version: 66.07
glider: 22
mission: 17
dive: 11
start: 3 18 110 6 24 33
data:
$ID,22
$MISSION,17
$DIVE,11
$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,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,400
$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,-255076.97
$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,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2600
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$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
$GPS1,180310,061337,1940.179,-15605.879,32,1.3,32,9.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-69.3
$GPS2,180310,062356,1940.337,-15606.058,13,1.7,13,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.207,-0.266
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,132.4,13231,-16.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.24,-233.6,0.0,0.0,0,83,0.00,0.00,-65.22,0.000,2,0.000,0.000,377,2577,2667,0,0,0,0,0,0
$GC,85,-1.24,-233.6,3.4,-8.1,13,131,10.38,2.45,-26.95,0.000,4,0.154,0.058,2324,1184,3845,0,0,0,0,0,0
$GC,263,-1.24,-233.6,48.0,-24.0,37,267,0.00,2.47,0.00,0.000,6,0.000,0.046,2324,2591,3846,0,0,0,0,0,0
$GC,480,-1.24,-233.6,108.3,-27.0,56,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2591,3847,0,0,0,0,0,0
$GC,783,-1.24,-233.6,180.7,-23.8,66,791,0.00,2.42,0.00,0.000,4,0.000,0.065,2323,3949,3849,0,0,0,0,0,0
$GC,870,-1.24,-233.6,200.0,-20.7,68,880,0.00,2.33,0.00,0.000,6,0.000,0.038,2323,2557,3850,0,0,0,0,0,0
$GC,1180,-1.24,-233.6,256.9,-17.9,79,1188,0.00,2.53,0.00,0.000,4,0.000,0.062,2324,3949,3851,0,0,0,0,0,0
$GC,1224,-1.24,-233.6,265.2,-18.3,80,1232,0.00,2.30,0.00,0.000,6,0.000,0.038,2322,2585,3850,0,0,0,0,0,0
$GC,1570,-1.24,-233.6,321.6,-16.5,90,1578,0.00,2.47,0.00,0.000,4,0.000,0.063,2323,3955,3851,0,0,0,0,0,0
$GC,1625,-1.24,-233.6,330.5,-14.9,90,1634,0.00,2.33,0.00,0.000,6,0.000,0.039,2323,2590,3851,0,0,0,0,0,0
$GC,1933,-1.24,-233.6,376.7,-15.0,96,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2586,3851,0,0,0,0,0,0
$GC,2235,-1.24,-233.6,419.9,-14.2,101,2243,0.00,2.47,0.00,0.000,4,0.000,0.066,2323,3952,3850,0,0,0,0,0,0
$GC,2268,-1.24,-233.6,424.8,-14.4,101,2276,0.00,2.33,0.00,0.000,6,0.000,0.041,2323,2599,3850,0,0,0,0,0,0
$GC,2594,-1.24,-233.6,468.7,-13.7,107,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2595,3849,0,0,0,0,0,0
$GC,2895,-1.24,-233.6,511.5,-14.2,112,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2595,3847,0,0,0,0,0,0
$GC,3197,-1.24,-233.6,552.9,-13.7,117,3205,0.00,2.50,0.00,0.000,4,0.000,0.072,2323,3955,3844,0,0,0,0,0,0
$GC,3236,-1.24,-233.6,558.3,-13.5,117,3244,0.00,2.35,0.00,0.000,6,0.000,0.043,2323,2605,3844,0,0,0,0,0,0
$GC,3556,-1.24,-233.6,599.2,-12.8,123,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2600,3842,0,0,0,0,0,0
$GC,3857,-1.24,-233.6,638.6,-13.1,128,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2600,3838,0,0,0,0,0,0
$GC,4160,-1.24,-233.6,678.6,-13.3,133,4168,0.00,2.53,0.00,0.000,4,0.000,0.067,2324,1207,3836,0,0,0,0,0,0
$GC,4198,-1.24,-233.6,683.5,-11.9,133,4206,0.00,2.53,0.00,0.000,6,0.000,0.060,2324,2603,3836,0,0,0,0,0,0
$GC,4518,-1.24,-233.6,724.7,-13.2,139,4526,0.00,2.58,0.00,0.000,4,0.000,0.070,2324,1201,3832,0,0,0,0,0,0
