version: 66.07
glider: 22
mission: 14
dive: 79
start: 11 11 109 17 1 37
data:
$ID,22
$MISSION,14
$DIVE,79
$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,1.0275
$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,-249827.89
$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,2920
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,29
$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,50000.0
$GPS1,111109,165457,1924.191,-15557.872,38,2.5,57,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.9
$GPS2,111109,170058,1924.310,-15557.922,11,2.1,30,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.279,-0.092
$KALMAN_X,-100495.4,-933.0,527.7,131661.4,-5998.0
$KALMAN_Y,43835.6,-665.6,-861.4,-101634.5,1333.1
$MHEAD_RNG_PITCHd_Wd,183.6,590,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.62,-64.6,0.0,0.0,0,97,0.00,0.00,-78.68,0.000,2,0.000,0.000,373,2923,2782,0,0,0,0,0,0
$GC,99,-1.63,-71.1,3.8,-9.3,15,120,9.48,2.42,-3.12,0.000,4,0.162,0.056,2135,1516,2911,0,0,0,0,0,0
$GC,273,-1.63,-71.1,54.5,-24.1,36,280,0.00,2.45,0.00,0.000,6,0.000,0.045,2135,2917,2912,0,0,0,0,0,0
$GC,465,-1.63,-71.1,98.4,-20.4,55,469,0.00,2.35,0.00,0.000,4,0.000,0.041,2135,1516,2913,0,0,0,0,0,0
$GC,603,-1.63,-71.1,123.3,-18.0,60,607,0.00,2.45,0.00,0.000,6,0.000,0.044,2135,2923,2913,0,0,0,0,0,0
$GC,928,-1.63,-71.1,188.4,-20.2,71,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2923,2916,0,0,0,0,0,0
$GC,1232,-1.63,-71.1,241.7,-16.8,81,1235,0.00,2.40,0.00,0.000,4,0.000,0.041,2135,1517,2918,0,0,0,0,0,0
$GC,1306,-1.63,-71.1,253.0,-14.8,83,1310,0.00,2.45,0.00,0.000,6,0.000,0.044,2135,2924,2918,0,0,0,0,0,0
$GC,1631,-1.63,-71.1,299.6,-13.6,94,1635,0.00,1.83,0.00,0.000,4,0.000,0.058,2135,3954,2918,0,0,0,0,0,0
$GC,1721,-1.63,-71.1,312.4,-14.2,96,1725,0.00,1.77,0.00,0.000,6,0.000,0.038,2135,2893,2918,0,0,0,0,0,0
$GC,2060,-1.63,-71.1,356.6,-13.3,102,2064,0.00,2.30,0.00,0.000,4,0.000,0.043,2135,1544,2918,0,0,0,0,0,0
$GC,2182,-1.63,-71.1,371.9,-12.9,103,2189,0.00,2.42,0.00,0.000,6,0.000,0.045,2135,2926,2918,0,0,0,0,0,0
$GC,2490,-1.63,-71.1,411.2,-12.8,109,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2926,2916,0,0,0,0,0,0
$GC,2791,-1.63,-71.1,448.4,-12.3,114,2796,0.00,2.40,0.00,0.000,4,0.000,0.045,2135,1546,2912,0,0,0,0,0,0
$GC,3010,-1.63,-71.1,472.3,-10.3,117,3014,0.00,2.45,0.00,0.000,6,0.000,0.048,2135,2926,2911,0,0,0,0,0,0
$GC,3351,-1.63,-71.1,509.8,-11.1,123,3358,0.00,1.83,0.00,0.000,4,0.000,0.063,2135,3962,2908,0,0,0,0,0,0
$GC,3427,-1.63,-71.1,518.8,-12.0,124,3434,0.00,1.73,0.00,0.000,6,0.000,0.043,2135,2932,2908,0,0,0,0,0,0
$GC,3783,-1.63,-71.1,557.2,-10.7,130,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2927,2905,0,0,0,0,0,0
$GC,4085,-1.63,-71.1,588.4,-10.4,135,4094,0.00,2.42,0.00,0.000,4,0.000,0.051,2135,1526,2903,0,0,0,0,0,0
$GC,4135,-1.63,-71.1,593.5,-10.0,135,4144,0.00,2.47,0.00,0.000,6,0.000,0.052,2135,2926,2903,0,0,0,0,0,0
$GC,4449,-1.63,-71.1,629.6,-11.8,141,4458,0.00,1.88,0.00,0.000,4,0.000,0.070,2135,3949,2900,0,0,0,0,0,0
