version: 66.07
glider: 22
mission: 17
dive: 45
start: 3 24 110 14 2 39
data:
$ID,22
$MISSION,17
$DIVE,45
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,175
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52198
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,0
$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,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,-255657.78
$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,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2570
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2944
$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
$GPS1,240310,135230,1926.626,-15601.662,53,1.4,60,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-69.5
$GPS2,240310,140202,1926.566,-15601.789,17,1.5,17,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15606.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.097,0.277
$KALMAN_X,-224.9,-224.9,-224.9,-2034.5,151.1
$KALMAN_Y,97.7,97.7,97.7,5623.1,-65.6
$MHEAD_RNG_PITCHd_Wd,331.0,25941,-15.9,-10.000
$D_GRID,450
$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,15,begin dive
$GC,17,-1.21,-194.6,0.0,0.0,0,84,0.00,0.00,-64.45,0.000,2,0.000,0.000,374,2536,2558,0,0,0,0,0,0
$GC,87,-1.21,-194.6,3.1,-6.9,13,132,10.18,0.00,-29.58,0.000,6,0.148,0.000,2315,2536,3738,0,0,0,0,0,0
$GC,194,-1.21,-194.6,28.9,-26.4,31,198,0.00,2.50,0.00,0.000,4,0.000,0.059,2315,3936,3738,0,0,0,0,0,0
$GC,263,-1.21,-194.6,46.0,-23.4,37,267,0.00,2.35,0.00,0.000,6,0.000,0.037,2315,2568,3739,0,0,0,0,0,0
$GC,460,-1.21,-194.6,95.2,-24.5,56,464,0.00,2.40,0.00,0.000,4,0.000,0.046,2316,1170,3740,0,0,0,0,0,0
$GC,507,-1.21,-194.6,106.2,-20.3,59,512,0.00,2.42,0.00,0.000,6,0.000,0.044,2315,2564,3741,0,0,0,0,0,0
$GC,827,-1.21,-194.6,177.1,-22.9,70,831,0.00,2.47,0.00,0.000,4,0.000,0.060,2315,3940,3742,0,0,0,0,0,0
$GC,938,-1.21,-194.6,198.7,-17.3,73,943,0.00,2.35,0.00,0.000,6,0.000,0.037,2315,2561,3742,0,0,0,0,0,0
$GC,1258,-1.21,-194.6,262.1,-20.4,84,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2557,3742,0,0,0,0,0,0
$GC,1591,-1.21,-194.6,325.5,-18.7,93,1595,0.00,2.53,0.00,0.000,4,0.000,0.060,2315,3943,3743,0,0,0,0,0,0
$GC,1612,-1.21,-194.6,329.4,-18.6,93,1616,0.00,2.38,0.00,0.000,6,0.000,0.038,2315,2556,3743,0,0,0,0,0,0
$GC,1956,-1.21,-194.6,387.2,-16.5,99,1960,0.00,2.55,0.00,0.000,4,0.000,0.061,2315,3948,3742,0,0,0,0,0,0
$GC,1993,-1.21,-194.6,393.2,-15.9,99,1997,0.00,2.38,0.00,0.000,6,0.000,0.039,2315,2570,3742,0,0,0,0,0,0
$GC,2322,-1.21,-194.6,444.8,-15.5,105,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2565,3741,0,0,0,0,0,0
$STATE,2380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2380,begin apogee
$GC,2385,-0.31,0.0,454.6,15.6,106,2549,0.95,0.00,160.88,0.846,6,0.095,0.000,2514,1994,2944,0,0,0,0,0,0
$STATE,2550,end apogee,CONTROL_FINISHED_OK
$STATE,2550,begin climb
$GC,2552,1.21,194.6,461.2,0.0,108,2723,1.50,2.62,163.45,0.838,4,0.067,0.055,2844,3406,2148,0,0,0,0,0,0
$GC,2792,1.21,194.6,457.1,11.2,112,2796,0.00,2.50,0.00,0.000,6,0.000,0.043,2844,2009,2141,0,0,0,0,0,0
$GC,3157,1.21,201.2,420.4,9.8,118,3167,0.00,2.58,5.12,0.607,4,0.000,0.056,2844,594,2123,0,0,0,0,0,0
