version: 66.07
glider: 22
mission: 14
dive: 86
start: 11 12 109 22 56 39
data:
$ID,22
$MISSION,14
$DIVE,86
$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,-250001.73
$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,6
$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,0
$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
$GPS1,121109,225025,1924.550,-15559.009,39,1.2,39,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-64.6
$GPS2,121109,225558,1924.559,-15559.000,11,2.3,30,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.292,-0.035
$KALMAN_X,-142295.4,1072.6,520.0,169582.8,-13808.0
$KALMAN_Y,46027.3,-698.3,791.3,-105002.8,812.2
$MHEAD_RNG_PITCHd_Wd,110.9,2031,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.62,-64.6,0.0,0.0,0,85,0.00,0.00,-71.65,0.000,2,0.000,0.000,375,2932,2583,0,0,0,0,0,0
$GC,88,-1.65,-90.6,3.0,-7.3,14,114,9.57,2.50,-11.00,0.000,4,0.163,0.054,2129,1475,2990,0,0,0,0,0,0
$GC,353,-1.65,-90.6,74.0,-21.2,46,357,0.00,2.53,0.00,0.000,6,0.000,0.045,2130,2917,2992,0,0,0,0,0,0
$GC,558,-1.65,-90.6,119.7,-21.6,60,562,0.00,2.45,0.00,0.000,4,0.000,0.041,2130,1478,2994,0,0,0,0,0,0
$GC,744,-1.65,-90.6,157.1,-19.2,65,750,0.00,2.53,0.00,0.000,6,0.000,0.044,2130,2925,2995,0,0,0,0,0,0
$GC,1053,-1.65,-90.6,216.9,-18.8,76,1057,0.00,2.47,0.00,0.000,4,0.000,0.041,2130,1480,2996,0,0,0,0,0,0
$GC,1214,-1.65,-90.6,244.3,-17.7,81,1218,0.00,2.50,0.00,0.000,6,0.000,0.044,2130,2932,2997,0,0,0,0,0,0
$GC,1543,-1.65,-90.6,301.2,-17.1,92,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2933,2997,0,0,0,0,0,0
$GC,1845,-1.65,-90.6,349.6,-15.9,97,1849,0.00,2.53,0.00,0.000,4,0.000,0.043,2129,1476,2997,0,0,0,0,0,0
$GC,1866,-1.65,-90.6,352.6,-14.3,97,1870,0.00,2.55,0.00,0.000,6,0.000,0.047,2129,2920,2997,0,0,0,0,0,0
$GC,2211,-1.65,-90.6,405.4,-15.2,103,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2921,2997,0,0,0,0,0,0
$GC,2512,-1.65,-90.6,451.6,-15.2,108,2516,0.00,1.88,0.00,0.000,4,0.000,0.061,2129,3953,2994,0,0,0,0,0,0
$GC,2554,-1.65,-90.6,458.5,-16.6,108,2558,0.00,1.85,0.00,0.000,6,0.000,0.041,2129,2871,2995,0,0,0,0,0,0
$GC,2877,-1.65,-90.6,505.3,-14.3,114,2882,0.00,1.98,0.00,0.000,4,0.000,0.061,2130,3952,2992,0,0,0,0,0,0
$GC,2952,-1.65,-90.6,516.5,-14.7,115,2956,0.00,1.77,0.00,0.000,6,0.000,0.041,2129,2927,2992,0,0,0,0,0,0
$GC,3307,-1.65,-90.6,563.3,-12.9,121,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2926,2989,0,0,0,0,0,0
$GC,3609,-1.65,-90.6,602.4,-13.1,126,3612,0.00,1.90,0.00,0.000,4,0.000,0.064,2130,3955,2986,0,0,0,0,0,0
$GC,3725,-1.65,-90.6,619.6,-15.0,127,3730,0.00,1.80,0.00,0.000,6,0.000,0.042,2130,2925,2984,0,0,0,0,0,0
$GC,4038,-1.65,-90.6,662.2,-13.7,133,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2924,2982,0,0,0,0,0,0
$GC,4339,-1.65,-90.6,701.2,-13.0,138,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2924,2980,0,0,0,0,0,0
$GC,4642,-1.65,-90.6,741.2,-13.2,143,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2924,2977,0,0,0,0,0,0
$GC,4943,-1.65,-90.6,779.2,-12.5,148,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2924,2977,0,0,0,0,0,0
