version: 66.07
glider: 22
mission: 17
dive: 48
start: 3 25 110 2 5 47
data:
$ID,22
$MISSION,17
$DIVE,48
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,0
$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,375
$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,-255756.47
$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,53
$R_STBD_OVSHOOT,34
$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
$GPS1,250310,015136,1927.084,-15601.598,29,1.6,29,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-69.1
$GPS2,250310,020506,1927.567,-15601.644,16,1.0,32,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.130,0.263
$KALMAN_X,-6529.2,250.7,114.9,3683.9,-2248.3
$KALMAN_Y,7968.7,598.5,298.2,-1103.2,1867.4
$MHEAD_RNG_PITCHd_Wd,16.6,13277,-15.9,-10.000
$D_GRID,660
$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,-1.21,-194.6,0.0,0.0,0,88,0.00,0.00,-63.78,0.000,2,0.000,0.000,372,2534,2688,0,0,0,0,0,0
$GC,90,-1.21,-194.6,3.6,-7.8,13,131,10.23,2.35,-24.15,0.000,4,0.149,0.060,2315,1175,3739,0,0,0,0,0,0
$GC,258,-1.21,-194.6,48.3,-23.9,35,262,0.00,2.45,0.00,0.000,6,0.000,0.047,2315,2571,3741,0,0,0,0,0,0
$GC,455,-1.21,-194.6,102.5,-26.3,54,458,0.00,2.47,0.00,0.000,4,0.000,0.060,2315,3943,3742,0,0,0,0,0,0
$GC,508,-1.21,-194.6,118.1,-27.7,55,512,0.00,2.33,0.00,0.000,6,0.000,0.037,2315,2574,3742,0,0,0,0,0,0
$GC,821,-1.21,-194.6,184.3,-19.8,66,826,0.00,2.50,0.00,0.000,4,0.000,0.059,2315,3942,3743,0,0,0,0,0,0
$GC,928,-1.21,-194.6,203.8,-19.0,69,932,0.00,2.35,0.00,0.000,6,0.000,0.037,2315,2563,3744,0,0,0,0,0,0
$GC,1253,-1.21,-194.6,265.4,-17.9,80,1257,0.00,2.53,0.00,0.000,4,0.000,0.059,2315,3954,3745,0,0,0,0,0,0
$GC,1290,-1.21,-194.6,272.5,-19.1,81,1295,0.00,2.38,0.00,0.000,6,0.000,0.037,2315,2560,3745,0,0,0,0,0,0
$GC,1619,-1.21,-194.6,333.2,-17.9,89,1623,0.00,2.53,0.00,0.000,4,0.000,0.060,2315,3943,3745,0,0,0,0,0,0
$GC,1656,-1.21,-194.6,339.7,-17.5,89,1660,0.00,2.35,0.00,0.000,6,0.000,0.039,2317,2572,3745,0,0,0,0,0,0
$GC,1984,-1.21,-194.6,394.7,-16.6,95,1988,0.00,2.53,0.00,0.000,4,0.000,0.062,2315,3950,3742,0,0,0,0,0,0
$GC,2031,-1.21,-194.6,402.8,-15.8,95,2036,0.00,2.38,0.00,0.000,6,0.000,0.040,2315,2572,3742,0,0,0,0,0,0
$GC,2349,-1.21,-194.6,458.8,-17.9,101,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2568,3741,0,0,0,0,0,0
$GC,2651,-1.21,-194.6,507.1,-15.9,106,2655,0.00,2.53,0.00,0.000,4,0.000,0.065,2315,3950,3738,0,0,0,0,0,0
$GC,2709,-1.21,-194.6,515.6,-14.2,106,2718,0.00,2.40,0.00,0.000,6,0.000,0.041,2315,2565,3736,0,0,0,0,0,0
$GC,3016,-1.21,-194.6,559.1,-14.1,112,3025,0.00,2.55,0.00,0.000,4,0.000,0.067,2315,3955,3733,0,0,0,0,0,0
$GC,3045,-1.21,-194.6,563.2,-15.2,112,3053,0.00,2.38,0.00,0.000,6,0.000,0.042,2315,2573,3733,0,0,0,0,0,0
