version: 66.07
glider: 23
mission: 14
dive: 9
start: 3 18 110 2 24 18
data:
$ID,23
$MISSION,14
$DIVE,9
$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,-40946.496
$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,25
$R_STBD_OVSHOOT,38
$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
$GPS1,180310,020207,1940.261,-15605.334,23,1.4,23,9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.5
$GPS2,180310,022338,1940.532,-15605.643,16,1.9,16,9.7
$SPEED_LIMITS,0.204,0.317
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.127,-0.160
$KALMAN_X,-10022.7,-509.2,-13.4,11920.4,-458.3
$KALMAN_Y,21118.7,780.4,330.1,-26100.5,994.9
$MHEAD_RNG_PITCHd_Wd,131.8,1492,-26.9,-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,-1.90,-98.2,0.0,0.0,0,103,0.00,0.00,-77.85,0.000,2,0.000,0.000,356,2316,2806,0,0,0,0,0,0
$GC,105,-1.98,-171.0,3.5,-6.0,16,136,9.93,2.85,-14.38,0.000,4,0.170,0.042,2042,875,3459,0,0,0,0,0,0
$GC,220,-1.98,-171.0,38.4,-34.4,33,224,0.00,2.80,0.00,0.000,6,0.000,0.022,2042,2306,3460,0,0,0,0,0,0
$GC,427,-1.98,-171.0,112.9,-33.8,51,435,0.00,2.28,0.00,0.000,4,0.000,0.031,2042,3714,3461,0,0,0,0,0,0
$GC,674,-1.98,-171.0,188.1,-30.2,58,684,0.00,2.28,0.00,0.000,6,0.000,0.023,2042,2286,3462,0,0,0,0,0,0
$GC,984,-1.98,-171.0,267.5,-23.1,69,993,0.00,2.78,0.00,0.000,4,0.000,0.035,2042,887,3463,0,0,0,0,0,0
$GC,1046,-1.98,-171.0,281.5,-21.9,71,1054,0.00,2.78,0.00,0.000,6,0.000,0.027,2042,2294,3462,0,0,0,0,0,0
$GC,1377,-1.98,-171.0,355.3,-22.7,78,1384,0.00,2.35,0.00,0.000,4,0.000,0.043,2041,3710,3462,0,0,0,0,0,0
$GC,1624,-1.98,-171.0,411.7,-21.8,81,1632,0.00,2.30,0.00,0.000,6,0.000,0.027,2042,2289,3460,0,0,0,0,0,0
$GC,1933,-1.98,-171.0,477.3,-21.2,86,1941,0.00,2.40,0.00,0.000,4,0.000,0.047,2042,3710,3457,0,0,0,0,0,0
$GC,2180,-1.98,-171.0,530.0,-20.2,89,2190,0.00,2.30,0.00,0.000,6,0.000,0.028,2042,2295,3454,0,0,0,0,0,0
$GC,2488,-1.98,-171.0,587.4,-18.3,95,2497,0.00,2.85,0.00,0.000,4,0.000,0.044,2042,902,3451,0,0,0,0,0,0
$GC,2624,-1.98,-171.0,611.6,-18.0,97,2633,0.00,2.85,0.00,0.000,6,0.000,0.036,2042,2305,3450,0,0,0,0,0,0
$GC,2976,-1.98,-171.0,677.9,-18.9,103,2984,0.00,2.40,0.00,0.000,4,0.000,0.053,2042,3720,3445,0,0,0,0,0,0
$GC,3224,-1.98,-171.0,723.3,-17.8,106,3234,0.00,2.30,0.00,0.000,6,0.000,0.031,2042,2307,3443,0,0,0,0,0,0
$GC,3532,-1.98,-171.0,776.9,-17.4,112,3541,0.00,2.38,0.00,0.000,4,0.000,0.054,2042,3708,3440,0,0,0,0,0,0
$GC,3780,-1.98,-171.0,822.8,-18.5,115,3788,0.00,2.30,0.00,0.000,6,0.000,0.031,2042,2295,3438,0,0,0,0,0,0
$GC,4089,-1.98,-171.0,872.9,-16.1,120,4097,0.00,2.42,0.00,0.000,4,0.000,0.054,2042,3718,3434,0,0,1,0,0,0
$GC,4337,-1.98,-171.0,916.8,-18.0,123,4346,0.00,2.35,0.00,0.000,6,0.000,0.031,2042,2282,3433,0,0,0,0,0,0
$GC,4645,-1.98,-171.0,968.7,-16.9,129,4653,0.00,2.45,0.00,0.000,4,0.000,0.054,2042,3717,3432,0,0,1,0,0,0
$STATE,4768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4768,begin apogee
$GC,4776,-0.33,0.0,990.8,17.8,131,4923,1.88,0.00,138.38,1.450,6,0.122,0.000,2401,2355,2759,0,0,0,0,0,0
$STATE,4924,end apogee,CONTROL_FINISHED_OK
$STATE,4924,begin climb
$GC,4926,1.98,171.0,995.3,0.0,133,5078,2.33,0.00,143.93,1.408,6,0.051,0.000,2913,2355,2062,0,0,0,0,0,0
$GC,5351,1.98,171.0,924.6,21.2,140,5359,0.00,2.42,0.00,0.000,4,0.000,0.053,2913,3785,2055,0,0,0,0,0,0
