version: 66.07
glider: 22
mission: 17
dive: 23
start: 3 20 110 4 29 3
data:
$ID,22
$MISSION,17
$DIVE,23
$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,330
$T_MISSION,360
$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,180
$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,-255231.88
$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,39
$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
$GPS1,200310,041337,1931.896,-15600.913,39,1.0,39,9.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.2
$GPS2,200310,042822,1932.298,-15600.947,15,2.1,34,9.7
$SPEED_LIMITS,0.173,0.280
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.228
$KALMAN_X,-19859.9,459.7,617.9,27681.4,-5478.5
$KALMAN_Y,35745.7,-709.4,-1469.1,-48433.2,12012.0
$MHEAD_RNG_PITCHd_Wd,134.9,23798,-16.8,-10.000
$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,-1.18,-175.2,0.0,0.0,0,78,0.00,0.00,-59.92,0.000,2,0.000,0.000,374,2614,2614,0,0,0,0,0,0
$GC,81,-1.18,-175.2,3.3,-7.5,12,122,10.38,2.33,-25.33,0.000,4,0.150,0.072,2337,3945,3659,0,0,0,0,0,0
$GC,200,-1.18,-175.2,32.2,-23.6,30,206,0.00,2.33,0.00,0.000,6,0.000,0.037,2337,2593,3660,0,0,0,0,0,0
$GC,392,-1.18,-175.2,78.9,-23.7,49,396,0.00,2.45,0.00,0.000,4,0.000,0.059,2337,3934,3661,0,0,0,0,0,0
$GC,445,-1.18,-175.2,90.6,-19.9,54,449,0.00,2.30,0.00,0.000,6,0.000,0.038,2337,2594,3661,0,0,0,0,0,0
$GC,648,-1.18,-175.2,134.5,-21.8,64,652,0.00,2.45,0.00,0.000,4,0.000,0.060,2337,3937,3662,0,0,0,0,0,0
$GC,670,-1.18,-175.2,138.9,-21.1,64,674,0.00,2.30,0.00,0.000,6,0.000,0.037,2337,2584,3662,0,0,0,0,0,0
$GC,983,-1.18,-175.2,202.4,-20.5,75,987,0.00,2.47,0.00,0.000,4,0.000,0.060,2337,3940,3663,0,0,0,0,0,0
$GC,1036,-1.18,-175.2,212.3,-16.6,76,1041,0.00,2.30,0.00,0.000,6,0.000,0.037,2337,2584,3663,0,0,0,0,0,0
$GC,1350,-1.18,-175.2,264.9,-15.8,87,1354,0.00,2.35,0.00,0.000,4,0.000,0.044,2337,1205,3664,0,0,0,0,0,0
$GC,1372,-1.18,-175.2,268.1,-15.5,87,1376,0.00,2.40,0.00,0.000,6,0.000,0.044,2337,2608,3663,0,0,0,0,0,0
$GC,1715,-1.18,-175.2,323.6,-16.4,97,1719,0.00,2.42,0.00,0.000,4,0.000,0.061,2337,3947,3663,0,0,0,0,0,0
$GC,1757,-1.18,-175.2,330.2,-14.8,97,1761,0.00,2.33,0.00,0.000,6,0.000,0.038,2337,2586,3663,0,0,0,0,0,0
$GC,2080,-1.18,-175.2,376.6,-14.4,103,2085,0.00,2.38,0.00,0.000,4,0.000,0.046,2337,1203,3663,0,0,0,0,0,0
$GC,2117,-1.18,-175.2,381.6,-13.2,103,2121,0.00,2.45,0.00,0.000,6,0.000,0.047,2337,2600,3663,0,0,0,0,0,0
$GC,2446,-1.18,-175.2,429.6,-14.5,109,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2601,3661,0,0,0,0,0,0
