version: 66.07
glider: 22
mission: 17
dive: 21
start: 3 19 110 20 28 31
data:
$ID,22
$MISSION,17
$DIVE,21
$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,-255229.38
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,190310,202124,1933.288,-15601.111,31,1.3,49,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.4
$GPS2,190310,202749,1933.471,-15601.176,17,1.3,34,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.038,-0.334
$KALMAN_X,-17055.9,902.1,-32.3,24688.6,-4479.3
$KALMAN_Y,28717.0,-1307.9,324.4,-40441.0,9707.8
$MHEAD_RNG_PITCHd_Wd,163.8,3123,-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,-233.6,0.0,0.0,0,78,0.00,0.00,-60.12,0.000,2,0.000,0.000,378,2597,2585,0,0,0,0,0,0
$GC,81,-1.24,-233.6,3.1,-6.9,12,126,10.32,2.35,-29.92,0.000,4,0.153,0.072,2324,3949,3843,0,0,0,0,0,0
$GC,307,-1.24,-233.6,60.4,-24.2,40,313,0.00,2.33,0.00,0.000,6,0.000,0.037,2324,2586,3844,0,0,0,0,0,0
$GC,509,-1.24,-233.6,108.3,-22.7,58,512,0.00,2.45,0.00,0.000,4,0.000,0.059,2324,3955,3845,0,0,0,0,0,0
$GC,523,-1.24,-233.6,112.1,-22.8,58,528,0.00,2.33,0.00,0.000,6,0.000,0.037,2325,2581,3846,0,0,0,0,0,0
$GC,843,-1.24,-233.6,184.3,-21.1,69,847,0.00,2.47,0.00,0.000,4,0.000,0.059,2324,3942,3847,0,0,0,0,0,0
$GC,864,-1.24,-233.6,189.0,-21.6,69,868,0.00,2.28,0.00,0.000,6,0.000,0.037,2324,2596,3847,0,0,0,0,0,0
$GC,1178,-1.24,-233.6,254.1,-21.4,80,1182,0.00,2.45,0.00,0.000,4,0.000,0.058,2324,3943,3848,0,0,0,0,0,0
$GC,1204,-1.24,-233.6,259.8,-22.7,80,1210,0.00,2.28,0.00,0.000,6,0.000,0.037,2325,2604,3848,0,0,0,0,0,0
$GC,1542,-1.24,-233.6,325.7,-19.1,90,1547,0.00,2.47,0.00,0.000,4,0.000,0.061,2324,3953,3849,0,0,0,0,0,0
$GC,1568,-1.24,-233.6,331.1,-21.1,90,1573,0.00,2.33,0.00,0.000,6,0.000,0.039,2324,2592,3849,0,0,0,0,0,0
$GC,1908,-1.24,-233.6,392.1,-17.5,96,1912,0.00,2.50,0.00,0.000,4,0.000,0.063,2324,3946,3849,0,0,0,0,0,0
$GC,1934,-1.24,-233.6,396.4,-16.6,96,1938,0.00,2.33,0.00,0.000,6,0.000,0.040,2324,2595,3849,0,0,0,0,0,0
$GC,2273,-1.24,-233.6,446.9,-14.9,102,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2589,3848,0,0,0,0,0,0
$GC,2575,-1.24,-233.6,490.4,-14.4,107,2584,0.00,2.47,0.00,0.000,4,0.000,0.067,2324,3950,3847,0,0,0,0,0,0
$GC,2631,-1.24,-233.6,498.2,-13.7,107,2640,0.00,2.33,0.00,0.000,6,0.000,0.042,2324,2583,3847,0,0,0,0,0,0
$GC,2939,-1.24,-233.6,540.7,-14.0,113,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2578,3846,0,0,0,0,0,0
$GC,3240,-1.24,-233.6,582.9,-14.0,118,3249,0.00,2.50,0.00,0.000,4,0.000,0.071,2325,3943,3844,0,0,0,0,0,0
$GC,3279,-1.24,-233.6,588.3,-14.2,118,3287,0.00,2.35,0.00,0.000,6,0.000,0.042,2325,2589,3843,0,0,0,0,0,0
$GC,3598,-1.24,-233.6,632.0,-13.9,124,3607,0.00,2.45,0.00,0.000,4,0.000,0.060,2324,1203,3841,0,0,0,0,0,0
$GC,3626,-1.24,-233.6,635.9,-14.2,124,3635,0.00,2.50,0.00,0.000,6,0.000,0.055,2324,2600,3840,0,0,0,0,0,0
$GC,3957,-1.24,-233.6,679.5,-13.3,130,3965,0.00,2.53,0.00,0.000,4,0.000,0.086,2324,3949,3837,0,0,0,0,0,0
$GC,3980,-1.24,-233.6,682.9,-14.8,130,3987,0.00,2.35,0.00,0.000,6,0.000,0.045,2324,2607,3837,0,0,0,0,0,0
$GC,4315,-1.24,-233.6,727.5,-13.2,136,4323,0.00,2.58,0.00,0.000,4,0.000,0.075,2324,1197,3835,0,0,0,0,0,0
