version: 66.07
glider: 22
mission: 14
dive: 65
start: 11 8 109 20 48 16
data:
$ID,22
$MISSION,14
$DIVE,65
$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,-248786.19
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,081109,203915,1933.071,-15601.890,61,5.9,80,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-67.2
$GPS2,081109,204736,1933.238,-15601.898,38,1.6,44,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.260,-0.137
$KALMAN_X,-45571.8,543.5,453.9,68421.9,-4885.6
$KALMAN_Y,50350.7,-396.6,-55.3,-92705.5,1961.0
$MHEAD_RNG_PITCHd_Wd,151.1,25968,-15.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.10,-194.6,0.0,0.0,0,99,0.00,0.00,-79.65,0.000,2,0.000,0.000,370,2935,2637,0,0,0,0,0,0
$GC,102,-1.10,-194.6,3.0,-6.9,15,139,10.10,1.83,-19.17,0.000,4,0.160,0.074,2251,3947,3413,0,0,0,0,0,0
$GC,287,-1.10,-194.6,47.9,-23.0,39,293,0.00,1.77,0.00,0.000,6,0.000,0.037,2251,2890,3414,0,0,0,0,0,0
$GC,479,-1.10,-194.6,88.6,-20.8,58,482,0.00,1.88,0.00,0.000,4,0.000,0.057,2250,3933,3415,0,0,0,0,0,0
$GC,510,-1.10,-194.6,95.6,-22.4,61,515,0.00,1.73,0.00,0.000,6,0.000,0.038,2251,2915,3415,0,0,0,0,0,0
$GC,723,-1.10,-194.6,133.7,-17.4,70,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2915,3415,0,0,0,0,0,0
$GC,1027,-1.10,-194.6,189.1,-18.3,80,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2915,3417,0,0,0,0,0,0
$GC,1330,-1.10,-194.6,239.0,-15.7,90,1334,0.00,2.40,0.00,0.000,4,0.000,0.044,2250,1506,3417,0,0,0,0,0,0
$GC,1394,-1.10,-194.6,247.6,-13.4,92,1399,0.00,2.42,0.00,0.000,6,0.000,0.044,2251,2899,3418,0,0,0,0,0,0
$GC,1729,-1.10,-194.6,294.1,-13.8,103,1733,0.00,1.88,0.00,0.000,4,0.000,0.058,2250,3950,3418,0,0,0,0,0,0
$GC,1798,-1.10,-194.6,304.2,-14.6,105,1802,0.00,1.80,0.00,0.000,6,0.000,0.039,2250,2878,3418,0,0,0,0,0,0
$GC,2159,-1.10,-194.6,351.9,-13.2,111,2163,0.00,2.33,0.00,0.000,4,0.000,0.044,2250,1525,3417,0,0,0,0,0,0
$GC,2190,-1.10,-194.6,355.9,-13.3,111,2194,0.00,2.45,0.00,0.000,6,0.000,0.046,2251,2919,3417,0,0,0,0,0,0
$GC,2524,-1.10,-194.6,399.5,-12.9,117,2528,0.00,2.42,0.00,0.000,4,0.000,0.044,2251,1527,3414,0,0,0,0,0,0
$GC,2556,-1.10,-194.6,403.3,-11.5,117,2560,0.00,2.42,0.00,0.000,6,0.000,0.048,2250,2921,3414,0,0,0,0,0,0
$GC,2889,-1.10,-194.6,446.7,-13.2,123,2894,0.00,2.42,0.00,0.000,4,0.000,0.046,2250,1536,3412,0,0,0,0,0,0
$GC,2910,-1.10,-194.6,449.5,-13.3,123,2914,0.00,2.45,0.00,0.000,6,0.000,0.049,2251,2909,3412,0,0,0,0,0,0
$GC,3254,-1.10,-194.6,495.1,-13.3,129,3258,0.00,1.90,0.00,0.000,4,0.000,0.065,2250,3955,3408,0,0,0,0,0,0
