version: 66.07
glider: 22
mission: 17
dive: 14
start: 3 18 110 19 36 20
data:
$ID,22
$MISSION,17
$DIVE,14
$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,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,400
$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,-255219.45
$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,2600
$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,2600
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2944
$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
$GPS1,180310,193043,1937.309,-15603.529,15,1.9,32,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-70.6
$GPS2,180310,193540,1937.407,-15603.614,14,3.5,33,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.207,-0.265
$KALMAN_X,-4997.2,-113.3,-266.8,9657.7,-1447.9
$KALMAN_Y,5890.0,237.0,238.1,-11817.2,1814.2
$MHEAD_RNG_PITCHd_Wd,132.3,6329,-16.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.24,-233.6,0.0,0.0,0,83,0.00,0.00,-65.05,0.000,2,0.000,0.000,378,2617,2654,0,0,0,0,0,0
$GC,85,-1.24,-233.6,3.1,-6.7,13,131,10.43,2.40,-28.45,0.000,4,0.158,0.073,2323,3949,3843,0,0,0,0,0,0
$GC,163,-1.24,-233.6,23.2,-29.8,27,168,0.00,2.33,0.00,0.000,6,0.000,0.039,2323,2583,3844,0,0,0,0,0,0
$GC,353,-1.24,-233.6,82.5,-32.0,46,357,0.00,2.50,0.00,0.000,4,0.000,0.061,2323,3943,3845,0,0,0,0,0,0
$GC,390,-1.24,-233.6,94.0,-30.4,49,396,0.00,2.33,0.00,0.000,6,0.000,0.038,2323,2593,3845,0,0,0,0,0,0
$GC,598,-1.24,-233.6,143.9,-23.3,58,603,0.00,2.47,0.00,0.000,4,0.000,0.061,2323,3943,3844,0,0,0,0,0,0
$GC,640,-1.24,-233.6,154.2,-24.8,59,645,0.00,2.30,0.00,0.000,6,0.000,0.037,2323,2593,3846,0,0,0,0,0,0
$GC,965,-1.24,-233.6,225.4,-21.4,70,969,0.00,2.45,0.00,0.000,4,0.000,0.061,2323,3931,3846,0,0,0,0,0,0
$GC,1013,-1.24,-233.6,234.2,-17.1,71,1017,0.00,2.28,0.00,0.000,6,0.000,0.037,2323,2592,3846,0,0,0,0,0,0
$GC,1332,-1.24,-233.6,292.6,-17.8,82,1336,0.00,2.45,0.00,0.000,4,0.000,0.061,2323,3931,3846,0,0,0,0,0,0
$GC,1390,-1.24,-233.6,302.6,-16.4,83,1397,0.00,2.28,0.00,0.000,6,0.000,0.038,2323,2599,3846,0,0,0,0,0,0
$GC,1698,-1.24,-233.6,351.8,-16.2,89,1702,0.00,2.45,0.00,0.000,4,0.000,0.063,2323,3942,3846,0,0,0,0,0,0
$GC,1745,-1.24,-233.6,359.1,-14.9,89,1749,0.00,2.33,0.00,0.000,6,0.000,0.039,2323,2595,3846,0,0,0,0,0,0
$GC,2060,-1.24,-233.6,404.5,-14.5,95,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2590,3846,0,0,0,0,0,0
$GC,2360,-1.24,-233.6,448.5,-14.7,100,2368,0.00,2.45,0.00,0.000,4,0.000,0.067,2322,3939,3845,0,0,0,0,0,0
$GC,2409,-1.24,-233.6,455.8,-14.4,100,2417,0.00,2.33,0.00,0.000,6,0.000,0.041,2322,2590,3843,0,0,0,0,0,0
$GC,2718,-1.24,-233.6,500.2,-14.5,105,2726,0.00,2.50,0.00,0.000,4,0.000,0.068,2322,3946,3840,0,0,0,0,0,0
$GC,2747,-1.24,-233.6,504.5,-14.7,105,2755,0.00,2.35,0.00,0.000,6,0.000,0.042,2323,2587,3840,0,0,0,0,0,0
$GC,3077,-1.24,-233.6,546.8,-12.7,111,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2581,3836,0,0,0,0,0,0
$GC,3378,-1.24,-233.6,584.0,-12.4,116,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2581,3833,0,0,0,0,0,0
$GC,3681,-1.24,-233.6,622.9,-12.9,121,3689,0.00,2.50,0.00,0.000,4,0.000,0.075,2323,3933,3829,0,0,0,0,0,0
$GC,3725,-1.24,-233.6,628.9,-12.8,121,3733,0.00,2.33,0.00,0.000,6,0.000,0.043,2323,2602,3829,0,0,0,0,0,0
