version: 66.07
glider: 22
mission: 14
dive: 82
start: 11 12 109 5 56 58
data:
$ID,22
$MISSION,14
$DIVE,82
$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,-249890.19
$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,4
$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
$GPS1,121109,055036,1923.628,-15558.363,41,1.3,52,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.3
$GPS2,121109,055619,1923.708,-15558.385,14,1.4,31,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.294,-0.006
$KALMAN_X,-120352.7,1260.5,1057.1,147971.6,-14544.9
$KALMAN_Y,42979.6,1193.3,-864.1,-103759.9,865.5
$MHEAD_RNG_PITCHd_Wd,41.5,864,-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,-72.80,0.000,2,0.000,0.000,373,2937,2640,0,0,0,0,0,0
$GC,93,-1.65,-90.9,3.2,-7.3,14,119,9.43,2.53,-9.12,0.000,4,0.160,0.052,2130,1474,2991,0,0,0,0,0,0
$GC,358,-1.65,-90.9,78.8,-26.1,45,362,0.00,2.50,0.00,0.000,6,0.000,0.044,2130,2904,2993,0,0,0,0,0,0
$GC,553,-1.65,-90.9,122.2,-22.0,58,557,0.00,2.45,0.00,0.000,4,0.000,0.040,2130,1471,2995,0,0,0,0,0,0
$GC,697,-1.65,-90.9,153.3,-20.6,62,701,0.00,2.53,0.00,0.000,6,0.000,0.043,2130,2926,2995,0,0,0,0,0,0
$GC,1016,-1.65,-90.9,217.2,-19.6,73,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2926,2997,0,0,0,0,0,0
$GC,1320,-1.65,-90.9,271.3,-17.4,83,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2926,2998,0,0,0,0,0,0
$GC,1653,-1.65,-90.9,326.0,-17.5,92,1657,0.00,2.50,0.00,0.000,4,0.000,0.042,2130,1480,2998,0,0,0,0,0,0
$GC,1722,-1.65,-90.9,338.5,-17.7,93,1726,0.00,2.55,0.00,0.000,6,0.000,0.046,2130,2928,2998,0,0,0,0,0,0
$GC,2082,-1.65,-90.9,393.5,-14.2,99,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2928,2998,0,0,0,0,0,0
$GC,2384,-1.65,-90.9,439.5,-15.3,104,2388,0.00,1.83,0.00,0.000,4,0.000,0.061,2130,3949,2995,0,0,0,0,0,0
$GC,2507,-1.65,-90.9,459.5,-16.1,105,2513,0.00,1.85,0.00,0.000,6,0.000,0.041,2130,2869,2995,0,0,0,0,0,0
$GC,2813,-1.65,-90.9,502.5,-14.0,111,2820,0.00,1.98,0.00,0.000,4,0.000,0.061,2130,3955,2993,0,0,0,0,0,0
$GC,2867,-1.65,-90.9,510.3,-15.2,111,2874,0.00,1.83,0.00,0.000,6,0.000,0.042,2130,2868,2992,0,0,0,0,0,0
$GC,3181,-1.65,-90.9,554.4,-14.1,117,3190,0.00,1.98,0.00,0.000,4,0.000,0.062,2130,3948,2990,0,0,0,0,0,0
$GC,3215,-1.65,-90.9,559.5,-15.8,117,3223,0.00,1.85,0.00,0.000,6,0.000,0.043,2129,2878,2989,0,0,0,0,0,0
$GC,3550,-1.65,-90.9,605.3,-13.6,123,3558,0.00,2.35,0.00,0.000,4,0.000,0.053,2130,1514,2986,0,0,0,0,0,0
$GC,3601,-1.65,-90.9,612.1,-13.2,123,3609,0.00,2.50,0.00,0.000,6,0.000,0.054,2130,2928,2986,0,0,0,0,0,0
$GC,3914,-1.65,-90.9,653.2,-13.1,129,3923,0.00,1.88,0.00,0.000,4,0.000,0.073,2130,3949,2982,0,0,0,0,0,0
$GC,3974,-1.65,-90.9,661.7,-14.9,129,3984,0.00,1.77,0.00,0.000,6,0.000,0.045,2130,2914,2981,0,0,0,0,0,0
$GC,4283,-1.65,-90.9,700.9,-12.5,135,4293,0.00,1.98,0.00,0.000,4,0.000,0.077,2130,3953,2978,0,0,0,0,0,0
$GC,4339,-1.65,-90.9,708.0,-12.4,135,4347,0.00,1.80,0.00,0.000,6,0.000,0.048,2130,2920,2978,0,0,0,0,0,0
$GC,4654,-1.65,-90.9,745.7,-12.0,141,4663,0.00,2.58,0.00,0.000,4,0.000,0.077,2130,1511,2977,0,0,0,0,0,0
$GC,4721,-1.65,-90.9,754.1,-12.1,142,4729,0.00,2.60,0.00,0.000,6,0.000,0.070,2130,2927,2978,0,0,0,0,0,0
