version: 66.07
glider: 22
mission: 14
dive: 92
start: 11 14 109 0 50 40
data:
$ID,22
$MISSION,14
$DIVE,92
$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,-250187
$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,60
$R_STBD_OVSHOOT,27
$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
$GPS1,141109,004536,1924.557,-15558.944,42,2.0,53,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-68.0
$GPS2,141109,005001,1924.606,-15558.938,14,2.0,31,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.290,-0.045
$KALMAN_X,-172951.8,552.7,187.1,201213.4,-12487.8
$KALMAN_Y,51096.8,70.4,571.1,-110542.3,1087.4
$MHEAD_RNG_PITCHd_Wd,114.7,1985,-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,13,-1.62,-64.6,0.0,0.0,0,92,0.00,0.00,-77.07,0.000,2,0.000,0.000,375,2920,2709,0,0,0,0,0,0
$GC,94,-1.65,-91.6,3.3,-7.2,15,115,9.68,1.80,-7.38,0.000,4,0.166,0.068,2130,3955,2992,0,0,0,0,0,0
$GC,354,-1.65,-91.6,81.1,-25.8,45,360,0.00,1.73,0.00,0.000,6,0.000,0.037,2130,2908,2995,0,0,0,0,0,0
$GC,554,-1.65,-91.6,127.4,-22.3,57,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2905,2997,0,0,0,0,0,0
$GC,857,-1.65,-91.6,196.7,-22.3,67,861,0.00,1.88,0.00,0.000,4,0.000,0.053,2131,3953,2998,0,0,0,0,0,0
$GC,899,-1.65,-91.6,206.2,-23.5,68,903,0.00,1.70,0.00,0.000,6,0.000,0.037,2130,2923,2999,0,0,0,0,0,0
$GC,1224,-1.65,-91.6,267.7,-18.0,79,1228,0.00,2.38,0.00,0.000,4,0.000,0.041,2130,1534,3000,0,0,0,0,0,0
$GC,1309,-1.65,-91.6,283.4,-16.5,81,1313,0.00,2.42,0.00,0.000,6,0.000,0.044,2130,2925,3001,0,0,0,0,0,0
$GC,1652,-1.65,-91.6,341.3,-16.6,89,1656,0.00,2.40,0.00,0.000,4,0.000,0.042,2130,1531,3001,0,0,0,0,0,0
$GC,1683,-1.65,-91.6,346.1,-14.5,89,1688,0.00,2.45,0.00,0.000,6,0.000,0.045,2130,2926,3001,0,0,0,0,0,0
$GC,2017,-1.65,-91.6,398.7,-15.7,95,2021,0.00,2.40,0.00,0.000,4,0.000,0.044,2130,1540,3001,0,0,0,0,0,0
$GC,2075,-1.65,-91.6,407.6,-14.8,95,2081,0.00,2.45,0.00,0.000,6,0.000,0.048,2130,2925,3001,0,0,0,0,0,0
$GC,2382,-1.65,-91.6,452.9,-14.5,101,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2926,3000,0,0,0,0,0,0
$GC,2684,-1.65,-91.6,493.8,-13.4,106,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2926,2997,0,0,0,0,0,0
$GC,2986,-1.65,-91.6,535.4,-13.7,111,2990,0.00,1.85,0.00,0.000,4,0.000,0.061,2130,3949,2996,0,0,0,0,0,0
$GC,3076,-1.65,-91.6,549.3,-15.6,112,3080,0.00,1.75,0.00,0.000,6,0.000,0.042,2130,2941,2995,0,0,0,0,0,0
$GC,3415,-1.65,-91.6,596.6,-14.1,118,3419,0.00,1.88,0.00,0.000,4,0.000,0.063,2131,3955,2993,0,0,0,0,0,0
$GC,3516,-1.65,-91.6,612.1,-15.1,119,3520,0.00,1.83,0.00,0.000,6,0.000,0.043,2130,2913,2992,0,0,0,0,0,0
$GC,3845,-1.65,-91.6,658.0,-13.9,125,3848,0.00,1.95,0.00,0.000,4,0.000,0.069,2130,3952,2988,0,0,0,0,0,0
$GC,3952,-1.65,-91.6,674.0,-15.5,126,3955,0.00,1.80,0.00,0.000,6,0.000,0.045,2130,2930,2987,0,0,0,0,0,0
$GC,4274,-1.65,-91.6,716.4,-12.9,132,4278,0.00,2.58,0.00,0.000,4,0.000,0.068,2130,1512,2985,0,0,0,0,0,0
$GC,4295,-1.65,-91.6,719.0,-12.9,132,4299,0.00,2.60,0.00,0.000,6,0.000,0.066,2130,2914,2985,0,0,0,0,0,0
