version: 66.07
glider: 22
mission: 14
dive: 90
start: 11 13 109 16 27 43
data:
$ID,22
$MISSION,14
$DIVE,90
$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,-250119.94
$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,5
$R_STBD_OVSHOOT,40
$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
$GPS1,131109,162221,1924.345,-15558.399,39,2.2,58,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-62.5
$GPS2,131109,162704,1924.416,-15558.440,15,2.1,34,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.280,-0.089
$KALMAN_X,-162180.6,814.8,557.4,190664.3,-12317.7
$KALMAN_Y,49682.7,-590.3,-740.0,-107507.5,3391.2
$MHEAD_RNG_PITCHd_Wd,125.3,1089,-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,-64.6,0.0,0.0,0,92,0.00,0.00,-77.15,0.000,2,0.000,0.000,370,2935,2733,0,0,0,0,0,0
$GC,94,-1.62,-67.5,3.8,-9.7,15,115,9.68,2.55,-4.03,0.000,4,0.163,0.053,2135,1467,2895,0,0,0,0,0,0
$GC,354,-1.62,-67.5,73.6,-23.7,45,360,0.00,2.53,0.00,0.000,6,0.000,0.044,2135,2914,2899,0,0,0,0,0,0
$GC,554,-1.62,-67.5,114.0,-20.6,61,558,0.00,1.83,0.00,0.000,4,0.000,0.054,2135,3949,2899,0,0,0,0,0,0
$GC,596,-1.62,-67.5,122.5,-20.0,62,601,0.00,1.83,0.00,0.000,6,0.000,0.037,2135,2840,2899,0,0,0,0,0,0
$GC,921,-1.62,-67.5,182.4,-17.5,73,925,0.00,2.00,0.00,0.000,4,0.000,0.052,2135,3957,2901,0,0,0,0,0,0
$GC,948,-1.62,-67.5,187.4,-19.4,73,953,0.00,1.83,0.00,0.000,6,0.000,0.038,2135,2851,2902,0,0,0,0,0,0
$GC,1257,-1.62,-67.5,237.1,-14.8,84,1260,0.00,2.30,0.00,0.000,4,0.000,0.041,2135,1470,2903,0,0,0,0,0,0
$GC,1368,-1.62,-67.5,256.1,-17.5,87,1372,0.00,2.50,0.00,0.000,6,0.000,0.044,2135,2928,2903,0,0,0,0,0,0
$GC,1683,-1.62,-67.5,301.6,-13.8,98,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2929,2903,0,0,0,0,0,0
$GC,1983,-1.62,-67.5,342.6,-13.5,103,1988,0.00,1.80,0.00,0.000,4,0.000,0.057,2135,3944,2903,0,0,0,0,0,0
$GC,2010,-1.62,-67.5,346.5,-15.2,103,2015,0.00,1.83,0.00,0.000,6,0.000,0.039,2135,2868,2903,0,0,0,0,0,0
$GC,2349,-1.62,-67.5,389.1,-12.2,109,2353,0.00,1.95,0.00,0.000,4,0.000,0.057,2135,3953,2903,0,0,0,0,0,0
$GC,2419,-1.62,-67.5,398.3,-13.3,110,2422,0.00,1.85,0.00,0.000,6,0.000,0.041,2135,2866,2903,0,0,0,0,0,0
$GC,2778,-1.62,-67.5,443.1,-12.2,116,2782,0.00,1.98,0.00,0.000,4,0.000,0.058,2135,3953,2901,0,0,0,0,0,0
$GC,2870,-1.62,-67.5,454.1,-12.6,117,2873,0.00,1.88,0.00,0.000,6,0.000,0.041,2135,2860,2899,0,0,0,0,0,0
$GC,3208,-1.62,-67.5,493.6,-12.0,123,3212,0.00,2.40,0.00,0.000,4,0.000,0.047,2135,1478,2897,0,0,0,0,0,0