$GC,3375,-1.21,-194.6,608.7,-14.0,118,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2568,3730,0,0,0,0,0,0
$GC,3677,-1.21,-194.6,647.1,-12.5,123,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2568,3727,0,0,0,0,0,0
$STATE,3796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3796,begin apogee
$GC,3801,-0.31,0.0,661.6,12.2,125,3972,0.95,0.00,163.23,1.048,6,0.099,0.000,2514,2011,2944,0,0,0,0,0,0
$STATE,3973,end apogee,CONTROL_FINISHED_OK
$STATE,3973,begin climb
$GC,3975,1.21,194.6,666.4,0.0,127,4156,1.52,2.67,168.62,1.021,4,0.068,0.070,2848,591,2149,0,0,0,0,0,0
$GC,4171,1.23,219.0,665.8,9.2,129,4203,0.00,2.55,22.08,0.952,6,0.000,0.051,2848,2006,2050,0,0,0,0,0,0
$GC,4520,1.23,219.0,627.5,11.0,135,4528,0.00,2.60,0.00,0.000,4,0.000,0.066,2848,3413,2041,0,0,0,0,0,0
$GC,4570,1.23,219.0,621.4,12.4,135,4578,0.00,2.53,0.00,0.000,6,0.000,0.047,2849,1994,2038,0,0,0,0,0,0
$GC,4879,1.23,219.0,587.0,11.0,140,4887,0.00,2.50,0.00,0.000,4,0.000,0.060,2848,591,2037,0,0,0,0,0,0
$GC,4912,1.23,219.0,583.4,10.7,140,4921,0.00,2.50,0.00,0.000,6,0.000,0.047,2848,2008,2037,0,0,0,0,0,0
$GC,5237,1.24,223.1,551.3,9.9,146,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2009,2034,0,0,0,0,0,0
$GC,5539,1.24,223.1,519.4,10.7,151,5548,0.00,2.50,0.00,0.000,4,0.000,0.060,2848,3405,2033,0,0,0,0,0,0
$GC,5567,1.24,223.1,515.9,12.1,151,5575,0.00,2.47,0.00,0.000,6,0.000,0.044,2848,1995,2031,0,0,0,0,0,0
$GC,5897,1.24,223.1,480.6,10.3,157,5901,0.00,2.60,0.00,0.000,4,0.000,0.060,2848,3404,2030,0,0,0,0,0,0
$GC,5945,1.24,223.1,475.5,11.0,157,5949,0.00,2.50,0.00,0.000,6,0.000,0.044,2848,2003,2030,0,0,0,0,0,0
$GC,6263,1.25,238.9,445.5,9.5,163,6280,0.00,0.00,15.43,0.894,6,0.000,0.000,2848,2002,1970,0,0,0,0,0,0
$GC,6565,1.28,263.2,418.3,9.2,168,6590,0.00,0.00,23.17,0.903,6,0.000,0.000,2848,2003,1871,0,0,0,0,0,0
$GC,6924,1.28,263.2,379.9,10.7,174,6928,0.00,2.55,0.00,0.000,4,0.000,0.057,2848,3413,1864,0,0,0,0,0,0
$GC,6960,1.28,263.2,375.6,11.7,174,6965,0.00,2.53,0.00,0.000,6,0.000,0.044,2848,1995,1863,0,0,0,0,0,0
$GC,7283,1.28,263.2,341.5,10.5,180,7287,0.00,2.58,0.00,0.000,4,0.000,0.057,2848,3403,1862,0,0,0,0,0,0
$GC,7320,1.28,263.2,337.5,11.0,180,7324,0.00,2.50,0.00,0.000,6,0.000,0.043,2848,1995,1862,0,0,0,0,0,0
$GC,7649,1.28,263.2,302.7,10.7,186,7653,0.00,2.58,0.00,0.000,4,0.000,0.057,2848,3416,1861,0,0,0,0,0,0
$GC,7723,1.28,263.2,293.9,11.9,187,7727,0.00,2.53,0.00,0.000,6,0.000,0.044,2848,1992,1860,0,0,0,0,0,0
$GC,8043,1.32,296.5,264.7,8.9,198,8077,0.10,2.62,29.45,0.802,4,0.102,0.056,2873,3415,1733,0,0,0,0,0,0
$GC,8098,1.32,296.5,258.7,11.5,199,8105,0.00,2.55,0.00,0.000,6,0.000,0.042,2873,1993,1731,0,0,0,0,0,0
