version: 66.07
glider: 22
mission: 17
dive: 12
start: 3 18 110 10 53 22
data:
$ID,22
$MISSION,17
$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,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,-255078.22
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,180310,103801,1938.785,-15605.103,41,1.4,41,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-68.5
$GPS2,180310,105244,1939.036,-15605.358,14,1.8,14,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.213,-0.261
$KALMAN_X,-548.9,-548.9,-548.9,2921.4,858.8
$KALMAN_Y,500.0,500.0,500.0,-3961.1,-782.3
$MHEAD_RNG_PITCHd_Wd,131.1,10591,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.24,-233.6,0.0,0.0,0,83,0.00,0.00,-64.97,0.000,2,0.000,0.000,378,2620,2726,0,0,0,0,0,0
$GC,86,-1.24,-233.6,3.5,-7.8,13,126,10.32,2.30,-24.83,0.000,4,0.151,0.073,2323,3936,3844,0,0,0,0,0,0
$GC,329,-1.24,-233.6,73.9,-23.7,42,333,0.00,2.30,0.00,0.000,6,0.000,0.038,2322,2580,3847,0,0,0,0,0,0
$GC,523,-1.24,-233.6,124.7,-25.2,55,532,0.00,2.45,0.00,0.000,4,0.000,0.062,2324,3928,3847,0,0,0,0,0,0
$GC,568,-1.24,-233.6,136.2,-25.5,56,576,0.00,2.25,0.00,0.000,6,0.000,0.037,2322,2592,3847,0,0,0,0,0,0
$GC,883,-1.24,-233.6,211.5,-23.8,67,891,0.00,2.42,0.00,0.000,4,0.000,0.061,2322,3936,3848,0,0,0,0,0,0
$GC,928,-1.24,-233.6,221.1,-22.2,68,936,0.00,2.28,0.00,0.000,6,0.000,0.037,2322,2588,3848,0,0,0,0,0,0
$GC,1249,-1.24,-233.6,282.3,-18.7,79,1257,0.00,2.35,0.00,0.000,4,0.000,0.044,2322,1197,3848,0,0,0,0,0,0
$GC,1277,-1.24,-233.6,287.0,-17.5,80,1285,0.00,2.40,0.00,0.000,6,0.000,0.046,2323,2597,3849,0,0,0,0,0,0
$GC,1607,-1.24,-233.6,339.1,-15.5,87,1615,0.00,2.42,0.00,0.000,4,0.000,0.064,2322,3942,3849,0,0,0,0,0,0
$GC,1646,-1.24,-233.6,344.9,-14.7,87,1653,0.00,2.30,0.00,0.000,6,0.000,0.039,2322,2589,3849,0,0,0,0,0,0
$GC,1965,-1.24,-233.6,393.0,-15.1,93,1973,0.00,2.45,0.00,0.000,4,0.000,0.064,2322,3943,3848,0,0,0,0,0,0
$GC,1998,-1.24,-233.6,398.1,-15.2,93,2006,0.00,2.30,0.00,0.000,6,0.000,0.041,2322,2599,3848,0,0,0,0,0,0
$GC,2323,-1.24,-233.6,444.6,-14.5,99,2331,0.00,2.47,0.00,0.000,4,0.000,0.067,2322,3945,3848,0,0,0,0,0,0
$GC,2367,-1.24,-233.6,451.3,-15.3,99,2375,0.00,2.33,0.00,0.000,6,0.000,0.041,2323,2599,3848,0,0,0,0,0,0
$GC,2681,-1.24,-233.6,497.7,-14.9,105,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2593,3846,0,0,0,0,0,0
$GC,2983,-1.24,-233.6,544.6,-15.5,110,2991,0.00,2.50,0.00,0.000,4,0.000,0.071,2322,3943,3842,0,0,0,0,0,0
$GC,3016,-1.24,-233.6,549.9,-16.4,110,3024,0.00,2.35,0.00,0.000,6,0.000,0.043,2323,2593,3841,0,0,0,0,0,0
$GC,3341,-1.24,-233.6,597.8,-14.6,116,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2587,3839,0,0,0,0,0,0
$GC,3642,-1.24,-233.6,640.0,-14.0,121,3650,0.00,2.45,0.00,0.000,4,0.000,0.060,2322,1208,3836,0,0,0,0,0,0
$GC,3659,-1.24,-233.6,642.4,-14.0,121,3668,0.00,2.50,0.00,0.000,6,0.000,0.056,2323,2603,3836,0,0,0,0,0,0
$GC,4006,-1.24,-233.6,688.3,-13.5,127,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2603,3831,0,0,0,0,0,0
$GC,4308,-1.24,-233.6,726.7,-12.7,132,4316,0.00,2.58,0.00,0.000,4,0.000,0.073,2322,1209,3828,0,0,0,0,0,0
