version: 66.07
glider: 22
mission: 14
dive: 88
start: 11 13 109 7 41 19
data:
$ID,22
$MISSION,14
$DIVE,88
$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,-250052.98
$T_RSLEEP,5
$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,51
$R_STBD_OVSHOOT,28
$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
$GPS1,131109,073601,1923.571,-15558.566,42,1.4,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-63.0
$GPS2,131109,074040,1923.634,-15558.602,12,2.3,31,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.293,0.014
$KALMAN_X,-152655.7,1392.7,870.3,179958.3,-13743.2
$KALMAN_Y,45992.4,711.1,-260.3,-107030.0,-45.3
$MHEAD_RNG_PITCHd_Wd,47.5,1252,-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,-64.6,0.0,0.0,0,88,0.00,0.00,-73.90,0.000,2,0.000,0.000,375,2920,2649,0,0,0,0,0,0
$GC,91,-1.65,-88.6,3.3,-7.5,14,116,9.55,2.42,-8.62,0.000,4,0.161,0.051,2131,1511,2981,0,0,0,0,0,0
$GC,270,-1.65,-88.6,55.5,-29.0,37,274,0.00,2.47,0.00,0.000,6,0.000,0.045,2132,2922,2982,0,0,0,0,0,0
$GC,466,-1.65,-88.6,102.3,-23.2,56,470,0.00,1.83,0.00,0.000,4,0.000,0.054,2131,3962,2985,0,0,0,0,0,0
$GC,546,-1.65,-88.6,120.8,-23.0,58,550,0.00,1.77,0.00,0.000,6,0.000,0.037,2130,2887,2986,0,0,0,0,0,0
$GC,866,-1.65,-88.6,189.4,-21.2,69,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2883,2988,0,0,0,0,0,0
$GC,1169,-1.65,-88.6,247.1,-18.8,79,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2883,2989,0,0,0,0,0,0
$GC,1473,-1.65,-88.6,299.1,-17.5,89,1477,0.00,1.90,0.00,0.000,4,0.000,0.055,2131,3949,2990,0,0,0,0,0,0
$GC,1584,-1.65,-88.6,318.4,-16.5,91,1589,0.00,1.73,0.00,0.000,6,0.000,0.039,2131,2912,2990,0,0,0,0,0,0
$GC,1902,-1.65,-88.6,370.0,-16.6,97,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2912,2990,0,0,0,0,0,0
$GC,2204,-1.65,-88.6,413.9,-14.3,102,2208,0.00,1.88,0.00,0.000,4,0.000,0.058,2131,3947,2989,0,0,0,0,0,0
$GC,2385,-1.65,-88.6,441.3,-15.3,104,2389,0.00,1.75,0.00,0.000,6,0.000,0.041,2130,2926,2987,0,0,0,0,0,0
$GC,2698,-1.65,-88.6,483.1,-13.4,110,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2926,2985,0,0,0,0,0,0
$GC,2999,-1.65,-88.6,524.1,-13.6,115,3003,0.00,1.88,0.00,0.000,4,0.000,0.060,2131,3953,2982,0,0,0,0,0,0
$GC,3063,-1.65,-88.6,533.5,-14.8,116,3067,0.00,1.80,0.00,0.000,6,0.000,0.042,2131,2912,2982,0,0,0,0,0,0
$GC,3429,-1.65,-88.6,581.1,-12.6,122,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2912,2978,0,0,0,0,0,0
$GC,3730,-1.65,-88.6,616.6,-11.7,127,3735,0.00,1.92,0.00,0.000,4,0.000,0.064,2131,3953,2976,0,0,0,0,0,0
$GC,3810,-1.65,-88.6,627.2,-13.6,128,3814,0.00,1.80,0.00,0.000,6,0.000,0.043,2131,2925,2976,0,0,0,0,0,0
$GC,4160,-1.65,-88.6,670.2,-12.4,134,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2925,2975,0,0,0,0,0,0
$GC,4462,-1.65,-88.6,705.4,-11.7,139,4465,0.00,2.53,0.00,0.000,4,0.000,0.065,2131,1528,2974,0,0,0,0,0,0
$GC,4520,-1.65,-88.6,711.8,-10.7,139,4526,0.00,2.55,0.00,0.000,6,0.000,0.062,2131,2913,2973,0,0,0,0,0,0
$GC,4827,-1.65,-88.6,744.3,-10.5,145,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2913,2971,0,0,0,0,0,0
