version: 66.07
glider: 23
mission: 14
dive: 8
start: 3 17 110 21 46 24
data:
$ID,23
$MISSION,14
$DIVE,8
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40945.23
$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,67
$R_STBD_OVSHOOT,26
$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
$GPS1,170310,213607,1941.288,-15606.058,27,1.1,27,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.1
$GPS2,170310,214544,1941.453,-15606.215,11,1.2,11,9.7
$SPEED_LIMITS,0.204,0.317
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.126,-0.291
$KALMAN_X,-10236.5,-29.7,710.1,9926.5,-3513.1
$KALMAN_Y,20668.3,-260.7,-1164.2,-21388.1,6674.4
$MHEAD_RNG_PITCHd_Wd,146.9,3425,-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,17,-1.36,-243.3,0.0,0.0,0,100,0.00,0.00,-80.35,0.000,2,0.000,0.000,356,2256,2819,0,0,0,0,0,0
$GC,103,-1.36,-243.3,3.2,-4.7,16,139,10.68,2.35,-19.52,0.000,4,0.169,0.049,2174,3711,3752,0,0,0,0,0,0
$GC,378,-1.36,-243.3,63.5,-20.6,49,382,0.00,2.20,0.00,0.000,6,0.000,0.022,2174,2343,3752,0,0,0,0,0,0
$GC,596,-1.36,-243.3,108.2,-20.0,68,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2343,3753,0,0,0,0,0,0
$GC,898,-1.36,-243.3,166.9,-19.2,78,907,0.00,2.92,0.00,0.000,4,0.000,0.039,2174,879,3753,0,0,0,0,0,0
$GC,922,-1.36,-243.3,171.1,-17.7,78,931,0.00,2.72,0.00,0.000,6,0.000,0.024,2174,2305,3754,0,0,0,0,0,0
$GC,1232,-1.36,-243.3,219.7,-15.1,89,1240,0.00,2.85,0.00,0.000,4,0.000,0.037,2174,883,3755,0,0,0,0,0,0
$GC,1261,-1.36,-243.3,224.4,-16.6,90,1269,0.00,2.78,0.00,0.000,6,0.000,0.025,2174,2307,3755,0,0,0,0,0,0
$GC,1593,-1.36,-243.3,271.8,-14.0,101,1602,0.00,2.85,0.00,0.000,4,0.000,0.036,2174,879,3755,0,0,0,0,0,0
$GC,1623,-1.36,-243.3,275.9,-14.1,102,1631,0.00,2.83,0.00,0.000,6,0.000,0.028,2174,2306,3755,0,0,0,0,0,0
$GC,1984,-1.36,-243.3,325.1,-13.6,111,1993,0.00,2.85,0.00,0.000,4,0.000,0.037,2174,891,3754,0,0,0,0,0,0
$GC,2051,-1.36,-243.3,334.2,-13.0,112,2059,0.00,2.83,0.00,0.000,6,0.000,0.031,2174,2306,3754,0,0,0,0,0,0
$GC,2408,-1.36,-243.3,382.3,-13.3,118,2416,0.00,2.88,0.00,0.000,4,0.000,0.039,2174,880,3752,0,0,0,0,0,0
$GC,2442,-1.36,-243.3,386.9,-13.3,118,2450,0.00,2.85,0.00,0.000,6,0.000,0.033,2174,2306,3751,0,0,0,0,0,0
$GC,2767,-1.36,-243.3,429.6,-13.2,124,2776,0.00,2.85,0.00,0.000,4,0.000,0.039,2174,886,3748,0,0,0,0,0,0
$GC,2833,-1.36,-243.3,438.1,-12.7,125,2842,0.00,2.85,0.00,0.000,6,0.000,0.033,2174,2306,3747,0,0,0,0,0,0
$GC,3191,-1.36,-243.3,483.7,-12.7,131,3199,0.00,2.88,0.00,0.000,4,0.000,0.039,2174,881,3743,0,0,0,0,0,0
