version: 66.07
glider: 22
mission: 14
dive: 2
start: 10 27 109 20 4 43
data:
$ID,22
$MISSION,14
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.027
$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,450
$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,-244131.14
$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,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,62
$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,20480.0
$GPS1,271009,195931,1940.923,-15605.318,12,1.4,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.8
$GPS2,271009,200407,1941.002,-15605.360,13,1.4,30,9.7
$SPEED_LIMITS,0.100,0.258
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.083,-0.244
$KALMAN_X,-146.4,-146.4,-146.4,-69.9,-328.5
$KALMAN_Y,432.6,432.6,432.6,213.4,970.8
$MHEAD_RNG_PITCHd_Wd,151.6,1960,-18.5,-10.000
$D_GRID,90
$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,-1.31,-146.1,0.0,0.0,0,120,0.00,0.00,-102.90,0.000,2,0.000,0.000,369,2382,2659,0,0,0,0,0,0
$GC,124,-1.31,-146.1,3.3,-7.4,20,156,9.93,2.38,-14.73,0.000,4,0.160,0.074,2236,3728,3214,0,0,0,0,0,0
$GC,198,-1.31,-146.1,21.0,-26.0,34,206,0.00,2.30,0.00,0.000,6,0.000,0.041,2236,2326,3214,0,0,0,0,0,0
$GC,396,-1.31,-146.1,68.8,-22.3,53,404,0.00,2.28,0.00,0.000,4,0.000,0.045,2236,949,3214,0,0,0,0,0,0
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,526,-0.31,0.0,91.1,19.5,64,649,1.02,0.00,113.55,0.499,6,0.099,0.000,2454,2324,2617,0,0,0,0,0,0
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,1.31,146.1,99.3,0.0,76,784,1.60,2.42,116.10,0.491,4,0.075,0.047,2808,952,2021,0,0,0,0,0,0
$GC,820,1.31,146.1,89.1,10.8,92,829,0.00,2.33,0.00,0.000,6,0.000,0.041,2808,2375,2019,0,0,0,0,0,0
$GC,1012,1.33,158.5,70.2,9.4,111,1032,0.00,2.42,10.82,0.431,4,0.000,0.055,2808,3757,1969,0,0,0,0,0,0
$GC,1271,1.38,201.7,47.2,8.0,134,1315,0.00,2.33,35.08,0.462,6,0.000,0.039,2808,2334,1795,0,0,0,0,0,0
$GC,1499,1.40,227.1,26.8,8.8,156,1534,0.10,2.50,21.62,0.444,4,0.096,0.052,2835,3757,1690,0,0,0,0,0,0
$STATE,1713,end climb,SURFACE_DEPTH_REACHED
$STATE,1713,begin surface coast
$FINISH,0.4,1.020860
$STATE,1740,end surface coast,CONTROL_FINISHED_OK
$STATE,1740,begin surface
$SM_CCo,1760,99.82,0.434,0,0,782,450.13
$SM_GC,1.08,0.00,0.00,99.82,0.000,0.000,0.434,369,2329,782,-9.92,-0.59,450.13
$IRIDIUM_FIX,1932.09,-15606.90,220411,141408
$TT8_MAMPS,0.132691
$HUMID,1078430313
$TCM_TEMP,25.10
$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,0/16
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/471019
$PA_LOG,3.7/297829/286840
$PA_DATA0,1.1/7836665/7747198
$PA_DATA1,0.1/7836665/7825417
$PA_USB,0.2/30829585/30776600
$24V_AH,24.1,3.146
$10V_AH,10.0,3.376
$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,23.325,23.700,297.175,99.825,0.000,0.000,0.000,0.000,0.000,0.000,30.724,0.000,844.399,460.219,569.565,48.340,30.162,754.953,0.000,371.831,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,74.399,498.550,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,123.296,0.000,0.000,0.000,0.000,0.000,1893.900,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,84.889,0.000
$MEM,324736
$DATA_FILE_SIZE,6439,195
$CAP_FILE_SIZE,52206,0
$CFSIZE,260034560,256512000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.538,346.0,1
$GPS,271009,203613,1941.516,-15605.362,10,2.0,10,9.7