version: 66.07
glider: 23
mission: 14
dive: 10
start: 3 18 110 5 49 0
data:
$ID,23
$MISSION,14
$DIVE,10
$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,-40947.758
$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,50
$R_STBD_OVSHOOT,25
$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
$GPS1,180310,053227,1941.202,-15606.693,32,2.4,51,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.9
$GPS2,180310,054820,1941.352,-15606.973,16,2.0,16,9.7
$SPEED_LIMITS,0.204,0.311
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15601.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.164,-0.264
$KALMAN_X,-13437.9,-657.8,-780.0,13977.3,-1360.6
$KALMAN_Y,25147.3,893.7,279.1,-28720.5,2678.4
$MHEAD_RNG_PITCHd_Wd,138.5,15694,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.37,-233.6,0.0,0.0,0,102,0.00,0.00,-76.55,0.000,2,0.000,0.000,358,2303,2770,0,0,0,0,0,0
$GC,105,-1.37,-233.6,3.4,-5.1,15,145,10.60,2.85,-21.90,0.000,4,0.168,0.044,2172,903,3795,0,0,0,0,0,0
$GC,235,-1.37,-233.6,32.9,-23.5,35,241,0.00,2.75,0.00,0.000,6,0.000,0.022,2172,2293,3797,0,0,0,0,0,0
$GC,427,-1.37,-233.6,75.4,-21.4,54,430,0.00,2.83,0.00,0.000,4,0.000,0.037,2171,896,3797,0,0,0,0,0,0
$GC,463,-1.37,-233.6,83.5,-21.4,57,469,0.00,2.75,0.00,0.000,6,0.000,0.022,2171,2291,3796,0,0,0,0,0,0
$GC,663,-1.37,-233.6,122.4,-18.6,69,672,0.00,2.30,0.00,0.000,4,0.000,0.037,2171,3693,3797,0,0,0,0,0,0
$GC,708,-1.37,-233.6,130.9,-18.1,70,716,0.00,2.22,0.00,0.000,6,0.000,0.021,2172,2290,3797,0,0,0,0,0,0
$GC,1024,-1.37,-233.6,186.3,-16.9,81,1032,0.00,2.80,0.00,0.000,4,0.000,0.038,2171,886,3798,0,0,0,0,0,0
$GC,1053,-1.37,-233.6,191.0,-16.8,82,1061,0.00,2.75,0.00,0.000,6,0.000,0.025,2171,2287,3798,0,0,0,0,0,0
$GC,1385,-1.37,-233.6,242.8,-14.9,93,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2285,3798,0,0,0,0,0,0
$GC,1689,-1.37,-233.6,291.0,-16.1,103,1698,0.00,2.85,0.00,0.000,4,0.000,0.037,2171,881,3798,0,0,0,0,0,0
$GC,1723,-1.37,-233.6,296.5,-16.4,104,1731,0.00,2.78,0.00,0.000,6,0.000,0.029,2171,2279,3797,0,0,0,0,0,0
$GC,2048,-1.37,-233.6,344.2,-14.3,110,2057,0.00,2.80,0.00,0.000,4,0.000,0.038,2171,884,3796,0,0,0,0,0,0
$GC,2120,-1.37,-233.6,353.1,-11.6,111,2129,0.00,2.80,0.00,0.000,6,0.000,0.031,2171,2285,3795,0,0,0,0,0,0
$GC,2473,-1.37,-233.6,397.8,-12.7,117,2482,0.00,2.85,0.00,0.000,4,0.000,0.040,2171,878,3792,0,0,0,0,0,0
$GC,2523,-1.37,-233.6,404.2,-12.5,117,2532,0.00,2.83,0.00,0.000,6,0.000,0.033,2171,2290,3793,0,0,0,0,0,0
$GC,2832,-1.37,-233.6,442.5,-12.5,122,2841,0.00,2.85,0.00,0.000,4,0.000,0.039,2171,882,3790,0,0,0,0,0,0
