version: 66.07
glider: 22
mission: 14
dive: 15
start: 10 29 109 20 12 55
data:
$ID,22
$MISSION,14
$DIVE,15
$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,-246029.12
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,291009,200804,1921.606,-15557.521,39,2.7,58,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-68.8
$GPS2,291009,201211,1921.642,-15557.513,14,2.0,29,9.7
$SPEED_LIMITS,0.079,0.270
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.072,-0.210
$KALMAN_X,-6407.2,378.2,276.7,18919.1,-912.4
$KALMAN_Y,20856.4,-237.9,-393.2,-54540.9,2263.1
$MHEAD_RNG_PITCHd_Wd,153.9,3170,-37.5,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-2.37,-24.8,0.0,0.0,0,89,0.00,0.00,-72.25,0.000,2,0.000,0.000,378,2967,2659,0,0,0,0,0,0
$GC,91,-2.37,-27.3,3.1,-7.3,14,108,8.88,1.62,-1.95,0.000,4,0.166,0.071,2007,3944,2728,0,0,0,0,0,0
$GC,267,-2.37,-27.3,57.9,-27.5,36,274,0.00,1.70,0.00,0.000,6,0.000,0.038,2007,2931,2730,0,0,0,0,0,0
$GC,459,-2.37,-27.3,100.7,-20.7,55,462,0.00,1.83,0.00,0.000,4,0.000,0.055,2007,3949,2730,0,0,0,0,0,0
$GC,511,-2.37,-27.3,112.0,-20.7,56,516,0.00,1.67,0.00,0.000,6,0.000,0.038,2007,2940,2731,0,0,0,0,0,0
$GC,825,-2.37,-27.3,169.3,-18.5,67,829,0.00,2.35,0.00,0.000,4,0.000,0.044,2007,1554,2732,0,0,0,0,0,0
$GC,975,-2.37,-27.3,194.1,-14.8,71,979,0.00,2.42,0.00,0.000,6,0.000,0.046,2007,2946,2733,0,0,0,0,0,0
$GC,1289,-2.37,-27.3,242.5,-15.6,82,1293,0.00,2.38,0.00,0.000,4,0.000,0.042,2007,1554,2733,0,0,0,0,0,0
$GC,1534,-2.37,-27.3,269.5,-10.5,89,1538,0.00,2.45,0.00,0.000,6,0.000,0.046,2007,2959,2733,0,0,0,0,0,0
$GC,1848,-2.37,-27.3,303.2,-11.0,100,1852,0.00,2.40,0.00,0.000,4,0.000,0.043,2007,1562,2733,0,0,0,0,0,0
$GC,2093,-2.37,-27.3,330.8,-10.9,103,2098,0.00,2.45,0.00,0.000,6,0.000,0.047,2007,2961,2732,0,0,0,0,0,0
$GC,2406,-2.37,-27.3,366.3,-11.3,109,2410,0.00,2.42,0.00,0.000,4,0.000,0.044,2007,1555,2731,0,0,0,0,0,0
$GC,2486,-2.37,-27.3,374.5,-10.3,110,2490,0.00,2.45,0.00,0.000,6,0.000,0.048,2007,2948,2730,0,0,0,0,0,0
$GC,2835,-2.37,-27.3,410.1,-9.8,116,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2948,2727,0,0,0,0,0,0
$GC,3137,-2.37,-27.3,438.6,-9.3,121,3142,0.00,1.80,0.00,0.000,4,0.000,0.063,2007,3953,2725,0,0,0,0,0,0
$GC,3153,-2.37,-27.3,440.0,-8.0,121,3157,0.00,1.70,0.00,0.000,6,0.000,0.043,2007,2962,2725,0,0,0,0,0,0
$GC,3502,-2.37,-27.3,470.2,-9.1,127,3506,0.00,1.80,0.00,0.000,4,0.000,0.063,2007,3949,2723,0,0,0,0,0,0