$GC,5083,-1.65,-90.9,797.6,-11.8,148,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2927,2977,0,0,0,0,0,0
$GC,5386,-1.65,-90.9,832.8,-11.7,153,5395,0.00,2.75,0.00,0.000,4,0.000,0.104,2130,1517,2975,0,0,0,0,0,0
$GC,5431,-1.65,-90.9,838.1,-12.0,153,5439,0.00,2.75,0.00,0.000,6,0.000,0.103,2130,2924,2974,0,0,0,0,0,0
$GC,5745,-1.65,-90.9,876.6,-12.4,159,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2924,2973,0,0,0,0,0,0
$GC,6049,-1.65,-90.9,915.8,-13.0,164,6059,0.00,3.03,0.00,0.000,4,0.000,0.153,2130,1519,2972,0,0,0,0,0,0
$GC,6116,-1.65,-90.9,924.3,-12.1,165,6125,0.00,3.00,0.00,0.000,6,0.000,0.146,2130,2923,2972,0,0,0,0,0,0
$GC,6474,-1.65,-90.9,965.3,-11.4,171,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2923,2970,0,0,0,0,0,0
$STATE,6713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6713,begin apogee
$GC,6718,-0.28,0.0,990.6,10.4,175,6805,1.52,0.00,79.57,1.325,6,0.130,0.000,2429,2768,2618,0,0,0,0,0,0
$STATE,6806,end apogee,CONTROL_FINISHED_OK
$STATE,6806,begin climb
$GC,6807,1.65,90.9,992.0,0.0,176,6909,2.00,3.03,87.60,1.289,4,0.084,0.199,2851,3952,2246,0,0,0,0,0,0
$GC,6929,1.65,90.9,978.4,16.9,178,6937,0.00,2.90,0.00,0.000,6,0.000,0.180,2850,2740,2244,0,0,0,0,0,0
$GC,7292,1.65,90.9,917.0,16.6,184,7300,0.00,2.97,0.00,0.000,4,0.000,0.144,2851,1324,2235,0,0,0,0,0,0
$GC,7385,1.65,90.9,901.6,16.4,185,7394,0.00,2.95,0.00,0.000,6,0.000,0.120,2850,2753,2234,0,0,0,0,0,0
$GC,7716,1.65,90.9,844.5,17.4,191,7725,0.00,2.80,0.00,0.000,4,0.000,0.101,2851,1327,2230,0,0,0,0,0,0
$GC,7772,1.65,90.9,835.3,16.2,191,7782,0.00,2.70,0.00,0.000,6,0.000,0.089,2851,2758,2231,0,0,0,0,0,0
$GC,8081,1.65,90.9,787.6,15.3,197,8089,0.00,2.70,0.00,0.000,4,0.000,0.081,2851,1326,2227,0,0,0,0,0,0
$GC,8178,1.65,90.9,773.0,13.9,198,8188,0.00,2.67,0.00,0.000,6,0.000,0.071,2851,2766,2229,0,0,0,0,0,0
$GC,8505,1.65,90.9,724.2,15.0,204,8515,0.00,2.65,0.00,0.000,4,0.000,0.068,2850,1322,2227,0,0,0,0,0,0
$GC,8578,1.65,90.9,712.9,15.7,205,8586,0.00,2.60,0.00,0.000,6,0.000,0.058,2850,2762,2227,0,0,0,0,0,0
$GC,8935,1.65,90.9,657.5,15.7,211,8944,0.00,2.60,0.00,0.000,4,0.000,0.060,2851,1321,2225,0,0,0,0,0,0
$GC,9065,1.65,90.9,637.0,16.1,213,9074,0.00,2.58,0.00,0.000,6,0.000,0.053,2850,2766,2226,0,0,0,0,0,0
$GC,9423,1.65,90.9,583.8,14.9,219,9431,0.00,2.58,0.00,0.000,4,0.000,0.054,2851,1314,2225,0,0,0,0,0,0
$GC,9531,1.65,90.9,568.1,14.3,220,9539,0.00,2.55,0.00,0.000,6,0.000,0.049,2850,2769,2224,0,0,0,0,0,0
$GC,9845,1.65,90.9,524.0,14.0,226,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2769,2224,0,0,0,0,0,0
$GC,10147,1.65,90.9,484.4,13.0,231,10151,0.00,2.60,0.00,0.000,4,0.000,0.051,2850,1309,2224,0,0,0,0,0,0
$GC,10222,1.65,90.9,475.2,12.8,232,10226,0.00,2.55,0.00,0.000,6,0.000,0.047,2851,2767,2223,0,0,0,0,0,0
$GC,10571,1.65,90.9,435.2,11.3,238,10575,0.00,2.15,0.00,0.000,4,0.000,0.062,2851,3946,2223,0,0,0,0,0,0
$GC,10624,1.65,90.9,428.7,12.0,238,10628,0.00,2.17,0.00,0.000,6,0.000,0.041,2851,2702,2221,0,0,0,0,0,0
$GC,10937,1.65,90.9,396.1,10.2,244,10940,0.00,2.30,0.00,0.000,4,0.000,0.061,2851,3951,2221,0,0,0,0,0,0
