.0,19.2,-16.5,31,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2349,3438,0,0,0,0,0,0
$GC,261,-1.15,-146.0,31.4,-17.0,39,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2348,3438,0,0,0,0,0,0
$GC,447,-1.15,-146.0,63.0,-18.2,57,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2348,3439,0,0,0,0,0,0
$STATE,611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,611,begin apogee
$GC,615,-0.33,0.0,91.4,16.2,73,727,0.90,0.00,108.30,0.643,6,0.092,0.000,2400,2348,2840,0,0,0,0,0,0
$STATE,728,end apogee,CONTROL_FINISHED_OK
$STATE,728,begin climb
$GC,730,1.15,146.0,98.0,0.0,84,846,1.45,0.00,108.32,0.636,6,0.048,0.000,2725,2348,2244,0,0,0,0,0,0
$GC,1031,1.32,302.2,87.4,5.2,114,1152,0.17,0.00,116.32,0.625,6,0.047,0.000,2778,2348,1607,0,0,0,0,0,0
$GC,1337,1.32,302.2,57.2,10.5,144,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2348,1604,0,0,0,0,0,0
$GC,1524,1.32,302.2,38.0,10.7,162,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2348,1603,0,0,0,0,0,0
$GC,1710,1.36,340.3,18.9,8.8,181,1742,0.00,0.00,29.25,0.572,6,0.000,0.000,2778,2348,1453,0,0,0,0,0,0
$GC,1805,1.36,340.3,9.3,11.1,199,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2348,1449,0,0,0,0,0,0
$STATE,1860,end climb,SURFACE_DEPTH_REACHED
$STATE,1860,begin surface coast
$FINISH,0.4,1.023772
$STATE,1887,end surface coast,CONTROL_FINISHED_OK
$STATE,1887,begin surface
$SM_CCo,1905,16.35,0.538,0,0,1311,375.06
$SM_GC,1.14,0.00,0.00,16.35,0.000,0.000,0.538,359,2349,1311,-9.73,-0.06,375.06
$IRIDIUM_FIX,1906.95,-15634.00,170911,090937
$TT8_MAMPS,0.159537
$HUMID,1078023861
$TCM_TEMP,24.90
$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,1267/1265
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,42.4/30829585/17744362
$PA_HOME,12.2/482055/423375
$PA_ROOT,89.3/128908/13730
$PA_LOG,3.6/298663/287839
$PA_DATA1,60.4/7837685/3102843
$PA_DATA0,46.2/7836665/4216953
$24V_AH,24.1,15.909
$10V_AH,10.0,16.354
$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,23.750,0.000,362.200,16.350,0.000,0.000,0.000,0.000,0.000,0.000,34.489,0.000,1067.948,404.488,467.242,42.784,33.328,638.416,0.000,315.954,0.000,0.546,0.000
$DEVICE_MAMPS,171.360,0.000,642.600,537.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,138.539,0.000,0.000,0.000,0.000,0.000,2044.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,102.793,0.000,0.000,0.000
$MEM,353520
$DATA_FILE_SIZE,6814,215
$CAP_FILE_SIZE,49469,0
$CFSIZE,260034560,253087744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,160431,1912.551,-15633.603,8,2.0,13,9.6