$GC,4039,-1.24,-233.6,669.1,-12.9,127,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2597,3825,0,0,0,0,0,0
$GC,4340,-1.24,-233.6,708.9,-13.1,132,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2597,3823,0,0,0,0,0,0
$GC,4643,-1.24,-233.6,748.3,-13.2,137,4651,0.00,2.58,0.00,0.000,4,0.000,0.096,2323,3931,3820,0,0,0,0,0,0
$GC,4676,-1.24,-233.6,752.8,-13.6,137,4684,0.00,2.40,0.00,0.000,6,0.000,0.056,2323,2612,3820,0,0,0,0,0,0
$GC,5001,-1.24,-233.6,794.7,-13.1,143,5009,0.00,2.70,0.00,0.000,4,0.000,0.092,2323,1179,3817,0,0,0,0,0,0
$GC,5024,-1.24,-233.6,797.4,-11.9,143,5032,0.00,2.67,0.00,0.000,6,0.000,0.085,2325,2580,3816,0,0,0,0,0,0
$GC,5360,-1.24,-233.6,840.0,-12.6,149,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2580,3813,0,0,0,0,0,0
$GC,5661,-1.24,-233.6,877.9,-12.6,154,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2581,3811,0,0,0,0,0,0
$GC,5964,-1.24,-233.6,915.4,-12.4,159,5973,0.00,3.05,0.00,0.000,4,0.000,0.158,2323,1189,3809,0,0,0,0,0,0
$GC,5987,-1.24,-233.6,918.4,-12.7,159,5996,0.00,3.05,0.00,0.000,6,0.000,0.145,2324,2603,3809,0,0,0,0,0,0
$GC,6323,-1.24,-233.6,960.1,-12.5,165,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2603,3807,0,0,0,0,0,0
$STATE,6624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6624,begin apogee
$GC,6629,-0.29,0.0,995.0,11.5,170,6821,1.02,0.00,183.88,1.292,6,0.101,0.000,2534,2007,2945,0,0,0,0,0,0
$STATE,6821,end apogee,CONTROL_FINISHED_OK
$STATE,6821,begin climb
$GC,6823,1.24,233.6,1006.7,0.0,173,7047,1.52,3.65,209.57,1.298,4,0.067,0.202,2867,3414,1988,0,0,0,0,0,0
$GC,7147,1.24,233.6,988.4,15.0,178,7156,0.00,3.40,0.00,0.000,6,0.000,0.184,2867,1996,1980,0,0,0,0,0,0
$GC,7494,1.24,233.6,939.0,14.4,184,7503,0.00,3.15,0.00,0.000,4,0.000,0.168,2867,580,1977,0,0,0,0,0,0
$GC,7561,1.24,233.6,929.3,15.2,185,7570,0.00,3.05,0.00,0.000,6,0.000,0.131,2867,2010,1975,0,0,0,0,0,0
$GC,7918,1.24,233.6,874.6,15.4,191,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2011,1974,0,0,0,0,0,0
$GC,8221,1.24,233.6,827.4,15.7,196,8229,0.00,2.90,0.00,0.000,4,0.000,0.107,2867,576,1973,0,0,0,0,0,0
$GC,8265,1.24,233.6,820.1,17.1,196,8274,0.00,2.78,0.00,0.000,6,0.000,0.083,2868,2009,1972,0,0,0,0,0,0
$GC,8580,1.24,233.6,769.3,16.1,202,8588,0.00,2.67,0.00,0.000,4,0.000,0.089,2867,3417,1971,0,0,0,0,0,0
$GC,8619,1.24,233.6,762.4,17.8,202,8628,0.00,2.65,0.00,0.000,6,0.000,0.059,2867,1982,1971,0,0,0,0,0,0
$GC,8939,1.24,233.6,712.6,15.3,208,8948,0.00,2.58,0.00,0.000,4,0.000,0.075,2867,588,1970,0,0,0,0,0,0
$GC,8978,1.24,233.6,706.6,15.6,208,8987,0.00,2.60,0.00,0.000,6,0.000,0.054,2867,2026,1970,0,0,0,0,0,0
$GC,9298,1.24,233.6,658.2,15.0,214,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2027,1970,0,0,0,0,0,0
$GC,9600,1.24,233.6,616.5,13.9,219,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2027,1970,0,0,0,0,0,0
$GC,9902,1.24,233.6,578.7,12.6,224,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2027,1969,0,0,0,0,0,0
$GC,10203,1.24,233.6,540.6,12.6,229,10211,0.00,2.62,0.00,0.000,4,0.000,0.060,2867,581,1969,0,0,0,0,0,0
$GC,10258,1.24,233.6,533.5,12.8,229,10267,0.00,2.47,0.00,0.000,6,0.000,0.046,2867,2012,1969,0,0,0,0,0,0
$GC,10566,1.24,233.6,495.5,12.2,235,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2012,1969,0,0,0,0,0,0
$GC,10868,1.25,243.0,460.7,11.5,240,10883,0.00,2.60,5.55,0.767,4,0.000,0.057,2867,572,1952,0,0,0,0,0,0
