version: 66.07
glider: 22
mission: 14
dive: 21
start: 10 30 109 15 40 24
data:
$ID,22
$MISSION,14
$DIVE,21
$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,-246825.94
$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,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,301009,153456,1910.519,-15557.271,30,2.0,30,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.5
$GPS2,301009,153944,1910.431,-15557.262,37,1.7,37,9.6
$SPEED_LIMITS,0.079,0.270
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15558.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.082,0.038
$KALMAN_X,-6867.3,6.8,-214.5,20674.8,768.5
$KALMAN_Y,21090.9,-1136.9,-561.5,-74433.2,-1789.2
$MHEAD_RNG_PITCHd_Wd,228.7,1517,-43.4,-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,-2.91,-18.9,0.0,0.0,0,85,0.00,0.00,-68.43,0.000,2,0.000,0.000,370,2921,2535,0,0,0,0,0,0
$GC,88,-2.92,-25.0,3.2,-6.1,13,109,8.02,2.38,-5.65,0.000,4,0.162,0.061,1878,1547,2722,0,0,0,0,0,0
$GC,348,-2.92,-25.0,87.0,-28.7,43,355,0.00,2.45,0.00,0.000,6,0.000,0.050,1879,2950,2722,0,0,0,0,0,0
$GC,557,-2.92,-25.0,131.4,-19.1,54,561,0.00,2.40,0.00,0.000,4,0.000,0.044,1879,1533,2723,0,0,0,0,0,0
$GC,802,-2.92,-25.0,176.1,-17.0,61,806,0.00,2.45,0.00,0.000,6,0.000,0.047,1879,2952,2722,0,0,0,0,0,0
$GC,1116,-2.92,-25.0,222.5,-13.5,72,1120,0.00,1.75,0.00,0.000,4,0.000,0.056,1878,3957,2722,0,0,0,0,0,0
$GC,1362,-2.92,-25.0,256.1,-13.7,79,1366,0.00,1.73,0.00,0.000,6,0.000,0.040,1878,2919,2722,0,0,0,0,0,0
$GC,1676,-2.92,-25.0,296.4,-12.4,90,1680,0.00,1.83,0.00,0.000,4,0.000,0.056,1879,3949,2722,0,0,0,0,0,0
$GC,1782,-2.92,-25.0,310.6,-13.4,92,1786,0.00,1.67,0.00,0.000,6,0.000,0.041,1879,2952,2721,0,0,0,0,0,0
$GC,2105,-2.92,-25.0,348.7,-11.5,98,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2951,2719,0,0,0,0,0,0
$GC,2407,-2.92,-25.0,383.6,-11.6,103,2411,0.00,2.38,0.00,0.000,4,0.000,0.045,1878,1551,2717,0,0,0,0,0,0
$GC,2653,-2.92,-25.0,412.2,-11.8,106,2657,0.00,2.42,0.00,0.000,6,0.000,0.048,1879,2962,2714,0,0,0,0,0,0
$GC,2965,-2.92,-25.0,446.9,-11.2,112,2969,0.00,1.75,0.00,0.000,4,0.000,0.061,1879,3953,2710,0,0,0,0,0,0
$GC,3001,-2.92,-25.0,451.3,-12.2,112,3006,0.00,1.70,0.00,0.000,6,0.000,0.042,1880,2949,2710,0,0,0,0,0,0
$GC,3330,-2.92,-25.0,482.6,-9.2,118,3334,0.00,1.80,0.00,0.000,4,0.000,0.060,1878,3952,2707,0,0,0,0,0,0
$GC,3410,-2.92,-25.0,490.0,-9.7,119,3414,0.00,1.73,0.00,0.000,6,0.000,0.043,1879,2945,2707,0,0,0,0,0,0
$GC,3759,-2.92,-25.0,521.9,-9.1,125,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2944,2705,0,0,0,0,0,0
$GC,4062,-2.92,-25.0,552.6,-10.2,130,4070,0.00,2.38,0.00,0.000,4,0.000,0.051,1879,1551,2702,0,0,0,0,0,0
$GC,4310,-2.92,-25.4,576.0,-7.8,133,4320,0.00,2.40,0.00,0.000,6,0.000,0.053,1879,2953,2700,0,0,0,0,0,0
$GC,4619,-2.92,-26.8,599.0,-7.4,139,4627,0.00,2.42,0.00,0.000,4,0.000,0.051,1879,1555,2698,0,0,0,0,0,0
$GC,4866,-2.93,-31.8,616.6,-6.5,142,4876,0.00,2.42,0.00,0.000,6,0.000,0.057,1879,2963,2696,0,0,0,0,0,0
