version: 66.07
glider: 23
mission: 14
dive: 11
start: 3 18 110 10 25 6
data:
$ID,23
$MISSION,14
$DIVE,11
$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,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,420
$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,1
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40949.02
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2285
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.779308
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,14
$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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,180310,100537,1940.221,-15605.590,31,1.6,31,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.6
$GPS2,180310,102426,1940.472,-15605.908,11,1.5,11,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.149,-0.273
$KALMAN_X,-15743.0,-291.2,240.3,16719.9,-1700.7
$KALMAN_Y,29146.0,290.2,-279.5,-33163.9,3477.1
$MHEAD_RNG_PITCHd_Wd,141.6,13272,-16.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.37,-233.6,0.0,0.0,0,100,0.00,0.00,-80.40,0.000,2,0.000,0.000,361,2254,2837,0,0,0,0,0,0
$GC,103,-1.37,-233.6,3.6,-6.5,16,139,10.68,2.67,-19.40,0.000,4,0.171,0.046,2171,916,3795,0,0,0,0,0,0
$GC,276,-1.37,-233.6,47.0,-24.3,38,282,0.00,2.72,0.00,0.000,6,0.000,0.021,2172,2292,3796,0,0,0,0,0,0
$GC,468,-1.37,-233.6,91.4,-21.7,57,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2297,3796,0,0,0,0,0,0
$GC,661,-1.37,-233.6,130.2,-19.4,66,670,0.00,2.78,0.00,0.000,4,0.000,0.037,2171,912,3796,0,0,0,0,0,0
$GC,690,-1.37,-233.6,136.0,-20.3,67,698,0.00,2.70,0.00,0.000,6,0.000,0.023,2172,2285,3796,0,0,0,0,0,0
$GC,1022,-1.37,-233.6,194.9,-16.8,78,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2285,3797,0,0,0,0,0,0
$GC,1326,-1.37,-233.6,242.6,-15.1,88,1335,0.00,2.80,0.00,0.000,4,0.000,0.035,2171,906,3797,0,0,0,0,0,0
$GC,1350,-1.37,-233.6,246.0,-14.0,88,1360,0.00,2.65,0.00,0.000,6,0.000,0.026,2172,2276,3797,0,0,0,0,0,0
$GC,1660,-1.37,-233.6,289.1,-14.2,99,1668,0.00,2.75,0.00,0.000,4,0.000,0.037,2172,904,3797,0,0,0,0,0,0
$GC,1699,-1.37,-233.6,294.7,-14.0,100,1707,0.00,2.78,0.00,0.000,6,0.000,0.029,2172,2295,3797,0,0,0,0,0,0
$GC,2049,-1.37,-233.6,341.6,-13.1,107,2058,0.00,2.80,0.00,0.000,4,0.000,0.037,2171,912,3795,0,0,0,0,0,0
$GC,2084,-1.37,-233.6,346.1,-13.0,107,2092,0.00,2.78,0.00,0.000,6,0.000,0.031,2172,2293,3794,0,0,0,0,0,0
$GC,2409,-1.37,-233.6,391.3,-14.0,113,2417,0.00,2.78,0.00,0.000,4,0.000,0.039,2171,917,3792,0,0,0,0,0,0
$GC,2491,-1.37,-233.6,401.7,-11.9,114,2499,0.00,2.78,0.00,0.000,6,0.000,0.032,2171,2293,3791,0,0,0,0,0,0
