version: 66.07
glider: 23
mission: 14
dive: 7
start: 3 17 110 17 21 46
data:
$ID,23
$MISSION,14
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,280
$T_MISSION,320
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,395
$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,-40943.965
$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,2480
$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,2300
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2759
$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
$GPS1,170310,170827,1942.858,-15606.697,36,3.3,55,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.1
$GPS2,170310,172106,1943.058,-15606.917,12,1.5,28,9.7
$SPEED_LIMITS,0.204,0.317
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.125,-0.291
$KALMAN_X,-11149.9,1680.9,375.1,8256.5,-5252.7
$KALMAN_Y,22284.8,-3058.5,-1117.2,-17305.2,10250.1
$MHEAD_RNG_PITCHd_Wd,147.1,6576,-16.4,-11.786
$D_GRID,990
$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,-1.36,-243.3,0.0,0.0,0,99,0.00,0.00,-73.85,0.000,2,0.000,0.000,358,2261,2698,0,0,0,0,0,0
$GC,101,-1.36,-243.3,3.1,-5.0,15,142,10.70,2.38,-23.85,0.000,4,0.171,0.052,2175,3708,3754,0,0,0,0,0,0
$GC,381,-1.36,-243.3,63.0,-20.9,49,387,0.00,2.22,0.00,0.000,6,0.000,0.021,2175,2306,3754,0,0,0,0,0,0
$GC,585,-1.36,-243.3,108.9,-23.1,67,593,0.00,2.30,0.00,0.000,4,0.000,0.035,2175,3717,3754,0,0,0,0,0,0
$GC,645,-1.36,-243.3,121.5,-18.9,69,653,0.00,2.28,0.00,0.000,6,0.000,0.022,2175,2293,3754,0,0,0,0,0,0
$GC,977,-1.36,-243.3,180.8,-17.4,80,985,0.00,2.78,0.00,0.000,4,0.000,0.037,2175,899,3755,0,0,0,0,0,0
$GC,1006,-1.36,-243.3,185.4,-16.2,81,1014,0.00,2.75,0.00,0.000,6,0.000,0.025,2175,2312,3755,0,0,0,0,0,0
$GC,1338,-1.36,-243.3,239.7,-16.9,92,1347,0.00,2.83,0.00,0.000,4,0.000,0.037,2175,900,3756,0,0,0,0,0,0
$GC,1367,-1.36,-243.3,244.5,-17.1,93,1375,0.00,2.75,0.00,0.000,6,0.000,0.026,2175,2310,3756,0,0,0,0,0,0
$GC,1699,-1.36,-243.3,292.3,-13.9,104,1708,0.00,2.83,0.00,0.000,4,0.000,0.036,2175,897,3756,0,0,0,0,0,0
$GC,1734,-1.36,-243.3,297.1,-13.8,105,1742,0.00,2.78,0.00,0.000,6,0.000,0.029,2175,2300,3756,0,0,0,0,0,0
$GC,2059,-1.36,-243.3,343.1,-14.0,111,2068,0.00,2.83,0.00,0.000,4,0.000,0.039,2175,897,3754,0,0,0,0,0,0
$GC,2088,-1.36,-243.3,346.9,-13.7,111,2096,0.00,2.80,0.00,0.000,6,0.000,0.031,2175,2302,3753,0,0,0,0,0,0
$GC,2418,-1.36,-243.3,390.6,-13.4,117,2427,0.00,2.83,0.00,0.000,4,0.000,0.039,2175,902,3751,0,0,0,0,0,0
$GC,2474,-1.36,-243.3,397.9,-12.6,117,2483,0.00,2.75,0.00,0.000,6,0.000,0.033,2175,2308,3751,0,0,0,0,0,0