$GC,3300,-1.36,-243.3,496.1,-10.6,132,3309,0.00,2.85,0.00,0.000,6,0.000,0.034,2173,2300,3743,0,0,0,0,0,0
$GC,3615,-1.36,-243.3,530.9,-11.0,138,3624,0.00,2.88,0.00,0.000,4,0.000,0.041,2174,891,3740,0,0,0,0,0,0
$GC,3666,-1.36,-243.3,536.3,-10.5,138,3674,0.00,2.85,0.00,0.000,6,0.000,0.034,2174,2305,3740,0,0,0,0,0,0
$GC,3974,-1.36,-243.3,569.5,-10.8,143,3983,0.00,2.88,0.00,0.000,4,0.000,0.041,2174,884,3737,0,0,0,0,0,0
$GC,4035,-1.36,-243.3,576.3,-10.7,144,4044,0.00,2.85,0.00,0.000,6,0.000,0.035,2173,2309,3736,0,0,0,0,0,0
$GC,4399,-1.36,-243.3,615.1,-10.5,150,4408,0.00,2.88,0.00,0.000,4,0.000,0.041,2173,884,3733,0,0,1,0,0,0
$GC,4487,-1.36,-243.3,624.6,-10.7,151,4496,0.00,2.88,0.00,0.000,6,0.000,0.036,2174,2307,3732,0,0,0,0,0,0
$GC,4823,-1.36,-243.3,661.0,-10.8,157,4832,0.00,2.58,0.00,0.000,4,0.000,0.041,2174,1045,3730,0,0,0,0,0,0
$GC,4879,-1.36,-243.3,666.7,-10.3,157,4888,0.00,2.53,0.00,0.000,6,0.000,0.037,2174,2305,3729,0,0,0,0,0,0
$GC,5187,-1.36,-243.3,699.4,-10.6,163,5196,0.00,2.60,0.00,0.000,4,0.000,0.044,2174,1033,3727,0,0,0,0,0,0
$GC,5275,-1.36,-243.3,708.6,-10.2,164,5283,0.00,2.62,0.00,0.000,6,0.000,0.040,2174,2304,3726,0,0,0,0,0,0
$GC,5611,-1.36,-243.3,745.8,-11.2,170,5619,0.00,2.58,0.00,0.000,4,0.000,0.044,2174,1044,3725,0,0,0,0,0,0
$GC,5704,-1.36,-243.3,756.5,-11.5,171,5712,0.00,2.60,0.00,0.000,6,0.000,0.041,2174,2303,3724,0,0,0,0,0,0
$GC,6035,-1.36,-243.3,794.6,-11.6,177,6043,0.00,2.88,0.00,0.000,4,0.000,0.045,2174,885,3722,0,0,0,0,0,0
$GC,6117,-1.36,-243.3,803.6,-10.8,178,6126,0.00,2.85,0.00,0.000,6,0.000,0.039,2174,2300,3722,0,0,0,0,0,0
$GC,6459,-1.36,-243.3,839.8,-10.6,184,6467,0.00,2.62,0.00,0.000,4,0.000,0.044,2174,1018,3720,0,0,0,0,0,0
$GC,6546,-1.36,-243.3,848.8,-9.8,185,6554,0.00,2.65,0.00,0.000,6,0.000,0.040,2174,2304,3719,0,0,0,0,0,0
$GC,6882,-1.36,-243.3,883.4,-10.3,191,6890,0.00,2.58,0.00,0.000,4,0.000,0.043,2174,1036,3718,0,0,0,0,0,0
$GC,6980,-1.36,-243.3,893.7,-10.2,192,6988,0.00,2.60,0.00,0.000,6,0.000,0.039,2174,2309,3718,0,0,0,0,0,0
$GC,7305,-1.36,-243.3,927.8,-10.5,198,7313,0.00,2.60,0.00,0.000,4,0.000,0.044,2174,1024,3716,0,0,0,0,0,0
$GC,7392,-1.36,-243.3,936.9,-10.4,199,7401,0.00,2.62,0.00,0.000,6,0.000,0.040,2174,2311,3716,0,0,1,0,0,0
$GC,7728,-1.36,-243.3,971.6,-10.4,205,7737,0.00,2.60,0.00,0.000,4,0.000,0.043,2174,1039,3715,0,0,0,0,0,0
$GC,7832,-1.36,-243.3,982.5,-10.4,206,7840,0.00,2.60,0.00,0.000,6,0.000,0.040,2174,2300,3714,0,0,0,0,0,0
$STATE,7908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7908,begin apogee
