version: 66.07
glider: 22
mission: 14
dive: 38
start: 11 3 109 11 29 31
data:
$ID,22
$MISSION,14
$DIVE,38
$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,440
$T_MISSION,480
$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,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,-247698.2
$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,2925
$C_ROLL_CLIMB,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,31
$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
$GPS1,031109,112207,1950.999,-15611.584,50,1.2,50,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-68.3
$GPS2,031109,112849,1951.132,-15611.649,14,1.3,31,9.7
$SPEED_LIMITS,0.075,0.234
$TGT_NAME,K5
$TGT_LATLONG,1953.000,-15614.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.170,-0.162
$KALMAN_X,37146.9,-310.5,-499.8,-47804.2,5506.8
$KALMAN_Y,40435.9,124.7,-1153.1,-19065.0,12627.4
$MHEAD_RNG_PITCHd_Wd,300.5,5360,-37.1,-7.500
$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,-2.50,-23.5,0.0,0.0,0,96,0.00,0.00,-75.88,0.000,6,0.000,0.000,376,2916,2714,0,0,0,0,0,0
$GC,98,-2.50,-23.9,3.7,-7.4,15,114,8.68,1.85,0.00,0.000,4,0.167,0.051,1972,3946,2715,0,0,0,0,0,0
$GC,354,-2.50,-23.9,83.2,-20.2,44,358,0.00,1.75,0.00,0.000,6,0.000,0.038,1972,2899,2718,0,0,0,0,0,0
$GC,568,-2.50,-23.9,122.9,-17.8,57,572,0.00,1.88,0.00,0.000,4,0.000,0.052,1972,3947,2718,0,0,0,0,0,0
$GC,782,-2.50,-23.9,167.1,-21.0,63,787,0.00,1.70,0.00,0.000,6,0.000,0.038,1972,2921,2719,0,0,0,0,0,0
$GC,1096,-2.50,-23.9,218.8,-15.8,74,1100,0.00,2.35,0.00,0.000,4,0.000,0.042,1972,1532,2720,0,0,0,0,0,0
$GC,1186,-2.50,-23.9,229.6,-12.6,76,1192,0.00,2.42,0.00,0.000,6,0.000,0.043,1972,2935,2720,0,0,0,0,0,0
$GC,1495,-2.50,-23.9,268.4,-11.6,87,1499,0.00,2.40,0.00,0.000,4,0.000,0.042,1972,1535,2721,0,0,0,0,0,0
$GC,1740,-2.50,-23.9,296.3,-11.9,94,1745,0.00,2.42,0.00,0.000,6,0.000,0.044,1972,2927,2721,0,0,0,0,0,0
$GC,2083,-2.50,-23.9,335.6,-11.5,101,2087,0.00,2.40,0.00,0.000,4,0.000,0.043,1972,1537,2721,0,0,0,0,0,0
$GC,2239,-2.50,-23.9,350.7,-9.2,103,2243,0.00,2.40,0.00,0.000,6,0.000,0.045,1972,2928,2721,0,0,0,0,0,0
$GC,2572,-2.50,-23.9,382.5,-9.5,109,2576,0.00,2.40,0.00,0.000,4,0.000,0.044,1972,1540,2719,0,0,0,0,0,0
$GC,2684,-2.50,-23.9,393.1,-10.0,110,2688,0.00,2.45,0.00,0.000,6,0.000,0.046,1972,2931,2718,0,0,0,0,0,0
$GC,3001,-2.50,-23.9,423.2,-9.3,116,3005,0.00,2.40,0.00,0.000,4,0.000,0.044,1972,1548,2716,0,0,0,0,0,0
$GC,3246,-2.50,-23.9,445.3,-8.8,119,3251,0.00,2.45,0.00,0.000,6,0.000,0.048,1972,2931,2715,0,0,0,0,0,0
