version: 66.07
glider: 22
mission: 14
dive: 77
start: 11 11 109 8 37 11
data:
$ID,22
$MISSION,14
$DIVE,77
$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,-249783.36
$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,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,2920
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,42
$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,50000.0
$GPS1,111109,083030,1923.617,-15557.779,38,1.1,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-66.8
$GPS2,111109,083631,1923.667,-15557.776,15,1.1,32,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.250,0.105
$KALMAN_X,-90016.6,82.1,-136.3,121106.4,-5345.4
$KALMAN_Y,42796.9,926.4,729.3,-105020.6,-1439.2
$MHEAD_RNG_PITCHd_Wd,318.0,729,-27.9,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.62,-64.6,0.0,0.0,0,101,0.00,0.00,-84.00,0.000,2,0.000,0.000,377,2941,2755,0,0,0,0,0,0
$GC,103,-1.63,-76.2,3.6,-8.8,16,124,9.50,1.80,-4.25,0.000,4,0.163,0.070,2134,3950,2930,0,0,0,0,0,0
$GC,224,-1.63,-76.2,42.0,-31.0,32,230,0.00,1.75,0.00,0.000,6,0.000,0.037,2134,2893,2932,0,0,0,0,0,0
$GC,415,-1.63,-76.2,93.4,-22.3,51,419,0.00,2.28,0.00,0.000,4,0.000,0.041,2134,1537,2934,0,0,0,0,0,0
$GC,474,-1.63,-76.2,104.9,-20.0,55,480,0.00,2.38,0.00,0.000,6,0.000,0.043,2134,2904,2934,0,0,0,0,0,0
$GC,782,-1.63,-76.2,166.0,-19.6,66,786,0.00,2.35,0.00,0.000,4,0.000,0.041,2134,1529,2936,0,0,0,0,0,0
$GC,910,-1.63,-76.2,190.1,-17.1,70,914,0.00,2.42,0.00,0.000,6,0.000,0.044,2134,2926,2937,0,0,0,0,0,0
$GC,1246,-1.63,-76.2,246.5,-15.6,81,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2926,2937,0,0,0,0,0,0
$GC,1549,-1.63,-76.2,295.8,-16.0,91,1553,0.00,2.38,0.00,0.000,4,0.000,0.042,2135,1542,2938,0,0,0,0,0,0
$GC,1586,-1.63,-76.2,301.7,-15.8,92,1590,0.00,2.42,0.00,0.000,6,0.000,0.046,2134,2925,2938,0,0,0,0,0,0
$GC,1914,-1.63,-76.2,349.7,-14.5,98,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2925,2938,0,0,0,0,0,0
$GC,2216,-1.63,-76.2,395.4,-15.3,103,2221,0.00,2.40,0.00,0.000,4,0.000,0.044,2134,1541,2937,0,0,0,0,0,0
$GC,2334,-1.63,-76.2,412.3,-13.6,104,2337,0.00,2.40,0.00,0.000,6,0.000,0.047,2134,2925,2937,0,0,0,0,0,0
$GC,2645,-1.63,-76.2,456.0,-14.1,110,2649,0.00,2.42,0.00,0.000,4,0.000,0.045,2134,1538,2934,0,0,0,0,0,0
$GC,2864,-1.63,-76.2,484.6,-12.7,113,2868,0.00,2.45,0.00,0.000,6,0.000,0.048,2134,2919,2932,0,0,0,0,0,0
$GC,3203,-1.63,-76.2,527.5,-12.3,119,3211,0.00,1.83,0.00,0.000,4,0.000,0.064,2134,3952,2930,0,0,0,0,0,0
$GC,3269,-1.63,-76.2,535.9,-13.1,120,3277,0.00,1.75,0.00,0.000,6,0.000,0.043,2134,2942,2929,0,0,0,0,0,0
$GC,3636,-1.63,-76.2,581.6,-12.5,126,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2942,2924,0,0,0,0,0,0
$GC,3938,-1.63,-76.2,618.0,-12.0,131,3946,0.00,1.88,0.00,0.000,4,0.000,0.067,2134,3955,2923,0,0,0,0,0,0
$GC,4015,-1.63,-76.2,627.3,-12.5,132,4022,0.00,1.77,0.00,0.000,6,0.000,0.044,2134,2913,2922,0,0,0,0,0,0
$GC,4371,-1.63,-76.2,666.1,-10.5,138,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2913,2919,0,0,0,0,0,0
$GC,4673,-1.63,-76.2,698.6,-10.9,143,4681,0.00,1.92,0.00,0.000,4,0.000,0.077,2134,3946,2916,0,0,0,0,0,0
