version: 66.07
glider: 22
mission: 17
dive: 41
start: 3 23 110 19 20 6
data:
$ID,22
$MISSION,17
$DIVE,41
$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,-255652.78
$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,57
$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
$GPS1,230310,191155,1927.212,-15558.994,41,1.6,41,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-69.2
$GPS2,230310,191925,1927.325,-15558.909,15,1.6,32,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15558.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,-0.255
$KALMAN_X,-22893.2,221.3,353.6,34253.5,-2930.3
$KALMAN_Y,40557.0,-535.6,-336.3,-46570.1,5379.8
$MHEAD_RNG_PITCHd_Wd,140.5,13659,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.21,-194.6,0.0,0.0,0,83,0.00,0.00,-65.32,0.000,2,0.000,0.000,376,2531,2605,0,0,0,0,0,0
$GC,85,-1.21,-194.6,3.4,-7.9,13,131,10.27,2.60,-27.40,0.000,4,0.153,0.073,2314,3942,3740,0,0,0,0,0,0
$GC,173,-1.21,-194.6,25.8,-26.4,28,179,0.00,2.33,0.00,0.000,6,0.000,0.038,2314,2574,3742,0,0,0,0,0,0
$GC,364,-1.21,-194.6,78.2,-26.7,47,368,0.00,2.47,0.00,0.000,4,0.000,0.057,2314,3936,3742,0,0,0,0,0,0
$GC,396,-1.21,-194.6,87.1,-27.5,50,400,0.00,2.35,0.00,0.000,6,0.000,0.038,2314,2568,3742,0,0,0,0,0,0
$GC,609,-1.21,-194.6,137.6,-23.7,61,613,0.00,2.50,0.00,0.000,4,0.000,0.059,2314,3942,3742,0,0,0,0,0,0
$GC,710,-1.21,-194.6,159.2,-19.1,64,715,0.00,2.35,0.00,0.000,6,0.000,0.037,2314,2558,3743,0,0,0,0,0,0
$GC,1041,-1.21,-194.6,225.9,-19.8,75,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2553,3745,0,0,0,0,0,0
$GC,1344,-1.21,-194.6,281.3,-17.5,85,1348,0.00,2.50,0.00,0.000,4,0.000,0.059,2314,3938,3746,0,0,0,0,0,0
$GC,1376,-1.21,-194.6,286.9,-18.0,86,1380,0.00,2.35,0.00,0.000,6,0.000,0.038,2314,2560,3747,0,0,0,0,0,0
$GC,1710,-1.21,-194.6,345.8,-17.8,93,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2556,3746,0,0,0,0,0,0
$GC,2011,-1.21,-194.6,399.7,-17.9,98,2015,0.00,2.53,0.00,0.000,4,0.000,0.063,2314,3934,3744,0,0,0,0,0,0
$GC,2048,-1.21,-194.6,406.3,-16.7,98,2053,0.00,2.35,0.00,0.000,6,0.000,0.040,2314,2567,3744,0,0,0,0,0,0
$GC,2377,-1.21,-194.6,460.2,-16.2,104,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2565,3742,0,0,0,0,0,0
$GC,2681,-1.21,-194.6,509.5,-16.5,109,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2563,3741,0,0,0,0,0,0
$GC,2981,-1.21,-194.6,558.2,-15.9,114,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2562,3738,0,0,0,0,0,0
$GC,3282,-1.21,-194.6,602.3,-14.5,119,3291,0.00,2.53,0.00,0.000,4,0.000,0.071,2314,3939,3734,0,0,0,0,0,0
$GC,3337,-1.21,-194.6,610.5,-14.6,119,3347,0.00,2.33,0.00,0.000,6,0.000,0.042,2314,2575,3733,0,0,0,0,0,0
$GC,3646,-1.21,-194.6,655.5,-14.8,125,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2570,3730,0,0,0,0,0,0
$GC,3948,-1.21,-194.6,701.1,-15.1,130,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2570,3728,0,0,0,0,0,0
$GC,4249,-1.21,-194.6,743.8,-13.9,135,4257,0.00,2.60,0.00,0.000,4,0.000,0.080,2314,1177,3725,0,0,0,0,0,0
$GC,4282,-1.21,-194.6,748.1,-12.5,135,4291,0.00,2.55,0.00,0.000,6,0.000,0.067,2314,2562,3725,0,0,0,0,0,0
$GC,4607,-1.21,-194.6,787.2,-12.0,141,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2564,3723,0,0,0,0,0,0