$GC,2832,-1.37,-233.6,445.0,-13.0,120,2841,0.00,2.80,0.00,0.000,4,0.000,0.039,2171,915,3787,0,0,0,0,0,0
$GC,2882,-1.37,-233.6,451.6,-12.6,120,2891,0.00,2.78,0.00,0.000,6,0.000,0.033,2171,2289,3787,0,0,0,0,0,0
$GC,3191,-1.37,-233.6,493.5,-13.7,125,3200,0.00,2.80,0.00,0.000,4,0.000,0.039,2171,912,3784,0,0,0,0,0,0
$GC,3268,-1.37,-233.6,503.8,-12.9,126,3276,0.00,2.78,0.00,0.000,6,0.000,0.034,2171,2294,3784,0,0,0,0,0,0
$GC,3615,-1.37,-233.6,546.3,-12.0,132,3624,0.00,2.80,0.00,0.000,4,0.000,0.040,2171,906,3780,0,0,0,0,0,0
$GC,3703,-1.37,-233.6,556.0,-11.2,133,3711,0.00,2.80,0.00,0.000,6,0.000,0.035,2171,2289,3779,0,0,0,0,0,0
$GC,4039,-1.37,-233.6,593.5,-11.0,139,4048,0.00,2.80,0.00,0.000,4,0.000,0.041,2171,914,3775,0,0,0,0,0,0
$GC,4084,-1.37,-233.6,598.1,-10.0,139,4093,0.00,2.80,0.00,0.000,6,0.000,0.036,2171,2294,3775,0,0,0,0,0,0
$GC,4399,-1.37,-233.6,630.5,-10.2,145,4408,0.00,2.80,0.00,0.000,4,0.000,0.041,2171,911,3773,0,0,0,0,0,0
$GC,4476,-1.37,-233.6,638.3,-9.9,146,4484,0.00,2.78,0.00,0.000,6,0.000,0.037,2171,2285,3772,0,0,0,0,0,0
$GC,4823,-1.37,-233.6,674.3,-10.4,152,4832,0.00,2.78,0.00,0.000,4,0.000,0.043,2171,918,3769,0,0,0,0,0,0
$GC,4900,-1.37,-233.6,682.3,-10.4,153,4909,0.00,2.80,0.00,0.000,6,0.000,0.038,2171,2292,3768,0,0,0,0,0,0
$GC,5248,-1.37,-233.6,718.8,-10.6,159,5256,0.00,2.80,0.00,0.000,4,0.000,0.044,2171,920,3766,0,0,0,0,0,0
$GC,5325,-1.37,-233.6,726.9,-9.8,160,5333,0.00,2.80,0.00,0.000,6,0.000,0.040,2171,2287,3765,0,0,0,0,0,0
$GC,5672,-1.37,-233.6,762.6,-10.3,166,5681,0.00,2.55,0.00,0.000,4,0.000,0.043,2171,1036,3762,0,0,0,0,0,0
$GC,5765,-1.37,-233.6,772.3,-10.2,167,5774,0.00,2.60,0.00,0.000,6,0.000,0.040,2171,2290,3762,0,0,0,0,0,0
$GC,6096,-1.37,-233.6,807.4,-10.6,173,6105,0.00,2.80,0.00,0.000,4,0.000,0.044,2171,916,3760,0,0,0,0,0,0
$GC,6184,-1.37,-233.6,816.3,-9.9,174,6193,0.00,2.83,0.00,0.000,6,0.000,0.040,2172,2298,3759,0,0,0,0,0,0
$GC,6521,-1.37,-233.6,852.9,-11.0,180,6529,0.00,2.80,0.00,0.000,4,0.000,0.044,2171,919,3758,0,0,0,0,0,0
$GC,6592,-1.37,-233.6,860.9,-11.0,181,6600,0.00,2.80,0.00,0.000,6,0.000,0.039,2171,2292,3757,0,0,0,0,0,0
$GC,6944,-1.37,-233.6,902.5,-11.9,187,6953,0.00,2.58,0.00,0.000,4,0.000,0.044,2171,1046,3756,0,0,0,0,0,0
$GC,7048,-1.37,-233.6,914.1,-11.1,188,7056,0.00,2.58,0.00,0.000,6,0.000,0.040,2171,2292,3756,0,0,0,0,0,0
$GC,7368,-1.37,-233.6,948.8,-10.8,194,7376,0.00,2.80,0.00,0.000,4,0.000,0.044,2172,914,3754,0,0,0,0,0,0
$GC,7445,-1.37,-233.6,956.7,-10.2,195,7453,0.00,2.78,0.00,0.000,6,0.000,0.040,2171,2287,3754,0,0,0,0,0,0
