version: 66.07
glider: 23
mission: 14
dive: 18
start: 3 19 110 16 54 42
data:
$ID,23
$MISSION,14
$DIVE,18
$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,-41530.125
$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,72
$R_STBD_OVSHOOT,28
$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
$GPS1,190310,164930,1935.583,-15601.108,29,1.3,46,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.6
$GPS2,190310,165402,1935.676,-15601.143,14,1.5,14,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.148,-0.273
$KALMAN_X,-26645.1,452.9,34.2,35392.1,-2650.8
$KALMAN_Y,49133.9,-126.3,276.9,-62185.5,3931.6
$MHEAD_RNG_PITCHd_Wd,141.9,1863,-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,-233.6,0.0,0.0,0,105,0.00,0.00,-84.43,0.000,2,0.000,0.000,361,2246,2795,0,0,0,0,0,0
$GC,107,-1.37,-233.6,3.4,-4.3,17,148,10.38,2.80,-21.60,0.000,4,0.168,0.047,2142,900,3796,0,0,0,0,0,0
$GC,221,-1.37,-233.6,33.3,-27.0,35,225,0.00,2.75,0.00,0.000,6,0.000,0.023,2143,2286,3797,0,0,0,0,0,0
$GC,418,-1.37,-233.6,86.3,-26.8,54,422,0.00,2.28,0.00,0.000,4,0.000,0.032,2142,3680,3796,0,0,0,0,0,0
$GC,487,-1.37,-233.6,102.7,-20.7,60,491,0.00,2.20,0.00,0.000,6,0.000,0.021,2142,2310,3796,0,0,0,0,0,0
$GC,817,-1.37,-233.6,176.7,-21.8,71,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2310,3797,0,0,0,0,0,0
$GC,1121,-1.37,-233.6,239.0,-20.1,81,1124,0.00,2.28,0.00,0.000,4,0.000,0.038,2142,3679,3797,0,0,0,0,0,0
$GC,1174,-1.37,-233.6,248.2,-15.9,82,1178,0.00,2.28,0.00,0.000,6,0.000,0.023,2142,2263,3797,0,0,0,0,0,0
$GC,1488,-1.37,-233.6,303.3,-17.8,93,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2264,3796,0,0,0,0,0,0
$GC,1790,-1.37,-233.6,352.9,-16.3,98,1794,0.00,2.83,0.00,0.000,4,0.000,0.041,2142,870,3795,0,0,0,0,0,0
$GC,1810,-1.37,-233.6,356.3,-16.0,98,1814,0.00,2.80,0.00,0.000,6,0.000,0.030,2142,2266,3794,0,0,0,0,0,0
$GC,2152,-1.37,-233.6,406.3,-14.9,104,2160,0.00,2.88,0.00,0.000,4,0.000,0.039,2142,862,3792,0,0,0,0,0,0
$GC,2175,-1.37,-233.6,410.0,-14.6,104,2183,0.00,2.85,0.00,0.000,6,0.000,0.031,2142,2276,3792,0,0,0,0,0,0
$GC,2511,-1.37,-233.6,459.0,-14.4,110,2519,0.00,2.88,0.00,0.000,4,0.000,0.040,2142,871,3787,0,0,0,0,0,0
$GC,2534,-1.37,-233.6,462.6,-15.1,110,2543,0.00,2.85,0.00,0.000,6,0.000,0.032,2142,2280,3787,0,0,0,0,0,0
$GC,2870,-1.37,-233.6,509.5,-13.9,116,2879,0.00,2.85,0.00,0.000,4,0.000,0.037,2142,865,3784,0,0,0,0,0,0
$STATE,3017,end dive,NO_VERTICAL_VELOCITY
$STATE,3017,begin apogee
$GC,3024,-0.33,0.0,509.4,0.0,118,3213,1.00,0.00,181.45,1.040,6,0.038,0.000,2380,2361,2841,0,0,0,0,0,0
$STATE,3214,end apogee,CONTROL_FINISHED_OK
$STATE,3214,begin climb
$GC,3216,1.37,233.6,509.4,0.0,121,3412,1.62,2.42,183.45,1.006,4,0.034,0.050,2754,3781,1887,0,0,1,0,0,0
$GC,3438,1.37,233.6,497.9,12.8,124,3446,0.00,2.28,0.00,0.000,6,0.000,0.025,2754,2365,1884,0,0,0,0,0,0
$GC,3757,1.38,237.5,460.2,11.7,130,3767,0.00,2.80,0.00,0.000,4,0.000,0.038,2754,1003,1880,0,0,0,0,0,0
$GC,3803,1.38,237.5,454.3,12.8,130,3811,0.00,2.83,0.00,0.000,6,0.000,0.033,2754,2381,1880,0,0,0,0,0,0
$GC,4118,1.38,237.5,415.2,12.5,136,4126,0.00,2.90,0.00,0.000,4,0.000,0.037,2754,972,1878,0,0,1,0,0,0
