version: 66.07
glider: 22
mission: 17
dive: 18
start: 3 19 110 9 38 18
data:
$ID,22
$MISSION,17
$DIVE,18
$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,-255225.61
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,190310,093222,1934.231,-15600.778,10,2.4,30,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.8
$GPS2,190310,093737,1934.361,-15600.829,32,1.1,32,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.023,-0.336
$KALMAN_X,-12675.9,100.8,27.6,21658.5,-5546.5
$KALMAN_Y,18366.1,17.9,-98.6,-29349.4,9377.0
$MHEAD_RNG_PITCHd_Wd,174.2,1178,-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,-233.6,0.0,0.0,0,79,0.00,0.00,-60.42,0.000,2,0.000,0.000,378,2535,2579,0,0,0,0,0,0
$GC,81,-1.24,-233.6,3.2,-6.7,12,127,10.35,2.25,-30.17,0.000,4,0.155,0.056,2323,1178,3843,0,0,0,0,0,0
$GC,176,-1.24,-233.6,25.4,-22.2,28,179,0.00,2.45,0.00,0.000,6,0.000,0.044,2324,2606,3845,0,0,0,0,0,0
$GC,366,-1.24,-233.6,78.8,-27.0,46,370,0.00,2.42,0.00,0.000,4,0.000,0.061,2323,3944,3846,0,0,0,0,0,0
$GC,398,-1.24,-233.6,86.9,-25.7,49,402,0.00,2.35,0.00,0.000,6,0.000,0.037,2325,2573,3846,0,0,0,0,0,0
$GC,611,-1.24,-233.6,138.8,-24.4,60,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2568,3846,0,0,0,0,0,0
$GC,915,-1.24,-233.6,203.5,-19.6,70,919,0.00,2.50,0.00,0.000,4,0.000,0.061,2324,3939,3849,0,0,0,0,0,0
$GC,936,-1.24,-233.6,208.2,-22.2,70,941,0.00,2.28,0.00,0.000,6,0.000,0.037,2324,2589,3849,0,0,0,0,0,0
$GC,1250,-1.24,-233.6,264.9,-17.1,81,1254,0.00,2.47,0.00,0.000,4,0.000,0.060,2324,3946,3850,0,0,0,0,0,0
$GC,1282,-1.24,-233.6,270.5,-17.9,82,1286,0.00,2.30,0.00,0.000,6,0.000,0.037,2324,2591,3850,0,0,0,0,0,0
$GC,1646,-1.24,-233.6,331.0,-16.7,91,1651,0.00,2.47,0.00,0.000,4,0.000,0.062,2324,3939,3851,0,0,0,0,0,0
$GC,1683,-1.24,-233.6,336.9,-15.5,91,1687,0.00,2.30,0.00,0.000,6,0.000,0.039,2324,2596,3851,0,0,0,0,0,0
$GC,2011,-1.24,-233.6,391.9,-16.8,97,2015,0.00,2.47,0.00,0.000,4,0.000,0.064,2324,3940,3850,0,0,0,0,0,0
$GC,2059,-1.24,-233.6,399.9,-16.0,97,2063,0.00,2.33,0.00,0.000,6,0.000,0.040,2323,2593,3850,0,0,0,0,0,0
$GC,2377,-1.24,-233.6,450.2,-15.8,103,2385,0.00,2.47,0.00,0.000,4,0.000,0.067,2323,3942,3850,0,0,0,0,0,0
$GC,2421,-1.24,-233.6,457.3,-15.8,103,2429,0.00,2.30,0.00,0.000,6,0.000,0.041,2324,2593,3850,0,0,0,0,0,0
$GC,2736,-1.24,-233.6,503.0,-14.4,109,2744,0.00,2.47,0.00,0.000,4,0.000,0.067,2323,3948,3848,0,0,0,0,0,0
$GC,2753,-1.24,-233.6,505.8,-14.0,109,2761,0.00,2.33,0.00,0.000,6,0.000,0.042,2324,2590,3848,0,0,0,0,0,0
$GC,3100,-1.24,-233.6,552.3,-13.3,115,3109,0.00,2.50,0.00,0.000,4,0.000,0.070,2323,3954,3847,0,0,0,0,0,0
$GC,3145,-1.24,-233.6,558.7,-13.3,115,3153,0.00,2.33,0.00,0.000,6,0.000,0.042,2324,2599,3847,0,0,0,0,0,0
$GC,3459,-1.24,-233.6,600.0,-13.3,121,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2593,3844,0,0,0,0,0,0
$GC,3760,-1.24,-233.6,641.6,-13.8,126,3768,0.00,2.50,0.00,0.000,4,0.000,0.076,2323,3940,3841,0,0,0,0,0,0
$GC,3793,-1.24,-233.6,646.6,-15.2,126,3801,0.00,2.33,0.00,0.000,6,0.000,0.044,2324,2601,3841,0,0,0,0,0,0
$GC,4118,-1.24,-233.6,690.1,-13.5,132,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2600,3839,0,0,0,0,0,0
