version: 66.07
glider: 22
mission: 17
dive: 51
start: 3 25 110 11 10 39
data:
$ID,22
$MISSION,17
$DIVE,51
$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,-255760.22
$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,38
$R_STBD_OVSHOOT,36
$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
$GPS1,250310,105822,1933.667,-15601.456,12,2.3,31,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.5
$GPS2,250310,110958,1933.985,-15601.471,12,3.7,31,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.102,-0.183
$KALMAN_X,-11269.7,168.2,320.6,8598.0,-2959.6
$KALMAN_Y,15241.4,-730.8,-119.6,5282.8,3727.7
$MHEAD_RNG_PITCHd_Wd,141.2,2094,-23.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.55,-93.5,0.0,0.0,0,73,0.00,0.00,-55.33,0.000,2,0.000,0.000,375,2575,2596,0,0,0,0,0,0
$GC,75,-1.61,-150.0,3.2,-6.0,11,116,9.75,0.00,-24.62,0.000,6,0.150,0.000,2228,2576,3559,0,0,0,0,0,0
$GC,183,-1.61,-150.0,34.6,-33.0,28,187,0.00,2.45,0.00,0.000,4,0.000,0.059,2228,3947,3560,0,0,0,0,0,0
$GC,220,-1.61,-150.0,48.1,-36.6,31,226,0.00,2.40,0.00,0.000,6,0.000,0.038,2228,2557,3559,0,0,0,0,0,0
$GC,410,-1.61,-150.0,109.8,-27.5,48,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2552,3560,0,0,0,0,0,0
$GC,714,-1.61,-150.0,202.4,-30.5,58,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2552,3562,0,0,0,0,0,0
$GC,1017,-1.61,-150.0,284.9,-27.4,68,1021,0.00,2.50,0.00,0.000,4,0.000,0.059,2228,3932,3563,0,0,0,0,0,0
$GC,1055,-1.61,-150.0,294.3,-26.1,69,1058,0.00,2.33,0.00,0.000,6,0.000,0.038,2228,2546,3563,0,0,0,0,0,0
$GC,1382,-1.61,-150.0,374.3,-24.1,75,1386,0.00,2.53,0.00,0.000,4,0.000,0.060,2228,3930,3564,0,0,0,0,0,0
$GC,1414,-1.61,-150.0,382.4,-25.8,75,1418,0.00,2.35,0.00,0.000,6,0.000,0.039,2228,2567,3564,0,0,0,0,0,0
$GC,1748,-1.61,-150.0,460.2,-23.2,81,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2563,3563,0,0,0,0,0,0
$GC,2050,-1.61,-150.0,528.6,-22.3,86,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2563,3562,0,0,0,0,0,0
$GC,2352,-1.61,-150.0,591.4,-20.9,91,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2563,3558,0,0,0,0,0,0
$GC,2653,-1.61,-150.0,653.6,-20.8,96,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2564,3556,0,0,0,0,0,0
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2717,-0.31,0.0,667.0,21.5,97,2853,1.40,0.00,127.40,1.027,6,0.108,0.000,2514,2011,2944,0,0,0,0,0,0
$STATE,2853,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2855,1.61,150.0,674.8,0.0,99,2999,1.92,2.62,129.77,1.010,4,0.067,0.067,2936,3395,2330,0,0,0,0,0,0
$GC,3239,1.61,150.0,648.6,14.2,105,3247,0.00,2.50,0.00,0.000,6,0.000,0.047,2936,1990,2321,0,0,0,0,0,0
$GC,3596,1.61,150.0,602.9,12.2,111,3605,0.00,2.58,0.00,0.000,4,0.000,0.060,2936,3402,2317,0,0,0,0,0,0
$GC,3678,1.61,150.0,592.6,13.2,112,3686,0.00,2.50,0.00,0.000,6,0.000,0.044,2936,1992,2315,0,0,0,0,0,0
$GC,4018,1.61,150.0,549.4,12.9,118,4027,0.00,2.47,0.00,0.000,4,0.000,0.059,2936,593,2313,0,0,0,0,0,0
$GC,4091,1.61,150.0,540.1,12.6,119,4099,0.00,2.47,0.00,0.000,6,0.000,0.044,2936,2005,2313,0,0,0,0,0,0
$GC,4445,1.61,150.0,498.6,11.7,125,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2005,2310,0,0,0,0,0,0
