version: 66.07
glider: 22
mission: 14
dive: 44
start: 11 4 109 16 34 7
data:
$ID,22
$MISSION,14
$DIVE,44
$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,30
$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,-248059.45
$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,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,2925
$C_ROLL_CLIMB,2790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,30
$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
$GPS1,041109,162849,1957.006,-15615.878,14,1.5,31,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.2
$GPS2,041109,163331,1957.125,-15615.937,32,0.9,43,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K7
$TGT_LATLONG,1953.000,-15614.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.116,-0.270
$KALMAN_X,-165.8,-165.8,-165.8,-70.8,-840.6
$KALMAN_Y,399.4,399.4,399.4,187.5,2024.3
$MHEAD_RNG_PITCHd_Wd,146.5,8351,-27.9,-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,14,-1.81,-64.6,0.0,0.0,0,95,0.00,0.00,-77.32,0.000,2,0.000,0.000,371,2905,2778,0,0,0,0,0,0
$GC,97,-1.84,-90.7,3.6,-7.3,15,118,9.48,2.35,-5.38,0.000,4,0.168,0.060,2114,1516,2990,0,0,0,0,0,0
$GC,342,-1.84,-90.7,78.5,-25.0,44,346,0.00,2.42,0.00,0.000,6,0.000,0.047,2114,2931,2990,0,0,0,0,0,0
$GC,531,-1.84,-90.7,125.5,-25.7,56,535,0.00,1.77,0.00,0.000,4,0.000,0.054,2114,3947,2991,0,0,0,0,0,0
$GC,605,-1.84,-90.7,144.7,-24.5,58,609,0.00,1.73,0.00,0.000,6,0.000,0.038,2114,2900,2991,0,0,0,0,0,0
$GC,930,-1.84,-90.7,204.8,-16.2,69,934,0.00,2.28,0.00,0.000,4,0.000,0.042,2114,1542,2992,0,0,0,0,0,0
$GC,1021,-1.84,-90.7,217.7,-14.3,71,1026,0.00,2.40,0.00,0.000,6,0.000,0.045,2115,2949,2991,0,0,0,0,0,0
$GC,1329,-1.84,-90.7,273.2,-19.2,82,1333,0.00,1.75,0.00,0.000,4,0.000,0.057,2114,3946,2992,0,0,0,0,0,0
$GC,1446,-1.84,-90.7,296.1,-18.1,85,1450,0.00,1.70,0.00,0.000,6,0.000,0.040,2114,2921,2991,0,0,0,0,0,0
$GC,1788,-1.84,-90.7,343.3,-13.0,92,1793,0.00,2.35,0.00,0.000,4,0.000,0.044,2114,1539,2989,0,0,0,0,0,0
$GC,2034,-1.84,-90.7,373.2,-13.0,95,2038,0.00,2.42,0.00,0.000,6,0.000,0.047,2114,2926,2985,0,0,0,0,0,0
$GC,2346,-1.84,-90.7,417.2,-14.4,101,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2926,2982,0,0,0,0,0,0
$GC,2648,-1.84,-90.7,464.8,-16.1,106,2652,0.00,2.42,0.00,0.000,4,0.000,0.048,2114,1540,2978,0,0,0,0,0,0
$GC,2805,-1.84,-90.7,489.7,-15.0,108,2808,0.00,2.42,0.00,0.000,6,0.000,0.050,2115,2937,2977,0,0,0,0,0,0
$GC,3137,-1.84,-90.7,534.9,-13.0,114,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2937,2975,0,0,0,0,0,0
$GC,3439,-1.84,-90.7,572.5,-12.1,119,3447,0.00,1.80,0.00,0.000,4,0.000,0.067,2114,3953,2971,0,0,0,0,0,0
$GC,3511,-1.84,-90.7,581.2,-12.1,120,3519,0.00,1.70,0.00,0.000,6,0.000,0.044,2114,2947,2970,0,0,0,0,0,0
$GC,3873,-1.84,-90.7,618.6,-10.4,126,3881,0.00,2.47,0.00,0.000,4,0.000,0.055,2114,1522,2967,0,0,0,0,0,0
$GC,3998,-1.84,-90.7,632.5,-11.5,128,4006,0.00,2.50,0.00,0.000,6,0.000,0.057,2114,2927,2966,0,0,0,0,0,0
