version: 66.07
glider: 22
mission: 14
dive: 80
start: 11 11 109 21 15 35
data:
$ID,22
$MISSION,14
$DIVE,80
$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,-249842.25
$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,7
$R_STBD_OVSHOOT,39
$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
$GPS1,111109,210925,1923.056,-15558.220,40,1.4,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-67.2
$GPS2,111109,211456,1923.132,-15558.230,13,1.4,13,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.290,0.047
$KALMAN_X,-107809.2,1118.7,-256.0,137188.1,-8816.1
$KALMAN_Y,42844.5,-1443.1,438.0,-103358.4,106.9
$MHEAD_RNG_PITCHd_Wd,4.4,1657,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.62,-64.6,0.0,0.0,0,91,0.00,0.00,-73.32,0.000,2,0.000,0.000,373,2857,2637,0,0,0,0,0,0
$GC,93,-1.65,-96.7,3.1,-6.7,14,119,9.50,2.35,-9.85,0.000,4,0.164,0.058,2129,1477,3014,0,0,0,0,0,0
$GC,359,-1.65,-96.7,76.7,-21.8,45,363,0.00,2.50,0.00,0.000,6,0.000,0.044,2129,2911,3016,0,0,0,0,0,0
$GC,553,-1.65,-96.7,121.1,-22.3,58,557,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1478,3017,0,0,0,0,0,0
$GC,798,-1.65,-96.7,173.3,-20.7,65,803,0.00,2.53,0.00,0.000,6,0.000,0.044,2129,2926,3019,0,0,0,0,0,0
$GC,1113,-1.65,-96.7,236.1,-19.2,76,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2926,3021,0,0,0,0,0,0
$GC,1417,-1.65,-96.7,290.1,-17.4,86,1420,0.00,2.47,0.00,0.000,4,0.000,0.043,2129,1469,3022,0,0,0,0,0,0
$GC,1512,-1.65,-96.7,306.7,-18.2,88,1516,0.00,2.55,0.00,0.000,6,0.000,0.046,2129,2923,3021,0,0,0,0,0,0
$GC,1845,-1.65,-96.7,361.4,-15.7,94,1850,0.00,1.85,0.00,0.000,4,0.000,0.059,2129,3957,3021,0,0,0,0,0,0
$GC,1931,-1.65,-96.7,376.7,-18.6,95,1935,0.00,1.85,0.00,0.000,6,0.000,0.040,2129,2870,3022,0,0,0,0,0,0
$GC,2275,-1.65,-96.7,432.3,-15.9,101,2279,0.00,1.98,0.00,0.000,4,0.000,0.059,2129,3954,3019,0,0,0,0,0,0
$GC,2339,-1.65,-96.7,443.0,-16.8,102,2343,0.00,1.77,0.00,0.000,6,0.000,0.041,2129,2919,3019,0,0,0,0,0,0
$GC,2705,-1.65,-96.7,499.6,-15.6,108,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2916,3018,0,0,0,0,0,0
$GC,3006,-1.65,-96.7,543.8,-14.6,113,3014,0.00,1.90,0.00,0.000,4,0.000,0.063,2129,3953,3015,0,0,0,0,0,0
$GC,3093,-1.65,-96.7,558.1,-17.8,114,3100,0.00,1.77,0.00,0.000,6,0.000,0.043,2129,2911,3014,0,0,0,0,0,0
$GC,3438,-1.65,-96.7,607.2,-13.7,120,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2911,3012,0,0,0,0,0,0
$GC,3741,-1.65,-96.7,647.4,-13.1,125,3748,0.00,1.90,0.00,0.000,4,0.000,0.071,2129,3946,3008,0,0,0,0,0,0
$GC,3859,-1.65,-96.7,664.5,-14.7,126,3866,0.00,1.77,0.00,0.000,6,0.000,0.045,2129,2921,3007,0,0,0,0,0,0
$GC,4173,-1.65,-96.7,705.0,-12.9,132,4181,0.00,1.92,0.00,0.000,4,0.000,0.078,2129,3950,3005,0,0,0,0,0,0
$GC,4207,-1.65,-96.7,709.5,-13.5,132,4214,0.00,1.80,0.00,0.000,6,0.000,0.048,2129,2919,3005,0,0,0,0,0,0
$GC,4542,-1.65,-96.7,749.0,-11.7,138,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2919,3002,0,0,0,0,0,0
$GC,4843,-1.65,-96.7,784.7,-11.8,143,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2919,3001,0,0,0,0,0,0
$GC,5145,-1.65,-96.7,818.2,-11.0,148,5153,0.00,2.05,0.00,0.000,4,0.000,0.110,2129,3947,2999,0,0,0,0,0,0
