version: 66.07
glider: 22
mission: 14
dive: 13
start: 10 29 109 9 42 11
data:
$ID,22
$MISSION,14
$DIVE,13
$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,330
$T_MISSION,360
$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,200
$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,-245907.38
$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,2530
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,35
$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
$GPS1,291009,093537,1926.818,-15600.310,28,1.7,28,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-68.4
$GPS2,291009,094132,1926.840,-15600.317,20,1.6,20,9.7
$SPEED_LIMITS,0.100,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.107,-0.274
$KALMAN_X,-6754.9,-393.0,661.3,14753.3,-1968.1
$KALMAN_Y,19754.4,492.5,-1415.6,-43497.9,5101.5
$MHEAD_RNG_PITCHd_Wd,145.7,13932,-15.9,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.21,-194.7,0.0,0.0,0,96,0.00,0.00,-76.80,0.000,2,0.000,0.000,373,2968,2753,0,0,0,0,0,0
$GC,98,-1.21,-194.7,3.6,-9.3,15,130,10.35,2.50,-14.70,0.000,4,0.164,0.061,2261,1531,3413,0,0,0,0,0,0
$GC,289,-1.21,-194.7,52.5,-21.6,39,294,0.00,2.47,0.00,0.000,6,0.000,0.048,2261,2937,3414,0,0,0,0,0,0
$GC,486,-1.21,-194.7,99.3,-20.3,58,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2937,3416,0,0,0,0,0,0
$GC,678,-1.21,-194.7,135.9,-19.0,65,682,0.00,2.40,0.00,0.000,4,0.000,0.042,2261,1537,3416,0,0,0,0,0,0
$GC,700,-1.21,-194.7,139.9,-19.0,65,704,0.00,2.45,0.00,0.000,6,0.000,0.047,2261,2958,3417,0,0,0,0,0,0
$GC,1014,-1.21,-194.7,199.2,-18.5,76,1017,0.00,1.77,0.00,0.000,4,0.000,0.061,2261,3950,3418,0,0,0,0,0,0
$GC,1066,-1.21,-194.7,208.1,-16.3,77,1070,0.00,1.70,0.00,0.000,6,0.000,0.038,2261,2918,3419,0,0,0,0,0,0
$GC,1380,-1.21,-194.7,256.0,-14.3,88,1384,0.00,2.28,0.00,0.000,4,0.000,0.043,2261,1574,3419,0,0,0,0,0,0
$GC,1412,-1.21,-194.7,260.5,-13.8,89,1417,0.00,2.42,0.00,0.000,6,0.000,0.047,2261,2959,3419,0,0,0,0,0,0
$GC,1777,-1.21,-194.7,310.6,-13.6,100,1781,0.00,2.40,0.00,0.000,4,0.000,0.044,2261,1572,3419,0,0,0,0,0,0
$GC,1820,-1.21,-194.7,315.8,-11.6,100,1824,0.00,2.40,0.00,0.000,6,0.000,0.049,2261,2959,3420,0,0,0,0,0,0
$GC,2143,-1.21,-194.7,356.6,-12.8,106,2147,0.00,1.80,0.00,0.000,4,0.000,0.067,2261,3953,3419,0,0,0,0,0,0
$GC,2206,-1.21,-194.7,365.2,-12.8,107,2211,0.00,1.67,0.00,0.000,6,0.000,0.041,2261,2960,3418,0,0,0,0,0,0
$GC,2572,-1.21,-194.7,408.8,-12.0,113,2576,0.00,2.40,0.00,0.000,4,0.000,0.046,2261,1570,3416,0,0,0,0,0,0
$GC,2603,-1.21,-194.7,412.1,-10.4,113,2608,0.00,2.45,0.00,0.000,6,0.000,0.050,2260,2951,3416,0,0,0,0,0,0
$GC,2937,-1.21,-194.7,452.1,-12.3,119,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2951,3413,0,0,0,0,0,0
