version: 66.07
glider: 22
mission: 17
dive: 49
start: 3 25 110 5 14 1
data:
$ID,22
$MISSION,17
$DIVE,49
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,0
$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,375
$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,-255757.72
$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,58
$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
$GPS1,250310,050255,1930.303,-15601.593,12,1.6,29,9.7
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-68.4
$GPS2,250310,051319,1930.615,-15601.642,34,1.7,46,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.090,0.279
$KALMAN_X,-8171.4,350.8,-41.2,5382.5,-2337.4
$KALMAN_Y,10826.0,467.1,-234.9,2363.3,2861.6
$MHEAD_RNG_PITCHd_Wd,8.2,7680,-15.9,-10.000
$D_GRID,660
$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,-1.21,-194.6,0.0,0.0,0,86,0.00,0.00,-63.35,0.000,2,0.000,0.000,376,2534,2551,0,0,0,0,0,0
$GC,89,-1.21,-194.6,3.2,-7.5,13,134,10.10,2.25,-29.70,0.000,4,0.147,0.057,2315,1170,3737,0,0,0,0,0,0
$GC,283,-1.21,-194.6,48.2,-17.4,38,289,0.00,2.45,0.00,0.000,6,0.000,0.047,2315,2562,3739,0,0,0,0,0,0
$GC,474,-1.21,-194.6,96.0,-25.6,57,478,0.00,2.50,0.00,0.000,4,0.000,0.061,2314,3973,3739,0,0,0,0,0,0
$GC,532,-1.21,-194.6,111.7,-20.3,60,539,0.00,2.38,0.00,0.000,6,0.000,0.038,2315,2584,3741,0,0,0,0,0,0
$GC,841,-1.21,-194.6,180.8,-21.7,71,846,0.00,2.47,0.00,0.000,4,0.000,0.059,2314,3949,3742,0,0,0,0,0,0
$GC,948,-1.21,-194.6,202.3,-20.0,74,952,0.00,2.38,0.00,0.000,6,0.000,0.038,2314,2550,3742,0,0,0,0,0,0
$GC,1272,-1.21,-194.6,267.2,-19.4,85,1277,0.00,2.53,0.00,0.000,4,0.000,0.058,2315,3945,3743,0,0,0,0,0,0
$GC,1304,-1.21,-194.6,273.3,-19.8,86,1309,0.00,2.30,0.00,0.000,6,0.000,0.038,2315,2558,3743,0,0,0,0,0,0
$GC,1633,-1.21,-194.6,334.5,-18.8,94,1637,0.00,2.53,0.00,0.000,4,0.000,0.060,2315,3944,3743,0,0,0,0,0,0
$GC,1686,-1.21,-194.6,344.1,-17.0,94,1690,0.00,2.38,0.00,0.000,6,0.000,0.039,2314,2562,3743,0,0,0,0,0,0
$GC,1999,-1.21,-194.6,397.3,-16.8,100,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2557,3742,0,0,0,0,0,0
$GC,2300,-1.21,-194.6,446.2,-16.0,105,2304,0.00,2.55,0.00,0.000,4,0.000,0.063,2314,3943,3741,0,0,0,0,0,0
$GC,2342,-1.21,-194.6,453.4,-16.9,105,2347,0.00,2.38,0.00,0.000,6,0.000,0.041,2315,2573,3741,0,0,0,0,0,0
$GC,2666,-1.21,-194.6,506.4,-16.3,111,2670,0.00,2.40,0.00,0.000,4,0.000,0.050,2315,1168,3737,0,0,0,0,0,0
$GC,2703,-1.21,-194.6,511.4,-12.8,111,2709,0.00,2.45,0.00,0.000,6,0.000,0.048,2315,2577,3737,0,0,0,0,0,0
$GC,3026,-1.21,-194.6,558.1,-14.8,117,3035,0.00,2.45,0.00,0.000,4,0.000,0.051,2315,1167,3733,0,0,0,0,0,0
$GC,3049,-1.21,-194.6,561.5,-14.1,117,3057,0.00,2.50,0.00,0.000,6,0.000,0.051,2315,2576,3732,0,0,0,0,0,0