$GC,4771,-1.63,-76.2,710.0,-12.1,144,4779,0.00,1.80,0.00,0.000,6,0.000,0.048,2134,2920,2915,0,0,0,0,0,0
$GC,5106,-1.63,-76.2,745.7,-10.3,150,5114,0.00,2.60,0.00,0.000,4,0.000,0.077,2134,1507,2915,0,0,0,0,0,0
$GC,5194,-1.64,-81.3,754.5,-9.5,151,5203,0.00,2.60,0.00,0.000,6,0.000,0.070,2134,2923,2915,0,0,0,0,0,0
$GC,5530,-1.64,-81.3,789.0,-10.2,157,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2923,2912,0,0,0,0,0,0
$GC,5832,-1.64,-85.4,818.1,-9.6,162,5841,0.00,2.70,0.00,0.000,4,0.000,0.096,2134,1519,2910,0,0,0,0,0,0
$GC,5873,-1.64,-85.4,821.9,-10.0,162,5881,0.00,2.70,0.00,0.000,6,0.000,0.093,2134,2922,2910,0,0,0,0,0,0
$GC,6194,-1.66,-97.8,850.1,-8.7,168,6202,0.00,2.10,0.00,0.000,4,0.000,0.132,2134,3955,2908,0,0,0,0,0,0
$GC,6249,-1.66,-102.5,855.4,-9.5,168,6258,0.00,2.03,0.00,0.000,6,0.000,0.098,2134,2929,2908,0,0,0,0,0,0
$GC,6561,-1.68,-122.2,880.3,-8.0,174,6572,0.00,2.88,0.00,0.000,4,0.000,0.128,2134,1501,2908,0,0,0,0,0,0
$GC,6651,-1.70,-139.7,887.7,-8.2,175,6661,0.00,2.92,0.00,0.000,6,0.000,0.125,2134,2925,2906,0,0,0,0,0,0
$GC,6988,-1.73,-161.9,913.8,-7.7,181,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2926,2905,0,0,0,0,0,0
$GC,7290,-1.74,-172.6,940.2,-8.9,186,7300,0.00,3.17,0.00,0.000,4,0.000,0.167,2134,1504,2904,0,0,0,0,0,0
$GC,7342,-1.75,-180.0,945.1,-9.2,186,7351,0.00,3.15,0.00,0.000,6,0.000,0.160,2134,2930,2903,0,0,0,0,0,0
$GC,7651,-1.75,-186.4,973.7,-9.3,191,7659,0.00,2.42,0.00,0.000,4,0.000,0.204,2134,3953,2903,0,0,0,0,0,0
$GC,7722,-1.75,-186.4,981.4,-11.3,192,7730,0.00,2.42,0.00,0.000,6,0.000,0.182,2134,2920,2903,0,0,0,0,0,0
$STATE,7831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7831,begin apogee
$GC,7835,-0.28,0.0,992.2,9.6,194,7908,1.52,0.00,65.20,1.288,6,0.131,0.000,2431,2746,2619,0,0,0,0,0,0
$STATE,7909,end apogee,CONTROL_FINISHED_OK
$STATE,7909,begin climb
$GC,7911,1.75,186.4,994.1,0.0,195,8101,2.10,3.38,177.62,1.279,4,0.084,0.187,2873,1326,1857,0,0,0,0,0,0
$GC,8117,1.75,186.4,964.7,21.6,198,8126,0.00,3.25,0.00,0.000,6,0.000,0.161,2873,2753,1853,0,0,0,0,0,0
$GC,8453,1.75,186.4,888.7,22.6,204,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2753,1842,0,0,0,0,0,0
$GC,8755,1.75,186.4,818.2,23.4,209,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2754,1840,0,0,0,0,0,0
$GC,9057,1.75,186.4,751.1,22.1,214,9067,0.00,2.67,0.00,0.000,4,0.000,0.071,2873,1316,1838,0,0,0,0,0,0
$GC,9124,1.75,186.4,736.2,22.0,215,9132,0.00,2.65,0.00,0.000,6,0.000,0.059,2873,2770,1837,0,0,0,0,0,0
$GC,9486,1.75,186.4,656.9,21.8,221,9495,0.00,2.62,0.00,0.000,4,0.000,0.060,2873,1319,1836,0,0,0,0,0,0
$GC,9531,1.75,186.4,647.5,20.4,221,9540,0.00,2.58,0.00,0.000,6,0.000,0.052,2873,2759,1835,0,0,0,0,0,0
$GC,9846,1.75,186.4,582.6,20.5,227,9854,0.00,2.58,0.00,0.000,4,0.000,0.054,2873,1313,1834,0,0,0,0,0,0
$GC,9890,1.75,186.4,573.6,19.7,227,9898,0.00,2.55,0.00,0.000,6,0.000,0.049,2873,2758,1834,0,0,0,0,0,0
$GC,10205,1.75,186.4,508.5,20.6,233,10214,0.00,2.55,0.00,0.000,4,0.000,0.052,2873,1317,1834,0,0,0,0,0,0
$GC,10269,1.75,186.4,496.5,19.6,234,10272,0.00,2.55,0.00,0.000,6,0.000,0.048,2873,2765,1834,0,0,0,0,0,0
$GC,10628,1.75,186.4,425.9,19.5,240,10632,0.00,2.60,0.00,0.000,4,0.000,0.050,2873,1314,1833,0,0,0,0,0,0
