version: 66.07
glider: 22
mission: 14
dive: 14
start: 10 29 109 14 16 13
data:
$ID,22
$MISSION,14
$DIVE,14
$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,420
$T_MISSION,450
$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,-245919.36
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,291009,141021,1924.457,-15559.196,39,3.5,58,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-69.4
$GPS2,291009,141532,1924.468,-15559.205,11,1.6,11,9.7
$SPEED_LIMITS,0.079,0.270
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.083,-0.223
$KALMAN_X,-5891.3,-337.7,-345.2,16773.6,1777.5
$KALMAN_Y,18229.6,727.7,707.5,-48706.4,-2688.5
$MHEAD_RNG_PITCHd_Wd,145.3,9128,-12.7,-7.857
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.00,-194.7,0.0,0.0,0,92,0.00,0.00,-76.00,0.000,2,0.000,0.000,373,2943,2727,0,0,0,0,0,0
$GC,95,-1.00,-194.7,3.6,-7.8,14,126,10.50,2.35,-15.38,0.000,4,0.163,0.058,2304,1536,3412,0,0,0,0,0,0
$GC,215,-1.00,-194.7,30.5,-17.8,32,222,0.00,2.50,0.00,0.000,6,0.000,0.048,2304,2948,3413,0,0,0,0,0,0
$GC,407,-1.00,-194.7,67.5,-20.7,51,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2948,3414,0,0,0,0,0,0
$GC,593,-1.00,-194.7,98.2,-16.5,69,597,0.00,2.42,0.00,0.000,4,0.000,0.042,2304,1535,3415,0,0,0,0,0,0
$GC,614,-1.00,-194.7,101.9,-17.8,70,618,0.00,2.50,0.00,0.000,6,0.000,0.046,2304,2961,3415,0,0,0,0,0,0
$GC,928,-1.00,-194.7,152.2,-15.3,81,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2961,3417,0,0,0,0,0,0
$GC,1231,-1.00,-194.7,195.0,-14.1,91,1235,0.00,2.45,0.00,0.000,4,0.000,0.041,2304,1529,3418,0,0,0,0,0,0
$GC,1306,-1.00,-194.7,204.3,-11.5,93,1310,0.00,2.50,0.00,0.000,6,0.000,0.045,2304,2962,3418,0,0,0,0,0,0
$GC,1631,-1.00,-194.7,247.0,-13.3,104,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2962,3418,0,0,0,0,0,0
$GC,1934,-1.00,-194.7,286.3,-13.3,114,1938,0.00,2.45,0.00,0.000,4,0.000,0.043,2304,1544,3419,0,0,0,0,0,0
$GC,1966,-1.00,-194.7,290.3,-12.5,115,1970,0.00,2.45,0.00,0.000,6,0.000,0.048,2304,2959,3419,0,0,0,0,0,0
$GC,2300,-1.00,-194.7,327.6,-11.0,122,2304,0.00,1.80,0.00,0.000,4,0.000,0.066,2304,3953,3419,0,0,0,0,0,0
$GC,2347,-1.00,-194.7,333.0,-11.5,122,2352,0.00,1.73,0.00,0.000,6,0.000,0.040,2304,2922,3418,0,0,0,0,0,0
$GC,2665,-1.00,-194.7,368.0,-11.1,128,2669,0.00,2.33,0.00,0.000,4,0.000,0.044,2304,1570,3417,0,0,0,0,0,0
$GC,2718,-1.00,-194.7,373.1,-9.8,128,2722,0.00,2.45,0.00,0.000,6,0.000,0.048,2304,2955,3417,0,0,0,0,0,0
$GC,3030,-1.00,-194.7,402.2,-9.2,134,3035,0.00,1.80,0.00,0.000,4,0.000,0.067,2304,3946,3415,0,0,0,0,0,0
$GC,3056,-1.00,-194.7,404.9,-10.0,134,3061,0.00,1.67,0.00,0.000,6,0.000,0.041,2304,2953,3415,0,0,0,0,0,0
$GC,3395,-1.00,-194.7,438.5,-10.0,140,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2953,3412,0,0,0,0,0,0
$GC,3697,-1.00,-194.7,467.6,-9.5,145,3701,0.00,1.83,0.00,0.000,4,0.000,0.067,2304,3945,3410,0,0,0,0,0,0
$GC,3755,-1.00,-194.7,473.0,-9.1,145,3762,0.00,1.70,0.00,0.000,6,0.000,0.041,2304,2945,3409,0,0,0,0,0,0
$GC,4062,-1.00,-194.7,499.0,-8.6,151,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2945,3407,0,0,0,0,0,0
$GC,4365,-1.00,-194.7,528.3,-9.7,156,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2945,3404,0,0,0,0,0,0
$GC,4666,-1.00,-194.7,554.9,-8.7,161,4674,0.00,1.85,0.00,0.000,4,0.000,0.072,2304,3957,3402,0,0,0,0,0,0
$GC,4699,-1.00,-194.7,557.8,-8.6,161,4706,0.00,1.67,0.00,0.000,6,0.000,0.043,2304,2955,3402,0,0,0,0,0,0
