version: 66.07
glider: 22
mission: 17
dive: 39
start: 3 23 110 10 0 7
data:
$ID,22
$MISSION,17
$DIVE,39
$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,330
$T_MISSION,360
$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,1.0275
$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,425
$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,-255650.28
$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,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2570
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,43
$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
$GPS1,230310,094707,1929.898,-15600.279,42,1.5,42,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.2
$GPS2,230310,095926,1930.068,-15600.319,13,1.4,13,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15558.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.137,-0.260
$KALMAN_X,-20326.5,327.6,199.5,29267.9,-2910.4
$KALMAN_Y,35586.7,-752.7,-297.8,-36349.8,6081.7
$MHEAD_RNG_PITCHd_Wd,142.6,19081,-15.9,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.21,-194.6,0.0,0.0,0,83,0.00,0.00,-64.30,0.000,2,0.000,0.000,371,2599,2590,0,0,0,0,0,0
$GC,85,-1.21,-194.6,3.2,-7.3,13,131,10.30,2.53,-28.10,0.000,4,0.151,0.057,2313,1157,3738,0,0,0,0,0,0
$GC,263,-1.21,-194.6,46.7,-24.5,37,267,0.00,2.45,0.00,0.000,6,0.000,0.044,2313,2564,3740,0,0,0,0,0,0
$GC,480,-1.21,-194.6,108.0,-26.7,56,484,0.00,2.50,0.00,0.000,4,0.000,0.060,2313,3948,3741,0,0,0,0,0,0
$GC,512,-1.21,-194.6,115.9,-24.0,57,516,0.00,2.38,0.00,0.000,6,0.000,0.038,2312,2559,3742,0,0,0,0,0,0
$GC,847,-1.21,-194.6,190.1,-21.6,68,851,0.00,2.53,0.00,0.000,4,0.000,0.059,2313,3949,3742,0,0,0,0,0,0
$GC,900,-1.21,-194.6,202.0,-22.0,69,905,0.00,2.38,0.00,0.000,6,0.000,0.038,2313,2557,3742,0,0,0,0,0,0
$GC,1214,-1.21,-194.6,263.3,-18.7,80,1219,0.00,2.38,0.00,0.000,4,0.000,0.044,2313,1162,3744,0,0,0,0,0,0
$GC,1240,-1.21,-194.6,268.1,-18.4,80,1246,0.00,2.45,0.00,0.000,6,0.000,0.044,2313,2570,3746,0,0,0,0,0,0
$GC,1549,-1.21,-194.6,324.1,-17.8,89,1552,0.00,2.50,0.00,0.000,4,0.000,0.062,2312,3962,3745,0,0,0,0,0,0
$GC,1580,-1.21,-194.6,330.1,-19.8,89,1584,0.00,2.40,0.00,0.000,6,0.000,0.038,2313,2563,3744,0,0,0,0,0,0
$GC,1914,-1.21,-194.6,388.8,-17.1,95,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2559,3742,0,0,0,0,0,0
$GC,2215,-1.21,-194.6,439.5,-16.7,100,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2559,3742,0,0,0,0,0,0
$GC,2517,-1.21,-194.6,486.0,-15.4,105,2521,0.00,2.55,0.00,0.000,4,0.000,0.065,2312,3937,3739,0,0,0,0,0,0
$GC,2575,-1.21,-194.6,495.2,-14.4,105,2582,0.00,2.38,0.00,0.000,6,0.000,0.041,2312,2573,3738,0,0,0,0,0,0
$GC,2882,-1.21,-194.6,542.4,-15.6,111,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2569,3734,0,0,0,0,0,0
$GC,3185,-1.21,-194.6,593.4,-17.0,116,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2568,3731,0,0,0,0,0,0
$GC,3486,-1.21,-194.6,640.4,-15.6,121,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2569,3728,0,0,0,0,0,0
$GC,3788,-1.21,-194.6,686.9,-15.3,126,3797,0.00,2.50,0.00,0.000,4,0.000,0.067,2313,1171,3724,0,0,0,0,0,0
$GC,3806,-1.21,-194.6,689.8,-15.8,126,3814,0.00,2.53,0.00,0.000,6,0.000,0.060,2313,2572,3724,0,0,0,0,0,0
$GC,4153,-1.21,-194.6,740.4,-14.7,132,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2572,3723,0,0,0,0,0,0
$GC,4454,-1.21,-194.6,781.6,-13.6,137,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2572,3721,0,0,0,0,0,0
