version: 66.07
glider: 23
mission: 14
dive: 3
start: 3 16 110 23 30 11
data:
$ID,23
$MISSION,14
$DIVE,3
$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,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,350
$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,-40803.48
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2510
$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,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2677
$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,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,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
$GPS1,160310,232449,1945.229,-15607.860,9,1.6,26,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.5
$GPS2,160310,232933,1945.362,-15607.919,29,2.1,48,9.7
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.109,-0.212
$KALMAN_X,-583.6,-1356.6,-1018.3,397.8,-543.6
$KALMAN_Y,1212.5,2682.0,2044.2,-919.9,1058.4
$MHEAD_RNG_PITCHd_Wd,143.1,11160,-18.7,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.41,-146.1,0.0,0.0,0,110,0.00,0.00,-89.43,0.000,2,0.000,0.000,364,2173,2883,0,0,0,0,0,0
$GC,113,-1.41,-146.1,3.4,-5.0,18,138,10.60,2.40,-8.95,0.000,4,0.169,0.050,2195,3639,3275,0,0,0,0,0,0
$GC,314,-1.41,-146.1,41.6,-16.8,45,318,0.00,2.28,0.00,0.000,6,0.000,0.021,2196,2220,3275,0,0,0,0,0,0
$GC,510,-1.41,-146.1,77.2,-17.9,64,514,0.00,2.33,0.00,0.000,4,0.000,0.037,2196,3619,3275,0,0,0,0,0,0
$GC,703,-1.41,-146.1,110.7,-15.0,79,711,0.00,2.25,0.00,0.000,6,0.000,0.020,2196,2194,3275,0,0,0,0,0,0
$GC,1035,-1.41,-146.1,159.6,-14.7,90,1043,0.00,2.35,0.00,0.000,4,0.000,0.038,2196,3621,3275,0,0,0,0,0,0
$GC,1282,-1.41,-146.1,198.3,-15.2,97,1291,0.00,2.28,0.00,0.000,6,0.000,0.021,2196,2191,3275,0,0,0,0,0,0
$GC,1592,-1.41,-146.1,244.6,-14.7,107,1600,0.00,2.38,0.00,0.000,4,0.000,0.040,2196,3623,3275,0,0,0,0,0,0
$GC,1840,-1.41,-146.1,281.0,-13.6,114,1849,0.00,2.28,0.00,0.000,6,0.000,0.023,2196,2195,3274,0,0,0,0,0,0
$GC,2149,-1.41,-146.1,317.8,-11.9,123,2157,0.00,2.38,0.00,0.000,4,0.000,0.044,2195,3620,3273,0,0,0,0,0,0
$GC,2279,-1.41,-146.1,333.7,-11.8,125,2287,0.00,2.28,0.00,0.000,6,0.000,0.025,2196,2194,3273,0,0,0,0,0,0
$GC,2641,-1.41,-146.1,372.3,-10.9,131,2649,0.00,2.40,0.00,0.000,4,0.000,0.047,2195,3622,3270,0,0,0,0,0,0
$GC,2739,-1.41,-146.1,384.7,-12.4,132,2747,0.00,2.30,0.00,0.000,6,0.000,0.027,2196,2193,3269,0,0,0,0,0,0
$GC,3064,-1.41,-146.1,422.0,-11.3,138,3072,0.00,2.42,0.00,0.000,4,0.000,0.049,2196,3624,3265,0,0,0,0,0,0
$GC,3178,-1.41,-146.1,435.9,-12.3,139,3186,0.00,2.30,0.00,0.000,6,0.000,0.028,2195,2197,3264,0,0,0,0,0,0
$GC,3492,-1.41,-146.1,467.8,-9.9,145,3500,0.00,2.40,0.00,0.000,4,0.000,0.050,2195,3630,3261,0,0,0,0,0,0
$GC,3579,-1.41,-146.1,477.5,-10.5,146,3587,0.00,2.30,0.00,0.000,6,0.000,0.028,2196,2199,3261,0,0,0,0,0,0
$GC,3915,-1.41,-146.1,510.9,-9.7,152,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2195,3257,0,0,0,0,0,0
$GC,4217,-1.41,-146.1,538.0,-8.9,157,4225,0.00,2.40,0.00,0.000,4,0.000,0.052,2195,3623,3254,0,0,0,0,0,0
$GC,4288,-1.41,-146.1,544.7,-9.4,158,4296,0.00,2.30,0.00,0.000,6,0.000,0.029,2195,2198,3253,0,0,0,0,0,0
$GC,4640,-1.41,-146.1,574.8,-8.6,164,4649,0.00,2.42,0.00,0.000,4,0.000,0.053,2196,3623,3251,0,0,0,0,0,0
$GC,4712,-1.41,-146.1,582.5,-10.5,165,4720,0.00,2.33,0.00,0.000,6,0.000,0.028,2195,2192,3250,0,0,0,0,0,0
$GC,5063,-1.41,-146.1,620.4,-10.8,171,5072,0.00,2.42,0.00,0.000,4,0.000,0.053,2195,3621,3247,0,0,0,0,0,0
$GC,5178,-1.41,-146.1,633.7,-11.6,172,5187,0.00,2.30,0.00,0.000,6,0.000,0.030,2195,2194,3245,0,0,0,0,0,0
$STATE,5484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5484,begin apogee
