version: 66.07
glider: 22
mission: 17
dive: 6
start: 3 17 110 7 51 55
data:
$ID,22
$MISSION,17
$DIVE,6
$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,300
$T_MISSION,400
$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,1.027
$MASS,52198
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,325
$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,-254973.5
$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,2620
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2300
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$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
$GPS1,170310,074637,1943.589,-15608.524,28,1.7,28,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-70.2
$GPS2,170310,075114,1943.686,-15608.553,14,1.7,14,9.7
$SPEED_LIMITS,0.191,0.303
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.229,-0.198
$KALMAN_X,-12001.2,274.4,52.8,5951.5,-3954.3
$KALMAN_Y,14549.0,-664.3,-213.6,-7487.0,3375.4
$MHEAD_RNG_PITCHd_Wd,121.1,9220,-17.3,-11.000
$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,-1.23,-194.7,0.0,0.0,0,85,0.00,0.00,-65.47,0.000,2,0.000,0.000,374,2330,2686,0,0,0,0,0,0
$GC,87,-1.23,-194.7,3.4,-7.7,13,123,10.43,2.53,-17.17,0.000,4,0.151,0.058,2344,891,3413,0,0,0,0,0,0
$GC,255,-1.23,-194.7,39.6,-19.7,36,259,0.00,2.40,0.00,0.000,6,0.000,0.043,2344,2278,3416,0,0,0,0,0,0
$GC,452,-1.23,-194.7,86.3,-24.5,55,456,0.00,2.58,0.00,0.000,4,0.000,0.060,2344,3709,3417,0,0,0,0,0,0
$GC,575,-1.23,-194.7,115.6,-21.3,62,584,0.00,2.35,0.00,0.000,6,0.000,0.038,2344,2279,3417,0,0,0,0,0,0
$GC,885,-1.23,-194.7,170.3,-17.3,73,893,0.00,2.55,0.00,0.000,4,0.000,0.058,2344,3708,3419,0,0,0,0,0,0
$GC,1132,-1.23,-194.7,211.1,-16.3,80,1141,0.00,2.38,0.00,0.000,6,0.000,0.040,2344,2295,3420,0,0,0,0,0,0
$GC,1441,-1.23,-194.7,259.3,-14.5,91,1449,0.00,2.53,0.00,0.000,4,0.000,0.059,2344,3708,3421,0,0,0,0,0,0
$GC,1576,-1.23,-194.7,279.2,-13.5,95,1584,0.00,2.40,0.00,0.000,6,0.000,0.040,2344,2293,3421,0,0,0,0,0,0
$GC,1927,-1.23,-194.7,325.9,-13.3,104,1935,0.00,2.53,0.00,0.000,4,0.000,0.061,2344,3711,3422,0,0,0,0,0,0
$GC,2074,-1.23,-194.7,344.6,-12.1,106,2082,0.00,2.42,0.00,0.000,6,0.000,0.041,2344,2289,3421,0,0,0,0,0,0
$GC,2415,-1.23,-194.7,384.4,-11.6,112,2423,0.00,2.58,0.00,0.000,4,0.000,0.063,2344,3715,3420,0,0,0,0,0,0
$GC,2557,-1.23,-194.7,400.6,-11.2,114,2565,0.00,2.45,0.00,0.000,6,0.000,0.042,2344,2289,3419,0,0,0,0,0,0
$GC,2903,-1.23,-194.7,439.0,-11.2,120,2911,0.00,2.58,0.00,0.000,4,0.000,0.064,2344,3708,3417,0,0,0,0,0,0