$GC,4639,-1.65,-91.6,761.8,-12.4,138,4643,0.00,2.03,0.00,0.000,4,0.000,0.099,2130,3953,2981,0,0,0,0,0,0
$GC,4681,-1.65,-91.6,767.1,-12.2,138,4686,0.00,1.90,0.00,0.000,6,0.000,0.058,2131,2920,2981,0,0,0,0,0,0
$GC,5004,-1.65,-91.6,806.6,-12.4,144,5009,0.00,2.70,0.00,0.000,4,0.000,0.094,2130,1516,2978,0,0,0,0,0,0
$GC,5095,-1.65,-91.6,817.9,-12.8,145,5099,0.00,2.72,0.00,0.000,6,0.000,0.092,2130,2931,2978,0,0,0,0,0,0
$GC,5434,-1.65,-91.6,858.8,-12.0,151,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2931,2978,0,0,0,0,0,0
$GC,5736,-1.65,-91.6,893.6,-11.5,156,5740,0.00,2.20,0.00,0.000,4,0.000,0.148,2130,3956,2977,0,0,0,0,0,0
$GC,5821,-1.65,-91.6,904.2,-13.1,157,5825,0.00,2.17,0.00,0.000,6,0.000,0.125,2130,2930,2977,0,0,0,0,0,0
$GC,6165,-1.65,-91.6,943.9,-11.4,163,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2930,2975,0,0,0,0,0,0
$GC,6467,-1.65,-91.6,975.5,-10.4,168,6471,0.00,3.28,0.00,0.000,4,0.000,0.191,2130,1501,2975,0,0,0,0,0,0
$GC,6537,-1.65,-91.6,982.8,-10.3,169,6541,0.00,3.25,0.00,0.000,6,0.000,0.178,2130,2916,2974,0,0,0,0,0,0
$STATE,6647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6647,begin apogee
$GC,6652,-0.28,0.0,994.4,10.4,171,6737,1.52,0.00,82.25,1.325,6,0.129,0.000,2428,2741,2618,0,0,0,0,0,0
$STATE,6737,end apogee,CONTROL_FINISHED_OK
$STATE,6737,begin climb
$GC,6739,1.65,91.6,995.7,0.0,172,6833,2.03,0.00,90.28,1.295,6,0.082,0.000,2851,2741,2244,0,0,0,0,0,0
$GC,7131,1.65,91.6,934.3,17.7,179,7136,0.00,3.08,0.00,0.000,4,0.000,0.153,2851,1333,2231,0,0,0,0,0,0
$GC,7195,1.65,91.6,923.4,16.1,180,7199,0.00,3.03,0.00,0.000,6,0.000,0.130,2851,2763,2231,0,0,0,0,0,0
$GC,7560,1.65,91.6,859.6,17.6,186,7565,0.00,2.90,0.00,0.000,4,0.000,0.105,2851,1331,2227,0,0,0,0,0,0
$GC,7592,1.65,91.6,854.1,17.2,186,7596,0.00,2.83,0.00,0.000,6,0.000,0.095,2851,2766,2227,0,0,0,0,0,0
$GC,7926,1.65,91.6,800.7,15.9,192,7930,0.00,2.80,0.00,0.000,4,0.000,0.084,2851,1323,2224,0,0,0,0,0,0
$GC,8032,1.65,91.6,783.9,15.7,193,8036,0.00,2.72,0.00,0.000,6,0.000,0.074,2851,2753,2224,0,0,0,0,0,0
$GC,8355,1.65,91.6,733.5,15.7,199,8359,0.00,2.65,0.00,0.000,4,0.000,0.069,2851,1323,2222,0,0,0,0,0,0
$GC,8387,1.65,91.6,728.5,15.0,199,8391,0.00,2.65,0.00,0.000,6,0.000,0.059,2851,2755,2222,0,0,0,0,0,0
$GC,8720,1.65,91.6,677.2,15.4,205,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2755,2221,0,0,0,0,0,0
$GC,9022,1.65,91.6,634.8,13.8,210,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2756,2220,0,0,0,0,0,0
$GC,9324,1.65,91.6,596.3,12.5,215,9328,0.00,2.62,0.00,0.000,4,0.000,0.059,2851,1322,2220,0,0,0,0,0,0
$GC,9355,1.65,91.6,592.1,13.2,215,9360,0.00,2.60,0.00,0.000,6,0.000,0.051,2851,2762,2220,0,0,0,0,0,0
$GC,9689,1.65,91.6,547.3,13.6,221,9693,0.00,2.60,0.00,0.000,4,0.000,0.053,2851,1318,2219,0,0,0,0,0,0
$GC,9758,1.65,91.6,538.0,14.0,222,9763,0.00,2.58,0.00,0.000,6,0.000,0.048,2851,2759,2219,0,0,0,0,0,0
$GC,10118,1.65,91.6,494.5,11.8,228,10122,0.00,2.58,0.00,0.000,4,0.000,0.051,2851,1319,2219,0,0,0,0,0,0
$GC,10209,1.65,91.6,483.1,12.7,229,10213,0.00,2.55,0.00,0.000,6,0.000,0.047,2851,2752,2219,0,0,0,0,0,0
