version: 66.07
glider: 22
mission: 14
dive: 91
start: 11 13 109 20 49 25
data:
$ID,22
$MISSION,14
$DIVE,91
$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,-250154.81
$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,42
$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
$GPS1,131109,204337,1923.765,-15557.174,26,1.5,26,9.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-67.0
$GPS2,131109,204846,1923.868,-15557.193,14,3.5,33,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.285,-0.071
$KALMAN_X,-165327.2,850.1,805.4,195664.5,-10197.3
$KALMAN_Y,49479.3,-421.6,-103.1,-109106.3,2174.8
$MHEAD_RNG_PITCHd_Wd,270.2,1430,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.62,-64.6,0.0,0.0,0,88,0.00,0.00,-72.10,0.000,2,0.000,0.000,371,2938,2590,0,0,0,0,0,0
$GC,90,-1.63,-77.6,3.2,-8.7,14,116,9.62,2.47,-9.40,0.000,4,0.162,0.054,2133,1513,2934,0,0,0,0,0,0
$GC,355,-1.63,-77.6,71.9,-20.4,46,359,0.00,2.45,0.00,0.000,6,0.000,0.044,2133,2918,2937,0,0,0,0,0,0
$GC,550,-1.63,-77.6,114.6,-21.6,61,554,0.00,2.40,0.00,0.000,4,0.000,0.041,2133,1514,2939,0,0,0,0,0,0
$GC,646,-1.63,-77.6,132.9,-18.5,64,650,0.00,2.45,0.00,0.000,6,0.000,0.043,2133,2924,2940,0,0,0,0,0,0
$GC,981,-1.63,-77.6,197.1,-17.7,75,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2924,2942,0,0,0,0,0,0
$GC,1285,-1.63,-77.6,249.7,-17.4,85,1289,0.00,2.40,0.00,0.000,4,0.000,0.041,2133,1504,2943,0,0,0,0,0,0
$GC,1487,-1.63,-77.6,282.5,-15.4,91,1492,0.00,2.47,0.00,0.000,6,0.000,0.044,2133,2921,2943,0,0,0,0,0,0
$GC,1841,-1.63,-77.6,337.3,-15.1,99,1845,0.00,2.42,0.00,0.000,4,0.000,0.043,2133,1516,2943,0,0,0,0,0,0
$GC,2050,-1.63,-77.6,369.1,-14.1,102,2053,0.00,2.47,0.00,0.000,6,0.000,0.046,2133,2921,2943,0,0,0,0,0,0
$GC,2399,-1.63,-77.6,415.2,-12.9,108,2403,0.00,2.45,0.00,0.000,4,0.000,0.044,2133,1513,2942,0,0,0,0,0,0
$GC,2575,-1.63,-77.6,437.7,-12.3,110,2579,0.00,2.50,0.00,0.000,6,0.000,0.048,2133,2923,2942,0,0,0,0,0,0
$GC,2893,-1.63,-77.6,476.8,-12.3,116,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2924,2938,0,0,0,0,0,0
$GC,3194,-1.63,-77.6,513.3,-11.9,121,3199,0.00,1.85,0.00,0.000,4,0.000,0.062,2133,3947,2937,0,0,0,0,0,0
$GC,3231,-1.63,-77.6,517.8,-12.3,121,3235,0.00,1.80,0.00,0.000,6,0.000,0.041,2133,2910,2937,0,0,0,0,0,0
$GC,3560,-1.63,-77.6,555.1,-11.3,127,3563,0.00,1.92,0.00,0.000,4,0.000,0.063,2133,3954,2934,0,0,0,0,0,0
$GC,3592,-1.63,-77.6,559.1,-12.5,127,3595,0.00,1.80,0.00,0.000,6,0.000,0.043,2133,2921,2934,0,0,0,0,0,0
$GC,3925,-1.63,-77.6,599.8,-12.2,133,3929,0.00,2.47,0.00,0.000,4,0.000,0.051,2133,1522,2931,0,0,0,0,0,0
$GC,3967,-1.63,-77.6,604.6,-11.4,133,3971,0.00,2.53,0.00,0.000,6,0.000,0.054,2133,2924,2931,0,0,0,0,0,0
$GC,4290,-1.63,-77.6,640.1,-10.7,139,4294,0.00,1.90,0.00,0.000,4,0.000,0.073,2133,3955,2929,0,0,0,0,0,0
$GC,4343,-1.63,-77.6,646.3,-12.4,139,4347,0.00,1.80,0.00,0.000,6,0.000,0.043,2133,2927,2928,0,0,0,0,0,0
$GC,4655,-1.64,-79.0,677.6,-9.9,145,4659,0.00,2.50,0.00,0.000,4,0.000,0.059,2133,1528,2925,0,0,0,0,0,0
