version: 66.07
glider: 22
mission: 14
dive: 10
start: 10 28 109 19 54 7
data:
$ID,22
$MISSION,14
$DIVE,10
$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,-245792.25
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,281009,194657,1933.640,-15603.371,41,3.9,60,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-68.4
$GPS2,281009,195327,1933.776,-15603.377,34,2.3,53,9.7
$SPEED_LIMITS,0.100,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.111,-0.272
$KALMAN_X,-6629.9,442.5,787.7,8318.7,-2274.6
$KALMAN_Y,18723.9,-892.7,-1690.7,-27921.1,5553.1
$MHEAD_RNG_PITCHd_Wd,146.7,27842,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.21,-194.7,0.0,0.0,0,96,0.00,0.00,-77.40,0.000,2,0.000,0.000,370,2977,2762,0,0,0,0,0,0
$GC,98,-1.21,-194.7,3.4,-8.7,15,130,10.32,1.73,-14.55,0.000,4,0.164,0.078,2261,3936,3413,0,0,0,0,0,0
$GC,145,-1.21,-194.7,18.5,-28.6,24,152,0.00,1.67,0.00,0.000,6,0.000,0.038,2261,2927,3413,0,0,0,0,0,0
$GC,218,-1.21,-194.7,39.3,-27.9,32,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2923,3413,0,0,0,0,0,0
$GC,404,-1.21,-194.7,80.3,-19.2,50,408,0.00,1.83,0.00,0.000,4,0.000,0.061,2261,3931,3415,0,0,0,0,0,0
$GC,441,-1.21,-194.7,87.0,-18.3,53,447,0.00,1.65,0.00,0.000,6,0.000,0.038,2261,2960,3415,0,0,0,0,0,0
$GC,640,-1.21,-194.7,125.3,-19.2,65,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2960,3416,0,0,0,0,0,0
$GC,944,-1.21,-194.7,182.6,-18.1,75,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2960,3417,0,0,0,0,0,0
$GC,1247,-1.21,-194.7,231.8,-14.9,85,1251,0.00,2.40,0.00,0.000,4,0.000,0.044,2261,1557,3417,0,0,0,0,0,0
$GC,1300,-1.21,-194.7,238.7,-12.1,86,1304,0.00,2.42,0.00,0.000,6,0.000,0.047,2261,2942,3417,0,0,0,0,0,0
$GC,1614,-1.21,-194.7,280.5,-13.4,97,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2942,3418,0,0,0,0,0,0
$GC,1947,-1.21,-194.7,328.0,-14.3,105,1951,0.00,2.40,0.00,0.000,4,0.000,0.044,2261,1558,3418,0,0,0,0,0,0
$GC,2032,-1.21,-194.7,338.6,-12.1,106,2036,0.00,2.47,0.00,0.000,6,0.000,0.051,2261,2951,3418,0,0,0,0,0,0
$GC,2376,-1.21,-194.7,381.8,-12.7,112,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2953,3417,0,0,0,0,0,0
$GC,2678,-1.21,-194.7,419.4,-12.3,117,2682,0.00,1.83,0.00,0.000,4,0.000,0.070,2261,3950,3414,0,0,0,0,0,0
$GC,2731,-1.21,-194.7,426.1,-12.3,117,2735,0.00,1.73,0.00,0.000,6,0.000,0.041,2261,2935,3413,0,0,0,0,0,0
$GC,3043,-1.21,-194.7,463.6,-12.1,123,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2935,3411,0,0,0,0,0,0
$GC,3345,-1.21,-194.7,500.2,-12.2,128,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2935,3408,0,0,0,0,0,0
$GC,3647,-1.21,-194.7,534.1,-11.3,133,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2935,3406,0,0,0,0,0,0
$GC,3949,-1.21,-194.7,568.1,-11.4,138,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2935,3403,0,0,0,0,0,0
$GC,4250,-1.21,-194.7,603.2,-11.6,143,4258,0.00,1.90,0.00,0.000,4,0.000,0.080,2261,3959,3400,0,0,0,0,0,0
$GC,4283,-1.21,-194.7,607.2,-12.2,143,4291,0.00,1.70,0.00,0.000,6,0.000,0.043,2261,2958,3399,0,0,0,0,0,0
$GC,4618,-1.21,-194.7,642.9,-10.5,149,4627,0.00,1.88,0.00,0.000,4,0.000,0.084,2261,3955,3397,0,0,0,0,0,0
$GC,4663,-1.21,-194.7,647.9,-11.0,149,4670,0.00,1.73,0.00,0.000,6,0.000,0.044,2261,2953,3397,0,0,0,0,0,0
$GC,4987,-1.21,-194.7,679.0,-9.5,155,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2952,3395,0,0,0,0,0,0
