version: 66.07
glider: 22
mission: 14
dive: 85
start: 11 12 109 18 31 47
data:
$ID,22
$MISSION,14
$DIVE,85
$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,-249968.8
$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,43
$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
$GPS1,121109,182557,1923.724,-15557.390,37,3.1,56,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-69.1
$GPS2,121109,183106,1923.804,-15557.401,28,1.4,28,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.291,-0.041
$KALMAN_X,-134405.5,1071.1,890.9,164085.4,-12087.7
$KALMAN_Y,45723.1,-1132.3,-623.1,-104247.3,3081.5
$MHEAD_RNG_PITCHd_Wd,279.4,1105,-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,-64.6,0.0,0.0,0,88,0.00,0.00,-70.22,0.000,2,0.000,0.000,372,2939,2554,0,0,0,0,0,0
$GC,90,-1.64,-87.1,3.1,-7.7,13,116,9.45,1.75,-11.27,0.000,4,0.161,0.069,2130,3946,2973,0,0,0,0,0,0
$GC,318,-1.64,-87.1,73.8,-27.8,40,327,0.00,1.70,0.00,0.000,6,0.000,0.038,2130,2890,2975,0,0,0,0,0,0
$GC,519,-1.64,-87.1,120.9,-21.2,54,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2886,2976,0,0,0,0,0,0
$GC,823,-1.64,-87.1,183.8,-20.3,64,831,0.00,2.25,0.00,0.000,4,0.000,0.041,2130,1528,2979,0,0,0,0,0,0
$GC,861,-1.64,-87.1,190.4,-16.8,65,869,0.00,2.35,0.00,0.000,6,0.000,0.044,2131,2910,2979,0,0,0,0,0,0
$GC,1183,-1.64,-87.1,245.0,-17.7,76,1192,0.00,2.33,0.00,0.000,4,0.000,0.042,2130,1533,2981,0,0,0,0,0,0
$GC,1431,-1.64,-87.1,283.9,-15.6,83,1439,0.00,2.40,0.00,0.000,6,0.000,0.044,2131,2927,2982,0,0,0,0,0,0
$GC,1770,-1.64,-87.1,339.1,-16.0,90,1778,0.00,2.35,0.00,0.000,4,0.000,0.043,2130,1540,2983,0,0,0,0,0,0
$GC,1942,-1.64,-87.1,366.1,-15.5,92,1951,0.00,2.40,0.00,0.000,6,0.000,0.046,2130,2925,2982,0,0,0,0,0,0
$GC,2257,-1.64,-87.1,410.7,-14.1,98,2266,0.00,2.38,0.00,0.000,4,0.000,0.044,2130,1534,2981,0,0,0,0,0,0
$GC,2356,-1.64,-87.1,423.1,-12.3,99,2365,0.00,2.42,0.00,0.000,6,0.000,0.048,2130,2929,2981,0,0,0,0,0,0
$GC,2682,-1.64,-87.1,466.6,-13.4,105,2691,0.00,1.80,0.00,0.000,4,0.000,0.062,2130,3955,2978,0,0,0,0,0,0
$GC,2705,-1.64,-87.1,469.9,-13.9,105,2713,0.00,1.75,0.00,0.000,6,0.000,0.042,2130,2933,2978,0,0,0,0,0,0
$GC,3052,-1.64,-87.1,517.4,-13.8,111,3060,0.00,1.83,0.00,0.000,4,0.000,0.062,2129,3954,2977,0,0,0,0,0,0
$GC,3145,-1.64,-87.1,531.3,-14.7,112,3154,0.00,1.77,0.00,0.000,6,0.000,0.043,2130,2905,2976,0,0,0,0,0,0
$GC,3486,-1.64,-87.1,574.2,-12.3,118,3494,0.00,2.38,0.00,0.000,4,0.000,0.050,2131,1522,2975,0,0,0,0,0,0
$GC,3557,-1.64,-87.1,583.0,-12.2,119,3565,0.00,2.47,0.00,0.000,6,0.000,0.052,2130,2921,2975,0,0,0,0,0,0