$GC,4332,-1.24,-233.6,729.7,-12.5,132,4340,0.00,2.55,0.00,0.000,6,0.000,0.070,2323,2597,3828,0,0,0,0,0,0
$GC,4667,-1.24,-233.6,770.9,-12.2,138,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2596,3826,0,0,0,0,0,0
$GC,4969,-1.24,-233.6,809.7,-12.9,143,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2597,3824,0,0,0,0,0,0
$GC,5271,-1.24,-233.6,851.3,-13.8,148,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2597,3821,0,0,0,0,0,0
$GC,5572,-1.24,-233.6,893.5,-14.1,153,5581,0.00,2.92,0.00,0.000,4,0.000,0.145,2322,1213,3819,0,0,0,0,0,0
$GC,5606,-1.24,-233.6,898.0,-13.5,153,5615,0.00,2.92,0.00,0.000,6,0.000,0.135,2322,2598,3819,0,0,0,0,0,0
$GC,5931,-1.24,-233.6,942.2,-13.8,159,5940,0.00,3.12,0.00,0.000,4,0.000,0.173,2323,1221,3815,0,0,0,0,0,0
$GC,5954,-1.24,-233.6,945.2,-12.8,159,5963,0.00,3.10,0.00,0.000,6,0.000,0.165,2322,2601,3815,0,0,0,0,0,0
$GC,6291,-1.24,-233.6,984.5,-11.8,165,6301,0.00,3.38,0.00,0.000,4,0.000,0.219,2322,3955,3813,0,0,0,0,0,0
$GC,6321,-1.24,-233.6,988.2,-13.1,165,6330,0.00,3.15,0.00,0.000,6,0.000,0.185,2323,2630,3813,0,0,0,0,0,0
$STATE,6337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6337,begin apogee
$GC,6343,-0.29,0.0,990.3,11.2,165,6537,1.00,0.00,185.00,1.291,6,0.103,0.000,2531,1990,2944,0,0,0,0,0,0
$STATE,6538,end apogee,CONTROL_FINISHED_OK
$STATE,6538,begin climb
$GC,6540,1.24,233.6,1001.9,0.0,169,6765,1.55,3.60,208.55,1.294,4,0.069,0.196,2868,3414,1988,0,0,0,0,0,0
$GC,6860,1.24,233.6,979.8,15.9,174,6868,0.00,3.35,0.00,0.000,6,0.000,0.177,2868,1996,1980,0,0,0,0,0,0
$GC,7212,1.24,233.6,925.3,15.4,180,7221,0.00,3.10,0.00,0.000,4,0.000,0.142,2868,3421,1976,0,0,0,0,0,0
$GC,7235,1.24,233.6,921.5,15.4,180,7244,0.00,3.10,0.00,0.000,6,0.000,0.135,2868,1989,1975,0,0,0,0,0,0
$GC,7571,1.24,233.6,872.5,14.4,186,7580,0.00,2.92,0.00,0.000,4,0.000,0.133,2868,583,1974,0,0,0,0,0,0
$GC,7616,1.24,233.6,866.2,13.8,186,7624,0.00,2.85,0.00,0.000,6,0.000,0.099,2868,2012,1973,0,0,0,0,0,0
$GC,7930,1.24,233.6,823.2,13.7,192,7939,0.00,2.90,0.00,0.000,4,0.000,0.107,2868,578,1972,0,0,0,0,0,0
$GC,7959,1.24,233.6,819.2,13.5,192,7967,0.00,2.78,0.00,0.000,6,0.000,0.084,2868,2009,1972,0,0,0,0,0,0
$GC,8289,1.24,233.6,774.4,13.6,198,8297,0.00,2.72,0.00,0.000,4,0.000,0.093,2868,3418,1971,0,0,0,0,0,0
$GC,8312,1.24,233.6,771.0,14.7,198,8320,0.00,2.67,0.00,0.000,6,0.000,0.063,2868,1982,1970,0,0,0,0,0,0
$GC,8647,1.24,233.6,724.0,14.2,204,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1982,1970,0,0,0,0,0,0
$GC,8950,1.24,233.6,682.5,13.8,209,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1982,1969,0,0,0,0,0,0
$GC,9251,1.24,233.6,639.2,14.2,214,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1981,1969,0,0,0,0,0,0
$GC,9553,1.24,233.6,596.1,14.3,219,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1981,1968,0,0,0,0,0,0
$GC,9854,1.24,233.6,554.0,13.9,224,9863,0.00,2.65,0.00,0.000,4,0.000,0.063,2868,3422,1968,0,0,0,0,0,0
$GC,9904,1.24,233.6,547.3,13.1,224,9912,0.00,2.55,0.00,0.000,6,0.000,0.045,2868,1973,1967,0,0,0,0,0,0
$GC,10213,1.24,238.4,510.9,11.6,229,10221,0.00,2.47,0.00,0.000,4,0.000,0.060,2868,584,1968,0,0,0,0,0,0
