version: 66.07
glider: 22
mission: 14
dive: 24
start: 10 31 109 7 5 7
data:
$ID,22
$MISSION,14
$DIVE,24
$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,420
$T_MISSION,450
$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,-246909.3
$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,2520
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$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
$GPS1,311009,065557,1913.073,-15557.336,40,3.7,59,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-68.5
$GPS2,311009,070428,1912.902,-15557.302,13,3.4,32,9.6
$SPEED_LIMITS,0.079,0.270
$TGT_NAME,K3
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.096,0.252
$KALMAN_X,-2517.6,-295.2,199.9,16142.6,2273.8
$KALMAN_Y,7979.9,1237.6,589.7,-60308.4,-9738.0
$MHEAD_RNG_PITCHd_Wd,352.7,13156,-12.7,-7.857
$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,13,begin dive
$GC,15,-1.06,-194.7,0.0,0.0,0,91,0.00,0.00,-73.80,0.000,2,0.000,0.000,371,2964,2686,0,0,0,0,0,0
$GC,94,-1.06,-194.7,3.2,-7.3,14,125,10.38,1.73,-16.98,0.000,4,0.163,0.078,2279,3947,3413,0,0,0,0,0,0
$GC,161,-1.06,-194.7,21.5,-25.4,26,167,0.00,1.67,0.00,0.000,6,0.000,0.038,2279,2938,3413,0,0,0,0,0,0
$GC,353,-1.06,-194.7,67.3,-22.2,45,357,0.00,2.30,0.00,0.000,4,0.000,0.044,2279,1566,3414,0,0,0,0,0,0
$GC,379,-1.06,-194.7,73.6,-23.2,47,385,0.00,2.42,0.00,0.000,6,0.000,0.046,2279,2945,3415,0,0,0,0,0,0
$GC,590,-1.06,-194.7,111.3,-17.8,64,594,0.00,2.35,0.00,0.000,4,0.000,0.041,2279,1569,3416,0,0,0,0,0,0
$GC,691,-1.06,-194.7,127.6,-15.9,67,695,0.00,2.42,0.00,0.000,6,0.000,0.045,2279,2958,3417,0,0,0,0,0,0
$GC,1021,-1.06,-194.7,182.0,-16.4,78,1025,0.00,1.77,0.00,0.000,4,0.000,0.059,2279,3955,3417,0,0,0,0,0,0
$GC,1063,-1.06,-194.7,189.1,-15.7,79,1067,0.00,1.67,0.00,0.000,6,0.000,0.038,2279,2926,3417,0,0,0,0,0,0
$GC,1388,-1.06,-194.7,235.8,-14.0,90,1392,0.00,1.85,0.00,0.000,4,0.000,0.058,2279,3952,3417,0,0,0,0,0,0
$GC,1419,-1.06,-194.7,240.3,-14.3,91,1424,0.00,1.65,0.00,0.000,6,0.000,0.039,2279,2951,3417,0,0,0,0,0,0
$GC,1755,-1.06,-194.7,285.2,-12.9,102,1759,0.00,2.35,0.00,0.000,4,0.000,0.044,2279,1578,3417,0,0,0,0,0,0
$GC,1813,-1.06,-194.7,292.4,-12.0,103,1820,0.00,2.42,0.00,0.000,6,0.000,0.046,2279,2959,3417,0,0,0,0,0,0
$GC,2120,-1.06,-194.7,329.4,-12.0,110,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2960,3417,0,0,0,0,0,0
$GC,2422,-1.06,-194.7,365.1,-11.8,115,2426,0.00,2.40,0.00,0.000,4,0.000,0.044,2279,1577,3414,0,0,0,0,0,0
$GC,2459,-1.06,-194.7,368.9,-9.9,115,2463,0.00,2.45,0.00,0.000,6,0.000,0.049,2279,2956,3413,0,0,0,0,0,0
$GC,2787,-1.06,-194.7,404.0,-10.8,121,2791,0.00,2.40,0.00,0.000,4,0.000,0.045,2279,1576,3412,0,0,0,0,0,0