$GC,3292,-1.10,-194.6,500.0,-13.0,129,3296,0.00,1.77,0.00,0.000,6,0.000,0.042,2250,2928,3409,0,0,0,0,0,0
$GC,3620,-1.10,-194.6,540.4,-12.1,135,3629,0.00,2.42,0.00,0.000,4,0.000,0.048,2251,1512,3405,0,0,0,0,0,0
$GC,3675,-1.10,-194.6,546.2,-10.2,135,3685,0.00,2.42,0.00,0.000,6,0.000,0.051,2251,2919,3404,0,0,0,0,0,0
$GC,3984,-1.10,-194.6,577.9,-10.3,141,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3400,0,0,0,0,0,0
$GC,4285,-1.10,-194.6,610.3,-10.7,146,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3398,0,0,0,0,0,0
$GC,4587,-1.10,-194.6,642.7,-10.6,151,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3396,0,0,0,0,0,0
$GC,4889,-1.10,-194.6,675.5,-10.9,156,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3394,0,0,0,0,0,0
$GC,5191,-1.10,-194.6,708.1,-10.7,161,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3392,0,0,0,0,0,0
$GC,5493,-1.10,-194.6,740.9,-10.9,166,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3390,0,0,0,0,0,0
$GC,5797,-1.10,-194.6,774.7,-11.1,171,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3388,0,0,0,0,0,0
$GC,6095,-1.10,-194.6,805.1,-10.1,176,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3388,0,0,0,0,0,0
$GC,6398,-1.10,-194.6,835.2,-10.0,181,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2919,3384,0,0,0,0,0,0
$GC,6699,-1.10,-194.6,865.3,-9.9,186,6707,0.00,2.12,0.00,0.000,4,0.000,0.137,2250,3951,3383,0,0,0,0,0,0
$GC,6738,-1.10,-194.6,869.4,-11.0,186,6746,0.00,2.00,0.00,0.000,6,0.000,0.102,2250,2948,3383,0,0,0,0,0,0
$GC,7063,-1.10,-194.6,902.3,-10.2,192,7072,0.00,3.03,0.00,0.000,4,0.000,0.143,2251,1490,3382,0,0,0,0,0,0
$GC,7102,-1.10,-194.6,906.1,-9.1,192,7113,0.00,2.97,0.00,0.000,6,0.000,0.136,2251,2906,3382,0,0,0,0,0,0
$GC,7425,-1.10,-194.6,936.5,-9.3,198,7433,0.00,2.38,0.00,0.000,4,0.000,0.180,2250,3962,3380,0,0,0,0,0,0
$GC,7469,-1.10,-194.6,940.9,-9.6,198,7477,0.00,2.30,0.00,0.000,6,0.000,0.150,2251,2909,3380,0,0,0,0,0,0
$GC,7784,-1.10,-194.6,968.9,-9.0,204,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2909,3379,0,0,0,0,0,0
$STATE,8023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8023,begin apogee
$GC,8027,-0.28,0.0,991.9,9.6,208,8208,0.90,0.00,171.90,1.302,6,0.111,0.000,2432,2778,2617,0,0,0,0,0,0
$STATE,8209,end apogee,CONTROL_FINISHED_OK
$STATE,8209,begin climb
$GC,8211,1.10,194.6,998.1,0.0,211,8410,1.40,3.50,183.57,1.290,4,0.086,0.202,2727,1363,1821,0,0,0,0,0,0
$GC,8494,1.10,194.6,974.5,10.8,215,8504,0.00,3.28,0.00,0.000,6,0.000,0.169,2727,2785,1813,0,0,0,0,0,0
$GC,8822,1.19,285.4,948.2,6.9,221,8922,0.12,3.28,85.43,1.261,4,0.097,0.159,2757,1360,1451,0,0,0,0,0,0