$GC,3239,-1.62,-67.5,497.5,-11.7,123,3243,0.00,2.55,0.00,0.000,6,0.000,0.049,2135,2914,2897,0,0,0,0,0,0
$GC,3573,-1.62,-67.5,538.3,-12.2,129,3577,0.00,2.50,0.00,0.000,4,0.000,0.048,2135,1473,2894,0,0,0,0,0,0
$GC,3615,-1.62,-67.5,543.5,-11.7,129,3619,0.00,2.60,0.00,0.000,6,0.000,0.051,2135,2923,2894,0,0,0,0,0,0
$GC,3938,-1.62,-67.5,580.9,-11.5,135,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2923,2891,0,0,0,0,0,0
$GC,4240,-1.62,-67.5,615.9,-11.5,140,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2924,2889,0,0,0,0,0,0
$GC,4542,-1.62,-67.5,652.1,-12.2,145,4546,0.00,1.90,0.00,0.000,4,0.000,0.071,2135,3954,2887,0,0,0,0,0,0
$GC,4632,-1.62,-67.5,663.7,-12.7,146,4636,0.00,1.90,0.00,0.000,6,0.000,0.044,2135,2881,2885,0,0,0,0,0,0
$GC,4971,-1.62,-67.5,700.6,-10.7,152,4975,0.00,2.45,0.00,0.000,4,0.000,0.065,2135,1524,2883,0,0,0,0,0,0
$GC,5073,-1.62,-67.5,711.5,-11.0,153,5077,0.00,2.55,0.00,0.000,6,0.000,0.064,2135,2924,2882,0,0,0,0,0,0
$GC,5401,-1.63,-71.3,744.0,-9.6,159,5405,0.00,2.60,0.00,0.000,4,0.000,0.069,2135,1524,2881,0,0,0,0,0,0
$GC,5523,-1.63,-76.4,755.9,-9.5,160,5530,0.00,2.62,0.00,0.000,6,0.000,0.070,2135,2950,2881,0,0,0,0,0,0
$GC,5830,-1.63,-76.4,786.8,-10.1,166,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2949,2879,0,0,0,0,0,0
$GC,6132,-1.64,-81.1,815.4,-9.5,171,6136,0.00,2.78,0.00,0.000,4,0.000,0.094,2135,1526,2878,0,0,0,0,0,0
$GC,6244,-1.65,-88.6,826.1,-9.2,172,6248,0.00,2.70,0.00,0.000,6,0.000,0.094,2135,2921,2877,0,0,0,0,0,0
$GC,6556,-1.65,-94.3,855.4,-9.4,178,6560,0.00,2.78,0.00,0.000,4,0.000,0.112,2135,1528,2876,0,0,0,0,0,0
$GC,6609,-1.65,-96.0,860.6,-9.8,178,6613,0.00,2.85,0.00,0.000,6,0.000,0.113,2135,2926,2875,0,0,0,0,0,0
$GC,6921,-1.66,-100.8,890.8,-9.5,184,6925,0.00,2.22,0.00,0.000,4,0.000,0.153,2135,3953,2875,0,0,0,0,0,0
$GC,7049,-1.66,-102.8,903.7,-9.8,186,7053,0.00,2.15,0.00,0.000,6,0.000,0.126,2135,2936,2874,0,0,0,0,0,0
$GC,7415,-1.67,-111.9,936.9,-9.1,192,7419,0.00,3.12,0.00,0.000,4,0.000,0.163,2135,1507,2872,0,0,0,0,0,0
$GC,7468,-1.67,-111.9,941.8,-10.1,192,7472,0.00,3.10,0.00,0.000,6,0.000,0.154,2135,2928,2872,0,0,0,0,0,0
$GC,7775,-1.68,-121.4,969.6,-9.0,197,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2927,2871,0,0,0,0,0,0
$STATE,8014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8014,begin apogee
$GC,8019,-0.28,0.0,990.4,8.6,201,8081,1.50,0.00,59.00,1.328,6,0.129,0.000,2429,2750,2619,0,0,0,0,0,0
