version: 66.07
glider: 22
mission: 17
dive: 22
start: 3 20 110 0 43 6
data:
$ID,22
$MISSION,17
$DIVE,22
$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,-255230.62
$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,37
$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
$GPS1,200310,003706,1932.205,-15601.703,36,1.7,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-64.2
$GPS2,200310,004225,1932.330,-15601.728,11,1.9,11,9.7
$SPEED_LIMITS,0.204,0.336
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.170,-0.201
$KALMAN_X,-18704.7,979.9,245.1,25015.5,-4008.0
$KALMAN_Y,32348.9,-1377.7,-393.5,-45372.3,7739.1
$MHEAD_RNG_PITCHd_Wd,130.2,4543,-21.8,-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,17,-1.43,-137.3,0.0,0.0,0,89,0.00,0.00,-70.10,0.000,2,0.000,0.000,378,2602,2513,0,0,0,0,0,0
$GC,92,-1.51,-207.3,3.2,-7.8,14,142,9.98,2.47,-32.05,0.000,4,0.148,0.056,2266,1185,3795,0,0,0,0,0,0
$GC,306,-1.51,-207.3,61.5,-25.8,41,313,0.00,2.47,0.00,0.000,6,0.000,0.045,2266,2598,3796,0,0,0,0,0,0
$GC,497,-1.51,-207.3,122.4,-32.0,56,501,0.00,2.45,0.00,0.000,4,0.000,0.062,2266,3948,3797,0,0,0,0,0,0
$GC,555,-1.51,-207.3,139.6,-27.6,57,562,0.00,2.33,0.00,0.000,6,0.000,0.038,2266,2587,3798,0,0,0,0,0,0
$GC,864,-1.51,-207.3,228.4,-26.9,68,868,0.00,2.50,0.00,0.000,4,0.000,0.060,2266,3950,3799,0,0,0,0,0,0
$GC,890,-1.51,-207.3,236.3,-30.3,68,896,0.00,2.33,0.00,0.000,6,0.000,0.038,2266,2591,3799,0,0,0,0,0,0
$GC,1228,-1.51,-207.3,320.5,-23.7,79,1233,0.00,2.50,0.00,0.000,4,0.000,0.062,2266,3953,3800,0,0,0,0,0,0
$GC,1276,-1.51,-207.3,331.2,-22.2,79,1280,0.00,2.33,0.00,0.000,6,0.000,0.038,2266,2596,3799,0,0,0,0,0,0
$GC,1594,-1.51,-207.3,398.0,-20.9,85,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2592,3799,0,0,0,0,0,0
$GC,1896,-1.51,-207.3,463.0,-21.8,90,1904,0.00,2.50,0.00,0.000,4,0.000,0.067,2266,3955,3799,0,0,0,0,0,0
$GC,1918,-1.51,-207.3,468.4,-23.6,90,1926,0.00,2.35,0.00,0.000,6,0.000,0.041,2266,2593,3800,0,0,0,0,0,0
$GC,2254,-1.51,-207.3,545.1,-22.5,96,2262,0.00,2.50,0.00,0.000,4,0.000,0.070,2266,3955,3799,0,0,0,0,0,0
$GC,2298,-1.51,-207.3,555.4,-21.9,96,2306,0.00,2.35,0.00,0.000,6,0.000,0.041,2266,2600,3798,0,0,0,0,0,0
$GC,2612,-1.51,-207.3,619.9,-20.4,102,2620,0.00,2.53,0.00,0.000,4,0.000,0.073,2266,3953,3795,0,0,0,0,0,0
$GC,2651,-1.51,-207.3,628.0,-20.9,102,2660,0.00,2.38,0.00,0.000,6,0.000,0.043,2266,2594,3794,0,0,0,0,0,0
$GC,2971,-1.51,-207.3,691.1,-19.6,108,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2593,3791,0,0,0,0,0,0
$GC,3273,-1.51,-207.3,743.8,-17.2,113,3281,0.00,2.65,0.00,0.000,4,0.000,0.098,2268,3943,3786,0,0,0,0,0,0
$GC,3301,-1.51,-207.3,749.0,-18.9,113,3309,0.00,2.42,0.00,0.000,6,0.000,0.055,2266,2611,3785,0,0,0,0,0,0
$GC,3631,-1.51,-207.3,806.8,-17.6,119,3640,0.00,2.72,0.00,0.000,4,0.000,0.096,2266,1179,3783,0,0,0,0,0,0