$GC,3587,-2.37,-27.3,478.1,-9.8,128,3591,0.00,1.73,0.00,0.000,6,0.000,0.043,2007,2947,2721,0,0,0,0,0,0
$GC,3934,-2.37,-27.3,511.3,-10.0,134,3941,0.00,1.80,0.00,0.000,4,0.000,0.064,2007,3955,2718,0,0,0,0,0,0
$GC,4096,-2.37,-27.3,527.9,-10.4,136,4105,0.00,1.70,0.00,0.000,6,0.000,0.044,2007,2947,2717,0,0,0,0,0,0
$GC,4432,-2.37,-27.3,559.3,-9.0,142,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2947,2715,0,0,0,0,0,0
$GC,4734,-2.37,-27.3,585.1,-8.4,147,4742,0.00,2.42,0.00,0.000,4,0.000,0.055,2007,1556,2713,0,0,0,0,0,0
$GC,4912,-2.37,-29.4,598.4,-7.4,149,4921,0.00,2.50,0.00,0.000,6,0.000,0.057,2007,2960,2712,0,0,0,0,0,0
$GC,5227,-2.37,-29.6,622.7,-7.8,155,5236,0.00,1.85,0.00,0.000,4,0.000,0.080,2007,3955,2710,0,0,0,0,0,0
$GC,5314,-2.38,-31.8,630.0,-7.4,156,5322,0.00,1.73,0.00,0.000,6,0.000,0.046,2007,2953,2708,0,0,0,0,0,0
$GC,5660,-2.38,-35.3,654.3,-7.1,162,5668,0.00,2.47,0.00,0.000,4,0.000,0.061,2007,1544,2708,0,0,0,0,0,0
$GC,5821,-2.38,-37.6,666.2,-7.4,164,5830,0.00,2.55,0.00,0.000,6,0.000,0.064,2007,2959,2706,0,0,0,0,0,0
$GC,6146,-2.38,-38.5,691.1,-7.7,170,6155,0.00,2.55,0.00,0.000,4,0.000,0.065,2007,1542,2705,0,0,0,0,0,0
$GC,6394,-2.39,-42.2,709.4,-7.1,173,6404,0.00,2.55,0.00,0.000,6,0.000,0.071,2007,2958,2704,0,0,0,0,0,0
$GC,6702,-2.39,-45.2,731.7,-7.2,179,6711,0.00,2.60,0.00,0.000,4,0.000,0.073,2007,1542,2703,0,0,0,0,0,0
$GC,6731,-2.39,-45.2,733.8,-8.2,179,6739,0.00,2.62,0.00,0.000,6,0.000,0.078,2007,2950,2703,0,0,0,0,0,0
$GC,7061,-2.40,-50.5,757.0,-6.7,185,7070,0.00,2.62,0.00,0.000,4,0.000,0.080,2007,1554,2702,0,0,0,0,0,0
$GC,7154,-2.40,-57.1,762.9,-6.5,186,7164,0.00,2.67,0.00,0.000,6,0.000,0.089,2007,2953,2701,0,0,0,0,0,0
$GC,7486,-2.42,-71.4,780.5,-4.8,192,7494,0.00,2.67,0.00,0.000,4,0.000,0.091,2007,1545,2701,0,0,0,0,0,0
$GC,7633,-2.44,-90.5,786.1,-3.8,194,7642,0.00,2.72,0.00,0.000,6,0.000,0.097,2007,2955,2700,0,0,0,0,0,0
$GC,7975,-2.46,-109.1,799.1,-3.9,200,7984,0.00,2.05,0.00,0.000,4,0.000,0.134,2007,3962,2698,0,0,0,0,0,0
$GC,8224,-2.48,-121.8,811.9,-5.2,203,8234,0.00,1.92,0.00,0.000,6,0.000,0.092,2008,2958,2698,0,0,0,0,0,0
$GC,8532,-2.49,-135.8,826.9,-4.9,209,8540,0.00,2.05,0.00,0.000,4,0.000,0.130,2007,3953,2697,0,0,0,0,0,0
$GC,8720,-2.50,-143.3,837.4,-6.3,211,8730,0.00,2.00,0.00,0.000,6,0.000,0.106,2007,2942,2697,0,0,0,0,0,0
