version: 66.07
glider: 22
mission: 17
dive: 38
start: 3 23 110 5 18 24
data:
$ID,22
$MISSION,17
$DIVE,38
$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,200
$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,425
$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,-255649.03
$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,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2570
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,39
$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
$GPS1,230310,050926,1930.782,-15601.639,33,3.0,52,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-67.3
$GPS2,230310,051743,1930.977,-15601.591,16,1.7,33,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15558.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.176,-0.235
$KALMAN_X,-19324.0,297.8,415.2,25864.2,-3863.4
$KALMAN_Y,32265.7,-392.2,-236.9,-31770.6,5915.4
$MHEAD_RNG_PITCHd_Wd,133.6,21277,-15.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.21,-194.6,0.0,0.0,0,86,0.00,0.00,-62.12,0.000,2,0.000,0.000,373,2581,2530,0,0,0,0,0,0
$GC,88,-1.21,-194.6,3.2,-7.6,10,134,10.27,2.45,-30.90,0.000,4,0.153,0.072,2313,3943,3738,0,0,0,0,0,0
$GC,314,-1.21,-194.6,62.8,-29.9,39,321,0.00,2.40,0.00,0.000,6,0.000,0.038,2313,2548,3741,0,0,0,0,0,0
$GC,515,-1.21,-194.6,117.3,-25.6,55,520,0.00,2.53,0.00,0.000,4,0.000,0.058,2313,3936,3742,0,0,0,0,0,0
$GC,547,-1.21,-194.6,125.5,-25.7,56,551,0.00,2.35,0.00,0.000,6,0.000,0.038,2314,2562,3742,0,0,0,0,0,0
$GC,882,-1.21,-194.6,202.1,-21.0,67,886,0.00,2.50,0.00,0.000,4,0.000,0.060,2313,3934,3742,0,0,0,0,0,0
$GC,951,-1.21,-194.6,216.8,-20.8,69,955,0.00,2.35,0.00,0.000,6,0.000,0.037,2313,2556,3743,0,0,0,0,0,0
$GC,1281,-1.21,-194.6,275.6,-16.7,80,1285,0.00,2.50,0.00,0.000,4,0.000,0.059,2313,3932,3745,0,0,0,0,0,0
$GC,1313,-1.21,-194.6,281.2,-17.7,81,1317,0.00,2.33,0.00,0.000,6,0.000,0.038,2313,2551,3745,0,0,0,0,0,0
$GC,1677,-1.21,-194.6,340.8,-16.3,89,1681,0.00,2.38,0.00,0.000,4,0.000,0.046,2313,1173,3745,0,0,0,0,0,0
$GC,1714,-1.21,-194.6,346.7,-14.8,89,1718,0.00,2.45,0.00,0.000,6,0.000,0.046,2313,2567,3745,0,0,0,0,0,0
$GC,2043,-1.21,-194.6,403.7,-17.8,95,2047,0.00,2.50,0.00,0.000,4,0.000,0.066,2313,3947,3742,0,0,0,0,0,0
$GC,2063,-1.21,-194.6,407.6,-18.8,95,2068,0.00,2.38,0.00,0.000,6,0.000,0.040,2313,2576,3742,0,0,0,0,0,0
$GC,2402,-1.21,-194.6,467.6,-17.6,101,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2570,3741,0,0,0,0,0,0
$GC,2704,-1.21,-194.6,519.6,-17.2,106,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2570,3738,0,0,0,0,0,0
$GC,3006,-1.21,-194.6,568.9,-16.2,111,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2570,3734,0,0,0,0,0,0
$GC,3307,-1.21,-194.6,618.6,-16.6,116,3311,0.00,2.60,0.00,0.000,4,0.000,0.073,2313,3945,3731,0,0,0,0,0,0
$GC,3350,-1.21,-194.6,625.5,-15.7,116,3354,0.00,2.42,0.00,0.000,6,0.000,0.042,2313,2567,3730,0,0,0,0,0,0
$GC,3673,-1.21,-194.6,671.2,-13.8,122,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2562,3727,0,0,0,0,0,0
$GC,3974,-1.21,-194.6,711.5,-13.5,127,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2562,3724,0,0,0,0,0,0
$GC,4276,-1.21,-194.6,753.3,-13.9,132,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2562,3722,0,0,0,0,0,0
$GC,4578,-1.21,-194.6,795.6,-14.1,137,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2560,3721,0,0,0,0,0,0
$GC,4880,-1.21,-194.6,837.0,-13.7,142,4884,0.00,2.67,0.00,0.000,4,0.000,0.106,2316,1177,3719,0,0,0,0,0,0