$STATE,8081,end apogee,CONTROL_FINISHED_OK
$STATE,8081,begin climb
$GC,8083,1.68,121.4,991.5,0.0,202,8213,2.03,3.00,118.90,1.302,4,0.083,0.191,2856,3953,2121,0,0,0,0,0,0
$GC,8261,1.68,121.4,966.8,20.7,204,8267,0.00,2.83,0.00,0.000,6,0.000,0.170,2856,2743,2115,0,0,0,0,0,0
$GC,8567,1.68,121.4,906.3,19.7,210,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2742,2109,0,0,0,0,0,0
$GC,8869,1.68,121.4,848.1,19.2,215,8874,0.00,2.78,0.00,0.000,4,0.000,0.101,2856,1328,2107,0,0,0,0,0,0
$GC,8927,1.68,121.4,836.9,18.7,215,8933,0.00,2.83,0.00,0.000,6,0.000,0.089,2856,2763,2106,0,0,0,0,0,0
$GC,9235,1.68,121.4,779.8,18.6,221,9238,0.00,2.72,0.00,0.000,4,0.000,0.078,2856,1320,2105,0,0,0,0,0,0
$GC,9260,1.68,121.4,775.0,17.6,221,9265,0.00,2.72,0.00,0.000,6,0.000,0.070,2856,2759,2105,0,0,0,0,0,0
$GC,9599,1.68,121.4,717.5,16.9,227,9603,0.00,2.67,0.00,0.000,4,0.000,0.067,2856,1328,2103,0,0,0,0,0,0
$GC,9647,1.68,121.4,709.4,17.3,227,9651,0.00,2.62,0.00,0.000,6,0.000,0.056,2856,2757,2102,0,0,0,0,0,0
$GC,9965,1.68,121.4,654.2,17.6,233,9969,0.00,2.65,0.00,0.000,4,0.000,0.061,2856,1320,2102,0,0,0,0,0,0
$GC,10034,1.68,121.4,642.0,17.0,234,10038,0.00,2.60,0.00,0.000,6,0.000,0.052,2856,2755,2101,0,0,0,0,0,0
$GC,10395,1.68,121.4,582.7,16.2,240,10398,0.00,2.58,0.00,0.000,4,0.000,0.054,2856,1309,2100,0,0,0,0,0,0
$GC,10447,1.68,121.4,573.9,17.8,240,10451,0.00,2.60,0.00,0.000,6,0.000,0.048,2856,2763,2100,0,0,0,0,0,0
$GC,10759,1.68,121.4,525.4,15.5,246,10763,0.00,2.60,0.00,0.000,4,0.000,0.051,2856,1316,2100,0,0,0,0,0,0
$GC,10781,1.68,121.4,522.2,15.5,246,10785,0.00,2.58,0.00,0.000,6,0.000,0.047,2856,2759,2100,0,0,0,0,0,0
$GC,11125,1.68,121.4,470.6,15.2,252,11129,0.00,2.60,0.00,0.000,4,0.000,0.051,2856,1308,2099,0,0,0,0,0,0
$GC,11146,1.68,121.4,467.6,14.7,252,11150,0.00,2.58,0.00,0.000,6,0.000,0.045,2856,2760,2099,0,0,0,0,0,0
$GC,11490,1.68,121.4,416.0,15.1,258,11494,0.00,2.58,0.00,0.000,4,0.000,0.049,2856,1314,2099,0,0,0,0,0,0
$GC,11565,1.68,121.4,404.6,15.5,259,11569,0.00,2.55,0.00,0.000,6,0.000,0.044,2856,2760,2099,0,0,0,0,0,0
$GC,11919,1.68,121.4,350.8,15.3,265,11923,0.00,2.15,0.00,0.000,4,0.000,0.059,2856,3948,2098,0,0,0,0,0,0
$GC,11941,1.68,121.4,347.7,14.7,265,11945,0.00,2.17,0.00,0.000,6,0.000,0.041,2856,2699,2096,0,0,0,0,0,0
$GC,12285,1.68,121.4,302.3,12.9,271,12289,0.00,2.28,0.00,0.000,4,0.000,0.058,2856,3944,2097,0,0,0,0,0,0
$GC,12354,1.68,121.4,292.4,14.5,272,12358,0.00,2.15,0.00,0.000,6,0.000,0.041,2856,2708,2096,0,0,0,0,0,0