$GC,5298,-1.65,-96.7,836.1,-11.7,150,5306,0.00,1.95,0.00,0.000,6,0.000,0.088,2129,2934,2998,0,0,0,0,0,0
$GC,5639,-1.65,-96.7,873.2,-10.8,156,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2934,2997,0,0,0,0,0,0
$GC,5940,-1.65,-96.7,906.7,-11.1,161,5949,0.00,2.97,0.00,0.000,4,0.000,0.144,2129,1502,2994,0,0,0,0,0,0
$GC,5964,-1.65,-96.7,909.6,-12.1,161,5972,0.00,2.97,0.00,0.000,6,0.000,0.139,2129,2913,2996,0,0,0,0,0,0
$GC,6300,-1.65,-96.7,948.4,-11.4,167,6311,0.00,2.38,0.00,0.000,4,0.000,0.185,2130,3962,2992,0,0,0,0,0,0
$GC,6427,-1.65,-96.7,964.0,-12.2,169,6435,0.00,2.38,0.00,0.000,6,0.000,0.169,2129,2919,2992,0,0,0,0,0,0
$STATE,6672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6672,begin apogee
$GC,6677,-0.28,0.0,990.6,10.7,173,6771,1.55,0.00,86.70,1.326,6,0.132,0.000,2431,2746,2619,0,0,0,0,0,0
$STATE,6772,end apogee,CONTROL_FINISHED_OK
$STATE,6772,begin climb
$GC,6774,1.65,96.7,992.2,0.0,174,6883,2.00,3.50,94.72,1.291,4,0.084,0.198,2852,1336,2222,0,0,0,0,0,0
$GC,6914,1.65,96.7,975.0,18.1,176,6922,0.00,3.25,0.00,0.000,6,0.000,0.166,2852,2750,2218,0,0,0,0,0,0
$GC,7261,1.65,96.7,911.6,18.2,182,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2750,2208,0,0,0,0,0,0
$GC,7562,1.65,96.7,857.6,18.0,187,7571,0.00,2.83,0.00,0.000,4,0.000,0.105,2852,1332,2206,0,0,0,0,0,0
$GC,7715,1.65,96.7,830.4,18.0,189,7725,0.00,2.78,0.00,0.000,6,0.000,0.087,2852,2765,2205,0,0,0,0,0,0
$GC,8053,1.65,96.7,775.0,16.1,195,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2764,2202,0,0,0,0,0,0
$GC,8354,1.65,96.7,726.4,15.9,200,8363,0.00,2.65,0.00,0.000,4,0.000,0.068,2852,1329,2202,0,0,0,0,0,0
$GC,8442,1.65,96.7,713.2,14.7,201,8450,0.00,2.60,0.00,0.000,6,0.000,0.058,2852,2766,2201,0,0,0,0,0,0
$GC,8778,1.65,96.7,664.9,14.2,207,8786,0.00,2.62,0.00,0.000,4,0.000,0.061,2852,1320,2201,0,0,0,0,0,0
$GC,8849,1.65,96.7,654.8,14.9,208,8858,0.00,2.58,0.00,0.000,6,0.000,0.054,2852,2762,2201,0,0,0,0,0,0
$GC,9201,1.65,96.7,606.5,13.5,214,9210,0.00,2.58,0.00,0.000,4,0.000,0.057,2852,1322,2200,0,0,0,0,0,0
$GC,9368,1.65,96.7,583.5,13.2,216,9377,0.00,2.55,0.00,0.000,6,0.000,0.049,2851,2764,2200,0,0,0,0,0,0
$GC,9689,1.65,96.7,543.4,12.4,222,9698,0.00,2.58,0.00,0.000,4,0.000,0.053,2852,1312,2199,0,0,0,0,0,0
$GC,9782,1.65,96.7,531.2,12.6,223,9790,0.00,2.55,0.00,0.000,6,0.000,0.048,2852,2765,2199,0,0,0,0,0,0
$GC,10112,1.65,96.7,489.2,12.6,229,10116,0.00,2.60,0.00,0.000,4,0.000,0.051,2852,1313,2198,0,0,0,0,0,0
$GC,10176,1.65,96.7,481.9,11.2,230,10180,0.00,2.55,0.00,0.000,6,0.000,0.047,2852,2771,2198,0,0,0,0,0,0
$GC,10541,1.65,96.7,439.3,11.7,236,10546,0.00,2.60,0.00,0.000,4,0.000,0.049,2852,1314,2197,0,0,0,0,0,0
$GC,10626,1.65,96.7,428.7,13.2,237,10630,0.00,2.55,0.00,0.000,6,0.000,0.044,2851,2751,2198,0,0,0,0,0,0
$GC,10971,1.65,96.7,388.5,11.5,243,10975,0.00,2.53,0.00,0.000,4,0.000,0.048,2852,1308,2197,0,0,0,0,0,0
$GC,11061,1.65,96.7,378.2,12.1,244,11065,0.00,2.55,0.00,0.000,6,0.000,0.044,2852,2753,2198,0,0,0,0,0,0
$GC,11400,1.65,96.7,340.8,10.9,250,11404,0.00,2.17,0.00,0.000,4,0.000,0.060,2851,3953,2197,0,0,0,0,0,0