$GC,5289,-1.21,-194.7,708.6,-10.0,160,5297,0.00,1.95,0.00,0.000,4,0.000,0.094,2261,3943,3393,0,0,0,0,0,0
$GC,5317,-1.21,-194.7,711.4,-10.9,160,5324,0.00,1.75,0.00,0.000,6,0.000,0.051,2261,2952,3393,0,0,0,0,0,0
$GC,5657,-1.21,-194.7,744.9,-9.9,166,5665,0.00,1.95,0.00,0.000,4,0.000,0.101,2261,3949,3392,0,0,0,0,0,0
$GC,5717,-1.21,-194.7,751.3,-10.3,166,5727,0.00,1.80,0.00,0.000,6,0.000,0.061,2262,2951,3391,0,0,0,0,0,0
$GC,6025,-1.21,-194.7,781.1,-9.6,172,6034,0.00,2.70,0.00,0.000,4,0.000,0.101,2261,1536,3391,0,0,0,0,0,0
$GC,6075,-1.21,-194.7,785.8,-9.0,172,6084,0.00,2.75,0.00,0.000,6,0.000,0.100,2261,2943,3390,0,0,0,0,0,0
$GC,6383,-1.21,-194.7,815.8,-9.8,177,6392,0.00,2.15,0.00,0.000,4,0.000,0.144,2261,3956,3389,0,0,0,0,0,0
$GC,6471,-1.21,-194.7,825.1,-10.6,178,6478,0.00,1.98,0.00,0.000,6,0.000,0.100,2261,2949,3389,0,0,0,0,0,0
$GC,6816,-1.21,-194.7,861.4,-10.7,184,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2948,3387,0,0,0,0,0,0
$GC,7119,-1.21,-194.7,892.5,-10.2,189,7127,0.00,2.35,0.00,0.000,4,0.000,0.184,2263,3960,3385,0,0,0,0,0,0
$GC,7163,-1.21,-194.7,897.3,-10.5,189,7171,0.00,2.20,0.00,0.000,6,0.000,0.153,2261,2953,3385,0,0,0,0,0,0
$GC,7477,-1.21,-194.7,927.1,-9.4,195,7487,0.00,2.47,0.00,0.000,4,0.000,0.210,2262,3952,3384,0,0,0,0,0,0
$GC,7540,-1.21,-194.7,933.4,-10.5,196,7548,0.00,2.38,0.00,0.000,6,0.000,0.182,2261,2941,3384,0,0,0,0,0,0
$GC,7907,-1.21,-194.7,968.4,-9.5,202,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2941,3383,0,0,0,0,0,0
$STATE,8147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8147,begin apogee
$GC,8151,-0.31,0.0,991.0,9.3,206,8334,0.98,0.00,170.30,1.300,6,0.113,0.000,2457,2846,2617,0,0,0,0,0,0
$STATE,8334,end apogee,CONTROL_FINISHED_OK
$STATE,8334,begin climb
$GC,8336,1.21,194.7,996.5,0.0,209,8531,1.60,3.83,180.80,1.295,4,0.088,0.241,2790,1436,1822,0,0,0,0,0,0
$GC,8620,1.21,194.7,962.0,16.0,213,8629,0.00,3.53,0.00,0.000,6,0.000,0.204,2790,2851,1813,0,0,0,0,0,0
$GC,8941,1.21,194.7,909.3,16.5,219,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2851,1808,0,0,0,0,0,0
$GC,9244,1.21,194.7,859.4,16.5,224,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2851,1806,0,0,0,0,0,0
$GC,9545,1.21,194.7,809.5,16.5,229,9553,0.00,2.78,0.00,0.000,4,0.000,0.094,2790,1429,1805,0,0,0,0,0,0
$GC,9589,1.21,194.7,802.0,15.9,229,9598,0.00,2.75,0.00,0.000,6,0.000,0.085,2790,2861,1805,0,0,0,0,0,0
$GC,9904,1.21,194.7,749.7,16.7,235,9912,0.00,2.70,0.00,0.000,4,0.000,0.074,2790,1417,1804,0,0,0,0,0,0
$GC,9959,1.21,194.7,740.8,16.0,235,9968,0.00,2.60,0.00,0.000,6,0.000,0.066,2790,2855,1803,0,0,0,0,0,0
$GC,10267,1.21,194.7,690.9,16.2,241,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2855,1803,0,0,0,0,0,0
$GC,10568,1.21,194.7,642.4,16.0,246,10579,0.00,2.62,0.00,0.000,4,0.000,0.061,2791,1412,1802,0,0,0,0,0,0
$GC,10631,1.21,194.7,632.7,15.3,247,10639,0.00,2.62,0.00,0.000,6,0.000,0.054,2791,2864,1802,0,0,0,0,0,0
$GC,10999,1.21,194.7,574.7,15.8,253,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2864,1802,0,0,0,0,0,0
$GC,11300,1.21,194.7,527.7,15.5,258,11308,0.00,2.58,0.00,0.000,4,0.000,0.054,2791,1416,1802,0,0,0,0,0,0
$GC,11323,1.21,194.7,524.2,15.2,258,11331,0.00,2.55,0.00,0.000,6,0.000,0.050,2791,2855,1802,0,0,0,0,0,0
$GC,11663,1.21,194.7,474.3,14.6,264,11667,0.00,2.60,0.00,0.000,4,0.000,0.051,2790,1409,1801,0,0,0,0,0,0
