version: 66.07
glider: 22
mission: 14
dive: 84
start: 11 12 109 14 37 24
data:
$ID,22
$MISSION,14
$DIVE,84
$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,-249938.02
$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,6
$R_STBD_OVSHOOT,27
$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
$GPS1,121109,143057,1924.491,-15558.507,62,1.8,65,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-69.2
$GPS2,121109,143644,1924.558,-15558.510,11,1.9,11,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.293,-0.024
$KALMAN_X,-129744.1,567.6,186.6,158732.8,-10872.6
$KALMAN_Y,45373.2,-339.4,-110.5,-103819.4,-47.0
$MHEAD_RNG_PITCHd_Wd,129.5,1364,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.62,-64.6,0.0,0.0,0,94,0.00,0.00,-76.90,0.000,2,0.000,0.000,372,2924,2761,0,0,0,0,0,0
$GC,96,-1.62,-68.2,3.9,-9.6,15,118,9.57,2.55,-3.25,0.000,4,0.164,0.052,2138,1461,2897,0,0,0,0,0,0
$GC,357,-1.62,-68.2,76.9,-23.7,44,364,0.00,2.55,0.00,0.000,6,0.000,0.044,2138,2921,2900,0,0,0,0,0,0
$GC,567,-1.62,-68.2,121.7,-21.9,59,571,0.00,2.47,0.00,0.000,4,0.000,0.041,2137,1472,2900,0,0,0,0,0,0
$GC,812,-1.62,-68.2,169.1,-19.0,66,816,0.00,2.53,0.00,0.000,6,0.000,0.043,2138,2927,2903,0,0,0,0,0,0
$GC,1126,-1.62,-68.2,225.0,-17.1,77,1130,0.00,2.50,0.00,0.000,4,0.000,0.041,2138,1471,2904,0,0,0,0,0,0
$GC,1211,-1.62,-68.2,238.7,-14.4,79,1215,0.00,2.53,0.00,0.000,6,0.000,0.043,2138,2920,2904,0,0,0,0,0,0
$GC,1525,-1.62,-68.2,288.1,-16.3,90,1529,0.00,2.47,0.00,0.000,4,0.000,0.042,2138,1482,2904,0,0,0,0,0,0
$GC,1551,-1.62,-68.2,292.1,-15.2,90,1558,0.00,2.53,0.00,0.000,6,0.000,0.044,2138,2926,2905,0,0,0,0,0,0
$GC,1859,-1.62,-68.2,335.3,-14.0,97,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2926,2904,0,0,0,0,0,0
$GC,2160,-1.62,-68.2,373.9,-12.8,102,2164,0.00,2.50,0.00,0.000,4,0.000,0.044,2138,1483,2904,0,0,0,0,0,0
$GC,2224,-1.62,-68.2,381.9,-13.2,103,2228,0.00,2.55,0.00,0.000,6,0.000,0.047,2138,2929,2904,0,0,0,0,0,0
$GC,2590,-1.62,-68.2,426.5,-12.0,109,2595,0.00,1.83,0.00,0.000,4,0.000,0.060,2138,3949,2902,0,0,0,0,0,0
$GC,2723,-1.62,-68.2,443.8,-14.2,111,2727,0.00,1.85,0.00,0.000,6,0.000,0.041,2137,2868,2901,0,0,0,0,0,0
$GC,3084,-1.62,-68.2,487.3,-12.0,117,3087,0.00,1.98,0.00,0.000,4,0.000,0.059,2137,3954,2898,0,0,0,0,0,0
$GC,3148,-1.62,-68.2,495.8,-14.1,118,3151,0.00,1.88,0.00,0.000,6,0.000,0.041,2138,2865,2897,0,0,0,0,0,0
$GC,3514,-1.62,-68.2,537.8,-11.1,124,3523,0.00,1.95,0.00,0.000,4,0.000,0.061,2138,3955,2895,0,0,0,0,0,0
$GC,3548,-1.62,-68.2,541.7,-11.2,124,3555,0.00,1.85,0.00,0.000,6,0.000,0.042,2138,2865,2895,0,0,0,0,0,0
$GC,3883,-1.63,-72.2,574.7,-9.6,130,3891,0.00,1.95,0.00,0.000,4,0.000,0.063,2138,3950,2892,0,0,0,0,0,0
$GC,3964,-1.63,-72.2,583.5,-11.6,131,3972,0.00,1.88,0.00,0.000,6,0.000,0.043,2138,2876,2891,0,0,0,0,0,0
$GC,4317,-1.63,-72.2,619.9,-10.7,137,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2876,2889,0,0,0,0,0,0
