version: 66.07
glider: 22
mission: 14
dive: 60
start: 11 7 109 20 50 17
data:
$ID,22
$MISSION,14
$DIVE,60
$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,264
$T_MISSION,300
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$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,-248661.03
$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,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,2910
$C_ROLL_CLIMB,2780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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
$GPS1,071109,204225,1940.747,-15605.255,64,1.5,64,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-68.0
$GPS2,071109,204938,1940.940,-15605.312,13,1.5,13,9.7
$SPEED_LIMITS,0.217,0.349
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.257,-0.237
$KALMAN_X,-33441.9,567.9,544.5,50235.1,-3879.9
$KALMAN_Y,43076.0,-279.9,-245.7,-71090.0,3263.5
$MHEAD_RNG_PITCHd_Wd,149.8,41412,-17.2,-12.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.22,-243.3,0.0,0.0,0,97,0.00,0.00,-78.10,0.000,2,0.000,0.000,377,2929,2739,0,0,0,0,0,0
$GC,99,-1.22,-243.3,3.7,-8.3,15,136,9.98,1.83,-19.55,0.000,4,0.162,0.073,2226,3944,3610,0,0,0,0,0,0
$GC,209,-1.22,-243.3,36.9,-29.9,31,215,0.00,1.75,0.00,0.000,6,0.000,0.037,2227,2887,3612,0,0,0,0,0,0
$GC,401,-1.22,-243.3,82.9,-24.1,50,405,0.00,2.30,0.00,0.000,4,0.000,0.041,2227,1526,3613,0,0,0,0,0,0
$GC,422,-1.22,-243.3,87.8,-23.2,52,426,0.00,2.40,0.00,0.000,6,0.000,0.044,2227,2901,3615,0,0,0,0,0,0
$GC,636,-1.22,-243.3,134.3,-21.6,63,640,0.00,1.85,0.00,0.000,4,0.000,0.056,2226,3949,3615,0,0,0,0,0,0
$GC,721,-1.22,-243.3,152.1,-21.1,65,725,0.00,1.73,0.00,0.000,6,0.000,0.037,2227,2901,3616,0,0,0,0,0,0
$GC,1035,-1.22,-243.3,213.9,-18.5,76,1039,0.00,2.33,0.00,0.000,4,0.000,0.041,2227,1530,3617,0,0,0,0,0,0
$GC,1082,-1.22,-243.3,221.8,-14.9,77,1086,0.00,2.40,0.00,0.000,6,0.000,0.044,2227,2913,3617,0,0,0,0,0,0
$GC,1402,-1.22,-243.3,277.7,-16.4,88,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2913,3618,0,0,0,0,0,0
$GC,1735,-1.22,-243.3,333.5,-16.8,96,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2913,3617,0,0,0,0,0,0
$GC,2036,-1.22,-243.3,385.5,-17.4,101,2040,0.00,2.40,0.00,0.000,4,0.000,0.044,2227,1530,3616,0,0,0,0,0,0
$GC,2063,-1.22,-243.3,389.8,-16.5,101,2067,0.00,2.42,0.00,0.000,6,0.000,0.048,2227,2922,3616,0,0,0,0,0,0
$GC,2402,-1.22,-243.3,448.5,-17.5,107,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2923,3614,0,0,0,0,0,0
$GC,2703,-1.22,-243.3,499.3,-16.5,112,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2923,3612,0,0,0,0,0,0
