version: 66.07
glider: 23
mission: 14
dive: 15
start: 3 19 110 4 31 14
data:
$ID,23
$MISSION,14
$DIVE,15
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41404.953
$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,2450
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,190310,041837,1936.285,-15603.126,26,1.0,26,9.7
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.6
$GPS2,190310,043032,1936.510,-15603.263,12,1.0,12,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.207,-0.232
$KALMAN_X,-21708.4,-440.4,267.8,27406.1,-2412.3
$KALMAN_Y,39133.2,201.1,-24.7,-50637.3,2806.9
$MHEAD_RNG_PITCHd_Wd,128.6,4668,-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,-233.6,0.0,0.0,0,107,0.00,0.00,-83.22,0.000,2,0.000,0.000,361,2242,2865,0,0,0,0,0,0
$GC,109,-1.37,-233.6,3.6,-6.0,15,145,10.45,2.75,-18.95,0.000,4,0.170,0.043,2141,873,3795,0,0,0,0,0,0
$GC,224,-1.37,-233.6,34.7,-26.3,32,228,0.00,2.78,0.00,0.000,6,0.000,0.022,2141,2276,3796,0,0,0,0,0,0
$GC,421,-1.37,-233.6,86.7,-25.3,51,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2280,3797,0,0,0,0,0,0
$GC,605,-1.37,-233.6,129.0,-22.6,61,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2280,3798,0,0,0,0,0,0
$GC,908,-1.37,-233.6,188.1,-18.8,71,912,0.00,2.30,0.00,0.000,4,0.000,0.037,2141,3675,3798,0,0,0,0,0,0
$GC,988,-1.37,-233.6,201.2,-15.7,73,992,0.00,2.22,0.00,0.000,6,0.000,0.021,2141,2280,3799,0,0,0,0,0,0
$GC,1307,-1.37,-233.6,256.1,-17.1,84,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2279,3799,0,0,0,0,0,0
$GC,1641,-1.37,-233.6,314.3,-17.2,94,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2279,3798,0,0,0,0,0,0
$GC,1942,-1.37,-233.6,365.6,-17.0,99,1946,0.00,2.88,0.00,0.000,4,0.000,0.040,2141,864,3797,0,0,0,0,0,0
$GC,1990,-1.37,-233.6,373.6,-15.6,99,1994,0.00,2.85,0.00,0.000,6,0.000,0.031,2141,2280,3797,0,0,0,0,0,0
$GC,2308,-1.37,-233.6,425.8,-16.2,105,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2280,3794,0,0,0,0,0,0
$GC,2609,-1.37,-233.6,473.9,-15.9,110,2618,0.00,2.90,0.00,0.000,4,0.000,0.040,2141,862,3792,0,0,0,0,0,0
$GC,2665,-1.37,-233.6,482.1,-13.8,110,2674,0.00,2.83,0.00,0.000,6,0.000,0.032,2141,2274,3792,0,0,0,0,0,0
$GC,2973,-1.37,-233.6,527.6,-14.8,116,2982,0.00,2.88,0.00,0.000,4,0.000,0.040,2141,869,3788,0,0,0,0,0,0
$GC,3012,-1.37,-233.6,533.2,-14.0,116,3021,0.00,2.85,0.00,0.000,6,0.000,0.034,2141,2275,3788,0,0,0,0,0,0
$GC,3332,-1.37,-233.6,577.5,-13.8,122,3341,0.00,2.88,0.00,0.000,4,0.000,0.041,2141,864,3784,0,0,0,0,0,0