$GC,5245,-1.65,-90.6,817.4,-12.4,153,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2924,2976,0,0,0,0,0,0
$GC,5546,-1.65,-90.6,853.2,-12.0,158,5551,0.00,2.78,0.00,0.000,4,0.000,0.114,2130,1534,2974,0,0,0,0,0,0
$GC,5573,-1.65,-90.6,856.4,-12.0,158,5577,0.00,2.75,0.00,0.000,6,0.000,0.106,2130,2922,2974,0,0,0,0,0,0
$GC,5912,-1.65,-90.6,894.2,-11.0,164,5916,0.00,2.22,0.00,0.000,4,0.000,0.151,2129,3959,2972,0,0,0,0,0,0
$GC,5965,-1.65,-90.6,899.9,-10.3,164,5969,0.00,2.12,0.00,0.000,6,0.000,0.122,2129,2946,2973,0,0,0,0,0,0
$GC,6277,-1.65,-94.4,930.2,-9.6,170,6282,0.00,3.08,0.00,0.000,4,0.000,0.158,2130,1504,2972,0,0,0,0,0,0
$GC,6336,-1.66,-98.2,935.8,-9.6,171,6340,0.00,3.08,0.00,0.000,6,0.000,0.150,2130,2927,2972,0,0,0,0,0,0
$GC,6701,-1.66,-104.1,970.7,-9.4,177,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2928,2970,0,0,0,0,0,0
$STATE,6941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6941,begin apogee
$GC,6945,-0.28,0.0,994.9,10.1,181,7029,1.55,0.00,80.43,1.332,6,0.130,0.000,2432,2741,2618,0,0,0,0,0,0
$STATE,7029,end apogee,CONTROL_FINISHED_OK
$STATE,7029,begin climb
$GC,7031,1.66,104.1,996.2,0.0,182,7137,2.00,0.00,101.55,1.297,6,0.083,0.000,2852,2741,2193,0,0,0,0,0,0
$GC,7394,1.66,104.1,938.5,18.4,188,7398,0.00,3.08,0.00,0.000,4,0.000,0.159,2852,1328,2181,0,0,0,0,0,0
$GC,7435,1.66,104.1,931.1,17.7,188,7439,0.00,3.10,0.00,0.000,6,0.000,0.138,2852,2771,2181,0,0,0,0,0,0
$GC,7752,1.66,104.1,877.9,16.5,194,7756,0.00,2.95,0.00,0.000,4,0.000,0.117,2852,1331,2178,0,0,0,0,0,0
$GC,7811,1.66,104.1,868.9,15.2,194,7817,0.00,2.90,0.00,0.000,6,0.000,0.104,2852,2756,2177,0,0,0,0,0,0
$GC,8118,1.66,104.1,820.6,15.8,200,8122,0.00,2.80,0.00,0.000,4,0.000,0.091,2852,1332,2175,0,0,0,0,0,0
$GC,8149,1.66,104.1,815.5,16.0,200,8153,0.00,2.78,0.00,0.000,6,0.000,0.082,2852,2760,2175,0,0,0,0,0,0
$GC,8483,1.66,104.1,764.3,15.3,206,8487,0.00,2.72,0.00,0.000,4,0.000,0.075,2852,1328,2173,0,0,0,0,0,0
$GC,8563,1.66,104.1,752.9,13.7,207,8567,0.00,2.70,0.00,0.000,6,0.000,0.067,2852,2763,2173,0,0,0,0,0,0
$GC,8912,1.66,104.1,701.5,14.9,213,8916,0.00,2.67,0.00,0.000,4,0.000,0.065,2852,1326,2172,0,0,0,0,0,0
$GC,8949,1.66,104.1,695.6,15.5,213,8953,0.00,2.62,0.00,0.000,6,0.000,0.056,2852,2758,2172,0,0,0,0,0,0
$GC,9278,1.66,104.1,645.6,15.4,219,9282,0.00,2.65,0.00,0.000,4,0.000,0.061,2852,1317,2172,0,0,0,0,0,0
$GC,9298,1.66,104.1,642.3,15.5,219,9303,0.00,2.62,0.00,0.000,6,0.000,0.053,2852,2761,2172,0,0,0,0,0,0
$GC,9643,1.66,104.1,591.7,14.6,225,9647,0.00,2.62,0.00,0.000,4,0.000,0.055,2852,1313,2171,0,0,0,0,0,0
$GC,9755,1.66,104.1,576.2,13.6,226,9759,0.00,2.60,0.00,0.000,6,0.000,0.049,2852,2759,2171,0,0,0,0,0,0
$GC,10072,1.66,104.1,533.1,13.5,232,10076,0.00,2.60,0.00,0.000,4,0.000,0.052,2852,1316,2170,0,0,0,0,0,0
$GC,10136,1.66,104.1,524.3,13.2,233,10140,0.00,2.58,0.00,0.000,6,0.000,0.048,2852,2759,2171,0,0,0,0,0,0
$GC,10502,1.66,104.1,473.7,13.7,239,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2759,2169,0,0,0,0,0,0
$GC,10803,1.66,104.1,433.3,13.4,244,10808,0.00,2.17,0.00,0.000,4,0.000,0.061,2852,3947,2168,0,0,0,0,0,0
$GC,10856,1.66,104.1,425.7,14.9,244,10861,0.00,2.15,0.00,0.000,6,0.000,0.042,2852,2716,2167,0,0,0,0,0,0
