version: 66.07
glider: 23
mission: 14
dive: 12
start: 3 18 110 14 54 46
data:
$ID,23
$MISSION,14
$DIVE,12
$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,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,420
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40950.285
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.779308
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,14
$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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,180310,144227,1939.569,-15604.754,37,2.2,56,9.7
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.7
$GPS2,180310,145404,1939.698,-15604.928,10,2.2,29,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.205,-0.234
$KALMAN_X,-17599.8,389.7,623.5,19219.0,-3521.2
$KALMAN_Y,32878.3,-563.7,-13.3,-37739.0,4051.8
$MHEAD_RNG_PITCHd_Wd,129.1,11115,-16.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.37,-233.6,0.0,0.0,0,94,0.00,0.00,-74.50,0.000,2,0.000,0.000,358,2258,2677,0,0,0,0,0,0
$GC,97,-1.37,-233.6,3.1,-4.2,15,142,10.60,2.75,-25.73,0.000,4,0.168,0.044,2171,896,3797,0,0,0,0,0,0
$GC,226,-1.37,-233.6,31.2,-22.2,35,232,0.00,2.75,0.00,0.000,6,0.000,0.022,2171,2277,3796,0,0,0,0,0,0
$GC,418,-1.37,-233.6,76.6,-22.7,54,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2281,3796,0,0,0,0,0,0
$GC,612,-1.37,-233.6,121.0,-22.6,67,621,0.00,2.28,0.00,0.000,4,0.000,0.034,2171,3678,3798,0,0,0,0,0,0
$GC,635,-1.37,-233.6,126.0,-21.7,67,645,0.00,2.17,0.00,0.000,6,0.000,0.022,2171,2307,3798,0,0,0,0,0,0
$GC,945,-1.37,-233.6,183.9,-18.5,78,954,0.00,2.90,0.00,0.000,4,0.000,0.038,2171,860,3798,0,0,0,0,0,0
$GC,975,-1.37,-233.6,189.4,-18.2,79,983,0.00,2.78,0.00,0.000,6,0.000,0.024,2172,2267,3798,0,0,0,0,0,0
$GC,1307,-1.37,-233.6,243.7,-15.8,90,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2267,3799,0,0,0,0,0,0
$GC,1611,-1.37,-233.6,288.4,-14.4,100,1619,0.00,2.85,0.00,0.000,4,0.000,0.038,2171,861,3799,0,0,0,0,0,0
$GC,1655,-1.37,-233.6,294.7,-13.6,101,1664,0.00,2.83,0.00,0.000,6,0.000,0.029,2171,2279,3799,0,0,0,0,0,0
$GC,2001,-1.37,-233.6,341.7,-13.6,108,2010,0.00,2.78,0.00,0.000,4,0.000,0.037,2171,903,3797,0,0,0,0,0,0
$GC,2035,-1.37,-233.6,345.9,-12.1,108,2044,0.00,2.75,0.00,0.000,6,0.000,0.031,2171,2278,3797,0,0,0,0,0,0
$GC,2361,-1.37,-233.6,388.7,-13.6,114,2369,0.00,2.88,0.00,0.000,4,0.000,0.038,2171,860,3795,0,0,0,0,0,0
$GC,2416,-1.37,-233.6,396.4,-13.4,114,2426,0.00,2.80,0.00,0.000,6,0.000,0.032,2171,2279,3794,0,0,0,0,0,0
$GC,2725,-1.37,-233.6,438.2,-13.6,120,2734,0.00,2.85,0.00,0.000,4,0.000,0.039,2170,863,3792,0,0,0,0,0,0