$GC,4757,-1.21,-194.6,818.5,-12.1,142,4765,0.00,2.67,0.00,0.000,4,0.000,0.097,2313,1181,3717,0,0,0,0,0,0
$GC,4791,-1.21,-194.6,822.5,-11.0,142,4799,0.00,2.70,0.00,0.000,6,0.000,0.096,2313,2574,3717,0,0,0,0,0,0
$GC,5116,-1.21,-194.6,858.2,-11.2,148,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2575,3714,0,0,0,0,0,0
$GC,5418,-1.21,-194.6,890.0,-10.5,153,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2575,3712,0,0,0,0,0,0
$GC,5720,-1.21,-194.6,922.5,-10.8,158,5729,0.00,3.03,0.00,0.000,4,0.000,0.155,2313,1182,3710,0,0,0,0,0,0
$GC,5765,-1.21,-194.6,926.8,-8.1,158,5773,0.00,2.97,0.00,0.000,6,0.000,0.146,2313,2570,3710,0,0,0,0,0,0
$GC,6080,-1.21,-194.6,960.3,-10.9,164,6089,0.00,3.15,0.00,0.000,4,0.000,0.174,2312,1187,3709,0,0,0,0,0,0
$GC,6103,-1.21,-194.6,962.9,-11.2,164,6112,0.00,3.12,0.00,0.000,6,0.000,0.169,2314,2575,3709,0,0,0,0,0,0
$STATE,6377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6377,begin apogee
$GC,6383,-0.31,0.0,993.2,11.0,169,6556,0.98,0.00,166.20,1.289,6,0.102,0.000,2514,2039,2944,0,0,0,0,0,0
$STATE,6557,end apogee,CONTROL_FINISHED_OK
$STATE,6557,begin climb
$GC,6559,1.21,194.6,997.9,0.0,171,6749,1.52,3.70,176.45,1.292,4,0.069,0.209,2846,583,2149,0,0,0,0,0,0
$GC,6989,1.21,194.6,967.3,12.6,177,6999,0.00,3.12,0.00,0.000,6,0.000,0.152,2846,2006,2137,0,0,0,0,0,0
$GC,7297,1.21,194.6,932.0,11.4,183,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2006,2133,0,0,0,0,0,0
$GC,7599,1.21,194.6,898.5,11.1,188,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2006,2132,0,0,0,0,0,0
$GC,7901,1.21,194.6,866.1,10.6,193,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2006,2132,0,0,0,0,0,0
$GC,8202,1.21,194.6,835.1,10.2,198,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2007,2131,0,0,0,0,0,0
$GC,8504,1.21,194.6,802.1,11.0,203,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2008,2130,0,0,0,0,0,0
$GC,8805,1.21,194.6,769.0,11.0,208,8814,0.00,2.70,0.00,0.000,4,0.000,0.086,2845,3428,2129,0,0,0,0,0,0
$GC,8844,1.21,194.6,764.3,12.1,208,8853,0.00,2.65,0.00,0.000,6,0.000,0.057,2846,1983,2128,0,0,0,0,0,0
$GC,9164,1.21,194.6,728.8,11.1,214,9173,0.00,2.72,0.00,0.000,4,0.000,0.070,2846,3435,2128,0,0,0,0,0,0
$GC,9193,1.21,194.6,725.6,10.6,214,9201,0.00,2.62,0.00,0.000,6,0.000,0.050,2846,1984,2127,0,0,0,0,0,0
$GC,9523,1.21,197.4,692.2,9.9,220,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1984,2127,0,0,0,0,0,0
$GC,9825,1.21,197.4,661.1,10.4,225,9834,0.00,2.65,0.00,0.000,4,0.000,0.063,2846,3435,2127,0,0,0,0,0,0
$GC,9864,1.21,197.4,656.5,11.8,225,9874,0.00,2.58,0.00,0.000,6,0.000,0.046,2846,1991,2126,0,0,0,0,0,0
$GC,10185,1.21,197.4,618.3,12.0,231,10193,0.00,2.62,0.00,0.000,4,0.000,0.062,2846,3437,2126,0,0,0,0,0,0
$GC,10213,1.21,197.4,614.6,13.7,231,10221,0.00,2.58,0.00,0.000,6,0.000,0.045,2846,1985,2126,0,0,0,0,0,0
$GC,10543,1.21,197.4,577.6,11.0,237,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1985,2126,0,0,0,0,0,0
$GC,10845,1.21,197.4,545.6,10.6,242,10853,0.00,2.62,0.00,0.000,4,0.000,0.060,2846,3432,2126,0,0,0,0,0,0
$GC,10884,1.21,197.4,541.0,12.2,242,10892,0.00,2.53,0.00,0.000,6,0.000,0.044,2846,1990,2125,0,0,0,0,0,0
$GC,11214,1.21,197.4,504.8,10.7,248,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1990,2125,0,0,0,0,0,0
$GC,11516,1.22,206.2,474.9,9.7,253,11527,0.00,2.62,6.93,0.830,4,0.000,0.057,2846,3428,2103,0,0,0,0,0,0
$GC,11557,1.22,209.3,470.9,9.9,253,11567,0.00,2.58,5.03,0.736,6,0.000,0.044,2846,1992,2089,0,0,0,0,0,0