$GC,11733,1.21,194.7,464.4,13.4,265,11737,0.00,2.55,0.00,0.000,6,0.000,0.048,2790,2858,1801,0,0,0,0,0,0
$GC,12093,1.21,194.7,410.8,15.0,271,12097,0.00,2.00,0.00,0.000,4,0.000,0.066,2791,3950,1801,0,0,0,0,0,0
$GC,12114,1.21,194.7,407.5,15.5,271,12119,0.00,2.00,0.00,0.000,6,0.000,0.042,2790,2806,1800,0,0,0,0,0,0
$GC,12458,1.21,194.7,359.2,13.9,277,12462,0.00,2.12,0.00,0.000,4,0.000,0.064,2790,3950,1799,0,0,0,0,0,0
$GC,12500,1.21,194.7,353.0,14.6,277,12505,0.00,1.92,0.00,0.000,6,0.000,0.042,2790,2850,1799,0,0,0,0,0,0
$GC,12823,1.21,194.7,309.5,13.3,283,12827,0.00,2.45,0.00,0.000,4,0.000,0.051,2791,1456,1799,0,0,0,0,0,0
$GC,12876,1.21,194.7,302.6,12.4,283,12881,0.00,2.47,0.00,0.000,6,0.000,0.046,2791,2851,1799,0,0,0,0,0,0
$GC,13190,1.21,194.7,264.2,11.7,293,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2851,1799,0,0,0,0,0,0
$GC,13493,1.21,194.7,229.6,11.3,303,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2851,1799,0,0,0,0,0,0
$GC,13797,1.21,199.7,197.2,9.8,313,13801,0.00,1.98,0.00,0.000,4,0.000,0.061,2791,3950,1799,0,0,0,0,0,0
$GC,13829,1.23,218.7,194.1,9.3,314,13853,0.00,1.90,18.38,0.752,6,0.000,0.038,2791,2829,1725,0,0,0,0,0,0
$GC,14162,1.23,218.7,158.4,11.1,325,14166,0.00,2.38,0.00,0.000,4,0.000,0.046,2790,1458,1722,0,0,0,0,0,0
$GC,14285,1.23,218.7,144.0,10.8,328,14292,0.00,2.45,0.00,0.000,6,0.000,0.042,2790,2858,1722,0,0,0,0,0,0
$GC,14593,1.23,218.7,110.3,10.6,339,14597,0.00,1.95,0.00,0.000,4,0.000,0.058,2791,3948,1723,0,0,0,0,0,0
$GC,14652,1.23,218.7,103.7,10.9,340,14659,0.00,1.85,0.00,0.000,6,0.000,0.037,2790,2848,1722,0,0,0,0,0,0
$GC,14968,1.27,253.6,72.9,8.8,367,15003,0.00,2.40,31.40,0.612,4,0.000,0.046,2791,1466,1583,0,0,0,0,0,0
$GC,15163,1.30,284.3,55.1,8.9,385,15196,0.08,2.42,27.40,0.587,6,0.061,0.043,2816,2853,1458,0,0,0,0,0,0
$GC,15389,1.30,284.3,31.8,11.0,407,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2854,1454,0,0,0,0,0,0
$GC,15578,1.30,284.3,11.6,10.6,432,15584,0.00,2.38,0.00,0.000,4,0.000,0.044,2816,1464,1453,0,0,0,0,0,0
$GC,15610,1.30,284.3,8.0,10.3,438,15616,0.00,2.38,0.00,0.000,6,0.000,0.041,2816,2858,1454,0,0,0,0,0,0
$STATE,15655,end climb,SURFACE_DEPTH_REACHED
$STATE,15655,begin surface coast
$FINISH,0.3,1.022911
$STATE,15682,end surface coast,CONTROL_FINISHED_OK
$STATE,15682,begin surface
$SM_CCo,15700,60.80,0.515,0,0,987,400.08
$SM_GC,0.48,0.00,0.00,60.80,0.000,0.000,0.515,376,2977,987,-9.91,0.76,400.08
$IRIDIUM_FIX,1929.80,-15607.83,230411,090952
$TT8_MAMPS,0.155701
$HUMID,1078581281
$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,0/134
$PA_ROOT,87.1/128908/16632
$PA_HOME,2.7/483886/470648
$PA_LOG,3.6/297829/287025
$PA_DATA0,8.9/7836665/7137097
$PA_DATA1,0.1/7836665/7825417
$PA_USB,9.7/30829585/27853506
$24V_AH,23.4,4.458
$10V_AH,9.8,6.357
$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,23.650,122.950,428.275,60.800,0.000,29.599,28.377,164.245,0.000,0.000,54.494,0.000,13327.618,613.515,1755.380,444.598,33.323,1501.052,0.000,1173.026,0.000,0.532,0.000
$DEVICE_MAMPS,164.138,243.906,1300.065,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,301.523,0.000,0.000,0.000,0.000,0.000,16260.990,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.820,0.000
$MEM,324288
$DATA_FILE_SIZE,15830,452
$CAP_FILE_SIZE,117802,0
$CFSIZE,260034560,256024576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 19.2,1
$GPS,291009,001754,1931.615,-15602.419,28,1.8,45,9.7