$GC,2781,-1.37,-233.6,445.3,-12.0,120,2791,0.00,2.80,0.00,0.000,6,0.000,0.033,2170,2272,3791,0,0,0,0,0,0
$GC,3090,-1.37,-233.6,481.3,-11.5,126,3099,0.00,2.58,0.00,0.000,4,0.000,0.038,2171,1012,3788,0,0,0,0,0,0
$GC,3141,-1.37,-233.6,486.9,-11.1,126,3149,0.00,2.60,0.00,0.000,6,0.000,0.034,2171,2276,3787,0,0,0,0,0,0
$GC,3449,-1.37,-233.6,524.0,-12.4,131,3458,0.00,2.85,0.00,0.000,4,0.000,0.040,2171,863,3784,0,0,0,0,0,0
$GC,3510,-1.37,-233.6,531.6,-12.1,132,3519,0.00,2.85,0.00,0.000,6,0.000,0.034,2170,2274,3784,0,0,0,0,0,0
$GC,3873,-1.37,-233.6,576.5,-12.3,138,3881,0.00,2.53,0.00,0.000,4,0.000,0.039,2171,1052,3781,0,0,0,0,0,0
$GC,3955,-1.37,-233.6,586.7,-11.9,139,3963,0.00,2.50,0.00,0.000,6,0.000,0.035,2171,2271,3780,0,0,0,0,0,0
$GC,4296,-1.37,-233.6,628.1,-11.9,145,4305,0.00,2.47,0.00,0.000,4,0.000,0.039,2171,1080,3777,0,0,0,0,0,0
$GC,4378,-1.37,-233.6,637.2,-10.5,146,4386,0.00,2.45,0.00,0.000,6,0.000,0.037,2171,2269,3776,0,0,0,0,0,0
$GC,4720,-1.37,-233.6,675.2,-11.1,152,4728,0.00,2.53,0.00,0.000,4,0.000,0.041,2171,1044,3774,0,0,0,0,0,0
$GC,4802,-1.37,-233.6,684.0,-11.1,153,4810,0.00,2.55,0.00,0.000,6,0.000,0.039,2171,2280,3773,0,0,0,0,0,0
$GC,5144,-1.37,-233.6,721.5,-10.9,159,5152,0.00,2.55,0.00,0.000,4,0.000,0.043,2171,1047,3771,0,0,0,0,0,0
$GC,5220,-1.37,-233.6,729.3,-10.0,160,5229,0.00,2.53,0.00,0.000,6,0.000,0.040,2171,2268,3770,0,0,0,0,0,0
$GC,5567,-1.37,-233.6,762.9,-9.8,166,5576,0.00,2.55,0.00,0.000,4,0.000,0.043,2171,1041,3768,0,0,0,0,0,0
$GC,5676,-1.37,-233.6,772.9,-9.5,167,5685,0.00,2.58,0.00,0.000,6,0.000,0.040,2170,2279,3767,0,0,0,0,0,0
$GC,5991,-1.37,-233.6,803.3,-9.8,173,5999,0.00,2.58,0.00,0.000,4,0.000,0.043,2171,1045,3764,0,0,0,0,0,0
$GC,6078,-1.37,-233.6,811.7,-10.1,174,6087,0.00,2.53,0.00,0.000,6,0.000,0.040,2171,2271,3764,0,0,0,0,0,0
$GC,6414,-1.37,-233.6,845.1,-10.0,180,6423,0.00,2.58,0.00,0.000,4,0.000,0.043,2171,1038,3763,0,0,0,0,0,0
$GC,6512,-1.37,-233.6,854.5,-9.5,181,6522,0.00,2.58,0.00,0.000,6,0.000,0.039,2171,2275,3762,0,0,0,0,0,0
$GC,6839,-1.37,-233.6,886.2,-9.8,187,6848,0.00,2.90,0.00,0.000,4,0.000,0.044,2171,861,3760,0,0,0,0,0,0
$GC,6912,-1.37,-233.6,893.6,-11.0,188,6920,0.00,2.85,0.00,0.000,6,0.000,0.039,2171,2271,3760,0,0,0,0,0,0
$GC,7264,-1.37,-233.6,933.0,-11.3,194,7272,0.00,2.92,0.00,0.000,4,0.000,0.045,2171,858,3758,0,0,0,0,0,0
$GC,7341,-1.37,-233.6,941.2,-10.3,195,7349,0.00,2.88,0.00,0.000,6,0.000,0.039,2171,2271,3758,0,0,0,0,0,0
