version: 66.07
glider: 23
mission: 14
dive: 16
start: 3 19 110 8 48 36
data:
$ID,23
$MISSION,14
$DIVE,16
$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,450
$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,-41406.219
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,190310,084054,1935.650,-15602.028,40,1.1,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.8
$GPS2,190310,084756,1935.820,-15602.071,16,1.7,16,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.066,-0.282
$KALMAN_X,-22585.3,-347.9,-330.3,30874.6,68.2
$KALMAN_Y,41597.6,519.3,-199.5,-54538.3,2668.0
$MHEAD_RNG_PITCHd_Wd,157.2,2381,-18.3,-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,-1.44,-200.6,0.0,0.0,0,97,0.00,0.00,-72.90,0.000,2,0.000,0.000,358,2283,2642,0,0,0,0,0,0
$GC,99,-1.47,-233.6,3.2,-4.9,13,145,10.32,2.92,-26.70,0.000,4,0.169,0.045,2120,866,3795,0,0,0,0,0,0
$GC,155,-1.47,-233.6,15.1,-24.1,24,161,0.00,2.78,0.00,0.000,6,0.000,0.023,2120,2274,3796,0,0,0,0,0,0
$GC,228,-1.47,-233.6,36.4,-29.6,33,231,0.00,2.28,0.00,0.000,4,0.000,0.031,2120,3673,3797,0,0,0,0,0,0
$GC,292,-1.47,-233.6,53.2,-25.1,39,295,0.00,2.25,0.00,0.000,6,0.000,0.024,2120,2280,3797,0,0,0,0,0,0
$GC,498,-1.47,-233.6,110.3,-27.7,57,501,0.00,2.28,0.00,0.000,4,0.000,0.028,2120,3679,3798,0,0,0,0,0,0
$GC,529,-1.47,-233.6,119.1,-27.1,58,533,0.00,2.30,0.00,0.000,6,0.000,0.024,2120,2259,3796,0,0,0,0,0,0
$GC,865,-1.47,-233.6,200.3,-22.5,69,869,0.00,2.35,0.00,0.000,4,0.000,0.037,2121,3678,3799,0,0,0,0,0,0
$GC,939,-1.47,-233.6,215.7,-20.0,71,943,0.00,2.28,0.00,0.000,6,0.000,0.023,2120,2263,3798,0,0,0,0,0,0
$GC,1264,-1.47,-233.6,280.9,-20.0,82,1268,0.00,2.35,0.00,0.000,4,0.000,0.042,2120,3664,3799,0,0,0,0,0,0
$GC,1311,-1.47,-233.6,289.3,-17.1,83,1315,0.00,2.25,0.00,0.000,6,0.000,0.024,2120,2273,3799,0,0,0,0,0,0
$GC,1629,-1.47,-233.6,341.8,-16.3,90,1633,0.00,2.88,0.00,0.000,4,0.000,0.041,2120,863,3799,0,0,0,0,0,0
$GC,1666,-1.47,-233.6,347.3,-14.9,90,1670,0.00,2.83,0.00,0.000,6,0.000,0.031,2120,2264,3799,0,0,0,0,0,0
$GC,1995,-1.47,-233.6,399.9,-16.5,96,1999,0.00,2.85,0.00,0.000,4,0.000,0.040,2119,867,3797,0,0,0,0,0,0
$GC,2021,-1.47,-233.6,404.3,-17.2,96,2025,0.00,2.83,0.00,0.000,6,0.000,0.031,2119,2273,3796,0,0,0,0,0,0
$GC,2355,-1.47,-233.6,462.1,-17.5,102,2364,0.00,2.90,0.00,0.000,4,0.000,0.041,2120,864,3794,0,0,0,0,0,0
$GC,2373,-1.47,-233.6,465.4,-17.5,102,2381,0.00,2.85,0.00,0.000,6,0.000,0.032,2119,2280,3794,0,0,0,0,0,0
$GC,2714,-1.47,-233.6,522.9,-16.9,108,2723,0.00,2.92,0.00,0.000,4,0.000,0.041,2120,857,3790,0,0,0,0,0,0
$GC,2738,-1.47,-233.6,527.1,-17.6,108,2746,0.00,2.85,0.00,0.000,6,0.000,0.033,2119,2269,3790,0,0,0,0,0,0
$GC,3074,-1.47,-233.6,579.3,-15.1,114,3082,0.00,2.90,0.00,0.000,4,0.000,0.042,2119,861,3786,0,0,0,0,0,0
$GC,3108,-1.47,-233.6,584.6,-15.8,114,3116,0.00,2.88,0.00,0.000,6,0.000,0.034,2119,2272,3786,0,0,0,0,0,0
$GC,3433,-1.47,-233.6,632.1,-14.6,120,3442,0.00,2.90,0.00,0.000,4,0.000,0.043,2119,866,3784,0,0,0,0,0,0
$GC,3467,-1.47,-233.6,637.0,-14.4,120,3476,0.00,2.88,0.00,0.000,6,0.000,0.035,2119,2276,3783,0,0,0,0,0,0
$GC,3793,-1.47,-233.6,686.2,-15.3,126,3801,0.00,2.90,0.00,0.000,4,0.000,0.044,2119,863,3779,0,0,0,0,0,0
