version: 66.07
glider: 22
mission: 14
dive: 27
start: 10 31 109 23 17 9
data:
$ID,22
$MISSION,14
$DIVE,27
$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,-247024
$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,61
$R_STBD_OVSHOOT,46
$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
$GPS1,311009,225930,1919.281,-15556.812,71,1.8,71,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-66.2
$GPS2,311009,231624,1919.194,-15556.777,44,1.3,61,9.7
$SPEED_LIMITS,0.079,0.270
$TGT_NAME,K3
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.219,0.158
$KALMAN_X,8486.0,9.6,-21.5,5967.5,5770.9
$KALMAN_Y,5187.5,227.0,102.1,-44366.1,-4981.9
$MHEAD_RNG_PITCHd_Wd,335.7,1542,-34.5,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-2.33,-29.1,0.0,0.0,0,93,0.00,0.00,-75.12,0.000,2,0.000,0.000,373,2968,2715,0,0,0,0,0,0
$GC,95,-2.34,-34.6,3.1,-6.9,14,110,8.93,0.00,-1.20,0.000,6,0.166,0.000,2008,2968,2760,0,0,0,0,0,0
$GC,173,-2.34,-34.6,28.8,-34.0,27,174,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2968,2761,0,0,0,0,0,0
$GC,359,-2.34,-34.6,79.6,-20.8,45,363,0.00,2.42,0.00,0.000,4,0.000,0.043,2008,1554,2762,0,0,0,0,0,0
$GC,530,-2.34,-34.6,114.9,-19.4,56,534,0.00,2.38,0.00,0.000,6,0.000,0.045,2008,2944,2763,0,0,0,0,0,0
$GC,849,-2.34,-34.6,178.5,-18.6,67,853,0.00,2.38,0.00,0.000,4,0.000,0.041,2008,1550,2764,0,0,0,0,0,0
$GC,880,-2.34,-34.6,184.4,-17.8,68,884,0.00,2.45,0.00,0.000,6,0.000,0.044,2008,2958,2765,0,0,0,0,0,0
$GC,1216,-2.34,-34.6,237.2,-14.5,79,1220,0.00,1.75,0.00,0.000,4,0.000,0.057,2008,3953,2765,0,0,0,0,0,0
$GC,1301,-2.34,-34.6,249.2,-14.3,81,1305,0.00,1.67,0.00,0.000,6,0.000,0.039,2008,2938,2765,0,0,0,0,0,0
$GC,1616,-2.34,-34.6,284.6,-10.6,92,1619,0.00,1.80,0.00,0.000,4,0.000,0.056,2008,3946,2765,0,0,0,0,0,0
$GC,1646,-2.34,-34.6,288.0,-11.0,93,1651,0.00,1.65,0.00,0.000,6,0.000,0.040,2008,2960,2765,0,0,0,0,0,0
$GC,2011,-2.34,-34.6,333.2,-13.0,101,2015,0.00,2.40,0.00,0.000,4,0.000,0.044,2008,1553,2764,0,0,0,0,0,0
$GC,2240,-2.34,-34.6,362.0,-11.7,104,2244,0.00,2.45,0.00,0.000,6,0.000,0.047,2008,2948,2764,0,0,0,0,0,0
$GC,2568,-2.34,-34.6,399.4,-11.4,110,2572,0.00,2.40,0.00,0.000,4,0.000,0.044,2008,1559,2760,0,0,0,0,0,0
$GC,2814,-2.34,-34.6,429.1,-11.8,113,2818,0.00,2.45,0.00,0.000,6,0.000,0.048,2009,2949,2758,0,0,0,0,0,0
$GC,3126,-2.34,-34.6,466.9,-12.0,119,3131,0.00,2.40,0.00,0.000,4,0.000,0.046,2008,1567,2756,0,0,0,0,0,0
$GC,3372,-2.34,-34.6,493.9,-9.9,122,3376,0.00,2.45,0.00,0.000,6,0.000,0.051,2008,2947,2755,0,0,0,0,0,0
$GC,3684,-2.34,-34.6,527.7,-10.7,128,3692,0.00,2.40,0.00,0.000,4,0.000,0.049,2008,1560,2751,0,0,0,0,0,0
$GC,3931,-2.34,-34.6,552.6,-9.6,131,3941,0.00,2.40,0.00,0.000,6,0.000,0.052,2008,2964,2748,0,0,0,0,0,0
$GC,4239,-2.34,-34.6,581.6,-9.4,137,4250,0.00,2.42,0.00,0.000,4,0.000,0.050,2008,1569,2745,0,0,0,0,0,0
