version: 66.07
glider: 22
mission: 14
dive: 93
start: 11 14 109 5 2 40
data:
$ID,22
$MISSION,14
$DIVE,93
$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,-250232.41
$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,6
$R_STBD_OVSHOOT,42
$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
$GPS1,141109,045736,1924.349,-15557.793,40,2.0,51,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-67.2
$GPS2,141109,050200,1924.420,-15557.793,34,1.1,44,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.278,-0.095
$KALMAN_X,-177283.0,1151.0,719.3,206364.3,-11384.7
$KALMAN_Y,52551.8,405.7,-695.9,-111403.1,2988.4
$MHEAD_RNG_PITCHd_Wd,195.2,858,-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,-64.6,0.0,0.0,0,91,0.00,0.00,-76.82,0.000,2,0.000,0.000,371,2939,2720,0,0,0,0,0,0
$GC,93,-1.63,-74.5,3.6,-9.0,15,114,9.60,1.77,-5.12,0.000,4,0.160,0.070,2135,3938,2925,0,0,0,0,0,0
$GC,321,-1.63,-74.5,70.6,-23.8,41,327,0.00,1.80,0.00,0.000,6,0.000,0.037,2135,2866,2927,0,0,0,0,0,0
$GC,521,-1.63,-74.5,114.2,-20.9,57,525,0.00,2.35,0.00,0.000,4,0.000,0.041,2135,1473,2928,0,0,0,0,0,0
$GC,569,-1.63,-74.5,122.9,-17.8,58,573,0.00,2.47,0.00,0.000,6,0.000,0.042,2135,2904,2929,0,0,0,0,0,0
$GC,888,-1.63,-74.5,183.6,-18.8,69,892,0.00,2.45,0.00,0.000,4,0.000,0.041,2135,1476,2931,0,0,0,0,0,0
$GC,930,-1.63,-74.5,190.9,-17.2,70,934,0.00,2.50,0.00,0.000,6,0.000,0.043,2135,2920,2931,0,0,0,0,0,0
$GC,1255,-1.63,-74.5,244.9,-15.9,81,1259,0.00,2.50,0.00,0.000,4,0.000,0.042,2135,1476,2932,0,0,0,0,0,0
$GC,1463,-1.63,-74.5,278.3,-15.8,87,1467,0.00,2.53,0.00,0.000,6,0.000,0.044,2135,2925,2933,0,0,0,0,0,0
$GC,1812,-1.63,-74.5,329.6,-14.2,96,1816,0.00,1.83,0.00,0.000,4,0.000,0.058,2135,3953,2933,0,0,0,0,0,0
$GC,1865,-1.63,-74.5,337.9,-15.5,96,1869,0.00,1.85,0.00,0.000,6,0.000,0.039,2135,2857,2932,0,0,0,0,0,0
$GC,2177,-1.63,-74.5,380.0,-13.3,102,2181,0.00,1.98,0.00,0.000,4,0.000,0.057,2135,3953,2932,0,0,0,0,0,0
$GC,2209,-1.63,-74.5,384.4,-13.7,102,2213,0.00,1.85,0.00,0.000,6,0.000,0.040,2135,2868,2932,0,0,0,0,0,0
$GC,2542,-1.63,-74.5,424.6,-12.0,108,2546,0.00,1.98,0.00,0.000,4,0.000,0.058,2135,3955,2931,0,0,0,0,0,0
$GC,2585,-1.63,-74.5,429.9,-13.1,108,2589,0.00,1.88,0.00,0.000,6,0.000,0.041,2135,2861,2931,0,0,0,0,0,0
$GC,2908,-1.63,-74.5,469.6,-12.3,114,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2860,2928,0,0,0,0,0,0
$GC,3209,-1.63,-74.5,507.0,-12.3,119,3214,0.00,2.40,0.00,0.000,4,0.000,0.048,2135,1484,2926,0,0,0,0,0,0
