version: 66.07
glider: 22
mission: 14
dive: 8
start: 10 28 109 11 12 6
data:
$ID,22
$MISSION,14
$DIVE,8
$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,-244833.06
$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,60
$R_STBD_OVSHOOT,39
$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
$GPS1,281009,110525,1937.744,-15604.371,38,1.6,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.5
$GPS2,281009,111125,1937.809,-15604.416,14,1.4,31,9.7
$SPEED_LIMITS,0.122,0.347
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.124,-0.324
$KALMAN_X,-6154.3,887.5,207.7,6176.3,-2760.2
$KALMAN_Y,18047.2,-3330.6,-223.8,-18827.3,7153.8
$MHEAD_RNG_PITCHd_Wd,148.8,35438,-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,-243.4,0.0,0.0,0,94,0.00,0.00,-77.12,0.000,2,0.000,0.000,371,2977,2748,0,0,0,0,0,0
$GC,97,-1.32,-243.4,3.6,-10.2,15,133,10.20,2.45,-18.48,0.000,4,0.164,0.054,2243,1567,3614,0,0,0,0,0,0
$GC,335,-1.32,-243.4,64.5,-22.3,42,341,0.00,2.42,0.00,0.000,6,0.000,0.049,2242,2936,3617,0,0,0,0,0,0
$GC,536,-1.32,-243.4,108.2,-22.7,60,541,0.00,1.83,0.00,0.000,4,0.000,0.062,2243,3955,3617,0,0,0,0,0,0
$GC,600,-1.32,-243.4,122.0,-21.7,62,604,0.00,1.70,0.00,0.000,6,0.000,0.038,2243,2922,3618,0,0,0,0,0,0
$GC,935,-1.32,-243.4,192.4,-21.4,73,939,0.00,2.28,0.00,0.000,4,0.000,0.041,2243,1575,3619,0,0,0,0,0,0
$GC,957,-1.32,-243.4,196.5,-19.9,73,960,0.00,2.42,0.00,0.000,6,0.000,0.048,2243,2950,3619,0,0,0,0,0,0
$GC,1271,-1.32,-243.4,255.6,-18.2,84,1274,0.00,1.80,0.00,0.000,4,0.000,0.066,2243,3947,3620,0,0,0,0,0,0
$GC,1313,-1.32,-243.4,262.9,-17.2,85,1317,0.00,1.65,0.00,0.000,6,0.000,0.039,2243,2948,3619,0,0,0,0,0,0
$GC,1639,-1.32,-243.4,314.1,-15.7,95,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2947,3621,0,0,0,0,0,0
$GC,1939,-1.32,-243.4,359.5,-15.0,100,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2948,3620,0,0,0,0,0,0
$GC,2240,-1.32,-243.4,402.9,-14.4,105,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2947,3619,0,0,0,0,0,0
$GC,2543,-1.32,-243.4,443.2,-13.2,110,2551,0.00,1.83,0.00,0.000,4,0.000,0.070,2243,3953,3617,0,0,0,0,0,0
$GC,2572,-1.32,-243.4,447.0,-14.1,110,2579,0.00,1.65,0.00,0.000,6,0.000,0.042,2243,2965,3617,0,0,0,0,0,0
$GC,2912,-1.32,-243.4,493.0,-13.8,116,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2960,3615,0,0,0,0,0,0
$GC,3213,-1.32,-243.4,533.8,-13.6,121,3221,0.00,1.83,0.00,0.000,4,0.000,0.074,2243,3956,3611,0,0,0,0,0,0
$GC,3246,-1.32,-243.4,538.6,-15.0,121,3253,0.00,1.70,0.00,0.000,6,0.000,0.042,2243,2947,3611,0,0,0,0,0,0
$GC,3581,-1.32,-243.4,583.6,-13.2,127,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2943,3608,0,0,0,0,0,0
$GC,3882,-1.32,-243.4,620.0,-12.1,132,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2943,3604,0,0,0,0,0,0
$GC,4185,-1.32,-243.4,657.3,-12.4,137,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2943,3603,0,0,0,0,0,0
$GC,4486,-1.32,-243.4,693.6,-12.0,142,4494,0.00,1.95,0.00,0.000,4,0.000,0.100,2243,3947,3602,0,0,0,0,0,0
