version: 66.07
glider: 22
mission: 17
dive: 17
start: 3 19 110 7 38 21
data:
$ID,22
$MISSION,17
$DIVE,17
$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,-255224.36
$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,35
$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
$GPS1,190310,073037,1934.399,-15600.547,60,1.6,60,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-70.8
$GPS2,190310,073740,1934.590,-15600.615,12,4.3,31,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.102,-0.251
$KALMAN_X,-10770.0,258.5,-4.0,19997.8,-3069.8
$KALMAN_Y,14712.8,-167.9,-16.3,-25169.7,4410.9
$MHEAD_RNG_PITCHd_Wd,148.2,1386,-21.2,-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,-1.41,-145.1,0.0,0.0,0,88,0.00,0.00,-64.12,0.000,2,0.000,0.000,378,2614,2685,0,0,0,0,0,0
$GC,90,-1.48,-211.6,3.5,-8.2,11,131,10.05,2.40,-25.42,0.000,4,0.151,0.055,2277,1178,3809,0,0,0,0,0,0
$GC,210,-1.48,-211.6,38.0,-25.9,28,216,0.00,2.50,0.00,0.000,6,0.000,0.045,2277,2599,3810,0,0,0,0,0,0
$GC,401,-1.48,-211.6,96.4,-32.5,47,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2599,3811,0,0,0,0,0,0
$GC,604,-1.48,-211.6,155.2,-28.1,55,608,0.00,2.45,0.00,0.000,4,0.000,0.063,2277,3948,3812,0,0,0,0,0,0
$GC,630,-1.48,-211.6,162.2,-26.4,55,636,0.00,2.33,0.00,0.000,6,0.000,0.037,2277,2582,3813,0,0,0,0,0,0
$GC,939,-1.48,-211.6,237.7,-23.7,66,943,0.00,2.50,0.00,0.000,4,0.000,0.060,2277,3949,3814,0,0,0,0,0,0
$GC,992,-1.48,-211.6,250.4,-23.4,67,996,0.00,2.33,0.00,0.000,6,0.000,0.037,2277,2582,3814,0,0,0,0,0,0
$GC,1335,-1.48,-211.6,327.3,-22.1,77,1339,0.00,2.53,0.00,0.000,4,0.000,0.063,2277,3953,3814,0,0,0,0,0,0
$GC,1410,-1.48,-211.6,343.4,-21.9,78,1414,0.00,2.33,0.00,0.000,6,0.000,0.038,2277,2602,3814,0,0,0,0,0,0
$GC,1767,-1.48,-211.6,419.7,-21.4,84,1775,0.00,2.45,0.00,0.000,4,0.000,0.065,2277,3950,3814,0,0,0,0,0,0
$GC,1816,-1.48,-211.6,430.8,-21.9,84,1824,0.00,2.33,0.00,0.000,6,0.000,0.040,2277,2597,3814,0,0,0,0,0,0
$GC,2125,-1.48,-211.6,498.8,-22.4,89,2133,0.00,2.50,0.00,0.000,4,0.000,0.069,2277,3949,3814,0,0,0,0,0,0
$STATE,2296,end dive,NO_VERTICAL_VELOCITY
$STATE,2296,begin apogee
$GC,2303,-0.29,0.0,502.9,0.0,91,2485,1.25,0.00,174.25,0.888,6,0.115,0.000,2531,2011,2944,0,0,0,0,0,0
$STATE,2486,end apogee,CONTROL_FINISHED_OK
$STATE,2486,begin climb
$GC,2488,1.48,211.6,502.7,0.0,94,2678,1.90,2.62,177.05,0.874,4,0.103,0.061,2915,592,2081,0,0,0,0,0,0
$GC,2918,1.51,237.2,496.4,10.4,100,2951,0.00,2.47,22.73,0.844,6,0.000,0.046,2916,2012,1976,0,0,0,0,0,0
$GC,3289,1.51,237.2,451.6,12.4,107,3297,0.00,2.58,0.00,0.000,4,0.000,0.056,2916,580,1967,0,0,0,0,0,0
$GC,3408,1.51,237.2,434.8,14.2,108,3416,0.00,2.53,0.00,0.000,6,0.000,0.045,2916,2008,1966,0,0,0,0,0,0
$GC,3718,1.51,237.2,392.7,13.1,113,3722,0.00,2.55,0.00,0.000,4,0.000,0.060,2916,3412,1963,0,0,0,0,0,0
$GC,3755,1.51,237.2,386.7,16.1,113,3759,0.00,2.50,0.00,0.000,6,0.000,0.044,2916,1992,1962,0,0,0,0,0,0