$GC,3843,-1.47,-233.6,693.7,-14.4,126,3851,0.00,2.88,0.00,0.000,6,0.000,0.037,2119,2269,3779,0,0,0,0,0,0
$GC,4151,-1.47,-233.6,741.7,-15.8,131,4160,0.00,2.92,0.00,0.000,4,0.000,0.045,2119,860,3777,0,0,0,0,0,0
$GC,4191,-1.47,-233.6,747.9,-15.0,131,4200,0.00,2.88,0.00,0.000,6,0.000,0.037,2119,2273,3776,0,0,0,0,0,0
$GC,4511,-1.47,-233.6,795.4,-14.7,137,4520,0.00,2.92,0.00,0.000,4,0.000,0.046,2119,865,3774,0,0,0,0,0,0
$GC,4551,-1.47,-233.6,801.2,-14.0,137,4559,0.00,2.88,0.00,0.000,6,0.000,0.037,2119,2276,3774,0,0,0,0,0,0
$GC,4871,-1.47,-233.6,846.6,-14.2,143,4880,0.00,2.92,0.00,0.000,4,0.000,0.046,2119,866,3772,0,0,0,0,0,0
$GC,4905,-1.47,-233.6,851.3,-13.5,143,4914,0.00,2.88,0.00,0.000,6,0.000,0.037,2119,2278,3772,0,0,0,0,0,0
$GC,5231,-1.47,-233.6,896.8,-14.1,149,5240,0.00,2.92,0.00,0.000,4,0.000,0.046,2119,861,3770,0,0,1,0,0,0
$GC,5260,-1.47,-233.6,900.9,-14.0,149,5270,0.00,2.88,0.00,0.000,6,0.000,0.038,2119,2270,3769,0,0,0,0,0,0
$GC,5592,-1.47,-233.6,947.0,-13.8,155,5601,0.00,2.95,0.00,0.000,4,0.000,0.047,2119,862,3767,0,0,0,0,0,0
$GC,5642,-1.47,-233.6,953.7,-12.9,155,5651,0.00,2.88,0.00,0.000,6,0.000,0.038,2119,2273,3767,0,0,0,0,0,0
$STATE,5949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5949,begin apogee
$GC,5954,-0.33,0.0,994.7,13.3,160,6153,1.27,0.00,191.18,1.460,6,0.099,0.000,2374,2373,2842,0,0,0,0,0,0
$STATE,6154,end apogee,CONTROL_FINISHED_OK
$STATE,6154,begin climb
$GC,6156,1.47,233.6,1004.4,0.0,163,6365,1.83,2.47,195.85,1.418,4,0.055,0.055,2767,3768,1887,0,0,0,0,0,0
$GC,6461,1.47,233.6,973.7,18.0,167,6471,0.00,2.25,0.00,0.000,6,0.000,0.028,2767,2368,1882,0,0,0,0,0,0
$GC,6770,1.47,233.6,924.9,15.6,173,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2362,1880,0,0,0,0,0,0
$GC,7071,1.47,233.6,879.7,15.0,178,7080,0.00,2.92,0.00,0.000,4,0.000,0.045,2767,962,1879,0,0,0,0,0,0
$GC,7100,1.47,233.6,875.2,15.2,178,7109,0.00,2.92,0.00,0.000,6,0.000,0.036,2767,2365,1879,0,0,0,0,0,0
$GC,7431,1.47,233.6,825.5,15.1,184,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2364,1878,0,0,0,0,0,0
$GC,7732,1.47,233.6,779.2,15.5,189,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2364,1877,0,0,0,0,0,0
$GC,8035,1.47,233.6,733.3,15.1,194,8043,0.00,2.90,0.00,0.000,4,0.000,0.044,2768,969,1877,0,0,0,0,0,0
$GC,8090,1.47,233.6,724.6,15.2,194,8100,0.00,2.85,0.00,0.000,6,0.000,0.035,2767,2375,1877,0,0,0,0,0,0
$GC,8399,1.47,233.6,679.7,14.4,200,8407,0.00,2.75,0.00,0.000,4,0.000,0.041,2768,1050,1876,0,0,0,0,0,0
$GC,8443,1.47,233.6,672.9,14.7,200,8452,0.00,2.75,0.00,0.000,6,0.000,0.035,2768,2371,1876,0,0,0,0,0,0
$GC,8758,1.47,233.6,624.7,15.4,206,8767,0.00,2.83,0.00,0.000,4,0.000,0.041,2767,1018,1876,0,0,0,0,0,0
$GC,8793,1.47,233.6,619.5,13.9,206,8801,0.00,2.80,0.00,0.000,6,0.000,0.034,2767,2368,1876,0,0,0,0,0,0
$GC,9118,1.47,233.6,573.2,14.0,212,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2368,1876,0,0,0,0,0,0
$GC,9420,1.47,233.6,531.1,14.2,217,9428,0.00,2.90,0.00,0.000,4,0.000,0.040,2767,961,1876,0,0,0,0,0,0
$GC,9464,1.47,233.6,524.9,14.0,217,9473,0.00,2.92,0.00,0.000,6,0.000,0.034,2767,2381,1875,0,0,0,0,0,0
