version: 66.07
glider: 22
mission: 17
dive: 16
start: 3 19 110 4 11 1
data:
$ID,22
$MISSION,17
$DIVE,16
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-255223.11
$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,34
$R_STBD_OVSHOOT,32
$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
$GPS1,190310,035936,1935.128,-15601.434,39,1.3,39,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-67.8
$GPS2,190310,041019,1935.311,-15601.488,13,1.5,30,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.208,-0.264
$KALMAN_X,-9347.5,403.2,362.2,16544.1,-3371.8
$KALMAN_Y,11790.6,-306.0,-45.9,-20746.3,3527.1
$MHEAD_RNG_PITCHd_Wd,132.0,1142,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.24,-233.6,0.0,0.0,0,87,0.00,0.00,-63.58,0.000,2,0.000,0.000,378,2610,2602,0,0,0,0,0,0
$GC,89,-1.24,-233.6,3.2,-7.4,12,135,10.25,2.40,-30.08,0.000,4,0.149,0.057,2324,1179,3843,0,0,0,0,0,0
$GC,289,-1.24,-233.6,49.4,-20.8,38,293,0.00,2.45,0.00,0.000,6,0.000,0.044,2324,2599,3844,0,0,0,0,0,0
$GC,485,-1.24,-233.6,100.9,-25.6,57,489,0.00,2.42,0.00,0.000,4,0.000,0.062,2324,3939,3845,0,0,0,0,0,0
$GC,506,-1.24,-233.6,106.2,-25.5,57,510,0.00,2.33,0.00,0.000,6,0.000,0.038,2324,2585,3845,0,0,0,0,0,0
$GC,820,-1.24,-233.6,172.6,-21.6,68,824,0.00,2.47,0.00,0.000,4,0.000,0.061,2324,3940,3846,0,0,0,0,0,0
$GC,895,-1.24,-233.6,188.0,-19.6,70,899,0.00,2.30,0.00,0.000,6,0.000,0.038,2323,2593,3846,0,0,0,0,0,0
$GC,1219,-1.24,-233.6,254.3,-21.1,81,1223,0.00,2.47,0.00,0.000,4,0.000,0.061,2324,3948,3847,0,0,0,0,0,0
$GC,1278,-1.24,-233.6,267.0,-19.9,82,1284,0.00,2.30,0.00,0.000,6,0.000,0.037,2324,2593,3847,0,0,0,0,0,0
$GC,1586,-1.24,-233.6,324.6,-17.8,91,1590,0.00,2.47,0.00,0.000,4,0.000,0.063,2324,3939,3847,0,0,0,0,0,0
$GC,1644,-1.24,-233.6,335.5,-18.4,91,1650,0.00,2.30,0.00,0.000,6,0.000,0.038,2324,2592,3847,0,0,0,0,0,0
$GC,1951,-1.24,-233.6,388.7,-17.2,97,1955,0.00,2.45,0.00,0.000,4,0.000,0.064,2323,3943,3847,0,0,0,0,0,0
$GC,2004,-1.24,-233.6,397.5,-16.4,97,2008,0.00,2.33,0.00,0.000,6,0.000,0.040,2324,2597,3847,0,0,0,0,0,0
$GC,2316,-1.24,-233.6,447.2,-15.8,103,2324,0.00,2.45,0.00,0.000,4,0.000,0.066,2324,3946,3847,0,0,0,0,0,0
$GC,2344,-1.24,-233.6,451.5,-15.4,103,2352,0.00,2.33,0.00,0.000,6,0.000,0.041,2324,2591,3848,0,0,0,0,0,0
$GC,2679,-1.24,-233.6,500.7,-14.6,109,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2586,3846,0,0,0,0,0,0
$GC,2982,-1.24,-233.6,542.1,-13.6,114,2990,0.00,2.50,0.00,0.000,4,0.000,0.070,2324,3942,3844,0,0,0,0,0,0
$GC,3020,-1.24,-233.6,547.2,-13.4,114,3029,0.00,2.33,0.00,0.000,6,0.000,0.042,2323,2599,3843,0,0,0,0,0,0
$GC,3340,-1.24,-233.6,590.4,-13.6,120,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2594,3840,0,0,0,0,0,0
$GC,3642,-1.24,-233.6,634.2,-14.5,125,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2594,3837,0,0,0,0,0,0