$GC,4546,-1.24,-233.6,728.4,-13.1,139,4555,0.00,2.60,0.00,0.000,6,0.000,0.069,2324,2606,3832,0,0,0,0,0,0
$GC,4877,-1.24,-233.6,770.4,-12.8,145,4885,0.00,2.60,0.00,0.000,4,0.000,0.082,2323,1212,3830,0,0,0,0,0,0
$GC,4900,-1.24,-233.6,773.5,-13.5,145,4908,0.00,2.62,0.00,0.000,6,0.000,0.081,2324,2609,3830,0,0,0,0,0,0
$GC,5236,-1.24,-233.6,814.9,-12.4,151,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2607,3827,0,0,0,0,0,0
$GC,5537,-1.24,-233.6,850.8,-11.9,156,5546,0.00,2.83,0.00,0.000,4,0.000,0.121,2323,1215,3825,0,0,0,0,0,0
$GC,5566,-1.24,-233.6,854.2,-12.4,156,5574,0.00,2.83,0.00,0.000,6,0.000,0.119,2323,2607,3825,0,0,0,0,0,0
$GC,5897,-1.24,-233.6,895.2,-12.6,162,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2607,3823,0,0,0,0,0,0
$GC,6198,-1.24,-233.6,929.3,-11.1,167,6206,0.00,3.10,0.00,0.000,4,0.000,0.169,2323,1216,3821,0,0,0,0,0,0
$GC,6221,-1.24,-233.6,931.8,-10.8,167,6229,0.00,3.08,0.00,0.000,6,0.000,0.157,2323,2609,3821,0,0,0,0,0,0
$GC,6557,-1.24,-233.6,967.9,-10.8,173,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2609,3818,0,0,0,0,0,0
$STATE,6796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6797,begin apogee
$GC,6802,-0.29,0.0,993.6,10.7,177,6995,1.02,0.00,185.40,1.286,6,0.099,0.000,2536,2034,2944,0,0,0,0,0,0
$STATE,6995,end apogee,CONTROL_FINISHED_OK
$STATE,6995,begin climb
$GC,6997,1.24,233.6,1004.2,0.0,180,7223,1.52,3.53,208.20,1.296,4,0.066,0.201,2869,3414,1987,0,0,0,0,0,0
$GC,7317,1.24,233.6,982.1,16.0,185,7327,0.00,3.38,0.00,0.000,6,0.000,0.181,2869,1994,1979,0,0,0,0,0,0
$GC,7670,1.24,233.6,928.5,15.1,191,7679,0.00,3.10,0.00,0.000,4,0.000,0.144,2869,3416,1975,0,0,0,0,0,0
$GC,7709,1.24,233.6,922.2,16.4,191,7718,0.00,3.10,0.00,0.000,6,0.000,0.135,2869,1986,1974,0,0,0,0,0,0
$GC,8029,1.24,233.6,876.5,14.0,197,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1987,1973,0,0,0,0,0,0
$GC,8331,1.24,233.6,834.7,13.9,202,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1986,1973,0,0,0,0,0,0
$GC,8633,1.24,233.6,792.3,14.1,207,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1985,1971,0,0,0,0,0,0
$GC,8935,1.24,233.6,750.6,13.8,212,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1985,1970,0,0,0,0,0,0
$GC,9237,1.24,233.6,711.1,12.9,217,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1985,1969,0,0,0,0,0,0
$GC,9538,1.24,233.6,674.6,12.1,222,9546,0.00,2.58,0.00,0.000,4,0.000,0.067,2869,573,1970,0,0,0,0,0,0
$GC,9566,1.24,233.6,671.1,12.6,222,9574,0.00,2.60,0.00,0.000,6,0.000,0.050,2869,2026,1970,0,0,0,0,0,0
$GC,9897,1.24,233.6,628.8,13.1,228,9905,0.00,2.65,0.00,0.000,4,0.000,0.063,2869,573,1969,0,0,0,0,0,0
$GC,9946,1.24,233.6,621.6,15.5,228,9954,0.00,2.55,0.00,0.000,6,0.000,0.048,2869,2006,1968,0,0,0,0,0,0
$GC,10255,1.24,233.6,580.1,13.4,233,10263,0.00,2.55,0.00,0.000,4,0.000,0.064,2869,3408,1968,0,0,0,0,0,0
$GC,10305,1.24,233.6,573.0,13.8,233,10313,0.00,2.55,0.00,0.000,6,0.000,0.045,2869,1966,1967,0,0,0,0,0,0
$GC,10613,1.24,241.9,536.6,11.5,238,10626,0.00,2.67,4.38,0.721,4,0.000,0.062,2869,3410,1957,0,0,0,0,0,0
$GC,10662,1.24,241.9,530.8,12.6,238,10670,0.00,2.50,0.00,0.000,6,0.000,0.045,2869,1989,1956,0,0,0,0,0,0
$GC,10971,1.26,259.4,496.5,11.2,243,10995,0.00,0.00,18.25,0.978,6,0.000,0.000,2869,1989,1884,0,0,0,0,0,0