$GC,9779,1.47,233.6,481.5,14.0,223,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2380,1875,0,0,0,0,0,0
$GC,10081,1.47,233.6,443.7,12.2,228,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2380,1875,0,0,0,0,0,0
$GC,10383,1.47,233.6,405.5,12.8,233,10391,0.00,2.78,0.00,0.000,4,0.000,0.037,2768,1042,1875,0,0,0,0,0,0
$GC,10470,1.47,233.6,393.7,12.6,234,10474,0.00,2.75,0.00,0.000,6,0.000,0.033,2767,2362,1875,0,0,0,0,0,0
$GC,10809,1.47,233.6,348.1,13.7,240,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2362,1875,0,0,0,0,0,0
$GC,11111,1.47,233.6,306.7,13.9,245,11115,0.00,2.72,0.00,0.000,4,0.000,0.037,2768,1045,1875,0,0,0,0,0,0
$GC,11202,1.47,233.6,295.0,12.9,246,11208,0.00,2.72,0.00,0.000,6,0.000,0.032,2768,2370,1875,0,0,1,0,0,0
$GC,11510,1.48,238.3,257.5,11.6,257,11514,0.00,2.38,0.00,0.000,4,0.000,0.050,2768,3786,1875,0,0,0,0,0,0
$GC,11553,1.48,238.3,252.4,12.1,258,11557,0.00,2.28,0.00,0.000,6,0.000,0.024,2768,2353,1875,0,0,0,0,0,0
$GC,11877,1.56,308.3,221.8,9.0,269,11942,0.00,2.47,59.58,0.910,4,0.000,0.048,2768,3793,1583,0,0,0,0,0,0
$GC,12012,1.59,339.8,207.6,10.5,273,12043,0.10,2.28,26.98,0.861,6,0.044,0.023,2798,2365,1455,0,0,0,0,0,0
$GC,12362,1.59,339.8,153.2,17.1,285,12366,0.00,2.88,0.00,0.000,4,0.000,0.037,2798,985,1446,0,0,0,0,0,0
$GC,12538,1.59,339.8,122.3,17.1,290,12542,0.00,2.83,0.00,0.000,6,0.000,0.026,2798,2371,1446,0,0,0,0,0,0
$GC,12851,1.59,339.8,76.3,12.6,310,12855,0.00,2.83,0.00,0.000,4,0.000,0.033,2798,984,1446,0,0,0,0,0,0
$GC,12985,1.59,339.8,58.8,14.0,322,12989,0.00,2.80,0.00,0.000,6,0.000,0.025,2798,2376,1447,0,0,0,0,0,0
$GC,13175,1.59,339.8,34.9,13.1,340,13179,0.00,2.85,0.00,0.000,4,0.000,0.031,2798,973,1447,0,0,0,0,0,0
$GC,13255,1.59,339.8,23.7,13.4,347,13259,0.00,2.80,0.00,0.000,6,0.000,0.024,2798,2375,1447,0,0,0,0,0,0
$STATE,13403,end climb,SURFACE_DEPTH_REACHED
$STATE,13403,begin surface coast
$FINISH,0.2,1.023560
$STATE,13424,end surface coast,CONTROL_FINISHED_OK
$STATE,13424,begin surface
$SM_CCo,13442,54.47,0.631,0,0,1006,450.13
$SM_GC,1.03,0.00,0.00,54.47,0.000,0.000,0.631,359,2252,1006,-9.62,-0.51,450.13
$IRIDIUM_FIX,1929.80,-15602.72,110911,222230
$TT8_MAMPS,0.102613
$HUMID,1078056119
$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,0/0
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,6.3/30829585/28896063
$PA_HOME,10.2/482055/432837
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287880
$PA_DATA1,10.1/7837685/7048153
$PA_DATA0,73.2/7836665/2101844
$24V_AH,23.5,9.779
$10V_AH,9.9,7.132
$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,24.250,164.225,473.575,54.475,0.000,23.914,30.644,201.447,0.000,0.000,18.304,0.000,11121.570,640.361,1933.994,231.313,33.336,1519.531,0.000,1088.280,0.000,0.543,0.000
$DEVICE_MAMPS,169.065,73.440,1459.620,631.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,254.789,0.000,0.000,0.000,0.000,0.000,14014.670,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,79.763,0.000,0.000,0.000
$MEM,353400
$DATA_FILE_SIZE,13465,376
$CAP_FILE_SIZE,112860,0
$CFSIZE,260034560,255590400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,190310,123454,1934.657,-15602.070,35,1.7,35,9.7