version: 66.07
glider: 22
mission: 14
dive: 9
start: 10 28 109 15 18 40
data:
$ID,22
$MISSION,14
$DIVE,9
$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,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,-245737.12
$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,2530
$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,2950
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,35
$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
$GPS1,281009,145701,1935.609,-15603.733,40,1.5,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-69.1
$GPS2,281009,145701,1935.609,-15603.733,901,99.0,901,9.7
$SPEED_LIMITS,0.100,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.039,-0.291
$KALMAN_X,-8479.3,670.2,-10.3,8188.7,-4177.0
$KALMAN_Y,24744.9,-2503.7,-594.6,-24073.7,14473.2
$MHEAD_RNG_PITCHd_Wd,148.2,31212,-15.9,-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,15,-1.21,-194.7,0.0,0.0,0,93,0.00,0.00,-75.10,0.000,2,0.000,0.000,376,2966,2710,0,0,0,0,0,0
$GC,95,-1.21,-194.7,3.2,-8.5,14,127,10.25,2.38,-16.50,0.000,4,0.165,0.058,2263,1554,3412,0,0,0,0,0,0
$GC,212,-1.21,-194.7,31.7,-22.7,32,216,0.00,2.45,0.00,0.000,6,0.000,0.048,2263,2947,3414,0,0,0,0,0,0
$GC,408,-1.21,-194.7,75.6,-20.0,51,412,0.00,2.40,0.00,0.000,4,0.000,0.042,2263,1545,3414,0,0,0,0,0,0
$GC,467,-1.21,-194.7,85.5,-15.8,56,473,0.00,2.47,0.00,0.000,6,0.000,0.047,2263,2961,3414,0,0,0,0,0,0
$GC,676,-1.21,-194.7,125.9,-19.7,69,680,0.00,1.77,0.00,0.000,4,0.000,0.061,2263,3959,3415,0,0,0,0,0,0
$GC,734,-1.21,-194.7,137.6,-19.3,70,740,0.00,1.70,0.00,0.000,6,0.000,0.038,2263,2916,3414,0,0,0,0,0,0
$GC,1043,-1.21,-194.7,195.5,-18.9,81,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2915,3415,0,0,0,0,0,0
$GC,1346,-1.21,-194.7,244.1,-14.8,91,1351,0.00,1.88,0.00,0.000,4,0.000,0.062,2263,3950,3415,0,0,0,0,0,0
$GC,1437,-1.21,-194.7,257.8,-15.5,93,1443,0.00,1.62,0.00,0.000,6,0.000,0.039,2263,2957,3415,0,0,0,0,0,0
$GC,1746,-1.21,-194.7,301.6,-13.6,104,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2956,3415,0,0,0,0,0,0
$GC,2047,-1.21,-194.7,343.3,-13.9,109,2056,0.00,2.33,0.00,0.000,4,0.000,0.044,2263,1577,3414,0,0,0,0,0,0
$GC,2092,-1.21,-194.7,349.0,-12.1,109,2101,0.00,2.42,0.00,0.000,6,0.000,0.051,2263,2962,3413,0,0,0,0,0,0
$GC,2407,-1.21,-194.7,390.0,-13.0,115,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2962,3411,0,0,0,0,0,0
$GC,2708,-1.21,-194.7,428.0,-12.5,120,2718,0.00,2.40,0.00,0.000,4,0.000,0.047,2263,1567,3408,0,0,0,0,0,0
$GC,2738,-1.21,-194.7,431.5,-12.5,120,2746,0.00,2.45,0.00,0.000,6,0.000,0.052,2263,2959,3407,0,0,0,0,0,0
$GC,3068,-1.21,-194.7,471.7,-12.3,126,3076,0.00,2.38,0.00,0.000,4,0.000,0.048,2263,1581,3404,0,0,0,0,0,0
