version: 66.07
glider: 22
mission: 14
dive: 83
start: 11 12 109 10 14 37
data:
$ID,22
$MISSION,14
$DIVE,83
$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,-249926.42
$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,40
$R_STBD_OVSHOOT,32
$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
$GPS1,121109,100806,1924.987,-15557.254,37,1.2,48,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.4
$GPS2,121109,101358,1925.076,-15557.301,15,2.2,34,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.293,0.013
$KALMAN_X,-122574.6,676.5,638.2,153057.1,-9915.2
$KALMAN_Y,44067.2,1088.0,915.4,-104010.1,-2383.7
$MHEAD_RNG_PITCHd_Wd,201.8,2337,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.62,-64.6,0.0,0.0,0,96,0.00,0.00,-77.00,0.000,2,0.000,0.000,371,2926,2757,0,0,0,0,0,0
$GC,98,-1.64,-82.6,3.6,-8.1,15,120,9.48,2.42,-4.80,0.000,4,0.161,0.060,2133,1507,2956,0,0,0,0,0,0
$GC,349,-1.64,-82.6,75.4,-20.2,43,354,0.00,2.42,0.00,0.000,6,0.000,0.044,2133,2926,2960,0,0,0,0,0,0
$GC,558,-1.64,-82.6,120.5,-22.4,58,562,0.00,2.42,0.00,0.000,4,0.000,0.041,2133,1502,2960,0,0,0,0,0,0
$GC,697,-1.64,-82.6,149.5,-22.6,62,701,0.00,2.47,0.00,0.000,6,0.000,0.043,2133,2926,2961,0,0,0,0,0,0
$GC,1021,-1.64,-82.6,214.6,-17.7,73,1026,0.00,1.80,0.00,0.000,4,0.000,0.054,2133,3953,2963,0,0,0,0,0,0
$GC,1267,-1.64,-82.6,258.9,-16.3,80,1271,0.00,1.77,0.00,0.000,6,0.000,0.038,2133,2883,2964,0,0,0,0,0,0
$GC,1611,-1.64,-82.6,312.6,-15.7,91,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2881,2964,0,0,0,0,0,0
$GC,1913,-1.64,-82.6,354.6,-13.5,96,1917,0.00,1.92,0.00,0.000,4,0.000,0.057,2133,3953,2964,0,0,0,0,0,0
$GC,1934,-1.64,-82.6,357.5,-13.3,96,1938,0.00,1.73,0.00,0.000,6,0.000,0.040,2134,2932,2964,0,0,0,0,0,0
$GC,2278,-1.64,-82.6,406.0,-14.6,102,2282,0.00,2.40,0.00,0.000,4,0.000,0.045,2133,1538,2963,0,0,0,0,0,0
$GC,2331,-1.64,-82.6,413.4,-13.6,102,2335,0.00,2.45,0.00,0.000,6,0.000,0.047,2133,2926,2962,0,0,0,0,0,0
$GC,2644,-1.64,-82.6,454.1,-12.9,108,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2926,2961,0,0,0,0,0,0
$GC,2945,-1.64,-82.6,493.6,-13.4,113,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2927,2959,0,0,0,0,0,0
$GC,3247,-1.64,-82.6,533.7,-13.3,118,3256,0.00,2.42,0.00,0.000,4,0.000,0.048,2133,1530,2957,0,0,0,0,0,0
$GC,3366,-1.64,-82.6,549.0,-12.3,119,3376,0.00,2.40,0.00,0.000,6,0.000,0.051,2133,2934,2956,0,0,0,0,0,0
$GC,3675,-1.64,-82.6,591.4,-14.1,125,3683,0.00,1.83,0.00,0.000,4,0.000,0.067,2133,3962,2952,0,0,0,0,0,0
$GC,3809,-1.64,-82.6,611.4,-14.1,127,3817,0.00,1.75,0.00,0.000,6,0.000,0.043,2133,2932,2951,0,0,0,0,0,0
$GC,4172,-1.64,-82.6,656.7,-12.3,133,4184,0.00,2.47,0.00,0.000,4,0.000,0.059,2133,1528,2948,0,0,0,0,0,0
$GC,4209,-1.64,-82.6,661.5,-12.9,133,4217,0.00,2.50,0.00,0.000,6,0.000,0.058,2133,2919,2947,0,0,0,0,0,0
$GC,4544,-1.64,-82.6,700.6,-11.5,139,4552,0.00,1.95,0.00,0.000,4,0.000,0.089,2133,3943,2945,0,0,0,0,0,0
$GC,4599,-1.64,-82.6,707.5,-12.6,139,4607,0.00,1.77,0.00,0.000,6,0.000,0.049,2133,2929,2945,0,0,0,0,0,0
$GC,4913,-1.64,-82.6,742.0,-10.9,145,4921,0.00,2.58,0.00,0.000,4,0.000,0.074,2133,1510,2942,0,0,0,0,0,0
$GC,5016,-1.64,-84.9,752.4,-9.8,146,5024,0.00,2.60,0.00,0.000,6,0.000,0.070,2133,2919,2942,0,0,0,0,0,0