$GC,8407,1.32,296.5,224.5,11.1,210,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1993,1728,0,0,0,0,0,0
$GC,8711,1.32,296.5,191.8,10.8,220,8715,0.00,2.47,0.00,0.000,4,0.000,0.054,2873,591,1727,0,0,0,0,0,0
$GC,8742,1.32,296.5,188.2,11.4,221,8747,0.00,2.47,0.00,0.000,6,0.000,0.041,2873,2007,1727,0,0,0,0,0,0
$GC,9078,1.39,361.0,159.3,7.8,232,9140,0.00,2.47,55.65,0.705,4,0.000,0.054,2873,3404,1471,0,0,0,0,0,0
$GC,9177,1.39,361.0,149.4,11.5,235,9181,0.00,2.45,0.00,0.000,6,0.000,0.040,2873,1990,1469,0,0,0,0,0,0
$GC,9500,1.39,361.0,107.4,13.2,246,9505,0.00,2.55,0.00,0.000,4,0.000,0.052,2872,3407,1462,0,0,0,0,0,0
$GC,9596,1.39,361.0,95.4,10.7,251,9601,0.00,2.47,0.00,0.000,6,0.000,0.039,2873,1990,1463,0,0,0,0,0,0
$GC,9793,1.43,402.9,79.3,8.6,270,9835,0.10,2.50,35.08,0.600,4,0.093,0.054,2901,597,1300,0,0,0,0,0,0
$GC,9849,1.43,402.9,73.0,13.2,275,9856,0.00,2.45,0.00,0.000,6,0.000,0.039,2901,2004,1298,0,0,0,0,0,0
$GC,10042,1.46,426.6,57.2,9.2,294,10067,0.00,2.50,21.08,0.555,4,0.000,0.051,2901,3408,1203,0,0,0,0,0,0
$GC,10087,1.46,426.6,50.8,15.0,298,10091,0.00,2.47,0.00,0.000,6,0.000,0.040,2901,1998,1202,0,0,0,0,0,0
$GC,10284,1.46,426.6,27.7,10.6,317,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1998,1200,0,0,0,0,0,0
$GC,10476,1.46,426.6,4.9,12.0,346,10481,0.00,2.42,0.00,0.000,4,0.000,0.050,2901,3406,1200,0,0,0,0,0,0
$STATE,10489,end climb,SURFACE_DEPTH_REACHED
$STATE,10489,begin surface coast
$FINISH,1.4,1.023463
$STATE,10500,end surface coast,CONTROL_FINISHED_OK
$STATE,10500,begin surface
$SM_CCo,10580,0.00,0.000,0,0,1196,428.78
$SM_GC,0.89,11.00,0.00,0.00,0.049,0.000,0.000,377,2535,1196,-10.10,-0.99,428.78
$IRIDIUM_FIX,1918.37,-15602.48,170911,202056
$TT8_MAMPS,0.182756
$HUMID,1078000635
$TCM_TEMP,23.70
$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,2193/2240
$PA_USBDRIVE,/mnt/usbb
$PA_USBB,30.3/30830577/21480377
$PA_USBA,100.0/0/0
$PA_HOME,8.0/483886/445163
$PA_ROOT,89.3/128908/13729
$PA_LOG,3.7/297829/286958
$PA_DATA1,63.5/7836665/2861277
$PA_DATA0,33.5/7836665/5212208
$24V_AH,23.6,12.715
$10V_AH,9.9,20.323
$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,23.900,114.525,533.775,0.000,0.000,47.994,52.079,455.232,0.000,0.000,32.736,0.000,8673.151,607.158,1833.419,262.747,33.335,1268.549,0.000,902.994,0.000,0.534,0.000
$DEVICE_MAMPS,149.175,70.380,1048.050,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,232.990,0.000,0.000,0.000,0.000,0.000,11474.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,102.665,0.000,0.000,0.000
$MEM,345192
$DATA_FILE_SIZE,13462,351
$CAP_FILE_SIZE,100171,0
$CFSIZE,260034560,253612032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,050255,1930.303,-15601.593,12,1.6,29,9.7