$GC,3129,-1.21,-194.7,478.6,-11.4,127,3138,0.00,2.42,0.00,0.000,6,0.000,0.053,2263,2957,3404,0,0,0,0,0,0
$GC,3491,-1.21,-194.7,520.2,-11.4,133,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2956,3400,0,0,0,0,0,0
$GC,3794,-1.21,-194.7,553.9,-11.2,138,3802,0.00,1.80,0.00,0.000,4,0.000,0.076,2263,3952,3396,0,0,0,0,0,0
$GC,3838,-1.21,-194.7,559.0,-11.6,138,3846,0.00,1.65,0.00,0.000,6,0.000,0.043,2263,2969,3396,0,0,0,0,0,0
$GC,4163,-1.21,-194.7,592.6,-10.3,144,4171,0.00,2.45,0.00,0.000,4,0.000,0.054,2263,1560,3394,0,0,0,0,0,0
$GC,4191,-1.21,-194.7,595.4,-10.6,144,4199,0.00,2.50,0.00,0.000,6,0.000,0.059,2263,2952,3394,0,0,0,0,0,0
$GC,4521,-1.21,-194.7,631.7,-11.3,150,4530,0.00,1.90,0.00,0.000,4,0.000,0.090,2263,3950,3391,0,0,0,0,0,0
$GC,4566,-1.21,-194.7,637.3,-12.7,150,4574,0.00,1.75,0.00,0.000,6,0.000,0.044,2263,2959,3391,0,0,0,0,0,0
$GC,4890,-1.21,-194.7,675.0,-11.5,156,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2959,3390,0,0,0,0,0,0
$GC,5192,-1.21,-194.7,706.4,-10.3,161,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2959,3388,0,0,0,0,0,0
$GC,5495,-1.21,-194.7,733.5,-8.9,166,5502,0.00,1.98,0.00,0.000,4,0.000,0.107,2263,3956,3385,0,0,0,0,0,0
$GC,5565,-1.21,-194.7,740.3,-9.6,167,5572,0.00,1.80,0.00,0.000,6,0.000,0.058,2263,2957,3384,0,0,0,0,0,0
$GC,5927,-1.21,-194.7,774.5,-9.7,173,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2957,3382,0,0,0,0,0,0
$GC,6228,-1.21,-194.7,805.1,-10.2,178,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2957,3380,0,0,0,0,0,0
$GC,6531,-1.21,-194.7,834.5,-9.8,183,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2957,3379,0,0,0,0,0,0
$GC,6832,-1.21,-194.7,863.1,-9.4,188,6840,0.00,2.22,0.00,0.000,4,0.000,0.169,2263,3945,3378,0,0,0,0,0,0
$GC,6893,-1.21,-194.7,869.1,-9.8,189,6901,0.00,2.10,0.00,0.000,6,0.000,0.129,2263,2959,3378,0,0,0,0,0,0
$GC,7260,-1.21,-194.7,902.3,-9.1,195,7270,0.00,3.17,0.00,0.000,4,0.000,0.176,2263,1533,3376,0,0,0,0,0,0
$GC,7285,-1.21,-194.7,904.5,-8.9,195,7293,0.00,3.22,0.00,0.000,6,0.000,0.176,2263,2942,3376,0,0,0,0,0,0
$GC,7621,-1.21,-194.7,932.8,-8.4,201,7629,0.00,2.50,0.00,0.000,4,0.000,0.222,2263,3955,3374,0,0,0,0,0,0
$GC,7665,-1.21,-194.7,936.8,-8.7,201,7673,0.00,2.38,0.00,0.000,6,0.000,0.182,2263,2943,3374,0,0,0,0,0,0
$GC,7979,-1.21,-194.7,964.1,-8.8,207,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2943,3373,0,0,0,0,0,0
$STATE,8279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8279,begin apogee
$GC,8284,-0.31,0.0,991.2,9.1,212,8463,0.98,0.00,168.48,1.305,6,0.111,0.000,2460,2846,2617,0,0,0,0,0,0
$STATE,8464,end apogee,CONTROL_FINISHED_OK