$GC,3654,-1.51,-207.3,811.1,-18.1,119,3662,0.00,2.75,0.00,0.000,6,0.000,0.093,2266,2596,3783,0,0,0,0,0,0
$GC,3990,-1.51,-207.3,869.6,-17.8,125,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2596,3780,0,0,0,0,0,0
$GC,4292,-1.51,-207.3,919.8,-16.4,130,4301,0.00,3.08,0.00,0.000,4,0.000,0.154,2266,1185,3776,0,0,0,0,0,0
$GC,4316,-1.51,-207.3,923.8,-16.6,130,4324,0.00,3.10,0.00,0.000,6,0.000,0.150,2266,2606,3776,0,0,0,0,0,0
$GC,4651,-1.51,-207.3,975.6,-15.4,136,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2607,3773,0,0,0,0,0,0
$STATE,4770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4776,-0.29,0.0,993.8,15.2,138,4964,1.30,0.00,179.30,1.309,6,0.108,0.000,2532,2005,2944,0,0,0,0,0,0
$STATE,4964,end apogee,CONTROL_FINISHED_OK
$STATE,4964,begin climb
$GC,4966,1.51,207.3,1004.0,0.0,141,5166,1.80,3.67,186.12,1.278,4,0.066,0.216,2925,583,2097,0,0,0,0,0,0
$GC,5407,1.51,207.3,958.6,17.4,148,5415,0.00,3.15,0.00,0.000,6,0.000,0.149,2925,2005,2086,0,0,0,0,0,0
$GC,5765,1.51,207.3,899.4,16.4,154,5774,0.00,3.03,0.00,0.000,4,0.000,0.134,2925,577,2083,0,0,0,0,0,0
$GC,5885,1.51,207.3,879.9,16.0,155,5894,0.00,2.83,0.00,0.000,6,0.000,0.102,2925,2007,2083,0,0,0,0,0,0
$GC,6193,1.51,207.3,832.1,15.7,161,6202,0.00,2.83,0.00,0.000,4,0.000,0.102,2925,579,2079,0,0,0,0,0,0
$GC,6302,1.51,207.3,814.0,16.1,162,6311,0.00,2.75,0.00,0.000,6,0.000,0.079,2925,2014,2079,0,0,0,0,0,0
$GC,6617,1.51,207.3,764.4,15.9,168,6625,0.00,2.75,0.00,0.000,4,0.000,0.080,2925,571,2079,0,0,0,0,0,0
$GC,6656,1.51,207.3,758.2,15.7,168,6666,0.00,2.67,0.00,0.000,6,0.000,0.063,2924,2018,2079,0,0,0,0,0,0
$GC,6977,1.51,207.3,709.4,15.2,174,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2018,2078,0,0,0,0,0,0
$GC,7279,1.51,207.3,663.5,15.1,179,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2019,2076,0,0,0,0,0,0
$GC,7581,1.51,207.3,619.0,14.8,184,7590,0.00,2.65,0.00,0.000,4,0.000,0.063,2925,564,2075,0,0,0,0,0,0
$GC,7734,1.51,207.3,595.4,15.9,186,7742,0.00,2.60,0.00,0.000,6,0.000,0.048,2925,2022,2075,0,0,0,0,0,0
$GC,8070,1.51,207.3,548.0,14.0,192,8078,0.00,2.62,0.00,0.000,4,0.000,0.059,2925,561,2074,0,0,0,0,0,0
$GC,8184,1.51,207.3,532.7,13.2,193,8192,0.00,2.55,0.00,0.000,6,0.000,0.046,2925,2005,2074,0,0,0,0,0,0
$GC,8498,1.51,207.3,494.8,12.0,199,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2007,2074,0,0,0,0,0,0
$GC,8800,1.52,215.4,460.6,11.3,204,8809,0.00,2.58,0.00,0.000,4,0.000,0.057,2925,562,2074,0,0,0,0,0,0
$GC,8850,1.52,215.4,454.7,12.3,204,8858,0.00,2.55,0.00,0.000,6,0.000,0.045,2925,2011,2074,0,0,0,0,0,0
$GC,9159,1.53,224.7,420.0,11.2,209,9182,0.00,2.70,12.32,0.884,4,0.000,0.055,2925,564,2026,0,0,0,0,0,0
$GC,9250,1.53,224.7,408.9,13.3,210,9258,0.00,2.55,0.00,0.000,6,0.000,0.044,2925,2005,2025,0,0,0,0,0,0