$GC,4420,-1.24,-233.6,729.9,-13.0,137,4428,0.00,2.58,0.00,0.000,4,0.000,0.090,2323,3949,3836,0,0,0,0,0,0
$GC,4459,-1.24,-233.6,735.5,-13.8,137,4467,0.00,2.40,0.00,0.000,6,0.000,0.050,2323,2602,3836,0,0,0,0,0,0
$GC,4785,-1.24,-233.6,778.7,-13.4,143,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2601,3833,0,0,0,0,0,0
$GC,5086,-1.24,-233.6,816.4,-12.5,148,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2602,3831,0,0,0,0,0,0
$GC,5388,-1.24,-233.6,852.2,-11.7,153,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2602,3830,0,0,0,0,0,0
$GC,5689,-1.24,-233.6,887.3,-11.8,158,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2602,3827,0,0,0,0,0,0
$GC,5992,-1.24,-233.6,920.3,-10.9,163,6001,0.00,3.03,0.00,0.000,4,0.000,0.173,2323,3939,3826,0,0,0,0,0,0
$GC,6026,-1.24,-233.6,924.6,-12.9,163,6035,0.00,2.85,0.00,0.000,6,0.000,0.140,2324,2607,3826,0,0,0,0,0,0
$GC,6352,-1.24,-233.6,963.4,-12.0,169,6361,0.00,3.25,0.00,0.000,4,0.000,0.189,2324,1184,3824,0,0,0,0,0,0
$GC,6376,-1.24,-233.6,966.1,-11.3,169,6385,0.00,3.22,0.00,0.000,6,0.000,0.177,2324,2582,3823,0,0,0,0,0,0
$STATE,6589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6590,begin apogee
$GC,6595,-0.29,0.0,991.8,12.1,173,6790,1.02,0.00,187.10,1.294,6,0.101,0.000,2535,1993,2944,0,0,0,0,0,0
$STATE,6791,end apogee,CONTROL_FINISHED_OK
$STATE,6791,begin climb
$GC,6792,1.24,233.6,1005.6,0.0,176,7018,1.52,3.53,208.50,1.300,4,0.069,0.204,2867,580,1988,0,0,0,0,0,0
$GC,7194,1.24,233.6,977.8,14.5,182,7203,0.00,3.17,0.00,0.000,6,0.000,0.151,2867,2010,1979,0,0,0,0,0,0
$GC,7530,1.24,233.6,935.4,11.9,188,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2010,1976,0,0,0,0,0,0
$GC,7832,1.24,233.6,898.0,12.5,193,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2011,1974,0,0,0,0,0,0
$GC,8133,1.24,233.6,859.9,12.6,198,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2012,1973,0,0,0,0,0,0
$GC,8436,1.24,233.6,818.7,13.7,203,8444,0.00,2.83,0.00,0.000,4,0.000,0.099,2867,582,1972,0,0,0,0,0,0
$GC,8475,1.24,233.6,812.8,15.0,203,8484,0.00,2.70,0.00,0.000,6,0.000,0.073,2867,2014,1972,0,0,0,0,0,0
$GC,8795,1.24,233.6,764.9,15.2,209,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2016,1971,0,0,0,0,0,0
$GC,9097,1.24,233.6,721.4,14.2,214,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2017,1971,0,0,0,0,0,0
$GC,9400,1.24,233.6,680.5,13.5,219,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2017,1970,0,0,0,0,0,0
$GC,9701,1.24,233.6,642.1,12.7,224,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2017,1971,0,0,0,0,0,0
$GC,10003,1.24,233.6,603.6,12.7,229,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2017,1969,0,0,0,0,0,0
$GC,10304,1.24,233.6,566.9,12.1,234,10313,0.00,2.62,0.00,0.000,4,0.000,0.061,2867,567,1969,0,0,0,0,0,0
$GC,10359,1.24,233.6,560.3,12.4,234,10369,0.00,2.53,0.00,0.000,6,0.000,0.047,2867,2020,1969,0,0,0,0,0,0
$GC,10667,1.28,274.4,527.4,10.4,240,10711,0.00,0.00,34.50,1.024,6,0.000,0.000,2868,2020,1825,0,0,0,0,0,0
$GC,11033,1.28,274.4,482.5,12.7,246,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2021,1818,0,0,0,0,0,0
$GC,11335,1.28,274.4,444.2,12.5,251,11343,0.00,2.62,0.00,0.000,4,0.000,0.058,2868,565,1818,0,0,0,0,0,0