$GC,5175,-2.93,-33.1,639.4,-7.5,148,5183,0.00,2.47,0.00,0.000,4,0.000,0.055,1879,1549,2693,0,0,0,0,0,0
$GC,5423,-2.93,-39.1,655.6,-6.2,151,5433,0.00,2.45,0.00,0.000,6,0.000,0.061,1879,2949,2692,0,0,0,0,0,0
$GC,5731,-2.93,-39.1,680.5,-8.4,157,5740,0.00,2.47,0.00,0.000,4,0.000,0.061,1879,1554,2689,0,0,0,0,0,0
$GC,5979,-2.93,-39.3,701.0,-7.8,160,5989,0.00,2.50,0.00,0.000,6,0.000,0.069,1879,2951,2688,0,0,0,0,0,0
$GC,6288,-2.93,-40.3,725.1,-7.6,166,6297,0.00,2.55,0.00,0.000,4,0.000,0.071,1879,1564,2687,0,0,0,0,0,0
$GC,6537,-2.94,-46.6,741.6,-6.1,169,6548,0.00,2.53,0.00,0.000,6,0.000,0.079,1879,2952,2687,0,0,0,0,0,0
$GC,6846,-2.95,-55.9,758.4,-5.3,175,6854,0.00,2.58,0.00,0.000,4,0.000,0.081,1879,1563,2684,0,0,0,0,0,0
$GC,7093,-2.97,-73.6,768.1,-2.9,178,7103,0.00,2.58,0.00,0.000,6,0.000,0.087,1879,2952,2683,0,0,0,0,0,0
$GC,7402,-2.99,-89.2,778.9,-3.5,184,7410,0.00,2.62,0.00,0.000,4,0.000,0.087,1879,1554,2683,0,0,0,0,0,0
$GC,7650,-3.00,-103.8,787.5,-3.8,187,7660,0.00,2.62,0.00,0.000,6,0.000,0.094,1879,2956,2682,0,0,0,0,0,0
$GC,7958,-3.02,-116.7,800.0,-4.3,193,7967,0.00,2.67,0.00,0.000,4,0.000,0.099,1879,1565,2681,0,0,0,0,0,0
$GC,8020,-3.03,-126.4,803.1,-5.2,194,8028,0.00,2.70,0.00,0.000,6,0.000,0.100,1878,2953,2680,0,0,0,0,0,0
$GC,8385,-3.04,-132.6,824.7,-6.1,200,8393,0.00,2.08,0.00,0.000,4,0.000,0.145,1879,3959,2679,0,0,0,0,0,0
$GC,8632,-3.04,-139.0,840.4,-6.1,203,8643,0.00,1.95,0.00,0.000,6,0.000,0.109,1879,2980,2679,0,0,0,0,0,0
$GC,8941,-3.05,-145.1,859.5,-6.2,209,8950,0.10,2.10,0.00,0.000,4,0.117,0.142,1858,3953,2678,0,0,0,0,0,0
$GC,9189,-3.05,-150.2,874.1,-6.4,212,9199,0.00,2.12,0.00,0.000,6,0.000,0.130,1857,2943,2678,0,0,0,0,0,0
$GC,9497,-3.07,-162.5,888.0,-4.4,218,9505,0.00,2.22,0.00,0.000,4,0.000,0.160,1858,3954,2677,0,0,0,0,0,0
$GC,9744,-3.09,-182.3,895.7,-2.3,221,9754,0.00,2.15,0.00,0.000,6,0.000,0.143,1858,2948,2677,0,0,0,0,0,0
$GC,10054,-3.10,-194.7,902.2,-2.0,227,10063,0.00,2.25,0.00,0.000,4,0.000,0.167,1858,3953,2676,0,0,0,0,0,0
$GC,10303,-3.10,-194.7,907.3,-2.2,230,10313,0.00,2.20,0.00,0.000,6,0.000,0.150,1858,2943,2675,0,0,0,0,0,0
$GC,10611,-3.10,-194.7,916.6,-3.2,236,10620,0.00,2.33,0.00,0.000,4,0.000,0.178,1858,3954,2675,0,0,0,0,0,0
$GC,10859,-3.10,-194.7,925.4,-3.7,239,10868,0.00,2.30,0.00,0.000,6,0.000,0.165,1858,2942,2675,0,0,0,0,0,0
$GC,11168,-3.10,-194.7,937.0,-3.9,244,11177,0.00,2.40,0.00,0.000,4,0.000,0.195,1858,3953,2674,0,0,0,0,0,0
$GC,11416,-3.10,-194.7,947.1,-4.3,247,11427,0.00,2.38,0.00,0.000,6,0.000,0.186,1858,2947,2673,0,0,0,0,0,0
$GC,11725,-3.10,-194.7,956.1,-2.8,253,11733,0.00,2.47,0.00,0.000,4,0.000,0.210,1858,3952,2673,0,0,0,0,0,0
$GC,11972,-3.10,-194.7,963.1,-3.2,256,11981,0.00,2.47,0.00,0.000,6,0.000,0.201,1857,2944,2672,0,0,0,0,0,0
$GC,12281,-3.10,-194.7,972.9,-3.2,261,12290,0.00,2.58,0.00,0.000,4,0.000,0.224,1858,3955,2672,0,0,0,0,0,0
$GC,12529,-3.10,-194.7,979.9,-2.2,264,12538,0.00,2.53,0.00,0.000,6,0.000,0.217,1858,2948,2672,0,0,0,0,0,0
$GC,12838,-3.10,-194.7,985.2,-1.6,270,12846,0.00,2.62,0.00,0.000,4,0.000,0.234,1858,3956,2671,0,0,0,0,0,0
