version: 66.07
glider: 22
mission: 14
dive: 78
start: 11 11 109 12 31 27
data:
$ID,22
$MISSION,14
$DIVE,78
$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,-249795.67
$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,48
$R_STBD_OVSHOOT,43
$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
$GPS1,111109,122500,1925.378,-15558.970,58,1.4,58,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-67.5
$GPS2,111109,123044,1925.421,-15559.004,11,1.9,11,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.287,0.061
$KALMAN_X,-95650.3,-1498.6,-42.0,126096.8,-6684.6
$KALMAN_Y,44918.3,611.0,155.3,-102992.2,294.7
$MHEAD_RNG_PITCHd_Wd,136.6,3163,-22.4,-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,14,-1.35,-100.5,0.0,0.0,0,94,0.00,0.00,-76.72,0.000,2,0.000,0.000,370,2935,2733,0,0,0,0,0,0
$GC,96,-1.38,-122.0,3.7,-8.6,15,122,9.80,2.47,-9.18,0.000,4,0.161,0.054,2189,1516,3118,0,0,0,0,0,0
$GC,362,-1.38,-122.0,72.5,-22.1,46,366,0.00,2.42,0.00,0.000,6,0.000,0.044,2189,2903,3120,0,0,0,0,0,0
$GC,577,-1.38,-122.0,116.5,-18.0,61,581,0.00,2.38,0.00,0.000,4,0.000,0.041,2190,1511,3121,0,0,0,0,0,0
$GC,609,-1.38,-122.0,122.2,-18.3,62,613,0.00,2.47,0.00,0.000,6,0.000,0.044,2189,2933,3122,0,0,0,0,0,0
$GC,944,-1.38,-122.0,186.6,-19.5,73,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2932,3123,0,0,0,0,0,0
$GC,1248,-1.38,-122.0,243.1,-17.8,83,1251,0.00,2.40,0.00,0.000,4,0.000,0.041,2189,1510,3124,0,0,0,0,0,0
$GC,1455,-1.38,-122.0,276.2,-15.1,89,1460,0.00,2.47,0.00,0.000,6,0.000,0.044,2189,2927,3126,0,0,0,0,0,0
$GC,1804,-1.38,-122.0,329.0,-15.1,98,1808,0.00,1.83,0.00,0.000,4,0.000,0.058,2188,3955,3126,0,0,0,0,0,0
$GC,1836,-1.38,-122.0,333.9,-15.8,98,1840,0.00,1.77,0.00,0.000,6,0.000,0.039,2189,2896,3126,0,0,0,0,0,0
$GC,2169,-1.38,-122.0,385.4,-15.2,104,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2895,3126,0,0,0,0,0,0
$GC,2471,-1.38,-122.0,428.2,-14.0,109,2475,0.00,1.90,0.00,0.000,4,0.000,0.058,2189,3946,3124,0,0,0,0,0,0
$GC,2524,-1.38,-122.0,436.5,-15.3,109,2528,0.00,1.75,0.00,0.000,6,0.000,0.041,2189,2921,3124,0,0,0,0,0,0
$GC,2836,-1.38,-122.0,484.3,-15.4,115,2841,0.00,2.40,0.00,0.000,4,0.000,0.048,2189,1536,3122,0,0,0,0,0,0
$GC,2873,-1.38,-122.0,489.9,-14.9,115,2877,0.00,2.45,0.00,0.000,6,0.000,0.049,2189,2918,3122,0,0,0,0,0,0
$GC,3202,-1.38,-122.0,535.7,-13.7,121,3209,0.00,1.83,0.00,0.000,4,0.000,0.064,2189,3950,3120,0,0,0,0,0,0
$GC,3246,-1.38,-122.0,541.6,-13.9,121,3254,0.00,1.75,0.00,0.000,6,0.000,0.043,2189,2918,3119,0,0,0,0,0,0