$GC,4916,-1.21,-194.6,841.9,-12.4,142,4921,0.00,2.78,0.00,0.000,6,0.000,0.104,2313,2562,3718,0,0,0,0,0,0
$GC,5240,-1.21,-194.6,883.8,-12.9,148,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2561,3715,0,0,0,0,0,0
$GC,5541,-1.21,-194.6,920.7,-12.2,153,5545,0.00,3.03,0.00,0.000,4,0.000,0.154,2313,1174,3713,0,0,0,0,0,0
$GC,5567,-1.21,-194.6,923.8,-12.8,153,5572,0.00,3.00,0.00,0.000,6,0.000,0.145,2313,2579,3712,0,0,0,0,0,0
$GC,5907,-1.21,-194.6,965.5,-12.4,159,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2579,3710,0,0,0,0,0,0
$STATE,6146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6146,begin apogee
$GC,6152,-0.31,0.0,994.8,12.2,163,6322,0.98,0.00,167.60,1.323,6,0.103,0.000,2515,2024,2944,0,0,0,0,0,0
$STATE,6323,end apogee,CONTROL_FINISHED_OK
$STATE,6323,begin climb
$GC,6325,1.21,194.6,1000.3,0.0,165,6510,1.52,3.70,176.10,1.289,4,0.067,0.213,2847,583,2150,0,0,0,0,0,0
$GC,6670,1.21,194.6,979.0,13.7,170,6675,0.00,3.25,0.00,0.000,6,0.000,0.161,2848,2002,2139,0,0,0,0,0,0
$GC,6994,1.21,194.6,940.3,11.8,176,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2002,2133,0,0,0,0,0,0
$GC,7295,1.21,194.6,908.3,10.3,181,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2003,2133,0,0,0,0,0,0
$GC,7596,1.24,222.4,881.0,9.0,186,7622,0.00,0.00,24.27,1.203,6,0.000,0.000,2848,2003,2037,0,0,0,0,0,0
$GC,7899,1.24,222.4,851.3,10.0,191,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2004,2031,0,0,0,0,0,0
$GC,8200,1.24,222.4,818.0,11.2,196,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2004,2029,0,0,0,0,0,0
$GC,8502,1.24,222.4,782.4,11.8,201,8506,0.00,2.75,0.00,0.000,4,0.000,0.090,2847,3420,2028,0,0,0,0,0,0
$GC,8538,1.24,222.4,777.5,13.0,201,8543,0.00,2.67,0.00,0.000,6,0.000,0.061,2848,1990,2027,0,0,0,0,0,0
$GC,8867,1.24,222.4,737.5,12.0,207,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1990,2026,0,0,0,0,0,0
$GC,9169,1.24,222.4,705.2,10.5,212,9173,0.00,2.70,0.00,0.000,4,0.000,0.067,2848,3423,2025,0,0,0,0,0,0
$GC,9211,1.24,222.4,700.8,10.7,212,9215,0.00,2.60,0.00,0.000,6,0.000,0.048,2847,1985,2025,0,0,0,0,0,0
$GC,9534,1.24,222.4,668.3,10.1,218,9538,0.00,2.70,0.00,0.000,4,0.000,0.063,2848,3433,2025,0,0,0,0,0,0
$GC,9576,1.24,222.4,663.8,11.4,218,9580,0.00,2.60,0.00,0.000,6,0.000,0.047,2848,1990,2025,0,0,0,0,0,0
$GC,9899,1.24,222.4,630.9,10.1,224,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1990,2025,0,0,0,0,0,0
$GC,10201,1.24,222.4,599.0,10.7,229,10205,0.00,2.65,0.00,0.000,4,0.000,0.060,2847,3424,2024,0,0,0,0,0,0
$GC,10254,1.24,222.4,592.4,13.2,229,10258,0.00,2.58,0.00,0.000,6,0.000,0.045,2847,1987,2023,0,0,0,0,0,0
$GC,10567,1.24,222.4,556.3,11.4,235,10570,0.00,2.50,0.00,0.000,4,0.000,0.060,2848,591,2023,0,0,0,0,0,0
$GC,10592,1.24,222.4,553.3,12.2,235,10597,0.00,2.55,0.00,0.000,6,0.000,0.045,2848,2025,2023,0,0,0,0,0,0
$GC,10931,1.24,222.9,518.9,10.0,241,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2025,2023,0,0,0,0,0,0
$GC,11234,1.24,222.9,487.7,10.4,246,11238,0.00,2.47,0.00,0.000,4,0.000,0.060,2847,3411,2023,0,0,0,0,0,0
$GC,11276,1.24,222.9,483.3,10.2,246,11280,0.00,2.50,0.00,0.000,6,0.000,0.044,2848,1987,2023,0,0,0,0,0,0
$GC,11593,1.24,222.9,451.3,10.1,252,11597,0.00,2.60,0.00,0.000,4,0.000,0.058,2848,3405,2023,0,0,0,0,0,0
$GC,11646,1.24,222.9,445.5,10.6,252,11650,0.00,2.50,0.00,0.000,6,0.000,0.044,2848,1991,2022,0,0,0,0,0,0
$GC,11958,1.26,240.9,415.7,9.4,258,11978,0.00,2.60,15.45,0.906,4,0.000,0.057,2848,3404,1961,0,0,0,0,0,0