$GC,3918,-1.64,-87.1,626.4,-12.1,125,3928,0.00,1.85,0.00,0.000,4,0.000,0.070,2130,3954,2972,0,0,0,0,0,0
$GC,3996,-1.64,-87.1,636.7,-12.6,126,4004,0.00,1.75,0.00,0.000,6,0.000,0.044,2130,2927,2971,0,0,0,0,0,0
$GC,4353,-1.64,-87.1,677.0,-11.3,132,4360,0.00,1.90,0.00,0.000,4,0.000,0.072,2130,3955,2969,0,0,0,0,0,0
$GC,4381,-1.64,-87.1,680.5,-13.3,132,4388,0.00,1.80,0.00,0.000,6,0.000,0.045,2131,2914,2969,0,0,0,0,0,0
$GC,4721,-1.64,-87.1,721.3,-12.1,138,4728,0.00,1.95,0.00,0.000,4,0.000,0.081,2130,3950,2967,0,0,0,0,0,0
$GC,4802,-1.64,-87.1,731.6,-13.2,139,4810,0.00,1.83,0.00,0.000,6,0.000,0.052,2130,2921,2966,0,0,0,0,0,0
$GC,5153,-1.64,-87.1,773.0,-11.9,145,5161,0.00,1.98,0.00,0.000,4,0.000,0.091,2130,3950,2964,0,0,0,0,0,0
$GC,5181,-1.64,-87.1,776.3,-12.7,145,5188,0.00,1.88,0.00,0.000,6,0.000,0.062,2131,2924,2964,0,0,0,0,0,0
$GC,5521,-1.64,-87.1,815.6,-11.6,151,5529,0.00,2.70,0.00,0.000,4,0.000,0.099,2130,1502,2962,0,0,0,0,0,0
$GC,5560,-1.64,-87.1,820.3,-11.2,151,5568,0.00,2.72,0.00,0.000,6,0.000,0.094,2130,2912,2962,0,0,0,0,0,0
$GC,5880,-1.64,-87.1,858.0,-11.8,157,5888,0.00,2.12,0.00,0.000,4,0.000,0.132,2131,3958,2960,0,0,0,0,0,0
$GC,5967,-1.64,-87.1,869.4,-13.3,158,5975,0.00,2.05,0.00,0.000,6,0.000,0.106,2130,2925,2960,0,0,0,0,0,0
$GC,6302,-1.64,-87.1,908.4,-11.6,164,6312,0.00,2.95,0.00,0.000,4,0.000,0.145,2130,1502,2959,0,0,0,0,0,0
$GC,6337,-1.64,-87.1,912.6,-12.5,164,6346,0.00,3.00,0.00,0.000,6,0.000,0.140,2130,2924,2958,0,0,0,0,0,0
$GC,6663,-1.64,-87.1,949.8,-11.5,170,6672,0.00,3.20,0.00,0.000,4,0.000,0.173,2130,1504,2957,0,0,0,0,0,0
$GC,6724,-1.64,-87.1,956.7,-11.0,171,6733,0.00,3.20,0.00,0.000,6,0.000,0.166,2131,2928,2957,0,0,0,0,0,0
$STATE,7025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7025,begin apogee
$GC,7029,-0.28,0.0,990.1,11.0,176,7114,1.52,0.00,77.22,1.330,6,0.128,0.000,2430,2752,2617,0,0,0,0,0,0
$STATE,7115,end apogee,CONTROL_FINISHED_OK
$STATE,7115,begin climb
$GC,7117,1.64,87.1,991.7,0.0,177,7217,1.98,3.53,84.18,1.296,4,0.083,0.200,2847,1335,2261,0,0,0,0,0,0
$GC,7269,1.64,87.1,974.8,15.6,179,7278,0.00,3.28,0.00,0.000,6,0.000,0.169,2847,2757,2257,0,0,0,0,0,0
$GC,7605,1.64,87.1,920.9,16.0,185,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2757,2251,0,0,0,0,0,0
$GC,7907,1.64,87.1,873.1,15.9,190,7916,0.00,2.90,0.00,0.000,4,0.000,0.114,2847,1328,2247,0,0,0,0,0,0
$GC,8085,1.64,87.1,843.6,16.9,192,8095,0.00,2.80,0.00,0.000,6,0.000,0.091,2847,2768,2246,0,0,0,0,0,0