$GC,3559,-2.50,-24.2,469.7,-7.4,125,3563,0.00,2.42,0.00,0.000,4,0.000,0.046,1972,1549,2712,0,0,0,0,0,0
$GC,3804,-2.50,-24.2,489.1,-8.1,128,3809,0.00,2.45,0.00,0.000,6,0.000,0.049,1972,2926,2712,0,0,0,0,0,0
$GC,4117,-2.50,-24.2,516.1,-8.6,134,4126,0.00,2.40,0.00,0.000,4,0.000,0.048,1970,1544,2709,0,0,0,0,0,0
$GC,4365,-2.50,-26.1,535.7,-7.1,137,4373,0.00,2.45,0.00,0.000,6,0.000,0.051,1972,2938,2707,0,0,0,0,0,0
$GC,4673,-2.50,-26.8,558.0,-7.4,142,4681,0.00,2.42,0.00,0.000,4,0.000,0.048,1972,1546,2705,0,0,0,0,0,0
$GC,4920,-2.50,-26.8,577.5,-8.4,145,4929,0.00,2.42,0.00,0.000,6,0.000,0.052,1972,2927,2703,0,0,0,0,0,0
$GC,5228,-2.50,-26.8,602.5,-8.2,150,5236,0.00,2.42,0.00,0.000,4,0.000,0.051,1972,1543,2702,0,0,0,0,0,0
$GC,5475,-2.50,-26.8,625.6,-9.2,153,5484,0.00,2.45,0.00,0.000,6,0.000,0.054,1972,2924,2700,0,0,0,0,0,0
$GC,5783,-2.50,-26.8,652.4,-8.7,158,5791,0.00,1.88,0.00,0.000,4,0.000,0.072,1972,3945,2698,0,0,0,0,0,0
$GC,6030,-2.51,-30.1,670.5,-6.8,161,6038,0.00,1.73,0.00,0.000,6,0.000,0.047,1972,2947,2697,0,0,0,0,0,0
$GC,6344,-2.51,-33.4,691.5,-6.8,167,6352,0.00,2.53,0.00,0.000,4,0.000,0.061,1972,1518,2696,0,0,0,0,0,0
$GC,6431,-2.51,-33.4,698.3,-7.6,168,6439,0.00,2.55,0.00,0.000,6,0.000,0.061,1971,2929,2695,0,0,0,0,0,0
$GC,6772,-2.51,-33.4,724.6,-8.0,174,6781,0.00,2.55,0.00,0.000,4,0.000,0.065,1972,1520,2694,0,0,0,0,0,0
$GC,7020,-2.52,-41.2,740.5,-5.8,177,7030,0.00,2.55,0.00,0.000,6,0.000,0.067,1972,2938,2693,0,0,0,0,0,0
$GC,7328,-2.53,-55.7,754.5,-4.4,183,7336,0.00,2.58,0.00,0.000,4,0.000,0.070,1972,1525,2692,0,0,0,0,0,0
$GC,7575,-2.55,-70.8,764.6,-4.3,186,7585,0.00,2.55,0.00,0.000,6,0.000,0.076,1972,2922,2691,0,0,0,0,0,0
$GC,7883,-2.57,-86.8,777.5,-4.1,192,7892,0.00,2.60,0.00,0.000,4,0.000,0.077,1972,1519,2691,0,0,0,0,0,0
$GC,8131,-2.58,-98.5,788.6,-5.0,195,8141,0.00,2.60,0.00,0.000,6,0.000,0.084,1972,2932,2690,0,0,0,0,0,0
$GC,8439,-2.59,-109.3,804.4,-5.2,201,8449,0.00,2.67,0.00,0.000,4,0.000,0.087,1972,1521,2689,0,0,0,0,0,0
$GC,8688,-2.60,-112.5,820.3,-6.8,204,8698,0.00,2.67,0.00,0.000,6,0.000,0.096,1972,2930,2689,0,0,0,0,0,0
$GC,8996,-2.60,-120.1,839.0,-5.9,210,9005,0.00,2.75,0.00,0.000,4,0.000,0.106,1972,1530,2688,0,0,0,0,0,0
$GC,9244,-2.62,-136.1,850.8,-4.1,213,9255,0.12,2.72,0.00,0.000,6,0.107,0.110,1945,2930,2688,0,0,0,0,0,0
$GC,9552,-2.63,-146.1,864.2,-4.3,219,9561,0.00,2.83,0.00,0.000,4,0.000,0.118,1944,1530,2687,0,0,0,0,0,0
$GC,9800,-2.63,-146.1,874.3,-3.1,222,9810,0.00,2.80,0.00,0.000,6,0.000,0.120,1944,2934,2687,0,0,0,0,0,0
