version: 66.07
glider: 22
mission: 17
dive: 13
start: 3 18 110 14 58 59
data:
$ID,22
$MISSION,17
$DIVE,13
$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,1
$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,-255079.47
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,180310,144855,1937.973,-15604.213,40,1.6,40,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-65.4
$GPS2,180310,145820,1938.116,-15604.328,15,1.8,15,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223,-0.252
$KALMAN_X,-2135.4,-702.0,-227.9,6110.1,-143.8
$KALMAN_Y,2355.1,757.9,579.0,-7841.9,-223.2
$MHEAD_RNG_PITCHd_Wd,128.8,8131,-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,-233.6,0.0,0.0,0,94,0.00,0.00,-70.97,0.000,2,0.000,0.000,379,2612,2711,0,0,0,0,0,0
$GC,96,-1.24,-233.6,3.3,-6.6,14,137,10.32,2.40,-25.45,0.000,4,0.152,0.057,2324,1179,3843,0,0,0,0,0,0
$GC,243,-1.24,-233.6,39.7,-20.5,34,247,0.00,2.47,0.00,0.000,6,0.000,0.046,2324,2592,3845,0,0,0,0,0,0
$GC,439,-1.24,-233.6,94.8,-29.4,53,444,0.00,2.47,0.00,0.000,4,0.000,0.063,2323,3955,3846,0,0,0,0,0,0
$GC,508,-1.24,-233.6,113.5,-26.4,57,517,0.00,2.35,0.00,0.000,6,0.000,0.039,2324,2577,3847,0,0,0,0,0,0
$GC,835,-1.24,-233.6,194.9,-24.2,68,844,0.00,2.50,0.00,0.000,4,0.000,0.062,2324,3955,3847,0,0,0,0,0,0
$GC,869,-1.24,-233.6,203.1,-24.7,69,877,0.00,2.33,0.00,0.000,6,0.000,0.038,2324,2581,3848,0,0,0,0,0,0
$GC,1206,-1.24,-233.6,269.7,-18.4,80,1214,0.00,2.50,0.00,0.000,4,0.000,0.062,2324,3959,3848,0,0,0,0,0,0
$GC,1245,-1.24,-233.6,276.8,-17.5,81,1253,0.00,2.33,0.00,0.000,6,0.000,0.038,2324,2584,3848,0,0,0,0,0,0
$GC,1595,-1.24,-233.6,333.8,-16.2,90,1604,0.00,2.47,0.00,0.000,4,0.000,0.063,2324,3955,3850,0,0,0,0,0,0
$GC,1667,-1.24,-233.6,345.0,-14.6,91,1675,0.00,2.33,0.00,0.000,6,0.000,0.039,2324,2590,3849,0,0,0,0,0,0
$GC,2018,-1.24,-233.6,404.2,-17.6,97,2026,0.00,2.47,0.00,0.000,4,0.000,0.065,2324,3954,3849,0,0,0,0,0,0
$GC,2068,-1.24,-233.6,412.7,-16.1,97,2076,0.00,2.33,0.00,0.000,6,0.000,0.041,2324,2597,3849,0,0,0,0,0,0
$GC,2376,-1.24,-233.6,461.9,-16.1,102,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2592,3848,0,0,0,0,0,0
$GC,2677,-1.24,-233.6,503.2,-13.3,107,2686,0.00,2.47,0.00,0.000,4,0.000,0.069,2324,3947,3847,0,0,0,0,0,0
$GC,2711,-1.24,-233.6,507.9,-14.6,107,2719,0.00,2.33,0.00,0.000,6,0.000,0.042,2324,2602,3847,0,0,0,0,0,0
$GC,3036,-1.24,-233.6,551.2,-13.6,113,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2597,3844,0,0,0,0,0,0
$GC,3337,-1.24,-233.6,596.4,-15.1,118,3345,0.00,2.50,0.00,0.000,4,0.000,0.073,2324,3946,3841,0,0,0,0,0,0
$GC,3387,-1.24,-233.6,604.1,-14.7,118,3395,0.00,2.35,0.00,0.000,6,0.000,0.043,2324,2599,3840,0,0,0,0,0,0
$GC,3701,-1.24,-233.6,650.2,-14.7,124,3710,0.00,2.50,0.00,0.000,4,0.000,0.063,2324,1200,3837,0,0,0,0,0,0
$GC,3740,-1.24,-233.6,655.0,-11.5,124,3748,0.00,2.53,0.00,0.000,6,0.000,0.057,2324,2603,3837,0,0,0,0,0,0
$GC,4059,-1.24,-233.6,693.4,-12.1,130,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2603,3834,0,0,0,0,0,0
$GC,4361,-1.24,-233.6,731.9,-12.9,135,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2603,3832,0,0,0,0,0,0
$GC,4663,-1.24,-233.6,769.8,-12.5,140,4672,0.00,2.65,0.00,0.000,4,0.000,0.084,2324,1200,3828,0,0,0,0,0,0