$GC,3388,-1.37,-233.6,584.9,-12.5,122,3397,0.00,2.83,0.00,0.000,6,0.000,0.034,2141,2276,3784,0,0,0,0,0,0
$GC,3696,-1.37,-233.6,628.3,-14.4,128,3705,0.00,2.88,0.00,0.000,4,0.000,0.042,2141,870,3781,0,0,0,0,0,0
$GC,3752,-1.37,-233.6,636.2,-13.5,128,3762,0.00,2.78,0.00,0.000,6,0.000,0.035,2141,2272,3780,0,0,0,0,0,0
$GC,4060,-1.37,-233.6,678.7,-13.8,134,4069,0.00,2.90,0.00,0.000,4,0.000,0.044,2141,859,3778,0,0,0,0,0,0
$GC,4110,-1.37,-233.6,684.9,-11.8,134,4119,0.00,2.88,0.00,0.000,6,0.000,0.037,2141,2274,3777,0,0,0,0,0,0
$GC,4419,-1.37,-233.6,724.6,-13.0,139,4428,0.00,2.90,0.00,0.000,4,0.000,0.046,2141,871,3775,0,0,1,0,0,0
$GC,4469,-1.37,-233.6,731.2,-12.5,139,4478,0.00,2.88,0.00,0.000,6,0.000,0.038,2140,2282,3775,0,0,0,0,0,0
$GC,4777,-1.37,-233.6,771.8,-13.3,144,4786,0.00,2.90,0.00,0.000,4,0.000,0.046,2141,871,3772,0,0,0,0,0,0
$GC,4828,-1.37,-233.6,777.6,-11.0,144,4836,0.00,2.88,0.00,0.000,6,0.000,0.037,2141,2272,3772,0,0,0,0,0,0
$GC,5136,-1.37,-233.6,814.3,-12.1,149,5145,0.00,2.90,0.00,0.000,4,0.000,0.045,2141,871,3769,0,0,0,0,0,0
$GC,5181,-1.37,-233.6,819.8,-11.8,149,5190,0.00,2.88,0.00,0.000,6,0.000,0.038,2141,2272,3769,0,0,0,0,0,0
$GC,5496,-1.37,-233.6,857.6,-12.0,155,5505,0.00,2.90,0.00,0.000,4,0.000,0.046,2141,863,3766,0,0,1,0,0,0
$GC,5552,-1.37,-233.6,864.3,-11.4,155,5561,0.00,2.85,0.00,0.000,6,0.000,0.038,2141,2274,3766,0,0,0,0,0,0
$GC,5861,-1.37,-233.6,900.7,-11.8,161,5869,0.00,2.90,0.00,0.000,4,0.000,0.045,2140,863,3764,0,0,0,0,0,0
$GC,5911,-1.37,-233.6,906.5,-11.5,161,5919,0.00,2.90,0.00,0.000,6,0.000,0.038,2141,2275,3764,0,0,0,0,0,0
$GC,6219,-1.37,-233.6,944.1,-12.4,166,6228,0.00,2.90,0.00,0.000,4,0.000,0.046,2141,864,3763,0,0,0,0,0,0
$GC,6286,-1.37,-233.6,952.1,-11.9,167,6294,0.00,2.88,0.00,0.000,6,0.000,0.038,2141,2276,3762,0,0,0,0,0,0
$STATE,6642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6642,begin apogee
$GC,6646,-0.33,0.0,995.9,12.4,173,6845,1.15,0.00,190.15,1.466,6,0.093,0.000,2374,2377,2841,0,0,0,0,0,0
$STATE,6846,end apogee,CONTROL_FINISHED_OK
$STATE,6846,begin climb
$GC,6848,1.37,233.6,1005.8,0.0,176,7057,1.73,2.47,195.62,1.423,4,0.058,0.056,2746,3770,1887,0,0,0,0,0,0
$GC,7278,1.37,233.6,964.3,13.7,182,7287,0.00,2.28,0.00,0.000,6,0.000,0.028,2745,2361,1882,0,0,0,0,0,0
$GC,7593,1.37,233.6,923.5,12.8,188,7602,0.00,2.90,0.00,0.000,4,0.000,0.045,2746,971,1880,0,0,0,0,0,0
$GC,7638,1.37,233.6,917.5,13.6,188,7647,0.00,2.92,0.00,0.000,6,0.000,0.037,2746,2369,1880,0,0,0,0,0,0