$GC,4909,-1.21,-194.6,824.8,-12.6,146,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2564,3721,0,0,0,0,0,0
$GC,5211,-1.21,-194.6,860.7,-11.7,151,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2564,3719,0,0,0,0,0,0
$GC,5513,-1.21,-194.6,896.2,-11.7,156,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2564,3716,0,0,0,0,0,0
$GC,5815,-1.21,-194.6,931.7,-11.7,161,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2564,3714,0,0,0,0,0,0
$GC,6116,-1.21,-194.6,966.5,-11.6,166,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2564,3713,0,0,0,0,0,0
$STATE,6355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6356,begin apogee
$GC,6361,-0.31,0.0,994.7,11.7,170,6536,0.98,0.00,167.32,1.297,6,0.100,0.000,2516,2026,2945,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6539,1.21,194.6,1002.1,0.0,172,6729,1.52,3.78,176.50,1.295,4,0.069,0.221,2847,579,2149,0,0,0,0,0,0
$GC,6920,1.21,194.6,985.5,11.7,178,6928,0.00,3.25,0.00,0.000,6,0.000,0.164,2848,2000,2139,0,0,0,0,0,0
$GC,7272,1.21,194.6,948.9,10.3,184,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2000,2134,0,0,0,0,0,0
$GC,7574,1.21,194.6,913.3,12.0,189,7583,0.00,2.97,0.00,0.000,4,0.000,0.133,2847,3422,2132,0,0,0,0,0,0
$GC,7619,1.21,194.6,907.9,12.4,189,7628,0.00,2.97,0.00,0.000,6,0.000,0.119,2847,1995,2132,0,0,0,0,0,0
$GC,7934,1.21,194.6,874.2,10.5,195,7942,0.00,2.90,0.00,0.000,4,0.000,0.112,2847,3418,2131,0,0,0,0,0,0
$GC,7973,1.21,194.6,869.5,11.9,195,7981,0.00,2.80,0.00,0.000,6,0.000,0.096,2848,1997,2130,0,0,0,0,0,0
$GC,8293,1.21,194.6,834.1,11.1,201,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1997,2129,0,0,0,0,0,0
$GC,8594,1.21,194.6,800.9,10.9,206,8603,0.00,2.78,0.00,0.000,4,0.000,0.090,2848,3422,2129,0,0,0,0,0,0
$GC,8650,1.21,194.6,794.3,12.1,206,8659,0.00,2.62,0.00,0.000,6,0.000,0.065,2848,1985,2129,0,0,0,0,0,0
$GC,8959,1.21,194.6,760.0,11.1,212,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1984,2128,0,0,0,0,0,0
$GC,9260,1.21,194.6,725.4,11.5,217,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1985,2128,0,0,0,0,0,0
$GC,9562,1.21,194.6,691.8,11.1,222,9570,0.00,2.67,0.00,0.000,4,0.000,0.066,2847,3432,2128,0,0,0,0,0,0
$GC,9623,1.21,194.6,684.7,12.1,223,9631,0.00,2.58,0.00,0.000,6,0.000,0.047,2848,1978,2127,0,0,0,0,0,0
$GC,9986,1.21,194.6,646.2,10.5,229,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1978,2127,0,0,0,0,0,0
$GC,10287,1.22,204.4,616.6,9.7,234,10301,0.00,2.65,6.07,0.864,4,0.000,0.060,2848,3424,2109,0,0,0,0,0,0
$GC,10375,1.22,204.4,607.7,10.5,235,10383,0.00,2.53,0.00,0.000,6,0.000,0.045,2848,1991,2107,0,0,0,0,0,0
$GC,10710,1.27,257.3,579.5,8.2,241,10769,0.00,2.70,49.62,1.068,4,0.000,0.060,2847,3433,1894,0,0,0,0,0,0
$GC,10801,1.27,257.3,571.6,10.4,241,10809,0.00,2.58,0.00,0.000,6,0.000,0.045,2848,1998,1890,0,0,0,0,0,0
$GC,11132,1.29,270.4,539.7,9.5,247,11154,0.00,2.72,12.12,0.942,4,0.000,0.059,2848,3432,1841,0,0,0,0,0,0
$GC,11164,1.31,293.3,536.6,9.2,247,11198,0.10,2.55,23.08,0.998,6,0.106,0.044,2870,1997,1746,0,0,0,0,0,0
$GC,11500,1.31,293.3,497.1,12.0,253,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1997,1740,0,0,0,0,0,0
$GC,11798,1.31,293.3,458.7,13.0,258,11802,0.00,2.65,0.00,0.000,4,0.000,0.058,2870,3430,1738,0,0,0,0,0,0
$GC,11835,1.31,293.3,453.2,14.4,258,11839,0.00,2.58,0.00,0.000,6,0.000,0.044,2870,1991,1736,0,0,0,0,0,0