$STATE,7790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7790,begin apogee
$GC,7795,-0.33,0.0,992.6,10.6,201,7991,1.15,0.00,188.77,1.467,6,0.092,0.000,2407,2370,2841,0,0,0,0,0,0
$STATE,7992,end apogee,CONTROL_FINISHED_OK
$STATE,7992,begin climb
$GC,7994,1.37,233.6,1003.2,0.0,204,8203,1.70,2.53,196.20,1.423,4,0.050,0.057,2776,3785,1888,0,0,0,0,0,0
$GC,8444,1.37,233.6,950.7,15.9,211,8452,0.00,2.25,0.00,0.000,6,0.000,0.028,2776,2402,1882,0,0,0,0,0,0
$GC,8796,1.37,233.6,892.6,16.7,217,8805,0.00,2.38,0.00,0.000,4,0.000,0.055,2776,3791,1880,0,0,0,0,0,0
$GC,8889,1.37,233.6,875.8,18.8,218,8897,0.00,2.33,0.00,0.000,6,0.000,0.028,2776,2363,1881,0,0,0,0,0,0
$GC,9220,1.37,233.6,820.8,16.5,224,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2358,1880,0,0,0,0,0,0
$GC,9521,1.37,233.6,771.8,16.2,229,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2359,1878,0,0,0,0,0,0
$GC,9822,1.37,233.6,723.4,16.0,234,9831,0.00,2.45,0.00,0.000,4,0.000,0.056,2778,3794,1878,0,0,0,0,0,0
$GC,9904,1.37,233.6,708.8,18.2,235,9913,0.00,2.33,0.00,0.000,6,0.000,0.028,2776,2357,1878,0,0,0,0,0,0
$GC,10246,1.37,233.6,653.2,16.3,241,10254,0.00,2.42,0.00,0.000,4,0.000,0.057,2776,3788,1878,0,0,1,0,0,0
$GC,10301,1.37,233.6,643.6,18.0,241,10311,0.00,2.30,0.00,0.000,6,0.000,0.028,2776,2357,1878,0,0,0,0,0,0
$GC,10610,1.37,233.6,595.7,15.3,247,10619,0.00,2.85,0.00,0.000,4,0.000,0.041,2777,963,1877,0,0,0,0,0,0
$GC,10628,1.37,233.6,593.0,14.9,247,10638,0.00,2.88,0.00,0.000,6,0.000,0.035,2776,2371,1877,0,0,0,0,0,0
$GC,10971,1.37,233.6,544.0,14.3,253,10979,0.00,2.38,0.00,0.000,4,0.000,0.056,2777,3794,1877,0,0,0,0,0,0
$GC,11058,1.37,233.6,530.6,14.8,254,11066,0.00,2.30,0.00,0.000,6,0.000,0.027,2777,2356,1877,0,0,0,0,0,0
$GC,11394,1.37,233.6,488.1,12.1,260,11402,0.00,2.42,0.00,0.000,4,0.000,0.054,2777,3788,1877,0,0,0,0,0,0
$GC,11513,1.37,233.6,472.1,13.9,261,11523,0.00,2.28,0.00,0.000,6,0.000,0.027,2776,2358,1877,0,0,0,0,0,0
$GC,11822,1.37,233.6,433.9,12.4,267,11830,0.00,2.42,0.00,0.000,4,0.000,0.054,2777,3796,1877,0,0,0,0,0,0
$GC,11920,1.37,233.6,419.2,15.5,268,11928,0.00,2.28,0.00,0.000,6,0.000,0.027,2777,2360,1877,0,0,0,0,0,0
$GC,12244,1.37,233.6,375.7,13.5,274,12254,0.00,2.80,0.00,0.000,4,0.000,0.039,2777,973,1876,0,0,0,0,0,0
$GC,12285,1.37,233.6,370.4,12.7,274,12294,0.00,2.83,0.00,0.000,6,0.000,0.034,2777,2373,1876,0,0,0,0,0,0
$GC,12606,1.37,233.6,327.9,13.3,280,12614,0.00,2.35,0.00,0.000,4,0.000,0.052,2777,3787,1876,0,0,0,0,0,0
$GC,12774,1.37,233.6,305.8,12.5,282,12782,0.00,2.22,0.00,0.000,6,0.000,0.025,2777,2366,1877,0,0,0,0,0,0