$GC,7913,-0.33,0.0,990.6,10.3,208,8117,1.12,0.00,197.30,1.469,6,0.090,0.000,2405,2370,2759,0,0,0,0,0,0
$STATE,8118,end apogee,CONTROL_FINISHED_OK
$STATE,8118,begin climb
$GC,8120,1.36,243.3,999.5,0.0,211,8339,1.70,2.90,204.50,1.425,4,0.052,0.044,2774,1041,1767,0,0,0,0,0,0
$GC,8359,1.36,243.3,976.7,17.6,214,8368,0.00,2.72,0.00,0.000,6,0.000,0.035,2774,2365,1764,0,0,0,0,0,0
$GC,8667,1.36,243.3,921.6,17.9,220,8676,0.00,2.78,0.00,0.000,4,0.000,0.044,2774,1036,1759,0,0,0,0,0,0
$GC,8697,1.36,243.3,916.1,18.7,220,8706,0.00,2.78,0.00,0.000,6,0.000,0.036,2774,2372,1759,0,0,0,0,0,0
$GC,9028,1.36,243.3,856.0,18.2,226,9037,0.00,2.92,0.00,0.000,4,0.000,0.045,2773,960,1759,0,0,0,0,0,0
$GC,9052,1.36,243.3,851.6,18.0,226,9061,0.00,2.90,0.00,0.000,6,0.000,0.036,2774,2370,1758,0,0,0,0,0,0
$GC,9388,1.36,243.3,793.8,17.0,232,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2369,1758,0,0,0,0,0,0
$GC,9690,1.36,243.3,743.6,16.7,237,9699,0.00,2.78,0.00,0.000,4,0.000,0.044,2774,1042,1757,0,0,0,0,0,0
$GC,9724,1.36,243.3,737.8,16.4,237,9732,0.00,2.75,0.00,0.000,6,0.000,0.037,2774,2373,1757,0,0,0,0,0,0
$GC,10049,1.36,243.3,685.7,16.0,243,10058,0.00,2.90,0.00,0.000,4,0.000,0.043,2774,960,1756,0,0,0,0,0,0
$GC,10089,1.36,243.3,679.2,16.6,243,10097,0.00,2.90,0.00,0.000,6,0.000,0.036,2774,2373,1755,0,0,0,0,0,0
$GC,10409,1.36,243.3,629.9,15.2,249,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2373,1756,0,0,0,0,0,0
$GC,10710,1.36,243.3,583.8,15.4,254,10719,0.00,2.92,0.00,0.000,4,0.000,0.044,2773,956,1755,0,0,0,0,0,0
$GC,10761,1.36,243.3,575.8,16.3,254,10769,0.00,2.90,0.00,0.000,6,0.000,0.034,2774,2377,1755,0,0,0,0,0,0
$GC,11069,1.36,243.3,528.2,15.3,259,11078,0.00,2.75,0.00,0.000,4,0.000,0.041,2773,1042,1755,0,0,0,0,0,0
$GC,11098,1.36,243.3,523.7,15.5,259,11106,0.00,2.72,0.00,0.000,6,0.000,0.034,2774,2373,1755,0,0,0,0,0,0
$GC,11428,1.36,243.3,475.1,14.7,265,11437,0.00,2.88,0.00,0.000,4,0.000,0.041,2774,961,1755,0,0,0,0,0,0
$GC,11473,1.36,243.3,468.2,16.0,265,11482,0.00,2.85,0.00,0.000,6,0.000,0.033,2774,2376,1755,0,0,0,0,0,0
$GC,11788,1.36,243.3,424.4,13.7,271,11796,0.00,2.88,0.00,0.000,4,0.000,0.040,2774,961,1755,0,0,0,0,0,0
$GC,11806,1.36,243.3,421.9,13.3,271,11814,0.00,2.85,0.00,0.000,6,0.000,0.032,2774,2374,1755,0,0,0,0,0,0
$GC,12147,1.36,243.3,375.1,13.7,277,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2374,1755,0,0,0,0,0,0
$GC,12449,1.36,243.3,334.0,13.6,282,12457,0.00,2.90,0.00,0.000,4,0.000,0.039,2774,955,1755,0,0,0,0,0,0
