version: 66.07
glider: 22
mission: 14
dive: 5
start: 10 28 109 1 33 25
data:
$ID,22
$MISSION,14
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,180
$T_MISSION,210
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52177
$NAV_MODE,2
$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,19.66667
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-244771.39
$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,2550
$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,2950
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2618
$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,-22.757658
$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
$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,100000.0
$GPS1,281009,012808,1942.078,-15605.881,12,1.5,12,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-68.6
$GPS2,281009,013246,1942.173,-15605.911,11,2.1,30,9.7
$SPEED_LIMITS,0.122,0.347
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.139,-0.318
$KALMAN_X,-2076.7,-635.6,-8.6,1239.8,-755.6
$KALMAN_Y,6403.6,2400.4,-28.8,-5057.3,1536.6
$MHEAD_RNG_PITCHd_Wd,148.7,4327,-16.8,-12.222
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.32,-243.4,0.0,0.0,0,96,0.00,0.00,-77.97,0.000,2,0.000,0.000,375,2966,2781,0,0,0,0,0,0
$GC,98,-1.32,-243.4,3.7,-9.2,15,135,10.12,1.80,-18.15,0.000,4,0.162,0.081,2257,3953,3613,0,0,0,0,0,0
$GC,262,-1.32,-243.4,48.9,-24.4,36,268,0.00,1.67,0.00,0.000,6,0.000,0.038,2257,2926,3615,0,0,0,0,0,0
$GC,453,-1.32,-243.4,89.2,-20.2,55,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2921,3615,0,0,0,0,0,0
$GC,636,-1.32,-243.4,125.8,-20.0,65,640,0.00,2.28,0.00,0.000,4,0.000,0.043,2257,1571,3616,0,0,0,0,0,0
$GC,668,-1.32,-243.4,132.1,-18.5,66,673,0.00,2.40,0.00,0.000,6,0.000,0.051,2257,2936,3615,0,0,0,0,0,0
$GC,1004,-1.32,-243.4,193.3,-17.1,77,1012,0.00,2.30,0.00,0.000,4,0.000,0.043,2257,1563,3616,0,0,0,0,0,0
$GC,1037,-1.32,-243.4,198.1,-13.7,78,1045,0.00,2.42,0.00,0.000,6,0.000,0.052,2257,2957,3616,0,0,0,0,0,0
$GC,1364,-1.32,-243.4,249.6,-16.4,89,1371,0.00,1.80,0.00,0.000,4,0.000,0.075,2257,3959,3616,0,0,0,0,0,0
$GC,1434,-1.32,-243.4,261.3,-16.7,91,1442,0.00,1.65,0.00,0.000,6,0.000,0.040,2257,2932,3616,0,0,0,0,0,0
$GC,1765,-1.32,-243.4,312.6,-14.9,101,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2928,3616,0,0,0,0,0,0
$GC,2067,-1.32,-243.4,353.5,-13.6,106,2075,0.00,1.90,0.00,0.000,4,0.000,0.071,2256,3955,3614,0,0,0,0,0,0
$GC,2111,-1.32,-243.4,359.9,-13.8,106,2119,0.00,1.67,0.00,0.000,6,0.000,0.041,2257,2957,3614,0,0,0,0,0,0
$GC,2436,-1.32,-243.4,401.6,-12.7,112,2444,0.00,1.83,0.00,0.000,4,0.000,0.071,2257,3959,3610,0,0,0,0,0,0
$GC,2480,-1.32,-243.4,407.3,-12.7,112,2487,0.00,1.67,0.00,0.000,6,0.000,0.041,2256,2946,3610,0,0,0,0,0,0
$GC,2804,-1.32,-243.4,445.6,-11.7,118,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2941,3606,0,0,0,0,0,0
$GC,3105,-1.32,-243.4,481.2,-11.8,123,3114,0.00,1.88,0.00,0.000,4,0.000,0.074,2257,3946,3604,0,0,0,0,0,0
$GC,3139,-1.32,-243.4,485.6,-13.7,123,3147,0.00,1.70,0.00,0.000,6,0.000,0.043,2258,2950,3603,0,0,0,0,0,0
$GC,3475,-1.32,-243.4,525.3,-11.8,129,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2947,3602,0,0,0,0,0,0
$GC,3777,-1.32,-243.4,561.8,-12.1,134,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2947,3597,0,0,0,0,0,0
$GC,4078,-1.32,-243.4,598.1,-11.9,139,4086,0.00,1.88,0.00,0.000,4,0.000,0.084,2256,3953,3594,0,0,0,0,0,0
$GC,4149,-1.32,-243.4,606.1,-11.2,140,4157,0.00,1.70,0.00,0.000,6,0.000,0.044,2257,2950,3593,0,0,0,0,0,0
$GC,4512,-1.32,-243.4,645.2,-10.7,146,4521,0.00,2.50,0.00,0.000,4,0.000,0.067,2256,1556,3591,0,0,0,0,0,0
$GC,4536,-1.32,-243.4,647.9,-11.0,146,4544,0.00,2.55,0.00,0.000,6,0.000,0.069,2257,2955,3591,0,0,0,0,0,0
$STATE,4688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4688,begin apogee
