version: 66.07
glider: 22
mission: 17
dive: 53
start: 3 25 110 17 12 48
data:
$ID,22
$MISSION,17
$DIVE,53
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$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,110
$T_MISSION,150
$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,-255762.72
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,250310,170154,1933.435,-15601.409,42,1.6,59,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.9
$GPS2,250310,171207,1933.460,-15601.542,13,1.6,30,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.165,0.052
$KALMAN_X,-13316.0,139.1,164.5,10702.0,-1102.7
$KALMAN_Y,20426.5,-896.7,-348.7,-472.6,2160.2
$MHEAD_RNG_PITCHd_Wd,277.7,2743,-27.9,-10.000
$D_GRID,330
$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,-1.81,-64.6,0.0,0.0,0,69,0.00,0.00,-50.75,0.000,2,0.000,0.000,371,2577,2497,0,0,0,0,0,0
$GC,72,-1.84,-85.3,3.1,-7.9,10,108,9.55,2.35,-20.98,0.000,4,0.151,0.066,2181,3946,3293,0,0,0,0,0,0
$GC,347,-1.84,-85.3,98.9,-36.6,43,351,0.00,2.38,0.00,0.000,6,0.000,0.038,2181,2559,3295,0,0,0,0,0,0
$GC,540,-1.84,-85.3,159.8,-31.7,50,544,0.00,2.47,0.00,0.000,4,0.000,0.057,2181,3931,3296,0,0,0,0,0,0
$GC,630,-1.84,-85.3,191.3,-31.2,52,636,0.00,2.35,0.00,0.000,6,0.000,0.039,2181,2563,3297,0,0,0,0,0,0
$GC,939,-1.84,-85.3,276.7,-25.8,63,943,0.00,2.45,0.00,0.000,4,0.000,0.056,2181,3943,3298,0,0,0,0,0,0
$GC,954,-1.84,-85.3,280.8,-25.0,63,959,0.00,2.38,0.00,0.000,6,0.000,0.039,2181,2558,3298,0,0,0,0,0,0
$STATE,1180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1180,begin apogee
$GC,1185,-0.31,0.0,337.3,24.7,69,1260,1.62,0.00,71.57,0.705,6,0.112,0.000,2512,1984,2943,0,0,0,0,0,0
$STATE,1261,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1263,1.84,85.3,342.3,0.0,70,1342,2.12,2.45,70.22,0.702,4,0.064,0.050,2984,616,2596,0,0,0,0,0,0
$GC,1353,2.01,247.1,346.1,-6.7,71,1493,0.12,2.42,134.40,0.710,6,0.054,0.041,3023,2002,1935,0,0,0,0,0,0
$GC,1807,2.01,247.1,273.7,20.5,81,1811,0.00,2.47,0.00,0.000,4,0.000,0.051,3023,618,1926,0,0,0,0,0,0
$GC,1833,2.01,247.1,268.4,20.5,81,1839,0.00,2.42,0.00,0.000,6,0.000,0.042,3023,2001,1926,0,0,0,0,0,0
$GC,2142,2.01,247.1,214.6,15.9,92,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2001,1923,0,0,0,0,0,0
$GC,2446,2.01,247.1,168.7,14.9,102,2450,0.00,2.42,0.00,0.000,4,0.000,0.049,3023,604,1919,0,0,0,0,0,0
$GC,2585,2.01,247.1,147.1,16.2,106,2589,0.00,2.42,0.00,0.000,6,0.000,0.041,3023,2002,1918,0,0,0,0,0,0
$GC,2894,2.01,247.1,95.2,17.4,118,2898,0.00,2.45,0.00,0.000,4,0.000,0.047,3024,615,1917,0,0,0,0,0,0
$GC,3005,2.01,247.1,77.9,16.8,128,3012,0.00,2.40,0.00,0.000,6,0.000,0.039,3023,2007,1915,0,0,0,0,0,0
$GC,3197,2.01,247.1,54.1,12.3,147,3201,0.00,2.45,0.00,0.000,4,0.000,0.047,3023,599,1915,0,0,0,0,0,0
$GC,3271,2.01,247.1,45.1,10.9,154,3276,0.00,2.42,0.00,0.000,6,0.000,0.040,3023,2014,1914,0,0,0,0,0,0
$GC,3468,2.02,255.0,24.4,9.2,173,3480,0.00,2.45,4.45,0.390,4,0.000,0.050,3023,3403,1903,0,0,0,0,0,0
$STATE,3665,end climb,SURFACE_DEPTH_REACHED
$STATE,3665,begin surface coast
$FINISH,0.3,1.023655
$STATE,3691,end surface coast,CONTROL_FINISHED_OK
$STATE,3691,begin surface
$SM_CCo,3711,73.05,0.497,0,0,1415,375.06
$SM_GC,1.22,0.00,0.00,73.05,0.000,0.000,0.497,373,2544,1415,-10.18,-0.74,375.06
$IRIDIUM_FIX,1925.22,-15558.54,180911,111159
$TT8_MAMPS,0.113099
$HUMID,1077973539
$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,0/0
$PA_USBDRIVE,/mnt/usbb
$PA_USBB,40.4/30830577/18384932
$PA_USBA,100.0/0/0
$PA_HOME,8.6/483886/442437
$PA_ROOT,89.3/128908/13729
$PA_LOG,3.7/297829/286801
$PA_DATA1,47.6/7836665/4102658
$PA_DATA0,16.9/7836665/6515225
$24V_AH,23.9,13.341
$10V_AH,9.9,21.801
$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,24.900,43.550,280.650,73.050,0.000,53.194,64.991,262.035,0.000,0.000,32.588,0.000,2765.012,400.252,1148.094,146.693,33.327,725.148,0.000,502.607,0.000,0.534,0.000
$DEVICE_MAMPS,150.705,65.790,709.920,497.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,138.972,0.000,0.000,0.000,0.000,0.000,4539.901,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,154.758,0.000,0.000,0.000
$MEM,344628
$DATA_FILE_SIZE,6829,211
$CAP_FILE_SIZE,50671,0
$CFSIZE,260034560,253341696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,181752,1934.269,-15602.329,11,2.6,30,9.7