$GC,2836,-1.06,-194.7,408.7,-9.7,121,2839,0.00,2.42,0.00,0.000,6,0.000,0.049,2279,2967,3412,0,0,0,0,0,0
$GC,3153,-1.06,-194.7,442.5,-10.7,127,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2966,3408,0,0,0,0,0,0
$GC,3454,-1.06,-194.7,473.7,-10.1,132,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2967,3405,0,0,0,0,0,0
$GC,3756,-1.06,-194.7,502.1,-9.4,137,3763,0.00,2.45,0.00,0.000,4,0.000,0.048,2279,1575,3403,0,0,0,0,0,0
$GC,3783,-1.06,-194.7,504.4,-9.2,137,3791,0.00,2.42,0.00,0.000,6,0.000,0.051,2281,2954,3403,0,0,0,0,0,0
$GC,4118,-1.06,-194.7,536.2,-9.6,143,4126,0.00,1.77,0.00,0.000,4,0.000,0.068,2279,3950,3399,0,0,0,0,0,0
$GC,4146,-1.06,-194.7,539.3,-11.7,143,4154,0.00,1.65,0.00,0.000,6,0.000,0.043,2279,2958,3398,0,0,0,0,0,0
$GC,4487,-1.06,-194.7,574.5,-10.5,149,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2953,3397,0,0,0,0,0,0
$GC,4788,-1.06,-194.7,605.2,-10.1,154,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2953,3395,0,0,0,0,0,0
$GC,5091,-1.06,-194.7,632.3,-8.9,159,5099,0.00,1.85,0.00,0.000,4,0.000,0.078,2279,3953,3393,0,0,0,0,0,0
$GC,5145,-1.06,-194.7,637.0,-8.3,159,5154,0.00,1.70,0.00,0.000,6,0.000,0.044,2279,2957,3392,0,0,0,0,0,0
$GC,5460,-1.06,-194.7,660.1,-7.2,165,5469,0.00,2.50,0.00,0.000,4,0.000,0.063,2279,1547,3391,0,0,0,0,0,0
$GC,5479,-1.06,-194.7,661.4,-7.0,165,5487,0.00,2.55,0.00,0.000,6,0.000,0.064,2279,2945,3391,0,0,0,0,0,0
$GC,5826,-1.06,-194.7,686.3,-7.1,171,5835,0.00,1.90,0.00,0.000,4,0.000,0.097,2279,3952,3390,0,0,0,0,0,0
$GC,5898,-1.06,-194.7,691.8,-7.5,172,5906,0.00,1.77,0.00,0.000,6,0.000,0.048,2279,2954,3389,0,0,0,0,0,0
$GC,6261,-1.06,-194.7,717.1,-7.1,178,6271,0.00,2.55,0.00,0.000,4,0.000,0.072,2279,1539,3387,0,0,0,0,0,0
$GC,6291,-1.06,-194.7,719.4,-7.9,178,6299,0.00,2.60,0.00,0.000,6,0.000,0.070,2279,2950,3387,0,0,0,0,0,0
$GC,6621,-1.06,-194.7,745.0,-7.9,184,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2950,3385,0,0,0,0,0,0
$GC,6923,-1.06,-194.7,768.3,-7.6,189,6931,0.00,2.03,0.00,0.000,4,0.000,0.118,2279,3956,3383,0,0,0,0,0,0
$GC,6946,-1.06,-194.7,770.2,-8.2,189,6954,0.00,1.83,0.00,0.000,6,0.000,0.065,2279,2958,3384,0,0,0,0,0,0
$GC,7292,-1.06,-194.7,796.8,-7.7,195,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2958,3382,0,0,0,0,0,0
$GC,7595,-1.06,-194.7,819.8,-7.6,200,7607,0.00,2.78,0.00,0.000,4,0.000,0.112,2279,1536,3380,0,0,0,0,0,0
$GC,7638,-1.06,-194.7,823.1,-7.2,200,7647,0.00,2.83,0.00,0.000,6,0.000,0.108,2279,2957,3381,0,0,0,0,0,0
$GC,7958,-1.06,-194.7,845.8,-7.1,206,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2957,3379,0,0,0,0,0,0