$GC,3005,-1.22,-243.3,547.2,-15.9,117,3014,0.00,2.40,0.00,0.000,4,0.000,0.048,2227,1540,3608,0,0,0,0,0,0
$GC,3071,-1.22,-243.3,555.8,-11.8,118,3079,0.00,2.42,0.00,0.000,6,0.000,0.051,2227,2916,3607,0,0,0,0,0,0
$GC,3429,-1.22,-243.3,599.7,-12.1,124,3437,0.00,1.90,0.00,0.000,4,0.000,0.071,2226,3950,3606,0,0,0,0,0,0
$GC,3489,-1.22,-243.3,607.4,-12.2,124,3500,0.00,1.73,0.00,0.000,6,0.000,0.043,2227,2935,3605,0,0,0,0,0,0
$GC,3797,-1.22,-243.3,643.9,-11.8,130,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2935,3602,0,0,0,0,0,0
$GC,4100,-1.22,-243.3,683.1,-13.1,135,4109,0.00,2.50,0.00,0.000,4,0.000,0.062,2227,1524,3599,0,0,0,0,0,0
$GC,4145,-1.22,-243.3,688.9,-12.5,135,4154,0.00,2.53,0.00,0.000,6,0.000,0.063,2227,2920,3599,0,0,0,0,0,0
$GC,4460,-1.22,-243.3,730.3,-13.1,141,4467,0.00,1.98,0.00,0.000,4,0.000,0.104,2227,3946,3596,0,0,0,0,0,0
$GC,4488,-1.22,-243.3,734.1,-14.8,141,4495,0.00,1.80,0.00,0.000,6,0.000,0.052,2227,2929,3596,0,0,0,0,0,0
$GC,4828,-1.22,-243.3,779.0,-13.2,147,4837,0.00,2.65,0.00,0.000,4,0.000,0.087,2226,1506,3593,0,0,0,0,0,0
$GC,4873,-1.22,-243.3,784.3,-11.1,147,4882,0.00,2.65,0.00,0.000,6,0.000,0.081,2225,2910,3593,0,0,0,0,0,0
$GC,5189,-1.22,-243.3,821.4,-11.7,153,5198,0.00,2.08,0.00,0.000,4,0.000,0.120,2226,3953,3591,0,0,0,0,0,0
$GC,5223,-1.22,-243.3,825.4,-12.2,153,5231,0.00,2.00,0.00,0.000,6,0.000,0.084,2227,2909,3591,0,0,0,0,0,0
$GC,5553,-1.22,-243.3,859.7,-10.2,159,5563,0.00,2.80,0.00,0.000,4,0.000,0.121,2227,1499,3589,0,0,0,0,0,0
$GC,5588,-1.22,-243.3,863.3,-9.8,159,5596,0.00,2.88,0.00,0.000,6,0.000,0.117,2227,2920,3588,0,0,0,0,0,0
$GC,5913,-1.22,-243.3,897.7,-10.6,165,5922,0.00,2.22,0.00,0.000,4,0.000,0.158,2226,3955,3586,0,0,0,0,0,0
$GC,5936,-1.22,-243.3,900.4,-11.5,165,5944,0.00,2.17,0.00,0.000,6,0.000,0.127,2227,2914,3586,0,0,0,0,0,0
$GC,6272,-1.22,-243.3,935.6,-10.5,171,6280,0.00,2.40,0.00,0.000,4,0.000,0.177,2227,3957,3583,0,0,0,0,0,0
$GC,6300,-1.22,-243.3,938.8,-11.4,171,6308,0.00,2.33,0.00,0.000,6,0.000,0.151,2227,2901,3583,0,0,0,0,0,0
$GC,6630,-1.22,-243.3,972.0,-10.1,177,6640,0.00,2.58,0.00,0.000,4,0.000,0.203,2226,3958,3582,0,0,0,0,0,0
$GC,6665,-1.22,-243.3,975.7,-11.1,177,6673,0.00,2.45,0.00,0.000,6,0.000,0.180,2226,2909,3582,0,0,0,0,0,0
$STATE,6807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6807,begin apogee
$GC,6812,-0.28,0.0,990.7,10.4,180,7037,1.02,0.00,217.20,1.325,6,0.114,0.000,2433,2769,2618,0,0,0,0,0,0
$STATE,7037,end apogee,CONTROL_FINISHED_OK
$STATE,7037,begin climb