$GC,12684,1.68,121.4,251.0,11.7,283,12688,0.00,2.25,0.00,0.000,4,0.000,0.057,2856,3944,2096,0,0,0,0,0,0
$GC,12819,1.68,122.0,235.7,9.9,287,12822,0.00,2.05,0.00,0.000,6,0.000,0.040,2856,2734,2096,0,0,0,0,0,0
$GC,13142,1.68,122.0,201.3,11.0,298,13146,0.00,2.40,0.00,0.000,4,0.000,0.047,2856,1350,2096,0,0,0,0,0,0
$GC,13254,1.68,122.0,189.0,10.4,301,13258,0.00,2.45,0.00,0.000,6,0.000,0.041,2856,2762,2097,0,0,0,0,0,0
$GC,13573,1.69,125.0,156.7,9.7,312,13577,0.00,2.45,0.00,0.000,4,0.000,0.044,2856,1354,2096,0,0,0,0,0,0
$GC,13755,1.69,129.3,139.0,9.6,317,13759,0.00,2.42,0.00,0.000,6,0.000,0.040,2856,2760,2097,0,0,0,0,0,0
$GC,14068,1.69,129.3,107.5,10.0,328,14073,0.00,2.10,0.00,0.000,4,0.000,0.053,2856,3950,2097,0,0,0,0,0,0
$GC,14127,1.69,129.3,101.4,10.9,329,14133,0.00,2.05,0.00,0.000,6,0.000,0.037,2856,2731,2097,0,0,0,0,0,0
$GC,14442,1.71,146.5,72.1,8.2,358,14463,0.00,0.00,18.88,0.599,6,0.000,0.000,2856,2731,2019,0,0,0,0,0,0
$GC,14648,1.73,163.7,51.8,8.2,378,14669,0.00,2.17,16.08,0.570,4,0.000,0.051,2856,3948,1948,0,0,0,0,0,0
$GC,14872,1.75,184.1,29.3,7.9,399,14894,0.00,2.03,18.38,0.547,6,0.000,0.038,2856,2765,1866,0,0,0,0,0,0
$GC,15081,1.77,205.3,11.5,7.8,428,15108,0.10,2.50,19.12,0.524,4,0.096,0.048,2884,1350,1778,0,0,0,0,0,0
$GC,15118,1.77,205.3,7.7,10.6,435,15124,0.00,2.42,0.00,0.000,6,0.000,0.040,2884,2747,1779,0,0,0,0,0,0
$STATE,15158,end climb,SURFACE_DEPTH_REACHED
$STATE,15158,begin surface coast
$FINISH,0.1,1.009627
$STATE,15185,end surface coast,CONTROL_FINISHED_OK
$STATE,15185,begin surface
$SM_CCo,15203,103.65,0.516,0,0,986,400.08
$SM_GC,0.76,0.00,0.00,103.65,0.000,0.000,0.516,372,2938,986,-9.76,0.51,400.08
$IRIDIUM_FIX,1920.65,-15556.45,090511,060638
$TT8_MAMPS,0.059826
$HUMID,1078622571
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.0,17.256
$10V_AH,10.0,44.416
$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,24.250,159.325,250.350,103.650,0.000,28.983,27.225,118.617,0.000,0.000,35.362,0.000,12922.134,527.037,1741.629,388.759,33.337,1327.146,0.000,1413.381,0.000,0.533,0.000
$DEVICE_MAMPS,163.371,190.983,1327.677,516.191,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,298.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,15933,448
$CAP_FILE_SIZE,123711,0
$CFSIZE,260034560,249765888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,  7.5,1
$GPS,131109,204337,1923.765,-15557.174,26,1.5,26,9.7