$GC,3239,-1.21,-194.7,488.0,-11.8,124,3244,0.00,1.85,0.00,0.000,4,0.000,0.070,2261,3952,3411,0,0,0,0,0,0
$GC,3270,-1.21,-194.7,492.2,-13.6,124,3275,0.00,1.73,0.00,0.000,6,0.000,0.042,2261,2950,3411,0,0,0,0,0,0
$GC,3604,-1.21,-194.7,534.9,-12.9,130,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2946,3407,0,0,0,0,0,0
$GC,3906,-1.21,-194.7,571.3,-11.9,135,3910,0.00,1.88,0.00,0.000,4,0.000,0.073,2261,3949,3404,0,0,0,0,0,0
$GC,3981,-1.21,-194.7,580.6,-12.4,136,3985,0.00,1.73,0.00,0.000,6,0.000,0.043,2261,2955,3404,0,0,0,0,0,0
$GC,4335,-1.21,-194.7,622.8,-11.7,142,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2955,3402,0,0,0,0,0,0
$GC,4637,-1.21,-194.7,653.9,-10.2,147,4641,0.00,1.90,0.00,0.000,4,0.000,0.083,2260,3943,3399,0,0,0,0,0,0
$GC,4680,-1.21,-194.7,658.1,-9.5,147,4684,0.00,1.75,0.00,0.000,6,0.000,0.045,2261,2953,3399,0,0,0,0,0,0
$GC,5003,-1.21,-194.7,690.3,-10.0,153,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2953,3397,0,0,0,0,0,0
$GC,5304,-1.21,-194.7,723.2,-11.0,158,5309,0.00,1.95,0.00,0.000,4,0.000,0.093,2261,3943,3394,0,0,0,0,0,0
$GC,5379,-1.21,-194.7,731.4,-11.2,159,5383,0.00,1.80,0.00,0.000,6,0.000,0.054,2261,2957,3394,0,0,0,0,0,0
$GC,5734,-1.21,-194.7,771.1,-11.3,165,5738,0.00,2.72,0.00,0.000,4,0.000,0.098,2261,1523,3392,0,0,0,0,0,0
$GC,5776,-1.21,-194.7,775.7,-10.6,165,5780,0.00,2.78,0.00,0.000,6,0.000,0.091,2261,2945,3391,0,0,0,0,0,0
$GC,6099,-1.21,-194.7,807.5,-9.7,171,6103,0.00,2.12,0.00,0.000,4,0.000,0.140,2261,3956,3391,0,0,0,0,0,0
$GC,6184,-1.21,-194.7,815.9,-10.2,172,6188,0.00,1.98,0.00,0.000,6,0.000,0.094,2261,2962,3390,0,0,0,0,0,0
$GC,6528,-1.21,-194.7,846.0,-8.6,178,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2962,3390,0,0,0,0,0,0
$GC,6830,-1.21,-194.7,870.8,-8.2,183,6834,0.00,2.25,0.00,0.000,4,0.000,0.166,2261,3950,3388,0,0,0,0,0,0
$GC,6899,-1.21,-194.7,876.8,-8.8,184,6904,0.00,2.15,0.00,0.000,6,0.000,0.136,2261,2954,3388,0,0,0,0,0,0
$GC,7260,-1.21,-194.7,905.4,-7.8,190,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2954,3386,0,0,0,0,0,0
$GC,7561,-1.21,-194.7,931.3,-8.7,195,7565,0.00,2.50,0.00,0.000,4,0.000,0.214,2261,3956,3384,0,0,0,0,0,0
$GC,7593,-1.21,-194.7,934.2,-9.3,195,7597,0.00,2.45,0.00,0.000,6,0.000,0.188,2261,2943,3384,0,0,0,0,0,0
$GC,7927,-1.21,-194.7,962.8,-8.4,201,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2943,3384,0,0,0,0,0,0
$GC,8228,-1.21,-194.7,986.4,-7.9,206,8232,0.00,2.88,0.00,0.000,4,0.000,0.267,2261,3952,3383,0,0,0,0,0,0
$STATE,8269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8269,begin apogee