$GC,12021,1.26,240.9,409.9,10.2,259,12025,0.00,2.53,0.00,0.000,6,0.000,0.044,2848,1997,1958,0,0,0,0,0,0
$GC,12382,1.26,240.9,373.1,10.4,265,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1997,1957,0,0,0,0,0,0
$GC,12683,1.26,240.9,339.1,11.2,270,12687,0.00,2.58,0.00,0.000,4,0.000,0.057,2848,3406,1957,0,0,0,0,0,0
$GC,12731,1.26,240.9,333.9,10.1,270,12735,0.00,2.50,0.00,0.000,6,0.000,0.043,2848,1993,1956,0,0,0,0,0,0
$GC,13049,1.26,244.7,302.5,9.9,276,13058,0.00,2.58,4.25,0.602,4,0.000,0.056,2848,3412,1946,0,0,0,0,0,0
$GC,13090,1.26,244.7,298.1,10.2,276,13095,0.00,2.53,0.00,0.000,6,0.000,0.042,2848,1991,1945,0,0,0,0,0,0
$GC,13415,1.29,267.0,267.1,9.2,287,13439,0.00,0.00,22.77,0.815,6,0.000,0.000,2848,1991,1854,0,0,0,0,0,0
$GC,13719,1.30,278.8,237.4,9.6,297,13734,0.00,2.58,10.80,0.731,4,0.000,0.055,2848,3405,1808,0,0,0,0,0,0
$GC,13826,1.34,314.6,228.3,8.8,300,13865,0.12,2.47,33.45,0.780,6,0.093,0.042,2877,1985,1660,0,0,0,0,0,0
$GC,14179,1.34,314.6,185.4,12.2,312,14184,0.00,2.50,0.00,0.000,4,0.000,0.056,2877,595,1652,0,0,0,0,0,0
$GC,14211,1.34,314.6,181.7,11.3,313,14215,0.00,2.47,0.00,0.000,6,0.000,0.041,2877,2007,1651,0,0,0,0,0,0
$GC,14546,1.34,314.6,145.2,10.7,324,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2007,1650,0,0,0,0,0,0
$GC,14849,1.34,314.6,112.7,11.1,334,14854,0.00,2.50,0.00,0.000,4,0.000,0.052,2877,3410,1649,0,0,0,0,0,0
$GC,15015,1.34,314.6,93.3,11.8,341,15021,0.00,2.45,0.00,0.000,6,0.000,0.039,2877,1987,1647,0,0,0,0,0,0
$GC,15207,1.41,384.2,76.4,7.6,360,15268,0.00,0.00,58.42,0.612,6,0.000,0.000,2877,1987,1377,0,0,0,0,0,0
$GC,15453,1.41,384.2,53.0,10.4,384,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1987,1371,0,0,0,0,0,0
$GC,15639,1.41,384.2,33.5,10.5,402,15643,0.00,2.53,0.00,0.000,4,0.000,0.049,2877,3403,1370,0,0,0,0,0,0
$GC,15676,1.41,384.2,28.8,13.8,405,15682,0.00,2.45,0.00,0.000,6,0.000,0.038,2877,1990,1370,0,0,0,0,0,0
$GC,15872,1.41,384.2,9.5,10.1,433,15877,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1990,1370,0,0,0,0,0,0
$STATE,15938,end climb,SURFACE_DEPTH_REACHED
$STATE,15938,begin surface coast
$FINISH,0.1,0.999022
$STATE,15976,end surface coast,CONTROL_FINISHED_OK
$STATE,15976,begin surface
$SM_CCo,15996,23.08,0.490,0,0,1210,425.10
$SM_GC,0.62,0.00,0.00,23.08,0.000,0.000,0.490,370,2599,1210,-10.18,0.82,425.10
$IRIDIUM_FIX,1925.22,-15603.64,150911,232335
$TT8_MAMPS,0.315329
$HUMID,1077978700
$TCM_TEMP,24.00
$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,2448/2448
$PA_USBDRIVE,/mnt/usbb
$PA_USBB,14.4/30830577/26388301
$PA_USBA,100.0/0/0
$PA_HOME,7.7/483886/446858
$PA_ROOT,89.3/128908/13729
$PA_LOG,3.7/297829/286835
$PA_DATA1,63.4/7836665/2868097
$PA_DATA0,48.6/7836665/4026583
$24V_AH,23.5,10.862
$10V_AH,9.9,16.370
$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,23.750,126.550,513.125,23.075,0.000,52.486,55.187,205.748,0.000,0.000,34.396,0.000,13808.370,626.525,1875.010,235.141,33.342,1352.558,0.000,1149.211,0.000,0.534,0.000
$DEVICE_MAMPS,153.000,212.670,1323.450,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,303.577,0.000,0.000,0.000,0.000,0.000,16617.760,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,90.247,0.000,0.000,0.000
$MEM,345184
$DATA_FILE_SIZE,16778,453
$CAP_FILE_SIZE,115444,0
$CFSIZE,260034560,254402560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230310,094707,1929.898,-15600.279,42,1.5,42,9.7