$GC,5034,-1.00,-194.7,581.9,-7.1,167,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2950,3400,0,0,0,0,0,0
$GC,5335,-1.00,-194.7,604.9,-7.6,172,5344,0.00,1.88,0.00,0.000,4,0.000,0.077,2304,3950,3398,0,0,0,0,0,0
$GC,5460,-1.00,-194.7,615.0,-8.0,173,5469,0.00,1.70,0.00,0.000,6,0.000,0.044,2304,2942,3398,0,0,0,0,0,0
$GC,5768,-1.00,-194.7,639.4,-8.1,179,5776,0.00,2.45,0.00,0.000,4,0.000,0.061,2304,1551,3396,0,0,0,0,0,0
$GC,5824,-1.00,-194.7,643.7,-7.8,179,5832,0.00,2.53,0.00,0.000,6,0.000,0.062,2304,2949,3396,0,0,0,0,0,0
$GC,6131,-1.00,-194.7,667.6,-7.9,184,6139,0.00,1.90,0.00,0.000,4,0.000,0.097,2304,3953,3393,0,0,0,0,0,0
$GC,6203,-1.00,-194.7,673.3,-7.7,185,6210,0.00,1.73,0.00,0.000,6,0.000,0.047,2304,2956,3393,0,0,0,0,0,0
$GC,6564,-1.00,-194.7,700.7,-7.7,191,6573,0.00,2.53,0.00,0.000,4,0.000,0.071,2304,1552,3391,0,0,0,0,0,0
$GC,6588,-1.00,-194.7,702.7,-8.7,191,6596,0.00,2.60,0.00,0.000,6,0.000,0.071,2304,2958,3392,0,0,0,0,0,0
$GC,6923,-1.00,-194.7,729.9,-8.1,197,6931,0.00,1.95,0.00,0.000,4,0.000,0.117,2304,3952,3391,0,0,0,0,0,0
$GC,6972,-1.00,-194.7,733.7,-8.1,197,6979,0.00,1.77,0.00,0.000,6,0.000,0.054,2304,2954,3391,0,0,0,0,0,0
$GC,7291,-1.00,-194.7,758.3,-7.7,203,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2954,3390,0,0,0,0,0,0
$GC,7592,-1.00,-194.7,783.9,-8.6,208,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2954,3389,0,0,0,0,0,0
$GC,7895,-1.00,-194.7,809.6,-8.5,213,7903,0.00,2.10,0.00,0.000,4,0.000,0.137,2304,3955,3388,0,0,0,0,0,0
$GC,7928,-1.00,-194.7,812.7,-9.9,213,7935,0.00,1.95,0.00,0.000,6,0.000,0.093,2304,2950,3388,0,0,0,0,0,0
$GC,8257,-1.00,-194.7,838.5,-7.6,219,8265,0.00,2.15,0.00,0.000,4,0.000,0.144,2304,3958,3386,0,0,0,0,0,0
$GC,8301,-1.00,-194.7,841.9,-8.0,219,8309,0.00,2.03,0.00,0.000,6,0.000,0.109,2304,2950,3386,0,0,0,0,0,0
$GC,8616,-1.00,-194.7,863.1,-6.7,225,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2950,3385,0,0,0,0,0,0
$GC,8917,-1.00,-194.7,881.7,-6.1,230,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2950,3384,0,0,0,0,0,0
$GC,9220,-1.00,-194.7,900.6,-6.2,235,9228,0.00,2.35,0.00,0.000,4,0.000,0.190,2304,3947,3383,0,0,0,0,0,0
$GC,9274,-1.00,-194.7,904.4,-7.1,235,9284,0.00,2.22,0.00,0.000,6,0.000,0.158,2304,2943,3382,0,0,0,0,0,0
$GC,9585,-1.00,-194.7,923.0,-5.9,241,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2942,3382,0,0,0,0,0,0
$GC,9885,-1.00,-194.7,937.4,-4.6,246,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2942,3382,0,0,0,0,0,0
$GC,10187,-1.00,-194.7,949.6,-4.0,251,10195,0.00,2.62,0.00,0.000,4,0.000,0.232,2304,3952,3381,0,0,0,0,0,0
$GC,10226,-1.00,-194.7,951.3,-4.3,251,10235,0.00,2.47,0.00,0.000,6,0.000,0.204,2304,2947,3380,0,0,0,0,0,0
$GC,10549,-1.00,-194.7,965.1,-4.4,257,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2947,3380,0,0,0,0,0,0
$GC,10848,-1.00,-194.7,983.6,-6.3,262,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2947,3379,0,0,0,0,0,0
$STATE,10967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10967,begin apogee
$GC,10971,-0.31,0.0,992.5,7.2,264,11152,0.77,0.00,170.65,1.309,6,0.107,0.000,2461,2790,2616,0,0,0,0,0,0
$STATE,11153,end apogee,CONTROL_FINISHED_OK
$STATE,11153,begin climb
$GC,11154,1.00,194.7,998.4,0.0,267,11346,1.35,0.00,182.60,1.296,6,0.085,0.000,2744,2790,1824,0,0,0,0,0,0
$GC,11638,1.00,194.7,941.5,14.2,275,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2790,1810,0,0,0,0,0,0