$GC,4519,-1.32,-243.4,697.8,-12.3,142,4526,0.00,1.70,0.00,0.000,6,0.000,0.049,2243,2969,3601,0,0,0,0,0,0
$GC,4854,-1.32,-243.4,737.6,-11.9,148,4864,0.00,2.62,0.00,0.000,4,0.000,0.085,2243,1552,3598,0,0,0,0,0,0
$GC,4900,-1.32,-243.4,743.0,-10.8,148,4908,0.00,2.65,0.00,0.000,6,0.000,0.084,2243,2949,3598,0,0,0,0,0,0
$GC,5214,-1.32,-243.4,778.3,-11.4,154,5222,0.00,2.08,0.00,0.000,4,0.000,0.138,2243,3956,3597,0,0,0,0,0,0
$GC,5269,-1.32,-243.4,784.5,-11.4,154,5279,0.00,1.88,0.00,0.000,6,0.000,0.078,2243,2957,3596,0,0,0,0,0,0
$GC,5577,-1.32,-243.4,817.4,-10.6,160,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2957,3594,0,0,0,0,0,0
$GC,5880,-1.32,-243.4,849.4,-10.6,165,5888,0.00,2.20,0.00,0.000,4,0.000,0.156,2243,3957,3592,0,0,0,0,0,0
$GC,5913,-1.32,-243.4,853.2,-11.3,165,5921,0.00,2.05,0.00,0.000,6,0.000,0.117,2242,2956,3592,0,0,0,0,0,0
$GC,6237,-1.32,-243.4,886.2,-10.1,171,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2957,3590,0,0,0,0,0,0
$GC,6539,-1.32,-243.4,918.6,-10.9,176,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2956,3589,0,0,0,0,0,0
$GC,6842,-1.32,-243.4,950.8,-10.6,181,6850,0.00,2.60,0.00,0.000,4,0.000,0.231,2243,3955,3588,0,0,0,0,0,0
$GC,6914,-1.32,-243.4,958.8,-11.3,182,6921,0.00,2.47,0.00,0.000,6,0.000,0.202,2243,2944,3588,0,0,0,0,0,0
$STATE,7203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7203,begin apogee
$GC,7207,-0.31,0.0,990.7,11.1,187,7430,1.12,0.00,214.38,1.311,6,0.113,0.000,2469,2846,2618,0,0,0,0,0,0
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7432,1.32,243.4,999.9,0.0,190,7672,1.67,3.75,224.15,1.292,4,0.084,0.225,2822,1429,1623,0,0,0,0,0,0
$GC,7708,1.32,243.4,962.7,19.9,194,7718,0.00,3.50,0.00,0.000,6,0.000,0.199,2823,2845,1619,0,0,0,0,0,0
$GC,8040,1.32,243.4,895.6,20.4,200,8048,0.00,3.08,0.00,0.000,4,0.000,0.143,2822,1428,1612,0,0,0,0,0,0
$GC,8079,1.32,243.4,887.6,19.7,200,8088,0.00,3.08,0.00,0.000,6,0.000,0.140,2822,2857,1611,0,0,0,0,0,0
$GC,8399,1.32,243.4,823.8,20.0,206,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2857,1610,0,0,0,0,0,0
$GC,8700,1.32,243.4,763.8,20.0,211,8709,0.00,2.72,0.00,0.000,4,0.000,0.079,2822,1421,1610,0,0,0,0,0,0
$GC,8739,1.32,243.4,756.0,19.7,211,8749,0.00,2.72,0.00,0.000,6,0.000,0.071,2822,2868,1609,0,0,0,0,0,0
$GC,9060,1.32,243.4,691.4,20.2,217,9069,0.00,2.67,0.00,0.000,4,0.000,0.067,2822,1416,1609,0,0,0,0,0,0
$GC,9088,1.32,243.4,685.6,20.6,217,9097,0.00,2.65,0.00,0.000,6,0.000,0.060,2822,2863,1609,0,0,0,0,0,0
$GC,9419,1.32,243.4,619.3,20.2,223,9427,0.00,2.62,0.00,0.000,4,0.000,0.062,2822,1420,1607,0,0,0,0,0,0
$GC,9468,1.32,243.4,609.7,19.3,223,9477,0.00,2.60,0.00,0.000,6,0.000,0.055,2822,2866,1608,0,0,0,0,0,0
$GC,9776,1.32,243.4,551.4,18.7,228,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2866,1607,0,0,0,0,0,0
$GC,10079,1.32,243.4,496.5,18.1,233,10087,0.00,1.98,0.00,0.000,4,0.000,0.073,2822,3953,1607,0,0,0,0,0,0
$GC,10134,1.32,243.4,485.8,19.9,233,10141,0.00,1.98,0.00,0.000,6,0.000,0.043,2822,2811,1606,0,0,0,0,0,0
$GC,10448,1.32,243.4,430.3,17.7,239,10456,0.00,2.40,0.00,0.000,4,0.000,0.054,2822,1438,1606,0,0,0,0,0,0