$GC,9586,1.53,224.7,366.3,13.0,216,9590,0.00,2.58,0.00,0.000,4,0.000,0.054,2925,570,2023,0,0,0,0,0,0
$GC,9622,1.53,224.7,361.2,14.8,216,9627,0.00,2.55,0.00,0.000,6,0.000,0.044,2926,2007,2023,0,0,0,0,0,0
$GC,9951,1.53,224.7,318.9,12.6,222,9955,0.00,2.60,0.00,0.000,4,0.000,0.054,2925,558,2023,0,0,0,0,0,0
$GC,10025,1.53,224.7,309.4,13.0,223,10029,0.00,2.58,0.00,0.000,6,0.000,0.043,2925,2013,2024,0,0,0,0,0,0
$GC,10346,1.56,254.8,273.9,10.1,232,10378,0.00,2.50,27.05,0.828,4,0.000,0.055,2925,3411,1905,0,0,0,0,0,0
$GC,10414,1.56,255.5,266.9,11.7,234,10418,0.00,2.58,0.00,0.000,6,0.000,0.041,2925,1968,1902,0,0,0,0,0,0
$GC,10744,1.56,255.5,226.5,13.4,245,10749,0.00,2.42,0.00,0.000,4,0.000,0.053,2925,599,1900,0,0,0,0,0,0
$GC,10818,1.56,255.5,216.5,13.3,247,10822,0.00,2.47,0.00,0.000,6,0.000,0.041,2925,2013,1899,0,0,0,0,0,0
$GC,11143,1.58,270.1,176.0,10.9,258,11162,0.00,2.53,13.93,0.693,4,0.000,0.053,2925,3402,1842,0,0,0,0,0,0
$GC,11387,1.63,316.6,145.4,9.1,265,11434,0.10,2.45,41.25,0.695,6,0.060,0.039,2955,1991,1653,0,0,0,0,0,0
$GC,11738,1.63,316.6,97.8,15.7,278,11742,0.00,2.53,0.00,0.000,4,0.000,0.051,2955,3407,1645,0,0,0,0,0,0
$GC,11785,1.63,316.6,90.1,16.1,282,11789,0.00,2.45,0.00,0.000,6,0.000,0.039,2955,1995,1644,0,0,0,0,0,0
$GC,11982,1.63,316.6,62.2,13.5,301,11986,0.00,2.45,0.00,0.000,4,0.000,0.050,2955,595,1643,0,0,0,0,0,0
$GC,12019,1.63,316.6,56.7,14.6,304,12025,0.00,2.45,0.00,0.000,6,0.000,0.038,2955,2017,1643,0,0,0,0,0,0
$GC,12210,1.63,316.6,30.4,12.8,323,12214,0.00,2.45,0.00,0.000,4,0.000,0.052,2955,3398,1643,0,0,0,0,0,0
$GC,12285,1.63,316.6,20.8,13.2,330,12289,0.00,2.42,0.00,0.000,6,0.000,0.038,2955,1990,1643,0,0,0,0,0,0
$STATE,12428,end climb,SURFACE_DEPTH_REACHED
$STATE,12428,begin surface coast
$FINISH,0.1,1.023322
$STATE,12449,end surface coast,CONTROL_FINISHED_OK
$STATE,12449,begin surface
$SM_CCo,12468,50.45,0.517,0,0,1312,400.08
$SM_GC,1.40,0.00,0.00,50.45,0.000,0.000,0.517,374,2612,1312,-10.24,0.37,400.08
$IRIDIUM_FIX,1927.51,-15603.64,120911,141458
$TT8_MAMPS,0.305592
$HUMID,1077985152
$TCM_TEMP,23.70
$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,107/106
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,7.858
$10V_AH,9.8,9.738
$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,24.400,137.725,459.975,50.450,0.000,25.100,27.572,181.229,0.000,0.000,11.708,0.000,10156.729,622.047,1887.600,214.925,33.355,1484.151,0.000,1146.460,0.000,0.534,0.000
$DEVICE_MAMPS,148.410,215.730,1308.915,517.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,239.710,0.000,0.000,0.000,0.000,0.000,12982.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,112.113,0.000,0.000,0.000
$MEM,345148
$DATA_FILE_SIZE,13437,360
$CAP_FILE_SIZE,105227,0
$CFSIZE,260034560,255746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,041337,1931.896,-15600.913,39,1.0,39,9.7