$GC,10989,1.65,90.9,390.5,11.2,244,10993,0.00,2.12,0.00,0.000,6,0.000,0.041,2851,2738,2222,0,0,0,0,0,0
$GC,11301,1.65,90.9,355.3,11.2,250,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2738,2222,0,0,0,0,0,0
$GC,11603,1.65,90.9,321.9,11.0,255,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2737,2222,0,0,0,0,0,0
$GC,11906,1.65,90.9,292.3,10.1,261,11909,0.00,2.42,0.00,0.000,4,0.000,0.050,2851,1351,2222,0,0,0,0,0,0
$GC,12023,1.67,115.5,281.7,7.5,264,12047,0.00,2.45,18.52,0.821,6,0.000,0.043,2851,2754,2147,0,0,0,0,0,0
$GC,12369,1.67,115.5,245.9,10.4,276,12372,0.00,2.12,0.00,0.000,4,0.000,0.058,2851,3954,2143,0,0,0,0,0,0
$GC,12410,1.67,115.5,240.9,11.9,277,12414,0.00,2.10,0.00,0.000,6,0.000,0.039,2851,2742,2142,0,0,0,0,0,0
$GC,12729,1.68,119.6,209.4,9.6,288,12738,0.00,2.45,4.93,0.598,4,0.000,0.047,2851,1349,2130,0,0,0,0,0,0
$GC,12980,1.69,129.4,186.9,9.0,295,12995,0.00,2.45,10.30,0.693,6,0.000,0.042,2851,2753,2089,0,0,0,0,0,0
$GC,13321,1.69,130.2,154.7,9.9,307,13325,0.00,2.45,0.00,0.000,4,0.000,0.044,2851,1347,2088,0,0,0,0,0,0
$GC,13486,1.69,131.1,138.1,9.9,312,13490,0.00,2.42,0.00,0.000,6,0.000,0.040,2851,2750,2089,0,0,0,0,0,0
$GC,13817,1.70,141.1,108.0,9.0,323,13829,0.00,0.00,11.68,0.610,6,0.000,0.000,2851,2751,2042,0,0,0,0,0,0
$GC,14126,1.71,144.9,78.3,9.6,347,14136,0.00,0.00,4.85,0.477,6,0.000,0.000,2851,2749,2027,0,0,0,0,0,0
$GC,14322,1.78,207.3,67.6,3.5,366,14384,0.12,2.47,53.95,0.598,4,0.088,0.041,2883,1351,1772,0,0,0,0,0,0
$GC,14426,1.78,213.8,59.9,9.3,376,14437,0.00,2.42,6.50,0.486,6,0.000,0.039,2883,2750,1746,0,0,0,0,0,0
$GC,14623,1.78,213.8,34.2,12.6,395,14626,0.00,2.10,0.00,0.000,4,0.000,0.054,2883,3954,1741,0,0,0,0,0,0
$GC,14767,1.78,213.8,14.9,14.0,411,14773,0.00,2.03,0.00,0.000,6,0.000,0.037,2883,2731,1740,0,0,0,0,0,0
$GC,14836,1.78,213.8,5.9,13.7,424,14841,0.00,2.17,0.00,0.000,4,0.000,0.053,2883,3946,1740,0,0,0,0,0,0
$STATE,14860,end climb,SURFACE_DEPTH_REACHED
$STATE,14860,begin surface coast
$FINISH,-0.0,1.023073
$STATE,14881,end surface coast,CONTROL_FINISHED_OK
$STATE,14881,begin surface
$SM_CCo,14901,97.53,0.505,0,0,986,400.08
$SM_GC,0.74,0.00,0.00,97.53,0.000,0.000,0.505,371,2925,986,-9.77,0.14,400.08
$IRIDIUM_FIX,1916.08,-15557.38,070511,191905
$TT8_MAMPS,0.137293
$HUMID,1078537410
$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,0/121
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.9/483886/455569
$PA_LOG,3.7/297829/286948
$PA_DATA0,88.7/7836665/884038
$PA_DATA1,85.1/7836665/1171473
$PA_USB,72.7/30829585/8430731
$24V_AH,23.4,16.388
$10V_AH,9.8,42.858
$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,24.025,139.775,277.900,97.525,0.000,30.271,28.385,147.958,0.000,0.000,31.191,0.000,12479.627,515.557,1901.706,433.052,33.337,1456.966,0.000,1351.340,0.000,0.531,0.000
$DEVICE_MAMPS,160.303,199.420,1324.609,505.453,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,289.145,0.000,0.000,0.000,0.000,0.000,15452.490,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.852,0.000
$MEM,353824
$DATA_FILE_SIZE,15887,433
$CAP_FILE_SIZE,119193,0
$CFSIZE,260034560,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,332.9,1
$GPS,121109,100806,1924.987,-15557.254,37,1.2,48,9.7