$GC,3273,-1.63,-74.5,514.7,-12.4,120,3277,0.00,2.55,0.00,0.000,6,0.000,0.050,2135,2919,2925,0,0,0,0,0,0
$GC,3639,-1.63,-74.5,561.9,-13.1,126,3643,0.00,1.88,0.00,0.000,4,0.000,0.065,2135,3953,2922,0,0,0,0,0,0
$GC,3745,-1.63,-74.5,577.1,-15.6,127,3749,0.00,1.88,0.00,0.000,6,0.000,0.042,2135,2881,2922,0,0,0,0,0,0
$GC,4068,-1.63,-74.5,619.4,-12.9,133,4072,0.00,1.98,0.00,0.000,4,0.000,0.065,2135,3947,2920,0,0,0,0,0,0
$GC,4100,-1.63,-74.5,623.7,-13.5,133,4105,0.00,1.80,0.00,0.000,6,0.000,0.043,2135,2918,2919,0,0,0,0,0,0
$GC,4433,-1.63,-74.5,663.6,-11.8,139,4437,0.00,1.92,0.00,0.000,4,0.000,0.069,2135,3946,2916,0,0,0,0,0,0
$GC,4481,-1.63,-74.5,669.0,-11.3,139,4485,0.00,1.80,0.00,0.000,6,0.000,0.044,2135,2926,2916,0,0,0,0,0,0
$GC,4799,-1.63,-76.0,700.6,-9.8,145,4803,0.00,1.95,0.00,0.000,4,0.000,0.077,2135,3948,2914,0,0,0,0,0,0
$GC,4949,-1.63,-76.0,717.0,-10.6,147,4952,0.00,1.85,0.00,0.000,6,0.000,0.049,2135,2920,2912,0,0,0,0,0,0
$GC,5292,-1.63,-76.0,753.3,-10.6,153,5296,0.00,2.62,0.00,0.000,4,0.000,0.079,2135,1519,2912,0,0,0,0,0,0
$GC,5329,-1.63,-76.0,757.1,-10.5,153,5333,0.00,2.60,0.00,0.000,6,0.000,0.068,2134,2910,2912,0,0,0,0,0,0
$GC,5657,-1.63,-76.0,792.5,-10.8,159,5661,0.00,2.67,0.00,0.000,4,0.000,0.084,2135,1516,2909,0,0,0,0,0,0
$GC,5673,-1.63,-76.0,794.2,-10.8,159,5678,0.00,2.70,0.00,0.000,6,0.000,0.083,2135,2920,2909,0,0,0,0,0,0
$GC,6023,-1.63,-76.0,831.1,-10.4,165,6027,0.00,2.80,0.00,0.000,4,0.000,0.102,2135,1517,2907,0,0,0,0,0,0
$GC,6124,-1.63,-76.0,841.5,-10.1,166,6129,0.00,2.80,0.00,0.000,6,0.000,0.104,2135,2917,2907,0,0,0,0,0,0
$GC,6452,-1.63,-76.0,875.8,-10.4,172,6456,0.00,2.20,0.00,0.000,4,0.000,0.143,2135,3952,2905,0,0,0,0,0,0
$GC,6500,-1.63,-76.0,881.3,-11.9,172,6504,0.00,2.10,0.00,0.000,6,0.000,0.113,2135,2937,2905,0,0,0,0,0,0
$GC,6817,-1.63,-76.0,915.6,-10.8,178,6821,0.00,3.03,0.00,0.000,4,0.000,0.150,2135,1498,2904,0,0,0,0,0,0
$GC,6945,-1.63,-76.0,929.1,-10.5,180,6950,0.00,3.08,0.00,0.000,6,0.000,0.146,2135,2928,2903,0,0,0,0,0,0
$GC,7311,-1.63,-77.1,965.6,-9.9,186,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2929,2904,0,0,0,0,0,0
$STATE,7611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7611,begin apogee
$GC,7616,-0.28,0.0,993.0,9.0,191,7685,1.50,0.00,66.10,1.326,6,0.130,0.000,2428,2744,2619,0,0,0,0,0,0
$STATE,7685,end apogee,CONTROL_FINISHED_OK
$STATE,7685,begin climb