$GC,11528,1.65,96.7,326.3,11.2,252,11532,0.00,2.17,0.00,0.000,6,0.000,0.040,2852,2701,2196,0,0,0,0,0,0
$GC,11864,1.65,96.7,289.8,11.0,259,11868,0.00,2.35,0.00,0.000,4,0.000,0.048,2852,1353,2197,0,0,0,0,0,0
$GC,11944,1.65,96.7,281.5,10.3,261,11948,0.00,2.45,0.00,0.000,6,0.000,0.043,2854,2754,2197,0,0,0,0,0,0
$GC,12263,1.68,118.3,253.4,7.8,272,12282,0.00,2.47,15.35,0.785,4,0.000,0.045,2852,1351,2135,0,0,0,0,0,0
$GC,12390,1.70,135.8,242.8,8.2,276,12411,0.00,2.47,17.02,0.777,6,0.000,0.042,2852,2758,2064,0,0,0,0,0,0
$GC,12719,1.70,135.8,207.6,10.4,287,12723,0.00,2.47,0.00,0.000,4,0.000,0.044,2852,1345,2058,0,0,0,0,0,0
$GC,12859,1.72,153.3,194.6,8.2,291,12880,0.00,2.42,15.65,0.721,6,0.000,0.041,2852,2760,1992,0,0,0,0,0,0
$GC,13182,1.72,153.3,158.4,12.0,302,13186,0.00,2.45,0.00,0.000,4,0.000,0.043,2852,1354,1988,0,0,0,0,0,0
$GC,13214,1.72,153.3,154.3,12.9,303,13217,0.00,2.42,0.00,0.000,6,0.000,0.040,2851,2755,1989,0,0,0,0,0,0
$GC,13549,1.72,153.3,114.8,11.1,314,13553,0.00,2.45,0.00,0.000,4,0.000,0.042,2852,1342,1988,0,0,0,0,0,0
$GC,13640,1.72,153.3,105.0,10.1,316,13646,0.00,2.42,0.00,0.000,6,0.000,0.039,2852,2750,1988,0,0,0,0,0,0
$GC,13955,1.72,159.7,73.7,9.3,343,13965,0.00,2.10,6.80,0.519,4,0.000,0.052,2852,3949,1965,0,0,0,0,0,0
$GC,14050,1.75,185.9,65.1,7.3,352,14081,0.08,2.05,23.98,0.585,6,0.061,0.036,2877,2715,1859,0,0,0,0,0,0
$GC,14266,1.77,199.5,46.7,8.6,373,14282,0.00,2.28,12.25,0.532,4,0.000,0.041,2877,1372,1803,0,0,0,0,0,0
$GC,14367,1.77,199.5,34.7,11.1,382,14371,0.00,2.38,0.00,0.000,6,0.000,0.040,2877,2751,1802,0,0,0,0,0,0
$GC,14561,1.77,199.5,13.4,11.2,406,14566,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2753,1801,0,0,0,0,0,0
$GC,14629,1.77,199.5,5.9,10.6,419,14635,0.00,2.10,0.00,0.000,4,0.000,0.053,2877,3941,1800,0,0,0,0,0,0
$STATE,14653,end climb,SURFACE_DEPTH_REACHED
$STATE,14653,begin surface coast
$FINISH,0.6,1.022972
$STATE,14670,end surface coast,CONTROL_FINISHED_OK
$STATE,14670,begin surface
$SM_CCo,14690,108.28,0.506,0,0,986,400.08
$SM_GC,0.68,0.00,0.00,108.28,0.000,0.000,0.506,370,2914,986,-9.77,-0.17,400.08
$IRIDIUM_FIX,1916.08,-15559.47,070511,111143
$TT8_MAMPS,0.134992
$HUMID,1078514184
$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,0/0
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.8/483886/455646
$PA_LOG,3.7/297829/286883
$PA_DATA0,80.9/7836665/1497317
$PA_DATA1,85.1/7836665/1171473
$PA_USB,87.1/128908/16630
$24V_AH,23.1,16.171
$10V_AH,9.9,42.023
$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,24.025,138.275,272.475,108.275,0.000,30.893,28.589,149.195,0.000,0.000,13.737,0.000,12159.043,516.139,2003.202,439.771,33.334,1484.863,0.000,1478.917,0.000,0.532,0.000
$DEVICE_MAMPS,164.138,197.886,1326.143,506.220,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,285.831,0.000,0.000,0.000,0.000,0.000,15209.541,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.693,0.000
$MEM,353804
$DATA_FILE_SIZE,15896,427
$CAP_FILE_SIZE,121982,0
$CFSIZE,260034560,250351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,316.9,1
$GPS,121109,012327,1924.788,-15557.831,33,3.2,52,9.7