version: 66.07
glider: 22
mission: 14
dive: 4
start: 10 27 109 22 41 32
data:
$ID,22
$MISSION,14
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,180
$T_MISSION,210
$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,250
$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,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,-244692.22
$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,2550
$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,2750
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,50
$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,100000.0
$GPS1,271009,223614,1942.552,-15605.699,9,1.9,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.7
$GPS2,271009,224054,1942.642,-15605.731,33,1.8,43,9.7
$SPEED_LIMITS,0.122,0.347
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.081,-0.337
$KALMAN_X,-706.4,-508.0,-338.7,384.3,-376.3
$KALMAN_Y,2862.1,1881.6,1274.8,-1431.9,1750.0
$MHEAD_RNG_PITCHd_Wd,155.7,5056,-16.8,-12.222
$D_GRID,660
$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,15,-1.32,-243.4,0.0,0.0,0,91,0.00,0.00,-73.07,0.000,2,0.000,0.000,372,2771,2634,0,0,0,0,0,0
$GC,93,-1.32,-243.4,3.3,-9.0,14,135,10.07,2.45,-23.48,0.000,4,0.160,0.055,2256,1341,3614,0,0,0,0,0,0
$GC,326,-1.32,-243.4,54.8,-18.0,43,330,0.00,2.40,0.00,0.000,6,0.000,0.048,2256,2729,3614,0,0,0,0,0,0
$GC,523,-1.32,-243.4,93.3,-18.6,62,526,0.00,2.15,0.00,0.000,4,0.000,0.064,2257,3955,3616,0,0,0,0,0,0
$GC,565,-1.32,-243.4,101.7,-19.9,66,569,0.00,2.03,0.00,0.000,6,0.000,0.039,2256,2729,3616,0,0,0,0,0,0
$GC,892,-1.32,-243.4,159.9,-17.8,77,899,0.00,2.17,0.00,0.000,4,0.000,0.064,2256,3953,3616,0,0,0,0,0,0
$GC,1010,-1.32,-243.4,182.3,-19.3,80,1020,0.00,1.98,0.00,0.000,6,0.000,0.040,2256,2745,3616,0,0,0,0,0,0
$GC,1320,-1.32,-243.4,233.7,-16.3,91,1328,0.00,2.17,0.00,0.000,4,0.000,0.069,2256,3955,3616,0,0,0,0,0,0
$GC,1418,-1.32,-243.4,250.4,-16.2,94,1426,0.00,2.00,0.00,0.000,6,0.000,0.040,2256,2740,3616,0,0,0,0,0,0
$GC,1749,-1.32,-243.4,296.4,-13.0,105,1759,0.00,2.22,0.00,0.000,4,0.000,0.072,2257,3946,3615,0,0,0,0,0,0
$GC,1795,-1.32,-243.4,302.7,-13.5,106,1802,0.00,2.00,0.00,0.000,6,0.000,0.041,2256,2736,3615,0,0,0,0,0,0
$GC,2120,-1.32,-243.4,347.0,-13.7,112,2128,0.00,2.20,0.00,0.000,4,0.000,0.071,2257,3950,3613,0,0,0,0,0,0
$GC,2228,-1.32,-243.4,362.7,-14.2,113,2236,0.00,2.00,0.00,0.000,6,0.000,0.041,2256,2744,3612,0,0,0,0,0,0
$GC,2542,-1.32,-243.4,405.4,-13.5,119,2550,0.00,2.17,0.00,0.000,4,0.000,0.071,2257,3945,3609,0,0,0,0,0,0
$GC,2640,-1.32,-243.4,419.0,-13.6,120,2648,0.00,2.00,0.00,0.000,6,0.000,0.042,2256,2749,3608,0,0,0,0,0,0
$GC,2970,-1.32,-243.4,459.3,-11.9,126,2978,0.00,2.17,0.00,0.000,4,0.000,0.072,2256,3946,3605,0,0,0,0,0,0
$GC,3089,-1.32,-243.4,474.3,-12.4,127,3098,0.00,2.03,0.00,0.000,6,0.000,0.043,2255,2744,3604,0,0,0,0,0,0
$GC,3397,-1.32,-243.4,511.5,-12.1,133,3405,0.00,2.22,0.00,0.000,4,0.000,0.075,2257,3938,3600,0,0,0,0,0,0
$GC,3532,-1.32,-243.4,528.8,-12.8,135,3541,0.00,2.00,0.00,0.000,6,0.000,0.044,2256,2753,3599,0,0,0,0,0,0
$GC,3889,-1.32,-243.4,570.0,-11.6,141,3897,0.00,2.25,0.00,0.000,4,0.000,0.081,2256,3941,3594,0,0,0,0,0,0
$GC,4056,-1.32,-243.4,590.4,-12.0,143,4065,0.00,2.10,0.00,0.000,6,0.000,0.046,2256,2745,3592,0,0,0,0,0,0
$GC,4387,-1.32,-243.4,627.8,-11.4,149,4395,0.00,2.28,0.00,0.000,4,0.000,0.088,2256,3947,3589,0,0,0,0,0,0
$GC,4534,-1.32,-243.4,645.6,-12.4,151,4543,0.00,2.08,0.00,0.000,6,0.000,0.048,2256,2752,3588,0,0,0,0,0,0