$GC,7953,1.37,233.6,876.8,12.8,194,7962,0.00,2.95,0.00,0.000,4,0.000,0.044,2746,965,1880,0,0,0,0,0,0
$GC,7987,1.37,233.6,872.1,13.4,194,7996,0.00,2.92,0.00,0.000,6,0.000,0.036,2746,2371,1879,0,0,0,0,0,0
$GC,8313,1.37,233.6,828.1,13.5,200,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2371,1878,0,0,0,0,0,0
$GC,8615,1.37,233.6,785.8,14.0,205,8623,0.00,2.92,0.00,0.000,4,0.000,0.043,2746,971,1878,0,0,0,0,0,0
$GC,8644,1.37,233.6,781.4,14.6,205,8652,0.00,2.92,0.00,0.000,6,0.000,0.037,2746,2379,1877,0,0,0,0,0,0
$GC,8974,1.37,233.6,729.5,16.0,211,8983,0.00,2.95,0.00,0.000,4,0.000,0.043,2746,969,1877,0,0,0,0,0,0
$GC,9003,1.37,233.6,724.8,16.3,211,9012,0.00,2.90,0.00,0.000,6,0.000,0.036,2746,2369,1877,0,0,0,0,0,0
$GC,9334,1.37,233.6,677.5,14.0,217,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2369,1877,0,0,0,0,0,0
$GC,9636,1.37,233.6,638.8,12.7,222,9644,0.00,2.90,0.00,0.000,4,0.000,0.041,2746,970,1876,0,0,0,0,0,0
$GC,9681,1.37,233.6,633.0,12.6,222,9689,0.00,2.90,0.00,0.000,6,0.000,0.034,2746,2377,1876,0,0,0,0,0,0
$GC,9996,1.38,240.8,595.6,11.5,228,10001,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2377,1876,0,0,0,0,0,0
$GC,10297,1.38,240.8,559.6,12.0,233,10306,0.00,2.90,0.00,0.000,4,0.000,0.040,2746,963,1876,0,0,0,0,0,0
$GC,10337,1.39,250.5,554.8,11.5,233,10363,0.00,2.90,13.50,1.112,6,0.000,0.034,2746,2375,1818,0,0,0,0,0,0
$GC,10662,1.39,250.5,514.7,12.4,239,10671,0.00,2.92,0.00,0.000,4,0.000,0.040,2746,963,1817,0,0,0,0,0,0
$GC,10702,1.39,250.5,509.9,12.4,239,10710,0.00,2.90,0.00,0.000,6,0.000,0.034,2746,2373,1817,0,0,0,0,0,0
$GC,11022,1.39,250.5,469.3,12.9,245,11031,0.00,2.90,0.00,0.000,4,0.000,0.038,2746,968,1817,0,0,0,0,0,0
$GC,11062,1.39,250.5,464.3,12.8,245,11070,0.00,2.88,0.00,0.000,6,0.000,0.033,2745,2371,1817,0,0,0,0,0,0
$GC,11382,1.39,250.5,423.7,12.7,251,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2371,1817,0,0,0,0,0,0
$GC,11684,1.39,252.2,387.9,11.7,256,11688,0.00,2.90,0.00,0.000,4,0.000,0.037,2746,965,1817,0,0,0,0,0,0
$GC,11748,1.39,252.2,380.2,12.1,257,11752,0.00,2.88,0.00,0.000,6,0.000,0.032,2746,2370,1817,0,0,0,0,0,0
$GC,12102,1.39,252.2,334.6,13.2,263,12106,0.00,2.88,0.00,0.000,4,0.000,0.037,2746,969,1817,0,0,0,0,0,0
$GC,12177,1.39,252.2,324.2,12.9,264,12181,0.00,2.88,0.00,0.000,6,0.000,0.031,2746,2361,1817,0,0,0,0,0,0
$GC,12502,1.39,252.2,282.6,12.1,271,12506,0.00,2.85,0.00,0.000,4,0.000,0.036,2746,964,1817,0,0,0,0,0,0