$GC,5346,-1.64,-84.9,789.2,-11.3,152,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2919,2941,0,0,0,0,0,0
$GC,5648,-1.64,-84.9,824.3,-11.7,157,5659,0.00,2.72,0.00,0.000,4,0.000,0.100,2133,1514,2939,0,0,0,0,0,0
$GC,5695,-1.64,-84.9,830.0,-11.2,157,5703,0.00,2.75,0.00,0.000,6,0.000,0.100,2133,2917,2939,0,0,0,0,0,0
$GC,6009,-1.64,-84.9,865.7,-11.2,163,6017,0.00,2.15,0.00,0.000,4,0.000,0.140,2133,3959,2937,0,0,0,0,0,0
$GC,6064,-1.64,-84.9,871.9,-11.5,163,6073,0.00,2.05,0.00,0.000,6,0.000,0.107,2133,2928,2936,0,0,0,0,0,0
$GC,6373,-1.65,-88.0,902.3,-9.7,169,6382,0.00,2.92,0.00,0.000,4,0.000,0.140,2133,1504,2935,0,0,0,0,0,0
$GC,6439,-1.66,-98.2,908.2,-8.9,170,6448,0.00,3.00,0.00,0.000,6,0.000,0.138,2133,2922,2935,0,0,0,0,0,0
$GC,6797,-1.66,-105.8,941.3,-9.2,176,6805,0.00,2.33,0.00,0.000,4,0.000,0.183,2133,3955,2934,0,0,0,0,0,0
$GC,6847,-1.66,-105.8,946.6,-10.8,176,6855,0.00,2.30,0.00,0.000,6,0.000,0.155,2134,2915,2933,0,0,0,0,0,0
$GC,7155,-1.67,-106.9,977.1,-9.9,181,7164,0.00,3.25,0.00,0.000,4,0.000,0.193,2133,1500,2932,0,0,0,0,0,0
$GC,7232,-1.67,-108.9,984.8,-9.8,182,7241,0.00,3.33,0.00,0.000,6,0.000,0.185,2133,2928,2931,0,0,0,0,0,0
$STATE,7336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7336,begin apogee
$GC,7340,-0.28,0.0,995.9,10.5,184,7420,1.52,0.00,72.32,1.330,6,0.130,0.000,2431,2743,2618,0,0,0,0,0,0
$STATE,7421,end apogee,CONTROL_FINISHED_OK
$STATE,7421,begin climb
$GC,7423,1.67,108.9,998.2,0.0,185,7538,2.03,0.00,107.15,1.302,6,0.083,0.000,2855,2743,2174,0,0,0,0,0,0
$GC,7820,1.67,108.9,936.5,18.4,192,7829,0.00,3.05,0.00,0.000,4,0.000,0.156,2855,1334,2161,0,0,0,0,0,0
$GC,7876,1.67,108.9,926.1,18.9,192,7885,0.00,2.95,0.00,0.000,6,0.000,0.134,2854,2753,2161,0,0,0,0,0,0
$GC,8185,1.67,108.9,868.5,18.9,198,8193,0.00,2.88,0.00,0.000,4,0.000,0.112,2854,1329,2158,0,0,0,0,0,0
$GC,8267,1.67,108.9,853.2,18.8,199,8276,0.00,2.83,0.00,0.000,6,0.000,0.098,2855,2756,2158,0,0,0,0,0,0
$GC,8608,1.67,108.9,793.7,17.4,205,8617,0.00,2.72,0.00,0.000,4,0.000,0.084,2855,1324,2155,0,0,0,0,0,0
$GC,8697,1.67,108.9,779.1,16.9,206,8705,0.00,2.70,0.00,0.000,6,0.000,0.073,2854,2764,2155,0,0,0,0,0,0
$GC,9033,1.67,108.9,719.7,18.0,212,9041,0.00,2.65,0.00,0.000,4,0.000,0.068,2855,1326,2153,0,0,0,0,0,0
$GC,9099,1.67,108.9,708.6,17.0,213,9107,0.00,2.62,0.00,0.000,6,0.000,0.058,2854,2766,2153,0,0,0,0,0,0
$GC,9461,1.67,108.9,652.2,15.1,219,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2765,2152,0,0,0,0,0,0
$GC,9762,1.67,108.9,607.3,15.0,224,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2765,2151,0,0,0,0,0,0
$GC,10064,1.67,108.9,560.2,15.5,229,10073,0.00,2.60,0.00,0.000,4,0.000,0.058,2854,1315,2151,0,0,0,0,0,0
$GC,10174,1.67,108.9,544.4,13.4,230,10182,0.00,2.55,0.00,0.000,6,0.000,0.050,2854,2759,2152,0,0,0,0,0,0
$GC,10488,1.67,108.9,500.5,13.7,236,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2760,2150,0,0,0,0,0,0
$GC,10789,1.67,108.9,459.6,13.5,241,10793,0.00,2.60,0.00,0.000,4,0.000,0.051,2855,1310,2150,0,0,0,0,0,0
$GC,10842,1.67,108.9,452.0,14.9,241,10846,0.00,2.58,0.00,0.000,6,0.000,0.046,2855,2756,2150,0,0,0,0,0,0
$GC,11155,1.67,108.9,410.3,13.2,247,11159,0.00,2.53,0.00,0.000,4,0.000,0.050,2855,1314,2149,0,0,0,0,0,0