$GC,3097,-1.23,-194.7,461.9,-11.5,123,3105,0.00,2.45,0.00,0.000,6,0.000,0.044,2344,2291,3416,0,0,0,0,0,0
$GC,3454,-1.23,-194.7,496.7,-9.2,129,3462,0.00,2.58,0.00,0.000,4,0.000,0.067,2344,3706,3412,0,0,0,0,0,0
$GC,3622,-1.23,-194.7,511.8,-9.2,131,3631,0.00,2.45,0.00,0.000,6,0.000,0.044,2344,2295,3410,0,0,0,0,0,0
$GC,3948,-1.23,-194.7,542.5,-9.6,137,3956,0.00,2.58,0.00,0.000,4,0.000,0.069,2344,3711,3409,0,0,0,0,0,0
$GC,4062,-1.23,-194.7,554.8,-10.2,138,4070,0.00,2.47,0.00,0.000,6,0.000,0.044,2343,2288,3410,0,0,0,0,0,0
$GC,4370,-1.23,-194.7,585.0,-9.8,143,4379,0.00,2.62,0.00,0.000,4,0.000,0.070,2344,3714,3407,0,0,0,0,0,0
$GC,4564,-1.23,-194.7,605.9,-10.7,146,4573,0.00,2.47,0.00,0.000,6,0.000,0.045,2344,2292,3405,0,0,0,0,0,0
$GC,4927,-1.23,-194.7,643.5,-10.6,152,4935,0.00,2.62,0.00,0.000,4,0.000,0.075,2344,3705,3403,0,0,0,0,0,0
$GC,5094,-1.23,-194.7,662.3,-11.0,154,5103,0.00,2.47,0.00,0.000,6,0.000,0.047,2344,2291,3402,0,0,0,0,0,0
$GC,5419,-1.23,-194.7,696.2,-10.2,160,5427,0.00,2.65,0.00,0.000,4,0.000,0.081,2344,3705,3399,0,0,0,0,0,0
$GC,5566,-1.23,-194.7,711.1,-9.5,162,5574,0.00,2.50,0.00,0.000,6,0.000,0.054,2344,2304,3399,0,0,0,0,0,0
$GC,5918,-1.23,-194.7,743.3,-9.1,168,5926,0.00,2.67,0.00,0.000,4,0.000,0.090,2343,3711,3396,0,0,0,0,0,0
$GC,6096,-1.23,-194.7,761.0,-10.4,170,6104,0.00,2.60,0.00,0.000,6,0.000,0.066,2344,2297,3395,0,0,0,0,0,0
$GC,6405,-1.23,-194.7,792.0,-10.3,175,6413,0.00,2.75,0.00,0.000,4,0.000,0.103,2344,3706,3394,0,0,0,0,0,0
$GC,6567,-1.23,-194.7,809.6,-10.9,177,6576,0.00,2.67,0.00,0.000,6,0.000,0.082,2344,2299,3394,0,0,0,0,0,0
$GC,6892,-1.23,-194.7,841.6,-9.8,183,6901,0.00,2.85,0.00,0.000,4,0.000,0.123,2344,3700,3393,0,0,0,0,0,0
$GC,7012,-1.23,-194.7,854.1,-10.3,184,7021,0.00,2.75,0.00,0.000,6,0.000,0.103,2344,2296,3392,0,0,0,0,0,0
$GC,7320,-1.23,-194.7,882.0,-8.9,190,7330,0.00,3.00,0.00,0.000,4,0.000,0.142,2344,3705,3392,0,0,0,0,0,0
$GC,7415,-1.23,-194.7,890.6,-9.2,191,7424,0.00,2.92,0.00,0.000,6,0.000,0.124,2344,2293,3390,0,0,0,0,0,0
$GC,7746,-1.23,-194.7,916.1,-7.7,197,7754,0.00,3.12,0.00,0.000,4,0.000,0.163,2344,3703,3390,0,0,0,0,0,0
$GC,7883,-1.23,-194.7,927.4,-8.6,199,7891,0.00,3.08,0.00,0.000,6,0.000,0.148,2344,2291,3390,0,0,0,0,0,0
$GC,8235,-1.23,-194.7,954.6,-7.7,205,8244,0.00,3.33,0.00,0.000,4,0.000,0.189,2344,3702,3390,0,0,0,0,0,0
$GC,8388,-1.23,-194.7,967.4,-8.5,207,8397,0.00,3.25,0.00,0.000,6,0.000,0.174,2344,2293,3388,0,0,0,0,0,0