$GC,3391,-1.21,-194.6,608.0,-13.8,123,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2577,3729,0,0,0,0,0,0
$GC,3691,-1.21,-194.6,648.3,-13.2,128,3700,0.00,2.50,0.00,0.000,4,0.000,0.059,2314,1171,3727,0,0,0,0,0,0
$GC,3714,-1.21,-194.6,651.1,-12.3,128,3722,0.00,2.50,0.00,0.000,6,0.000,0.057,2315,2572,3726,0,0,0,0,0,0
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3807,begin apogee
$GC,3812,-0.31,0.0,661.8,11.8,130,3983,0.98,0.00,163.05,1.050,6,0.099,0.000,2517,2008,2944,0,0,0,0,0,0
$STATE,3983,end apogee,CONTROL_FINISHED_OK
$STATE,3983,begin climb
$GC,3985,1.21,194.6,666.9,0.0,132,4166,1.50,2.65,168.18,1.024,4,0.067,0.068,2847,589,2148,0,0,0,0,0,0
$GC,4405,1.21,194.6,639.3,11.0,137,4414,0.00,2.53,0.00,0.000,6,0.000,0.049,2847,2009,2139,0,0,0,0,0,0
$GC,4721,1.21,194.6,606.7,10.3,143,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2010,2135,0,0,0,0,0,0
$GC,5022,1.21,194.6,574.3,10.7,148,5030,0.00,2.53,0.00,0.000,4,0.000,0.061,2847,3411,2133,0,0,0,0,0,0
$GC,5045,1.21,194.6,571.7,10.8,148,5053,0.00,2.50,0.00,0.000,6,0.000,0.044,2847,1990,2132,0,0,0,0,0,0
$GC,5380,1.21,196.0,538.1,10.0,154,5389,0.00,2.58,0.00,0.000,4,0.000,0.060,2847,3409,2130,0,0,0,0,0,0
$GC,5414,1.21,196.0,534.5,10.5,154,5422,0.00,2.47,0.00,0.000,6,0.000,0.044,2847,1994,2129,0,0,0,0,0,0
$GC,5739,1.25,236.3,505.4,8.6,160,5780,0.00,0.00,35.08,0.963,6,0.000,0.000,2847,1994,1980,0,0,0,0,0,0
$GC,6040,1.28,259.6,478.1,9.2,165,6067,0.00,2.62,21.73,0.928,4,0.000,0.057,2847,3411,1884,0,0,0,0,0,0
$GC,6092,1.28,259.6,473.4,10.0,165,6098,0.00,2.55,0.00,0.000,6,0.000,0.043,2847,1993,1881,0,0,0,0,0,0
$GC,6399,1.28,259.6,440.7,10.8,171,6403,0.00,2.58,0.00,0.000,4,0.000,0.057,2847,3414,1877,0,0,0,0,0,0
$GC,6430,1.28,259.6,437.3,11.8,171,6435,0.00,2.53,0.00,0.000,6,0.000,0.043,2847,2000,1875,0,0,0,0,0,0
$GC,6759,1.28,259.6,401.0,11.1,177,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2000,1874,0,0,0,0,0,0
$GC,7061,1.29,274.0,371.5,9.5,182,7079,0.00,2.65,12.45,0.835,4,0.000,0.057,2847,3408,1825,0,0,0,0,0,0
$GC,7128,1.29,274.0,364.0,11.7,183,7133,0.00,2.53,0.00,0.000,6,0.000,0.043,2847,1998,1822,0,0,0,0,0,0
$GC,7489,1.29,274.0,325.0,10.8,189,7493,0.00,2.53,0.00,0.000,4,0.000,0.056,2846,3409,1820,0,0,0,0,0,0
$GC,7541,1.29,274.0,319.4,10.8,189,7546,0.00,2.50,0.00,0.000,6,0.000,0.043,2847,1996,1819,0,0,0,0,0,0
$GC,7854,1.29,274.0,288.2,10.0,196,7858,0.00,2.58,0.00,0.000,4,0.000,0.055,2847,3410,1818,0,0,0,0,0,0
$GC,7902,1.29,274.0,283.2,10.9,197,7906,0.00,2.50,0.00,0.000,6,0.000,0.042,2847,1996,1818,0,0,0,0,0,0
$GC,8221,1.30,279.6,251.6,9.8,208,8231,0.00,2.55,5.05,0.609,4,0.000,0.054,2847,3412,1803,0,0,0,0,0,0
$GC,8268,1.30,279.6,246.6,10.5,209,8273,0.00,2.50,0.00,0.000,6,0.000,0.041,2847,1997,1802,0,0,0,0,0,0