$GC,2782,-1.36,-243.3,437.4,-12.8,123,2791,0.00,2.83,0.00,0.000,4,0.000,0.040,2175,899,3748,0,0,0,0,0,0
$GC,2848,-1.36,-243.3,446.0,-12.1,124,2857,0.00,2.80,0.00,0.000,6,0.000,0.033,2174,2308,3747,0,0,0,0,0,0
$GC,3206,-1.36,-243.3,490.2,-12.1,130,3215,0.00,2.85,0.00,0.000,4,0.000,0.040,2175,896,3743,0,0,0,0,0,0
$GC,3294,-1.36,-243.3,499.9,-11.1,131,3303,0.00,2.80,0.00,0.000,6,0.000,0.034,2175,2304,3742,0,0,0,0,0,0
$GC,3630,-1.36,-243.3,538.9,-11.6,137,3639,0.00,2.85,0.00,0.000,4,0.000,0.040,2175,892,3739,0,0,0,0,0,0
$GC,3681,-1.36,-243.3,544.8,-11.4,137,3689,0.00,2.83,0.00,0.000,6,0.000,0.035,2175,2301,3739,0,0,0,0,0,0
$GC,3989,-1.36,-243.3,580.2,-11.5,142,3997,0.00,2.85,0.00,0.000,4,0.000,0.041,2175,892,3737,0,0,0,0,0,0
$GC,4066,-1.36,-243.3,588.5,-10.8,143,4074,0.00,2.83,0.00,0.000,6,0.000,0.036,2175,2301,3736,0,0,0,0,0,0
$GC,4413,-1.36,-243.3,626.6,-11.1,149,4421,0.00,2.85,0.00,0.000,4,0.000,0.042,2175,893,3732,0,0,0,0,0,0
$GC,4479,-1.36,-243.3,633.8,-11.0,150,4487,0.00,2.85,0.00,0.000,6,0.000,0.037,2175,2307,3732,0,0,0,0,0,0
$GC,4837,-1.36,-243.3,672.6,-10.9,156,4845,0.00,2.85,0.00,0.000,4,0.000,0.043,2175,899,3729,0,0,0,0,0,0
$GC,4940,-1.36,-243.3,683.1,-9.5,157,4949,0.00,2.83,0.00,0.000,6,0.000,0.038,2175,2307,3729,0,0,0,0,0,0
$GC,5261,-1.36,-243.3,715.0,-9.9,163,5270,0.00,2.85,0.00,0.000,4,0.000,0.044,2175,896,3726,0,0,0,0,0,0
$GC,5333,-1.36,-243.3,722.1,-9.6,164,5341,0.00,2.85,0.00,0.000,6,0.000,0.040,2175,2303,3726,0,0,0,0,0,0
$GC,5685,-1.36,-243.3,758.3,-10.3,170,5693,0.00,2.85,0.00,0.000,4,0.000,0.045,2175,900,3724,0,0,0,0,0,0
$GC,5762,-1.36,-243.3,766.1,-9.5,171,5770,0.00,2.85,0.00,0.000,6,0.000,0.040,2175,2305,3723,0,0,0,0,0,0
$GC,6108,-1.36,-243.3,800.0,-9.7,177,6117,0.00,2.85,0.00,0.000,4,0.000,0.045,2174,902,3721,0,0,0,0,0,0
$GC,6218,-1.36,-243.3,809.8,-9.0,178,6226,0.00,2.85,0.00,0.000,6,0.000,0.040,2175,2307,3720,0,0,0,0,0,0
$GC,6532,-1.36,-243.3,837.9,-9.0,184,6541,0.00,2.88,0.00,0.000,4,0.000,0.045,2175,893,3719,0,0,0,0,0,0
$GC,6604,-1.36,-243.3,844.2,-8.9,185,6612,0.00,2.85,0.00,0.000,6,0.000,0.040,2175,2299,3718,0,0,0,0,0,0
$GC,6956,-1.36,-243.3,877.6,-9.5,191,6965,0.00,2.85,0.00,0.000,4,0.000,0.045,2175,897,3717,0,0,0,0,0,0
$GC,7039,-1.36,-243.3,885.8,-10.1,192,7047,0.00,2.85,0.00,0.000,6,0.000,0.040,2175,2303,3717,0,0,0,0,0,0
$GC,7380,-1.36,-243.3,919.5,-9.9,198,7388,0.00,2.83,0.00,0.000,4,0.000,0.045,2175,903,3715,0,0,0,0,0,0
$GC,7462,-1.36,-243.3,927.3,-9.6,199,7470,0.00,2.83,0.00,0.000,6,0.000,0.040,2175,2307,3715,0,0,0,0,0,0
$GC,7803,-1.36,-243.3,960.3,-9.7,205,7812,0.00,2.85,0.00,0.000,4,0.000,0.045,2175,896,3714,0,0,0,0,0,0