$GC,4077,1.51,237.2,341.3,13.4,119,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1992,1961,0,0,0,0,0,0
$GC,4379,1.51,237.2,301.2,13.2,124,4383,0.00,2.45,0.00,0.000,4,0.000,0.055,2915,597,1960,0,0,0,0,0,0
$GC,4405,1.51,237.2,297.8,12.6,124,4409,0.00,2.50,0.00,0.000,6,0.000,0.043,2916,2015,1959,0,0,0,0,0,0
$GC,4716,1.51,237.2,260.0,12.2,134,4720,0.00,2.50,0.00,0.000,4,0.000,0.056,2915,3402,1958,0,0,0,0,0,0
$GC,4736,1.51,237.2,257.2,13.2,134,4741,0.00,2.47,0.00,0.000,6,0.000,0.041,2916,1998,1957,0,0,0,0,0,0
$GC,5050,1.51,237.2,217.4,12.4,145,5055,0.00,2.55,0.00,0.000,4,0.000,0.055,2916,3402,1956,0,0,0,0,0,0
$GC,5098,1.51,237.2,211.3,12.9,146,5102,0.00,2.47,0.00,0.000,6,0.000,0.042,2916,1996,1956,0,0,0,0,0,0
$GC,5418,1.54,270.1,176.7,10.0,157,5449,0.00,2.55,26.48,0.705,4,0.000,0.053,2916,3408,1841,0,0,0,0,0,0
$GC,5517,1.54,270.1,166.2,12.8,160,5521,0.00,2.50,0.00,0.000,6,0.000,0.042,2916,2000,1837,0,0,0,0,0,0
$GC,5847,1.60,323.0,131.0,8.9,171,5898,0.15,2.55,45.30,0.667,4,0.081,0.054,2951,585,1626,0,0,0,0,0,0
$GC,6090,1.60,323.0,96.7,16.8,178,6096,0.00,2.47,0.00,0.000,6,0.000,0.040,2953,2011,1619,0,0,0,0,0,0
$GC,6405,1.60,323.0,45.2,14.5,209,6410,0.00,2.53,0.00,0.000,4,0.000,0.050,2951,588,1618,0,0,0,0,0,0
$GC,6480,1.60,323.0,34.7,13.6,216,6484,0.00,2.45,0.00,0.000,6,0.000,0.040,2951,2006,1618,0,0,0,0,0,0
$GC,6675,1.60,323.0,8.2,13.8,242,6680,0.00,2.38,0.00,0.000,4,0.000,0.052,2951,3399,1618,0,0,0,0,0,0
$STATE,6715,end climb,SURFACE_DEPTH_REACHED
$STATE,6715,begin surface coast
$FINISH,1.7,1.023552
$STATE,6720,end surface coast,CONTROL_FINISHED_OK
$STATE,6720,begin surface
$SM_CCo,6740,49.25,0.521,0,0,1312,400.08
$SM_GC,1.61,0.00,0.00,49.25,0.000,0.000,0.521,379,2536,1312,-10.22,-1.78,400.08
$IRIDIUM_FIX,1927.51,-15600.62,110911,222259
$TT8_MAMPS,0.154294
$HUMID,1078000635
$TCM_TEMP,23.20
$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,0/22
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,7.1/30829585/28634207
$PA_HOME,6.6/483886/452145
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.7/297829/286956
$PA_DATA1,4.1/7836665/7513692
$PA_DATA0,61.5/7836665/3013934
$24V_AH,23.7,6.977
$10V_AH,9.9,7.831
$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,24.850,79.125,445.800,49.250,0.000,23.550,26.754,202.216,0.000,0.000,33.423,0.000,5145.369,544.031,1344.876,172.181,33.324,1085.557,0.000,786.895,0.000,0.534,0.000
$DEVICE_MAMPS,151.470,68.850,888.165,520.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,165.709,0.000,0.000,0.000,0.000,0.000,7339.380,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,78.040,0.000,0.000,0.000
$MEM,344716
$DATA_FILE_SIZE,6834,251
$CAP_FILE_SIZE,72548,0
$CFSIZE,260034560,256036864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,093222,1934.231,-15600.778,10,2.4,30,9.7