$GC,8276,-0.31,0.0,990.2,9.3,206,8450,0.95,0.00,171.05,1.303,6,0.112,0.000,2456,2795,2618,0,0,0,0,0,0
$STATE,8450,end apogee,CONTROL_FINISHED_OK
$STATE,8450,begin climb
$GC,8452,1.21,194.7,994.0,0.0,209,8644,1.60,3.92,181.40,1.291,4,0.088,0.249,2787,1380,1821,0,0,0,0,0,0
$GC,8696,1.21,194.7,963.5,18.3,213,8701,0.00,3.62,0.00,0.000,6,0.000,0.209,2787,2801,1815,0,0,0,0,0,0
$GC,9057,1.21,194.7,900.5,17.3,219,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2800,1808,0,0,0,0,0,0
$GC,9358,1.21,194.7,853.9,15.2,224,9363,0.00,2.97,0.00,0.000,4,0.000,0.120,2788,1377,1806,0,0,0,0,0,0
$GC,9401,1.21,194.7,847.8,14.3,224,9405,0.00,2.88,0.00,0.000,6,0.000,0.108,2787,2809,1806,0,0,0,0,0,0
$GC,9718,1.21,194.7,797.5,16.1,230,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2810,1805,0,0,0,0,0,0
$GC,10020,1.21,194.7,751.5,14.9,235,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2810,1804,0,0,0,0,0,0
$GC,10321,1.21,194.7,709.2,13.9,240,10326,0.00,2.70,0.00,0.000,4,0.000,0.069,2787,1374,1803,0,0,0,0,0,0
$GC,10358,1.21,194.7,704.5,12.4,240,10363,0.00,2.67,0.00,0.000,6,0.000,0.061,2788,2817,1803,0,0,0,0,0,0
$GC,10687,1.21,194.7,657.1,14.9,246,10691,0.00,2.17,0.00,0.000,4,0.000,0.088,2788,3947,1803,0,0,0,0,0,0
$GC,10718,1.21,194.7,651.8,17.1,246,10723,0.00,2.10,0.00,0.000,6,0.000,0.047,2787,2772,1801,0,0,0,0,0,0
$GC,11052,1.21,194.7,601.4,14.8,252,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2772,1802,0,0,0,0,0,0
$GC,11354,1.21,194.7,554.0,16.0,257,11358,0.00,2.22,0.00,0.000,4,0.000,0.068,2787,3959,1802,0,0,0,0,0,0
$GC,11423,1.21,194.7,542.4,16.1,258,11427,0.00,2.08,0.00,0.000,6,0.000,0.044,2787,2784,1800,0,0,0,0,0,0
$GC,11783,1.21,194.7,493.2,13.1,264,11787,0.00,2.20,0.00,0.000,4,0.000,0.067,2787,3959,1800,0,0,0,0,0,0
$GC,11815,1.21,194.7,488.7,14.4,264,11819,0.00,2.05,0.00,0.000,6,0.000,0.044,2787,2798,1799,0,0,0,0,0,0
$GC,12148,1.21,194.7,439.4,14.9,270,12152,0.00,2.50,0.00,0.000,4,0.000,0.055,2788,1391,1799,0,0,0,0,0,0
$GC,12196,1.21,194.7,432.6,13.6,270,12200,0.00,2.53,0.00,0.000,6,0.000,0.048,2787,2815,1799,0,0,0,0,0,0
$GC,12514,1.21,194.7,388.1,14.0,276,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2815,1799,0,0,0,0,0,0
$GC,12815,1.21,194.7,347.4,13.2,281,12820,0.00,2.53,0.00,0.000,4,0.000,0.049,2788,1391,1799,0,0,0,0,0,0
$GC,12836,1.21,194.7,344.6,13.0,281,12841,0.00,2.50,0.00,0.000,6,0.000,0.046,2788,2808,1799,0,0,0,0,0,0
$GC,13181,1.21,194.7,298.1,13.4,287,13185,0.00,2.08,0.00,0.000,4,0.000,0.064,2788,3946,1799,0,0,0,0,0,0
$GC,13256,1.21,194.7,289.3,11.8,289,13259,0.00,2.00,0.00,0.000,6,0.000,0.041,2787,2789,1798,0,0,0,0,0,0
$GC,13580,1.21,194.7,254.5,10.8,300,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2784,1799,0,0,0,0,0,0