$GC,7688,-1.37,-233.6,978.6,-11.1,201,7696,0.00,2.55,0.00,0.000,4,0.000,0.043,2171,1048,3757,0,0,0,0,0,0
$GC,7754,-1.37,-233.6,986.0,-10.6,202,7763,0.00,2.53,0.00,0.000,6,0.000,0.039,2171,2270,3756,0,0,0,0,0,0
$STATE,7787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7787,begin apogee
$GC,7792,-0.33,0.0,990.0,11.9,202,7988,1.10,0.00,189.48,1.470,6,0.086,0.000,2402,2371,2841,0,0,0,0,0,0
$STATE,7989,end apogee,CONTROL_FINISHED_OK
$STATE,7989,begin climb
$GC,7991,1.37,233.6,1000.6,0.0,205,8200,1.73,2.47,196.20,1.427,4,0.049,0.054,2779,3780,1887,0,0,0,0,0,0
$GC,8270,1.37,233.6,984.4,15.3,209,8278,0.00,2.28,0.00,0.000,6,0.000,0.028,2779,2368,1884,0,0,0,0,0,0
$GC,8600,1.37,233.6,937.0,14.3,215,8608,0.00,2.42,0.00,0.000,4,0.000,0.055,2778,3784,1881,0,0,0,0,0,0
$GC,8682,1.37,233.6,924.2,15.3,216,8691,0.00,2.30,0.00,0.000,6,0.000,0.028,2779,2366,1881,0,0,0,0,0,0
$GC,9024,1.37,233.6,874.9,14.3,222,9032,0.00,2.42,0.00,0.000,4,0.000,0.055,2779,3787,1880,0,0,0,0,0,0
$GC,9052,1.37,233.6,870.4,15.8,222,9060,0.00,2.30,0.00,0.000,6,0.000,0.028,2779,2362,1880,0,0,0,0,0,0
$GC,9382,1.37,233.6,821.6,14.7,228,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2358,1879,0,0,0,0,0,0
$GC,9684,1.37,233.6,777.6,14.6,233,9692,0.00,2.42,0.00,0.000,4,0.000,0.056,2779,3792,1878,0,0,0,0,0,0
$GC,9755,1.37,233.6,766.5,16.3,234,9763,0.00,2.30,0.00,0.000,6,0.000,0.028,2779,2360,1878,0,0,0,0,0,0
$GC,10113,1.37,233.6,713.6,14.7,240,10121,0.00,2.40,0.00,0.000,4,0.000,0.056,2779,3784,1878,0,0,0,0,0,0
$GC,10195,1.37,233.6,700.1,17.3,241,10203,0.00,2.28,0.00,0.000,6,0.000,0.028,2779,2366,1877,0,0,0,0,0,0
$GC,10536,1.37,233.6,652.3,14.0,247,10545,0.00,2.40,0.00,0.000,4,0.000,0.056,2779,3779,1877,0,0,0,0,0,0
$GC,10597,1.37,233.6,642.8,16.5,248,10605,0.00,2.25,0.00,0.000,6,0.000,0.028,2779,2362,1877,0,0,0,0,0,0
$GC,10965,1.37,233.6,591.3,14.1,254,10973,0.00,2.42,0.00,0.000,4,0.000,0.056,2779,3793,1877,0,0,0,0,0,0
$GC,11058,1.37,233.6,576.6,15.7,255,11066,0.00,2.28,0.00,0.000,6,0.000,0.027,2779,2368,1876,0,0,0,0,0,0
$GC,11388,1.37,233.6,528.3,14.4,261,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2363,1876,0,0,0,0,0,0
$GC,11690,1.37,233.6,484.5,14.6,266,11698,0.00,2.38,0.00,0.000,4,0.000,0.054,2779,3787,1876,0,0,0,0,0,0
$GC,11740,1.37,233.6,477.0,14.5,266,11748,0.00,2.28,0.00,0.000,6,0.000,0.026,2779,2357,1876,0,0,0,0,0,0
$GC,12048,1.37,233.6,435.6,13.2,271,12056,0.00,2.42,0.00,0.000,4,0.000,0.054,2779,3792,1876,0,0,0,0,0,0
$GC,12178,1.37,233.6,416.2,15.1,273,12186,0.00,2.28,0.00,0.000,6,0.000,0.026,2779,2359,1877,0,0,0,0,0,0