$STATE,8464,begin climb
$GC,8466,1.21,194.7,996.7,0.0,215,8660,1.58,3.80,180.80,1.292,4,0.085,0.236,2789,1430,1822,0,0,0,0,0,0
$GC,8733,1.21,194.7,964.7,16.3,219,8742,0.00,3.58,0.00,0.000,6,0.000,0.205,2789,2854,1814,0,0,0,0,0,0
$GC,9075,1.21,194.7,907.1,16.7,225,9084,0.00,3.20,0.00,0.000,4,0.000,0.161,2789,1431,1808,0,0,0,0,0,0
$GC,9109,1.21,194.7,901.4,16.3,225,9118,0.00,3.15,0.00,0.000,6,0.000,0.151,2789,2856,1808,0,0,0,0,0,0
$GC,9434,1.21,194.7,847.9,16.7,231,9443,0.00,2.92,0.00,0.000,4,0.000,0.117,2789,1427,1806,0,0,0,0,0,0
$GC,9484,1.21,194.7,839.7,15.1,231,9493,0.00,2.88,0.00,0.000,6,0.000,0.107,2789,2857,1805,0,0,0,0,0,0
$GC,9793,1.21,194.7,788.3,16.8,236,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2858,1805,0,0,0,0,0,0
$GC,10094,1.21,194.7,737.5,16.9,241,10103,0.00,2.70,0.00,0.000,4,0.000,0.073,2789,1415,1804,0,0,0,0,0,0
$GC,10139,1.21,194.7,730.0,16.1,241,10147,0.00,2.67,0.00,0.000,6,0.000,0.066,2789,2861,1804,0,0,0,0,0,0
$GC,10453,1.21,194.7,678.2,16.4,247,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2861,1803,0,0,0,0,0,0
$GC,10755,1.21,194.7,632.2,15.1,252,10763,0.00,2.65,0.00,0.000,4,0.000,0.064,2791,1411,1803,0,0,0,0,0,0
$GC,10821,1.21,194.7,622.6,14.3,253,10829,0.00,2.62,0.00,0.000,6,0.000,0.056,2789,2865,1802,0,0,0,0,0,0
$GC,11184,1.21,194.7,568.7,14.9,259,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2865,1802,0,0,0,0,0,0
$GC,11485,1.21,194.7,524.3,14.6,264,11493,0.00,2.60,0.00,0.000,4,0.000,0.057,2790,1413,1802,0,0,0,0,0,0
$GC,11540,1.21,194.7,516.5,14.5,264,11549,0.00,2.58,0.00,0.000,6,0.000,0.051,2790,2861,1802,0,0,0,0,0,0
$GC,11848,1.21,194.7,472.2,14.4,269,11857,0.00,2.00,0.00,0.000,4,0.000,0.071,2790,3948,1802,0,0,0,0,0,0
$GC,11872,1.21,194.7,468.8,13.7,269,11879,0.00,1.98,0.00,0.000,6,0.000,0.043,2789,2798,1800,0,0,0,0,0,0
$GC,12217,1.21,194.7,420.5,14.1,275,12225,0.00,2.40,0.00,0.000,4,0.000,0.054,2790,1412,1801,0,0,0,0,0,0
$GC,12288,1.21,194.7,411.0,13.6,276,12296,0.00,2.53,0.00,0.000,6,0.000,0.048,2790,2854,1801,0,0,0,0,0,0
$GC,12639,1.21,194.7,363.1,13.6,282,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2854,1800,0,0,0,0,0,0
$GC,12940,1.21,194.7,322.1,13.7,287,12949,0.00,2.53,0.00,0.000,4,0.000,0.048,2790,1410,1800,0,0,0,0,0,0
$GC,12979,1.21,194.7,317.2,12.6,287,12987,0.00,2.53,0.00,0.000,6,0.000,0.046,2790,2858,1800,0,0,0,0,0,0
$GC,13310,1.21,194.7,276.1,12.4,296,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2859,1800,0,0,0,0,0,0
$GC,13614,1.21,194.7,239.3,12.1,306,13614,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2859,1800,0,0,0,0,0,0