$GC,3944,-1.24,-233.6,674.4,-13.3,130,3952,0.00,2.55,0.00,0.000,4,0.000,0.081,2324,3942,3834,0,0,0,0,0,0
$GC,3973,-1.24,-233.6,678.1,-13.9,130,3981,0.00,2.35,0.00,0.000,6,0.000,0.044,2324,2610,3834,0,0,0,0,0,0
$GC,4304,-1.24,-233.6,715.3,-11.0,136,4312,0.00,2.58,0.00,0.000,4,0.000,0.074,2324,1187,3830,0,0,0,0,0,0
$GC,4343,-1.24,-233.6,719.0,-9.5,136,4351,0.00,2.58,0.00,0.000,6,0.000,0.064,2324,2594,3830,0,0,0,0,0,0
$GC,4663,-1.24,-233.6,751.4,-10.3,142,4672,0.00,2.62,0.00,0.000,4,0.000,0.097,2324,3953,3827,0,0,0,0,0,0
$GC,4697,-1.24,-233.6,755.5,-12.0,142,4705,0.00,2.45,0.00,0.000,6,0.000,0.056,2324,2606,3826,0,0,0,0,0,0
$GC,5021,-1.24,-233.6,784.8,-9.2,148,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2598,3824,0,0,0,0,0,0
$GC,5323,-1.24,-233.6,784.9,-0.0,153,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2598,3822,0,0,0,0,0,0
$STATE,5382,end dive,NO_VERTICAL_VELOCITY
$STATE,5382,begin apogee
$GC,5387,-0.29,0.0,784.8,0.0,154,5579,0.95,0.00,184.15,1.166,6,0.067,0.000,2535,2002,2944,0,0,0,0,0,0
$STATE,5579,end apogee,CONTROL_FINISHED_OK
$STATE,5580,begin climb
$GC,5581,1.24,233.6,784.7,0.0,157,5802,1.52,2.78,205.25,1.125,4,0.064,0.090,2867,584,1988,0,0,0,0,0,0
$GC,5816,1.24,233.6,768.0,17.1,161,5824,0.00,2.67,0.00,0.000,6,0.000,0.065,2868,2005,1987,0,0,0,0,0,0
$GC,6168,1.24,233.6,721.3,14.4,167,6176,0.00,2.67,0.00,0.000,4,0.000,0.075,2868,580,1978,0,0,0,0,0,0
$GC,6244,1.24,233.6,708.8,16.2,168,6252,0.00,2.60,0.00,0.000,6,0.000,0.054,2867,2006,1978,0,0,0,0,0,0
$GC,6595,1.24,233.6,660.9,13.3,174,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2006,1975,0,0,0,0,0,0
$GC,6898,1.30,292.7,628.7,9.8,179,6960,0.00,0.00,52.55,1.056,6,0.000,0.000,2868,2012,1750,0,0,0,0,0,0
$GC,7259,1.30,292.7,578.4,14.2,185,7268,0.00,2.62,0.00,0.000,4,0.000,0.061,2868,576,1741,0,0,0,0,0,0
$GC,7288,1.30,292.7,574.5,13.3,185,7296,0.00,2.58,0.00,0.000,6,0.000,0.047,2868,2017,1740,0,0,0,0,0,0
$GC,7618,1.30,292.7,532.0,13.0,191,7627,0.00,2.53,0.00,0.000,4,0.000,0.063,2867,3406,1738,0,0,0,0,0,0
$GC,7657,1.30,292.7,526.2,14.9,191,7667,0.00,2.55,0.00,0.000,6,0.000,0.046,2867,1973,1737,0,0,0,0,0,0
$GC,7978,1.30,292.7,482.4,13.4,197,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1972,1736,0,0,0,0,0,0
$GC,8280,1.30,292.7,441.8,13.2,202,8288,0.00,2.62,0.00,0.000,4,0.000,0.060,2867,3412,1735,0,0,0,0,0,0
$GC,8297,1.30,292.7,439.5,12.3,202,8305,0.00,2.50,0.00,0.000,6,0.000,0.044,2868,1987,1734,0,0,0,0,0,0
$GC,8640,1.30,292.7,395.8,12.9,208,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1987,1733,0,0,0,0,0,0
$GC,8940,1.30,292.7,354.4,14.0,213,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1987,1733,0,0,0,0,0,0
$GC,9241,1.30,292.7,316.2,12.6,218,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1987,1733,0,0,0,0,0,0