$GC,9012,1.19,285.4,930.2,12.3,224,9021,0.00,3.08,0.00,0.000,6,0.000,0.140,2756,2782,1445,0,0,0,0,0,0
$GC,9376,1.19,285.4,878.0,14.7,230,9385,0.00,2.45,0.00,0.000,4,0.000,0.133,2756,3961,1443,0,0,0,0,0,0
$GC,9458,1.19,285.4,865.7,14.9,231,9467,0.00,2.35,0.00,0.000,6,0.000,0.094,2757,2768,1440,0,0,0,0,0,0
$GC,9800,1.19,285.4,814.6,15.1,237,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2768,1438,0,0,0,0,0,0
$GC,10101,1.19,285.4,767.9,15.5,242,10109,0.00,2.33,0.00,0.000,4,0.000,0.088,2757,3966,1438,0,0,0,0,0,0
$GC,10167,1.19,285.4,757.4,15.6,243,10175,0.00,2.20,0.00,0.000,6,0.000,0.057,2757,2755,1437,0,0,0,0,0,0
$GC,10530,1.19,285.4,700.3,15.8,249,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2755,1437,0,0,0,0,0,0
$GC,10831,1.19,285.4,651.9,16.0,254,10840,0.00,2.25,0.00,0.000,4,0.000,0.067,2757,3966,1437,0,0,0,0,0,0
$GC,10887,1.19,285.4,643.0,15.1,254,10896,0.00,2.12,0.00,0.000,6,0.000,0.044,2757,2754,1436,0,0,0,0,0,0
$GC,11196,1.19,285.4,593.7,16.0,260,11204,0.00,2.25,0.00,0.000,4,0.000,0.065,2757,3972,1436,0,0,0,0,0,0
$GC,11219,1.19,285.4,589.3,18.5,260,11227,0.00,2.12,0.00,0.000,6,0.000,0.043,2757,2775,1436,0,0,0,0,0,0
$GC,11560,1.19,285.4,538.5,14.6,266,11569,0.00,2.17,0.00,0.000,4,0.000,0.064,2757,3966,1435,0,0,0,0,0,0
$GC,11611,1.19,285.4,531.1,13.9,266,11619,0.00,2.08,0.00,0.000,6,0.000,0.044,2757,2774,1435,0,0,0,0,0,0
$GC,11919,1.19,285.4,489.2,13.5,271,11923,0.00,2.50,0.00,0.000,4,0.000,0.055,2757,1369,1434,0,0,0,0,0,0
$GC,11945,1.19,285.4,485.6,12.1,271,11949,0.00,2.55,0.00,0.000,6,0.000,0.047,2757,2803,1434,0,0,0,0,0,0
$GC,12284,1.19,285.4,436.0,15.0,277,12288,0.00,2.10,0.00,0.000,4,0.000,0.064,2757,3945,1434,0,0,0,0,0,0
$GC,12332,1.19,285.4,428.7,13.7,277,12336,0.00,2.08,0.00,0.000,6,0.000,0.043,2757,2774,1434,0,0,0,0,0,0
$GC,12649,1.19,285.4,383.0,14.4,283,12653,0.00,2.47,0.00,0.000,4,0.000,0.053,2757,1379,1434,0,0,0,0,0,0
$GC,12692,1.19,285.4,377.5,12.5,283,12696,0.00,2.45,0.00,0.000,6,0.000,0.045,2756,2785,1435,0,0,0,0,0,0
$GC,13015,1.19,285.4,334.1,13.5,289,13019,0.00,2.12,0.00,0.000,4,0.000,0.061,2756,3950,1434,0,0,0,0,0,0
$GC,13062,1.19,285.4,327.3,13.7,289,13066,0.00,2.08,0.00,0.000,6,0.000,0.041,2757,2765,1434,0,0,0,0,0,0
$GC,13380,1.19,285.4,287.7,12.2,296,13384,0.00,2.17,0.00,0.000,4,0.000,0.059,2757,3948,1434,0,0,0,0,0,0
$GC,13407,1.19,285.4,284.3,11.7,296,13414,0.00,2.05,0.00,0.000,6,0.000,0.041,2757,2780,1434,0,0,0,0,0,0
$GC,13716,1.19,285.4,246.7,11.6,307,13719,0.00,2.10,0.00,0.000,4,0.000,0.060,2757,3948,1434,0,0,0,0,0,0