$GC,7687,1.63,77.1,993.9,0.0,192,7768,2.03,0.00,76.90,1.295,6,0.083,0.000,2851,2744,2304,0,0,0,0,0,0
$GC,8034,1.63,77.1,947.0,14.9,198,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2744,2293,0,0,0,0,0,0
$GC,8336,1.63,77.1,901.3,15.2,203,8341,0.00,2.95,0.00,0.000,4,0.000,0.132,2852,1332,2290,0,0,0,0,0,0
$GC,8389,1.63,77.1,892.8,17.3,203,8393,0.00,2.95,0.00,0.000,6,0.000,0.117,2852,2753,2291,0,0,0,0,0,0
$GC,8702,1.63,77.1,844.6,15.2,209,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2754,2288,0,0,0,0,0,0
$GC,9003,1.63,77.1,801.4,14.2,214,9008,0.00,2.78,0.00,0.000,4,0.000,0.084,2852,1319,2287,0,0,0,0,0,0
$GC,9121,1.63,77.1,784.7,14.7,215,9125,0.00,2.70,0.00,0.000,6,0.000,0.073,2852,2761,2286,0,0,0,0,0,0
$GC,9433,1.63,77.1,738.9,14.7,221,9437,0.00,2.67,0.00,0.000,4,0.000,0.070,2852,1317,2285,0,0,0,0,0,0
$GC,9550,1.63,77.1,721.3,14.8,222,9554,0.00,2.65,0.00,0.000,6,0.000,0.058,2851,2759,2285,0,0,0,0,0,0
$GC,9862,1.63,77.1,678.4,13.6,228,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2759,2284,0,0,0,0,0,0
$GC,10164,1.63,77.1,638.4,13.2,233,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2760,2283,0,0,0,0,0,0
$GC,10466,1.63,77.1,599.3,12.9,238,10470,0.00,2.62,0.00,0.000,4,0.000,0.057,2852,1316,2282,0,0,0,0,0,0
$GC,10551,1.63,77.1,588.3,12.5,239,10555,0.00,2.60,0.00,0.000,6,0.000,0.050,2852,2762,2283,0,0,0,0,0,0
$GC,10895,1.63,77.1,545.8,12.0,245,10899,0.00,2.58,0.00,0.000,4,0.000,0.053,2851,1306,2282,0,0,0,0,0,0
$GC,11017,1.63,77.1,531.2,11.4,246,11024,0.00,2.60,0.00,0.000,6,0.000,0.048,2851,2760,2282,0,0,0,0,0,0
$GC,11324,1.63,77.1,497.3,11.0,252,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2760,2282,0,0,0,0,0,0
$GC,11626,1.63,77.1,464.4,10.9,257,11631,0.00,2.60,0.00,0.000,4,0.000,0.050,2851,1306,2282,0,0,0,0,0,0
$GC,11759,1.63,77.1,450.1,10.0,259,11764,0.00,2.58,0.00,0.000,6,0.000,0.046,2851,2758,2282,0,0,0,0,0,0
$GC,12120,1.63,77.1,409.4,11.6,265,12124,0.00,2.53,0.00,0.000,4,0.000,0.049,2852,1311,2280,0,0,0,0,0,0
$GC,12365,1.64,82.9,384.6,9.4,268,12369,0.00,2.55,0.00,0.000,6,0.000,0.044,2852,2757,2282,0,0,0,0,0,0
$GC,12678,1.65,92.5,356.6,9.0,274,12693,0.00,2.58,10.75,0.834,4,0.000,0.048,2852,1308,2241,0,0,0,0,0,0
$GC,12805,1.65,92.5,343.5,10.2,276,12809,0.00,2.55,0.00,0.000,6,0.000,0.044,2852,2749,2240,0,0,0,0,0,0
$GC,13166,1.66,100.1,309.4,9.2,282,13179,0.00,2.22,8.25,0.771,4,0.000,0.059,2852,3947,2210,0,0,0,0,0,0