$GC,13883,1.22,209.0,223.9,9.5,310,13898,0.00,2.15,9.88,0.725,4,0.000,0.060,2788,3946,1765,0,0,0,0,0,0
$GC,13936,1.22,209.0,218.2,11.1,311,13940,0.00,2.00,0.00,0.000,6,0.000,0.039,2788,2789,1765,0,0,0,0,0,0
$GC,14250,1.22,209.8,185.8,10.0,322,14251,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2784,1764,0,0,0,0,0,0
$GC,14554,1.22,209.8,153.8,11.3,332,14557,0.00,2.35,0.00,0.000,4,0.000,0.046,2787,1394,1764,0,0,0,0,0,0
$GC,14585,1.22,209.8,149.9,12.3,333,14590,0.00,2.45,0.00,0.000,6,0.000,0.042,2788,2805,1764,0,0,0,0,0,0
$GC,14915,1.22,209.8,112.6,10.6,344,14919,0.00,2.38,0.00,0.000,4,0.000,0.044,2788,1404,1765,0,0,0,0,0,0
$GC,15022,1.22,209.8,101.5,10.1,347,15026,0.00,2.38,0.00,0.000,6,0.000,0.041,2788,2808,1766,0,0,0,0,0,0
$GC,15343,1.23,213.9,68.8,9.9,377,15354,0.00,2.35,6.68,0.517,4,0.000,0.042,2788,1401,1745,0,0,0,0,0,0
$GC,15379,1.24,226.4,65.3,9.6,380,15396,0.00,2.42,12.32,0.564,6,0.000,0.041,2788,2808,1693,0,0,0,0,0,0
$GC,15583,1.28,265.7,47.5,8.7,400,15624,0.00,2.40,34.88,0.570,4,0.000,0.044,2788,1399,1533,0,0,0,0,0,0
$GC,15644,1.37,347.1,42.6,7.2,406,15718,0.12,2.45,68.18,0.561,6,0.057,0.041,2833,2806,1203,0,0,0,0,0,0
$GC,15904,1.37,347.1,8.2,15.2,438,15909,0.00,2.05,0.00,0.000,4,0.000,0.059,2833,3945,1197,0,0,0,0,0,0
$STATE,15939,end climb,SURFACE_DEPTH_REACHED
$STATE,15939,begin surface coast
$FINISH,0.1,1.023100
$STATE,15961,end surface coast,CONTROL_FINISHED_OK
$STATE,15961,begin surface
$SM_CCo,15980,30.15,0.499,0,0,987,400.08
$SM_GC,0.79,0.00,0.00,30.15,0.000,0.000,0.499,373,2942,987,-9.92,-0.23,400.08
$IRIDIUM_FIX,1922.94,-15601.55,230411,232317
$TT8_MAMPS,0.134992
$HUMID,1078569668
$TCM_TEMP,23.90
$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,0/0
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.8/483886/470520
$PA_LOG,3.7/297829/286859
$PA_DATA0,0.1/7836665/7825364
$PA_DATA1,0.1/7836665/7825417
$PA_USB,13.7/30829585/26598862
$24V_AH,23.4,4.966
$10V_AH,9.9,7.698
$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,23.825,143.575,484.375,30.150,0.000,24.936,29.564,168.448,0.000,0.000,20.609,0.000,13661.191,625.204,1616.380,451.172,33.327,1400.698,0.000,1258.780,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,266.916,1303.133,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,299.514,0.000,0.000,0.000,0.000,0.000,16466.711,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.820,0.000
$MEM,324312
$DATA_FILE_SIZE,15904,449
$CAP_FILE_SIZE,123055,0
$CFSIZE,260034560,255819776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010, 87.0,1
$GPS,291009,141021,1924.457,-15559.196,39,3.5,58,9.7