$GC,4516,-1.63,-71.1,637.8,-11.9,142,4523,0.00,1.75,0.00,0.000,6,0.000,0.043,2135,2923,2899,0,0,0,0,0,0
$GC,4883,-1.63,-71.1,678.8,-11.3,148,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2924,2897,0,0,0,0,0,0
$GC,5185,-1.63,-71.1,712.2,-11.1,153,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2924,2894,0,0,0,0,0,0
$GC,5486,-1.63,-73.1,742.3,-9.8,158,5494,0.00,1.95,0.00,0.000,4,0.000,0.087,2135,3947,2893,0,0,0,0,0,0
$GC,5525,-1.63,-74.6,746.2,-9.8,158,5533,0.00,1.83,0.00,0.000,6,0.000,0.054,2135,2925,2893,0,0,0,0,0,0
$GC,5855,-1.63,-78.2,777.8,-9.6,164,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2925,2892,0,0,0,0,0,0
$GC,6159,-1.64,-86.5,805.6,-9.1,169,6169,0.00,2.03,0.00,0.000,4,0.000,0.100,2135,3938,2891,0,0,0,0,0,0
$GC,6206,-1.65,-92.7,810.1,-9.4,169,6214,0.00,1.90,0.00,0.000,6,0.000,0.072,2135,2920,2891,0,0,0,0,0,0
$GC,6532,-1.66,-105.1,838.4,-8.7,175,6542,0.00,2.08,0.00,0.000,4,0.000,0.114,2135,3950,2889,0,0,0,0,0,0
$GC,6606,-1.67,-111.8,845.3,-9.3,176,6613,0.00,2.00,0.00,0.000,6,0.000,0.091,2135,2919,2888,0,0,0,0,0,0
$GC,6964,-1.68,-123.8,876.8,-8.8,182,6974,0.00,2.85,0.00,0.000,4,0.000,0.126,2135,1507,2887,0,0,0,0,0,0
$GC,7138,-1.68,-124.4,892.9,-9.9,184,7147,0.00,2.90,0.00,0.000,6,0.000,0.126,2135,2914,2885,0,0,0,0,0,0
$GC,7454,-1.69,-132.1,921.8,-9.2,190,7462,0.00,2.28,0.00,0.000,4,0.000,0.166,2135,3962,2884,0,0,0,0,0,0
$GC,7530,-1.69,-132.1,929.5,-10.1,191,7538,0.00,2.22,0.00,0.000,6,0.000,0.141,2135,2920,2884,0,0,0,0,0,0
$GC,7877,-1.70,-135.6,962.9,-9.6,197,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2921,2884,0,0,0,0,0,0
$STATE,8177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8177,begin apogee
$GC,8182,-0.28,0.0,990.8,9.2,202,8252,1.50,0.00,61.83,1.328,6,0.131,0.000,2429,2748,2618,0,0,0,0,0,0
$STATE,8252,end apogee,CONTROL_FINISHED_OK
$STATE,8252,begin climb
$GC,8254,1.70,135.6,992.5,0.0,203,8400,2.08,3.42,132.00,1.303,4,0.084,0.193,2861,1332,2064,0,0,0,0,0,0
$GC,8416,1.70,135.6,972.0,19.3,205,8425,0.00,3.20,0.00,0.000,6,0.000,0.166,2861,2750,2059,0,0,0,0,0,0
$GC,8724,1.70,135.6,907.8,20.6,211,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2750,2052,0,0,0,0,0,0
$GC,9026,1.70,135.6,845.3,20.7,216,9034,0.00,2.80,0.00,0.000,4,0.000,0.098,2861,1328,2047,0,0,0,0,0,0
$GC,9119,1.70,135.6,826.5,19.6,217,9127,0.00,2.75,0.00,0.000,6,0.000,0.085,2861,2759,2047,0,0,0,0,0,0
$GC,9449,1.70,135.6,760.9,19.8,223,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2760,2044,0,0,0,0,0,0
$GC,9751,1.70,135.6,701.4,19.8,228,9761,0.00,2.62,0.00,0.000,4,0.000,0.064,2861,1325,2043,0,0,0,0,0,0
$GC,9797,1.70,135.6,692.0,20.1,228,9805,0.00,2.60,0.00,0.000,6,0.000,0.057,2861,2766,2044,0,0,0,0,0,0
$GC,10122,1.70,135.6,627.9,19.7,234,10130,0.00,2.60,0.00,0.000,4,0.000,0.059,2861,1323,2042,0,0,0,0,0,0
$GC,10145,1.70,135.6,623.2,19.9,234,10153,0.00,2.58,0.00,0.000,6,0.000,0.052,2861,2765,2042,0,0,0,0,0,0
$GC,10486,1.70,135.6,558.7,18.9,240,10495,0.00,2.58,0.00,0.000,4,0.000,0.054,2861,1317,2041,0,0,0,0,0,0