$GC,11169,1.66,104.1,384.4,13.0,250,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2715,2167,0,0,0,0,0,0
$GC,11470,1.66,104.1,348.2,11.7,255,11474,0.00,2.40,0.00,0.000,4,0.000,0.050,2852,1341,2168,0,0,0,0,0,0
$GC,11577,1.66,104.1,336.6,10.2,256,11581,0.00,2.50,0.00,0.000,6,0.000,0.044,2852,2763,2168,0,0,0,0,0,0
$GC,11900,1.66,105.1,303.8,9.9,262,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2763,2168,0,0,0,0,0,0
$GC,12203,1.69,128.9,281.2,7.5,271,12223,0.00,0.00,18.65,0.819,6,0.000,0.000,2852,2763,2092,0,0,0,0,0,0
$GC,12506,1.69,132.6,250.4,9.6,281,12512,0.00,0.00,4.45,0.589,6,0.000,0.000,2852,2763,2077,0,0,0,0,0,0
$GC,12810,1.69,132.6,216.5,11.4,291,12814,0.00,2.47,0.00,0.000,4,0.000,0.044,2852,1323,2076,0,0,0,0,0,0
$GC,12938,1.69,132.6,202.6,12.1,295,12942,0.00,2.50,0.00,0.000,6,0.000,0.041,2852,2759,2076,0,0,0,0,0,0
$GC,13273,1.69,132.6,165.1,10.5,306,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2759,2076,0,0,0,0,0,0
$GC,13576,1.69,132.6,135.3,10.1,316,13580,0.00,2.10,0.00,0.000,4,0.000,0.053,2852,3947,2075,0,0,0,0,0,0
$GC,13613,1.69,132.6,131.0,11.0,317,13618,0.00,2.05,0.00,0.000,6,0.000,0.037,2852,2731,2074,0,0,0,0,0,0
$GC,13944,1.70,139.2,99.7,9.3,328,13955,0.00,2.38,7.60,0.555,4,0.000,0.043,2853,1362,2049,0,0,0,0,0,0
$GC,14013,1.71,147.1,93.6,9.2,334,14030,0.00,2.38,8.65,0.558,6,0.000,0.040,2852,2769,2016,0,0,0,0,0,0
$GC,14216,1.73,168.7,76.1,7.8,354,14239,0.00,2.10,19.52,0.588,4,0.000,0.053,2852,3948,1930,0,0,0,0,0,0
$GC,14293,1.73,168.7,68.2,11.5,361,14299,0.00,2.03,0.00,0.000,6,0.000,0.037,2852,2761,1927,0,0,0,0,0,0
$GC,14485,1.76,195.2,47.7,7.3,380,14516,0.12,2.17,23.80,0.559,4,0.084,0.053,2885,3945,1822,0,0,0,0,0,0
$GC,14756,1.76,195.2,17.3,11.4,407,14763,0.00,2.05,0.00,0.000,6,0.000,0.038,2884,2755,1817,0,0,0,0,0,0
$GC,14826,1.76,195.2,9.7,10.7,420,14831,0.00,2.42,0.00,0.000,4,0.000,0.049,2885,1335,1817,0,0,0,0,0,0
$GC,14884,1.76,195.2,3.9,10.0,431,14890,0.00,2.40,0.00,0.000,6,0.000,0.040,2885,2758,1816,0,0,0,0,0,0
$STATE,14893,end climb,SURFACE_DEPTH_REACHED
$STATE,14893,begin surface coast
$FINISH,0.1,1.023123
$STATE,14920,end surface coast,CONTROL_FINISHED_OK
$STATE,14920,begin surface
$SM_CCo,14938,108.40,0.504,0,0,986,400.08
$SM_GC,0.67,0.00,0.00,108.40,0.000,0.000,0.504,371,2936,986,-9.77,0.48,400.08
$IRIDIUM_FIX,1916.08,-15559.47,080511,121226
$TT8_MAMPS,0.059826
$HUMID,1078556764
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.1,16.835
$10V_AH,10.0,44.227
$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,24.125,128.325,264.650,108.400,0.000,29.003,25.261,134.136,0.000,0.000,32.312,0.000,12871.044,547.693,1546.595,402.198,33.345,1235.437,0.000,1226.449,0.000,0.532,0.000
$DEVICE_MAMPS,163.371,180.245,1332.279,503.919,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,292.699,0.000,0.000,0.000,0.000,0.000,447.570,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353804
$DATA_FILE_SIZE,15865,438
$CAP_FILE_SIZE,113030,0
$CFSIZE,260034560,249991168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,342.7,1
$GPS,131109,030824,1924.481,-15557.781,38,1.3,38,9.7