$GC,13086,-3.10,-194.7,987.2,0.1,273,13096,0.00,2.53,0.00,0.000,6,0.000,0.224,1858,2949,2671,0,0,0,0,0,0
$STATE,13211,end dive,NO_VERTICAL_VELOCITY
$STATE,13211,begin apogee
$GC,13216,-0.33,0.0,987.5,0.0,276,13239,3.12,0.00,13.95,1.229,6,0.152,0.000,2442,2797,2618,0,0,0,0,0,0
$STATE,13239,end apogee,CONTROL_FINISHED_OK
$STATE,13240,begin climb
$GC,13241,3.10,194.7,987.5,0.0,276,13442,3.50,3.38,185.20,1.285,4,0.081,0.186,3194,1377,1823,0,0,0,0,0,0
$GC,13672,3.10,194.7,833.5,42.4,282,13682,0.00,2.83,0.00,0.000,6,0.000,0.107,3194,2803,1810,0,0,0,0,0,0
$GC,13981,3.10,194.7,697.7,44.0,288,13990,0.00,2.62,0.00,0.000,4,0.000,0.062,3194,1369,1805,0,0,0,0,0,0
$GC,13993,3.10,194.7,691.4,43.7,288,14001,0.00,2.62,0.00,0.000,6,0.000,0.057,3194,2825,1805,0,0,0,0,0,0
$GC,14345,3.10,194.7,539.1,43.7,294,14353,0.00,2.60,0.00,0.000,4,0.000,0.055,3194,1365,1802,0,0,0,0,0,0
$GC,14389,3.10,194.7,520.4,41.4,294,14398,0.00,2.55,0.00,0.000,6,0.000,0.048,3194,2818,1802,0,0,0,0,0,0
$GC,14704,3.10,194.7,396.6,39.2,300,14705,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2818,1801,0,0,0,0,0,0
$GC,15005,3.10,194.7,282.5,37.8,305,15009,0.00,2.03,0.00,0.000,4,0.000,0.058,3194,3946,1799,0,0,0,0,0,0
$GC,15015,3.10,194.7,278.7,37.1,305,15019,0.00,2.08,0.00,0.000,6,0.000,0.041,3194,2759,1799,0,0,0,0,0,0
$GC,15340,3.10,194.7,168.7,32.9,316,15344,0.00,2.17,0.00,0.000,4,0.000,0.055,3194,3953,1799,0,0,0,0,0,0
$GC,15495,3.10,194.7,119.2,32.7,320,15501,0.00,1.98,0.00,0.000,6,0.000,0.039,3194,2783,1797,0,0,0,0,0,0
$GC,15810,3.10,194.7,29.4,20.0,347,15813,0.00,2.05,0.00,0.000,4,0.000,0.054,3194,3950,1798,0,0,0,0,0,0
$STATE,15947,end climb,SURFACE_DEPTH_REACHED
$STATE,15947,begin surface coast
$FINISH,0.6,1.022638
$STATE,15962,end surface coast,CONTROL_FINISHED_OK
$STATE,15962,begin surface
$SM_CCo,15984,112.80,0.590,0,0,987,400.08
$SM_GC,1.21,0.00,0.00,112.80,0.000,0.000,0.590,372,2945,987,-9.88,-0.14,400.08
$IRIDIUM_FIX,1904.66,-15556.22,250411,090927
$TT8_MAMPS,0.132691
$HUMID,1078911603
$TCM_TEMP,21.90
$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,190/363
$PA_ROOT,87.1/128908/16631
$PA_HOME,3.0/483886/469602
$PA_LOG,3.6/297829/286985
$PA_DATA0,23.8/7836665/5973185
$PA_DATA1,0.6/7836665/7791576
$PA_USB,19.2/30829585/24911314
$24V_AH,23.4,6.067
$10V_AH,9.9,11.037
$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,27.350,139.525,199.150,112.800,0.000,0.000,0.000,0.000,0.000,0.000,37.700,0.000,12843.949,458.281,2661.111,204.355,33.317,1706.088,0.000,1997.909,0.000,0.533,0.000
$DEVICE_MAMPS,161.837,233.935,1285.492,589.823,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,247.796,0.000,0.000,0.000,0.000,0.000,16114.280,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,240.822,0.000
$MEM,324188
$DATA_FILE_SIZE,12798,370
$CAP_FILE_SIZE,149987,0
$CFSIZE,260034560,255373312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,178.2,1
$GPS,301009,200936,1909.601,-15557.578,34,1.6,34,9.6