version: 66.07
glider: 22
mission: 17
dive: 15
start: 3 18 110 23 52 55
data:
$ID,22
$MISSION,17
$DIVE,15
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-255220.7
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,180310,234327,1936.144,-15602.535,34,5.2,53,9.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-65.0
$GPS2,180310,235213,1936.288,-15602.668,29,1.7,36,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.204,-0.268
$KALMAN_X,-7404.7,292.4,-97.1,13125.5,-2152.9
$KALMAN_Y,8851.8,-135.3,30.2,-16252.2,2801.0
$MHEAD_RNG_PITCHd_Wd,133.0,3679,-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,-233.6,0.0,0.0,0,102,0.00,0.00,-78.57,0.000,2,0.000,0.000,378,2614,2666,0,0,0,0,0,0
$GC,104,-1.24,-233.6,3.3,-6.5,14,150,10.30,2.50,-27.92,0.000,4,0.151,0.057,2324,1182,3846,0,0,0,0,0,0
$GC,304,-1.24,-233.6,48.2,-21.4,40,308,0.00,2.45,0.00,0.000,6,0.000,0.046,2324,2592,3847,0,0,0,0,0,0
$GC,500,-1.24,-233.6,101.3,-26.6,59,504,0.00,2.45,0.00,0.000,4,0.000,0.062,2324,3943,3847,0,0,0,0,0,0
$GC,532,-1.24,-233.6,110.0,-28.0,60,536,0.00,2.33,0.00,0.000,6,0.000,0.039,2324,2597,3847,0,0,0,0,0,0
$GC,867,-1.24,-233.6,191.4,-23.9,71,872,0.00,2.47,0.00,0.000,4,0.000,0.062,2324,3948,3849,0,0,0,0,0,0
$GC,925,-1.24,-233.6,205.0,-22.4,72,932,0.00,2.33,0.00,0.000,6,0.000,0.037,2324,2586,3850,0,0,0,0,0,0
$GC,1234,-1.24,-233.6,267.6,-18.6,83,1238,0.00,2.47,0.00,0.000,4,0.000,0.060,2324,3940,3850,0,0,0,0,0,0
$GC,1303,-1.24,-233.6,279.7,-16.4,85,1308,0.00,2.30,0.00,0.000,6,0.000,0.037,2324,2592,3851,0,0,0,0,0,0
$GC,1663,-1.24,-233.6,340.5,-16.8,93,1666,0.00,2.47,0.00,0.000,4,0.000,0.063,2324,3951,3850,0,0,0,0,0,0
$GC,1683,-1.24,-233.6,344.0,-17.1,93,1687,0.00,2.33,0.00,0.000,6,0.000,0.038,2324,2594,3849,0,0,0,0,0,0
$GC,2028,-1.24,-233.6,398.5,-15.8,99,2031,0.00,2.50,0.00,0.000,4,0.000,0.064,2324,3949,3850,0,0,0,0,0,0
$GC,2075,-1.24,-233.6,405.7,-14.1,99,2079,0.00,2.33,0.00,0.000,6,0.000,0.040,2324,2602,3850,0,0,0,0,0,0
$GC,2393,-1.24,-233.6,453.4,-15.3,105,2401,0.00,2.47,0.00,0.000,4,0.000,0.066,2324,3950,3850,0,0,0,0,0,0
$GC,2421,-1.24,-233.6,457.7,-15.5,105,2429,0.00,2.33,0.00,0.000,6,0.000,0.041,2324,2599,3850,0,0,0,0,0,0
$GC,2751,-1.24,-233.6,504.7,-14.5,111,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2593,3847,0,0,0,0,0,0
$GC,3053,-1.24,-233.6,548.6,-14.6,116,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2594,3845,0,0,0,0,0,0
$GC,3355,-1.24,-233.6,593.3,-14.9,121,3363,0.00,2.50,0.00,0.000,4,0.000,0.073,2324,3951,3842,0,0,0,0,0,0
$GC,3388,-1.24,-233.6,598.3,-14.9,121,3396,0.00,2.35,0.00,0.000,6,0.000,0.042,2324,2599,3841,0,0,0,0,0,0
$GC,3713,-1.24,-233.6,642.6,-13.5,127,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2594,3839,0,0,0,0,0,0
$GC,4014,-1.24,-233.6,685.1,-14.2,132,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2594,3836,0,0,0,0,0,0
$GC,4317,-1.24,-233.6,723.4,-12.4,137,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2594,3832,0,0,0,0,0,0
$GC,4618,-1.24,-233.6,760.4,-12.3,142,4626,0.00,2.58,0.00,0.000,4,0.000,0.083,2324,1205,3830,0,0,0,0,0,0