$GC,10268,1.26,255.2,504.9,11.2,229,10294,0.00,2.50,16.67,0.970,6,0.000,0.045,2868,2028,1903,0,0,0,0,0,0
$GC,10639,1.31,299.6,466.4,10.3,236,10687,0.00,0.00,41.62,0.989,6,0.000,0.000,2868,2028,1722,0,0,0,0,0,0
$GC,11004,1.37,359.4,429.8,9.8,242,11069,0.15,2.58,53.53,0.953,4,0.090,0.060,2902,3408,1478,0,0,0,0,0,0
$GC,11094,1.37,359.4,418.1,15.9,243,11102,0.00,2.53,0.00,0.000,6,0.000,0.044,2902,1988,1474,0,0,0,0,0,0
$GC,11429,1.37,359.4,369.0,14.7,249,11438,0.00,2.53,0.00,0.000,4,0.000,0.059,2902,586,1469,0,0,0,0,0,0
$GC,11473,1.37,359.4,361.9,15.6,249,11482,0.00,2.53,0.00,0.000,6,0.000,0.044,2902,2016,1468,0,0,0,0,0,0
$GC,11788,1.37,359.4,310.2,16.8,255,11796,0.00,2.50,0.00,0.000,4,0.000,0.059,2902,3411,1467,0,0,0,0,0,0
$GC,11853,1.37,359.4,298.7,16.8,256,11861,0.00,2.53,0.00,0.000,6,0.000,0.043,2902,1985,1466,0,0,0,0,0,0
$GC,12180,1.37,359.4,244.4,16.1,267,12189,0.00,2.47,0.00,0.000,4,0.000,0.057,2902,585,1466,0,0,0,0,0,0
$GC,12252,1.37,359.4,232.8,14.6,269,12260,0.00,2.50,0.00,0.000,6,0.000,0.042,2902,2017,1464,0,0,0,0,0,0
$GC,12578,1.37,359.4,183.2,14.7,280,12586,0.00,2.47,0.00,0.000,4,0.000,0.056,2902,3409,1464,0,0,0,0,0,0
$GC,12623,1.37,359.4,176.1,16.2,281,12631,0.00,2.47,0.00,0.000,6,0.000,0.041,2902,1991,1464,0,0,0,0,0,0
$GC,12944,1.38,364.5,133.6,11.6,292,12953,0.00,2.45,0.00,0.000,4,0.000,0.052,2902,588,1463,0,0,0,0,0,0
$GC,13032,1.43,415.8,124.2,10.1,294,13089,0.00,2.40,46.70,0.679,6,0.000,0.040,2902,2014,1247,0,0,0,0,0,0
$GC,13395,1.43,415.8,77.1,13.5,316,13399,0.00,2.47,0.00,0.000,4,0.000,0.053,2901,3404,1243,0,0,0,0,0,0
$GC,13437,1.43,415.8,70.6,15.0,320,13441,0.00,2.45,0.00,0.000,6,0.000,0.039,2902,1997,1243,0,0,0,0,0,0
$GC,13634,1.43,415.8,41.3,14.5,339,13638,0.00,2.47,0.00,0.000,4,0.000,0.051,2902,569,1242,0,0,0,0,0,0
$GC,13655,1.43,415.8,38.1,15.4,341,13659,0.00,2.50,0.00,0.000,6,0.000,0.040,2902,2012,1241,0,0,0,0,0,0
$GC,13849,1.44,425.1,12.1,11.5,365,13860,0.00,0.00,8.45,0.477,6,0.000,0.000,2902,2012,1210,0,0,0,0,0,0
$STATE,13921,end climb,SURFACE_DEPTH_REACHED
$STATE,13921,begin surface coast
$FINISH,0.1,1.023629
$STATE,13944,end surface coast,CONTROL_FINISHED_OK
$STATE,13944,begin surface
$SM_CCo,14024,0.00,0.000,0,0,1207,426.33
$SM_GC,0.65,11.00,0.00,0.00,0.047,0.000,0.000,379,2612,1207,-10.16,0.34,426.33
$IRIDIUM_FIX,1934.38,-15604.81,110911,000010
$TT8_MAMPS,0.304843
$HUMID,1078007087
$TCM_TEMP,23.40
$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,429/655
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,6.029
$10V_AH,9.8,5.939
$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,24.025,149.125,560.525,0.000,0.000,23.450,26.215,545.513,0.000,0.000,15.074,0.000,11583.297,621.720,2422.338,318.615,30.177,1605.501,0.000,1072.842,0.000,0.534,0.000
$DEVICE_MAMPS,151.470,218.790,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,256.271,0.000,0.000,0.000,0.000,0.000,15006.134,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,98.452,0.000,0.000,0.000
$MEM,345192
$DATA_FILE_SIZE,13450,383
$CAP_FILE_SIZE,125740,0
$CFSIZE,260034560,256327680
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180310,144855,1937.973,-15604.213,40,1.6,40,9.7