$GC,12165,1.31,293.3,406.7,14.2,264,12169,0.00,2.62,0.00,0.000,4,0.000,0.057,2870,3435,1735,0,0,0,0,0,0
$GC,12190,1.31,293.3,402.9,13.4,264,12195,0.00,2.58,0.00,0.000,6,0.000,0.044,2870,1995,1734,0,0,0,0,0,0
$GC,12524,1.31,293.3,358.6,13.0,270,12528,0.00,2.62,0.00,0.000,4,0.000,0.057,2870,3426,1735,0,0,0,0,0,0
$GC,12571,1.31,293.3,352.1,13.2,270,12575,0.00,2.55,0.00,0.000,6,0.000,0.043,2870,1992,1733,0,0,0,0,0,0
$GC,12889,1.31,293.3,311.6,12.5,276,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1992,1733,0,0,0,0,0,0
$GC,13192,1.31,293.3,275.4,11.3,284,13196,0.00,2.62,0.00,0.000,4,0.000,0.055,2870,3429,1733,0,0,0,0,0,0
$GC,13234,1.31,293.3,270.6,12.1,285,13239,0.00,2.55,0.00,0.000,6,0.000,0.041,2870,1990,1733,0,0,0,0,0,0
$GC,13559,1.32,295.9,236.9,9.9,296,13563,0.00,2.60,0.00,0.000,4,0.000,0.054,2871,3435,1733,0,0,0,0,0,0
$GC,13591,1.32,295.9,233.4,10.4,297,13594,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,1990,1732,0,0,0,0,0,0
$GC,13925,1.32,295.9,192.7,12.7,308,13930,0.00,2.60,0.00,0.000,4,0.000,0.054,2870,3427,1732,0,0,0,0,0,0
$GC,13979,1.32,295.9,185.2,13.4,309,13983,0.00,2.50,0.00,0.000,6,0.000,0.041,2870,2001,1732,0,0,0,0,0,0
$GC,14292,1.32,295.9,148.9,11.0,320,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2001,1732,0,0,0,0,0,0
$GC,14596,1.33,304.5,119.4,9.7,330,14606,0.00,0.00,8.80,0.595,6,0.000,0.000,2871,2000,1702,0,0,0,0,0,0
$GC,14902,1.40,376.4,92.6,7.5,346,14973,0.00,2.65,62.20,0.632,4,0.000,0.051,2870,3427,1408,0,0,0,0,0,0
$GC,15009,1.40,376.4,82.0,11.9,356,15015,0.00,2.53,0.00,0.000,6,0.000,0.038,2870,1989,1406,0,0,0,0,0,0
$GC,15201,1.40,376.4,62.5,10.5,375,15201,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1989,1402,0,0,0,0,0,0
$GC,15387,1.40,376.4,43.5,10.6,393,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1989,1402,0,0,0,0,0,0
$GC,15573,1.40,376.4,24.4,10.1,411,15577,0.00,2.58,0.00,0.000,4,0.000,0.050,2870,3429,1402,0,0,0,0,0,0
$GC,15599,1.40,376.4,21.3,11.5,413,15605,0.00,2.47,0.00,0.000,6,0.000,0.039,2870,2002,1401,0,0,0,0,0,0
$STATE,15789,end climb,SURFACE_DEPTH_REACHED
$STATE,15789,begin surface coast
$FINISH,0.1,1.023362
$STATE,15822,end surface coast,CONTROL_FINISHED_OK
$STATE,15822,begin surface
$SM_CCo,15841,28.62,0.492,0,0,1210,425.10
$SM_GC,1.06,0.00,0.00,28.62,0.000,0.000,0.492,375,2600,1210,-10.17,0.85,425.10
$IRIDIUM_FIX,1920.65,-15601.55,160911,080801
$TT8_MAMPS,0.113099
$HUMID,1077985152
$TCM_TEMP,23.80
$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,2743/2889
$PA_USBDRIVE,/mnt/usbb
$24V_AH,23.5,11.427
$10V_AH,9.9,17.540
$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,23.700,122.975,505.725,28.625,0.000,23.468,38.186,228.597,0.000,0.000,33.273,0.000,13507.372,625.810,1997.492,247.388,33.336,1485.697,0.000,1102.662,0.000,0.534,0.000
$DEVICE_MAMPS,153.000,221.085,1296.675,491.895,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,303.596,0.000,0.000,0.000,0.000,0.000,16482.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,72.977,0.000,0.000,0.000
$MEM,345180
$DATA_FILE_SIZE,16792,454
$CAP_FILE_SIZE,113494,0
$CFSIZE,260034560,254152704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230310,234637,1925.854,-15557.964,32,1.5,32,9.7