version: 66.07
glider: 22
mission: 17
dive: 4
start: 3 16 110 23 1 12
data:
$ID,22
$MISSION,17
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$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,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52198
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-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,325
$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,-254779.78
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2630
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$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,-22.561892
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,0
$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,15
$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,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,160310,225631,1944.321,-15607.807,12,1.5,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.3
$GPS2,160310,230032,1944.444,-15607.868,16,1.3,16,9.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.165,-0.198
$KALMAN_X,-3132.9,-1031.6,-681.4,328.5,-3269.4
$KALMAN_Y,4901.6,1960.3,1403.2,-689.3,4420.5
$MHEAD_RNG_PITCHd_Wd,130.6,9632,-18.5,-10.000
$D_GRID,660
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.25,-146.1,0.0,0.0,0,89,0.00,0.00,-70.60,0.000,2,0.000,0.000,374,2225,2677,0,0,0,0,0,0
$GC,91,-1.25,-146.1,3.5,-6.3,14,122,10.25,2.40,-13.98,0.000,4,0.148,0.071,2352,3588,3215,0,0,0,0,0,0
$GC,211,-1.25,-146.1,28.7,-19.5,33,218,0.00,2.38,0.00,0.000,6,0.000,0.040,2352,2191,3216,0,0,0,0,0,0
$GC,403,-1.25,-146.1,65.5,-18.9,52,407,0.00,2.50,0.00,0.000,4,0.000,0.057,2352,3589,3217,0,0,0,0,0,0
$GC,536,-1.25,-146.1,93.7,-20.6,64,542,0.00,2.35,0.00,0.000,6,0.000,0.040,2352,2198,3217,0,0,0,0,0,0
$GC,725,-1.25,-146.1,125.4,-16.2,73,733,0.00,2.45,0.00,0.000,4,0.000,0.057,2352,3588,3217,0,0,0,0,0,0
$GC,913,-1.25,-146.1,152.1,-13.2,79,922,0.00,2.33,0.00,0.000,6,0.000,0.040,2352,2191,3218,0,0,0,0,0,0
$GC,1251,-1.25,-146.1,198.6,-13.9,90,1259,0.00,2.47,0.00,0.000,4,0.000,0.057,2351,3595,3218,0,0,0,0,0,0
$GC,1408,-1.25,-146.1,222.0,-14.8,95,1417,0.00,2.35,0.00,0.000,6,0.000,0.040,2352,2190,3218,0,0,0,0,0,0
$GC,1740,-1.25,-146.1,264.7,-12.9,106,1748,0.00,2.47,0.00,0.000,4,0.000,0.059,2352,3593,3218,0,0,0,0,0,0
$GC,1966,-1.25,-146.1,293.7,-12.9,113,1975,0.00,2.35,0.00,0.000,6,0.000,0.041,2353,2199,3218,0,0,0,0,0,0
$GC,2327,-1.25,-146.1,333.5,-11.2,120,2335,0.00,2.47,0.00,0.000,4,0.000,0.062,2352,3595,3217,0,0,0,0,0,0
$GC,2435,-1.25,-146.1,346.4,-12.2,121,2443,0.00,2.38,0.00,0.000,6,0.000,0.042,2352,2196,3216,0,0,0,0,0,0