$GC,4343,-1.24,-233.6,731.2,-12.6,136,4351,0.00,2.58,0.00,0.000,6,0.000,0.067,2324,2606,3834,0,0,0,0,0,0
$GC,4673,-1.24,-233.6,770.5,-11.9,142,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2606,3831,0,0,0,0,0,0
$GC,4976,-1.24,-233.6,805.2,-11.4,147,4984,0.00,2.67,0.00,0.000,4,0.000,0.091,2324,1200,3829,0,0,0,0,0,0
$GC,5000,-1.24,-233.6,808.1,-11.9,147,5008,0.00,2.70,0.00,0.000,6,0.000,0.089,2325,2603,3829,0,0,0,0,0,0
$GC,5335,-1.24,-233.6,847.6,-11.8,153,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2603,3827,0,0,0,0,0,0
$GC,5637,-1.24,-233.6,882.8,-11.4,158,5645,0.00,2.85,0.00,0.000,4,0.000,0.148,2324,3949,3825,0,0,0,0,0,0
$GC,5671,-1.24,-233.6,886.6,-11.2,158,5680,0.00,2.70,0.00,0.000,6,0.000,0.112,2325,2613,3825,0,0,0,0,0,0
$GC,5996,-1.24,-233.6,924.0,-11.9,164,6005,0.00,3.05,0.00,0.000,4,0.000,0.156,2324,1178,3822,0,0,0,0,0,0
$GC,6041,-1.24,-233.6,929.0,-10.2,164,6050,0.00,3.05,0.00,0.000,6,0.000,0.147,2324,2599,3822,0,0,0,0,0,0
$GC,6356,-1.24,-233.6,964.6,-11.4,170,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2600,3820,0,0,0,0,0,0
$STATE,6595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6595,begin apogee
$GC,6601,-0.29,0.0,992.7,11.7,174,6797,1.02,0.00,187.75,1.291,6,0.102,0.000,2536,1996,2944,0,0,0,0,0,0
$STATE,6798,end apogee,CONTROL_FINISHED_OK
$STATE,6798,begin climb
$GC,6799,1.24,233.6,1004.9,0.0,177,7023,1.52,3.58,208.90,1.297,4,0.067,0.197,2869,3416,1987,0,0,0,0,0,0
$GC,7038,1.24,233.6,997.1,15.4,180,7047,0.00,3.38,0.00,0.000,6,0.000,0.186,2869,1998,1984,0,0,0,0,0,0
$GC,7346,1.24,233.6,952.2,14.4,186,7355,0.00,3.20,0.00,0.000,4,0.000,0.173,2869,579,1976,0,0,0,0,0,0
$GC,7413,1.24,233.6,942.2,15.7,187,7422,0.00,3.08,0.00,0.000,6,0.000,0.137,2869,2003,1977,0,0,0,0,0,0
$GC,7771,1.24,233.6,891.1,13.9,193,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2004,1973,0,0,0,0,0,0
$GC,8072,1.24,233.6,846.9,14.8,198,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2005,1973,0,0,0,0,0,0
$GC,8375,1.24,233.6,802.6,14.6,203,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2005,1972,0,0,0,0,0,0
$GC,8676,1.24,233.6,761.5,13.6,208,8684,0.00,2.70,0.00,0.000,4,0.000,0.080,2869,577,1971,0,0,0,0,0,0
$GC,8710,1.24,233.6,756.7,14.6,208,8718,0.00,2.62,0.00,0.000,6,0.000,0.059,2869,2020,1971,0,0,0,0,0,0
$GC,9034,1.24,233.6,711.5,14.0,214,9043,0.00,2.70,0.00,0.000,4,0.000,0.068,2869,570,1970,0,0,0,0,0,0
$GC,9079,1.24,233.6,705.2,14.4,214,9087,0.00,2.62,0.00,0.000,6,0.000,0.054,2869,2016,1970,0,0,0,0,0,0
$GC,9393,1.24,233.6,662.4,13.7,220,9401,0.00,2.55,0.00,0.000,4,0.000,0.067,2869,3413,1969,0,0,0,0,0,0
$GC,9416,1.24,233.6,659.1,14.3,220,9424,0.00,2.55,0.00,0.000,6,0.000,0.047,2869,1966,1968,0,0,0,0,0,0
$GC,9752,1.24,233.6,613.5,13.4,226,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1966,1969,0,0,0,0,0,0
$GC,10054,1.24,233.6,576.3,12.2,231,10062,0.00,2.47,0.00,0.000,4,0.000,0.060,2868,583,1969,0,0,0,0,0,0
$GC,10130,1.25,246.8,567.2,11.3,232,10148,0.00,2.50,9.20,0.933,6,0.000,0.046,2869,2011,1937,0,0,0,0,0,0
$GC,10487,1.28,272.8,527.4,10.9,238,10519,0.00,0.00,25.90,1.014,6,0.000,0.000,2869,2011,1830,0,0,0,0,0,0
$GC,10852,1.28,277.8,485.4,11.6,244,10863,0.00,0.00,4.68,0.713,6,0.000,0.000,2869,2011,1811,0,0,0,0,0,0