$GC,9028,-2.51,-153.7,855.0,-5.7,217,9037,0.12,2.90,0.00,0.000,4,0.109,0.135,1980,1529,2695,0,0,0,0,0,0
$GC,9277,-2.52,-164.0,868.9,-5.7,220,9288,0.00,2.95,0.00,0.000,6,0.000,0.142,1980,2949,2694,0,0,0,0,0,0
$GC,9585,-2.54,-179.0,883.9,-4.7,226,9594,0.00,3.05,0.00,0.000,4,0.000,0.153,1980,1538,2694,0,0,0,0,0,0
$GC,9744,-2.55,-194.7,890.0,-3.9,228,9753,0.00,3.12,0.00,0.000,6,0.000,0.162,1980,2950,2694,0,0,0,0,0,0
$GC,10075,-2.55,-194.7,903.3,-4.1,234,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2951,2694,0,0,0,0,0,0
$GC,10376,-2.55,-194.7,914.7,-3.7,239,10386,0.00,3.28,0.00,0.000,4,0.000,0.179,1980,1529,2693,0,0,0,0,0,0
$GC,10626,-2.55,-194.7,925.4,-4.7,242,10636,0.00,3.28,0.00,0.000,6,0.000,0.186,1980,2956,2693,0,0,0,0,0,0
$GC,10934,-2.55,-194.7,938.5,-4.1,248,10943,0.00,2.50,0.00,0.000,4,0.000,0.226,1980,3962,2693,0,0,0,0,0,0
$GC,11033,-2.55,-194.7,942.8,-4.3,249,11041,0.00,2.42,0.00,0.000,6,0.000,0.191,1980,2949,2693,0,0,0,0,0,0
$GC,11358,-2.55,-194.7,957.3,-4.5,255,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2949,2693,0,0,0,0,0,0
$GC,11660,-2.55,-194.7,970.9,-4.5,260,11669,0.00,2.72,0.00,0.000,4,0.000,0.246,1980,3959,2692,0,0,0,0,0,0
$GC,11908,-2.55,-194.7,982.2,-4.2,263,11918,0.00,2.67,0.00,0.000,6,0.000,0.234,1980,2949,2692,0,0,0,0,0,0
$STATE,12154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12154,begin apogee
$GC,12159,-0.31,0.0,991.2,3.6,267,12186,2.53,0.00,18.42,1.256,6,0.143,0.000,2458,2795,2618,0,0,0,0,0,0
$STATE,12187,end apogee,CONTROL_FINISHED_OK
$STATE,12187,begin climb
$GC,12189,2.55,194.7,991.2,0.0,267,12389,2.92,3.53,185.15,1.286,4,0.078,0.205,3088,1379,1823,0,0,0,0,0,0
$GC,12415,2.55,194.7,935.5,38.7,270,12424,0.00,3.35,0.00,0.000,6,0.000,0.175,3087,2806,1818,0,0,0,0,0,0
$GC,12730,2.55,194.7,812.8,39.1,276,12739,0.00,2.80,0.00,0.000,4,0.000,0.094,3088,1377,1808,0,0,0,0,0,0
$GC,12839,2.55,194.7,772.0,36.2,277,12848,0.00,2.70,0.00,0.000,6,0.000,0.073,3087,2812,1806,0,0,0,0,0,0
$GC,13153,2.55,194.7,653.1,37.9,283,13163,0.00,2.62,0.00,0.000,4,0.000,0.058,3087,1367,1804,0,0,0,0,0,0
$GC,13231,2.55,194.7,624.5,37.5,284,13239,0.00,2.62,0.00,0.000,6,0.000,0.054,3087,2822,1803,0,0,0,0,0,0
$GC,13585,2.55,194.7,496.5,36.0,290,13589,0.00,2.62,0.00,0.000,4,0.000,0.054,3089,1353,1802,0,0,0,0,0,0
$GC,13616,2.55,194.7,484.9,35.6,290,13620,0.00,2.60,0.00,0.000,6,0.000,0.049,3088,2802,1801,0,0,0,0,0,0