$GC,10665,1.75,186.4,418.4,19.8,240,10669,0.00,2.58,0.00,0.000,6,0.000,0.046,2873,2763,1834,0,0,0,0,0,0
$GC,10994,1.75,186.4,357.2,18.5,246,10997,0.00,2.55,0.00,0.000,4,0.000,0.049,2873,1306,1832,0,0,0,0,0,0
$GC,11094,1.75,186.4,338.2,18.7,247,11098,0.00,2.55,0.00,0.000,6,0.000,0.044,2873,2749,1832,0,0,0,0,0,0
$GC,11418,1.75,186.4,281.6,17.2,254,11422,0.00,2.55,0.00,0.000,4,0.000,0.048,2873,1313,1831,0,0,0,0,0,0
$GC,11465,1.75,186.4,274.0,16.8,255,11470,0.00,2.53,0.00,0.000,6,0.000,0.043,2873,2752,1831,0,0,0,0,0,0
$GC,11784,1.75,186.4,220.8,16.9,266,11789,0.00,2.15,0.00,0.000,4,0.000,0.056,2873,3948,1831,0,0,0,0,0,0
$GC,11827,1.75,186.4,213.8,17.1,267,11831,0.00,2.15,0.00,0.000,6,0.000,0.038,2873,2701,1831,0,0,0,0,0,0
$GC,12152,1.75,186.4,163.2,16.2,278,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2699,1831,0,0,0,0,0,0
$GC,12455,1.75,186.4,115.6,15.1,288,12459,0.00,2.25,0.00,0.000,4,0.000,0.052,2873,3948,1830,0,0,0,0,0,0
$GC,12481,1.75,186.4,111.2,16.6,288,12487,0.00,2.05,0.00,0.000,6,0.000,0.037,2873,2735,1830,0,0,0,0,0,0
$GC,12796,1.75,186.4,71.8,11.7,313,12799,0.00,2.30,0.00,0.000,4,0.000,0.044,2873,1357,1831,0,0,0,0,0,0
$GC,12842,1.75,186.4,66.0,12.0,317,12846,0.00,2.40,0.00,0.000,6,0.000,0.040,2872,2760,1832,0,0,0,0,0,0
$GC,13040,1.76,191.0,46.1,9.5,336,13043,0.00,2.05,0.00,0.000,4,0.000,0.054,2873,3944,1833,0,0,0,0,0,0
$GC,13108,1.76,191.0,37.9,12.8,342,13114,0.00,2.03,0.00,0.000,6,0.000,0.037,2873,2747,1833,0,0,0,0,0,0
$GC,13300,1.76,191.0,17.3,11.5,363,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2747,1834,0,0,0,0,0,0
$GC,13369,1.76,191.0,9.5,11.2,376,13374,0.00,2.40,0.00,0.000,4,0.000,0.047,2873,1350,1835,0,0,0,0,0,0
$GC,13400,1.76,191.0,5.9,10.7,382,13406,0.00,2.40,0.00,0.000,6,0.000,0.040,2873,2756,1835,0,0,0,0,0,0
$STATE,13430,end climb,SURFACE_DEPTH_REACHED
$STATE,13430,begin surface coast
$FINISH,0.0,1.023216
$STATE,13457,end surface coast,CONTROL_FINISHED_OK
$STATE,13457,begin surface
$SM_CCo,13475,114.90,0.508,0,0,988,400.08
$SM_GC,0.75,0.00,0.00,114.90,0.000,0.000,0.508,370,2935,988,-9.78,0.40,400.08
$IRIDIUM_FIX,1911.51,-15556.22,060511,212145
$TT8_MAMPS,0.134225
$HUMID,1078572248
$TCM_TEMP,23.90
$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,0/122
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.8/483886/455845
$PA_LOG,3.6/297829/286993
$PA_DATA0,79.3/7836665/1621773
$PA_DATA1,85.1/7836665/1171473
$PA_USB,67.8/30829585/9940024
$24V_AH,23.1,15.821
$10V_AH,9.9,40.711
$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,23.950,135.700,242.825,114.900,0.000,29.804,32.923,155.173,0.000,0.000,32.620,0.000,11285.071,536.155,1687.037,431.130,33.336,1363.223,0.000,1153.385,0.000,0.532,0.000
$DEVICE_MAMPS,163.371,204.022,1287.793,507.754,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,262.437,0.000,0.000,0.000,0.000,0.000,13992.090,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,78.598,0.000
$MEM,353828
$DATA_FILE_SIZE,12716,393
$CAP_FILE_SIZE,109992,0
$CFSIZE,260034560,250544128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,325.4,1
$GPS,111109,122500,1925.378,-15558.970,58,1.4,58,9.7