$GC,4370,-1.84,-90.7,673.6,-11.0,134,4379,0.00,1.88,0.00,0.000,4,0.000,0.081,2114,3953,2962,0,0,0,0,0,0
$GC,4458,-1.84,-90.7,685.4,-13.6,135,4467,0.00,1.77,0.00,0.000,6,0.000,0.048,2114,2928,2962,0,0,0,0,0,0
$GC,4806,-1.84,-90.7,727.4,-12.2,141,4816,0.00,2.53,0.00,0.000,4,0.000,0.071,2114,1521,2958,0,0,0,0,0,0
$GC,4863,-1.84,-90.7,734.4,-12.0,141,4872,0.00,2.50,0.00,0.000,6,0.000,0.067,2114,2926,2958,0,0,0,0,0,0
$GC,5172,-1.84,-90.7,771.7,-12.1,147,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2926,2956,0,0,0,0,0,0
$GC,5473,-1.84,-90.7,806.2,-11.5,152,5481,0.00,2.03,0.00,0.000,4,0.000,0.118,2114,3953,2954,0,0,0,0,0,0
$GC,5516,-1.84,-90.7,811.5,-11.3,152,5524,0.00,1.92,0.00,0.000,6,0.000,0.081,2114,2930,2954,0,0,0,0,0,0
$GC,5841,-1.84,-90.7,850.3,-12.0,158,5849,0.00,2.10,0.00,0.000,4,0.000,0.127,2114,3952,2952,0,0,0,0,0,0
$GC,5955,-1.84,-90.7,865.1,-12.9,159,5963,0.00,2.05,0.00,0.000,6,0.000,0.107,2114,2928,2951,0,0,0,0,0,0
$GC,6264,-1.84,-90.7,904.1,-12.7,164,6273,0.00,2.97,0.00,0.000,4,0.000,0.149,2114,1506,2951,0,0,0,0,0,0
$GC,6293,-1.84,-90.7,908.5,-15.0,164,6302,0.00,3.03,0.00,0.000,6,0.000,0.144,2114,2929,2950,0,0,0,0,0,0
$GC,6624,-1.84,-90.7,951.4,-12.7,170,6632,0.00,2.35,0.00,0.000,4,0.000,0.192,2114,3952,2948,0,0,0,0,0,0
$GC,6663,-1.84,-90.7,956.5,-13.5,170,6673,0.00,2.33,0.00,0.000,6,0.000,0.169,2114,2921,2948,0,0,0,0,0,0
$STATE,6982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6982,begin apogee
$GC,6987,-0.31,0.0,994.5,11.7,176,7070,1.73,0.00,74.40,1.300,6,0.133,0.000,2450,2783,2618,0,0,0,0,0,0
$STATE,7071,end apogee,CONTROL_FINISHED_OK
$STATE,7071,begin climb
$GC,7073,1.84,90.7,996.7,0.0,177,7173,2.20,3.00,87.05,1.287,4,0.078,0.204,2919,3953,2248,0,0,0,0,0,0
$GC,7209,1.84,90.7,979.3,20.6,179,7218,0.00,2.83,0.00,0.000,6,0.000,0.184,2919,2783,2241,0,0,0,0,0,0
$GC,7556,1.84,90.7,905.1,21.7,185,7566,0.00,2.92,0.00,0.000,4,0.000,0.136,2919,1369,2235,0,0,0,0,0,0
$GC,7607,1.84,90.7,894.3,20.8,185,7616,0.00,2.92,0.00,0.000,6,0.000,0.119,2919,2800,2234,0,0,0,0,0,0
$GC,7916,1.84,90.7,828.9,21.4,190,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2800,2231,0,0,0,0,0,0
$GC,8217,1.84,90.7,764.8,21.2,195,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2801,2230,0,0,0,0,0,0
$GC,8520,1.84,90.7,701.9,20.8,200,8528,0.00,2.62,0.00,0.000,4,0.000,0.064,2919,1358,2228,0,0,0,0,0,0
$GC,8667,1.84,90.7,674.5,17.6,202,8676,0.00,2.60,0.00,0.000,6,0.000,0.054,2919,2809,2228,0,0,0,0,0,0
$GC,9015,1.84,90.7,614.4,17.0,208,9024,0.00,2.60,0.00,0.000,4,0.000,0.058,2919,1352,2226,0,0,0,0,0,0
$GC,9076,1.84,90.7,604.2,16.3,209,9085,0.00,2.55,0.00,0.000,6,0.000,0.051,2919,2797,2227,0,0,0,0,0,0
$GC,9440,1.84,90.7,552.2,14.1,215,9449,0.00,2.55,0.00,0.000,4,0.000,0.052,2919,1349,2225,0,0,0,0,0,0
$GC,9582,1.84,90.7,532.0,14.8,217,9592,0.00,2.55,0.00,0.000,6,0.000,0.048,2919,2804,2226,0,0,0,0,0,0