$GC,12536,1.37,233.6,364.6,14.5,279,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2355,1877,0,0,0,0,0,0
$GC,12837,1.37,233.6,325.7,12.8,284,12845,0.00,2.40,0.00,0.000,4,0.000,0.053,2779,3785,1877,0,0,0,0,0,0
$GC,12940,1.37,233.6,311.6,13.4,285,12948,0.00,2.22,0.00,0.000,6,0.000,0.025,2779,2365,1877,0,0,0,0,0,0
$GC,13261,1.37,233.6,270.6,12.8,294,13269,0.00,2.80,0.00,0.000,4,0.000,0.037,2779,972,1877,0,0,0,0,0,0
$GC,13337,1.37,234.1,261.3,11.8,296,13346,0.00,2.83,0.00,0.000,6,0.000,0.031,2779,2370,1878,0,0,0,0,0,0
$GC,13654,1.37,234.1,224.1,11.8,307,13662,0.00,2.35,0.00,0.000,4,0.000,0.050,2779,3784,1878,0,0,0,0,0,0
$GC,13901,1.37,234.1,197.2,12.1,314,13911,0.00,2.22,0.00,0.000,6,0.000,0.023,2779,2364,1878,0,0,0,0,0,0
$GC,14211,1.39,247.7,161.1,11.3,325,14233,0.00,2.40,11.48,0.773,4,0.000,0.045,2779,3796,1829,0,0,0,0,0,0
$GC,14285,1.39,254.0,152.8,11.6,327,14294,0.00,2.25,0.00,0.000,6,0.000,0.021,2779,2358,1830,0,0,0,0,0,0
$GC,14612,1.41,270.9,117.8,11.2,338,14642,0.00,2.83,20.08,0.753,4,0.000,0.033,2779,970,1736,0,0,0,0,0,0
$GC,14737,1.54,390.6,105.9,7.7,341,14845,0.17,2.83,96.50,0.756,6,0.053,0.028,2828,2380,1247,0,0,0,0,0,0
$GC,15036,1.54,390.6,61.9,17.4,366,15040,0.00,2.85,0.00,0.000,4,0.000,0.034,2828,983,1239,0,0,0,0,0,0
$GC,15239,1.54,390.6,26.7,16.5,385,15243,0.00,2.78,0.00,0.000,6,0.000,0.023,2828,2373,1237,0,0,0,0,0,0
$STATE,15380,end climb,SURFACE_DEPTH_REACHED
$STATE,15380,begin surface coast
$FINISH,0.2,1.023641
$STATE,15396,end surface coast,CONTROL_FINISHED_OK
$STATE,15396,begin surface
$SM_CCo,15417,13.60,0.593,0,0,1128,420.20
$SM_GC,1.36,0.00,0.00,13.60,0.000,0.000,0.593,359,2255,1128,-9.76,-0.42,420.20
$IRIDIUM_FIX,1932.09,-15604.81,110911,040422
$TT8_MAMPS,0.143059
$HUMID,1078061281
$TCM_TEMP,24.00
$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,1068/1067
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,8.891
$10V_AH,9.9,5.566
$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,24.475,174.500,513.725,13.600,0.000,23.774,29.566,426.579,0.000,0.000,32.780,0.000,12450.981,628.817,2794.398,267.966,33.335,1825.232,0.000,1487.308,0.000,0.544,0.000
$DEVICE_MAMPS,168.300,72.675,1470.330,592.875,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,278.454,0.000,0.000,0.000,0.000,0.000,16314.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.939,0.000,0.000,0.000
$MEM,353380
$DATA_FILE_SIZE,13450,411
$CAP_FILE_SIZE,140533,0
$CFSIZE,260034560,255897600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180310,191354,1938.829,-15603.310,21,1.6,39,9.7