$GC,2748,-1.18,-175.2,470.7,-13.4,114,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2600,3658,0,0,0,0,0,0
$GC,3049,-1.18,-175.2,506.0,-11.5,119,3058,0.00,2.45,0.00,0.000,4,0.000,0.049,2337,1208,3656,0,0,0,0,0,0
$GC,3077,-1.18,-175.2,509.1,-11.1,119,3085,0.00,2.45,0.00,0.000,6,0.000,0.050,2337,2608,3656,0,0,0,0,0,0
$GC,3407,-1.18,-175.2,548.0,-12.2,125,3416,0.00,2.47,0.00,0.000,4,0.000,0.071,2337,3958,3651,0,0,0,0,0,0
$GC,3436,-1.18,-175.2,551.9,-13.4,125,3444,0.00,2.35,0.00,0.000,6,0.000,0.042,2340,2602,3651,0,0,0,0,0,0
$GC,3766,-1.18,-175.2,594.4,-12.8,131,3775,0.00,2.45,0.00,0.000,4,0.000,0.052,2337,1192,3648,0,0,0,0,0,0
$GC,3810,-1.18,-175.2,599.7,-11.4,131,3819,0.00,2.53,0.00,0.000,6,0.000,0.051,2337,2613,3647,0,0,0,0,0,0
$GC,4125,-1.18,-175.2,640.6,-13.3,137,4133,0.00,2.47,0.00,0.000,4,0.000,0.077,2337,3945,3645,0,0,0,0,0,0
$GC,4148,-1.18,-175.2,643.8,-14.0,137,4156,0.00,2.35,0.00,0.000,6,0.000,0.044,2337,2604,3645,0,0,0,0,0,0
$GC,4484,-1.18,-175.2,688.6,-13.5,143,4492,0.00,2.50,0.00,0.000,4,0.000,0.065,2338,1195,3641,0,0,0,0,0,0
$GC,4513,-1.18,-175.2,692.3,-12.2,143,4521,0.00,2.55,0.00,0.000,6,0.000,0.060,2337,2602,3641,0,0,0,0,0,0
$GC,4843,-1.18,-175.2,733.6,-12.5,149,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2604,3639,0,0,0,0,0,0
$GC,5144,-1.18,-175.2,771.3,-12.5,154,5153,0.00,2.62,0.00,0.000,4,0.000,0.080,2337,1203,3636,0,0,0,0,0,0
$GC,5167,-1.18,-175.2,774.3,-13.0,154,5175,0.00,2.62,0.00,0.000,6,0.000,0.077,2337,2600,3635,0,0,0,0,0,0
$GC,5503,-1.18,-175.2,815.6,-12.5,160,5513,0.00,2.72,0.00,0.000,4,0.000,0.096,2337,1203,3634,0,0,0,0,0,0
$GC,5533,-1.18,-175.2,819.3,-12.2,160,5541,0.00,2.75,0.00,0.000,6,0.000,0.097,2339,2607,3634,0,0,0,0,0,0
$GC,5863,-1.18,-175.2,858.5,-12.1,166,5871,0.00,2.85,0.00,0.000,4,0.000,0.120,2339,1203,3631,0,0,0,0,0,0
$GC,5897,-1.18,-175.2,862.8,-12.6,166,5905,0.00,2.88,0.00,0.000,6,0.000,0.119,2337,2608,3631,0,0,0,0,0,0
$GC,6222,-1.18,-175.2,872.9,-0.1,172,6231,0.00,2.83,0.00,0.000,4,0.000,0.138,2337,3959,3629,0,0,0,0,0,0
$STATE,6378,end dive,NO_VERTICAL_VELOCITY
$STATE,6378,begin apogee
$GC,6386,-0.29,0.0,873.0,0.0,174,6542,0.95,0.00,146.65,1.233,6,0.114,0.000,2531,2020,2944,0,0,0,0,0,0
$STATE,6542,end apogee,CONTROL_FINISHED_OK
$STATE,6542,begin climb
$GC,6544,1.18,175.2,872.7,0.0,177,6713,1.58,3.08,156.75,1.200,4,0.099,0.130,2851,580,2228,0,0,0,0,0,0
$GC,6824,1.20,192.8,862.5,9.3,181,6851,0.00,2.85,16.08,1.090,6,0.000,0.099,2852,2008,2157,0,0,0,0,0,0