$GC,5129,-1.65,-88.6,777.1,-10.9,150,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2913,2969,0,0,0,0,0,0
$GC,5430,-1.65,-88.6,808.5,-10.2,155,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2913,2969,0,0,0,0,0,0
$GC,5732,-1.65,-88.6,838.6,-10.0,160,5736,0.00,2.75,0.00,0.000,4,0.000,0.108,2131,1537,2966,0,0,0,0,0,0
$GC,5763,-1.65,-89.5,841.8,-9.9,160,5768,0.00,2.75,0.00,0.000,6,0.000,0.104,2131,2914,2966,0,0,0,0,0,0
$GC,6097,-1.65,-91.8,874.5,-9.8,166,6101,0.00,2.20,0.00,0.000,4,0.000,0.140,2131,3959,2965,0,0,0,0,0,0
$GC,6167,-1.65,-91.8,881.6,-10.6,167,6170,0.00,2.08,0.00,0.000,6,0.000,0.110,2131,2948,2964,0,0,0,0,0,0
$GC,6527,-1.65,-92.0,917.4,-10.0,173,6530,0.00,3.03,0.00,0.000,4,0.000,0.149,2131,1504,2962,0,0,0,0,0,0
$GC,6596,-1.65,-92.0,924.5,-10.1,174,6601,0.00,3.03,0.00,0.000,6,0.000,0.143,2131,2926,2962,0,0,0,0,0,0
$GC,6951,-1.65,-92.0,963.9,-11.3,180,6955,0.00,3.28,0.00,0.000,4,0.000,0.181,2131,1501,2960,0,0,0,0,0,0
$GC,6988,-1.65,-92.0,967.8,-10.4,180,6992,0.00,3.22,0.00,0.000,6,0.000,0.170,2131,2927,2961,0,0,0,0,0,0
$STATE,7193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7193,begin apogee
$GC,7198,-0.28,0.0,990.3,10.8,184,7279,1.52,0.00,78.47,1.332,6,0.130,0.000,2429,2749,2618,0,0,0,0,0,0
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7280,begin climb
$GC,7282,1.65,92.0,991.8,0.0,185,7382,2.00,3.47,89.18,1.299,4,0.084,0.199,2850,1330,2241,0,0,0,0,0,0
$GC,7418,1.65,92.0,977.2,16.0,187,7422,0.00,3.30,0.00,0.000,6,0.000,0.170,2850,2760,2238,0,0,0,0,0,0
$GC,7768,1.65,92.0,919.3,16.6,193,7772,0.00,3.08,0.00,0.000,4,0.000,0.144,2850,1333,2228,0,0,0,0,0,0
$GC,7853,1.65,92.0,904.9,16.9,194,7857,0.00,2.95,0.00,0.000,6,0.000,0.122,2850,2760,2228,0,0,0,0,0,0
$GC,8197,1.65,92.0,847.7,16.5,200,8201,0.00,2.88,0.00,0.000,4,0.000,0.100,2850,1305,2225,0,0,0,0,0,0
$GC,8267,1.65,92.0,836.6,15.4,201,8271,0.00,2.83,0.00,0.000,6,0.000,0.090,2850,2762,2225,0,0,0,0,0,0
$GC,8622,1.65,92.0,776.7,17.3,207,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2762,2222,0,0,0,0,0,0
$GC,8923,1.65,92.0,726.3,16.7,212,8927,0.00,2.70,0.00,0.000,4,0.000,0.069,2850,1322,2220,0,0,0,0,0,0
$GC,9084,1.65,92.0,699.3,17.4,214,9088,0.00,2.60,0.00,0.000,6,0.000,0.057,2850,2766,2221,0,0,0,0,0,0
$GC,9412,1.65,92.0,641.2,17.7,220,9415,0.00,2.62,0.00,0.000,4,0.000,0.060,2850,1312,2220,0,0,0,0,0,0
$GC,9454,1.65,92.0,634.1,16.3,220,9458,0.00,2.58,0.00,0.000,6,0.000,0.052,2850,2761,2219,0,0,0,0,0,0
$GC,9776,1.65,92.0,583.9,15.1,226,9781,0.00,2.60,0.00,0.000,4,0.000,0.054,2850,1323,2219,0,0,0,0,0,0
$GC,9841,1.65,92.0,575.0,12.7,227,9845,0.00,2.58,0.00,0.000,6,0.000,0.049,2850,2760,2219,0,0,0,0,0,0
$GC,10206,1.65,92.0,529.6,11.9,233,10210,0.00,2.60,0.00,0.000,4,0.000,0.052,2848,1312,2219,0,0,0,0,0,0
$GC,10334,1.65,92.0,514.9,10.7,235,10338,0.00,2.58,0.00,0.000,6,0.000,0.048,2850,2756,2219,0,0,0,0,0,0
$GC,10700,1.65,92.0,471.0,12.0,241,10704,0.00,2.58,0.00,0.000,4,0.000,0.051,2850,1316,2219,0,0,0,0,0,0
$GC,10790,1.65,92.0,459.6,11.9,242,10794,0.00,2.55,0.00,0.000,6,0.000,0.046,2850,2753,2218,0,0,0,0,0,0