$GC,9544,1.30,292.7,277.4,12.5,225,9548,0.00,2.58,0.00,0.000,4,0.000,0.055,2868,3401,1733,0,0,0,0,0,0
$GC,9602,1.30,292.7,269.8,12.5,226,9608,0.00,2.47,0.00,0.000,6,0.000,0.042,2868,1995,1733,0,0,0,0,0,0
$GC,9911,1.30,292.7,229.3,13.3,237,9915,0.00,2.47,0.00,0.000,4,0.000,0.054,2867,603,1732,0,0,0,0,0,0
$GC,9937,1.32,308.4,226.2,11.3,237,9953,0.00,2.45,12.20,0.723,6,0.000,0.041,2867,2009,1686,0,0,0,0,0,0
$GC,10271,1.32,308.4,186.3,12.1,249,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2008,1683,0,0,0,0,0,0
$GC,10575,1.34,332.9,151.4,11.0,259,10602,0.12,2.50,22.17,0.683,4,0.088,0.051,2900,3411,1586,0,0,0,0,0,0
$GC,10655,1.34,332.9,140.1,15.8,260,10659,0.00,2.50,0.00,0.000,6,0.000,0.040,2900,1992,1583,0,0,0,0,0,0
$GC,10968,1.34,332.9,98.7,12.4,271,10972,0.00,2.55,0.00,0.000,4,0.000,0.052,2900,3407,1582,0,0,0,0,0,0
$GC,11004,1.34,332.9,94.2,12.6,274,11011,0.00,2.45,0.00,0.000,6,0.000,0.039,2900,1997,1582,0,0,0,0,0,0
$GC,11196,1.37,357.9,74.8,10.9,293,11227,0.00,2.55,22.50,0.597,4,0.000,0.052,2900,593,1482,0,0,0,0,0,0
$GC,11461,1.38,365.7,41.9,11.5,318,11472,0.00,2.45,7.65,0.495,6,0.000,0.039,2900,2014,1453,0,0,0,0,0,0
$GC,11659,1.38,365.7,18.3,12.1,338,11664,0.00,2.38,0.00,0.000,4,0.000,0.052,2900,3405,1451,0,0,0,0,0,0
$GC,11705,1.38,369.7,12.3,11.7,347,11716,0.00,2.45,5.10,0.418,6,0.000,0.039,2900,1994,1435,0,0,0,0,0,0
$GC,11779,1.38,369.7,3.4,12.2,361,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1994,1434,0,0,0,0,0,0
$STATE,11787,end climb,SURFACE_DEPTH_REACHED
$STATE,11787,begin surface coast
$FINISH,0.1,1.023681
$STATE,11814,end surface coast,CONTROL_FINISHED_OK
$STATE,11814,begin surface
$SM_CCo,11833,22.58,0.506,0,0,1313,400.08
$SM_GC,0.68,0.00,0.00,22.58,0.000,0.000,0.506,378,2613,1313,-10.22,0.37,400.08
$IRIDIUM_FIX,1929.80,-15538.10,110911,181810
$TT8_MAMPS,0.12733
$HUMID,1077994184
$TCM_TEMP,23.50
$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,6.0/30829585/28972966
$PA_HOME,6.5/483886/452268
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.7/297829/286805
$PA_DATA1,4.1/7836665/7513708
$PA_DATA0,64.8/7836665/2760324
$24V_AH,23.5,6.849
$10V_AH,9.9,7.637
$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,23.800,111.550,511.575,22.575,0.000,22.664,27.402,347.722,0.000,0.000,32.292,0.000,9784.485,655.063,1845.869,245.582,33.339,1356.254,0.000,893.151,0.000,0.536,0.000
$DEVICE_MAMPS,149.175,97.155,1165.860,506.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,244.451,0.000,0.000,0.000,0.000,0.000,12624.311,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.882,0.000,0.000,0.000
$MEM,344656
$DATA_FILE_SIZE,13483,368
$CAP_FILE_SIZE,102666,0
$CFSIZE,260034560,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,073037,1934.399,-15600.547,60,1.6,60,9.7