$GC,4744,1.61,150.0,467.4,10.0,130,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2005,2310,0,0,0,0,0,0
$GC,5046,1.64,173.0,442.1,8.4,135,5070,0.00,2.62,17.55,0.893,4,0.000,0.057,2936,3409,2236,0,0,0,0,0,0
$GC,5081,1.67,199.2,439.2,8.1,135,5111,0.00,2.53,25.08,0.900,6,0.000,0.043,2936,1998,2131,0,0,0,0,0,0
$GC,5474,1.68,208.4,401.7,9.3,142,5487,0.00,2.55,8.18,0.781,4,0.000,0.056,2936,598,2093,0,0,0,0,0,0
$GC,5642,1.68,208.4,382.8,12.5,144,5647,0.00,2.47,0.00,0.000,6,0.000,0.043,2936,2002,2090,0,0,0,0,0,0
$GC,5965,1.68,208.4,345.6,11.4,150,5969,0.00,2.53,0.00,0.000,4,0.000,0.054,2936,598,2089,0,0,0,0,0,0
$GC,6105,1.68,208.4,329.2,12.9,152,6108,0.00,2.45,0.00,0.000,6,0.000,0.042,2936,2009,2089,0,0,0,0,0,0
$GC,6429,1.68,208.4,291.7,11.3,158,6433,0.00,2.55,0.00,0.000,4,0.000,0.054,2936,597,2086,0,0,0,0,0,0
$GC,6498,1.68,208.4,283.5,12.0,160,6502,0.00,2.47,0.00,0.000,6,0.000,0.042,2936,2008,2086,0,0,0,0,0,0
$GC,6829,1.69,222.3,250.6,9.0,171,6842,0.00,0.00,12.48,0.746,6,0.000,0.000,2936,2009,2037,0,0,0,0,0,0
$GC,7132,1.69,222.3,216.6,11.6,181,7136,0.00,2.50,0.00,0.000,4,0.000,0.054,2936,3402,2033,0,0,0,0,0,0
$GC,7217,1.69,222.3,206.9,10.7,183,7221,0.00,2.47,0.00,0.000,6,0.000,0.041,2936,1985,2032,0,0,0,0,0,0
$GC,7531,1.70,227.4,176.6,9.6,194,7537,0.00,0.00,5.00,0.557,6,0.000,0.000,2936,1985,2017,0,0,0,0,0,0
$GC,7834,1.70,227.4,146.1,11.0,204,7838,0.00,2.42,0.00,0.000,4,0.000,0.050,2936,599,2016,0,0,0,0,0,0
$GC,8080,1.70,227.4,121.4,10.0,211,8084,0.00,2.42,0.00,0.000,6,0.000,0.038,2936,2013,2016,0,0,0,0,0,0
$GC,8395,1.74,264.5,97.4,7.3,224,8436,0.12,2.55,33.62,0.620,4,0.085,0.047,2967,601,1863,0,0,0,0,0,0
$GC,8675,1.74,264.5,72.6,12.2,250,8682,0.00,2.40,0.00,0.000,6,0.000,0.037,2967,2002,1858,0,0,0,0,0,0
$GC,8867,1.74,264.5,52.4,10.6,269,8871,0.00,2.47,0.00,0.000,4,0.000,0.047,2967,591,1858,0,0,0,0,0,0
$GC,9070,1.74,264.5,26.8,12.5,288,9074,0.00,2.42,0.00,0.000,6,0.000,0.038,2967,2011,1858,0,0,0,0,0,0
$GC,9265,1.74,264.5,3.7,11.5,319,9271,0.00,2.42,0.00,0.000,4,0.000,0.050,2967,3398,1858,0,0,0,0,0,0
$STATE,9274,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,0.0,1.008540
$STATE,9301,end surface coast,CONTROL_FINISHED_OK
$STATE,9301,begin surface
$SM_CCo,9321,63.20,0.505,0,0,1414,375.06
$SM_GC,1.29,0.00,0.00,63.20,0.000,0.000,0.505,375,2518,1414,-10.17,-1.47,375.06
$IRIDIUM_FIX,1927.51,-15600.62,180911,020240
$TT8_MAMPS,0.122087
$HUMID,1077994184
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.7,13.105
$10V_AH,9.9,21.253
$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,24.350,74.400,359.075,63.200,0.000,22.590,64.740,357.723,0.000,0.000,33.401,0.000,7553.113,504.038,1874.868,231.137,33.329,1104.827,0.000,960.892,0.000,0.534,0.000
$DEVICE_MAMPS,149.940,66.555,1027.395,504.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,216.730,0.000,0.000,0.000,0.000,0.000,10166.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,69.518,0.000,0.000,0.000
$MEM,344628
$DATA_FILE_SIZE,10143,326
$CAP_FILE_SIZE,88098,0
$CFSIZE,260034560,253423616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,134936,1933.894,-15601.343,37,1.3,42,9.7