$GC,8588,1.35,322.4,217.9,8.5,220,8633,0.15,2.65,39.12,0.759,4,0.083,0.054,2883,3414,1629,0,0,0,0,0,0
$GC,8654,1.35,322.4,210.1,12.7,222,8659,0.00,2.53,0.00,0.000,6,0.000,0.041,2883,1995,1627,0,0,0,0,0,0
$GC,8985,1.35,322.4,168.5,12.6,233,8988,0.00,2.53,0.00,0.000,4,0.000,0.052,2883,3415,1621,0,0,0,0,0,0
$GC,9037,1.35,322.4,161.1,14.4,234,9042,0.00,2.50,0.00,0.000,6,0.000,0.040,2883,1991,1621,0,0,0,0,0,0
$GC,9351,1.35,322.4,122.0,12.8,245,9356,0.00,2.55,0.00,0.000,4,0.000,0.052,2883,3407,1620,0,0,0,0,0,0
$GC,9388,1.35,322.4,117.9,10.9,246,9393,0.00,2.47,0.00,0.000,6,0.000,0.040,2883,1992,1621,0,0,0,0,0,0
$GC,9702,1.40,374.2,86.2,8.2,265,9748,0.00,0.00,43.92,0.616,6,0.000,0.000,2883,1990,1418,0,0,0,0,0,0
$GC,9929,1.40,374.2,64.3,10.1,287,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1989,1412,0,0,0,0,0,0
$GC,10114,1.40,374.2,45.7,10.8,305,10118,0.00,2.55,0.00,0.000,4,0.000,0.050,2883,3415,1412,0,0,0,0,0,0
$GC,10135,1.40,374.2,43.4,11.1,307,10139,0.00,2.47,0.00,0.000,6,0.000,0.040,2883,1994,1412,0,0,0,0,0,0
$GC,10332,1.40,374.2,21.7,11.9,326,10336,0.00,2.42,0.00,0.000,4,0.000,0.054,2883,588,1411,0,0,0,0,0,0
$GC,10352,1.40,374.2,19.2,11.9,328,10359,0.00,2.45,0.00,0.000,6,0.000,0.039,2883,2020,1409,0,0,0,0,0,0
$GC,10421,1.40,374.2,11.5,12.1,341,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2020,1411,0,0,0,0,0,0
$GC,10486,1.41,385.7,4.8,9.6,353,10502,0.00,2.47,9.38,0.465,4,0.000,0.053,2883,3402,1371,0,0,0,0,0,0
$STATE,10504,end climb,SURFACE_DEPTH_REACHED
$STATE,10504,begin surface coast
$FINISH,0.2,1.023460
$STATE,10526,end surface coast,CONTROL_FINISHED_OK
$STATE,10526,begin surface
$SM_CCo,10607,0.00,0.000,0,0,1365,386.84
$SM_GC,1.25,10.90,0.00,0.00,0.047,0.000,0.000,376,2515,1365,-10.09,-1.55,386.84
$IRIDIUM_FIX,1922.94,-15601.55,170911,202010
$TT8_MAMPS,0.178262
$HUMID,1077995474
$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,1687/1685
$PA_USBDRIVE,/mnt/usbb
$PA_USBB,35.5/30830577/19888813
$PA_USBA,100.0/0/0
$PA_HOME,8.1/483886/444806
$PA_ROOT,89.3/128908/13729
$PA_LOG,3.7/297829/286888
$PA_DATA1,63.4/7836665/2869186
$PA_DATA0,15.2/7836665/6646635
$24V_AH,23.7,12.869
$10V_AH,9.9,20.690
$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,23.625,119.775,497.950,0.000,0.000,58.735,60.519,260.201,0.000,0.000,47.283,0.000,8650.373,588.370,1781.916,206.883,33.329,1268.350,0.000,959.241,0.000,0.534,0.000
$DEVICE_MAMPS,146.880,68.085,1050.345,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,239.570,0.000,0.000,0.000,0.000,0.000,11309.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,102.962,0.000,0.000,0.000
$MEM,344596
$DATA_FILE_SIZE,13439,361
$CAP_FILE_SIZE,97686,0
$CFSIZE,260034560,253550592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,081137,1933.314,-15601.841,25,1.4,25,9.7