$GC,10924,1.25,243.0,454.3,11.8,240,10934,0.00,2.47,0.00,0.000,6,0.000,0.044,2867,2006,1951,0,0,0,0,0,0
$GC,11233,1.30,294.2,422.8,10.1,246,11287,0.00,0.00,48.00,0.962,6,0.000,0.000,2867,2007,1744,0,0,0,0,0,0
$GC,11593,1.30,294.2,377.4,13.0,252,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2007,1737,0,0,0,0,0,0
$GC,11894,1.30,294.2,337.6,13.2,257,11898,0.00,2.55,0.00,0.000,4,0.000,0.058,2867,3404,1735,0,0,0,0,0,0
$GC,11947,1.30,294.2,330.5,12.9,257,11952,0.00,2.53,0.00,0.000,6,0.000,0.044,2867,1984,1733,0,0,0,0,0,0
$GC,12260,1.31,297.1,293.4,11.7,263,12264,0.00,2.47,0.00,0.000,4,0.000,0.057,2867,577,1732,0,0,0,0,0,0
$GC,12297,1.34,326.8,289.0,10.8,264,12331,0.10,2.50,28.58,0.841,6,0.103,0.042,2891,2007,1610,0,0,0,0,0,0
$GC,12657,1.34,326.8,244.2,12.0,276,12658,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2008,1603,0,0,0,0,0,0
$GC,12960,1.34,326.8,209.1,11.9,286,12964,0.00,2.53,0.00,0.000,4,0.000,0.055,2891,3406,1601,0,0,0,0,0,0
$GC,13008,1.37,354.9,203.7,10.8,287,13038,0.00,2.50,24.67,0.747,6,0.000,0.041,2893,1987,1497,0,0,0,0,0,0
$GC,13360,1.37,354.9,161.0,13.4,299,13363,0.00,2.53,0.00,0.000,4,0.000,0.053,2891,3410,1491,0,0,0,0,0,0
$GC,13417,1.37,354.9,152.9,13.2,301,13421,0.00,2.47,0.00,0.000,6,0.000,0.040,2891,2002,1490,0,0,0,0,0,0
$GC,13752,1.37,354.9,111.6,12.9,312,13756,0.00,2.47,0.00,0.000,4,0.000,0.052,2891,598,1490,0,0,0,0,0,0
$GC,13784,1.37,357.4,107.8,11.7,313,13788,0.00,2.42,0.00,0.000,6,0.000,0.039,2891,2006,1490,0,0,0,0,0,0
$GC,14104,1.38,367.9,68.0,11.4,338,14120,0.00,2.45,11.57,0.551,4,0.000,0.051,2891,3399,1444,0,0,0,0,0,0
$GC,14151,1.38,367.9,62.2,12.7,342,14155,0.00,2.45,0.00,0.000,6,0.000,0.039,2891,1994,1443,0,0,0,0,0,0
$GC,14348,1.41,390.7,39.8,11.0,361,14372,0.00,2.47,20.58,0.543,4,0.000,0.053,2891,594,1350,0,0,0,0,0,0
$GC,14433,1.50,472.9,31.9,9.0,368,14509,0.15,2.38,68.70,0.547,6,0.076,0.039,2931,2014,1015,0,0,0,0,0,0
$STATE,14623,end climb,SURFACE_DEPTH_REACHED
$STATE,14623,begin surface coast
$FINISH,0.5,1.023408
$STATE,14639,end surface coast,CONTROL_FINISHED_OK
$STATE,14639,begin surface
$SM_CCo,14718,0.00,0.000,0,0,1008,474.90
$SM_GC,0.94,11.18,0.00,0.00,0.046,0.000,0.000,377,2611,1008,-10.17,0.31,474.90
$IRIDIUM_FIX,1927.51,-15558.54,110911,131345
$TT8_MAMPS,0.128828
$HUMID,1078001926
$TCM_TEMP,23.60
$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,0/0
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,2.9/30829585/29940163
$PA_HOME,6.5/483886/452650
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/297829/286968
$PA_DATA1,3.9/7836665/7529470
$PA_DATA0,66.9/7836665/2592768
$24V_AH,23.4,6.467
$10V_AH,9.9,6.841
$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,24.400,136.250,601.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,35.431,0.000,12380.319,685.109,1585.506,168.177,32.338,1538.427,0.000,1026.149,0.000,0.534,0.000
$DEVICE_MAMPS,157.590,201.960,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,265.791,0.000,0.000,0.000,0.000,0.000,14783.490,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,75.809,0.000,0.000,0.000
$MEM,345372
$DATA_FILE_SIZE,13500,399
$CAP_FILE_SIZE,132969,0
$CFSIZE,260034560,256180224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180310,234327,1936.144,-15602.535,34,5.2,53,9.7