$GC,2749,-1.25,-146.1,381.3,-11.0,127,2757,0.00,2.50,0.00,0.000,4,0.000,0.065,2352,3586,3215,0,0,0,0,0,0
$GC,2975,-1.25,-146.1,408.7,-12.6,130,2983,0.00,2.38,0.00,0.000,6,0.000,0.044,2352,2198,3212,0,0,0,0,0,0
$GC,3300,-1.25,-146.1,446.4,-11.5,136,3308,0.00,2.53,0.00,0.000,4,0.000,0.067,2352,3589,3209,0,0,0,0,0,0
$GC,3467,-1.25,-146.1,464.9,-11.3,138,3475,0.00,2.40,0.00,0.000,6,0.000,0.045,2352,2198,3208,0,0,0,0,0,0
$GC,3792,-1.25,-146.1,499.2,-10.5,144,3800,0.00,2.53,0.00,0.000,4,0.000,0.072,2352,3581,3205,0,0,0,0,0,0
$GC,3964,-1.25,-146.1,517.6,-10.2,146,3972,0.00,2.40,0.00,0.000,6,0.000,0.047,2352,2201,3203,0,0,0,0,0,0
$GC,4284,-1.25,-146.1,548.8,-9.7,152,4292,0.00,2.55,0.00,0.000,4,0.000,0.075,2352,3583,3200,0,0,0,0,0,0
$GC,4488,-1.25,-146.1,569.9,-10.3,155,4496,0.00,2.42,0.00,0.000,6,0.000,0.048,2352,2200,3198,0,0,0,0,0,0
$GC,4834,-1.25,-146.1,602.5,-9.4,161,4843,0.00,2.60,0.00,0.000,4,0.000,0.075,2352,3591,3196,0,0,0,0,0,0
$GC,5077,-1.25,-146.1,627.4,-9.6,164,5086,0.00,2.47,0.00,0.000,6,0.000,0.051,2352,2191,3195,0,0,0,0,0,0
$GC,5385,-1.25,-146.1,657.2,-9.6,169,5393,0.00,2.60,0.00,0.000,4,0.000,0.077,2352,3588,3192,0,0,0,0,0,0
$STATE,5417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5417,begin apogee
$GC,5424,-0.29,0.0,660.5,10.9,169,5549,0.98,0.00,118.38,1.084,6,0.099,0.000,2560,2148,2620,0,0,0,0,0,0
$STATE,5550,end apogee,CONTROL_FINISHED_OK
$STATE,5550,begin climb
$GC,5552,1.25,146.1,664.0,0.0,171,5692,1.55,2.62,126.93,1.050,4,0.069,0.086,2901,741,2021,0,0,0,0,0,0
$GC,5899,1.25,146.1,628.8,13.2,176,5907,0.00,2.55,0.00,0.000,6,0.000,0.060,2901,2133,2009,0,0,0,0,0,0
$GC,6229,1.25,146.1,585.6,13.2,182,6237,0.00,2.62,0.00,0.000,4,0.000,0.073,2901,3562,2004,0,0,0,0,0,0
$GC,6278,1.25,146.1,578.6,14.5,182,6287,0.00,2.55,0.00,0.000,6,0.000,0.049,2901,2129,2001,0,0,0,0,0,0
$GC,6587,1.25,146.1,538.5,12.9,187,6595,0.00,2.47,0.00,0.000,4,0.000,0.063,2901,733,2000,0,0,0,0,0,0
$GC,6735,1.25,146.1,518.6,13.2,189,6743,0.00,2.53,0.00,0.000,6,0.000,0.049,2901,2160,1999,0,0,0,0,0,0
$GC,7076,1.25,146.1,475.0,12.9,195,7084,0.00,2.55,0.00,0.000,4,0.000,0.058,2902,734,1998,0,0,0,0,0,0
$GC,7275,1.25,146.1,449.4,13.4,198,7283,0.00,2.50,0.00,0.000,6,0.000,0.048,2902,2153,1998,0,0,0,0,0,0
$GC,7627,1.25,146.1,407.9,11.6,204,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2155,1997,0,0,0,0,0,0
$GC,7929,1.25,146.1,370.8,12.5,209,7937,0.00,2.53,0.00,0.000,4,0.000,0.055,2901,730,1996,0,0,0,0,0,0
$GC,7958,1.25,146.1,366.9,13.7,209,7966,0.00,2.50,0.00,0.000,6,0.000,0.047,2903,2160,1996,0,0,0,0,0,0
$GC,8288,1.25,146.1,323.4,13.0,215,8297,0.00,2.53,0.00,0.000,4,0.000,0.054,2901,736,1996,0,0,0,0,0,0
