version: 66.07
glider: 22
mission: 14
dive: 89
start: 11 13 109 12 4 53
data:
$ID,22
$MISSION,14
$DIVE,89
$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,-250083.95
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,131109,115930,1924.960,-15557.254,40,1.7,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-66.1
$GPS2,131109,120413,1925.014,-15557.281,13,1.6,30,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.292,-0.029
$KALMAN_X,-155480.1,1566.4,661.7,185085.3,-10899.9
$KALMAN_Y,48051.2,-81.7,876.9,-106905.1,-894.3
$MHEAD_RNG_PITCHd_Wd,204.1,2259,-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,9,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,-71.50,0.000,2,0.000,0.000,372,2935,2587,0,0,0,0,0,0
$GC,87,-1.65,-88.4,3.1,-7.5,14,113,9.65,2.40,-10.70,0.000,4,0.164,0.052,2131,1525,2980,0,0,0,0,0,0
$GC,299,-1.65,-88.4,58.7,-20.9,41,303,0.00,2.42,0.00,0.000,6,0.000,0.043,2131,2916,2980,0,0,0,0,0,0
$GC,496,-1.65,-88.4,101.6,-22.5,60,500,0.00,2.38,0.00,0.000,4,0.000,0.040,2131,1525,2982,0,0,0,0,0,0
$GC,662,-1.65,-88.4,136.1,-19.5,65,666,0.00,2.40,0.00,0.000,6,0.000,0.044,2131,2930,2984,0,0,0,0,0,0
$GC,986,-1.65,-88.4,204.7,-21.5,76,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2931,2986,0,0,0,0,0,0
$GC,1289,-1.65,-88.4,259.8,-17.3,86,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2931,2987,0,0,0,0,0,0
$GC,1622,-1.65,-88.4,322.2,-18.7,95,1626,0.00,2.42,0.00,0.000,4,0.000,0.042,2131,1523,2987,0,0,0,0,0,0
$GC,1756,-1.65,-88.4,345.6,-17.6,97,1760,0.00,2.42,0.00,0.000,6,0.000,0.046,2131,2932,2988,0,0,0,0,0,0
$GC,2116,-1.65,-88.4,400.9,-14.8,103,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2933,2987,0,0,0,0,0,0
$GC,2417,-1.65,-88.4,444.7,-14.6,108,2421,0.00,2.45,0.00,0.000,4,0.000,0.045,2131,1529,2986,0,0,0,0,0,0
$GC,2465,-1.65,-88.4,451.1,-13.8,108,2469,0.00,2.47,0.00,0.000,6,0.000,0.049,2131,2924,2987,0,0,0,0,0,0
$GC,2783,-1.65,-88.4,495.1,-13.9,114,2787,0.00,2.42,0.00,0.000,4,0.000,0.046,2131,1540,2984,0,0,0,0,0,0
$GC,2814,-1.65,-88.4,499.2,-13.4,114,2819,0.00,2.47,0.00,0.000,6,0.000,0.051,2131,2923,2983,0,0,0,0,0,0
$GC,3148,-1.65,-88.4,540.6,-12.5,120,3152,0.00,2.45,0.00,0.000,4,0.000,0.048,2131,1537,2980,0,0,0,0,0,0
$GC,3244,-1.65,-88.4,552.2,-11.8,121,3248,0.00,2.50,0.00,0.000,6,0.000,0.052,2131,2930,2979,0,0,0,0,0,0
$GC,3577,-1.65,-88.4,595.4,-13.1,127,3581,0.00,1.85,0.00,0.000,4,0.000,0.067,2131,3949,2976,0,0,0,0,0,0
$GC,3646,-1.65,-88.4,605.1,-14.7,128,3651,0.00,1.77,0.00,0.000,6,0.000,0.043,2131,2930,2976,0,0,0,0,0,0
$GC,4007,-1.65,-88.4,653.6,-13.7,134,4011,0.00,2.47,0.00,0.000,4,0.000,0.058,2130,1517,2975,0,0,0,0,0,0
$GC,4028,-1.65,-88.4,656.5,-14.0,134,4032,0.00,2.55,0.00,0.000,6,0.000,0.058,2131,2918,2975,0,0,0,0,0,0
$GC,4372,-1.65,-88.4,704.3,-13.9,140,4376,0.00,2.55,0.00,0.000,4,0.000,0.063,2131,1526,2972,0,0,0,0,0,0
$GC,4420,-1.65,-88.4,710.8,-12.7,140,4424,0.00,2.58,0.00,0.000,6,0.000,0.065,2131,2916,2972,0,0,0,0,0,0
$GC,4737,-1.65,-88.4,752.1,-13.1,146,4742,0.00,2.05,0.00,0.000,4,0.000,0.107,2130,3952,2970,0,0,0,0,0,0
$GC,4780,-1.65,-88.4,757.8,-13.2,146,4785,0.00,1.88,0.00,0.000,6,0.000,0.058,2131,2938,2970,0,0,0,0,0,0