$GC,7891,-1.36,-243.3,968.9,-10.1,206,7900,0.00,2.85,0.00,0.000,6,0.000,0.040,2175,2303,3713,0,0,0,0,0,0
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8110,-0.33,0.0,990.5,10.2,210,8315,1.12,0.00,197.15,1.470,6,0.090,0.000,2406,2373,2759,0,0,0,0,0,0
$STATE,8316,end apogee,CONTROL_FINISHED_OK
$STATE,8316,begin climb
$GC,8318,1.36,243.3,1000.6,0.0,213,8536,1.70,2.53,204.35,1.426,4,0.051,0.054,2775,3778,1766,0,0,0,0,0,0
$GC,8649,1.36,243.3,962.8,19.3,218,8657,0.00,2.30,0.00,0.000,6,0.000,0.030,2775,2376,1762,0,0,0,0,0,0
$GC,8996,1.36,243.3,902.1,17.5,224,9005,0.00,2.90,0.00,0.000,4,0.000,0.047,2775,967,1759,0,0,0,0,0,0
$GC,9035,1.36,243.3,894.9,17.3,224,9044,0.00,2.88,0.00,0.000,6,0.000,0.037,2775,2365,1759,0,0,0,0,0,0
$GC,9355,1.36,243.3,840.2,17.1,230,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2365,1758,0,0,0,0,0,0
$GC,9657,1.36,243.3,790.5,16.3,235,9666,0.00,2.88,0.00,0.000,4,0.000,0.045,2775,967,1757,0,0,0,0,0,0
$GC,9697,1.36,243.3,784.1,16.1,235,9705,0.00,2.88,0.00,0.000,6,0.000,0.036,2775,2371,1757,0,0,0,0,0,0
$GC,10017,1.36,243.3,733.4,15.9,241,10025,0.00,2.92,0.00,0.000,4,0.000,0.046,2775,959,1757,0,0,0,0,0,0
$GC,10051,1.36,243.3,727.7,16.7,241,10059,0.00,2.88,0.00,0.000,6,0.000,0.037,2775,2376,1757,0,0,0,0,0,0
$GC,10376,1.36,243.3,672.4,17.0,247,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2375,1756,0,0,0,0,0,0
$GC,10678,1.36,243.3,621.7,16.7,252,10686,0.00,2.90,0.00,0.000,4,0.000,0.044,2775,966,1756,0,0,0,0,0,0
$GC,10706,1.36,243.3,617.0,16.1,252,10715,0.00,2.88,0.00,0.000,6,0.000,0.035,2775,2376,1756,0,0,0,0,0,0
$GC,11037,1.36,243.3,565.6,15.5,258,11046,0.00,2.88,0.00,0.000,4,0.000,0.043,2775,966,1756,0,0,0,0,0,0
$GC,11060,1.36,243.3,562.0,15.7,258,11069,0.00,2.85,0.00,0.000,6,0.000,0.034,2775,2378,1755,0,0,0,0,0,0
$GC,11396,1.36,243.3,511.2,15.2,264,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2377,1756,0,0,0,0,0,0
$GC,11698,1.36,243.3,464.4,15.7,269,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2377,1755,0,0,0,0,0,0
$GC,12001,1.36,243.3,415.9,16.1,274,12010,0.00,2.88,0.00,0.000,4,0.000,0.041,2775,962,1755,0,0,0,0,0,0
$GC,12056,1.36,243.3,406.3,18.0,274,12066,0.00,2.80,0.00,0.000,6,0.000,0.034,2775,2374,1755,0,0,0,0,0,0
$GC,12365,1.36,243.3,358.9,15.2,280,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2373,1756,0,0,0,0,0,0
$GC,12666,1.36,243.3,319.1,13.0,285,12675,0.00,2.88,0.00,0.000,4,0.000,0.039,2775,960,1756,0,0,0,0,0,0
$GC,12722,1.36,243.3,311.7,13.8,285,12731,0.00,2.80,0.00,0.000,6,0.000,0.032,2775,2370,1755,0,0,0,0,0,0