$GC,11154,1.28,277.8,448.8,12.2,249,11163,0.00,2.55,0.00,0.000,4,0.000,0.057,2869,585,1808,0,0,0,0,0,0
$GC,11188,1.28,277.8,444.5,12.0,249,11196,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,2016,1808,0,0,0,0,0,0
$GC,11513,1.28,277.8,401.9,13.4,255,11521,0.00,2.55,0.00,0.000,4,0.000,0.056,2869,585,1807,0,0,0,0,0,0
$GC,11557,1.28,277.8,395.3,15.0,255,11565,0.00,2.47,0.00,0.000,6,0.000,0.044,2869,2006,1806,0,0,0,0,0,0
$GC,11871,1.28,277.8,354.6,12.6,261,11875,0.00,2.53,0.00,0.000,4,0.000,0.057,2869,3401,1806,0,0,0,0,0,0
$GC,11913,1.28,277.8,349.2,13.4,261,11918,0.00,2.50,0.00,0.000,6,0.000,0.043,2869,1992,1805,0,0,0,0,0,0
$GC,12237,1.28,277.8,310.6,11.9,267,12240,0.00,2.47,0.00,0.000,4,0.000,0.055,2869,592,1805,0,0,0,0,0,0
$GC,12354,1.32,308.0,298.1,10.8,268,12388,0.00,2.50,28.20,0.847,6,0.000,0.042,2869,2014,1687,0,0,0,0,0,0
$GC,12699,1.35,339.4,262.4,10.7,280,12733,0.10,2.58,27.83,0.804,4,0.100,0.055,2894,3404,1560,0,0,0,0,0,0
$GC,12771,1.35,339.4,253.3,13.5,282,12775,0.00,2.47,0.00,0.000,6,0.000,0.041,2894,1985,1557,0,0,0,0,0,0
$GC,13089,1.35,339.4,209.5,14.0,293,13093,0.00,2.60,0.00,0.000,4,0.000,0.054,2894,3413,1553,0,0,0,0,0,0
$GC,13116,1.35,339.4,205.8,13.7,293,13122,0.00,2.50,0.00,0.000,6,0.000,0.041,2894,1993,1553,0,0,0,0,0,0
$GC,13424,1.35,339.4,163.8,14.1,304,13428,0.00,2.47,0.00,0.000,4,0.000,0.052,2894,596,1552,0,0,0,0,0,0
$GC,13541,1.35,339.4,148.6,12.4,307,13546,0.00,2.47,0.00,0.000,6,0.000,0.040,2894,2017,1552,0,0,0,0,0,0
$GC,13856,1.35,339.4,106.4,12.8,318,13860,0.00,2.53,0.00,0.000,4,0.000,0.050,2895,598,1552,0,0,0,0,0,0
$GC,13925,1.35,339.4,98.1,12.4,320,13931,0.00,2.45,0.00,0.000,6,0.000,0.039,2895,2011,1552,0,0,0,0,0,0
$GC,14116,1.35,339.4,74.8,11.8,339,14120,0.00,2.47,0.00,0.000,4,0.000,0.053,2894,3404,1552,0,0,0,0,0,0
$GC,14191,1.35,339.4,65.3,12.1,346,14195,0.00,2.40,0.00,0.000,6,0.000,0.039,2894,1992,1553,0,0,0,0,0,0
$GC,14387,1.42,404.8,45.6,9.6,365,14449,0.00,2.47,55.25,0.572,4,0.000,0.053,2895,597,1291,0,0,0,0,0,0
$GC,14490,1.49,464.0,35.4,9.8,375,14546,0.10,2.45,49.65,0.550,6,0.053,0.038,2929,2009,1050,0,0,0,0,0,0
$STATE,14714,end climb,SURFACE_DEPTH_REACHED
$STATE,14714,begin surface coast
$FINISH,0.8,1.023362
$STATE,14729,end surface coast,CONTROL_FINISHED_OK
$STATE,14729,begin surface
$SM_CCo,14809,0.00,0.000,0,0,1042,466.32
$SM_GC,0.48,11.10,0.00,0.00,0.044,0.000,0.000,378,2601,1042,-10.17,0.03,466.32
$IRIDIUM_FIX,1922.94,-15601.55,120911,121208
$TT8_MAMPS,0.113099
$HUMID,1078016119
$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
$24V_AH,23.5,7.683
$10V_AH,9.8,9.287
$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,24.175,156.575,597.350,0.000,0.000,22.784,26.483,190.302,0.000,0.000,35.180,0.000,12327.622,690.671,1985.191,236.775,33.322,1609.291,0.000,1110.874,0.000,0.534,0.000
$DEVICE_MAMPS,153.000,197.370,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,272.370,0.000,0.000,0.000,0.000,0.000,15360.534,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,94.126,0.000,0.000,0.000
$MEM,344672
$DATA_FILE_SIZE,13455,409
$CAP_FILE_SIZE,117039,0
$CFSIZE,260034560,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,003706,1932.205,-15601.703,36,1.7,36,9.7