$GC,7039,1.22,243.3,996.7,0.0,183,7274,1.55,0.00,225.05,1.272,6,0.084,0.000,2757,2769,1626,0,0,0,0,0,0
$GC,7533,1.22,243.3,927.7,16.7,192,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2769,1614,0,0,0,0,0,0
$GC,7834,1.22,243.3,880.2,15.6,197,7843,0.00,2.83,0.00,0.000,4,0.000,0.120,2757,1361,1612,0,0,0,0,0,0
$GC,7858,1.22,243.3,876.4,15.4,197,7866,0.00,2.88,0.00,0.000,6,0.000,0.107,2757,2789,1612,0,0,0,0,0,0
$GC,8194,1.22,243.3,826.2,15.0,203,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2790,1611,0,0,0,0,0,0
$GC,8496,1.22,243.3,779.9,15.3,208,8505,0.00,2.72,0.00,0.000,4,0.000,0.081,2757,1348,1610,0,0,0,0,0,0
$GC,8536,1.22,243.3,774.0,14.2,208,8545,0.00,2.70,0.00,0.000,6,0.000,0.071,2757,2797,1611,0,0,0,0,0,0
$GC,8856,1.22,243.3,727.4,14.6,214,8865,0.00,2.67,0.00,0.000,4,0.000,0.072,2757,1354,1610,0,0,0,0,0,0
$GC,8885,1.22,243.3,723.1,14.1,214,8894,0.00,2.60,0.00,0.000,6,0.000,0.060,2757,2784,1610,0,0,0,0,0,0
$GC,9217,1.22,243.3,676.4,14.1,220,9226,0.00,2.62,0.00,0.000,4,0.000,0.065,2757,1347,1607,0,0,0,0,0,0
$GC,9261,1.22,243.3,670.1,13.5,220,9270,0.00,2.60,0.00,0.000,6,0.000,0.056,2757,2796,1608,0,0,0,0,0,0
$GC,9577,1.22,243.3,623.7,14.9,226,9585,0.00,2.12,0.00,0.000,4,0.000,0.075,2756,3954,1608,0,0,0,0,0,0
$GC,9600,1.22,243.3,620.1,15.3,226,9608,0.00,2.15,0.00,0.000,6,0.000,0.044,2757,2741,1607,0,0,0,0,0,0
$GC,9942,1.22,243.3,569.1,14.8,232,9950,0.00,2.22,0.00,0.000,4,0.000,0.065,2757,3955,1607,0,0,0,0,0,0
$GC,9980,1.22,243.3,563.4,14.6,232,9988,0.00,2.05,0.00,0.000,6,0.000,0.044,2757,2772,1607,0,0,0,0,0,0
$GC,10301,1.22,243.3,520.8,13.1,238,10309,0.00,2.45,0.00,0.000,4,0.000,0.055,2757,1376,1607,0,0,0,0,0,0
$GC,10340,1.22,243.3,515.6,13.2,238,10349,0.00,2.50,0.00,0.000,6,0.000,0.048,2757,2799,1607,0,0,0,0,0,0
$GC,10660,1.22,243.3,470.2,14.3,244,10664,0.00,2.10,0.00,0.000,4,0.000,0.064,2757,3943,1606,0,0,0,0,0,0
$GC,10703,1.22,243.3,464.1,14.2,244,10707,0.00,2.08,0.00,0.000,6,0.000,0.044,2757,2772,1607,0,0,0,0,0,0
$GC,11026,1.22,243.3,422.6,12.5,250,11030,0.00,2.15,0.00,0.000,4,0.000,0.063,2757,3953,1607,0,0,0,0,0,0
$GC,11095,1.22,243.3,413.6,14.0,251,11099,0.00,2.08,0.00,0.000,6,0.000,0.044,2757,2783,1607,0,0,0,0,0,0
$GC,11455,1.24,265.4,371.2,11.7,257,11479,0.00,2.60,18.15,0.884,4,0.000,0.054,2757,1363,1536,0,0,0,0,0,0
$GC,11496,1.28,302.2,366.5,11.2,257,11536,0.00,2.55,35.47,0.894,6,0.000,0.044,2757,2788,1386,0,0,0,0,0,0
$GC,11876,1.30,319.7,321.9,11.9,264,11895,0.00,2.12,15.98,0.828,4,0.000,0.061,2757,3949,1314,0,0,0,0,0,0