$GC,9935,1.84,90.7,473.2,16.9,223,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2804,2224,0,0,0,0,0,0
$GC,10237,1.84,90.7,421.2,17.2,228,10241,0.00,2.58,0.00,0.000,4,0.000,0.049,2919,1352,2223,0,0,0,0,0,0
$GC,10482,1.84,90.7,380.5,13.8,231,10486,0.00,2.55,0.00,0.000,6,0.000,0.045,2919,2802,2224,0,0,0,0,0,0
$GC,10795,1.84,90.7,344.5,11.0,237,10798,0.00,2.58,0.00,0.000,4,0.000,0.048,2919,1345,2223,0,0,0,0,0,0
$GC,11040,1.84,90.7,316.2,10.2,240,11044,0.00,2.55,0.00,0.000,6,0.000,0.044,2919,2800,2224,0,0,0,0,0,0
$GC,11353,1.84,93.0,284.2,9.8,248,11358,0.00,2.05,0.00,0.000,4,0.000,0.058,2919,3942,2222,0,0,0,0,0,0
$GC,11438,1.84,93.0,275.1,11.6,250,11442,0.00,2.05,0.00,0.000,6,0.000,0.040,2919,2746,2221,0,0,0,0,0,0
$GC,11752,1.86,103.5,245.5,8.9,261,11766,0.00,2.22,7.80,0.719,4,0.000,0.055,2919,3950,2196,0,0,0,0,0,0
$GC,11927,1.86,103.5,226.4,11.3,266,11931,0.00,2.00,0.00,0.000,6,0.000,0.039,2919,2791,2194,0,0,0,0,0,0
$GC,12246,1.86,103.5,190.2,11.7,277,12250,0.00,2.40,0.00,0.000,4,0.000,0.045,2918,1370,2194,0,0,0,0,0,0
$GC,12492,1.86,103.5,159.6,10.6,284,12496,0.00,2.47,0.00,0.000,6,0.000,0.041,2919,2800,2195,0,0,0,0,0,0
$GC,12806,1.90,145.2,136.6,5.7,295,12850,0.00,2.53,37.55,0.695,4,0.000,0.042,2919,1390,2024,0,0,0,0,0,0
$GC,13091,1.90,145.2,102.6,13.7,304,13096,0.00,2.42,0.00,0.000,6,0.000,0.041,2919,2793,2019,0,0,0,0,0,0
$GC,13413,1.90,145.2,61.1,13.0,333,13416,0.00,2.05,0.00,0.000,4,0.000,0.054,2919,3949,2018,0,0,0,0,0,0
$GC,13530,1.90,145.2,46.3,12.0,344,13534,0.00,1.98,0.00,0.000,6,0.000,0.037,2919,2765,2017,0,0,0,0,0,0
$GC,13726,1.96,200.8,33.5,4.2,363,13779,0.12,2.30,46.83,0.574,4,0.091,0.042,2950,1398,1797,0,0,0,0,0,0
$STATE,13974,end climb,SURFACE_DEPTH_REACHED
$STATE,13974,begin surface coast
$FINISH,0.3,1.023143
$STATE,13997,end surface coast,CONTROL_FINISHED_OK
$STATE,13997,begin surface
$SM_CCo,14017,102.05,0.515,0,0,986,400.08
$SM_GC,1.09,0.00,0.00,102.05,0.000,0.000,0.515,372,2936,986,-9.89,0.31,400.08
$IRIDIUM_FIX,1950.41,-15614.36,300411,101021
$TT8_MAMPS,0.309868
$HUMID,1078598055
$TCM_TEMP,23.70
$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,87.1/128908/16630
$PA_HOME,3.6/483886/466400
$PA_LOG,3.7/297829/286938
$PA_DATA0,69.7/7836665/2376714
$PA_DATA1,4.4/7836665/7489256
$PA_USB,87.1/128908/16630
$24V_AH,23.5,9.616
$10V_AH,9.9,24.066
$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,24.775,126.850,253.625,102.050,0.000,0.000,0.000,0.000,0.000,0.000,43.668,0.000,11485.963,476.360,2056.444,176.590,30.166,1458.580,0.000,1493.439,0.000,0.534,0.000
$DEVICE_MAMPS,167.973,209.391,1300.065,515.424,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,268.266,0.000,0.000,0.000,0.000,0.000,14152.620,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,86.655,0.000
$MEM,354224
$DATA_FILE_SIZE,12755,401
$CAP_FILE_SIZE,129270,0
$CFSIZE,260034560,253194240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,345.0,1
$GPS,041109,203036,1957.008,-15615.858,39,1.9,48,9.7