$GC,10519,1.32,243.4,418.1,16.2,240,10527,0.00,2.50,0.00,0.000,6,0.000,0.048,2822,2857,1606,0,0,0,0,0,0
$GC,10871,1.32,243.4,357.6,17.3,246,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2857,1606,0,0,0,0,0,0
$GC,11173,1.32,243.4,306.1,17.2,251,11181,0.00,2.47,0.00,0.000,4,0.000,0.048,2822,1437,1606,0,0,0,0,0,0
$GC,11185,1.32,243.4,303.8,17.0,251,11193,0.00,2.50,0.00,0.000,6,0.000,0.046,2822,2866,1606,0,0,0,0,0,0
$GC,11503,1.32,243.4,252.2,16.0,261,11506,0.00,2.50,0.00,0.000,4,0.000,0.048,2822,1439,1606,0,0,0,0,0,0
$GC,11545,1.32,243.4,246.0,14.6,262,11549,0.00,2.47,0.00,0.000,6,0.000,0.045,2822,2863,1606,0,0,0,0,0,0
$GC,11864,1.32,243.4,197.9,15.3,273,11868,0.00,1.95,0.00,0.000,4,0.000,0.061,2822,3942,1605,0,0,0,0,0,0
$GC,11907,1.32,243.4,191.3,16.6,274,11910,0.00,1.90,0.00,0.000,6,0.000,0.039,2822,2832,1606,0,0,0,0,0,0
$GC,12231,1.32,243.4,145.2,14.2,285,12235,0.00,2.38,0.00,0.000,4,0.000,0.045,2822,1452,1606,0,0,0,0,0,0
$GC,12262,1.32,243.4,140.6,14.1,286,12267,0.00,2.45,0.00,0.000,6,0.000,0.042,2822,2854,1606,0,0,0,0,0,0
$GC,12578,1.32,243.4,97.2,13.9,297,12582,0.00,1.95,0.00,0.000,4,0.000,0.058,2822,3947,1608,0,0,0,0,0,0
$GC,12647,1.32,243.4,87.3,14.1,303,12653,0.00,1.85,0.00,0.000,6,0.000,0.038,2822,2844,1608,0,0,0,0,0,0
$GC,12839,1.35,270.4,62.8,11.3,322,12869,0.00,2.45,21.85,0.615,4,0.000,0.045,2822,1461,1514,0,0,0,0,0,0
$GC,13022,1.40,315.1,43.9,10.7,339,13069,0.00,2.45,39.58,0.594,6,0.000,0.042,2822,2864,1331,0,0,0,0,0,0
$GC,13255,1.41,323.6,17.2,11.9,364,13268,0.10,1.92,7.93,0.498,4,0.100,0.058,2848,3951,1297,0,0,0,0,0,0
$GC,13309,1.41,323.6,9.8,13.7,374,13315,0.00,1.88,0.00,0.000,6,0.000,0.038,2848,2854,1297,0,0,0,0,0,0
$STATE,13355,end climb,SURFACE_DEPTH_REACHED
$STATE,13355,begin surface coast
$FINISH,0.5,1.022979
$STATE,13371,end surface coast,CONTROL_FINISHED_OK
$STATE,13372,begin surface
$SM_CCo,13390,43.65,0.532,0,0,987,400.08
$SM_GC,0.42,0.00,0.00,43.65,0.000,0.000,0.532,377,2966,987,-9.95,0.45,400.08
$IRIDIUM_FIX,1932.09,-15604.81,230411,010151
$TT8_MAMPS,0.154934
$HUMID,1078634184
$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,35/198
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470735
$PA_LOG,3.7/297829/286849
$PA_DATA0,12.7/7836665/6838670
$PA_DATA1,0.1/7836665/7825417
$PA_USB,5.8/30829585/29032286
$24V_AH,23.4,4.128
$10V_AH,9.8,5.358
$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,23.975,115.600,507.875,43.650,0.000,29.037,25.948,163.225,0.000,0.000,31.098,0.000,11156.393,645.851,1564.592,420.172,33.319,1487.733,0.000,1001.596,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,237.003,1310.803,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,256.669,0.000,0.000,0.000,0.000,0.000,13868.271,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.462,0.000
$MEM,324324
$DATA_FILE_SIZE,12713,386
$CAP_FILE_SIZE,105541,0
$CFSIZE,260034560,256167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,325.1,1
$GPS,281009,145701,1935.609,-15603.733,40,1.5,40,9.7