$GC,4319,-2.34,-34.6,588.6,-9.6,138,4327,0.00,2.45,0.00,0.000,6,0.000,0.054,2008,2958,2745,0,0,0,0,0,0
$GC,4666,-2.34,-34.6,621.8,-9.7,144,4675,0.00,2.42,0.00,0.000,4,0.000,0.053,2008,1574,2742,0,0,0,0,0,0
$GC,4706,-2.34,-34.6,626.2,-10.0,144,4714,0.00,2.45,0.00,0.000,6,0.000,0.058,2008,2952,2742,0,0,0,0,0,0
$GC,5025,-2.34,-34.6,656.9,-9.4,150,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2952,2739,0,0,0,0,0,0
$GC,5327,-2.34,-34.6,683.1,-8.7,155,5335,0.00,2.47,0.00,0.000,4,0.000,0.061,2008,1569,2738,0,0,0,0,0,0
$GC,5574,-2.34,-36.6,702.8,-7.5,158,5583,0.00,2.53,0.00,0.000,6,0.000,0.067,2008,2958,2737,0,0,0,0,0,0
$GC,5882,-2.34,-36.6,729.1,-8.5,163,5891,0.00,1.98,0.00,0.000,4,0.000,0.114,2008,3948,2736,0,0,0,0,0,0
$GC,5910,-2.34,-36.6,731.8,-10.4,163,5918,0.00,1.75,0.00,0.000,6,0.000,0.057,2008,2984,2736,0,0,0,0,0,0
$GC,6252,-2.34,-36.6,762.0,-8.8,169,6261,0.00,2.67,0.00,0.000,4,0.000,0.086,2008,1538,2733,0,0,0,0,0,0
$GC,6500,-2.34,-36.6,784.6,-8.7,172,6510,0.00,2.65,0.00,0.000,6,0.000,0.090,2008,2957,2732,0,0,0,0,0,0
$GC,6809,-2.34,-36.6,811.0,-8.6,178,6817,0.00,2.75,0.00,0.000,4,0.000,0.099,2008,1538,2731,0,0,0,0,0,0
$GC,7056,-2.34,-36.6,830.7,-7.9,181,7067,0.00,2.75,0.00,0.000,6,0.000,0.107,2008,2959,2730,0,0,0,0,0,0
$GC,7365,-2.35,-47.5,849.6,-5.9,187,7374,0.00,2.85,0.00,0.000,4,0.000,0.117,2008,1539,2728,0,0,0,0,0,0
$GC,7613,-2.38,-75.8,859.6,-2.8,190,7623,0.00,2.83,0.00,0.000,6,0.000,0.123,2008,2959,2728,0,0,0,0,0,0
$GC,7922,-2.41,-103.7,868.5,-2.8,196,7931,0.00,2.90,0.00,0.000,4,0.000,0.127,2008,1544,2727,0,0,0,0,0,0
$GC,7993,-2.44,-130.4,870.7,-3.1,197,8002,0.00,2.95,0.00,0.000,6,0.000,0.131,2008,2960,2727,0,0,0,0,0,0
$GC,8346,-2.46,-151.0,884.5,-4.1,203,8357,0.12,3.00,0.00,0.000,4,0.110,0.138,1981,1540,2726,0,0,0,0,0,0
$GC,8596,-2.48,-165.8,896.6,-5.2,206,8606,0.00,3.00,0.00,0.000,6,0.000,0.148,1981,2959,2726,0,0,0,0,0,0
$GC,8904,-2.49,-178.4,913.1,-5.6,212,8913,0.00,2.28,0.00,0.000,4,0.000,0.182,1981,3953,2725,0,0,0,0,0,0
$GC,9073,-2.49,-181.2,924.7,-7.4,214,9083,0.00,2.17,0.00,0.000,6,0.000,0.153,1981,2960,2725,0,0,0,0,0,0
$GC,9400,-2.50,-185.9,947.5,-7.0,220,9409,0.00,3.22,0.00,0.000,4,0.000,0.185,1981,1533,2724,0,0,0,0,0,0
$GC,9643,-2.50,-185.9,964.9,-8.2,223,9652,0.00,3.33,0.00,0.000,6,0.000,0.187,1981,2952,2723,0,0,0,0,0,0
$GC,9956,-2.51,-193.9,985.2,-6.4,228,9964,0.00,2.50,0.00,0.000,4,0.000,0.228,1981,3955,2723,0,0,0,0,0,0
$STATE,10026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10026,begin apogee
$GC,10033,-0.33,0.0,990.0,6.5,229,10066,2.38,0.00,24.95,1.277,6,0.140,0.000,2442,2800,2618,0,0,0,0,0,0
$STATE,10067,end apogee,CONTROL_FINISHED_OK
$STATE,10067,begin climb
$GC,10069,2.51,193.9,990.7,0.0,229,10270,2.90,3.35,183.77,1.283,4,0.079,0.179,3067,1387,1825,0,0,0,0,0,0