$GC,5103,-1.65,-88.4,798.0,-12.2,152,5107,0.00,2.67,0.00,0.000,4,0.000,0.091,2131,1513,2968,0,0,0,0,0,0
$GC,5161,-1.65,-88.4,804.6,-11.6,152,5168,0.00,2.72,0.00,0.000,6,0.000,0.089,2131,2916,2968,0,0,0,0,0,0
$GC,5468,-1.65,-88.4,839.0,-11.1,158,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2915,2966,0,0,0,0,0,0
$GC,5770,-1.65,-88.4,874.2,-11.8,163,5774,0.00,2.90,0.00,0.000,4,0.000,0.126,2131,1516,2964,0,0,0,0,0,0
$GC,5855,-1.65,-88.4,884.2,-11.6,164,5859,0.00,2.92,0.00,0.000,6,0.000,0.122,2131,2924,2963,0,0,0,0,0,0
$GC,6199,-1.65,-88.4,924.5,-11.6,170,6203,0.00,3.05,0.00,0.000,4,0.000,0.155,2131,1516,2962,0,0,0,0,0,0
$GC,6252,-1.65,-88.4,930.4,-11.3,170,6256,0.00,3.05,0.00,0.000,6,0.000,0.152,2131,2924,2961,0,0,0,0,0,0
$GC,6564,-1.65,-88.4,963.9,-10.8,176,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2924,2959,0,0,0,0,0,0
$STATE,6864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6869,-0.28,0.0,995.2,10.4,181,6950,1.52,0.00,78.50,1.332,6,0.131,0.000,2428,2760,2618,0,0,0,0,0,0
$STATE,6951,end apogee,CONTROL_FINISHED_OK
$STATE,6951,begin climb
$GC,6953,1.65,88.4,996.9,0.0,182,7049,2.00,3.12,86.60,1.297,4,0.084,0.205,2848,3953,2256,0,0,0,0,0,0
$GC,7095,1.65,88.4,979.6,18.5,184,7099,0.00,2.92,0.00,0.000,6,0.000,0.181,2848,2746,2251,0,0,0,0,0,0
$GC,7440,1.65,88.4,921.2,16.7,190,7444,0.00,3.00,0.00,0.000,4,0.000,0.145,2848,1323,2246,0,0,0,0,0,0
$GC,7466,1.65,88.4,916.8,16.3,190,7470,0.00,3.05,0.00,0.000,6,0.000,0.129,2848,2749,2245,0,0,0,0,0,0
$GC,7799,1.65,88.4,863.7,16.0,196,7804,0.00,2.85,0.00,0.000,4,0.000,0.108,2849,1328,2241,0,0,0,0,0,0
$GC,7885,1.65,88.4,850.2,15.2,197,7889,0.00,2.80,0.00,0.000,6,0.000,0.096,2848,2754,2241,0,0,0,0,0,0
$GC,8224,1.65,88.4,793.1,16.9,203,8228,0.00,2.78,0.00,0.000,4,0.000,0.083,2848,1322,2240,0,0,0,0,0,0
$GC,8320,1.65,88.4,777.5,16.2,204,8324,0.00,2.70,0.00,0.000,6,0.000,0.073,2849,2763,2239,0,0,0,0,0,0
$GC,8653,1.65,88.4,726.3,15.2,210,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2764,2238,0,0,0,0,0,0
$GC,8955,1.65,88.4,680.6,15.1,215,8959,0.00,2.67,0.00,0.000,4,0.000,0.064,2849,1321,2237,0,0,0,0,0,0
$GC,9024,1.65,88.4,670.0,14.3,216,9028,0.00,2.62,0.00,0.000,6,0.000,0.055,2848,2762,2237,0,0,0,0,0,0
$GC,9384,1.65,88.4,618.7,13.9,222,9388,0.00,2.60,0.00,0.000,4,0.000,0.058,2848,1310,2236,0,0,0,0,0,0
$GC,9437,1.65,88.4,611.6,12.9,222,9441,0.00,2.60,0.00,0.000,6,0.000,0.051,2848,2757,2236,0,0,0,0,0,0
$GC,9749,1.65,88.4,574.5,11.7,228,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2757,2235,0,0,0,0,0,0
$GC,10051,1.65,88.4,537.3,12.6,233,10055,0.00,2.55,0.00,0.000,4,0.000,0.053,2848,1314,2235,0,0,0,0,0,0
$GC,10174,1.65,88.4,522.3,11.6,234,10180,0.00,2.58,0.00,0.000,6,0.000,0.048,2849,2757,2235,0,0,0,0,0,0
$GC,10481,1.65,88.4,485.2,12.0,240,10485,0.00,2.58,0.00,0.000,4,0.000,0.051,2848,1315,2234,0,0,0,0,0,0
$GC,10534,1.65,88.4,479.2,11.1,240,10538,0.00,2.55,0.00,0.000,6,0.000,0.047,2848,2749,2234,0,0,0,0,0,0
$GC,10846,1.65,88.4,441.9,12.1,246,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2750,2234,0,0,0,0,0,0