$GC,8394,1.64,87.1,791.5,16.9,197,8403,0.00,2.72,0.00,0.000,4,0.000,0.079,2847,1321,2245,0,0,0,0,0,0
$GC,8513,1.64,87.1,772.3,15.6,198,8524,0.00,2.62,0.00,0.000,6,0.000,0.069,2847,2766,2245,0,0,0,0,0,0
$GC,8822,1.64,87.1,726.6,14.7,204,8831,0.00,2.65,0.00,0.000,4,0.000,0.067,2847,1323,2243,0,0,0,0,0,0
$GC,8899,1.64,87.1,715.6,13.7,205,8907,0.00,2.62,0.00,0.000,6,0.000,0.058,2847,2766,2244,0,0,0,0,0,0
$GC,9252,1.64,87.1,667.0,13.8,211,9261,0.00,2.62,0.00,0.000,4,0.000,0.061,2847,1312,2242,0,0,0,0,0,0
$GC,9292,1.64,87.1,661.4,13.3,211,9300,0.00,2.58,0.00,0.000,6,0.000,0.054,2847,2756,2241,0,0,0,0,0,0
$GC,9611,1.64,87.1,619.1,13.4,217,9619,0.00,2.58,0.00,0.000,4,0.000,0.056,2847,1313,2241,0,0,0,0,0,0
$GC,9661,1.64,87.1,612.4,13.4,217,9669,0.00,2.55,0.00,0.000,6,0.000,0.051,2847,2757,2241,0,0,0,0,0,0
$GC,9970,1.64,87.1,570.9,13.6,222,9978,0.00,2.58,0.00,0.000,4,0.000,0.054,2847,1306,2239,0,0,0,0,0,0
$GC,10035,1.64,87.1,561.9,13.8,223,10044,0.00,2.58,0.00,0.000,6,0.000,0.048,2847,2767,2240,0,0,0,0,0,0
$GC,10392,1.64,87.1,515.7,13.0,229,10401,0.00,2.58,0.00,0.000,4,0.000,0.052,2847,1310,2240,0,0,0,0,0,0
$GC,10464,1.64,87.1,506.8,12.8,230,10472,0.00,2.55,0.00,0.000,6,0.000,0.047,2847,2765,2240,0,0,0,0,0,0
$GC,10821,1.64,87.1,463.6,11.7,236,10829,0.00,2.55,0.00,0.000,4,0.000,0.051,2847,1316,2240,0,0,0,0,0,0
$GC,11015,1.64,87.1,442.0,10.6,239,11024,0.00,2.53,0.00,0.000,6,0.000,0.046,2848,2764,2239,0,0,0,0,0,0
$GC,11379,1.64,87.1,402.9,11.0,245,11387,0.00,2.55,0.00,0.000,4,0.000,0.049,2847,1309,2239,0,0,0,0,0,0
$GC,11541,1.64,87.1,384.4,10.1,247,11549,0.00,2.53,0.00,0.000,6,0.000,0.045,2848,2761,2239,0,0,0,0,0,0
$GC,11866,1.65,94.4,353.8,9.2,253,11874,0.00,2.53,0.00,0.000,4,0.000,0.048,2848,1315,2238,0,0,0,0,0,0
$GC,11964,1.66,104.8,344.0,8.9,254,11986,0.00,2.50,12.85,0.851,6,0.000,0.044,2848,2757,2189,0,0,0,0,0,0
$GC,12298,1.66,104.8,306.9,11.3,260,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2757,2187,0,0,0,0,0,0
$GC,12600,1.67,107.0,275.4,9.8,268,12609,0.00,2.53,0.00,0.000,4,0.000,0.047,2850,1303,2187,0,0,0,0,0,0
$GC,12720,1.68,120.2,264.8,8.6,271,12743,0.00,2.45,14.70,0.802,6,0.000,0.043,2848,2762,2129,0,0,0,0,0,0
$GC,13058,1.69,133.0,234.7,8.7,283,13080,0.00,2.60,12.93,0.759,4,0.000,0.045,2848,1314,2074,0,0,0,0,0,0
$GC,13127,1.69,133.0,227.9,10.5,285,13135,0.00,2.53,0.00,0.000,6,0.000,0.042,2847,2765,2073,0,0,0,0,0,0
$GC,13459,1.69,133.0,188.9,11.6,296,13469,0.00,2.53,0.00,0.000,4,0.000,0.044,2848,1302,2072,0,0,0,0,0,0