$GC,11390,1.28,274.4,437.1,12.6,251,11399,0.00,2.50,0.00,0.000,6,0.000,0.045,2868,2014,1816,0,0,0,0,0,0
$GC,11701,1.28,274.4,400.0,11.8,257,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2014,1816,0,0,0,0,0,0
$GC,12000,1.32,307.1,367.8,10.7,262,12030,0.00,0.00,29.30,0.903,6,0.000,0.000,2868,2014,1692,0,0,0,0,0,0
$GC,12358,1.32,307.1,323.8,12.3,268,12362,0.00,2.65,0.00,0.000,4,0.000,0.057,2868,564,1686,0,0,0,0,0,0
$GC,12438,1.32,307.1,314.1,12.1,269,12442,0.00,2.58,0.00,0.000,6,0.000,0.044,2868,2008,1684,0,0,0,0,0,0
$GC,12758,1.32,314.4,276.5,11.5,277,12769,0.00,2.55,6.70,0.698,4,0.000,0.057,2867,3415,1661,0,0,0,0,0,0
$GC,12800,1.32,314.4,270.8,14.0,278,12804,0.00,2.58,0.00,0.000,6,0.000,0.042,2868,1973,1661,0,0,0,0,0,0
$GC,13119,1.32,314.4,229.1,12.4,289,13123,0.00,2.45,0.00,0.000,4,0.000,0.054,2868,594,1660,0,0,0,0,0,0
$GC,13183,1.32,314.4,221.3,12.2,291,13187,0.00,2.45,0.00,0.000,6,0.000,0.041,2868,2014,1659,0,0,0,0,0,0
$GC,13518,1.40,384.5,186.1,9.4,302,13587,0.15,2.65,62.12,0.746,4,0.083,0.051,2906,591,1374,0,0,0,0,0,0
$GC,13647,1.40,384.5,169.8,14.0,306,13651,0.00,2.50,0.00,0.000,6,0.000,0.041,2906,2035,1370,0,0,0,0,0,0
$GC,13977,1.40,384.5,120.4,15.0,317,13980,0.00,2.58,0.00,0.000,4,0.000,0.050,2906,591,1370,0,0,0,0,0,0
$GC,14019,1.40,384.5,113.8,14.7,318,14023,0.00,2.47,0.00,0.000,6,0.000,0.040,2906,2008,1367,0,0,0,0,0,0
$GC,14339,1.40,384.5,68.8,13.2,342,14340,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2008,1367,0,0,0,0,0,0
$GC,14524,1.40,384.5,43.2,13.2,360,14528,0.00,2.53,0.00,0.000,4,0.000,0.049,2906,589,1367,0,0,0,0,0,0
$GC,14561,1.40,384.5,38.2,13.8,363,14567,0.00,2.45,0.00,0.000,6,0.000,0.038,2906,2010,1365,0,0,0,0,0,0
$GC,14754,1.40,384.5,13.6,13.2,386,14760,0.00,2.47,0.00,0.000,4,0.000,0.052,2906,3403,1366,0,0,0,0,0,0
$GC,14780,1.40,384.5,10.0,13.0,391,14786,0.00,2.42,0.00,0.000,6,0.000,0.038,2906,1995,1366,0,0,0,0,0,0
$STATE,14837,end climb,SURFACE_DEPTH_REACHED
$STATE,14837,begin surface coast
$FINISH,0.2,0.999933
$STATE,14863,end surface coast,CONTROL_FINISHED_OK
$STATE,14863,begin surface
$SM_CCo,14884,11.70,0.487,0,0,1312,400.08
$SM_GC,1.76,0.00,0.00,11.70,0.000,0.000,0.487,378,2614,1312,-10.23,0.40,400.08
$IRIDIUM_FIX,1925.22,-15600.62,120911,010143
$TT8_MAMPS,0.182756
$HUMID,1078031603
$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,0/159
$PA_USBDRIVE,/mnt/usba
$PA_USBB,100.0/0/0
$PA_USBA,7.4/30829585/28561035
$PA_HOME,6.6/483886/451993
$PA_ROOT,89.3/128908/13732
$PA_LOG,3.7/297829/286946
$PA_DATA1,4.1/7836665/7513692
$PA_DATA0,66.9/7836665/2594745
$24V_AH,23.5,7.166
$10V_AH,9.9,8.219
$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,24.075,125.425,528.225,11.700,0.000,24.923,32.707,132.261,0.000,0.000,33.567,0.000,12606.546,630.053,1752.420,218.166,33.333,1472.434,0.000,1032.955,0.000,0.534,0.000
$DEVICE_MAMPS,154.530,204.255,1299.735,487.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,272.627,0.000,0.000,0.000,0.000,0.000,15326.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,80.072,0.000,0.000,0.000
$MEM,344728
$DATA_FILE_SIZE,13440,407
$CAP_FILE_SIZE,107601,0
$CFSIZE,260034560,255946752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,134754,1932.981,-15601.953,41,1.3,59,9.7