$GC,13944,2.55,194.7,372.9,33.8,296,13948,0.00,2.58,0.00,0.000,4,0.000,0.049,3089,1363,1800,0,0,0,0,0,0
$GC,13960,2.55,194.7,367.4,34.6,296,13964,0.00,2.55,0.00,0.000,6,0.000,0.047,3087,2812,1800,0,0,0,0,0,0
$GC,14279,2.55,194.7,265.7,30.8,303,14280,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2812,1798,0,0,0,0,0,0
$GC,14583,2.55,194.7,180.6,28.1,313,14588,0.00,2.58,0.00,0.000,4,0.000,0.046,3088,1355,1798,0,0,0,0,0,0
$GC,14690,2.55,194.7,152.4,28.1,316,14694,0.00,2.55,0.00,0.000,6,0.000,0.042,3087,2811,1796,0,0,0,0,0,0
$GC,15007,2.55,194.7,70.2,21.9,334,15011,0.00,2.53,0.00,0.000,4,0.000,0.043,3087,1361,1795,0,0,0,0,0,0
$GC,15022,2.55,194.7,66.9,20.2,335,15028,0.00,2.50,0.00,0.000,6,0.000,0.041,3088,2800,1795,0,0,0,0,0,0
$GC,15214,2.55,194.7,31.9,15.1,354,15218,0.00,2.50,0.00,0.000,4,0.000,0.043,3087,1359,1795,0,0,0,0,0,0
$GC,15288,2.55,194.7,19.9,16.0,361,15294,0.00,2.50,0.00,0.000,6,0.000,0.040,3087,2807,1796,0,0,0,0,0,0
$GC,15357,2.55,194.7,8.0,18.1,374,15363,0.00,2.53,0.00,0.000,4,0.000,0.044,3088,1353,1796,0,0,0,0,0,0
$STATE,15381,end climb,SURFACE_DEPTH_REACHED
$STATE,15381,begin surface coast
$FINISH,0.5,1.022816
$STATE,15392,end surface coast,CONTROL_FINISHED_OK
$STATE,15392,begin surface
$SM_CCo,15414,114.90,0.578,0,0,986,400.08
$SM_GC,0.74,0.00,0.00,114.90,0.000,0.000,0.578,376,2946,986,-9.91,-0.14,400.08
$IRIDIUM_FIX,1913.80,-15600.40,240411,141409
$TT8_MAMPS,0.156468
$HUMID,1078750313
$TCM_TEMP,22.40
$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,0/165
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.8/483886/470206
$PA_LOG,3.6/297829/287003
$PA_DATA0,22.7/7836665/6060899
$PA_DATA1,0.1/7836665/7825417
$PA_USB,13.8/30829585/26587015
$24V_AH,23.4,5.256
$10V_AH,9.9,8.902
$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,26.500,157.025,203.575,114.900,0.000,0.000,0.000,0.000,0.000,0.000,29.645,0.000,12675.191,466.356,2257.971,196.811,33.320,1574.323,0.000,1666.798,0.000,0.531,0.000
$DEVICE_MAMPS,165.672,247.741,1286.259,578.318,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,255.843,0.000,0.000,0.000,0.000,0.000,15534.410,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,240.822,0.000
$MEM,324380
$DATA_FILE_SIZE,12734,381
$CAP_FILE_SIZE,143990,0
$CFSIZE,260034560,255672320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,143.8,1
$GPS,301009,003237,1920.276,-15556.999,31,1.7,31,9.7