$GC,13649,1.70,140.8,169.5,9.2,302,13665,0.00,2.53,7.55,0.644,6,0.000,0.041,2848,2751,2044,0,0,0,0,0,0
$GC,13983,1.70,140.8,134.2,11.3,313,13989,0.00,2.12,0.00,0.000,4,0.000,0.053,2848,3944,2042,0,0,0,0,0,0
$GC,14009,1.70,140.8,131.2,11.4,313,14017,0.00,2.12,0.00,0.000,6,0.000,0.037,2848,2688,2041,0,0,0,0,0,0
$GC,14318,1.70,140.8,97.8,11.7,324,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2687,2041,0,0,0,0,0,0
$GC,14504,1.70,140.8,76.4,11.7,342,14510,0.00,2.38,0.00,0.000,4,0.000,0.043,2848,1302,2042,0,0,0,0,0,0
$GC,14578,1.71,145.6,68.9,9.5,349,14592,0.00,2.47,5.90,0.507,6,0.000,0.039,2848,2767,2024,0,0,0,0,0,0
$GC,14776,1.71,149.7,51.3,9.6,368,14789,0.00,2.45,5.50,0.481,4,0.000,0.041,2848,1302,2006,0,0,0,0,0,0
$GC,14902,1.72,159.2,39.4,9.0,379,14917,0.00,2.40,9.65,0.528,6,0.000,0.039,2848,2755,1968,0,0,0,0,0,0
$GC,15104,1.78,209.2,26.1,4.8,399,15154,0.15,2.15,43.03,0.557,4,0.081,0.052,2885,3938,1763,0,0,0,0,0,0
$GC,15176,1.79,217.1,20.4,9.2,406,15191,0.00,2.08,8.00,0.479,6,0.000,0.037,2885,2689,1731,0,0,0,0,0,0
$GC,15254,1.79,217.1,11.7,10.5,420,15260,0.00,2.38,0.00,0.000,4,0.000,0.044,2885,1302,1729,0,0,0,0,0,0
$GC,15285,1.79,217.1,7.7,12.4,426,15292,0.00,2.50,0.00,0.000,6,0.000,0.040,2885,2749,1728,0,0,0,0,0,0
$STATE,15321,end climb,SURFACE_DEPTH_REACHED
$STATE,15321,begin surface coast
$FINISH,0.0,1.010311
$STATE,15343,end surface coast,CONTROL_FINISHED_OK
$STATE,15343,begin surface
$SM_CCo,15361,96.90,0.513,0,0,986,400.08
$SM_GC,0.76,0.00,0.00,96.90,0.000,0.000,0.513,376,2932,986,-9.75,0.34,400.08
$IRIDIUM_FIX,1918.37,-15557.38,080511,080833
$TT8_MAMPS,0.310635
$HUMID,1078545152
$TCM_TEMP,23.60
$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,5.9/483886/455160
$PA_LOG,3.7/297829/286909
$PA_DATA0,96.2/7836665/297971
$PA_DATA1,100.0/7836665/764
$PA_USB,87.1/128908/16630
$24V_AH,23.4,16.726
$10V_AH,9.8,44.152
$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,24.025,169.100,281.500,96.900,0.000,23.348,25.321,131.921,0.000,0.000,30.158,0.000,12497.786,518.985,2305.325,437.094,33.339,1710.567,0.000,1552.925,0.000,0.529,0.000
$DEVICE_MAMPS,161.070,200.187,1329.978,513.123,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,292.052,0.000,0.000,0.000,0.000,0.000,15884.250,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,100.187,0.000
$MEM,353836
$DATA_FILE_SIZE,15858,437
$CAP_FILE_SIZE,134795,0
$CFSIZE,260034560,250036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,316.2,1
$GPS,121109,225025,1924.550,-15559.009,39,1.2,39,9.7