$GC,2872,-1.37,-233.6,447.5,-11.8,122,2880,0.00,2.83,0.00,0.000,6,0.000,0.033,2171,2288,3789,0,0,0,0,0,0
$GC,3192,-1.37,-233.6,488.2,-12.8,128,3200,0.00,2.85,0.00,0.000,4,0.000,0.040,2171,880,3786,0,0,0,0,0,0
$GC,3247,-1.37,-233.6,495.5,-12.8,128,3257,0.00,2.78,0.00,0.000,6,0.000,0.034,2171,2292,3786,0,0,0,0,0,0
$GC,3556,-1.37,-233.6,533.8,-12.3,134,3565,0.00,2.85,0.00,0.000,4,0.000,0.040,2171,885,3782,0,0,0,0,0,0
$GC,3617,-1.37,-233.6,541.0,-11.1,135,3626,0.00,2.83,0.00,0.000,6,0.000,0.034,2171,2290,3782,0,0,0,0,0,0
$GC,3980,-1.37,-233.6,582.2,-11.3,141,3989,0.00,2.83,0.00,0.000,4,0.000,0.041,2171,887,3778,0,0,0,0,0,0
$GC,4058,-1.37,-233.6,590.7,-11.0,142,4066,0.00,2.83,0.00,0.000,6,0.000,0.036,2171,2290,3777,0,0,0,0,0,0
$GC,4405,-1.37,-233.6,628.3,-10.8,148,4414,0.00,2.85,0.00,0.000,4,0.000,0.041,2171,886,3774,0,0,0,0,0,0
$GC,4504,-1.37,-233.6,638.4,-10.1,149,4512,0.00,2.85,0.00,0.000,6,0.000,0.037,2171,2295,3774,0,0,0,0,0,0
$GC,4829,-1.37,-233.6,671.6,-10.2,155,4838,0.00,2.88,0.00,0.000,4,0.000,0.043,2171,883,3771,0,0,0,0,0,0
$GC,4922,-1.37,-233.6,680.5,-9.7,156,4931,0.00,2.85,0.00,0.000,6,0.000,0.038,2171,2288,3770,0,0,0,0,0,0
$GC,5253,-1.37,-233.6,714.0,-10.3,162,5261,0.00,2.88,0.00,0.000,4,0.000,0.045,2171,883,3768,0,0,0,0,0,0
$GC,5346,-1.37,-233.6,723.9,-10.9,163,5354,0.00,2.85,0.00,0.000,6,0.000,0.039,2171,2285,3767,0,0,0,0,0,0
$GC,5677,-1.37,-233.6,758.4,-10.5,169,5685,0.00,2.88,0.00,0.000,4,0.000,0.046,2171,882,3765,0,0,0,0,0,0
$GC,5743,-1.37,-233.6,765.1,-10.3,170,5752,0.00,2.88,0.00,0.000,6,0.000,0.040,2171,2296,3764,0,0,0,0,0,0
$GC,6101,-1.37,-233.6,804.5,-11.2,176,6109,0.00,2.88,0.00,0.000,4,0.000,0.045,2171,889,3762,0,0,0,0,0,0
$GC,6188,-1.37,-233.6,814.2,-11.2,177,6197,0.00,2.85,0.00,0.000,6,0.000,0.040,2171,2289,3762,0,0,0,0,0,0
$GC,6525,-1.37,-233.6,852.3,-11.4,183,6533,0.00,2.88,0.00,0.000,4,0.000,0.045,2171,882,3760,0,0,0,0,0,0
$GC,6612,-1.37,-233.6,862.4,-11.1,184,6621,0.00,2.85,0.00,0.000,6,0.000,0.039,2171,2286,3759,0,0,0,0,0,0
$GC,6948,-1.37,-233.6,899.2,-10.9,190,6957,0.00,2.85,0.00,0.000,4,0.000,0.045,2171,881,3757,0,0,0,0,0,0
$GC,7031,-1.37,-233.6,907.5,-9.7,191,7039,0.00,2.88,0.00,0.000,6,0.000,0.039,2171,2296,3757,0,0,0,0,0,0
$GC,7372,-1.37,-233.6,942.4,-10.4,197,7381,0.00,2.88,0.00,0.000,4,0.000,0.044,2171,889,3756,0,0,0,0,0,0
$GC,7460,-1.37,-233.6,951.7,-10.6,198,7469,0.00,2.85,0.00,0.000,6,0.000,0.039,2171,2289,3756,0,0,0,0,0,0
$GC,7797,-1.37,-233.6,986.2,-10.3,204,7805,0.00,2.88,0.00,0.000,4,0.000,0.045,2171,884,3755,0,0,0,0,0,0