$GC,11939,1.00,194.7,900.2,13.6,280,11948,0.00,3.08,0.00,0.000,4,0.000,0.158,2744,1376,1809,0,0,0,0,0,0
$GC,11963,1.00,194.7,897.1,13.0,280,11972,0.00,3.12,0.00,0.000,6,0.000,0.150,2743,2797,1807,0,0,0,0,0,0
$GC,12299,1.00,194.7,851.9,13.5,286,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2798,1805,0,0,0,0,0,0
$GC,12601,1.00,194.7,811.7,13.3,291,12610,0.00,2.80,0.00,0.000,4,0.000,0.098,2744,1375,1805,0,0,0,0,0,0
$GC,12635,1.00,194.7,807.3,11.8,291,12643,0.00,2.78,0.00,0.000,6,0.000,0.087,2744,2809,1805,0,0,0,0,0,0
$GC,12960,1.00,194.7,765.1,13.2,297,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2809,1804,0,0,0,0,0,0
$GC,13262,1.00,194.7,722.3,14.2,302,13270,0.00,2.25,0.00,0.000,4,0.000,0.094,2744,3962,1803,0,0,0,0,0,0
$GC,13290,1.00,194.7,718.2,13.9,302,13298,0.00,2.15,0.00,0.000,6,0.000,0.048,2744,2776,1802,0,0,0,0,0,0
$GC,13631,1.00,194.7,673.2,13.3,308,13640,0.00,2.22,0.00,0.000,4,0.000,0.073,2744,3966,1802,0,0,0,0,0,0
$GC,13670,1.00,194.7,667.5,13.9,308,13678,0.00,2.08,0.00,0.000,6,0.000,0.045,2744,2783,1802,0,0,0,0,0,0
$GC,13990,1.00,194.7,624.7,13.3,314,13998,0.00,2.20,0.00,0.000,4,0.000,0.069,2744,3966,1802,0,0,0,0,0,0
$GC,14024,1.00,194.7,619.5,15.6,314,14032,0.00,2.05,0.00,0.000,6,0.000,0.044,2744,2791,1801,0,0,0,0,0,0
$GC,14349,1.00,194.7,574.4,13.8,320,14357,0.00,2.47,0.00,0.000,4,0.000,0.057,2744,1387,1801,0,0,0,0,0,0
$GC,14388,1.00,194.7,569.2,11.9,320,14396,0.00,2.55,0.00,0.000,6,0.000,0.050,2744,2831,1802,0,0,0,0,0,0
$GC,14708,1.00,194.7,528.2,12.8,326,14716,0.00,2.03,0.00,0.000,4,0.000,0.068,2744,3952,1802,0,0,0,0,0,0
$GC,14762,1.00,194.7,520.6,14.2,326,14770,0.00,2.00,0.00,0.000,6,0.000,0.044,2744,2793,1802,0,0,0,0,0,0
$GC,15076,1.00,194.7,480.8,12.5,332,15080,0.00,2.42,0.00,0.000,4,0.000,0.053,2744,1397,1802,0,0,0,0,0,0
$GC,15102,1.00,194.7,477.7,10.8,332,15106,0.00,2.50,0.00,0.000,6,0.000,0.048,2744,2803,1802,0,0,0,0,0,0
$GC,15435,1.00,194.7,441.8,10.7,338,15439,0.00,2.50,0.00,0.000,4,0.000,0.051,2744,1400,1802,0,0,0,0,0,0
$GC,15488,1.00,194.7,436.2,9.7,338,15493,0.00,2.50,0.00,0.000,6,0.000,0.047,2744,2808,1802,0,0,0,0,0,0
$GC,15801,1.00,194.7,402.0,11.4,344,15805,0.00,2.10,0.00,0.000,4,0.000,0.065,2744,3953,1801,0,0,0,0,0,0
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$STATE,20188,end climb,SURFACE_DEPTH_REACHED
$STATE,20188,begin surface coast
$FINISH,-0.1,0.999372
$STATE,20226,end surface coast,CONTROL_FINISHED_OK
$STATE,20226,begin surface
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$IRIDIUM_FIX,1918.37,-15559.47,240411,030320
$TT8_MAMPS,0.312936
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$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
$PA_ROOT,87.1/128908/16632
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$PA_DATA1,0.1/7836665/7825417
$PA_USB,87.1/128908/16632
$24V_AH,23.4,5.135
$10V_AH,9.9,8.214
$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
$DEVICE_SECS,23.250,170.050,479.175,34.975,0.000,24.889,27.946,151.800,0.000,0.000,11.363,0.000,17397.422,702.321,2012.887,467.722,33.328,1753.208,0.000,1344.364,0.000,0.531,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.820,0.000
$MEM,324292
$DATA_FILE_SIZE,19014,562
$CAP_FILE_SIZE,145888,0
$CFSIZE,260034560,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,126.2,1
$GPS,291009,195527,1921.502,-15557.528,35,3.1,54,9.7