version: 66.07
glider: 22
mission: 14
dive: 7
start: 10 28 109 7 24 37
data:
$ID,22
$MISSION,14
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,270
$T_MISSION,300
$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,-244801.34
$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,2540
$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,4
$R_STBD_OVSHOOT,25
$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
$GPS1,281009,071806,1939.783,-15604.987,43,1.2,48,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.1
$GPS2,281009,072356,1939.904,-15605.051,13,1.5,13,9.7
$SPEED_LIMITS,0.122,0.347
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.115,-0.327
$KALMAN_X,-4677.1,294.3,-0.4,4398.2,-1898.9
$KALMAN_Y,14074.8,-1106.9,352.4,-13795.9,5414.9
$MHEAD_RNG_PITCHd_Wd,149.4,39457,-16.8,-12.222
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.32,-243.4,0.0,0.0,0,90,0.00,0.00,-72.72,0.000,2,0.000,0.000,372,2958,2628,0,0,0,0,0,0
$GC,92,-1.32,-243.4,3.1,-8.5,14,133,10.32,2.55,-22.38,0.000,4,0.170,0.054,2244,1504,3613,0,0,0,0,0,0
$GC,233,-1.32,-243.4,41.1,-24.8,33,240,0.00,2.58,0.00,0.000,6,0.000,0.048,2244,2958,3616,0,0,0,0,0,0
$GC,425,-1.32,-243.4,87.4,-22.8,52,429,0.00,1.80,0.00,0.000,4,0.000,0.063,2244,3956,3616,0,0,0,0,0,0
$GC,467,-1.32,-243.4,97.3,-23.4,56,471,0.00,1.77,0.00,0.000,6,0.000,0.038,2244,2883,3617,0,0,0,0,0,0
$GC,670,-1.32,-243.4,142.2,-22.2,64,675,0.00,2.33,0.00,0.000,4,0.000,0.042,2244,1508,3617,0,0,0,0,0,0
$GC,691,-1.32,-243.4,146.9,-22.6,64,695,0.00,2.55,0.00,0.000,6,0.000,0.048,2244,2955,3617,0,0,0,0,0,0
$GC,1005,-1.32,-243.4,211.1,-20.0,75,1009,0.00,1.80,0.00,0.000,4,0.000,0.064,2244,3952,3619,0,0,0,0,0,0
$GC,1032,-1.32,-243.4,216.1,-18.9,75,1037,0.00,1.77,0.00,0.000,6,0.000,0.038,2244,2878,3619,0,0,0,0,0,0
$GC,1341,-1.32,-243.4,271.4,-17.1,86,1344,0.00,1.95,0.00,0.000,4,0.000,0.065,2244,3946,3620,0,0,0,0,0,0
$GC,1366,-1.32,-243.4,275.7,-16.3,86,1372,0.00,1.77,0.00,0.000,6,0.000,0.039,2244,2879,3620,0,0,0,0,0,0
$GC,1674,-1.32,-243.4,322.3,-15.0,95,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2879,3620,0,0,0,0,0,0
$GC,1976,-1.32,-243.4,369.2,-15.6,100,1984,0.00,1.98,0.00,0.000,4,0.000,0.071,2244,3944,3620,0,0,0,0,0,0
$GC,2020,-1.32,-243.4,376.2,-16.2,100,2028,0.00,1.80,0.00,0.000,6,0.000,0.041,2244,2883,3621,0,0,0,0,0,0
$GC,2345,-1.32,-243.4,421.7,-13.7,106,2353,0.00,1.95,0.00,0.000,4,0.000,0.071,2245,3950,3619,0,0,0,0,0,0
$GC,2405,-1.32,-243.4,429.8,-13.0,106,2415,0.00,1.75,0.00,0.000,6,0.000,0.041,2244,2897,3619,0,0,0,0,0,0
$GC,2713,-1.32,-243.4,469.3,-12.8,112,2721,0.00,1.92,0.00,0.000,4,0.000,0.071,2244,3952,3617,0,0,0,0,0,0
$GC,2757,-1.32,-243.4,475.1,-13.1,112,2764,0.00,1.77,0.00,0.000,6,0.000,0.042,2244,2886,3617,0,0,0,0,0,0
$GC,3081,-1.32,-243.4,513.8,-11.7,118,3089,0.00,1.95,0.00,0.000,4,0.000,0.073,2244,3949,3615,0,0,0,0,0,0
$GC,3119,-1.32,-243.4,518.5,-12.3,118,3127,0.00,1.77,0.00,0.000,6,0.000,0.043,2244,2898,3614,0,0,0,0,0,0
$GC,3448,-1.32,-243.4,559.1,-12.6,124,3456,0.00,1.95,0.00,0.000,4,0.000,0.076,2244,3953,3610,0,0,0,0,0,0