$STATE,7834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7834,begin apogee
$GC,7842,-0.33,0.0,990.3,10.1,204,8038,1.10,0.00,188.88,1.467,6,0.090,0.000,2400,2367,2841,0,0,0,0,0,0
$STATE,8039,end apogee,CONTROL_FINISHED_OK
$STATE,8039,begin climb
$GC,8041,1.37,233.6,997.9,0.0,207,8250,1.73,2.55,196.12,1.417,4,0.050,0.057,2777,3787,1888,0,0,0,0,0,0
$GC,8298,1.37,233.6,977.1,18.7,211,8306,0.00,2.30,0.00,0.000,6,0.000,0.028,2777,2372,1884,0,0,0,0,0,0
$GC,8655,1.37,233.6,917.9,16.4,217,8663,0.00,2.42,0.00,0.000,4,0.000,0.057,2777,3790,1881,0,0,1,0,0,0
$GC,8732,1.37,233.6,904.6,17.6,218,8739,0.00,2.30,0.00,0.000,6,0.000,0.029,2777,2368,1881,0,0,0,0,0,0
$GC,9083,1.37,233.6,848.3,15.8,224,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2364,1880,0,0,0,0,0,0
$GC,9385,1.37,233.6,800.2,16.0,229,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2364,1879,0,0,0,0,0,0
$GC,9687,1.37,233.6,751.0,16.4,234,9695,0.00,2.45,0.00,0.000,4,0.000,0.058,2777,3798,1878,0,0,0,0,0,0
$GC,9748,1.37,233.6,740.2,19.2,235,9755,0.00,2.33,0.00,0.000,6,0.000,0.028,2777,2360,1879,0,0,0,0,0,0
$GC,10110,1.37,233.6,680.6,16.3,241,10119,0.00,2.88,0.00,0.000,4,0.000,0.044,2777,959,1878,0,0,0,0,0,0
$GC,10128,1.37,233.6,677.5,16.4,241,10136,0.00,2.90,0.00,0.000,6,0.000,0.037,2777,2381,1878,0,0,0,0,0,0
$GC,10469,1.37,233.6,621.7,16.3,247,10479,0.00,2.90,0.00,0.000,4,0.000,0.042,2777,960,1878,0,0,0,0,0,0
$GC,10499,1.37,233.6,616.8,16.6,247,10507,0.00,2.88,0.00,0.000,6,0.000,0.036,2778,2369,1877,0,0,0,0,0,0
$GC,10830,1.37,233.6,564.1,15.9,253,10838,0.00,2.38,0.00,0.000,4,0.000,0.057,2777,3787,1877,0,0,0,0,0,0
$GC,10967,1.37,233.6,541.6,16.9,255,10975,0.00,2.28,0.00,0.000,6,0.000,0.028,2778,2360,1877,0,0,0,0,0,0
$GC,11323,1.37,233.6,486.9,15.0,261,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2356,1877,0,0,0,0,0,0
$GC,11625,1.37,233.6,445.6,13.4,266,11634,0.00,2.42,0.00,0.000,4,0.000,0.056,2777,3792,1877,0,0,0,0,0,0
$GC,11734,1.37,233.6,430.2,14.4,267,11743,0.00,2.28,0.00,0.000,6,0.000,0.027,2778,2364,1877,0,0,0,0,0,0
$GC,12049,1.37,233.6,389.7,12.8,273,12057,0.00,2.40,0.00,0.000,4,0.000,0.054,2777,3784,1877,0,0,0,0,0,0
$GC,12094,1.37,233.6,383.6,14.4,273,12102,0.00,2.28,0.00,0.000,6,0.000,0.027,2777,2358,1877,0,0,0,0,0,0
$GC,12408,1.37,233.6,342.8,13.0,279,12416,0.00,2.40,0.00,0.000,4,0.000,0.054,2778,3791,1877,0,0,1,0,0,0
$GC,12479,1.37,233.6,333.2,12.7,280,12487,0.00,2.28,0.00,0.000,6,0.000,0.026,2777,2361,1877,0,0,0,0,0,0
$GC,12806,1.38,236.7,295.0,11.7,286,12815,0.00,2.80,0.00,0.000,4,0.000,0.038,2777,964,1877,0,0,0,0,0,0