$GC,11147,1.65,88.4,407.2,11.5,251,11152,0.00,2.55,0.00,0.000,4,0.000,0.049,2848,1313,2234,0,0,0,0,0,0
$GC,11294,1.65,88.4,391.7,10.4,253,11297,0.00,2.53,0.00,0.000,6,0.000,0.045,2848,2766,2234,0,0,0,0,0,0
$GC,11637,1.66,99.8,359.9,8.8,259,11645,0.00,0.00,7.20,0.782,6,0.000,0.000,2849,2766,2210,0,0,0,0,0,0
$GC,11938,1.67,107.5,333.2,9.2,264,11953,0.00,2.65,8.55,0.792,4,0.000,0.047,2849,1302,2179,0,0,0,0,0,0
$GC,12040,1.68,117.7,323.7,8.9,265,12055,0.00,2.53,11.00,0.813,6,0.000,0.043,2849,2753,2138,0,0,0,0,0,0
$GC,12361,1.68,117.7,291.1,10.6,272,12365,0.00,2.55,0.00,0.000,4,0.000,0.046,2849,1309,2135,0,0,0,0,0,0
$GC,12607,1.68,117.7,263.4,11.8,279,12611,0.00,2.53,0.00,0.000,6,0.000,0.042,2849,2750,2135,0,0,0,0,0,0
$GC,12921,1.68,122.3,230.3,9.5,290,12927,0.00,0.00,4.97,0.610,6,0.000,0.000,2849,2750,2119,0,0,0,0,0,0
$GC,13225,1.69,131.9,202.6,9.0,300,13239,0.00,2.53,10.30,0.698,4,0.000,0.044,2849,1305,2079,0,0,0,0,0,0
$GC,13298,1.70,136.1,195.9,9.6,302,13308,0.00,2.53,5.30,0.589,6,0.000,0.041,2849,2754,2063,0,0,0,0,0,0
$GC,13618,1.70,136.1,163.1,10.4,313,13621,0.00,2.47,0.00,0.000,4,0.000,0.043,2849,1304,2062,0,0,0,0,0,0
$GC,13665,1.70,136.1,157.6,12.0,314,13669,0.00,2.50,0.00,0.000,6,0.000,0.039,2849,2750,2062,0,0,0,0,0,0
$GC,13985,1.70,136.8,123.5,9.9,325,13988,0.00,2.45,0.00,0.000,4,0.000,0.042,2849,1305,2061,0,0,0,0,0,0
$GC,14075,1.71,144.1,115.5,9.2,327,14089,0.00,2.50,8.90,0.586,6,0.000,0.039,2849,2757,2029,0,0,0,0,0,0
$GC,14398,1.71,144.1,78.5,11.4,349,14402,0.00,2.10,0.00,0.000,4,0.000,0.052,2849,3947,2028,0,0,0,0,0,0
$GC,14441,1.71,144.1,73.2,12.7,353,14445,0.00,2.12,0.00,0.000,6,0.000,0.037,2849,2682,2028,0,0,0,0,0,0
$GC,14637,1.71,147.0,53.1,9.7,372,14649,0.00,2.38,4.20,0.423,4,0.000,0.043,2849,1299,2018,0,0,0,0,0,0
$GC,14708,1.72,160.3,47.0,8.6,378,14726,0.00,2.47,13.18,0.542,6,0.000,0.038,2849,2767,1963,0,0,0,0,0,0
$GC,14918,1.76,190.1,31.3,6.9,399,14950,0.12,2.53,26.60,0.543,4,0.087,0.041,2881,1304,1841,0,0,0,0,0,0
$GC,15190,1.77,199.0,5.5,9.1,438,15207,0.00,2.47,8.48,0.463,6,0.000,0.039,2881,2746,1804,0,0,0,0,0,0
$STATE,15214,end climb,SURFACE_DEPTH_REACHED
$STATE,15214,begin surface coast
$FINISH,0.1,1.023188
$STATE,15241,end surface coast,CONTROL_FINISHED_OK
$STATE,15241,begin surface
$SM_CCo,15259,108.62,0.503,0,0,986,400.08
$SM_GC,0.48,0.00,0.00,108.62,0.000,0.000,0.503,370,2934,986,-9.78,0.42,400.08
$IRIDIUM_FIX,1918.37,-15557.38,090511,010109
$TT8_MAMPS,0.059059
$HUMID,1078578700
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.1,17.152
$10V_AH,10.0,44.369
$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,24.250,153.375,273.775,108.625,0.000,24.428,31.276,124.295,0.000,0.000,30.345,0.000,12998.645,540.999,1706.441,396.182,33.339,1325.064,0.000,1392.600,0.000,0.531,0.000
$DEVICE_MAMPS,164.138,204.789,1332.279,503.152,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,299.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353820
$DATA_FILE_SIZE,15901,448
$CAP_FILE_SIZE,121686,0
$CFSIZE,260034560,249823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,344.8,1
$GPS,131109,162221,1924.345,-15558.399,39,2.2,58,9.7