$GC,10343,2.51,193.9,919.9,35.5,234,10352,0.00,3.12,0.00,0.000,6,0.000,0.145,3067,2812,1817,0,0,0,0,0,0
$GC,10695,2.51,193.9,784.8,38.7,240,10704,0.00,2.72,0.00,0.000,4,0.000,0.078,3067,1378,1810,0,0,0,0,0,0
$GC,10746,2.51,193.9,765.5,38.3,240,10754,0.00,2.67,0.00,0.000,6,0.000,0.068,3066,2817,1808,0,0,0,0,0,0
$GC,11054,2.51,193.9,652.0,36.7,245,11063,0.00,2.65,0.00,0.000,4,0.000,0.060,3067,1367,1807,0,0,0,0,0,0
$GC,11126,2.51,193.9,626.6,35.7,246,11134,0.00,2.60,0.00,0.000,6,0.000,0.053,3067,2817,1806,0,0,0,0,0,0
$GC,11483,2.51,193.9,506.7,33.0,252,11491,0.00,2.60,0.00,0.000,4,0.000,0.052,3067,1355,1804,0,0,0,0,0,0
$GC,11511,2.51,193.9,497.5,31.1,252,11519,0.00,2.58,0.00,0.000,6,0.000,0.048,3067,2813,1804,0,0,0,0,0,0
$GC,11846,2.51,193.9,388.9,32.6,258,11850,0.00,2.60,0.00,0.000,4,0.000,0.048,3067,1359,1802,0,0,0,0,0,0
$GC,11921,2.51,193.9,365.4,29.6,259,11925,0.00,2.55,0.00,0.000,6,0.000,0.047,3067,2816,1802,0,0,0,0,0,0
$GC,12246,2.51,193.9,265.9,29.8,266,12250,0.00,2.58,0.00,0.000,4,0.000,0.047,3067,1367,1801,0,0,0,0,0,0
$GC,12386,2.51,193.9,229.2,23.6,270,12390,0.00,2.50,0.00,0.000,6,0.000,0.043,3067,2812,1801,0,0,0,0,0,0
$GC,12704,2.51,193.9,143.5,28.1,281,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2812,1800,0,0,0,0,0,0
$GC,13010,2.51,193.9,65.9,22.6,299,13014,0.00,2.53,0.00,0.000,4,0.000,0.042,3067,1360,1799,0,0,0,0,0,0
$GC,13256,2.51,193.9,22.8,16.5,322,13260,0.00,2.47,0.00,0.000,6,0.000,0.039,3070,2803,1799,0,0,0,0,0,0
$STATE,13382,end climb,SURFACE_DEPTH_REACHED
$STATE,13382,begin surface coast
$FINISH,0.2,1.022989
$STATE,13398,end surface coast,CONTROL_FINISHED_OK
$STATE,13398,begin surface
$SM_CCo,13417,111.12,0.563,0,0,986,400.08
$SM_GC,0.76,0.00,0.00,111.12,0.000,0.000,0.563,372,2961,986,-9.88,0.31,400.08
$IRIDIUM_FIX,1909.23,-15558.31,260411,121204
$TT8_MAMPS,0.167206
$HUMID,1078716764
$TCM_TEMP,22.70
$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,0/132
$PA_ROOT,87.1/128908/16631
$PA_HOME,3.5/483886/466750
$PA_LOG,3.7/297829/286950
$PA_DATA0,8.9/7836665/7143083
$PA_DATA1,0.6/7836665/7791576
$PA_USB,30.8/30829585/21321417
$24V_AH,23.4,7.028
$10V_AH,9.9,14.217
$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,26.175,136.850,208.725,111.125,0.000,120.060,234.979,259.503,0.000,0.000,62.977,0.000,11036.560,434.240,2206.583,856.063,33.334,1465.276,0.000,1580.932,0.000,0.531,0.000
$DEVICE_MAMPS,165.672,227.799,1283.191,562.978,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,232.621,0.000,0.000,0.000,0.000,0.000,14649.220,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,240.822,0.000
$MEM,324088
$DATA_FILE_SIZE,12734,347
$CAP_FILE_SIZE,125924,0
$CFSIZE,260034560,254853120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,196.1,1
$GPS,011109,030356,1919.915,-15557.081,38,2.6,57,9.7