$GC,11272,1.26,259.4,457.5,12.9,248,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1989,1883,0,0,0,0,0,0
$GC,11574,1.26,259.4,421.1,12.0,253,11582,0.00,2.60,0.00,0.000,4,0.000,0.060,2869,3409,1882,0,0,0,0,0,0
$GC,11618,1.26,259.4,415.6,12.7,253,11626,0.00,2.53,0.00,0.000,6,0.000,0.044,2869,1982,1880,0,0,0,0,0,0
$GC,11932,1.31,298.5,382.3,10.5,259,11974,0.00,0.00,35.97,0.928,6,0.000,0.000,2869,1982,1727,0,0,0,0,0,0
$GC,12234,1.31,299.2,347.6,11.8,264,12244,0.00,2.62,0.00,0.000,4,0.000,0.060,2869,3412,1720,0,0,0,0,0,0
$GC,12280,1.31,299.2,341.6,12.6,264,12288,0.00,2.50,0.00,0.000,6,0.000,0.044,2869,1991,1719,0,0,0,0,0,0
$GC,12594,1.32,309.7,305.5,11.4,270,12610,0.00,0.00,10.50,0.786,6,0.000,0.000,2868,1991,1681,0,0,0,0,0,0
$GC,12897,1.32,309.7,268.4,12.5,279,12906,0.00,2.58,0.00,0.000,4,0.000,0.058,2869,3406,1677,0,0,0,0,0,0
$GC,12931,1.32,309.7,263.8,12.8,280,12939,0.00,2.50,0.00,0.000,6,0.000,0.043,2869,1990,1675,0,0,0,0,0,0
$GC,13257,1.36,343.3,225.6,10.7,291,13297,0.12,2.53,29.88,0.783,4,0.092,0.055,2899,586,1543,0,0,0,0,0,0
$GC,13381,1.36,343.3,208.1,15.6,295,13389,0.00,2.50,0.00,0.000,6,0.000,0.043,2899,2012,1539,0,0,0,0,0,0
$GC,13713,1.36,343.3,162.5,13.3,306,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2013,1538,0,0,0,0,0,0
$GC,14016,1.36,343.3,122.8,13.3,316,14024,0.00,2.50,0.00,0.000,4,0.000,0.050,2899,584,1538,0,0,0,0,0,0
$GC,14066,1.36,343.3,116.6,12.6,317,14074,0.00,2.45,0.00,0.000,6,0.000,0.040,2899,2010,1536,0,0,0,0,0,0
$GC,14380,1.39,372.0,78.0,10.8,337,14411,0.00,2.50,24.85,0.608,4,0.000,0.049,2899,584,1426,0,0,0,0,0,0
$GC,14570,1.39,372.0,56.0,12.3,355,14574,0.00,2.47,0.00,0.000,6,0.000,0.039,2899,2011,1423,0,0,0,0,0,0
$GC,14766,1.39,372.0,32.8,11.8,374,14767,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2012,1423,0,0,0,0,0,0
$GC,14955,1.39,372.0,11.1,11.9,398,14956,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2012,1424,0,0,0,0,0,0
$GC,15019,1.39,372.0,3.7,12.8,410,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2012,1423,0,0,0,0,0,0
$STATE,15026,end climb,SURFACE_DEPTH_REACHED
$STATE,15026,begin surface coast
$FINISH,0.0,1.023636
$STATE,15053,end surface coast,CONTROL_FINISHED_OK
$STATE,15053,begin surface
$SM_CCo,15072,20.40,0.502,0,0,1312,400.08
$SM_GC,0.46,0.00,0.00,20.40,0.000,0.000,0.502,378,2617,1312,-10.22,0.48,400.08
$IRIDIUM_FIX,1932.09,-15612.94,100911,202040
$TT8_MAMPS,0.130326
$HUMID,1077985152
$TCM_TEMP,23.70
$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,220/219
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,5.808
$10V_AH,9.8,5.473
$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,24.025,122.675,517.425,20.400,0.000,30.165,27.573,390.788,0.000,0.000,14.600,0.000,12695.073,631.685,2160.095,269.742,29.229,1559.990,0.000,1020.357,0.000,0.534,0.000
$DEVICE_MAMPS,153.765,201.195,1295.910,501.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,279.201,0.000,0.000,0.000,0.000,0.000,15877.271,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,96.811,0.000,0.000,0.000
$MEM,345192
$DATA_FILE_SIZE,13462,417
$CAP_FILE_SIZE,114940,0
$CFSIZE,260034560,256450560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180310,103801,1938.785,-15605.103,41,1.4,41,9.7