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4699,begin apogee
$GC,4703,-0.31,0.0,664.9,11.7,154,4912,1.08,0.00,201.98,1.071,6,0.105,0.000,2478,2752,2618,0,0,0,0,0,0
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4915,1.32,243.4,674.6,0.0,157,5140,1.65,2.65,211.50,1.027,4,0.080,0.072,2832,1335,1625,0,0,0,0,0,0
$GC,5214,1.32,243.4,634.7,19.0,161,5222,0.00,2.58,0.00,0.000,6,0.000,0.059,2832,2744,1618,0,0,0,0,0,0
$GC,5522,1.32,243.4,574.2,19.7,166,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2743,1613,0,0,0,0,0,0
$GC,5824,1.32,243.4,517.9,18.5,171,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2744,1612,0,0,0,0,0,0
$GC,6125,1.32,243.4,463.6,18.0,176,6134,0.00,2.20,0.00,0.000,4,0.000,0.071,2832,3955,1610,0,0,0,0,0,0
$GC,6175,1.32,243.4,454.1,20.0,176,6183,0.00,2.12,0.00,0.000,6,0.000,0.044,2831,2724,1609,0,0,0,0,0,0
$GC,6483,1.32,243.4,398.6,18.1,181,6491,0.00,2.40,0.00,0.000,4,0.000,0.054,2832,1337,1608,0,0,0,0,0,0
$GC,6511,1.32,243.4,393.2,18.3,181,6519,0.00,2.50,0.00,0.000,6,0.000,0.048,2832,2763,1608,0,0,0,0,0,0
$GC,6847,1.32,243.4,334.8,17.1,187,6855,0.00,2.15,0.00,0.000,4,0.000,0.064,2832,3944,1607,0,0,0,0,0,0
$GC,6950,1.32,243.4,317.6,17.9,188,6958,0.00,2.10,0.00,0.000,6,0.000,0.043,2832,2738,1606,0,0,0,0,0,0
$GC,7281,1.32,243.4,263.5,16.5,197,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2732,1605,0,0,0,0,0,0
$GC,7584,1.32,243.4,213.3,16.0,207,7593,0.00,2.17,0.00,0.000,4,0.000,0.061,2832,3954,1605,0,0,0,0,0,0
$GC,7655,1.32,243.4,200.9,17.0,209,7663,0.00,2.10,0.00,0.000,6,0.000,0.041,2832,2742,1604,0,0,0,0,0,0
$GC,7982,1.32,243.4,150.9,15.5,220,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2735,1603,0,0,0,0,0,0
$GC,8285,1.32,243.4,105.0,15.3,230,8289,0.00,2.40,0.00,0.000,4,0.000,0.048,2832,1344,1605,0,0,0,0,0,0
$GC,8332,1.32,243.4,97.6,15.2,231,8337,0.00,2.42,0.00,0.000,6,0.000,0.042,2832,2756,1604,0,0,0,0,0,0
$GC,8648,1.32,243.4,52.9,12.8,261,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2756,1604,0,0,0,0,0,0
$GC,8836,1.35,269.2,31.1,11.4,279,8859,0.00,2.12,19.83,0.574,4,0.000,0.058,2832,3953,1519,0,0,0,0,0,0
$GC,8919,1.35,271.4,21.4,12.1,287,8923,0.00,2.05,0.00,0.000,6,0.000,0.038,2832,2733,1518,0,0,0,0,0,0
$STATE,9087,end climb,SURFACE_DEPTH_REACHED
$STATE,9087,begin surface coast
$FINISH,0.1,1.022778
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9132,67.60,0.535,0,0,986,400.08
$SM_GC,0.66,0.00,0.00,67.60,0.000,0.000,0.535,372,2730,986,-10.02,-0.57,400.08
$IRIDIUM_FIX,1932.09,-15604.81,220411,161613
$TT8_MAMPS,0.134225
$HUMID,1078807087
$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,0/118
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470913
$PA_LOG,3.6/297829/286995
$PA_DATA0,7.7/7836665/7235307
$PA_DATA1,0.1/7836665/7825417
$PA_USB,1.0/30829585/30519172
$24V_AH,23.6,3.405
$10V_AH,9.9,3.889
$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,23.525,79.050,433.300,67.600,0.000,0.000,0.000,0.000,0.000,0.000,43.687,0.000,7169.969,567.071,1420.007,118.778,32.316,1300.345,0.000,970.491,0.000,0.533,0.000
$DEVICE_MAMPS,160.303,88.205,1071.499,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,213.377,0.000,0.000,0.000,0.000,0.000,9277.820,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,94.854,0.000
$MEM,324732
$DATA_FILE_SIZE,9602,322
$CAP_FILE_SIZE,93964,0
$CFSIZE,260034560,256397312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,351.1,1
$GPS,281009,011555,1941.835,-15605.786,42,1.6,42,9.7