$GC,13101,1.39,253.9,269.3,11.1,292,13125,0.00,2.42,16.33,0.922,4,0.000,0.049,2777,3784,1804,0,0,0,0,0,0
$GC,13167,1.39,253.9,261.0,13.1,294,13176,0.00,2.25,0.00,0.000,6,0.000,0.024,2777,2364,1803,0,0,0,0,0,0
$GC,13500,1.40,259.4,219.5,11.6,305,13508,0.00,2.78,0.00,0.000,4,0.000,0.037,2777,979,1802,0,0,0,0,0,0
$GC,13566,1.42,274.7,211.7,11.3,307,13596,0.00,2.80,18.05,0.868,6,0.000,0.031,2777,2372,1720,0,0,0,0,0,0
$GC,13896,1.42,274.7,169.4,12.9,318,13905,0.00,2.80,0.00,0.000,4,0.000,0.034,2777,976,1718,0,0,0,0,0,0
$GC,13968,1.42,274.7,159.8,13.4,320,13976,0.00,2.80,0.00,0.000,6,0.000,0.028,2777,2372,1718,0,0,0,0,0,0
$GC,14290,1.48,331.3,124.8,9.9,331,14348,0.10,2.92,47.25,0.786,4,0.073,0.032,2805,971,1488,0,0,0,0,0,0
$GC,14485,1.48,331.3,100.2,12.3,337,14494,0.00,2.80,0.00,0.000,6,0.000,0.025,2806,2369,1484,0,0,0,0,0,0
$GC,14809,1.48,331.3,58.9,12.0,367,14813,0.00,2.80,0.00,0.000,4,0.000,0.031,2807,975,1483,0,0,0,0,0,0
$GC,14825,1.48,331.3,56.7,12.8,368,14829,0.00,2.78,0.00,0.000,6,0.000,0.024,2806,2372,1483,0,0,0,0,0,0
$GC,15022,1.48,331.3,29.9,15.0,387,15026,0.00,2.83,0.00,0.000,4,0.000,0.031,2806,967,1483,0,0,0,0,0,0
$GC,15101,1.48,331.3,19.6,13.3,394,15107,0.00,2.80,0.00,0.000,6,0.000,0.024,2806,2373,1484,0,0,0,0,0,0
$GC,15170,1.48,331.3,10.0,15.2,407,15175,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2372,1484,0,0,0,0,0,0
$STATE,15226,end climb,SURFACE_DEPTH_REACHED
$STATE,15226,begin surface coast
$FINISH,0.1,1.023638
$STATE,15248,end surface coast,CONTROL_FINISHED_OK
$STATE,15248,begin surface
$SM_CCo,15267,43.47,0.623,0,0,1127,420.20
$SM_GC,0.65,0.00,0.00,43.47,0.000,0.000,0.623,359,2257,1127,-9.76,-0.79,420.20
$IRIDIUM_FIX,1932.09,-15604.81,110911,040430
$TT8_MAMPS,0.14231
$HUMID,1078075474
$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,850/1097
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.4,8.675
$10V_AH,9.9,5.123
$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,24.375,181.200,466.600,43.475,0.000,54.045,57.146,620.366,0.000,0.000,13.929,0.000,12407.087,638.339,3074.901,355.901,33.337,1808.638,0.000,1475.961,0.000,0.544,0.000
$DEVICE_MAMPS,170.595,81.855,1467.270,622.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,286.353,0.000,0.000,0.000,0.000,0.000,16546.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.353,0.000,0.000,0.000
$MEM,353380
$DATA_FILE_SIZE,13456,422
$CAP_FILE_SIZE,150455,0
$CFSIZE,260034560,255963136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180310,144227,1939.569,-15604.754,37,2.2,56,9.7