$GC,11256,1.67,108.9,397.5,12.1,248,11260,0.00,2.53,0.00,0.000,6,0.000,0.045,2854,2760,2150,0,0,0,0,0,0
$GC,11579,1.67,108.9,355.0,13.3,254,11583,0.00,2.53,0.00,0.000,4,0.000,0.048,2855,1316,2149,0,0,0,0,0,0
$GC,11615,1.67,108.9,350.5,12.6,254,11620,0.00,2.55,0.00,0.000,6,0.000,0.044,2855,2761,2149,0,0,0,0,0,0
$GC,11944,1.67,108.9,314.1,10.7,260,11948,0.00,2.55,0.00,0.000,4,0.000,0.047,2855,1319,2148,0,0,0,0,0,0
$GC,12189,1.67,109.5,288.9,9.9,264,12194,0.00,2.53,0.00,0.000,6,0.000,0.043,2855,2758,2149,0,0,0,0,0,0
$GC,12504,1.69,124.9,260.8,8.4,275,12519,0.00,2.55,11.02,0.761,4,0.000,0.044,2855,1304,2106,0,0,0,0,0,0
$GC,12711,1.69,124.9,239.3,11.1,281,12715,0.00,2.53,0.00,0.000,6,0.000,0.041,2855,2766,2106,0,0,0,0,0,0
$GC,13026,1.69,125.4,207.6,9.9,292,13029,0.00,2.08,0.00,0.000,4,0.000,0.055,2855,3953,2106,0,0,0,0,0,0
$GC,13126,1.69,125.4,197.2,10.2,295,13131,0.00,2.15,0.00,0.000,6,0.000,0.038,2855,2690,2104,0,0,0,0,0,0
$GC,13457,1.69,132.2,166.5,9.3,306,13470,0.00,2.42,7.70,0.620,4,0.000,0.044,2855,1305,2078,0,0,0,0,0,0
$GC,13519,1.69,133.1,160.3,9.9,308,13523,0.00,2.47,0.00,0.000,6,0.000,0.039,2855,2761,2078,0,0,0,0,0,0
$GC,13854,1.69,133.1,124.1,11.5,319,13859,0.00,2.53,0.00,0.000,4,0.000,0.042,2854,1304,2078,0,0,0,0,0,0
$GC,13934,1.69,133.1,114.7,11.5,321,13938,0.00,2.50,0.00,0.000,6,0.000,0.039,2855,2752,2079,0,0,0,0,0,0
$GC,14246,1.70,137.6,83.4,9.5,341,14257,0.00,0.00,6.75,0.522,6,0.000,0.000,2855,2752,2056,0,0,0,0,0,0
$GC,14444,1.70,137.6,62.6,11.2,360,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2752,2056,0,0,0,0,0,0
$GC,14629,1.75,185.2,49.7,5.1,378,14675,0.00,2.53,41.70,0.566,4,0.000,0.041,2855,1297,1862,0,0,0,0,0,0
$GC,14915,1.77,202.3,27.4,8.2,404,14935,0.08,2.50,15.07,0.509,6,0.063,0.038,2880,2753,1792,0,0,0,0,0,0
$GC,15125,1.77,202.3,5.5,11.9,436,15131,0.00,2.50,0.00,0.000,4,0.000,0.042,2879,1302,1788,0,0,0,0,0,0
$STATE,15144,end climb,SURFACE_DEPTH_REACHED
$STATE,15145,begin surface coast
$FINISH,0.4,1.023068
$STATE,15166,end surface coast,CONTROL_FINISHED_OK
$STATE,15166,begin surface
$SM_CCo,15187,106.35,0.499,0,0,987,400.08
$SM_GC,0.70,0.00,0.00,106.35,0.000,0.000,0.499,372,2923,987,-9.77,0.08,400.08
$IRIDIUM_FIX,1916.08,-15557.38,080511,000015
$TT8_MAMPS,0.135759
$HUMID,1078525797
$TCM_TEMP,24.00
$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,5.9/483886/455447
$PA_LOG,3.6/297829/286979
$PA_DATA0,89.6/7836665/814513
$PA_DATA1,85.1/7836665/1171473
$PA_USB,87.1/128908/16630
$24V_AH,23.1,16.496
$10V_AH,9.9,43.298
$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,24.000,148.925,261.725,106.350,0.000,24.855,26.879,153.413,0.000,0.000,35.616,0.000,12652.121,537.257,2007.540,437.316,33.334,1497.420,0.000,1428.807,0.000,0.532,0.000
$DEVICE_MAMPS,161.070,193.284,1329.978,498.550,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,296.757,0.000,0.000,0.000,0.000,0.000,15729.630,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.465,0.000
$MEM,353816
$DATA_FILE_SIZE,15871,444
$CAP_FILE_SIZE,123849,0
$CFSIZE,260034560,250163200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,343.2,1
$GPS,121109,143057,1924.491,-15558.507,62,1.8,65,9.7