$GC,13917,1.21,194.7,205.6,10.6,316,13921,0.00,1.98,0.00,0.000,4,0.000,0.061,2790,3955,1800,0,0,0,0,0,0
$GC,13954,1.21,194.7,201.7,11.5,317,13958,0.00,1.98,0.00,0.000,6,0.000,0.039,2790,2795,1799,0,0,0,0,0,0
$GC,14284,1.21,194.7,168.5,10.3,328,14288,0.00,2.38,0.00,0.000,4,0.000,0.045,2790,1411,1800,0,0,0,0,0,0
$GC,14326,1.23,215.4,163.9,9.3,329,14348,0.00,2.53,15.50,0.706,6,0.000,0.042,2790,2864,1739,0,0,0,0,0,0
$GC,14650,1.23,215.4,127.1,11.1,340,14651,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2864,1737,0,0,0,0,0,0
$GC,14954,1.23,218.6,95.1,9.9,352,14965,0.00,2.55,4.15,0.467,4,0.000,0.044,2790,1407,1727,0,0,0,0,0,0
$GC,15012,1.23,218.6,89.6,10.1,357,15018,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2851,1728,0,0,0,0,0,0
$GC,15204,1.24,228.6,70.6,9.7,376,15219,0.00,1.95,10.95,0.571,4,0.000,0.056,2790,3956,1685,0,0,0,0,0,0
$GC,15251,1.24,228.6,65.9,10.3,380,15255,0.00,1.98,0.00,0.000,6,0.000,0.037,2790,2781,1684,0,0,0,0,0,0
$GC,15448,1.27,253.1,47.3,9.2,399,15478,0.00,2.17,21.95,0.575,4,0.000,0.055,2790,3954,1585,0,0,0,0,0,0
$GC,15610,1.30,279.7,32.6,9.1,414,15640,0.08,1.95,24.08,0.555,6,0.059,0.038,2815,2805,1477,0,0,0,0,0,0
$GC,15830,1.30,279.7,10.6,10.2,444,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2805,1472,0,0,0,0,0,0
$GC,15894,1.30,279.7,4.0,10.5,456,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2805,1472,0,0,0,0,0,0
$STATE,15906,end climb,SURFACE_DEPTH_REACHED
$STATE,15907,begin surface coast
$FINISH,0.0,1.023059
$STATE,15934,end surface coast,CONTROL_FINISHED_OK
$STATE,15934,begin surface
$SM_CCo,15952,62.88,0.515,0,0,986,400.08
$SM_GC,0.46,0.00,0.00,62.88,0.000,0.000,0.515,370,2977,986,-9.94,0.76,400.08
$IRIDIUM_FIX,1932.09,-15604.81,230411,050510
$TT8_MAMPS,0.179478
$HUMID,1078573539
$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,0/191
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470686
$PA_LOG,3.6/297829/287001
$PA_DATA0,12.6/7836665/6850907
$PA_DATA1,0.1/7836665/7825417
$PA_USB,7.8/30829585/28439438
$24V_AH,23.4,4.293
$10V_AH,9.9,5.891
$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,23.600,134.325,425.900,62.875,0.000,27.045,34.835,183.413,0.000,0.000,903.441,0.000,13477.608,610.833,2705.250,472.131,33.329,1580.497,0.000,1188.450,0.000,0.533,0.000
$DEVICE_MAMPS,164.905,239.304,1304.667,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,309.680,0.000,0.000,0.000,0.000,0.000,17340.650,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.820,0.000
$MEM,324268
$DATA_FILE_SIZE,15877,464
$CAP_FILE_SIZE,122548,0
$CFSIZE,260034560,256086016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,315.0,1
$GPS,281009,194657,1933.640,-15603.371,41,3.9,60,9.7