$GC,10548,1.65,91.6,440.3,12.7,235,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2753,2218,0,0,0,0,0,0
$GC,10850,1.65,91.6,406.4,11.2,240,10854,0.00,2.55,0.00,0.000,4,0.000,0.049,2851,1319,2219,0,0,0,0,0,0
$GC,10967,1.65,91.6,393.3,11.3,241,10971,0.00,2.55,0.00,0.000,6,0.000,0.045,2851,2762,2219,0,0,0,0,0,0
$GC,11279,1.65,91.6,357.3,11.7,247,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2762,2218,0,0,0,0,0,0
$GC,11581,1.65,91.6,324.9,10.6,252,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2762,2219,0,0,0,0,0,0
$GC,11883,1.66,105.2,297.6,8.6,257,11897,0.00,2.62,8.18,0.752,4,0.000,0.046,2851,1303,2190,0,0,0,0,0,0
$GC,11914,1.69,127.2,294.9,7.7,258,11944,0.00,2.53,22.15,0.831,6,0.000,0.043,2851,2758,2098,0,0,0,0,0,0
$GC,12246,1.69,127.2,260.1,10.9,269,12250,0.00,2.55,0.00,0.000,4,0.000,0.045,2851,1316,2093,0,0,0,0,0,0
$GC,12465,1.69,127.2,232.5,12.4,275,12471,0.00,2.53,0.00,0.000,6,0.000,0.041,2851,2753,2092,0,0,0,0,0,0
$GC,12774,1.69,127.2,195.3,11.7,286,12778,0.00,2.50,0.00,0.000,4,0.000,0.044,2851,1304,2091,0,0,0,0,0,0
$GC,13014,1.70,142.5,171.1,8.4,293,13033,0.00,2.53,13.43,0.687,6,0.000,0.041,2851,2761,2038,0,0,0,0,0,0
$GC,13365,1.70,142.5,133.6,11.6,305,13369,0.00,2.50,0.00,0.000,4,0.000,0.043,2851,1299,2036,0,0,0,0,0,0
$GC,13423,1.71,144.2,127.2,9.8,306,13429,0.00,2.47,0.00,0.000,6,0.000,0.040,2851,2755,2037,0,0,0,0,0,0
$GC,13732,1.71,144.2,93.1,11.5,319,13736,0.00,2.10,0.00,0.000,4,0.000,0.052,2851,3940,2037,0,0,0,0,0,0
$GC,13867,1.72,157.4,79.0,8.6,331,13885,0.00,2.08,14.48,0.588,6,0.000,0.037,2851,2679,1975,0,0,0,0,0,0
$GC,14078,1.76,189.2,58.3,6.7,352,14112,0.12,2.40,28.77,0.584,4,0.085,0.043,2884,1306,1845,0,0,0,0,0,0
$GC,14155,1.76,189.2,51.3,10.6,359,14161,0.00,2.50,0.00,0.000,6,0.000,0.039,2884,2752,1843,0,0,0,0,0,0
$GC,14347,1.77,203.9,33.8,8.5,378,14367,0.00,2.17,13.07,0.526,4,0.000,0.052,2884,3949,1786,0,0,0,0,0,0
$GC,14446,1.77,203.9,21.5,14.6,387,14451,0.00,2.12,0.00,0.000,6,0.000,0.036,2884,2690,1783,0,0,0,0,0,0
$STATE,14600,end climb,SURFACE_DEPTH_REACHED
$STATE,14600,begin surface coast
$FINISH,0.1,1.023193
$STATE,14620,end surface coast,CONTROL_FINISHED_OK
$STATE,14620,begin surface
$SM_CCo,14638,105.22,0.511,0,0,986,400.08
$SM_GC,0.79,0.00,0.00,105.22,0.000,0.000,0.511,371,2938,986,-9.78,0.54,400.08
$IRIDIUM_FIX,1918.37,-15559.47,090511,151543
$TT8_MAMPS,0.059059
$HUMID,1078589023
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.1,17.480
$10V_AH,10.0,44.505
$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,24.275,135.875,272.600,105.225,0.000,24.092,31.257,106.406,0.000,0.000,31.559,0.000,12480.146,557.539,1598.146,363.834,33.343,1279.110,0.000,1295.330,0.000,0.530,0.000
$DEVICE_MAMPS,165.672,190.983,1324.609,510.822,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,279.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,15866,419
$CAP_FILE_SIZE,112864,0
$CFSIZE,260034560,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,348.5,1
$GPS,141109,045736,1924.349,-15557.793,40,2.0,51,9.7