$GC,4652,-1.24,-233.6,764.4,-11.5,142,4660,0.00,2.60,0.00,0.000,6,0.000,0.073,2324,2600,3829,0,0,0,0,0,0
$GC,4976,-1.24,-233.6,805.7,-12.9,148,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2600,3826,0,0,0,0,0,0
$GC,5278,-1.24,-233.6,843.3,-12.3,153,5287,0.00,2.80,0.00,0.000,4,0.000,0.114,2324,1206,3825,0,0,0,0,0,0
$GC,5301,-1.24,-233.6,846.1,-12.6,153,5310,0.00,2.83,0.00,0.000,6,0.000,0.116,2324,2605,3825,0,0,0,0,0,0
$GC,5638,-1.24,-233.6,889.3,-13.0,159,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2605,3822,0,0,0,0,0,0
$GC,5939,-1.24,-233.6,925.2,-11.8,164,5948,0.00,3.10,0.00,0.000,4,0.000,0.165,2324,1210,3820,0,0,0,0,0,0
$GC,5962,-1.24,-233.6,927.8,-11.3,164,5971,0.00,3.03,0.00,0.000,6,0.000,0.154,2324,2602,3818,0,0,0,0,0,0
$GC,6298,-1.24,-233.6,968.1,-12.2,170,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2602,3817,0,0,0,0,0,0
$STATE,6538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6538,begin apogee
$GC,6543,-0.29,0.0,995.3,11.2,174,6737,1.02,0.00,186.30,1.287,6,0.100,0.000,2535,2028,2945,0,0,0,0,0,0
$STATE,6738,end apogee,CONTROL_FINISHED_OK
$STATE,6738,begin climb
$GC,6740,1.24,233.6,1005.3,0.0,177,6965,1.52,3.83,209.00,1.296,4,0.069,0.221,2867,581,1989,0,0,0,0,0,0
$GC,7039,1.24,233.6,988.6,15.6,181,7048,0.00,3.35,0.00,0.000,6,0.000,0.174,2867,2006,1982,0,0,0,0,0,0
$GC,7347,1.24,233.6,943.5,14.5,186,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,1976,0,0,0,0,0,0
$GC,7648,1.24,233.6,898.8,14.7,191,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2007,1976,0,0,0,0,0,0
$GC,7951,1.24,233.6,856.9,13.7,196,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2008,1974,0,0,0,0,0,0
$GC,8251,1.24,233.6,817.1,13.2,201,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2008,1973,0,0,0,0,0,0
$GC,8554,1.24,233.6,776.6,13.3,206,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2009,1972,0,0,0,0,0,0
$GC,8855,1.24,233.6,738.1,12.8,211,8864,0.00,2.72,0.00,0.000,4,0.000,0.079,2867,576,1972,0,0,0,0,0,0
$GC,8894,1.24,233.6,732.9,13.6,211,8902,0.00,2.65,0.00,0.000,6,0.000,0.059,2867,2020,1971,0,0,0,0,0,0
$GC,9213,1.24,233.6,691.6,13.0,217,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2021,1971,0,0,0,0,0,0
$GC,9515,1.24,233.6,650.5,13.7,222,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2021,1970,0,0,0,0,0,0
$GC,9818,1.24,233.6,613.0,12.2,227,9826,0.00,2.55,0.00,0.000,4,0.000,0.067,2867,3412,1969,0,0,0,0,0,0
$GC,9841,1.24,233.6,610.0,12.4,227,9849,0.00,2.55,0.00,0.000,6,0.000,0.045,2867,1964,1969,0,0,0,0,0,0
$GC,10182,1.24,233.6,568.3,12.2,233,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1963,1969,0,0,0,0,0,0
$GC,10483,1.27,263.3,535.6,10.8,238,10514,0.00,0.00,24.90,1.018,6,0.000,0.000,2868,1963,1870,0,0,0,0,0,0
$GC,10786,1.27,263.3,499.3,12.2,243,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1963,1864,0,0,0,0,0,0
$GC,11087,1.27,263.3,459.6,13.4,248,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1963,1863,0,0,0,0,0,0
$GC,11389,1.27,263.3,422.1,12.2,253,11397,0.00,2.67,0.00,0.000,4,0.000,0.060,2867,3424,1862,0,0,0,0,0,0