$GC,3221,1.21,201.2,414.0,10.4,119,3225,0.00,2.50,0.00,0.000,6,0.000,0.043,2844,2007,2122,0,0,0,0,0,0
$GC,3587,1.31,285.4,385.8,7.1,125,3666,0.10,2.60,73.47,0.833,4,0.096,0.057,2870,3405,1779,0,0,0,0,0,0
$GC,3709,1.31,285.4,374.3,11.8,127,3713,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,1993,1774,0,0,0,0,0,0
$GC,4076,1.31,285.4,333.3,11.5,133,4079,0.00,2.58,0.00,0.000,4,0.000,0.057,2870,3412,1768,0,0,0,0,0,0
$GC,4118,1.31,285.4,327.9,13.1,133,4121,0.00,2.47,0.00,0.000,6,0.000,0.043,2869,1985,1766,0,0,0,0,0,0
$GC,4435,1.31,285.4,291.7,11.2,140,4440,0.00,2.47,0.00,0.000,4,0.000,0.055,2870,598,1764,0,0,0,0,0,0
$GC,4494,1.31,285.4,284.8,11.7,141,4500,0.00,2.47,0.00,0.000,6,0.000,0.042,2870,2008,1764,0,0,0,0,0,0
$GC,4802,1.31,285.4,247.0,12.5,152,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2009,1762,0,0,0,0,0,0
$GC,5106,1.31,285.4,211.9,12.1,162,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2009,1762,0,0,0,0,0,0
$GC,5409,1.31,285.4,178.0,10.7,172,5414,0.00,2.50,0.00,0.000,4,0.000,0.054,2870,3410,1760,0,0,0,0,0,0
$GC,5478,1.34,319.0,171.7,8.8,174,5509,0.00,2.47,27.02,0.689,6,0.000,0.040,2870,1991,1642,0,0,0,0,0,0
$GC,5835,1.34,319.0,136.4,11.4,186,5839,0.00,2.40,0.00,0.000,4,0.000,0.051,2870,597,1635,0,0,0,0,0,0
$GC,5892,1.34,319.0,129.8,11.9,188,5896,0.00,2.45,0.00,0.000,6,0.000,0.040,2869,2013,1635,0,0,0,0,0,0
$GC,6228,1.38,355.5,99.0,8.7,199,6263,0.00,2.47,31.05,0.613,4,0.000,0.051,2870,3407,1493,0,0,0,0,0,0
$GC,6284,1.38,357.5,93.6,9.9,204,6288,0.00,2.47,0.00,0.000,6,0.000,0.039,2870,1995,1492,0,0,0,0,0,0
$GC,6481,1.38,357.5,72.5,12.4,223,6485,0.00,2.45,0.00,0.000,4,0.000,0.053,2870,600,1488,0,0,0,0,0,0
$GC,6523,1.38,357.5,67.5,11.8,227,6527,0.00,2.42,0.00,0.000,6,0.000,0.039,2870,2014,1487,0,0,0,0,0,0
$GC,6720,1.38,357.5,48.2,10.4,246,6725,0.00,2.45,0.00,0.000,4,0.000,0.052,2870,3403,1487,0,0,0,0,0,0
$GC,6860,1.42,392.9,35.8,8.8,259,6900,0.12,2.40,31.83,0.536,6,0.084,0.039,2903,1983,1342,0,0,0,0,0,0
$GC,7089,1.42,392.9,6.4,10.8,291,7095,0.00,2.53,0.00,0.000,4,0.000,0.050,2903,3400,1337,0,0,0,0,0,0
$STATE,7118,end climb,SURFACE_DEPTH_REACHED
$STATE,7118,begin surface coast
$FINISH,0.1,1.023446
$STATE,7145,end surface coast,CONTROL_FINISHED_OK
$STATE,7145,begin surface
$SM_CCo,7225,0.00,0.000,0,0,1331,395.18
$SM_GC,1.13,10.95,0.00,0.00,0.045,0.000,0.000,373,2531,1331,-10.11,-1.07,395.18
$IRIDIUM_FIX,1918.37,-15604.57,170911,030327
$TT8_MAMPS,0.11235
$HUMID,1077989023
$TCM_TEMP,23.50
$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,3197/3198
$PA_USBDRIVE,/mnt/usbb
$24V_AH,23.7,12.123
$10V_AH,10.0,18.883
$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,23.800,79.100,492.825,0.000,0.000,63.545,58.741,239.944,0.000,0.000,18.138,0.000,5673.916,542.359,1453.580,182.277,30.178,1052.400,0.000,791.305,0.000,0.534,0.000
$DEVICE_MAMPS,148.410,61.200,846.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,199.356,0.000,0.000,0.000,0.000,0.000,7972.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,54.966,0.000,0.000,0.000
$MEM,345224
$DATA_FILE_SIZE,10154,302
$CAP_FILE_SIZE,76027,0
$CFSIZE,260034560,253882368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,160506,1928.479,-15602.690,34,1.6,35,9.7