$GC,7157,1.20,192.8,827.7,10.5,187,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2009,2148,0,0,0,0,0,0
$GC,7459,1.20,192.8,796.0,10.6,192,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2009,2146,0,0,0,0,0,0
$GC,7761,1.20,192.8,763.3,10.8,197,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2010,2145,0,0,0,0,0,0
$GC,8062,1.20,192.8,731.4,10.4,202,8071,0.00,2.60,0.00,0.000,4,0.000,0.073,2852,3422,2144,0,0,0,0,0,0
$GC,8123,1.20,192.8,724.2,11.9,203,8131,0.00,2.60,0.00,0.000,6,0.000,0.050,2852,1982,2142,0,0,0,0,0,0
$GC,8491,1.20,192.8,682.9,11.4,209,8500,0.00,2.67,0.00,0.000,4,0.000,0.063,2852,3431,2141,0,0,0,0,0,0
$GC,8552,1.20,192.8,674.4,13.9,210,8560,0.00,2.58,0.00,0.000,6,0.000,0.047,2852,1984,2141,0,0,0,0,0,0
$GC,8919,1.20,192.8,630.7,11.6,216,8928,0.00,2.50,0.00,0.000,4,0.000,0.062,2851,592,2141,0,0,0,0,0,0
$GC,8964,1.20,192.8,625.4,11.7,216,8972,0.00,2.55,0.00,0.000,6,0.000,0.047,2852,2026,2141,0,0,0,0,0,0
$GC,9278,1.20,192.8,590.4,11.1,222,9286,0.00,2.53,0.00,0.000,4,0.000,0.062,2852,3416,2140,0,0,0,0,0,0
$GC,9306,1.20,192.8,587.0,11.5,222,9314,0.00,2.50,0.00,0.000,6,0.000,0.045,2852,1990,2140,0,0,0,0,0,0
$GC,9636,1.20,192.9,553.1,10.0,228,9645,0.00,2.60,0.00,0.000,4,0.000,0.060,2852,3409,2140,0,0,0,0,0,0
$GC,9654,1.21,201.7,551.2,9.7,228,9669,0.00,2.50,6.15,0.827,6,0.000,0.044,2851,1995,2121,0,0,0,0,0,0
$GC,9996,1.23,216.6,518.8,9.4,234,10017,0.00,0.00,15.48,0.965,6,0.000,0.000,2852,1995,2060,0,0,0,0,0,0
$GC,10299,1.26,251.9,492.4,8.7,239,10342,0.10,2.67,32.67,0.985,4,0.102,0.059,2875,3402,1916,0,0,0,0,0,0
$GC,10384,1.26,251.9,482.9,13.2,240,10393,0.00,2.50,0.00,0.000,6,0.000,0.044,2875,1990,1914,0,0,0,0,0,0
$GC,10731,1.26,251.9,440.9,12.2,246,10740,0.00,2.47,0.00,0.000,4,0.000,0.058,2875,591,1908,0,0,0,0,0,0
$GC,10781,1.26,251.9,434.1,14.0,246,10789,0.00,2.50,0.00,0.000,6,0.000,0.044,2875,2011,1907,0,0,0,0,0,0
$GC,11092,1.26,251.9,397.2,11.8,251,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2011,1906,0,0,0,0,0,0
$GC,11391,1.26,251.9,365.9,10.3,256,11395,0.00,2.55,0.00,0.000,4,0.000,0.058,2875,3409,1905,0,0,0,0,0,0
$GC,11465,1.26,251.9,357.8,11.6,257,11470,0.00,2.53,0.00,0.000,6,0.000,0.044,2875,1989,1904,0,0,0,0,0,0
$GC,11820,1.26,251.9,320.9,10.5,263,11824,0.00,2.58,0.00,0.000,4,0.000,0.057,2875,3407,1904,0,0,0,0,0,0
$GC,11863,1.26,251.9,315.9,11.4,263,11867,0.00,2.50,0.00,0.000,6,0.000,0.043,2874,1999,1903,0,0,0,0,0,0