$GC,3570,-1.38,-122.0,582.8,-12.7,127,3578,0.00,1.88,0.00,0.000,4,0.000,0.064,2189,3955,3116,0,0,0,0,0,0
$GC,3614,-1.38,-122.0,588.7,-13.4,127,3621,0.00,1.75,0.00,0.000,6,0.000,0.043,2189,2920,3116,0,0,0,0,0,0
$GC,3938,-1.38,-122.0,627.7,-11.8,133,3945,0.00,1.90,0.00,0.000,4,0.000,0.068,2189,3947,3113,0,0,0,0,0,0
$GC,3965,-1.38,-122.0,631.3,-13.6,133,3972,0.00,1.77,0.00,0.000,6,0.000,0.043,2189,2908,3113,0,0,0,0,0,0
$GC,4305,-1.38,-122.0,673.5,-12.3,139,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2908,3110,0,0,0,0,0,0
$GC,4607,-1.38,-122.0,709.6,-12.0,144,4615,0.00,1.98,0.00,0.000,4,0.000,0.081,2192,3935,3108,0,0,0,0,0,0
$GC,4640,-1.38,-122.0,713.7,-13.3,144,4648,0.00,1.80,0.00,0.000,6,0.000,0.049,2189,2932,3107,0,0,0,0,0,0
$GC,4976,-1.38,-122.0,752.6,-11.6,150,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2932,3105,0,0,0,0,0,0
$GC,5278,-1.38,-122.0,787.4,-11.5,155,5287,0.00,2.65,0.00,0.000,4,0.000,0.091,2189,1516,3103,0,0,0,0,0,0
$GC,5317,-1.38,-122.0,792.0,-11.8,155,5326,0.00,2.62,0.00,0.000,6,0.000,0.081,2189,2916,3103,0,0,0,0,0,0
$GC,5637,-1.38,-122.0,828.1,-11.3,161,5645,0.00,2.08,0.00,0.000,4,0.000,0.120,2189,3961,3101,0,0,0,0,0,0
$GC,5724,-1.38,-122.0,839.1,-12.7,162,5732,0.00,2.00,0.00,0.000,6,0.000,0.089,2189,2920,3100,0,0,0,0,0,0
$GC,6066,-1.38,-122.0,879.7,-12.0,168,6076,0.00,2.20,0.00,0.000,4,0.000,0.140,2189,3956,3099,0,0,0,0,0,0
$GC,6117,-1.38,-122.0,886.6,-13.4,168,6125,0.00,2.12,0.00,0.000,6,0.000,0.116,2189,2914,3098,0,0,0,0,0,0
$GC,6426,-1.38,-122.0,925.1,-12.4,173,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2915,3097,0,0,0,0,0,0
$GC,6728,-1.38,-122.0,960.7,-11.9,178,6736,0.00,2.45,0.00,0.000,4,0.000,0.190,2189,3953,3096,0,0,0,0,0,0
$GC,6814,-1.38,-122.0,971.0,-12.2,179,6822,0.00,2.38,0.00,0.000,6,0.000,0.173,2189,2920,3096,0,0,0,0,0,0
$STATE,7027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7027,begin apogee
$GC,7031,-0.28,0.0,994.5,11.0,183,7148,1.23,0.00,108.55,1.329,6,0.123,0.000,2431,2747,2618,0,0,0,0,0,0
$STATE,7148,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7150,1.38,122.0,997.0,0.0,184,7281,1.70,3.10,116.60,1.291,4,0.084,0.200,2789,3945,2119,0,0,0,0,0,0
$GC,7296,1.38,122.0,985.7,13.6,186,7304,0.00,2.90,0.00,0.000,6,0.000,0.185,2788,2750,2116,0,0,0,0,0,0
$GC,7637,1.38,122.0,936.4,14.3,192,7646,0.00,3.08,0.00,0.000,4,0.000,0.157,2789,1326,2105,0,0,0,0,0,0