$GC,10109,-2.63,-146.1,884.2,-3.3,228,10119,0.00,2.90,0.00,0.000,4,0.000,0.128,1944,1524,2685,0,0,0,0,0,0
$GC,10359,-2.63,-146.1,891.8,-3.1,231,10368,0.00,2.88,0.00,0.000,6,0.000,0.132,1944,2930,2685,0,0,0,0,0,0
$GC,10667,-2.63,-146.1,901.0,-3.0,237,10676,0.00,2.95,0.00,0.000,4,0.000,0.140,1944,1531,2685,0,0,0,0,0,0
$GC,10915,-2.63,-146.1,907.8,-2.6,240,10926,0.00,2.92,0.00,0.000,6,0.000,0.142,1944,2927,2684,0,0,0,0,0,0
$GC,11224,-2.63,-146.1,916.1,-2.7,246,11233,0.00,3.00,0.00,0.000,4,0.000,0.147,1944,1526,2684,0,0,0,0,0,0
$GC,11263,-2.63,-146.1,917.1,-2.7,246,11272,0.00,3.03,0.00,0.000,6,0.000,0.148,1944,2929,2684,0,0,0,0,0,0
$GC,11584,-2.63,-146.1,924.1,-2.0,252,11592,0.00,2.28,0.00,0.000,4,0.000,0.174,1944,3962,2684,0,0,0,0,0,0
$GC,11831,-2.63,-146.1,929.6,-2.6,255,11842,0.00,2.20,0.00,0.000,6,0.000,0.143,1944,2939,2684,0,0,0,0,0,0
$GC,12139,-2.63,-146.1,937.5,-2.7,261,12148,0.00,2.33,0.00,0.000,4,0.000,0.171,1944,3959,2684,0,0,0,0,0,0
$GC,12184,-2.63,-146.1,938.7,-2.4,261,12192,0.00,2.28,0.00,0.000,6,0.000,0.150,1944,2919,2683,0,0,0,0,0,0
$GC,12504,-2.63,-146.1,947.8,-2.9,267,12513,0.00,3.08,0.00,0.000,4,0.000,0.168,1944,1509,2684,0,0,0,0,0,0
$GC,12752,-2.63,-146.1,954.9,-3.0,270,12762,0.00,3.10,0.00,0.000,6,0.000,0.163,1944,2928,2684,0,0,0,0,0,0
$GC,13060,-2.63,-146.1,963.7,-2.9,276,13069,0.00,3.25,0.00,0.000,4,0.000,0.179,1944,1508,2683,0,0,0,0,0,0
$GC,13309,-2.63,-146.1,972.1,-3.3,279,13318,0.00,3.20,0.00,0.000,6,0.000,0.176,1944,2931,2683,0,0,0,0,0,0
$GC,13617,-2.63,-146.1,981.3,-2.8,285,13626,0.00,2.45,0.00,0.000,4,0.000,0.208,1944,3959,2683,0,0,0,0,0,0
$GC,13865,-2.63,-146.1,985.6,-1.6,288,13875,0.00,2.40,0.00,0.000,6,0.000,0.186,1944,2924,2682,0,0,0,0,0,0
$GC,14173,-2.63,-146.1,989.4,-1.1,294,14181,0.00,2.55,0.00,0.000,4,0.000,0.206,1944,3959,2682,0,0,0,0,0,0
$STATE,14226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14226,begin apogee
$GC,14234,-0.33,0.0,990.0,1.3,294,14258,2.60,0.00,16.12,1.248,6,0.148,0.000,2443,2780,2618,0,0,0,0,0,0
$STATE,14259,end apogee,CONTROL_FINISHED_OK
$STATE,14259,begin climb
$GC,14261,2.63,146.1,989.9,0.0,295,14415,3.00,3.28,139.98,1.295,4,0.076,0.176,3093,1373,2021,0,0,0,0,0,0
$GC,14654,2.63,146.1,878.9,32.7,301,14665,0.00,2.92,0.00,0.000,6,0.000,0.114,3093,2798,2011,0,0,0,0,0,0
$GC,15000,2.63,146.1,762.5,34.2,307,15010,0.00,2.67,0.00,0.000,4,0.000,0.071,3093,1366,2006,0,0,0,0,0,0
$GC,15249,2.63,146.1,675.8,33.8,310,15259,0.00,2.55,0.00,0.000,6,0.000,0.054,3093,2809,2005,0,0,0,0,0,0