$GC,5489,-0.33,0.0,663.7,9.5,177,5610,1.15,0.00,112.28,1.210,6,0.085,0.000,2436,2266,2677,0,0,0,0,0,0
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5610,begin climb
$GC,5612,1.41,146.1,667.7,0.0,179,5739,1.73,0.00,118.15,1.174,6,0.044,0.000,2817,2266,2081,0,0,0,0,0,0
$GC,6030,1.41,146.1,622.8,13.6,186,6038,0.00,2.38,0.00,0.000,4,0.000,0.052,2817,3652,2075,0,0,0,0,0,0
$GC,6277,1.41,146.1,587.1,14.7,189,6287,0.00,2.33,0.00,0.000,6,0.000,0.028,2817,2238,2074,0,0,0,0,0,0
$GC,6586,1.41,146.1,541.9,14.8,195,6594,0.00,2.42,0.00,0.000,4,0.000,0.053,2817,3659,2072,0,0,0,0,0,0
$GC,6833,1.41,146.1,504.2,15.0,198,6843,0.00,2.30,0.00,0.000,6,0.000,0.028,2817,2248,2071,0,0,0,0,0,0
$GC,7142,1.41,146.1,463.0,13.4,204,7150,0.00,2.83,0.00,0.000,4,0.000,0.044,2817,845,2070,0,0,0,0,0,0
$GC,7390,1.41,146.1,430.3,12.8,207,7399,0.00,2.72,0.00,0.000,6,0.000,0.034,2817,2247,2070,0,0,0,0,0,0
$GC,7698,1.41,146.1,390.2,12.8,213,7706,0.00,2.38,0.00,0.000,4,0.000,0.053,2817,3660,2069,0,0,0,0,0,0
$GC,7903,1.41,146.1,364.2,12.9,216,7911,0.00,2.30,0.00,0.000,6,0.000,0.028,2817,2242,2068,0,0,0,0,0,0
$GC,8249,1.41,146.1,321.0,12.5,222,8258,0.00,2.78,0.00,0.000,4,0.000,0.041,2817,847,2068,0,0,0,0,0,0
$GC,8273,1.41,146.1,318.1,12.1,222,8281,0.00,2.78,0.00,0.000,6,0.000,0.032,2817,2253,2068,0,0,0,0,0,0
$GC,8609,1.41,146.1,280.7,10.6,230,8617,0.00,2.38,0.00,0.000,4,0.000,0.050,2817,3664,2067,0,0,0,0,0,0
$GC,8857,1.41,146.1,255.0,11.4,237,8866,0.00,2.28,0.00,0.000,6,0.000,0.025,2817,2246,2066,0,0,0,0,0,0
$GC,9166,1.43,168.0,225.6,9.0,248,9191,0.00,2.42,16.35,0.869,4,0.000,0.047,2817,3661,1990,0,0,0,0,0,0
$GC,9430,1.43,168.0,192.3,13.1,256,9438,0.00,2.25,0.00,0.000,6,0.000,0.023,2817,2245,1990,0,0,0,0,0,0
$GC,9752,1.43,168.0,157.6,11.6,267,9760,0.00,2.38,0.00,0.000,4,0.000,0.046,2817,3668,1990,0,0,0,0,0,0
$GC,9999,1.43,168.0,128.2,11.9,274,10009,0.00,2.25,0.00,0.000,6,0.000,0.021,2817,2232,1991,0,0,0,0,0,0
$GC,10309,1.48,216.9,101.5,7.8,285,10355,0.00,2.47,39.72,0.749,4,0.000,0.045,2817,3665,1791,0,0,0,0,0,0
$GC,10596,1.48,216.9,72.4,10.3,309,10602,0.00,2.28,0.00,0.000,6,0.000,0.020,2817,2249,1789,0,0,0,0,0,0
$GC,10787,1.48,216.9,52.2,12.1,328,10791,0.00,2.38,0.00,0.000,4,0.000,0.041,2817,3649,1789,0,0,0,0,0,0
$GC,11033,1.48,216.9,19.3,11.9,351,11039,0.00,2.22,0.00,0.000,6,0.000,0.018,2817,2252,1790,0,0,0,0,0,0
$GC,11102,1.48,216.9,11.7,11.1,364,11108,0.00,2.38,0.00,0.000,4,0.000,0.041,2818,3665,1791,0,0,0,0,0,0
$STATE,11180,end climb,SURFACE_DEPTH_REACHED
$STATE,11180,begin surface coast
$FINISH,0.0,1.023409
$STATE,11203,end surface coast,CONTROL_FINISHED_OK
$STATE,11203,begin surface
$SM_CCo,11223,63.22,0.615,0,0,1249,350.04
$SM_GC,0.66,0.00,0.00,63.22,0.000,0.000,0.615,357,2193,1249,-9.90,-0.20,350.04
$IRIDIUM_FIX,1936.66,-15606.90,090911,171753
$TT8_MAMPS,0.118342
$HUMID,1078088377
$TCM_TEMP,24.30
$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,36/35
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.7,7.010
$10V_AH,9.9,2.387
$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,24.125,104.825,286.500,63.225,0.000,0.000,0.000,0.000,0.000,0.000,51.684,0.000,8757.889,480.445,2056.318,126.400,31.410,1424.858,0.000,1451.803,0.000,0.546,0.000
$DEVICE_MAMPS,169.065,78.030,1210.230,615.060,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,257.672,0.000,0.000,0.000,0.000,0.000,11364.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,81.819,0.000,0.000,0.000
$MEM,353460
$DATA_FILE_SIZE,13460,383
$CAP_FILE_SIZE,126859,0
$CFSIZE,260034560,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170310,024030,1945.534,-15608.216,52,1.1,58,9.7