$GC,7660,1.38,122.0,932.9,14.3,192,7669,0.00,3.05,0.00,0.000,6,0.000,0.138,2789,2752,2105,0,0,0,0,0,0
$GC,7996,1.38,122.0,886.0,13.9,198,8006,0.00,2.50,0.00,0.000,4,0.000,0.133,2788,3959,2102,0,0,0,0,0,0
$GC,8036,1.38,122.0,879.8,16.0,198,8045,0.00,2.45,0.00,0.000,6,0.000,0.103,2789,2734,2100,0,0,0,0,0,0
$GC,8356,1.38,122.0,832.9,14.7,204,8365,0.00,2.67,0.00,0.000,4,0.000,0.095,2789,1331,2099,0,0,0,0,0,0
$GC,8434,1.38,122.0,821.4,14.5,205,8442,0.00,2.72,0.00,0.000,6,0.000,0.082,2789,2762,2099,0,0,0,0,0,0
$GC,8780,1.38,122.0,771.1,14.5,211,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2763,2097,0,0,0,0,0,0
$GC,9081,1.38,122.0,727.1,14.7,216,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2763,2096,0,0,0,0,0,0
$GC,9384,1.38,122.0,682.5,14.7,221,9393,0.00,2.62,0.00,0.000,4,0.000,0.062,2790,1319,2096,0,0,0,0,0,0
$GC,9429,1.38,122.0,675.6,15.5,221,9437,0.00,2.58,0.00,0.000,6,0.000,0.054,2789,2761,2096,0,0,0,0,0,0
$GC,9743,1.38,122.0,631.8,13.6,227,9752,0.00,2.58,0.00,0.000,4,0.000,0.058,2789,1320,2094,0,0,0,0,0,0
$GC,9783,1.38,122.0,626.5,14.1,227,9792,0.00,2.55,0.00,0.000,6,0.000,0.051,2789,2763,2095,0,0,0,0,0,0
$GC,10104,1.38,122.0,584.7,12.9,233,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2763,2094,0,0,0,0,0,0
$GC,10405,1.38,122.0,548.9,11.7,238,10414,0.00,2.55,0.00,0.000,4,0.000,0.053,2789,1320,2094,0,0,0,0,0,0
$GC,10498,1.38,122.0,538.3,11.3,239,10506,0.00,2.53,0.00,0.000,6,0.000,0.048,2789,2760,2095,0,0,0,0,0,0
$GC,10830,1.38,122.0,499.6,11.9,245,10834,0.00,2.55,0.00,0.000,4,0.000,0.051,2789,1309,2094,0,0,0,0,0,0
$GC,10871,1.38,122.0,494.4,11.8,245,10876,0.00,2.58,0.00,0.000,6,0.000,0.046,2789,2762,2094,0,0,0,0,0,0
$GC,11190,1.38,122.0,457.7,11.7,251,11193,0.00,2.55,0.00,0.000,4,0.000,0.050,2789,1312,2094,0,0,0,0,0,0
$GC,11264,1.38,122.0,448.9,12.3,252,11268,0.00,2.55,0.00,0.000,6,0.000,0.045,2789,2751,2094,0,0,0,0,0,0
$GC,11618,1.38,122.0,404.3,12.7,258,11622,0.00,2.17,0.00,0.000,4,0.000,0.060,2789,3951,2093,0,0,0,0,0,0
$GC,11730,1.38,122.0,391.1,10.6,259,11734,0.00,2.17,0.00,0.000,6,0.000,0.041,2789,2705,2092,0,0,0,0,0,0
$GC,12048,1.40,143.8,363.0,8.6,265,12068,0.00,2.40,15.52,0.863,4,0.000,0.050,2789,1346,2031,0,0,0,0,0,0
$GC,12175,1.40,143.8,349.3,11.2,267,12179,0.00,2.50,0.00,0.000,6,0.000,0.044,2789,2757,2030,0,0,0,0,0,0
$GC,12536,1.40,143.8,307.1,12.1,273,12539,0.00,2.15,0.00,0.000,4,0.000,0.058,2789,3947,2027,0,0,0,0,0,0
$GC,12700,1.40,143.8,286.8,11.8,277,12705,0.00,2.08,0.00,0.000,6,0.000,0.040,2789,2749,2026,0,0,0,0,0,0