$STATE,8722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8722,begin apogee
$GC,8727,-0.29,0.0,993.5,7.8,213,8901,1.00,0.00,166.65,1.291,6,0.100,0.000,2552,2129,2619,0,0,0,0,0,0
$STATE,8902,end apogee,CONTROL_FINISHED_OK
$STATE,8902,begin climb
$GC,8903,1.23,194.7,996.4,0.0,215,9093,1.55,3.50,174.73,1.277,4,0.072,0.207,2888,726,1822,0,0,0,0,0,0
$GC,9273,1.23,194.7,945.3,17.7,220,9282,0.00,3.05,0.00,0.000,6,0.000,0.150,2887,2126,1811,0,0,0,0,0,0
$GC,9581,1.23,194.7,891.5,17.5,226,9590,0.00,3.03,0.00,0.000,4,0.000,0.137,2888,714,1807,0,0,0,0,0,0
$GC,9648,1.23,194.7,879.9,16.8,227,9656,0.00,2.95,0.00,0.000,6,0.000,0.113,2887,2149,1808,0,0,0,0,0,0
$GC,10005,1.23,194.7,819.1,17.1,233,10014,0.00,2.88,0.00,0.000,4,0.000,0.105,2888,714,1806,0,0,0,0,0,0
$GC,10147,1.23,194.7,795.2,17.1,235,10156,0.00,2.75,0.00,0.000,6,0.000,0.083,2887,2149,1805,0,0,0,0,0,0
$GC,10494,1.23,194.7,737.9,16.4,241,10502,0.00,2.72,0.00,0.000,4,0.000,0.078,2888,714,1805,0,0,0,0,0,0
$GC,10555,1.23,194.7,728.4,15.9,242,10563,0.00,2.65,0.00,0.000,6,0.000,0.063,2888,2150,1803,0,0,0,0,0,0
$GC,10918,1.23,194.7,674.9,14.6,248,10926,0.00,2.67,0.00,0.000,4,0.000,0.067,2888,706,1804,0,0,0,0,0,0
$GC,10989,1.23,194.7,664.2,14.8,249,10997,0.00,2.60,0.00,0.000,6,0.000,0.056,2888,2148,1803,0,0,0,0,0,0
$GC,11346,1.23,194.7,612.3,14.6,255,11354,0.00,2.60,0.00,0.000,4,0.000,0.061,2888,709,1803,0,0,0,0,0,0
$GC,11427,1.23,194.7,599.9,15.1,256,11435,0.00,2.58,0.00,0.000,6,0.000,0.051,2888,2152,1803,0,0,0,0,0,0
$GC,11768,1.23,194.7,548.5,15.1,262,11777,0.00,2.60,0.00,0.000,4,0.000,0.059,2887,706,1803,0,0,0,0,0,0
$GC,11888,1.23,194.7,530.6,15.1,263,11897,0.00,2.50,0.00,0.000,6,0.000,0.049,2888,2150,1803,0,0,0,0,0,0
$GC,12195,1.23,194.7,488.9,13.2,269,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2150,1802,0,0,0,0,0,0
$GC,12498,1.23,194.7,444.2,15.0,274,12506,0.00,2.60,0.00,0.000,4,0.000,0.057,2887,706,1802,0,0,0,0,0,0
$GC,12537,1.23,194.7,438.0,15.3,274,12545,0.00,2.55,0.00,0.000,6,0.000,0.047,2888,2151,1801,0,0,0,0,0,0
$GC,12857,1.23,194.7,393.4,13.7,280,12865,0.00,2.60,0.00,0.000,4,0.000,0.056,2888,702,1801,0,0,0,0,0,0
$GC,12912,1.23,194.7,386.2,12.5,280,12921,0.00,2.50,0.00,0.000,6,0.000,0.047,2887,2150,1801,0,0,0,0,0,0
$GC,13220,1.23,194.7,345.1,13.4,286,13229,0.00,2.60,0.00,0.000,4,0.000,0.055,2888,699,1801,0,0,0,0,0,0
$GC,13302,1.23,194.7,333.2,14.1,287,13310,0.00,2.55,0.00,0.000,6,0.000,0.046,2888,2153,1800,0,0,0,0,0,0
