version: 66.07
glider: 22
mission: 14
dive: 71
start: 11 10 109 2 53 34
data:
$ID,22
$MISSION,14
$DIVE,71
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,-249603
$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,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,2900
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,40
$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
$GPS1,101109,024137,1922.287,-15557.636,41,1.4,41,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-65.2
$GPS2,101109,025252,1922.428,-15557.683,14,2.3,33,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.235,-0.176
$KALMAN_X,-65967.6,-398.1,-180.6,97741.1,-4149.9
$KALMAN_Y,48061.2,-166.1,-1205.8,-109512.3,1571.2
$MHEAD_RNG_PITCHd_Wd,155.4,4653,-18.4,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-148.2,0.0,0.0,0,122,0.00,0.00,-103.88,0.000,2,0.000,0.000,373,2921,2689,0,0,0,0,0,0
$GC,126,-1.23,-194.6,3.3,-7.1,20,158,9.90,1.80,-17.15,0.000,4,0.160,0.072,2220,3943,3413,0,0,0,0,0,0
$GC,397,-1.23,-194.6,75.4,-23.6,51,404,0.00,1.77,0.00,0.000,6,0.000,0.037,2221,2850,3413,0,0,0,0,0,0
$GC,587,-1.23,-194.6,112.6,-19.5,66,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2850,3414,0,0,0,0,0,0
$GC,891,-1.23,-194.6,166.6,-17.4,76,896,0.00,1.95,0.00,0.000,4,0.000,0.054,2221,3942,3415,0,0,0,0,0,0
$GC,928,-1.23,-194.6,173.7,-19.4,77,932,0.00,1.70,0.00,0.000,6,0.000,0.037,2221,2902,3415,0,0,0,0,0,0
$GC,1258,-1.23,-194.6,232.9,-17.4,88,1263,0.00,1.88,0.00,0.000,4,0.000,0.055,2221,3936,3416,0,0,0,0,0,0
$GC,1359,-1.23,-194.6,250.9,-17.0,91,1363,0.00,1.70,0.00,0.000,6,0.000,0.038,2221,2898,3416,0,0,0,0,0,0
$GC,1689,-1.23,-194.6,302.3,-14.9,102,1694,0.00,2.33,0.00,0.000,4,0.000,0.043,2221,1528,3416,0,0,0,0,0,0
$GC,1774,-1.23,-194.6,314.5,-13.9,103,1778,0.00,2.38,0.00,0.000,6,0.000,0.045,2220,2887,3416,0,0,0,0,0,0
$GC,2119,-1.23,-194.6,364.5,-14.4,109,2122,0.00,1.90,0.00,0.000,4,0.000,0.060,2221,3946,3415,0,0,0,0,0,0
$GC,2214,-1.23,-194.6,378.3,-13.5,110,2218,0.00,1.73,0.00,0.000,6,0.000,0.040,2221,2917,3414,0,0,0,0,0,0
$GC,2548,-1.23,-194.6,423.3,-13.3,116,2552,0.00,2.40,0.00,0.000,4,0.000,0.046,2221,1522,3412,0,0,0,0,0,0
$GC,2633,-1.23,-194.6,434.4,-13.1,117,2637,0.00,2.45,0.00,0.000,6,0.000,0.048,2221,2905,3411,0,0,0,0,0,0
$GC,2977,-1.23,-194.6,484.2,-14.6,123,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2905,3408,0,0,0,0,0,0
$GC,3279,-1.23,-194.6,525.1,-13.3,128,3288,0.00,1.88,0.00,0.000,4,0.000,0.064,2220,3945,3404,0,0,0,0,0,0
$GC,3351,-1.23,-194.6,534.6,-11.9,129,3358,0.00,1.75,0.00,0.000,6,0.000,0.042,2221,2894,3403,0,0,0,0,0,0