$GC,4687,-1.24,-233.6,772.5,-11.3,140,4695,0.00,2.65,0.00,0.000,6,0.000,0.081,2324,2598,3828,0,0,0,0,0,0
$GC,5022,-1.24,-233.6,812.1,-11.9,146,5031,0.00,2.78,0.00,0.000,4,0.000,0.125,2324,3958,3826,0,0,0,0,0,0
$GC,5051,-1.24,-233.6,815.7,-13.3,146,5059,0.00,2.58,0.00,0.000,6,0.000,0.080,2324,2611,3825,0,0,0,0,0,0
$GC,5381,-1.24,-233.6,855.2,-12.0,152,5390,0.00,2.83,0.00,0.000,4,0.000,0.119,2324,1186,3823,0,0,0,0,0,0
$GC,5426,-1.24,-233.6,860.1,-11.0,152,5434,0.00,2.88,0.00,0.000,6,0.000,0.117,2324,2609,3823,0,0,0,0,0,0
$GC,5740,-1.24,-233.6,896.3,-11.6,158,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2609,3821,0,0,0,0,0,0
$GC,6042,-1.24,-233.6,930.0,-11.0,163,6050,0.00,3.17,0.00,0.000,4,0.000,0.166,2324,1187,3819,0,0,0,0,0,0
$GC,6060,-1.24,-233.6,932.0,-10.7,163,6068,0.00,3.12,0.00,0.000,6,0.000,0.155,2324,2606,3819,0,0,0,0,0,0
$GC,6401,-1.24,-233.6,968.8,-11.0,169,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2606,3817,0,0,0,0,0,0
$STATE,6641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6641,begin apogee
$GC,6646,-0.29,0.0,994.9,10.8,173,6840,1.02,0.00,186.15,1.291,6,0.103,0.000,2534,2001,2945,0,0,0,0,0,0
$STATE,6841,end apogee,CONTROL_FINISHED_OK
$STATE,6841,begin climb
$GC,6843,1.24,233.6,1007.1,0.0,176,7068,1.52,3.80,209.30,1.300,4,0.068,0.228,2867,581,1988,0,0,0,0,0,0
$GC,7222,1.24,233.6,984.1,12.5,182,7231,0.00,3.33,0.00,0.000,6,0.000,0.172,2867,2007,1979,0,0,0,0,0,0
$GC,7580,1.24,233.6,938.2,12.7,188,7589,0.00,3.25,0.00,0.000,4,0.000,0.164,2867,584,1975,0,0,0,0,0,0
$GC,7625,1.24,233.6,932.1,13.5,188,7634,0.00,3.08,0.00,0.000,6,0.000,0.136,2866,2011,1976,0,0,0,0,0,0
$GC,7940,1.24,233.6,889.4,13.7,194,7949,0.00,2.90,0.00,0.000,4,0.000,0.126,2866,3416,1973,0,0,0,0,0,0
$GC,7979,1.24,233.6,883.3,16.0,194,7989,0.00,2.90,0.00,0.000,6,0.000,0.109,2867,1990,1972,0,0,0,0,0,0
$GC,8301,1.24,233.6,835.4,14.9,200,8310,0.00,2.83,0.00,0.000,4,0.000,0.116,2867,573,1971,0,0,0,0,0,0
$GC,8362,1.24,233.6,826.2,15.3,201,8370,0.00,2.78,0.00,0.000,6,0.000,0.087,2867,2008,1972,0,0,0,0,0,0
$GC,8724,1.24,233.6,775.5,13.8,207,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2008,1971,0,0,0,0,0,0
$GC,9026,1.24,233.6,735.6,13.2,212,9035,0.00,2.72,0.00,0.000,4,0.000,0.080,2867,577,1970,0,0,0,0,0,0
$GC,9050,1.24,233.6,732.3,13.7,212,9059,0.00,2.65,0.00,0.000,6,0.000,0.060,2867,2020,1970,0,0,0,0,0,0
$GC,9386,1.24,233.6,687.9,13.2,218,9394,0.00,2.70,0.00,0.000,4,0.000,0.069,2867,564,1969,0,0,0,0,0,0
$GC,9425,1.24,233.6,682.6,13.1,218,9433,0.00,2.62,0.00,0.000,6,0.000,0.054,2866,2015,1970,0,0,0,0,0,0
$GC,9744,1.24,233.6,642.6,12.5,224,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2015,1969,0,0,0,0,0,0
$GC,10046,1.24,233.6,604.5,12.6,229,10054,0.00,2.65,0.00,0.000,4,0.000,0.063,2867,563,1969,0,0,0,0,0,0
$GC,10079,1.24,233.6,600.2,12.6,229,10087,0.00,2.58,0.00,0.000,6,0.000,0.048,2866,2016,1969,0,0,0,0,0,0
$GC,10415,1.25,242.5,561.0,11.5,235,10426,0.00,0.00,5.05,0.786,6,0.000,0.000,2867,2017,1955,0,0,0,0,0,0
$GC,10717,1.25,250.8,526.7,11.5,240,10733,0.00,0.00,9.57,0.922,6,0.000,0.000,2867,2017,1921,0,0,0,0,0,0
$GC,11019,1.27,263.1,492.3,11.4,245,11038,0.00,0.00,13.10,0.942,6,0.000,0.000,2867,2016,1871,0,0,0,0,0,0