$GC,5544,1.98,171.0,881.5,21.8,143,5552,0.00,2.33,0.00,0.000,6,0.000,0.029,2914,2357,2054,0,0,0,0,0,0
$GC,5907,1.98,171.0,808.9,19.9,149,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2355,2052,0,0,0,0,0,0
$GC,6208,1.98,171.0,748.7,20.1,154,6216,0.00,2.42,0.00,0.000,4,0.000,0.053,2914,3782,2051,0,0,0,0,0,0
$GC,6397,1.98,171.0,706.2,21.8,157,6406,0.00,2.28,0.00,0.000,6,0.000,0.028,2913,2359,2050,0,0,0,0,0,0
$GC,6761,1.98,171.0,630.8,20.7,163,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2355,2049,0,0,0,0,0,0
$GC,7062,1.98,171.0,573.1,19.1,168,7070,0.00,2.40,0.00,0.000,4,0.000,0.054,2914,3788,2048,0,0,0,0,0,0
$GC,7293,1.98,171.0,526.5,20.3,171,7302,0.00,2.28,0.00,0.000,6,0.000,0.027,2914,2361,2047,0,0,0,0,0,0
$GC,7618,1.98,171.0,469.6,17.4,177,7627,0.00,2.80,0.00,0.000,4,0.000,0.040,2914,970,2047,0,0,0,0,0,0
$GC,7723,1.98,171.0,452.3,16.5,178,7731,0.00,2.83,0.00,0.000,6,0.000,0.034,2914,2369,2047,0,0,0,0,0,0
$GC,8043,1.98,171.0,400.5,16.1,184,8051,0.00,2.38,0.00,0.000,4,0.000,0.051,2914,3793,2047,0,0,0,0,0,0
$GC,8290,1.98,171.0,357.7,17.7,187,8300,0.00,2.25,0.00,0.000,6,0.000,0.026,2913,2360,2047,0,0,0,0,0,0
$GC,8599,1.98,171.0,312.9,14.2,193,8608,0.00,2.80,0.00,0.000,4,0.000,0.038,2913,971,2046,0,0,0,0,0,0
$GC,8702,1.98,171.0,299.0,13.5,194,8711,0.00,2.83,0.00,0.000,6,0.000,0.033,2914,2369,2046,0,0,0,0,0,0
$GC,9024,1.98,171.0,253.8,14.4,205,9032,0.00,2.35,0.00,0.000,4,0.000,0.050,2914,3794,2046,0,0,0,0,0,0
$GC,9271,1.98,171.0,215.6,14.6,212,9280,0.00,2.25,0.00,0.000,6,0.000,0.023,2914,2360,2046,0,0,0,0,0,0
$GC,9581,1.98,171.0,176.3,12.9,222,9590,0.00,2.38,0.00,0.000,4,0.000,0.048,2914,3788,2047,0,0,0,0,0,0
$GC,9829,1.98,171.0,145.2,13.7,229,9838,0.00,2.22,0.00,0.000,6,0.000,0.021,2914,2359,2047,0,0,0,0,0,0
$GC,10139,2.01,197.1,114.7,9.7,240,10167,0.00,2.42,19.73,0.752,4,0.000,0.045,2914,3783,1954,0,0,0,0,0,0
$GC,10407,2.03,216.5,80.8,10.2,256,10428,0.00,2.22,16.83,0.701,6,0.000,0.019,2913,2359,1876,0,0,0,0,0,0
$GC,10614,2.03,216.5,55.6,13.2,276,10617,0.00,2.72,0.00,0.000,4,0.000,0.031,2914,982,1875,0,0,0,0,0,0
$GC,10859,2.03,216.5,25.4,14.4,299,10863,0.00,2.75,0.00,0.000,6,0.000,0.025,2914,2372,1878,0,0,0,0,0,0
$STATE,11027,end climb,SURFACE_DEPTH_REACHED
$STATE,11027,begin surface coast
$FINISH,0.2,1.003770
$STATE,11054,end surface coast,CONTROL_FINISHED_OK
$STATE,11054,begin surface
$SM_CCo,11074,86.75,0.628,0,0,1148,395.18
$SM_GC,0.83,0.00,0.00,86.75,0.000,0.000,0.628,358,2303,1148,-9.75,0.08,395.18
$IRIDIUM_FIX,1934.38,-15604.81,100911,202045
$TT8_MAMPS,0.136318
$HUMID,1078059990
$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,515/513
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,8.231
$10V_AH,9.9,4.229
$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,25.325,99.050,318.850,86.750,0.000,78.411,87.522,725.708,0.000,0.000,18.461,0.000,8699.628,529.824,2963.579,298.724,33.328,1465.788,0.000,1454.554,0.000,0.544,0.000
$DEVICE_MAMPS,169.830,75.735,1449.675,628.065,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,224.076,0.000,0.000,0.000,0.000,0.000,12505.710,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,82.843,0.000,0.000,0.000
$MEM,353376
$DATA_FILE_SIZE,10164,332
$CAP_FILE_SIZE,120833,0
$CFSIZE,260034560,256167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180310,053227,1941.202,-15606.693,32,2.4,51,9.7