$GC,13031,1.36,243.3,270.1,13.3,294,13040,0.00,2.85,0.00,0.000,4,0.000,0.037,2775,955,1756,0,0,0,0,0,0
$GC,13113,1.36,243.3,258.8,12.4,296,13122,0.00,2.85,0.00,0.000,6,0.000,0.031,2775,2371,1756,0,0,0,0,0,0
$GC,13423,1.36,245.5,220.3,11.7,306,13432,0.00,2.85,0.00,0.000,4,0.000,0.034,2775,958,1756,0,0,0,0,0,0
$GC,13473,1.36,245.5,214.1,11.9,307,13482,0.00,2.83,0.00,0.000,6,0.000,0.029,2775,2372,1756,0,0,0,0,0,0
$GC,13783,1.36,245.5,175.8,12.2,317,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2371,1757,0,0,0,0,0,0
$GC,14087,1.36,245.5,139.8,11.9,327,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2371,1759,0,0,0,0,0,0
$GC,14390,1.36,245.5,101.6,12.0,337,14399,0.00,2.83,0.00,0.000,4,0.000,0.032,2776,959,1760,0,0,0,0,0,0
$GC,14440,1.36,245.5,94.6,13.8,340,14444,0.00,2.83,0.00,0.000,6,0.000,0.027,2775,2370,1760,0,0,0,0,0,0
$GC,14637,1.43,314.0,73.7,9.6,359,14699,0.00,2.83,56.55,0.712,4,0.000,0.028,2775,956,1477,0,0,0,0,0,0
$GC,14805,1.50,372.0,56.9,9.9,375,14857,0.15,2.83,46.38,0.682,6,0.053,0.024,2818,2375,1242,0,0,0,0,0,0
$GC,15041,1.50,372.0,22.6,14.9,398,15045,0.00,2.88,0.00,0.000,4,0.000,0.033,2819,960,1235,0,0,0,0,0,0
$GC,15116,1.50,372.0,10.6,16.5,410,15122,0.00,2.80,0.00,0.000,6,0.000,0.022,2818,2375,1235,0,0,0,0,0,0
$STATE,15162,end climb,SURFACE_DEPTH_REACHED
$STATE,15162,begin surface coast
$FINISH,0.6,1.023411
$STATE,15178,end surface coast,CONTROL_FINISHED_OK
$STATE,15178,begin surface
$SM_CCo,15197,13.40,0.589,0,0,1148,395.18
$SM_GC,1.02,0.00,0.00,13.40,0.000,0.000,0.589,356,2256,1148,-9.77,-1.24,395.18
$IRIDIUM_FIX,1934.38,-15604.81,100911,111146
$TT8_MAMPS,0.155792
$HUMID,1078041926
$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,126/124
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,1.4/30829585/30399974
$PA_HOME,9.6/482055/435578
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287808
$PA_DATA1,2.5/7837685/7640958
$PA_DATA0,28.5/7836665/5599972
$24V_AH,23.4,7.837
$10V_AH,9.9,3.453
$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,24.475,184.575,504.425,13.400,0.000,84.031,128.184,268.661,0.000,0.000,30.607,0.000,12543.493,636.508,2545.115,228.056,33.332,1746.913,0.000,1328.810,0.000,0.544,0.000
$DEVICE_MAMPS,170.595,89.505,1469.565,589.050,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,285.285,0.000,0.000,0.000,0.000,0.000,16111.851,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,87.046,0.000,0.000,0.000
$MEM,353348
$DATA_FILE_SIZE,13450,422
$CAP_FILE_SIZE,130470,0
$CFSIZE,260034560,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170310,213607,1941.288,-15606.058,27,1.1,27,9.7