$GC,8260,-1.06,-194.7,865.9,-6.6,211,8269,0.00,2.97,0.00,0.000,4,0.000,0.137,2279,1537,3378,0,0,0,0,0,0
$GC,8294,-1.06,-194.7,868.1,-6.2,211,8303,0.00,2.97,0.00,0.000,6,0.000,0.133,2279,2952,3377,0,0,0,0,0,0
$GC,8621,-1.06,-194.7,888.7,-6.4,217,8629,0.00,2.20,0.00,0.000,4,0.000,0.170,2279,3953,3376,0,0,0,0,0,0
$GC,8649,-1.06,-194.7,890.9,-8.1,217,8657,0.00,2.10,0.00,0.000,6,0.000,0.132,2280,2956,3376,0,0,0,0,0,0
$GC,8979,-1.06,-194.7,914.1,-7.1,223,8989,0.00,3.10,0.00,0.000,4,0.000,0.168,2279,1533,3376,0,0,0,0,0,0
$GC,9009,-1.06,-194.7,916.2,-7.8,223,9018,0.00,3.17,0.00,0.000,6,0.000,0.164,2279,2958,3376,0,0,0,0,0,0
$GC,9340,-1.06,-194.7,939.5,-7.0,229,9349,0.00,2.38,0.00,0.000,4,0.000,0.206,2279,3959,3375,0,0,0,0,0,0
$GC,9374,-1.06,-194.7,942.1,-8.2,229,9382,0.00,2.30,0.00,0.000,6,0.000,0.168,2279,2950,3375,0,0,0,0,0,0
$GC,9699,-1.06,-194.7,964.7,-7.0,235,9708,0.00,2.53,0.00,0.000,4,0.000,0.216,2279,3959,3374,0,0,0,0,0,0
$GC,9772,-1.06,-194.7,970.1,-7.2,236,9780,0.00,2.42,0.00,0.000,6,0.000,0.192,2280,2950,3374,0,0,0,0,0,0
$STATE,10122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10122,begin apogee
$GC,10127,-0.33,0.0,993.3,6.6,242,10309,0.82,0.00,169.50,1.306,6,0.109,0.000,2446,2796,2616,0,0,0,0,0,0
$STATE,10310,end apogee,CONTROL_FINISHED_OK
$STATE,10310,begin climb
$GC,10312,1.06,194.7,995.4,0.0,245,10506,1.42,3.60,180.93,1.294,4,0.087,0.214,2745,1379,1822,0,0,0,0,0,0
$GC,10563,1.06,194.7,964.5,17.9,249,10573,0.00,3.38,0.00,0.000,6,0.000,0.181,2745,2805,1815,0,0,0,0,0,0
$GC,10917,1.06,194.7,907.8,15.9,255,10929,0.00,2.53,0.00,0.000,4,0.000,0.156,2745,3960,1808,0,0,0,0,0,0
$GC,10954,1.06,194.7,901.8,16.2,255,10962,0.00,2.47,0.00,0.000,6,0.000,0.127,2745,2791,1807,0,0,0,0,0,0
$GC,11279,1.06,194.7,851.0,15.6,261,11288,0.00,2.80,0.00,0.000,4,0.000,0.111,2746,1377,1805,0,0,0,0,0,0
$GC,11318,1.06,194.7,845.1,14.2,261,11327,0.00,2.85,0.00,0.000,6,0.000,0.105,2745,2805,1806,0,0,0,0,0,0
$GC,11638,1.06,194.7,797.2,15.0,267,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2805,1805,0,0,0,0,0,0
$GC,11940,1.06,194.7,755.1,13.8,272,11949,0.00,2.67,0.00,0.000,4,0.000,0.075,2745,1379,1804,0,0,0,0,0,0
$GC,11980,1.06,194.7,749.9,11.6,272,11988,0.00,2.65,0.00,0.000,6,0.000,0.069,2745,2806,1803,0,0,0,0,0,0
$GC,12310,1.06,194.7,708.0,12.6,278,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2806,1803,0,0,0,0,0,0
$GC,12612,1.06,194.7,669.6,12.8,283,12622,0.00,2.62,0.00,0.000,4,0.000,0.067,2745,1368,1802,0,0,0,0,0,0
$GC,12642,1.06,194.7,665.7,12.8,283,12650,0.00,2.60,0.00,0.000,6,0.000,0.058,2745,2815,1803,0,0,0,0,0,0