$GC,12824,1.38,236.7,292.5,12.5,286,12832,0.00,2.85,0.00,0.000,6,0.000,0.032,2777,2380,1877,0,0,0,0,0,0
$GC,13134,1.38,236.7,255.2,12.1,296,13142,0.00,2.85,0.00,0.000,4,0.000,0.037,2777,971,1878,0,0,0,0,0,0
$GC,13206,1.38,242.8,246.3,11.6,298,13223,0.00,2.83,7.07,0.796,6,0.000,0.031,2778,2376,1851,0,0,0,0,0,0
$GC,13531,1.42,272.9,209.7,10.8,309,13567,0.00,2.33,26.12,0.872,4,0.000,0.047,2778,3792,1727,0,0,0,0,0,0
$GC,13678,1.42,272.9,191.9,13.9,313,13686,0.00,2.28,0.00,0.000,6,0.000,0.023,2777,2361,1724,0,0,0,0,0,0
$GC,13994,1.43,288.1,154.4,11.3,324,14017,0.00,2.88,13.05,0.769,4,0.000,0.036,2778,976,1666,0,0,0,0,0,0
$GC,14134,1.45,300.3,138.2,11.4,328,14158,0.00,2.80,11.85,0.738,6,0.000,0.028,2778,2370,1616,0,0,0,0,0,0
$GC,14461,1.45,300.3,99.0,12.2,339,14465,0.00,2.80,0.00,0.000,4,0.000,0.031,2778,969,1615,0,0,0,0,0,0
$GC,14540,1.45,300.3,88.5,13.8,346,14544,0.00,2.80,0.00,0.000,6,0.000,0.026,2778,2372,1615,0,0,0,0,0,0
$GC,14737,1.45,300.3,64.1,11.8,365,14740,0.00,2.83,0.00,0.000,4,0.000,0.031,2778,965,1615,0,0,0,0,0,0
$GC,14768,1.45,300.3,60.4,12.0,368,14773,0.00,2.83,0.00,0.000,6,0.000,0.026,2778,2371,1616,0,0,0,0,0,0
$GC,14965,1.52,366.5,40.2,9.5,387,15027,0.15,2.85,54.20,0.679,4,0.057,0.028,2821,967,1344,0,0,0,0,0,0
$GC,15090,1.54,390.6,24.7,11.0,399,15115,0.00,2.83,20.02,0.632,6,0.000,0.024,2821,2379,1248,0,0,0,0,0,0
$STATE,15236,end climb,SURFACE_DEPTH_REACHED
$STATE,15236,begin surface coast
$FINISH,0.3,1.023627
$STATE,15252,end surface coast,CONTROL_FINISHED_OK
$STATE,15252,begin surface
$SM_CCo,15273,17.05,0.604,0,0,1128,420.20
$SM_GC,0.68,0.00,0.00,17.05,0.000,0.000,0.604,361,2254,1128,-9.75,-0.88,420.20
$IRIDIUM_FIX,1932.09,-15612.01,110911,000024
$TT8_MAMPS,0.133322
$HUMID,1078080635
$TCM_TEMP,24.10
$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,643/642
$PA_USBDRIVE,/mnt/usba
$24V_AH,23.5,8.450
$10V_AH,9.9,4.674
$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,24.425,195.775,517.325,17.050,0.000,111.295,157.419,355.258,0.000,0.000,18.367,0.000,12521.667,648.794,2852.398,260.710,33.336,1824.721,0.000,1439.168,0.000,0.544,0.000
$DEVICE_MAMPS,168.300,58.140,1467.270,603.585,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,288.356,0.000,0.000,0.000,0.000,0.000,16465.303,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,83.621,0.000,0.000,0.000
$MEM,353976
$DATA_FILE_SIZE,13452,426
$CAP_FILE_SIZE,140368,0
$CFSIZE,260034560,256090112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,180310,100537,1940.221,-15605.590,31,1.6,31,9.7