$GC,11439,1.27,263.3,415.9,13.2,253,11447,0.00,2.53,0.00,0.000,6,0.000,0.043,2867,1994,1862,0,0,0,0,0,0
$GC,11747,1.29,286.0,381.6,11.0,258,11772,0.00,2.55,20.50,0.903,4,0.000,0.057,2867,595,1777,0,0,0,0,0,0
$GC,11798,1.34,329.5,376.0,10.3,258,11844,0.08,2.53,40.42,0.913,6,0.067,0.043,2891,2011,1598,0,0,0,0,0,0
$GC,12172,1.34,329.5,325.4,13.6,265,12176,0.00,2.55,0.00,0.000,4,0.000,0.058,2891,3407,1590,0,0,0,0,0,0
$GC,12209,1.34,329.5,319.5,15.9,265,12213,0.00,2.53,0.00,0.000,6,0.000,0.043,2892,1994,1590,0,0,0,0,0,0
$GC,12538,1.34,329.5,268.4,15.6,274,12542,0.00,2.50,0.00,0.000,4,0.000,0.055,2892,599,1587,0,0,0,0,0,0
$GC,12597,1.34,329.5,259.6,15.0,275,12603,0.00,2.47,0.00,0.000,6,0.000,0.042,2892,2004,1586,0,0,0,0,0,0
$GC,12905,1.34,329.5,218.1,13.4,286,12906,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2004,1586,0,0,0,0,0,0
$GC,13209,1.34,329.5,179.1,12.8,296,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2004,1585,0,0,0,0,0,0
$GC,13512,1.34,329.5,133.9,14.8,306,13516,0.00,2.50,0.00,0.000,4,0.000,0.052,2892,3406,1585,0,0,0,0,0,0
$GC,13576,1.34,329.5,125.1,13.7,308,13581,0.00,2.47,0.00,0.000,6,0.000,0.040,2892,1985,1585,0,0,0,0,0,0
$GC,13893,1.39,378.2,89.6,10.1,323,13938,0.00,2.47,40.12,0.626,4,0.000,0.051,2892,590,1401,0,0,0,0,0,0
$GC,14013,1.43,414.2,77.0,10.6,334,14048,0.00,2.47,30.95,0.599,6,0.000,0.039,2892,2013,1255,0,0,0,0,0,0
$GC,14234,1.43,414.2,50.9,12.3,355,14238,0.00,2.47,0.00,0.000,4,0.000,0.053,2891,3402,1251,0,0,0,0,0,0
$GC,14287,1.43,414.2,44.1,13.1,360,14292,0.00,2.45,0.00,0.000,6,0.000,0.040,2892,1995,1251,0,0,0,0,0,0
$GC,14484,1.43,414.2,20.3,12.0,379,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1994,1250,0,0,0,0,0,0
$STATE,14637,end climb,SURFACE_DEPTH_REACHED
$STATE,14639,begin surface coast
$FINISH,0.1,1.023578
$STATE,14664,end surface coast,CONTROL_FINISHED_OK
$STATE,14664,begin surface
$SM_CCo,14743,0.00,0.000,0,0,1246,416.52
$SM_GC,0.69,10.93,0.00,0.00,0.046,0.000,0.000,379,2606,1246,-10.17,0.17,416.52
$IRIDIUM_FIX,1929.80,-15607.83,110911,131309
$TT8_MAMPS,0.177513
$HUMID,1078005797
$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,0/153
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,4.5/30829585/29452027
$PA_HOME,6.5/483886/452402
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.7/297829/286943
$PA_DATA1,4.1/7836665/7513708
$PA_DATA0,66.7/7836665/2608718
$24V_AH,23.4,6.669
$10V_AH,9.8,7.287
$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,23.850,110.825,552.200,0.000,0.000,32.776,32.477,323.751,0.000,0.000,36.862,0.000,12512.305,617.779,1902.553,225.443,33.368,1447.948,0.000,989.277,0.000,0.534,0.000
$DEVICE_MAMPS,151.470,221.085,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,275.203,0.000,0.000,0.000,0.000,0.000,15406.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,92.850,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,13520,412
$CAP_FILE_SIZE,105656,0
$CFSIZE,260034560,256155648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,035936,1935.128,-15601.434,39,1.3,39,9.7