$GC,11977,1.30,319.7,309.3,12.7,265,11980,0.00,2.05,0.00,0.000,6,0.000,0.041,2757,2764,1311,0,0,0,0,0,0
$GC,12295,1.32,339.5,270.5,11.8,275,12320,0.12,2.25,18.52,0.788,4,0.094,0.058,2787,3949,1234,0,0,0,0,0,0
$GC,12390,1.32,339.5,256.4,15.8,278,12394,0.00,2.03,0.00,0.000,6,0.000,0.041,2787,2781,1232,0,0,0,0,0,0
$GC,12725,1.32,339.5,211.2,13.1,289,12728,0.00,2.15,0.00,0.000,4,0.000,0.057,2787,3944,1229,0,0,0,0,0,0
$GC,12870,1.33,345.9,191.4,12.3,293,12884,0.00,2.05,6.85,0.632,6,0.000,0.040,2787,2770,1205,0,0,0,0,0,0
$GC,13186,1.33,345.9,146.1,14.9,304,13190,0.00,2.15,0.00,0.000,4,0.000,0.054,2787,3954,1204,0,0,0,0,0,0
$GC,13213,1.33,345.9,141.9,16.0,304,13220,0.00,2.05,0.00,0.000,6,0.000,0.040,2787,2781,1204,0,0,0,0,0,0
$GC,13522,1.33,345.9,93.4,15.8,317,13526,0.00,2.12,0.00,0.000,4,0.000,0.055,2786,3953,1203,0,0,0,0,0,0
$GC,13580,1.33,345.9,84.3,14.2,322,13586,0.00,2.05,0.00,0.000,6,0.000,0.040,2787,2781,1203,0,0,0,0,0,0
$GC,13773,1.37,384.5,59.3,11.2,341,13814,0.00,2.53,34.17,0.596,4,0.000,0.056,2787,1363,1048,0,0,0,0,0,0
$GC,13925,1.45,459.7,43.4,9.9,355,13996,0.08,2.47,63.83,0.571,6,0.056,0.040,2814,2791,742,0,0,0,0,0,0
$GC,14185,1.45,459.7,8.2,13.3,388,14192,0.00,2.50,0.00,0.000,4,0.000,0.047,2814,1366,740,0,0,0,0,0,0
$STATE,14227,end climb,SURFACE_DEPTH_REACHED
$STATE,14227,begin surface coast
$FINISH,2.0,1.022977
$STATE,14232,end surface coast,CONTROL_FINISHED_OK
$STATE,14232,begin surface
$SM_CCo,14313,0.00,0.000,0,0,736,461.65
$SM_GC,0.95,10.82,0.00,0.00,0.056,0.000,0.000,376,2921,736,-9.69,0.34,461.65
$IRIDIUM_FIX,1934.38,-15606.90,030511,111159
$TT8_MAMPS,0.16874
$HUMID,1078675474
$TCM_TEMP,23.60
$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,0/133
$PA_ROOT,87.1/128908/16630
$PA_HOME,4.5/483886/461973
$PA_LOG,3.7/297829/286938
$PA_DATA0,40.7/7836665/4650128
$PA_DATA1,35.6/7836665/5049916
$PA_USB,61.1/30829585/11998717
$24V_AH,23.4,12.638
$10V_AH,9.9,31.544
$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,23.575,148.125,635.225,0.000,0.000,30.232,25.146,224.041,0.000,0.000,13.080,0.000,11781.947,730.464,1707.640,515.029,33.342,1648.269,0.000,1131.018,0.000,0.531,0.000
$DEVICE_MAMPS,161.837,203.255,1324.609,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,263.913,0.000,0.000,0.000,0.000,0.000,14852.080,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,94.776,0.000
$MEM,354048
$DATA_FILE_SIZE,12729,397
$CAP_FILE_SIZE,121256,0
$CFSIZE,260034560,251912192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,338.3,1
$GPS,081109,004937,1939.236,-15604.547,28,1.6,28,9.7