$GC,10558,1.70,135.6,545.3,18.1,241,10567,0.00,2.55,0.00,0.000,6,0.000,0.049,2861,2758,2041,0,0,0,0,0,0
$GC,10910,1.70,135.6,481.4,18.1,247,10914,0.00,2.60,0.00,0.000,4,0.000,0.052,2861,1312,2040,0,0,0,0,0,0
$GC,11086,1.70,135.6,450.6,18.4,249,11090,0.00,2.58,0.00,0.000,6,0.000,0.047,2861,2759,2040,0,0,0,0,0,0
$GC,11403,1.70,135.6,394.3,17.7,255,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2760,2039,0,0,0,0,0,0
$GC,11705,1.70,135.6,342.9,17.0,260,11709,0.00,2.58,0.00,0.000,4,0.000,0.048,2861,1310,2039,0,0,0,0,0,0
$GC,11862,1.70,135.6,319.4,14.5,262,11865,0.00,2.53,0.00,0.000,6,0.000,0.044,2861,2763,2039,0,0,0,0,0,0
$GC,12195,1.70,135.6,268.5,15.0,271,12199,0.00,2.58,0.00,0.000,4,0.000,0.048,2861,1307,2038,0,0,0,0,0,0
$GC,12307,1.70,135.6,253.1,13.0,274,12311,0.00,2.55,0.00,0.000,6,0.000,0.044,2861,2759,2038,0,0,0,0,0,0
$GC,12626,1.70,135.6,213.2,12.2,285,12627,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2759,2038,0,0,0,0,0,0
$GC,12930,1.70,135.6,178.9,10.6,295,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2759,2038,0,0,0,0,0,0
$GC,13233,1.70,135.6,148.0,10.3,305,13237,0.00,2.12,0.00,0.000,4,0.000,0.054,2861,3949,2038,0,0,0,0,0,0
$GC,13323,1.70,135.6,137.4,11.9,307,13330,0.00,2.15,0.00,0.000,6,0.000,0.038,2862,2688,2036,0,0,0,0,0,0
$GC,13632,1.70,135.6,102.9,11.0,318,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2687,2037,0,0,0,0,0,0
$GC,13943,1.70,135.6,68.0,10.1,346,13947,0.00,2.33,0.00,0.000,4,0.000,0.043,2861,1304,2038,0,0,0,0,0,0
$GC,14189,1.76,192.8,48.8,4.1,368,14239,0.00,2.45,44.95,0.595,6,0.000,0.038,2861,2764,1830,0,0,0,0,0,0
$GC,14431,1.78,211.5,30.9,8.1,392,14453,0.00,2.10,16.05,0.540,4,0.000,0.054,2861,3947,1754,0,0,0,0,0,0
$STATE,14663,end climb,SURFACE_DEPTH_REACHED
$STATE,14663,begin surface coast
$FINISH,0.2,1.023068
$STATE,14685,end surface coast,CONTROL_FINISHED_OK
$STATE,14685,begin surface
$SM_CCo,14705,102.20,0.513,0,0,986,400.08
$SM_GC,0.67,0.00,0.00,102.20,0.000,0.000,0.513,373,2857,986,-9.76,-1.75,400.08
$IRIDIUM_FIX,1918.37,-15557.38,070511,060633
$TT8_MAMPS,0.1534
$HUMID,1078561926
$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,0/127
$PA_ROOT,87.1/128908/16630
$PA_HOME,5.8/483886/455769
$PA_LOG,3.7/297829/286846
$PA_DATA0,79.7/7836665/1593254
$PA_DATA1,85.1/7836665/1171473
$PA_USB,70.3/30829585/9154954
$24V_AH,23.1,16.058
$10V_AH,9.9,41.597
$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,23.900,118.325,254.825,102.200,0.000,30.532,28.040,161.501,0.000,0.000,31.589,0.000,12349.354,503.308,1864.612,438.627,33.341,1394.195,0.000,1314.764,0.000,0.532,0.000
$DEVICE_MAMPS,161.837,196.352,1327.677,513.123,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,287.489,0.000,0.000,0.000,0.000,0.000,15255.971,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,95.935,0.000
$MEM,353836
$DATA_FILE_SIZE,15858,430
$CAP_FILE_SIZE,112151,0
$CFSIZE,260034560,250425344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030, 18.2,1
$GPS,111109,210925,1923.056,-15558.220,40,1.4,40,9.7