$GC,3514,-1.32,-243.4,568.0,-13.0,125,3522,0.00,1.83,0.00,0.000,6,0.000,0.044,2243,2905,3609,0,0,0,0,0,0
$GC,3881,-1.32,-243.4,616.8,-13.4,131,3889,0.00,1.95,0.00,0.000,4,0.000,0.082,2244,3945,3606,0,0,0,0,0,0
$GC,3941,-1.32,-243.4,625.3,-13.7,131,3950,0.00,1.73,0.00,0.000,6,0.000,0.044,2244,2942,3606,0,0,0,0,0,0
$GC,4249,-1.32,-243.4,667.3,-13.7,137,4257,0.00,1.95,0.00,0.000,4,0.000,0.088,2244,3944,3604,0,0,0,0,0,0
$GC,4299,-1.32,-243.4,674.1,-14.2,137,4306,0.00,1.73,0.00,0.000,6,0.000,0.048,2244,2954,3603,0,0,0,0,0,0
$GC,4617,-1.32,-243.4,714.8,-12.7,143,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2953,3602,0,0,0,0,0,0
$GC,4920,-1.32,-243.4,753.0,-12.7,148,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2953,3599,0,0,0,0,0,0
$GC,5221,-1.32,-243.4,789.8,-12.2,153,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2953,3598,0,0,0,0,0,0
$GC,5523,-1.32,-243.4,826.2,-12.0,158,5533,0.00,2.17,0.00,0.000,4,0.000,0.160,2244,3940,3596,0,0,0,0,0,0
$GC,5617,-1.32,-243.4,838.0,-12.3,159,5625,0.00,1.95,0.00,0.000,6,0.000,0.109,2244,2962,3595,0,0,0,0,0,0
$GC,5953,-1.32,-243.4,877.1,-11.7,165,5962,0.00,2.22,0.00,0.000,4,0.000,0.173,2244,3940,3593,0,0,0,0,0,0
$GC,5981,-1.32,-243.4,880.8,-13.3,165,5989,0.00,2.10,0.00,0.000,6,0.000,0.137,2244,2947,3592,0,0,0,0,0,0
$GC,6311,-1.32,-243.4,920.6,-12.1,171,6320,0.00,2.42,0.00,0.000,4,0.000,0.206,2244,3937,3590,0,0,0,0,0,0
$GC,6356,-1.32,-243.4,926.2,-12.7,171,6363,0.00,2.28,0.00,0.000,6,0.000,0.173,2244,2945,3590,0,0,0,0,0,0
$GC,6670,-1.32,-243.4,962.1,-11.3,177,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2946,3589,0,0,0,0,0,0
$STATE,6969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6969,begin apogee
$GC,6974,-0.31,0.0,995.2,10.9,182,7197,1.10,0.00,215.15,1.309,6,0.113,0.000,2467,2842,2618,0,0,0,0,0,0
$STATE,7198,end apogee,CONTROL_FINISHED_OK
$STATE,7198,begin climb
$GC,7200,1.32,243.4,1003.5,0.0,185,7440,1.70,3.72,223.70,1.289,4,0.085,0.226,2824,1434,1624,0,0,0,0,0,0
$GC,7476,1.32,243.4,965.1,19.0,189,7487,0.00,3.47,0.00,0.000,6,0.000,0.199,2824,2839,1620,0,0,0,0,0,0
$GC,7809,1.32,243.4,896.6,20.6,195,7818,0.00,3.03,0.00,0.000,4,0.000,0.139,2824,1428,1614,0,0,0,0,0,0
$GC,7838,1.32,243.4,890.8,19.7,195,7846,0.00,3.12,0.00,0.000,6,0.000,0.144,2824,2861,1613,0,0,0,0,0,0
$GC,8168,1.32,243.4,822.3,20.8,201,8177,0.00,2.85,0.00,0.000,4,0.000,0.100,2824,1423,1611,0,0,0,0,0,0
$GC,8192,1.32,243.4,817.3,20.5,201,8200,0.00,2.85,0.00,0.000,6,0.000,0.098,2824,2861,1612,0,0,0,0,0,0
$GC,8527,1.32,243.4,748.9,20.4,207,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2861,1611,0,0,0,0,0,0
$GC,8829,1.32,243.4,691.4,18.9,212,8838,0.00,2.67,0.00,0.000,4,0.000,0.067,2824,1416,1611,0,0,0,0,0,0
$GC,8906,1.32,243.4,677.5,17.9,213,8914,0.00,2.65,0.00,0.000,6,0.000,0.061,2824,2863,1610,0,0,0,0,0,0
$GC,9257,1.32,243.4,608.4,20.0,219,9266,0.00,2.65,0.00,0.000,4,0.000,0.062,2824,1412,1610,0,0,0,0,0,0
$GC,9285,1.32,243.4,602.6,21.0,219,9294,0.00,2.60,0.00,0.000,6,0.000,0.055,2824,2861,1609,0,0,0,0,0,0