$GC,4147,1.38,237.5,411.4,13.2,136,4155,0.00,2.88,0.00,0.000,6,0.000,0.032,2753,2369,1877,0,0,0,0,0,0
$GC,4477,1.38,237.5,369.7,12.4,142,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2368,1876,0,0,0,0,0,0
$GC,4779,1.38,237.5,333.3,12.0,147,4783,0.00,2.88,0.00,0.000,4,0.000,0.037,2754,975,1874,0,0,0,0,0,0
$GC,4816,1.38,237.5,329.0,11.9,147,4820,0.00,2.85,0.00,0.000,6,0.000,0.032,2754,2371,1874,0,0,0,0,0,0
$GC,5145,1.39,249.1,291.6,11.4,154,5157,0.00,0.00,11.12,0.868,6,0.000,0.000,2754,2372,1825,0,0,0,0,0,0
$GC,5448,1.43,283.8,258.4,10.6,164,5482,0.00,2.95,29.10,0.900,4,0.000,0.034,2754,964,1682,0,0,0,0,0,0
$GC,5531,1.43,283.8,248.5,13.4,166,5535,0.00,2.90,0.00,0.000,6,0.000,0.030,2754,2378,1680,0,0,0,0,0,0
$GC,5845,1.43,283.8,207.9,12.8,177,5849,0.00,2.85,0.00,0.000,4,0.000,0.034,2754,974,1677,0,0,0,0,0,0
$GC,5930,1.43,283.8,197.3,12.8,179,5936,0.00,2.85,0.00,0.000,6,0.000,0.028,2754,2377,1677,0,0,0,0,0,0
$GC,6239,1.43,283.8,162.2,13.2,190,6243,0.00,2.88,0.00,0.000,4,0.000,0.033,2754,966,1676,0,0,0,0,0,0
$GC,6447,1.43,283.8,138.4,12.6,196,6451,0.00,2.83,0.00,0.000,6,0.000,0.028,2754,2370,1676,0,0,0,0,0,0
$GC,6761,1.43,285.8,102.2,11.7,207,6765,0.00,2.83,0.00,0.000,4,0.000,0.031,2754,972,1676,0,0,0,0,0,0
$GC,6831,1.43,285.8,94.3,12.5,212,6835,0.00,2.83,0.00,0.000,6,0.000,0.027,2754,2378,1676,0,0,0,0,0,0
$GC,7022,1.53,381.5,74.7,8.6,230,7108,0.12,2.95,77.55,0.712,4,0.061,0.031,2792,979,1283,0,0,0,0,0,0
$GC,7225,1.53,381.5,46.8,14.5,249,7231,0.00,2.80,0.00,0.000,6,0.000,0.024,2792,2372,1278,0,0,0,0,0,0
$GC,7417,1.53,381.5,17.6,15.0,269,7422,0.00,2.88,0.00,0.000,4,0.000,0.033,2792,966,1275,0,0,0,0,0,0
$GC,7502,1.53,381.5,5.4,14.3,285,7507,0.00,2.75,0.00,0.000,6,0.000,0.024,2792,2375,1275,0,0,0,0,0,0
$STATE,7520,end climb,SURFACE_DEPTH_REACHED
$STATE,7520,begin surface coast
$FINISH,0.4,1.012563
$STATE,7542,end surface coast,CONTROL_FINISHED_OK
$STATE,7542,begin surface
$SM_CCo,7561,32.97,0.610,0,0,1006,450.13
$SM_GC,1.18,0.00,0.00,32.97,0.000,0.000,0.610,356,2238,1006,-9.63,-0.88,450.13
$IRIDIUM_FIX,1929.80,-15602.72,120911,111110
$TT8_MAMPS,0.116844
$HUMID,1078088377
$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,0/30
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,7.0/30829585/28664216
$PA_HOME,10.5/482055/431668
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.6/298663/287859
$PA_DATA1,10.2/7837685/7036707
$PA_DATA0,76.5/7836665/1838919
$24V_AH,23.7,10.194
$10V_AH,10.0,7.662
$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,23.775,93.850,482.675,32.975,0.000,0.000,0.000,0.000,0.000,0.000,16.564,0.000,5894.550,582.375,1145.507,105.628,33.341,1139.192,0.000,778.535,0.000,0.545,0.000
$DEVICE_MAMPS,167.535,49.725,1039.635,610.470,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,195.059,0.000,0.000,0.000,0.000,0.000,7680.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,56.891,0.000,0.000,0.000
$MEM,354052
$DATA_FILE_SIZE,10153,293
$CAP_FILE_SIZE,115923,0
$CFSIZE,260034560,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,190310,190336,1935.251,-15600.985,26,1.2,31,9.7