$GC,4692,-1.64,-79.0,681.5,-10.3,145,4696,0.00,2.55,0.00,0.000,6,0.000,0.060,2133,2919,2925,0,0,0,0,0,0
$GC,5020,-1.64,-79.0,716.4,-10.8,151,5024,0.00,2.55,0.00,0.000,4,0.000,0.064,2133,1529,2924,0,0,0,0,0,0
$GC,5089,-1.64,-79.0,723.5,-10.3,152,5094,0.00,2.60,0.00,0.000,6,0.000,0.067,2133,2925,2924,0,0,0,0,0,0
$GC,5450,-1.64,-82.7,759.1,-9.6,158,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2925,2923,0,0,0,0,0,0
$GC,5752,-1.65,-89.7,787.1,-9.3,163,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2925,2920,0,0,0,0,0,0
$GC,6053,-1.66,-99.2,814.3,-9.0,168,6058,0.00,2.08,0.00,0.000,4,0.000,0.119,2133,3953,2918,0,0,0,0,0,0
$GC,6096,-1.66,-100.0,818.5,-9.9,168,6101,0.00,1.95,0.00,0.000,6,0.000,0.077,2133,2937,2918,0,0,0,0,0,0
$GC,6419,-1.67,-108.2,848.3,-9.1,174,6423,0.00,2.80,0.00,0.000,4,0.000,0.110,2133,1496,2917,0,0,0,0,0,0
$GC,6525,-1.67,-113.0,858.3,-9.5,175,6529,0.00,2.88,0.00,0.000,6,0.000,0.108,2133,2919,2916,0,0,0,0,0,0
$GC,6848,-1.68,-117.2,889.1,-9.6,181,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2919,2916,0,0,0,0,0,0
$GC,7150,-1.69,-125.7,916.9,-9.1,186,7154,0.00,3.03,0.00,0.000,4,0.000,0.150,2133,1510,2916,0,0,0,0,0,0
$GC,7208,-1.69,-130.9,922.2,-9.5,186,7214,0.00,3.05,0.00,0.000,6,0.000,0.146,2133,2926,2915,0,0,0,0,0,0
$GC,7515,-1.70,-140.9,949.7,-9.0,192,7520,0.00,3.20,0.00,0.000,4,0.000,0.171,2133,1510,2914,0,0,0,0,0,0
$GC,7595,-1.71,-148.1,956.8,-9.3,193,7599,0.00,3.17,0.00,0.000,6,0.000,0.166,2133,2923,2914,0,0,0,0,0,0
$GC,7944,-1.72,-157.4,988.4,-9.0,199,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2924,2912,0,0,0,0,0,0
$STATE,8003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8003,begin apogee
$GC,8008,-0.28,0.0,993.5,8.9,200,8079,1.52,0.00,68.22,1.337,6,0.129,0.000,2431,2748,2618,0,0,0,0,0,0
$STATE,8079,end apogee,CONTROL_FINISHED_OK
$STATE,8079,begin climb
$GC,8081,1.72,157.4,993.5,0.0,201,8246,2.10,3.38,153.48,1.303,4,0.081,0.186,2870,1334,1974,0,0,0,0,0,0
$GC,8256,1.72,157.4,966.7,22.0,204,8261,0.00,3.28,0.00,0.000,6,0.000,0.164,2870,2756,1971,0,0,0,0,0,0
$GC,8612,1.72,157.4,884.8,22.7,210,8616,0.00,2.95,0.00,0.000,4,0.000,0.123,2869,1333,1960,0,0,0,0,0,0
$GC,8691,1.72,157.4,867.7,21.3,211,8695,0.00,2.90,0.00,0.000,6,0.000,0.104,2870,2755,1959,0,0,0,0,0,0
$GC,9036,1.72,157.4,797.3,20.1,217,9040,0.00,2.75,0.00,0.000,4,0.000,0.084,2870,1321,1956,0,0,0,0,0,0
$GC,9083,1.72,157.4,787.9,20.1,217,9087,0.00,2.78,0.00,0.000,6,0.000,0.077,2870,2760,1957,0,0,0,0,0,0
$GC,9401,1.72,157.4,723.1,20.5,223,9405,0.00,2.70,0.00,0.000,4,0.000,0.067,2870,1326,1954,0,0,0,0,0,0
$GC,9449,1.72,157.4,713.3,21.2,223,9453,0.00,2.65,0.00,0.000,6,0.000,0.059,2870,2762,1953,0,0,0,0,0,0
$GC,9766,1.72,157.4,646.6,21.1,229,9770,0.00,2.65,0.00,0.000,4,0.000,0.060,2870,1320,1953,0,0,0,0,0,0
$GC,9781,1.72,157.4,643.4,21.0,229,9786,0.00,2.62,0.00,0.000,6,0.000,0.053,2870,2761,1953,0,0,0,0,0,0
$GC,10131,1.72,157.4,570.3,20.9,235,10135,0.00,2.62,0.00,0.000,4,0.000,0.054,2870,1314,1952,0,0,0,0,0,0
$GC,10243,1.72,157.4,548.4,21.0,236,10247,0.00,2.60,0.00,0.000,6,0.000,0.049,2870,2757,1952,0,0,0,0,0,0