$GC,3712,-1.23,-194.6,580.6,-12.8,135,3720,0.00,1.92,0.00,0.000,4,0.000,0.064,2221,3945,3399,0,0,0,0,0,0
$GC,3746,-1.23,-194.6,585.3,-14.2,135,3754,0.00,1.80,0.00,0.000,6,0.000,0.043,2221,2894,3399,0,0,0,0,0,0
$GC,4081,-1.23,-194.6,628.5,-12.9,141,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2894,3397,0,0,0,0,0,0
$GC,4383,-1.23,-194.6,664.9,-11.9,146,4391,0.00,1.95,0.00,0.000,4,0.000,0.073,2221,3955,3394,0,0,0,0,0,0
$GC,4432,-1.23,-194.6,670.9,-12.1,146,4441,0.00,1.80,0.00,0.000,6,0.000,0.044,2221,2903,3394,0,0,0,0,0,0
$GC,4752,-1.23,-194.6,709.3,-12.0,152,4761,0.00,1.95,0.00,0.000,4,0.000,0.080,2221,3947,3392,0,0,0,0,0,0
$GC,4797,-1.23,-194.6,715.1,-13.2,152,4804,0.00,1.83,0.00,0.000,6,0.000,0.048,2220,2900,3392,0,0,0,0,0,0
$GC,5121,-1.23,-194.6,755.6,-12.5,158,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2900,3389,0,0,0,0,0,0
$GC,5422,-1.23,-194.6,793.8,-12.7,163,5431,0.00,2.05,0.00,0.000,4,0.000,0.101,2221,3950,3387,0,0,0,0,0,0
$GC,5477,-1.23,-194.6,800.9,-12.3,163,5487,0.00,1.92,0.00,0.000,6,0.000,0.071,2221,2909,3386,0,0,0,0,0,0
$GC,5787,-1.23,-194.6,836.5,-11.3,169,5795,0.00,2.10,0.00,0.000,4,0.000,0.117,2221,3948,3384,0,0,0,0,0,0
$GC,5831,-1.23,-194.6,842.0,-11.9,169,5839,0.00,2.05,0.00,0.000,6,0.000,0.091,2221,2890,3384,0,0,0,0,0,0
$GC,6146,-1.23,-194.6,877.1,-11.2,175,6155,0.00,2.22,0.00,0.000,4,0.000,0.139,2221,3944,3382,0,0,0,0,0,0
$GC,6185,-1.23,-194.6,882.0,-11.7,175,6193,0.00,2.12,0.00,0.000,6,0.000,0.114,2221,2891,3382,0,0,0,0,0,0
$GC,6509,-1.23,-194.6,916.6,-10.7,181,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2891,3381,0,0,0,0,0,0
$GC,6808,-1.23,-194.6,948.0,-10.5,186,6817,0.00,2.42,0.00,0.000,4,0.000,0.182,2221,3936,3379,0,0,0,0,0,0
$GC,6944,-1.23,-194.6,962.6,-10.3,188,6952,0.00,2.38,0.00,0.000,6,0.000,0.169,2221,2893,3378,0,0,0,0,0,0
$STATE,7234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7234,begin apogee
$GC,7239,-0.28,0.0,991.4,9.7,193,7419,1.05,0.00,170.68,1.328,6,0.116,0.000,2432,2741,2618,0,0,0,0,0,0
$STATE,7420,end apogee,CONTROL_FINISHED_OK
$STATE,7420,begin climb
$GC,7422,1.23,194.6,994.4,0.0,196,7616,1.55,3.42,181.43,1.279,4,0.085,0.194,2758,1329,1822,0,0,0,0,0,0
$GC,7775,1.23,194.6,948.7,15.6,201,7784,0.00,3.12,0.00,0.000,6,0.000,0.151,2758,2743,1811,0,0,0,0,0,0
$GC,8096,1.23,194.6,898.8,15.6,207,8104,0.00,2.55,0.00,0.000,4,0.000,0.138,2757,3959,1807,0,0,0,0,0,0
$GC,8124,1.23,194.6,894.1,15.6,207,8133,0.00,2.50,0.00,0.000,6,0.000,0.112,2758,2740,1805,0,0,0,0,0,0