$GC,11875,1.26,243.8,442.7,8.8,259,11909,0.00,0.00,32.92,0.963,6,0.000,0.000,2846,1992,1950,0,0,0,0,0,0
$GC,12177,1.26,243.8,412.1,10.3,264,12181,0.00,2.65,0.00,0.000,4,0.000,0.058,2846,3441,1943,0,0,0,0,0,0
$GC,12203,1.26,243.8,409.3,10.8,264,12207,0.00,2.60,0.00,0.000,6,0.000,0.043,2846,1990,1941,0,0,0,0,0,0
$GC,12536,1.27,255.4,376.6,9.6,270,12548,0.00,0.00,10.65,0.838,6,0.000,0.000,2846,1990,1902,0,0,0,0,0,0
$GC,12839,1.28,260.5,347.5,9.8,275,12849,0.00,2.65,6.50,0.730,4,0.000,0.056,2846,3430,1881,0,0,0,0,0,0
$GC,12885,1.28,260.5,342.3,11.1,275,12890,0.00,2.58,0.00,0.000,6,0.000,0.043,2846,1996,1879,0,0,0,0,0,0
$GC,13198,1.28,260.5,310.1,10.2,281,13202,0.00,2.62,0.00,0.000,4,0.000,0.057,2846,3426,1878,0,0,0,0,0,0
$GC,13224,1.29,269.7,307.2,9.7,281,13239,0.00,2.55,9.62,0.779,6,0.000,0.042,2846,1996,1844,0,0,0,0,0,0
$GC,13564,1.29,269.7,272.8,10.2,291,13568,0.00,2.62,0.00,0.000,4,0.000,0.056,2846,3426,1840,0,0,0,0,0,0
$GC,13627,1.29,269.7,266.1,10.3,293,13632,0.00,2.55,0.00,0.000,6,0.000,0.042,2846,1991,1839,0,0,0,0,0,0
$GC,13963,1.33,306.0,234.3,8.8,304,14002,0.12,2.60,32.75,0.796,4,0.090,0.055,2876,589,1696,0,0,0,0,0,0
$GC,14056,1.33,306.0,223.8,10.7,307,14061,0.00,2.55,0.00,0.000,6,0.000,0.041,2876,2029,1693,0,0,0,0,0,0
$GC,14392,1.33,306.0,189.1,10.3,318,14396,0.00,2.47,0.00,0.000,4,0.000,0.054,2876,3404,1689,0,0,0,0,0,0
$GC,14471,1.33,306.0,180.1,10.9,320,14476,0.00,2.47,0.00,0.000,6,0.000,0.040,2876,1995,1689,0,0,0,0,0,0
$GC,14791,1.33,306.0,144.7,11.2,331,14795,0.00,2.55,0.00,0.000,4,0.000,0.051,2877,3408,1688,0,0,0,0,0,0
$GC,14812,1.33,306.0,142.3,11.4,331,14816,0.00,2.47,0.00,0.000,6,0.000,0.040,2876,2001,1689,0,0,0,0,0,0
$GC,15126,1.33,306.0,109.8,10.1,342,15130,0.00,2.53,0.00,0.000,4,0.000,0.051,2876,3404,1688,0,0,0,0,0,0
$GC,15147,1.34,313.0,107.7,9.8,342,15158,0.00,2.45,6.38,0.542,6,0.000,0.038,2876,1995,1667,0,0,0,0,0,0
$GC,15465,1.34,313.0,75.1,11.1,367,15469,0.00,2.53,0.00,0.000,4,0.000,0.050,2876,3408,1666,0,0,0,0,0,0
$GC,15481,1.34,313.0,73.4,10.4,368,15487,0.00,2.45,0.00,0.000,6,0.000,0.038,2876,1996,1665,0,0,0,0,0,0
$GC,15672,1.46,428.2,59.3,6.0,387,15774,0.12,0.00,97.93,0.589,6,0.084,0.000,2910,1995,1197,0,0,0,0,0,0
$GC,15959,1.46,428.2,26.3,12.9,415,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1995,1191,0,0,0,0,0,0
$STATE,16132,end climb,SURFACE_DEPTH_REACHED
$STATE,16133,begin surface coast
$FINISH,0.1,1.023528
$STATE,16153,end surface coast,CONTROL_FINISHED_OK
$STATE,16153,begin surface
$SM_CCo,16232,0.00,0.000,0,0,1187,430.99
$SM_GC,0.89,11.00,0.00,0.00,0.045,0.000,0.000,378,2593,1187,-10.09,0.65,430.99
$IRIDIUM_FIX,1922.94,-15559.47,150911,232303
$TT8_MAMPS,0.111601
$HUMID,1077985152
$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,2448/2595
$PA_USBDRIVE,/mnt/usbb
$24V_AH,23.5,11.058
$10V_AH,9.9,16.767
$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,24.050,138.600,551.350,0.000,0.000,25.365,24.987,428.915,0.000,0.000,14.090,0.000,13822.951,658.410,2240.138,305.538,33.343,1521.513,0.000,1098.328,0.000,0.534,0.000
$DEVICE_MAMPS,151.470,208.845,1292.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,298.690,0.000,0.000,0.000,0.000,0.000,17065.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,72.079,0.000,0.000,0.000
$MEM,345200
$DATA_FILE_SIZE,16753,447
$CAP_FILE_SIZE,125370,0
$CFSIZE,260034560,254287872
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230310,143256,1928.760,-15559.646,31,7.2,50,9.7