$GC,8381,1.25,146.1,313.0,11.3,216,8388,0.00,2.47,0.00,0.000,6,0.000,0.046,2901,2158,1995,0,0,0,0,0,0
$GC,8711,1.25,146.1,279.3,10.6,225,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2158,1995,0,0,0,0,0,0
$GC,9015,1.25,146.1,248.9,10.2,235,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2157,1995,0,0,0,0,0,0
$GC,9318,1.26,158.1,220.0,9.4,245,9335,0.00,2.50,6.53,0.646,4,0.000,0.050,2901,730,1972,0,0,0,0,0,0
$GC,9437,1.32,213.0,210.5,7.5,248,9495,0.00,2.45,48.22,0.762,6,0.000,0.044,2901,2156,1749,0,0,0,0,0,0
$GC,9814,1.32,213.0,167.3,12.2,261,9823,0.00,2.50,0.00,0.000,4,0.000,0.050,2901,729,1740,0,0,0,0,0,0
$GC,10046,1.33,221.1,142.8,9.6,268,10063,0.00,2.45,6.62,0.566,6,0.000,0.042,2901,2154,1716,0,0,0,0,0,0
$GC,10370,1.33,221.1,107.6,10.9,279,10379,0.00,2.47,0.00,0.000,4,0.000,0.048,2901,720,1714,0,0,0,0,0,0
$GC,10543,1.37,257.0,92.2,8.4,289,10578,0.08,2.47,30.75,0.608,6,0.060,0.041,2930,2154,1570,0,0,0,0,0,0
$GC,10764,1.37,257.0,63.5,14.3,310,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2154,1566,0,0,0,0,0,0
$GC,10950,1.37,257.0,36.9,15.1,328,10954,0.00,2.47,0.00,0.000,4,0.000,0.045,2930,733,1564,0,0,0,0,0,0
$GC,10998,1.37,257.0,29.6,15.5,332,11004,0.00,2.45,0.00,0.000,6,0.000,0.040,2930,2155,1564,0,0,0,0,0,0
$STATE,11192,end climb,SURFACE_DEPTH_REACHED
$STATE,11192,begin surface coast
$FINISH,0.1,1.023407
$STATE,11214,end surface coast,CONTROL_FINISHED_OK
$STATE,11214,begin surface
$SM_CCo,11232,32.28,0.496,0,0,1293,325.02
$SM_GC,1.08,0.00,0.00,32.28,0.000,0.000,0.496,373,2231,1293,-10.39,0.88,325.02
$IRIDIUM_FIX,1936.66,-15606.90,090911,171705
$TT8_MAMPS,0.16478
$HUMID,1078078055
$TCM_TEMP,23.70
$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,0/169
$PA_USBDRIVE,/mnt/usba
$PA_USBB,0.2/30830577/30782530
$PA_USBA,1.2/30829585/30470595
$PA_HOME,6.3/483886/453419
$PA_ROOT,89.3/128908/13733
$PA_LOG,3.6/297829/286986
$PA_DATA1,0.3/7836665/7813701
$PA_DATA0,6.6/7836665/7317415
$24V_AH,23.7,4.383
$10V_AH,9.9,2.934
$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,23.875,109.150,337.425,32.275,0.000,0.000,0.000,0.000,0.000,0.000,17.453,0.000,8797.840,448.167,1914.507,154.859,32.338,1406.804,0.000,1403.499,0.000,0.534,0.000
$DEVICE_MAMPS,147.645,110.160,1084.005,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,244.360,0.000,0.000,0.000,0.000,0.000,11343.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.923,0.000,0.000,0.000
$MEM,344792
$DATA_FILE_SIZE,13484,367
$CAP_FILE_SIZE,112818,0
$CFSIZE,260034560,256954368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170310,021001,1943.934,-15608.218,42,1.3,42,9.7