$GC,8456,1.23,194.6,842.4,15.7,213,8467,0.00,2.72,0.00,0.000,4,0.000,0.101,2758,1323,1803,0,0,0,0,0,0
$GC,8520,1.23,194.6,832.2,15.9,214,8528,0.00,2.78,0.00,0.000,6,0.000,0.087,2758,2760,1803,0,0,0,0,0,0
$GC,8882,1.23,194.6,775.8,15.4,220,8891,0.00,2.33,0.00,0.000,4,0.000,0.100,2758,3959,1803,0,0,0,0,0,0
$GC,8916,1.23,194.6,770.4,16.5,220,8925,0.00,2.25,0.00,0.000,6,0.000,0.058,2757,2718,1801,0,0,0,0,0,0
$GC,9242,1.23,194.6,721.5,15.0,226,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2718,1801,0,0,0,0,0,0
$GC,9544,1.23,194.6,676.7,14.8,231,9553,0.00,2.47,0.00,0.000,4,0.000,0.064,2758,1334,1800,0,0,0,0,0,0
$GC,9567,1.23,194.6,673.1,15.3,231,9576,0.00,2.55,0.00,0.000,6,0.000,0.052,2758,2770,1800,0,0,0,0,0,0
$GC,9909,1.23,194.6,625.7,13.8,237,9918,0.00,2.58,0.00,0.000,4,0.000,0.058,2758,1331,1800,0,0,0,0,0,0
$GC,9949,1.23,194.6,620.1,13.5,237,9957,0.00,2.53,0.00,0.000,6,0.000,0.050,2758,2762,1800,0,0,0,0,0,0
$GC,10269,1.23,194.6,576.8,13.5,243,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2763,1799,0,0,0,0,0,0
$GC,10570,1.23,194.6,537.1,13.1,248,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2762,1799,0,0,0,0,0,0
$GC,10875,1.23,194.6,495.9,13.9,253,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2763,1798,0,0,0,0,0,0
$GC,11174,1.23,194.6,456.6,12.7,258,11178,0.00,2.53,0.00,0.000,4,0.000,0.051,2759,1326,1798,0,0,0,0,0,0
$GC,11221,1.23,194.6,450.9,11.7,258,11226,0.00,2.53,0.00,0.000,6,0.000,0.045,2759,2754,1798,0,0,0,0,0,0
$GC,11539,1.23,194.6,414.1,11.5,264,11544,0.00,2.55,0.00,0.000,4,0.000,0.051,2759,1325,1798,0,0,0,0,0,0
$GC,11581,1.23,194.6,409.0,11.8,264,11585,0.00,2.53,0.00,0.000,6,0.000,0.044,2759,2754,1799,0,0,0,0,0,0
$GC,11904,1.23,194.6,369.1,12.5,270,11908,0.00,2.55,0.00,0.000,4,0.000,0.049,2758,1323,1799,0,0,0,0,0,0
$GC,11925,1.23,194.6,366.4,13.5,270,11930,0.00,2.53,0.00,0.000,6,0.000,0.044,2759,2757,1799,0,0,0,0,0,0
$GC,12270,1.23,194.6,323.7,12.2,276,12273,0.00,2.15,0.00,0.000,4,0.000,0.060,2758,3944,1799,0,0,0,0,0,0
$GC,12306,1.23,194.6,319.4,11.5,276,12311,0.00,2.12,0.00,0.000,6,0.000,0.041,2758,2724,1799,0,0,0,0,0,0
$GC,12635,1.23,194.6,285.0,10.4,284,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2720,1800,0,0,0,0,0,0
$GC,12940,1.23,194.6,251.8,11.2,294,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2720,1799,0,0,0,0,0,0
$GC,13243,1.26,223.6,222.3,8.7,304,13273,0.00,2.33,22.23,0.772,4,0.000,0.056,2758,3957,1704,0,0,0,0,0,0
$GC,13304,1.26,223.6,216.7,10.6,306,13308,0.00,2.10,0.00,0.000,6,0.000,0.039,2759,2747,1703,0,0,0,0,0,0