$GC,12186,1.29,279.2,284.0,9.0,271,12211,0.00,0.00,23.88,0.825,6,0.000,0.000,2875,1999,1805,0,0,0,0,0,0
$GC,12489,1.30,285.6,253.1,9.8,281,12497,0.00,0.00,6.75,0.671,6,0.000,0.000,2875,1999,1780,0,0,0,0,0,0
$GC,12793,1.30,285.6,216.6,12.3,291,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1999,1776,0,0,0,0,0,0
$GC,13096,1.30,289.3,182.1,9.9,301,13102,0.00,0.00,4.45,0.535,6,0.000,0.000,2875,1999,1764,0,0,0,0,0,0
$GC,13400,1.30,289.3,151.9,10.2,311,13404,0.00,2.55,0.00,0.000,4,0.000,0.054,2875,3406,1763,0,0,0,0,0,0
$GC,13442,1.30,289.3,147.1,11.2,312,13446,0.00,2.47,0.00,0.000,6,0.000,0.040,2875,1992,1762,0,0,0,0,0,0
$GC,13767,1.32,306.5,115.5,9.3,323,13788,0.00,2.55,16.70,0.630,4,0.000,0.050,2875,3408,1694,0,0,0,0,0,0
$GC,13829,1.32,306.5,108.5,11.0,325,13833,0.00,2.47,0.00,0.000,6,0.000,0.039,2875,1998,1691,0,0,0,0,0,0
$GC,14145,1.36,338.5,81.1,8.8,348,14178,0.00,2.60,27.62,0.598,4,0.000,0.051,2875,3410,1563,0,0,0,0,0,0
$GC,14317,1.36,338.5,64.9,10.2,364,14324,0.00,2.47,0.00,0.000,6,0.000,0.038,2875,1990,1561,0,0,0,0,0,0
$GC,14513,1.41,386.4,48.3,8.2,383,14575,0.15,2.55,41.45,0.560,4,0.080,0.053,2914,591,1366,0,0,0,0,0,0
$GC,14624,1.41,386.4,36.0,11.7,391,14635,0.00,2.45,0.00,0.000,6,0.000,0.039,2914,2023,1364,0,0,0,0,0,0
$GC,14831,1.41,386.4,11.2,12.1,415,14848,0.00,2.40,0.00,0.000,4,0.000,0.053,2914,3399,1364,0,0,0,0,0,0
$GC,14886,1.41,386.4,4.0,12.5,422,14903,0.00,2.40,0.00,0.000,6,0.000,0.040,2914,1991,1363,0,0,0,0,0,0
$STATE,14909,end climb,SURFACE_DEPTH_REACHED
$STATE,14909,begin surface coast
$FINISH,-0.0,1.023492
$STATE,14934,end surface coast,CONTROL_FINISHED_OK
$STATE,14934,begin surface
$SM_CCo,14969,8.75,0.447,0,0,1312,400.08
$SM_GC,1.53,0.00,0.00,8.75,0.000,0.000,0.447,378,2608,1312,-10.22,0.23,400.08
$IRIDIUM_FIX,1922.94,-15601.55,120911,181809
$TT8_MAMPS,0.113099
$HUMID,1077960635
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.5,8.039
$10V_AH,9.8,9.798
$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,24.200,158.900,494.625,8.750,0.000,31.043,25.249,506.371,0.000,0.000,35.967,0.000,12240.970,592.157,2783.910,333.385,33.341,1576.705,0.000,1177.541,0.000,0.535,0.000
$DEVICE_MAMPS,149.940,138.465,1233.180,446.760,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,285.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345252
$DATA_FILE_SIZE,13437,428
$CAP_FILE_SIZE,140272,0
$CFSIZE,260034560,255578112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,084107,1931.999,-15600.219,31,1.5,31,9.7