$GC,13031,1.40,143.8,252.4,10.3,288,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2746,2026,0,0,0,0,0,0
$GC,13334,1.42,158.5,223.8,9.0,298,13353,0.00,2.47,14.07,0.741,4,0.000,0.046,2789,1351,1971,0,0,0,0,0,0
$GC,13498,1.42,158.5,208.7,10.2,303,13503,0.00,2.45,0.00,0.000,6,0.000,0.041,2789,2755,1969,0,0,0,0,0,0
$GC,13828,1.42,158.5,173.9,10.5,314,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2755,1966,0,0,0,0,0,0
$GC,14132,1.42,158.5,143.4,10.1,324,14136,0.00,2.12,0.00,0.000,4,0.000,0.054,2789,3949,1967,0,0,0,0,0,0
$GC,14175,1.42,158.5,138.8,10.0,325,14178,0.00,2.05,0.00,0.000,6,0.000,0.038,2789,2741,1966,0,0,0,0,0,0
$GC,14499,1.42,163.0,107.1,9.7,336,14508,0.00,2.17,5.05,0.499,4,0.000,0.053,2788,3941,1952,0,0,0,0,0,0
$GC,14530,1.43,168.6,104.0,9.6,337,14541,0.00,2.03,6.70,0.538,6,0.000,0.038,2789,2755,1930,0,0,0,0,0,0
$GC,14856,1.47,211.0,77.9,7.2,365,14898,0.12,2.40,37.45,0.595,4,0.084,0.046,2823,1346,1754,0,0,0,0,0,0
$GC,15084,1.47,211.0,54.1,10.7,386,15090,0.00,2.45,0.00,0.000,6,0.000,0.041,2823,2761,1751,0,0,0,0,0,0
$GC,15276,1.48,213.6,34.6,9.8,405,15280,0.00,2.10,0.00,0.000,4,0.000,0.054,2823,3946,1751,0,0,0,0,0,0
$GC,15399,1.50,232.9,22.3,8.7,416,15425,0.00,2.00,18.95,0.515,6,0.000,0.038,2823,2747,1667,0,0,0,0,0,0
$STATE,15598,end climb,SURFACE_DEPTH_REACHED
$STATE,15598,begin surface coast
$FINISH,-0.0,1.022606
$STATE,15625,end surface coast,CONTROL_FINISHED_OK
$STATE,15625,begin surface
$SM_CCo,15643,87.12,0.495,0,0,986,400.08
$SM_GC,0.66,0.00,0.00,87.12,0.000,0.000,0.495,373,2922,986,-9.76,0.06,400.08
$IRIDIUM_FIX,1913.80,-15558.31,070511,020212
$TT8_MAMPS,0.182546
$HUMID,1078507732
$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,0/143
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.8/483886/455805
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$PA_DATA1,85.1/7836665/1171473
$PA_USB,69.0/30829585/9568076
$24V_AH,23.4,15.948
$10V_AH,9.9,41.164
$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,23.475,144.450,322.900,87.125,0.000,22.594,27.210,175.728,0.000,0.000,11.692,0.000,13125.127,538.515,1942.632,462.378,33.339,1507.700,0.000,1374.163,0.000,0.534,0.000
$DEVICE_MAMPS,161.070,201.721,1329.211,494.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
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$MEM,353824
$DATA_FILE_SIZE,15855,457
$CAP_FILE_SIZE,126152,0
$CFSIZE,260034560,250470400
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