$GC,15557,2.63,146.1,574.7,32.9,316,15566,0.00,2.62,0.00,0.000,4,0.000,0.054,3093,1346,2003,0,0,0,0,0,0
$GC,15666,2.63,146.1,542.5,31.6,317,15674,0.00,2.58,0.00,0.000,6,0.000,0.050,3092,2796,2002,0,0,0,0,0,0
$GC,15991,2.63,146.1,446.8,29.6,323,15995,0.00,2.60,0.00,0.000,4,0.000,0.049,3092,1346,2001,0,0,0,0,0,0
$GC,16092,2.63,146.1,417.2,28.2,324,16096,0.00,2.60,0.00,0.000,6,0.000,0.046,3093,2800,2001,0,0,0,0,0,0
$GC,16420,2.63,146.1,330.8,25.6,330,16421,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2801,2001,0,0,0,0,0,0
$GC,16722,2.63,146.1,255.7,25.1,337,16726,0.00,2.58,0.00,0.000,4,0.000,0.045,3093,1344,2000,0,0,0,0,0,0
$GC,16968,2.63,146.1,198.4,20.6,344,16972,0.00,2.55,0.00,0.000,6,0.000,0.042,3093,2800,1999,0,0,0,0,0,0
$GC,17282,2.63,146.1,133.5,21.1,355,17286,0.00,2.53,0.00,0.000,4,0.000,0.042,3093,1352,1998,0,0,0,0,0,0
$GC,17357,2.63,146.1,117.5,19.7,357,17361,0.00,2.47,0.00,0.000,6,0.000,0.040,3093,2802,1998,0,0,0,0,0,0
$GC,17677,2.63,146.1,55.1,18.5,381,17680,0.00,1.98,0.00,0.000,4,0.000,0.053,3093,3943,1998,0,0,0,0,0,0
$GC,17707,2.63,146.1,49.9,17.9,384,17711,0.00,2.05,0.00,0.000,6,0.000,0.037,3093,2731,1998,0,0,0,0,0,0
$GC,17904,2.64,149.9,32.3,6.7,403,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2730,1999,0,0,0,0,0,0
$GC,18090,2.64,152.0,20.3,7.1,421,18094,0.00,2.35,0.00,0.000,4,0.000,0.043,3093,1348,2000,0,0,0,0,0,0
$STATE,18275,end climb,SURFACE_DEPTH_REACHED
$STATE,18275,begin surface coast
$FINISH,0.0,1.023350
$STATE,18308,end surface coast,CONTROL_FINISHED_OK
$STATE,18308,begin surface
$SM_CCo,18328,141.30,0.538,0,0,986,400.08
$SM_GC,0.70,0.00,0.00,141.30,0.000,0.000,0.538,377,2929,986,-9.86,0.11,400.08
$IRIDIUM_FIX,1938.95,-15608.99,290411,000058
$TT8_MAMPS,0.310635
$HUMID,1078545152
$TCM_TEMP,23.50
$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,0/0
$PA_ROOT,87.1/128908/16631
$PA_HOME,3.4/483886/467451
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$PA_DATA0,38.6/7836665/4809560
$PA_DATA1,4.4/7836665/7489256
$PA_USB,87.1/128908/16631
$24V_AH,23.4,8.729
$10V_AH,9.8,21.065
$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
$DEVICE_SECS,26.275,181.975,156.100,141.300,0.000,24.597,28.755,193.563,0.000,0.000,31.145,0.000,14747.218,467.960,3103.938,541.081,33.342,1916.249,0.000,2372.022,0.000,0.532,0.000
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$MEM,323072
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$GPS,031109,163836,1952.166,-15612.558,42,1.4,54,9.7