$GC,13212,1.66,101.3,304.9,9.9,282,13216,0.00,2.17,0.00,0.000,6,0.000,0.040,2851,2701,2210,0,0,0,0,0,0
$GC,13531,1.67,111.8,273.9,8.9,292,13547,0.00,2.35,12.12,0.788,4,0.000,0.046,2852,1347,2162,0,0,0,0,0,0
$GC,13786,1.67,111.8,246.0,10.2,300,13791,0.00,2.47,0.00,0.000,6,0.000,0.043,2852,2756,2160,0,0,0,0,0,0
$GC,14117,1.68,116.7,213.2,9.5,311,14127,0.00,2.45,5.97,0.642,4,0.000,0.044,2852,1345,2141,0,0,0,0,0,0
$GC,14367,1.70,141.7,194.3,7.4,319,14398,0.00,2.47,23.40,0.746,6,0.000,0.041,2852,2763,2040,0,0,0,0,0,0
$GC,14700,1.70,141.7,162.1,10.4,330,14701,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2763,2034,0,0,0,0,0,0
$GC,15004,1.70,141.7,129.0,11.3,340,15008,0.00,2.10,0.00,0.000,4,0.000,0.053,2851,3943,2034,0,0,0,0,0,0
$GC,15073,1.70,141.7,120.1,12.7,342,15077,0.00,2.05,0.00,0.000,6,0.000,0.036,2852,2732,2033,0,0,0,0,0,0
$GC,15387,1.71,150.6,86.1,9.1,361,15400,0.00,2.38,8.40,0.564,4,0.000,0.042,2852,1354,2003,0,0,0,0,0,0
$GC,15641,1.74,173.0,61.4,7.7,385,15666,0.00,2.40,20.85,0.584,6,0.000,0.039,2852,2757,1912,0,0,0,0,0,0
$GC,15858,1.75,184.8,41.7,8.8,406,15873,0.10,2.40,10.93,0.530,4,0.093,0.041,2877,1357,1864,0,0,0,0,0,0
$GC,16114,1.75,184.8,16.9,10.4,432,16120,0.00,2.40,0.00,0.000,6,0.000,0.039,2877,2755,1863,0,0,0,0,0,0
$GC,16183,1.75,184.8,9.8,10.7,445,16189,0.00,2.40,0.00,0.000,4,0.000,0.041,2877,1357,1862,0,0,0,0,0,0
$STATE,16245,end climb,SURFACE_DEPTH_REACHED
$STATE,16245,begin surface coast
$FINISH,0.1,1.023281
$STATE,16267,end surface coast,CONTROL_FINISHED_OK
$STATE,16267,begin surface
$SM_CCo,16287,115.53,0.513,0,0,986,400.08
$SM_GC,0.79,0.00,0.00,115.53,0.000,0.000,0.513,372,2920,986,-9.77,0.00,400.08
$IRIDIUM_FIX,1916.08,-15600.40,090511,191942
$TT8_MAMPS,0.059059
$HUMID,1078577410
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.1,17.579
$10V_AH,10.0,44.556
$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,24.075,152.325,243.675,115.525,0.000,23.433,24.870,100.086,0.000,0.000,44.787,0.000,13793.225,547.313,1945.751,372.840,33.337,1404.819,0.000,1591.956,0.000,0.530,0.000
$DEVICE_MAMPS,160.303,181.779,1326.143,513.123,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,308.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353816
$DATA_FILE_SIZE,15871,461
$CAP_FILE_SIZE,129053,0
$CFSIZE,260034560,249602048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,  0.9,1
$GPS,141109,093706,1923.435,-15558.672,37,1.7,42,9.7