$GC,13639,1.26,223.6,183.0,10.5,317,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2746,1700,0,0,0,0,0,0
$GC,13942,1.26,223.6,151.0,10.5,327,13943,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2746,1700,0,0,0,0,0,0
$GC,14246,1.26,223.6,120.1,10.3,337,14250,0.00,2.40,0.00,0.000,4,0.000,0.044,2759,1348,1701,0,0,0,0,0,0
$GC,14315,1.26,223.6,113.1,10.2,339,14319,0.00,2.42,0.00,0.000,6,0.000,0.040,2758,2763,1700,0,0,0,0,0,0
$GC,14630,1.30,257.9,84.6,8.4,360,14661,0.00,0.00,30.17,0.614,6,0.000,0.000,2760,2763,1566,0,0,0,0,0,0
$GC,14847,1.33,288.1,65.4,8.6,381,14879,0.12,2.50,27.15,0.581,4,0.087,0.043,2793,1356,1442,0,0,0,0,0,0
$GC,14896,1.33,288.1,60.1,10.9,386,14900,0.00,2.42,0.00,0.000,6,0.000,0.040,2793,2747,1441,0,0,0,0,0,0
$GC,15093,1.33,288.1,39.2,10.1,405,15096,0.00,2.12,0.00,0.000,4,0.000,0.054,2793,3944,1438,0,0,0,0,0,0
$GC,15129,1.33,288.1,35.4,10.3,408,15136,0.00,2.05,0.00,0.000,6,0.000,0.037,2793,2731,1438,0,0,0,0,0,0
$GC,15322,1.36,315.8,17.9,8.8,429,15349,0.00,0.00,23.75,0.522,6,0.000,0.000,2793,2731,1329,0,0,0,0,0,0
$GC,15412,1.41,354.6,9.9,8.2,446,15454,0.00,2.42,33.17,0.515,4,0.000,0.047,2793,1362,1170,0,0,0,0,0,0
$GC,15480,1.41,354.6,3.6,10.4,459,15486,0.00,2.42,0.00,0.000,6,0.000,0.041,2793,2758,1169,0,0,0,0,0,0
$STATE,15489,end climb,SURFACE_DEPTH_REACHED
$STATE,15489,begin surface coast
$FINISH,-0.0,1.002033
$STATE,15515,end surface coast,CONTROL_FINISHED_OK
$STATE,15515,begin surface
$SM_CCo,15533,27.83,0.489,0,0,986,400.08
$SM_GC,1.01,0.00,0.00,27.83,0.000,0.000,0.489,377,2915,986,-9.74,0.42,400.08
$IRIDIUM_FIX,1916.08,-15559.47,050511,151523
$TT8_MAMPS,0.321373
$HUMID,1078529668
$TCM_TEMP,24.10
$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,0/133
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.5/483886/457056
$PA_LOG,3.6/297829/286976
$PA_DATA0,41.2/7836665/4604106
$PA_DATA1,73.0/7836665/2117360
$PA_USB,87.1/128908/16630
$24V_AH,23.1,14.761
$10V_AH,9.8,37.527
$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,23.150,131.225,488.575,27.825,0.000,22.557,27.836,433.856,0.000,0.000,34.660,0.000,12943.394,642.696,1905.044,733.435,33.341,1600.779,0.000,1275.737,0.000,0.533,0.000
$DEVICE_MAMPS,160.303,199.420,1327.677,488.579,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,309.036,0.000,0.000,0.000,0.000,0.000,16344.371,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,183.250,0.000
$MEM,353996
$DATA_FILE_SIZE,15910,466
$CAP_FILE_SIZE,129147,0
$CFSIZE,260034560,250970112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015, 54.7,1
$GPS,101109,071401,1920.016,-15557.212,44,1.9,44,9.7