$GC,4693,-0.31,0.0,664.7,11.0,149,4906,1.08,0.00,205.25,1.073,6,0.107,0.000,2478,2841,2617,0,0,0,0,0,0
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4907,begin climb
$GC,4908,1.32,243.4,674.0,0.0,152,5136,1.67,2.55,213.23,1.030,4,0.080,0.063,2834,1453,1624,0,0,0,0,0,0
$GC,5172,1.32,243.4,641.7,19.0,156,5180,0.00,2.58,0.00,0.000,6,0.000,0.058,2834,2857,1620,0,0,0,0,0,0
$GC,5513,1.32,243.4,575.1,19.4,162,5521,0.00,2.03,0.00,0.000,4,0.000,0.074,2834,3954,1613,0,0,0,0,0,0
$GC,5546,1.32,243.4,568.1,21.3,162,5553,0.00,1.92,0.00,0.000,6,0.000,0.044,2834,2849,1613,0,0,0,0,0,0
$GC,5880,1.32,243.4,501.3,19.9,168,5889,0.00,2.45,0.00,0.000,4,0.000,0.054,2834,1450,1610,0,0,0,0,0,0
$GC,5909,1.32,243.4,495.8,19.7,168,5917,0.00,2.50,0.00,0.000,6,0.000,0.049,2834,2860,1610,0,0,0,0,0,0
$GC,6239,1.32,243.4,434.7,18.3,174,6246,0.00,1.98,0.00,0.000,4,0.000,0.066,2834,3959,1609,0,0,0,0,0,0
$GC,6304,1.32,243.4,422.1,20.0,175,6312,0.00,1.95,0.00,0.000,6,0.000,0.044,2835,2846,1608,0,0,0,0,0,0
$GC,6671,1.32,243.4,353.9,18.6,181,6680,0.00,2.40,0.00,0.000,4,0.000,0.051,2834,1455,1607,0,0,0,0,0,0
$GC,6694,1.32,243.4,349.8,17.9,181,6702,0.00,2.47,0.00,0.000,6,0.000,0.047,2836,2866,1607,0,0,0,0,0,0
$GC,7030,1.32,243.4,294.2,16.3,187,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2866,1605,0,0,0,0,0,0
$GC,7333,1.32,243.4,247.5,15.5,197,7341,0.00,1.92,0.00,0.000,4,0.000,0.061,2834,3956,1605,0,0,0,0,0,0
$GC,7382,1.32,243.4,239.5,16.0,198,7390,0.00,1.90,0.00,0.000,6,0.000,0.041,2834,2829,1605,0,0,0,0,0,0
$GC,7702,1.32,243.4,191.6,15.4,209,7710,0.00,2.03,0.00,0.000,4,0.000,0.060,2834,3956,1604,0,0,0,0,0,0
$GC,7746,1.32,243.4,184.5,17.0,210,7753,0.00,1.88,0.00,0.000,6,0.000,0.040,2834,2843,1604,0,0,0,0,0,0
$GC,8071,1.32,243.4,134.3,15.8,221,8076,0.00,2.03,0.00,0.000,4,0.000,0.058,2834,3951,1604,0,0,0,0,0,0
$GC,8125,1.32,243.4,125.6,16.2,222,8129,0.00,1.90,0.00,0.000,6,0.000,0.039,2834,2839,1603,0,0,0,0,0,0
$GC,8441,1.32,243.4,79.5,13.9,241,8445,0.00,2.38,0.00,0.000,4,0.000,0.047,2834,1459,1604,0,0,0,0,0,0
$GC,8526,1.32,243.4,67.1,14.1,249,8530,0.00,2.42,0.00,0.000,6,0.000,0.042,2834,2860,1605,0,0,0,0,0,0
$GC,8723,1.34,260.0,42.3,11.7,268,8739,0.00,1.92,12.15,0.565,4,0.000,0.056,2835,3956,1556,0,0,0,0,0,0
$GC,8802,1.36,277.9,33.1,11.6,275,8824,0.00,1.88,16.73,0.568,6,0.000,0.038,2834,2836,1484,0,0,0,0,0,0
$GC,9011,1.36,277.9,10.3,12.6,302,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2836,1482,0,0,0,0,0,0
$STATE,9073,end climb,SURFACE_DEPTH_REACHED
$STATE,9073,begin surface coast
$FINISH,-0.2,1.022945
$STATE,9099,end surface coast,CONTROL_FINISHED_OK
$STATE,9099,begin surface
$SM_CCo,9117,63.62,0.535,0,0,987,400.08
$SM_GC,0.46,0.00,0.00,63.62,0.000,0.000,0.535,377,2970,987,-10.00,0.57,400.08
$IRIDIUM_FIX,1934.38,-15604.81,220411,191956
$TT8_MAMPS,0.154934
$HUMID,1078751603
$TCM_TEMP,23.50
$XPDR_PINGS,0
$PA_PMVER,0.2
$PA_ROOTFSVER,rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009
$PA_DFQS,0/0
$PA_CMQS,105/227
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470874
$PA_LOG,3.7/297829/286837
$PA_DATA0,8.8/7836665/7145622
$PA_DATA1,0.1/7836665/7825417
$PA_USB,2.0/30829585/30212731
$24V_AH,23.6,3.570
$10V_AH,9.8,4.202
$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,23.625,79.100,447.350,63.625,0.000,0.000,0.000,0.000,0.000,0.000,31.570,0.000,7284.912,581.978,1261.160,117.057,33.351,1262.123,0.000,825.722,0.000,0.532,0.000
$DEVICE_MAMPS,161.837,84.370,1073.033,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,211.358,0.000,0.000,0.000,0.000,0.000,9251.200,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.102,0.000
$MEM,324724
$DATA_FILE_SIZE,9610,319
$CAP_FILE_SIZE,94298,0
$CFSIZE,260034560,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,339.6,1
$GPS,281009,040724,1941.139,-15605.494,37,1.2,37,9.7