$GC,12973,1.06,194.7,622.7,13.0,289,12981,0.00,2.10,0.00,0.000,4,0.000,0.081,2745,3951,1802,0,0,0,0,0,0
$GC,13007,1.06,194.7,618.2,12.7,289,13015,0.00,2.08,0.00,0.000,6,0.000,0.045,2745,2758,1801,0,0,0,0,0,0
$GC,13335,1.06,194.7,580.3,11.4,295,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2758,1801,0,0,0,0,0,0
$GC,13634,1.06,194.7,548.2,10.6,300,13643,0.00,2.20,0.00,0.000,4,0.000,0.068,2745,3959,1801,0,0,0,0,0,0
$GC,13689,1.06,194.7,541.6,12.0,300,13700,0.00,2.03,0.00,0.000,6,0.000,0.044,2745,2787,1800,0,0,0,0,0,0
$GC,13998,1.06,194.7,506.9,11.3,306,14006,0.00,2.42,0.00,0.000,4,0.000,0.055,2745,1396,1800,0,0,0,0,0,0
$GC,14032,1.06,194.7,503.0,10.9,306,14040,0.00,2.47,0.00,0.000,6,0.000,0.048,2745,2813,1801,0,0,0,0,0,0
$GC,14357,1.06,194.7,465.8,11.4,312,14361,0.00,2.08,0.00,0.000,4,0.000,0.067,2745,3965,1800,0,0,0,0,0,0
$GC,14388,1.06,194.7,461.9,11.6,312,14393,0.00,2.05,0.00,0.000,6,0.000,0.043,2745,2801,1800,0,0,0,0,0,0
$GC,14722,1.06,194.7,425.3,10.9,318,14723,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2801,1801,0,0,0,0,0,0
$GC,15024,1.06,194.7,391.0,11.3,323,15028,0.00,2.47,0.00,0.000,4,0.000,0.053,2746,1395,1801,0,0,0,0,0,0
$GC,15077,1.06,194.7,385.2,11.0,323,15082,0.00,2.47,0.00,0.000,6,0.000,0.047,2745,2797,1801,0,0,0,0,0,0
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$STATE,19444,end climb,SURFACE_DEPTH_REACHED
$STATE,19444,begin surface coast
$FINISH,-0.2,1.022976
$STATE,19471,end surface coast,CONTROL_FINISHED_OK
$STATE,19471,begin surface
$SM_CCo,19491,29.98,0.485,0,0,986,400.08
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$IRIDIUM_FIX,1904.66,-15559.24,250411,191933
$TT8_MAMPS,0.150332
$HUMID,1078525797
$TCM_TEMP,24.40
$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,0/182
$PA_ROOT,87.1/128908/16631
$PA_HOME,3.3/483886/467818
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$PA_DATA0,11.5/7836665/6936712
$PA_DATA1,0.6/7836665/7791576
$PA_USB,26.0/30829585/22811637
$24V_AH,23.4,6.611
$10V_AH,9.9,12.727
$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,23.250,191.150,480.950,29.975,0.000,23.656,24.155,267.026,0.000,0.000,33.369,0.000,16537.236,655.529,2226.023,599.337,33.327,1809.573,0.000,1437.056,0.000,0.532,0.000
$DEVICE_MAMPS,162.604,223.197,1306.201,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,365.715,0.000,0.000,0.000,0.000,0.000,20107.840,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,240.822,0.000
$MEM,324152
$DATA_FILE_SIZE,19011,547
$CAP_FILE_SIZE,153703,0
$CFSIZE,260034560,255090688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,156.0,1
$GPS,311009,123125,1915.407,-15556.978,36,1.7,36,9.6