$GC,11129,1.65,92.0,417.2,12.5,248,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2753,2218,0,0,0,0,0,0
$GC,11431,1.65,96.0,386.9,9.6,253,11435,0.00,2.17,0.00,0.000,4,0.000,0.061,2850,3951,2217,0,0,0,0,0,0
$GC,11522,1.65,96.0,377.2,10.8,254,11525,0.00,2.17,0.00,0.000,6,0.000,0.041,2850,2706,2216,0,0,0,0,0,0
$GC,11860,1.65,96.0,340.7,11.1,260,11865,0.00,2.28,0.00,0.000,4,0.000,0.058,2849,3946,2216,0,0,0,0,0,0
$GC,12036,1.65,96.0,319.3,12.6,262,12041,0.00,2.10,0.00,0.000,6,0.000,0.041,2850,2744,2215,0,0,0,0,0,0
$GC,12355,1.66,100.1,287.4,9.6,270,12356,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2743,2215,0,0,0,0,0,0
$GC,12658,1.68,117.2,263.0,8.2,280,12678,0.00,0.00,19.05,0.810,6,0.000,0.000,2850,2743,2140,0,0,0,0,0,0
$GC,12961,1.68,117.2,233.0,10.9,290,12965,0.00,2.20,0.00,0.000,4,0.000,0.055,2850,3951,2136,0,0,0,0,0,0
$GC,13053,1.68,117.2,222.8,10.3,292,13059,0.00,2.10,0.00,0.000,6,0.000,0.039,2850,2710,2135,0,0,0,0,0,0
$GC,13361,1.70,134.6,194.4,8.2,303,13382,0.00,2.38,16.70,0.738,4,0.000,0.046,2850,1342,2068,0,0,0,0,0,0
$GC,13621,1.70,139.9,171.4,9.5,311,13630,0.00,2.47,5.50,0.590,6,0.000,0.041,2850,2764,2046,0,0,0,0,0,0
$GC,13945,1.70,140.5,138.6,9.9,322,13949,0.00,2.45,0.00,0.000,4,0.000,0.043,2850,1354,2045,0,0,0,0,0,0
$GC,14081,1.72,157.0,126.2,8.3,326,14101,0.00,2.38,16.20,0.656,6,0.000,0.040,2850,2757,1977,0,0,0,0,0,0
$GC,14406,1.72,157.0,89.4,12.4,340,14409,0.00,2.40,0.00,0.000,4,0.000,0.042,2850,1346,1974,0,0,0,0,0,0
$GC,14479,1.72,157.0,80.2,12.7,346,14485,0.00,2.42,0.00,0.000,6,0.000,0.040,2850,2754,1974,0,0,0,0,0,0
$GC,14670,1.72,160.3,59.0,9.7,365,14681,0.00,2.15,3.75,0.411,4,0.000,0.053,2850,3949,1964,0,0,0,0,0,0
$GC,14734,1.73,164.8,53.1,9.5,371,14745,0.00,2.05,5.65,0.479,6,0.000,0.036,2850,2732,1946,0,0,0,0,0,0
$GC,14932,1.75,184.7,38.5,7.9,390,14955,0.12,2.40,18.62,0.551,4,0.087,0.044,2882,1356,1864,0,0,0,0,0,0
$GC,15100,1.76,192.1,22.4,9.2,406,15114,0.00,2.40,7.97,0.482,6,0.000,0.040,2882,2752,1833,0,0,0,0,0,0
$STATE,15272,end climb,SURFACE_DEPTH_REACHED
$STATE,15273,begin surface coast
$FINISH,0.0,1.013215
$STATE,15300,end surface coast,CONTROL_FINISHED_OK
$STATE,15300,begin surface
$SM_CCo,15317,112.65,0.511,0,0,987,400.08
$SM_GC,0.68,0.00,0.00,112.65,0.000,0.000,0.511,372,2935,987,-9.77,0.42,400.08
$IRIDIUM_FIX,1918.37,-15556.45,080511,212141
$TT8_MAMPS,0.059059
$HUMID,1078582571
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.1,17.044
$10V_AH,10.0,44.322
$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,24.150,132.350,261.100,112.650,0.000,27.147,27.125,119.335,0.000,0.000,32.526,0.000,13037.733,527.177,1747.892,385.088,33.340,1315.994,0.000,1431.536,0.000,0.531,0.000
$DEVICE_MAMPS,161.070,199.420,1332.279,510.822,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,295.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,15892,441
$CAP_FILE_SIZE,118227,0
$CFSIZE,260034560,249880576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,343.3,1
$GPS,131109,115930,1924.960,-15557.254,40,1.7,40,9.7