$GC,11321,1.27,263.1,454.2,12.6,250,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2017,1868,0,0,0,0,0,0
$GC,11622,1.28,275.4,419.3,11.4,255,11645,0.00,2.72,12.10,0.886,4,0.000,0.057,2867,565,1820,0,0,0,0,0,0
$GC,11686,1.29,282.8,411.4,11.5,256,11704,0.00,2.58,8.15,0.812,6,0.000,0.044,2867,2014,1790,0,0,0,0,0,0
$GC,12053,1.29,282.8,361.9,13.8,262,12062,0.00,2.50,0.00,0.000,4,0.000,0.060,2867,3411,1786,0,0,0,0,0,0
$GC,12114,1.29,282.8,352.8,16.1,263,12122,0.00,2.55,0.00,0.000,6,0.000,0.044,2867,1968,1785,0,0,0,0,0,0
$GC,12477,1.29,282.8,305.6,12.6,269,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1967,1785,0,0,0,0,0,0
$GC,12780,1.32,309.9,271.4,10.9,278,12816,0.00,2.50,24.90,0.825,4,0.000,0.057,2867,584,1680,0,0,0,0,0,0
$GC,12885,1.34,333.5,259.7,11.0,281,12917,0.12,2.50,21.75,0.796,6,0.090,0.042,2897,2011,1583,0,0,0,0,0,0
$GC,13246,1.34,333.5,211.9,14.6,293,13255,0.00,2.47,0.00,0.000,4,0.000,0.056,2897,3409,1577,0,0,0,0,0,0
$GC,13398,1.34,333.5,188.6,14.9,297,13409,0.00,2.42,0.00,0.000,6,0.000,0.041,2897,1991,1577,0,0,0,0,0,0
$GC,13709,1.34,333.5,145.6,13.5,308,13717,0.00,2.53,0.00,0.000,4,0.000,0.054,2897,3404,1575,0,0,0,0,0,0
$GC,13737,1.34,333.5,141.6,13.6,309,13745,0.00,2.42,0.00,0.000,6,0.000,0.040,2897,1991,1576,0,0,0,0,0,0
$GC,14069,1.35,342.9,100.9,11.5,320,14087,0.00,2.50,8.12,0.565,4,0.000,0.054,2897,596,1546,0,0,0,0,0,0
$GC,14203,1.43,413.1,86.5,9.4,330,14270,0.00,2.45,60.30,0.624,6,0.000,0.038,2897,2017,1260,0,0,0,0,0,0
$GC,14455,1.43,413.1,55.2,13.6,355,14459,0.00,2.53,0.00,0.000,4,0.000,0.050,2897,600,1255,0,0,0,0,0,0
$GC,14492,1.43,413.1,50.2,13.2,358,14498,0.00,2.42,0.00,0.000,6,0.000,0.039,2897,2005,1253,0,0,0,0,0,0
$GC,14683,1.43,413.1,24.5,13.1,377,14688,0.00,2.47,0.00,0.000,4,0.000,0.053,2897,3396,1253,0,0,0,0,0,0
$GC,14737,1.43,413.1,17.5,12.2,383,14742,0.00,2.45,0.00,0.000,6,0.000,0.040,2897,1990,1252,0,0,0,0,0,0
$GC,14806,1.43,413.1,9.4,12.3,396,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1990,1252,0,0,0,0,0,0
$STATE,14861,end climb,SURFACE_DEPTH_REACHED
$STATE,14862,begin surface coast
$FINISH,0.2,1.023651
$STATE,14883,end surface coast,CONTROL_FINISHED_OK
$STATE,14883,begin surface
$SM_CCo,14963,0.00,0.000,0,0,1250,415.54
$SM_GC,0.82,10.98,0.00,0.00,0.047,0.000,0.000,378,2613,1250,-10.17,0.37,415.54
$IRIDIUM_FIX,1929.80,-15607.83,110911,050527
$TT8_MAMPS,0.322819
$HUMID,1078000635
$TCM_TEMP,23.60
$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,626/624
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,6.232
$10V_AH,9.8,6.426
$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,23.975,149.650,558.500,0.000,0.000,24.345,29.474,335.416,0.000,0.000,15.843,0.000,12363.768,643.732,2296.836,271.613,31.411,1671.645,0.000,1164.763,0.000,0.534,0.000
$DEVICE_MAMPS,152.235,227.970,1300.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,274.506,0.000,0.000,0.000,0.000,0.000,15662.123,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,99.342,0.000,0.000,0.000
$MEM,344660
$DATA_FILE_SIZE,13499,411
$CAP_FILE_SIZE,123841,0
$CFSIZE,260034560,256258048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180310,191027,1936.877,-15603.212,27,4.0,46,9.7