$GC,12477,1.36,243.3,329.9,14.1,282,12486,0.00,2.88,0.00,0.000,6,0.000,0.032,2774,2376,1755,0,0,0,0,0,0
$GC,12809,1.36,243.3,285.0,13.7,289,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2376,1756,0,0,0,0,0,0
$GC,13112,1.36,243.3,245.2,12.7,299,13120,0.00,2.85,0.00,0.000,4,0.000,0.037,2774,961,1756,0,0,0,0,0,0
$GC,13157,1.36,243.3,239.3,12.6,300,13165,0.00,2.85,0.00,0.000,6,0.000,0.031,2774,2378,1756,0,0,0,0,0,0
$GC,13473,1.36,243.3,198.6,12.6,311,13482,0.00,2.88,0.00,0.000,4,0.000,0.035,2774,956,1757,0,0,0,0,0,0
$GC,13593,1.36,243.3,183.8,12.5,314,13602,0.00,2.78,0.00,0.000,6,0.000,0.029,2774,2371,1757,0,0,0,0,0,0
$GC,13902,1.36,243.3,145.4,12.0,325,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2371,1757,0,0,0,0,0,0
$GC,14206,1.40,283.1,113.2,10.5,335,14244,0.00,0.00,31.98,0.763,6,0.000,0.000,2774,2371,1604,0,0,0,0,0,0
$GC,14546,1.41,293.4,73.9,11.5,360,14560,0.00,2.88,9.75,0.646,4,0.000,0.030,2773,958,1562,0,0,0,0,0,0
$GC,14657,1.41,293.4,61.1,11.9,370,14661,0.00,2.80,0.00,0.000,6,0.000,0.025,2774,2374,1562,0,0,0,0,0,0
$GC,14848,1.43,314.1,40.3,11.1,388,14872,0.00,2.92,18.05,0.645,4,0.000,0.029,2774,957,1477,0,0,0,0,0,0
$GC,14949,1.44,320.7,29.1,11.6,397,14954,0.00,2.75,0.00,0.000,6,0.000,0.024,2774,2372,1475,0,0,0,0,0,0
$GC,15143,1.49,362.4,7.4,10.4,426,15185,0.12,0.15,39.33,0.626,3,0.059,0.046,2813,2243,1280,0,0,0,0,0,0
$STATE,15186,end climb,SURFACE_DEPTH_REACHED
$STATE,15186,begin surface coast
$FINISH,0.1,1.023535
$STATE,15211,end surface coast,CONTROL_FINISHED_OK
$STATE,15211,begin surface
$SM_CCo,15230,15.65,0.581,0,0,1147,395.18
$SM_GC,0.94,0.00,0.00,15.65,0.000,0.000,0.581,356,2315,1147,-9.77,0.42,395.18
$IRIDIUM_FIX,1938.95,-15558.76,100911,111130
$TT8_MAMPS,0.116095
$HUMID,1078048377
$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,311/555
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,8.044
$10V_AH,9.9,3.881
$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,24.475,183.550,500.900,15.650,0.000,23.332,36.941,304.007,0.000,0.000,13.159,0.000,12448.781,664.051,2479.834,267.682,33.331,1747.636,0.000,1301.879,0.000,0.544,0.000
$DEVICE_MAMPS,169.065,88.740,1468.800,580.635,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,296.594,0.000,0.000,0.000,0.000,0.000,15895.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,84.095,0.000,0.000,0.000
$MEM,354032
$DATA_FILE_SIZE,16799,439
$CAP_FILE_SIZE,133047,0
$CFSIZE,260034560,256241664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180310,020207,1940.261,-15605.334,23,1.4,23,9.7