$GC,12555,1.39,252.2,275.9,12.6,272,12561,0.00,2.85,0.00,0.000,6,0.000,0.031,2746,2374,1817,0,0,1,0,0,0
$GC,12864,1.46,314.6,243.0,9.7,283,12920,0.10,0.00,53.75,0.931,6,0.077,0.000,2772,2373,1558,0,0,0,0,0,0
$GC,13223,1.46,316.2,198.3,11.7,294,13227,0.00,2.90,0.00,0.000,4,0.000,0.035,2772,965,1550,0,0,0,0,0,0
$GC,13340,1.46,316.2,184.0,12.6,297,13346,0.00,2.85,0.00,0.000,6,0.000,0.028,2772,2370,1551,0,0,0,0,0,0
$GC,13649,1.46,316.2,140.6,14.1,308,13653,0.00,2.88,0.00,0.000,4,0.000,0.034,2772,967,1549,0,0,0,0,0,0
$GC,13712,1.46,316.2,132.0,12.5,310,13716,0.00,2.85,0.00,0.000,6,0.000,0.027,2772,2376,1549,0,0,0,0,0,0
$GC,14048,1.57,417.5,98.8,8.4,321,14139,0.00,2.97,82.95,0.757,4,0.000,0.032,2772,972,1137,0,0,0,0,0,0
$GC,14311,1.57,417.5,67.9,13.3,346,14315,0.00,2.83,0.00,0.000,6,0.000,0.023,2772,2381,1130,0,0,0,0,0,0
$GC,14502,1.57,417.5,43.8,13.3,364,14506,0.00,2.88,0.00,0.000,4,0.000,0.032,2772,963,1131,0,0,0,0,0,0
$GC,14603,1.57,417.5,30.3,13.2,373,14607,0.00,2.83,0.00,0.000,6,0.000,0.023,2772,2368,1129,0,0,0,0,0,0
$GC,14798,1.57,417.5,5.3,12.5,401,14804,0.00,2.85,0.00,0.000,4,0.000,0.032,2772,969,1129,0,0,0,0,0,0
$STATE,14817,end climb,SURFACE_DEPTH_REACHED
$STATE,14817,begin surface coast
$FINISH,0.2,1.023590
$STATE,14838,end surface coast,CONTROL_FINISHED_OK
$STATE,14838,begin surface
$SM_CCo,14919,0.00,0.000,0,0,1127,420.44
$SM_GC,0.95,10.55,0.00,0.00,0.024,0.000,0.000,359,2279,1127,-9.52,0.25,420.44
$IRIDIUM_FIX,1932.09,-15604.81,110911,181810
$TT8_MAMPS,0.146804
$HUMID,1078076764
$TCM_TEMP,23.90
$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,0/161
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,4.6/30829585/29403258
$PA_HOME,10.2/482055/432982
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287858
$PA_DATA1,10.1/7837685/7048153
$PA_DATA0,73.9/7836665/2047900
$24V_AH,23.5,9.576
$10V_AH,9.9,6.773
$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,23.975,176.250,535.975,0.000,0.000,27.547,28.230,404.326,0.000,0.000,15.896,0.000,12363.975,641.668,2321.470,292.270,33.339,1614.888,0.000,1201.469,0.000,0.544,0.000
$DEVICE_MAMPS,169.830,74.970,1465.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,276.290,0.000,0.000,0.000,0.000,0.000,15684.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,79.528,0.000,0.000,0.000
$MEM,353344
$DATA_FILE_SIZE,13465,409
$CAP_FILE_SIZE,128200,0
$CFSIZE,260034560,255643648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190310,084054,1935.650,-15602.028,40,1.1,40,9.7