$GC,9621,1.32,243.4,539.4,18.7,225,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2861,1609,0,0,0,0,0,0
$GC,9923,1.32,243.4,486.7,17.3,230,9932,0.00,2.60,0.00,0.000,4,0.000,0.056,2824,1406,1609,0,0,0,0,0,0
$GC,9962,1.32,243.4,480.1,16.1,230,9970,0.00,2.60,0.00,0.000,6,0.000,0.051,2824,2866,1608,0,0,0,0,0,0
$GC,10282,1.32,243.4,426.5,16.8,236,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2867,1608,0,0,0,0,0,0
$GC,10583,1.32,243.4,373.9,17.4,241,10589,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2867,1608,0,0,0,0,0,0
$GC,10886,1.32,243.4,323.8,16.4,246,10893,0.00,1.95,0.00,0.000,4,0.000,0.067,2823,3956,1607,0,0,0,0,0,0
$GC,10929,1.32,243.4,316.1,17.8,246,10938,0.00,1.98,0.00,0.000,6,0.000,0.043,2824,2807,1607,0,0,0,0,0,0
$GC,11255,1.32,243.4,261.9,16.6,255,11259,0.00,2.40,0.00,0.000,4,0.000,0.051,2824,1446,1607,0,0,0,0,0,0
$GC,11340,1.32,243.4,249.2,14.3,257,11344,0.00,2.50,0.00,0.000,6,0.000,0.046,2824,2857,1608,0,0,0,0,0,0
$GC,11654,1.32,243.4,202.4,14.4,268,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2857,1607,0,0,0,0,0,0
$GC,11958,1.32,243.4,160.2,13.4,278,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2857,1607,0,0,0,0,0,0
$GC,12261,1.32,243.4,114.5,14.9,288,12265,0.00,2.47,0.00,0.000,4,0.000,0.044,2824,1437,1608,0,0,0,0,0,0
$GC,12314,1.32,243.4,106.6,13.6,289,12319,0.00,2.47,0.00,0.000,6,0.000,0.042,2825,2858,1608,0,0,0,0,0,0
$GC,12635,1.34,260.3,63.9,11.7,316,12655,0.00,2.00,13.18,0.594,4,0.000,0.058,2824,3954,1556,0,0,0,0,0,0
$GC,12729,1.34,260.3,51.0,13.5,325,12733,0.00,1.90,0.00,0.000,6,0.000,0.038,2824,2826,1555,0,0,0,0,0,0
$GC,12926,1.36,282.6,27.2,11.5,344,12951,0.00,2.35,21.00,0.569,4,0.000,0.045,2824,1463,1466,0,0,0,0,0,0
$GC,12994,1.43,348.1,20.0,10.0,350,13057,0.08,2.42,55.78,0.566,6,0.062,0.041,2850,2857,1198,0,0,0,0,0,0
$STATE,13118,end climb,SURFACE_DEPTH_REACHED
$STATE,13118,begin surface coast
$FINISH,-0.3,1.023010
$STATE,13140,end surface coast,CONTROL_FINISHED_OK
$STATE,13140,begin surface
$SM_CCo,13158,30.55,0.526,0,0,985,400.08
$SM_GC,0.68,0.00,0.00,30.55,0.000,0.000,0.526,372,2977,985,-9.97,0.79,400.08
$IRIDIUM_FIX,1934.38,-15606.90,220411,222220
$TT8_MAMPS,0.170274
$HUMID,1078694829
$TCM_TEMP,23.60
$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,18/181
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470777
$PA_LOG,3.7/297829/286859
$PA_DATA0,11.2/7836665/6956229
$PA_DATA1,0.1/7836665/7825417
$PA_USB,4.5/30829585/29451207
$24V_AH,23.4,3.936
$10V_AH,9.9,4.947
$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,24.125,117.800,528.800,30.550,0.000,24.348,30.474,172.016,0.000,0.000,13.477,0.000,10930.471,647.500,1525.773,430.285,33.323,1493.675,0.000,994.499,0.000,0.530,0.000
$DEVICE_MAMPS,169.507,250.809,1308.502,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,250.389,0.000,0.000,0.000,0.000,0.000,13698.160,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.462,0.000
$MEM,324328
$DATA_FILE_SIZE,12748,378
$CAP_FILE_SIZE,103973,0
$CFSIZE,260034560,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,345.5,1
$GPS,281009,110525,1937.744,-15604.371,38,1.6,38,9.7