$GC,10561,1.72,157.4,483.7,20.4,242,10565,0.00,2.60,0.00,0.000,4,0.000,0.051,2870,1310,1951,0,0,0,0,0,0
$GC,10603,1.72,157.4,475.7,19.6,242,10607,0.00,2.58,0.00,0.000,6,0.000,0.047,2870,2752,1950,0,0,0,0,0,0
$GC,10926,1.72,157.4,415.7,18.3,248,10930,0.00,2.53,0.00,0.000,4,0.000,0.049,2870,1314,1950,0,0,0,0,0,0
$GC,10984,1.72,157.4,405.1,18.8,248,10992,0.00,2.58,0.00,0.000,6,0.000,0.045,2870,2763,1949,0,0,0,0,0,0
$GC,11291,1.72,157.4,351.2,17.7,254,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2763,1949,0,0,0,0,0,0
$GC,11593,1.72,157.4,301.0,16.6,259,11598,0.00,2.58,0.00,0.000,4,0.000,0.047,2870,1314,1949,0,0,0,0,0,0
$GC,11657,1.72,157.4,291.2,14.8,260,11661,0.00,2.55,0.00,0.000,6,0.000,0.044,2870,2762,1949,0,0,0,0,0,0
$GC,11992,1.72,157.4,242.7,14.7,271,11996,0.00,2.55,0.00,0.000,4,0.000,0.046,2870,1317,1948,0,0,0,0,0,0
$GC,12083,1.72,157.4,230.5,13.8,273,12089,0.00,2.47,0.00,0.000,6,0.000,0.042,2870,2755,1948,0,0,0,0,0,0
$GC,12392,1.72,157.4,188.6,12.8,284,12395,0.00,2.12,0.00,0.000,4,0.000,0.055,2870,3941,1948,0,0,0,0,0,0
$GC,12466,1.72,157.4,178.3,14.1,286,12470,0.00,2.12,0.00,0.000,6,0.000,0.038,2870,2701,1946,0,0,0,0,0,0
$GC,12790,1.72,157.4,132.4,14.5,297,12794,0.00,2.30,0.00,0.000,4,0.000,0.044,2870,1361,1947,0,0,0,0,0,0
$GC,12902,1.72,157.4,117.2,13.5,300,12906,0.00,2.40,0.00,0.000,6,0.000,0.040,2870,2753,1947,0,0,0,0,0,0
$GC,13216,1.72,157.4,77.7,13.2,322,13219,0.00,2.10,0.00,0.000,4,0.000,0.053,2870,3941,1948,0,0,0,0,0,0
$GC,13268,1.72,157.4,69.6,14.6,327,13272,0.00,2.03,0.00,0.000,6,0.000,0.036,2870,2732,1947,0,0,0,0,0,0
$GC,13465,1.72,157.4,48.0,10.1,346,13469,0.00,2.33,0.00,0.000,4,0.000,0.043,2870,1366,1948,0,0,0,0,0,0
$GC,13572,1.76,191.5,38.4,6.5,356,13603,0.00,2.38,25.77,0.571,6,0.000,0.039,2870,2758,1837,0,0,0,0,0,0
$GC,13789,1.76,193.8,18.5,9.8,378,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2759,1833,0,0,0,0,0,0
$GC,13852,1.76,193.8,11.9,10.1,390,13858,0.00,2.40,0.00,0.000,4,0.000,0.042,2870,1366,1833,0,0,0,0,0,0
$STATE,13936,end climb,SURFACE_DEPTH_REACHED
$STATE,13936,begin surface coast
$FINISH,0.2,1.023138
$STATE,13964,end surface coast,CONTROL_FINISHED_OK
$STATE,13964,begin surface
$SM_CCo,13984,112.78,0.519,0,0,986,400.08
$SM_GC,0.75,0.00,0.00,112.78,0.000,0.000,0.519,376,2919,986,-9.75,-0.03,400.08
$IRIDIUM_FIX,1916.08,-15600.40,090511,101031
$TT8_MAMPS,0.059826
$HUMID,1078632893
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.1,17.372
$10V_AH,10.0,44.460
$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,24.100,150.600,247.475,112.775,0.000,24.846,24.532,154.073,0.000,0.000,34.254,0.000,11851.069,547.591,1594.318,402.313,33.339,1262.568,0.000,1291.077,0.000,0.530,0.000
$DEVICE_MAMPS,161.837,186.381,1336.881,519.259,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,275.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,12800,411
$CAP_FILE_SIZE,113382,0
$CFSIZE,260034560,249724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,349.8,1
$GPS,141109,004536,1924.557,-15558.944,42,2.0,53,9.7