$GC,13747,1.19,285.4,242.8,13.0,308,13752,0.00,2.05,0.00,0.000,6,0.000,0.041,2757,2775,1434,0,0,0,0,0,0
$GC,14082,1.19,285.4,205.8,10.7,319,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2773,1434,0,0,0,0,0,0
$GC,14386,1.19,285.4,170.8,11.5,329,14390,0.00,2.15,0.00,0.000,4,0.000,0.057,2757,3954,1434,0,0,0,0,0,0
$GC,14455,1.20,290.7,162.9,9.8,331,14459,0.00,2.05,0.00,0.000,6,0.000,0.040,2757,2772,1434,0,0,0,0,0,0
$GC,14785,1.20,290.7,127.9,10.1,342,14789,0.00,2.40,0.00,0.000,4,0.000,0.051,2757,1373,1435,0,0,0,0,0,0
$GC,14859,1.24,324.8,121.1,8.8,344,14896,0.00,2.45,32.60,0.659,6,0.000,0.041,2757,2787,1293,0,0,0,0,0,0
$GC,15201,1.26,342.0,87.4,9.4,363,15224,0.00,2.08,16.00,0.594,4,0.000,0.056,2757,3947,1222,0,0,0,0,0,0
$GC,15249,1.30,385.3,83.2,8.5,367,15291,0.00,2.03,38.35,0.607,6,0.000,0.038,2757,2776,1046,0,0,0,0,0,0
$GC,15476,1.33,405.3,63.6,9.3,389,15502,0.12,2.53,18.10,0.561,4,0.086,0.050,2790,1370,964,0,0,0,0,0,0
$GC,15544,1.33,405.3,56.6,10.8,395,15550,0.00,2.47,0.00,0.000,6,0.000,0.040,2790,2789,963,0,0,0,0,0,0
$GC,15736,1.33,405.3,37.5,11.4,414,15740,0.00,2.42,0.00,0.000,4,0.000,0.045,2791,1374,963,0,0,0,0,0,0
$GC,15762,1.33,405.3,34.7,10.1,416,15766,0.00,2.45,0.00,0.000,6,0.000,0.040,2790,2793,962,0,0,0,0,0,0
$GC,15957,1.33,405.3,11.7,11.4,440,15963,0.00,2.38,0.00,0.000,4,0.000,0.045,2790,1374,962,0,0,0,0,0,0
$GC,16036,1.36,438.6,3.8,8.9,455,16049,0.00,2.42,8.57,0.451,2,0.000,0.040,2790,2784,928,0,0,0,0,0,0
$STATE,16049,end climb,SURFACE_DEPTH_REACHED
$STATE,16050,begin surface coast
$FINISH,0.0,1.003912
$STATE,16078,end surface coast,CONTROL_FINISHED_OK
$STATE,16078,begin surface
$SM_CCo,16156,0.00,0.000,0,0,926,415.05
$SM_GC,0.89,10.50,0.00,0.00,0.047,0.000,0.000,371,2925,926,-9.70,0.45,415.05
$IRIDIUM_FIX,1927.51,-15600.62,040511,090931
$TT8_MAMPS,0.111982
$HUMID,1078587732
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.2,13.605
$10V_AH,9.9,34.256
$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,23.150,144.075,554.525,0.000,0.000,28.424,26.866,248.173,0.000,0.000,44.162,0.000,13539.562,653.974,1913.491,555.073,33.362,1617.129,0.000,1244.744,0.000,0.532,0.000
$DEVICE_MAMPS,159.536,202.488,1302.366,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,308.445,0.000,0.000,0.000,0.000,0.000,16801.930,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,81.467,0.000
$MEM,354024
$DATA_FILE_SIZE,15850,463
$CAP_FILE_SIZE,127623,0
$CFSIZE,260034560,251482112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,333.5,1
$GPS,091109,011854,1931.044,-15601.050,26,1.6,43,9.7