$GC,13613,1.23,194.7,291.2,13.2,293,13621,0.00,2.50,0.00,0.000,4,0.000,0.063,2888,3555,1800,0,0,0,0,0,0
$GC,13678,1.23,194.7,282.2,13.5,295,13686,0.00,2.50,0.00,0.000,6,0.000,0.044,2888,2104,1800,0,0,0,0,0,0
$GC,14010,1.26,224.7,245.8,9.9,306,14045,0.00,2.50,23.58,0.807,4,0.000,0.054,2888,734,1701,0,0,0,0,0,0
$GC,14284,1.26,224.7,213.1,12.5,314,14293,0.00,2.47,0.00,0.000,6,0.000,0.044,2888,2151,1698,0,0,0,0,0,0
$GC,14600,1.26,224.7,176.9,11.5,325,14608,0.00,2.50,0.00,0.000,4,0.000,0.050,2888,728,1697,0,0,0,0,0,0
$GC,14725,1.26,224.7,162.7,11.6,329,14733,0.00,2.47,0.00,0.000,6,0.000,0.043,2888,2162,1696,0,0,0,0,0,0
$GC,15056,1.26,224.7,124.8,11.5,340,15065,0.00,2.47,0.00,0.000,4,0.000,0.048,2888,727,1696,0,0,0,0,0,0
$GC,15191,1.26,224.7,109.5,11.4,344,15200,0.00,2.42,0.00,0.000,6,0.000,0.041,2888,2154,1697,0,0,0,0,0,0
$GC,15514,1.32,281.9,79.5,8.8,368,15567,0.00,2.50,49.05,0.615,4,0.000,0.056,2888,3550,1468,0,0,0,0,0,0
$GC,15664,1.32,281.9,64.2,11.3,382,15670,0.00,2.45,0.00,0.000,6,0.000,0.038,2888,2134,1463,0,0,0,0,0,0
$GC,15856,1.32,281.9,42.5,11.3,401,15860,0.00,2.45,0.00,0.000,4,0.000,0.050,2888,731,1462,0,0,0,0,0,0
$GC,15914,1.32,281.9,35.5,11.9,406,15920,0.00,2.45,0.00,0.000,6,0.000,0.040,2888,2148,1461,0,0,0,0,0,0
$GC,16109,1.37,323.8,13.9,9.4,430,16150,0.12,2.42,34.50,0.525,4,0.083,0.047,2922,736,1295,0,0,0,0,0,0
$STATE,16195,end climb,SURFACE_DEPTH_REACHED
$STATE,16195,begin surface coast
$FINISH,1.6,1.023566
$STATE,16206,end surface coast,CONTROL_FINISHED_OK
$STATE,16206,begin surface
$SM_CCo,16286,0.00,0.000,0,0,1290,325.76
$SM_GC,0.81,11.32,0.00,0.00,0.057,0.000,0.000,377,2314,1290,-10.26,0.40,325.76
$IRIDIUM_FIX,1936.66,-15608.99,090911,212118
$TT8_MAMPS,0.149051
$HUMID,1077999345
$TCM_TEMP,23.80
$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,0/257
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,4.763
$10V_AH,9.9,3.974
$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,24.425,184.875,448.500,0.000,0.000,30.521,34.974,117.284,0.000,0.000,15.369,0.000,12945.661,564.718,2805.995,248.239,33.349,1894.456,0.000,1895.728,0.000,0.533,0.000
$DEVICE_MAMPS,151.470,206.550,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,299.408,0.000,0.000,0.000,0.000,0.000,16602.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,85.831,0.000,0.000,0.000
$MEM,344720
$DATA_FILE_SIZE,16760,449
$CAP_FILE_SIZE,142678,0
$CFSIZE,260034560,256786432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170310,122437,1942.690,-15608.350,37,1.5,37,9.7