$GC,4618,-1.63,-72.2,651.3,-10.3,142,4626,0.00,2.38,0.00,0.000,4,0.000,0.058,2138,1515,2886,0,0,0,0,0,0
$GC,4710,-1.64,-80.3,660.3,-9.2,143,4719,0.00,2.50,0.00,0.000,6,0.000,0.055,2138,2920,2885,0,0,0,0,0,0
$GC,5041,-1.64,-84.6,692.1,-9.6,149,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2920,2882,0,0,0,0,0,0
$GC,5343,-1.65,-89.8,720.9,-9.5,154,5351,0.00,1.95,0.00,0.000,4,0.000,0.089,2138,3944,2881,0,0,0,0,0,0
$GC,5440,-1.65,-89.8,731.2,-10.9,155,5448,0.00,1.83,0.00,0.000,6,0.000,0.052,2136,2929,2881,0,0,0,0,0,0
$GC,5776,-1.66,-97.4,762.6,-9.2,161,5784,0.00,2.58,0.00,0.000,4,0.000,0.079,2138,1514,2879,0,0,0,0,0,0
$GC,5842,-1.67,-109.5,768.4,-8.7,162,5850,0.00,2.60,0.00,0.000,6,0.000,0.073,2138,2920,2878,0,0,0,0,0,0
$GC,6204,-1.68,-119.3,800.8,-9.0,168,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2920,2877,0,0,0,0,0,0
$GC,6507,-1.69,-124.8,829.0,-9.4,173,6515,0.00,2.75,0.00,0.000,4,0.000,0.100,2138,1517,2877,0,0,0,0,0,0
$GC,6638,-1.69,-132.0,841.2,-9.3,175,6646,0.00,2.78,0.00,0.000,6,0.000,0.103,2138,2925,2878,0,0,0,0,0,0
$GC,6995,-1.71,-144.5,872.4,-8.7,181,7006,0.00,2.85,0.00,0.000,4,0.000,0.122,2138,1522,2875,0,0,0,0,0,0
$GC,7135,-1.73,-163.3,883.7,-8.1,183,7143,0.00,2.88,0.00,0.000,6,0.000,0.122,2138,2926,2874,0,0,0,0,0,0
$GC,7487,-1.75,-188.3,910.0,-7.4,189,7493,0.12,0.00,0.00,0.000,6,0.100,0.000,2110,2926,2872,0,0,0,0,0,0
$GC,7789,-1.76,-194.6,936.5,-8.9,194,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2926,2872,0,0,0,0,0,0
$GC,8090,-1.76,-194.6,964.5,-9.3,199,8099,0.00,3.28,0.00,0.000,4,0.000,0.186,2109,1514,2870,0,0,0,0,0,0
$GC,8124,-1.76,-194.6,967.6,-9.6,199,8133,0.00,3.20,0.00,0.000,6,0.000,0.173,2110,2924,2870,0,0,0,0,0,0
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8388,begin apogee
$GC,8393,-0.28,0.0,991.9,9.1,204,8461,1.65,0.00,58.53,1.329,6,0.130,0.000,2432,2759,2618,0,0,0,0,0,0
$STATE,8461,end apogee,CONTROL_FINISHED_OK
$STATE,8462,begin climb
$GC,8463,1.76,194.6,993.8,0.0,205,8667,2.12,3.38,187.98,1.300,4,0.081,0.183,2877,1334,1821,0,0,0,0,0,0
$GC,8677,1.76,194.6,960.0,23.3,208,8685,0.00,3.22,0.00,0.000,6,0.000,0.160,2879,2753,1818,0,0,0,0,0,0
$GC,8991,1.76,194.6,884.5,24.1,214,9000,0.00,2.95,0.00,0.000,4,0.000,0.120,2877,1326,1808,0,0,0,0,0,0
$GC,9025,1.76,194.6,876.3,23.6,214,9034,0.00,2.90,0.00,0.000,6,0.000,0.107,2877,2760,1807,0,0,0,0,0,0
$GC,9351,1.76,194.6,801.1,23.3,220,9359,0.00,2.72,0.00,0.000,4,0.000,0.083,2877,1329,1804,0,0,0,0,0,0
$GC,9395,1.76,194.6,790.9,22.9,220,9404,0.00,2.70,0.00,0.000,6,0.000,0.077,2877,2760,1803,0,0,0,0,0,0
$GC,9710,1.76,194.6,720.7,22.4,226,9718,0.00,2.65,0.00,0.000,4,0.000,0.067,2877,1322,1801,0,0,0,0,0,0
$GC,9749,1.76,194.6,712.1,21.5,226,9757,0.00,2.62,0.00,0.000,6,0.000,0.058,2876,2767,1801,0,0,0,0,0,0
$GC,10069,1.76,194.6,642.3,22.0,232,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2767,1800,0,0,0,0,0,0
$GC,10370,1.76,194.6,573.6,22.8,237,10379,0.00,2.62,0.00,0.000,4,0.000,0.057,2877,1307,1798,0,0,0,0,0,0
$GC,10452,1.76,194.6,555.0,22.8,238,10461,0.00,2.58,0.00,0.000,6,0.000,0.050,2877,2763,1799,0,0,0,0,0,0
$GC,10793,1.76,194.6,482.9,20.8,244,10797,0.00,2.60,0.00,0.000,4,0.000,0.051,2877,1316,1797,0,0,0,0,0,0
$GC,10857,1.76,194.6,469.8,20.6,245,10861,0.00,2.58,0.00,0.000,6,0.000,0.048,2877,2759,1797,0,0,0,0,0,0
$GC,11223,1.76,194.6,390.7,21.8,251,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2759,1796,0,0,0,0,0,0
$GC,11524,1.76,194.6,334.6,18.4,256,11529,0.00,2.58,0.00,0.000,4,0.000,0.050,2877,1317,1796,0,0,0,0,0,0
$GC,11604,1.76,194.6,319.6,19.5,257,11608,0.00,2.55,0.00,0.000,6,0.000,0.045,2877,2756,1796,0,0,0,0,0,0
$GC,11925,1.76,194.6,257.6,18.7,266,11929,0.00,2.17,0.00,0.000,4,0.000,0.060,2877,3955,1795,0,0,0,0,0,0
$GC,11994,1.76,194.6,243.7,20.4,268,11998,0.00,2.17,0.00,0.000,6,0.000,0.041,2877,2705,1795,0,0,0,0,0,0
$GC,12324,1.76,194.6,183.0,18.4,279,12328,0.00,2.35,0.00,0.000,4,0.000,0.046,2877,1342,1794,0,0,0,0,0,0
$GC,12350,1.76,194.6,178.3,18.1,279,12356,0.00,2.47,0.00,0.000,6,0.000,0.042,2877,2763,1796,0,0,0,0,0,0
$GC,12659,1.76,194.6,124.6,17.9,290,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2764,1794,0,0,0,0,0,0
$GC,12966,1.76,194.6,72.7,16.4,310,12970,0.00,2.42,0.00,0.000,4,0.000,0.043,2879,1341,1794,0,0,0,0,0,0
$GC,13041,1.76,194.6,59.7,15.5,317,13045,0.00,2.40,0.00,0.000,6,0.000,0.040,2877,2765,1794,0,0,0,0,0,0
$GC,13237,1.76,194.6,30.2,14.7,336,13241,0.00,2.45,0.00,0.000,4,0.000,0.043,2877,1342,1795,0,0,0,0,0,0
$GC,13424,1.76,194.6,8.6,10.2,363,13430,0.00,2.42,0.00,0.000,6,0.000,0.039,2877,2758,1796,0,0,0,0,0,0
$STATE,13480,end climb,SURFACE_DEPTH_REACHED
$STATE,13480,begin surface coast
$FINISH,0.2,1.023128
$STATE,13507,end surface coast,CONTROL_FINISHED_OK
$STATE,13507,begin surface
$SM_CCo,13526,109.10,0.534,0,0,986,400.08
$SM_GC,0.88,0.00,0.00,109.10,0.000,0.000,0.534,372,2938,986,-9.77,0.51,400.08
$IRIDIUM_FIX,1916.08,-15557.38,080511,040444
$TT8_MAMPS,0.149565
$HUMID,1078641926
$TCM_TEMP,23.10
$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,0/132
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.9/483886/455414
$PA_LOG,3.6/297829/287007
$PA_DATA0,97.5/7836665/193111
$PA_DATA1,85.1/7836665/1171473
$PA_USB,73.8/30829585/8075768
$24V_AH,23.1,16.618
$10V_AH,9.9,43.662
$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,24.375,130.150,246.500,109.100,0.000,23.387,29.640,172.346,0.000,0.000,10.967,0.000,11316.341,511.502,1706.631,436.671,33.334,1346.308,0.000,1208.152,0.000,0.532,0.000
$DEVICE_MAMPS,164.138,185.614,1329.211,533.832,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,253.774,0.000,0.000,0.000,0.000,0.000,14095.530,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.883,0.000
$MEM,353812
$DATA_FILE_SIZE,12790,379
$CAP_FILE_SIZE,108652,0
$CFSIZE,260034560,250122240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 13.9,1
$GPS,121109,182557,1923.724,-15557.390,37,3.1,56,9.7