version: 66.07
glider: 22
mission: 14
dive: 95
start: 11 14 109 14 13 47
data:
$ID,22
$MISSION,14
$DIVE,95
$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,-250302.11
$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,34
$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
$GPS1,141109,140837,1924.940,-15557.391,40,2.0,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-68.6
$GPS2,141109,141307,1925.022,-15557.433,36,1.7,36,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.275,-0.104
$KALMAN_X,-187460.6,1795.3,458.9,216779.0,-10518.2
$KALMAN_Y,55303.9,-566.5,550.4,-113326.6,1750.5
$MHEAD_RNG_PITCHd_Wd,197.9,2137,-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,-64.6,0.0,0.0,0,91,0.00,0.00,-76.68,0.000,2,0.000,0.000,373,2932,2713,0,0,0,0,0,0
$GC,93,-1.64,-87.7,3.4,-7.6,15,114,9.57,2.42,-6.80,0.000,4,0.162,0.058,2133,1514,2976,0,0,0,0,0,0
$GC,353,-1.64,-87.7,73.3,-25.5,45,359,0.00,2.45,0.00,0.000,6,0.000,0.045,2133,2916,2978,0,0,0,0,0,0
$GC,563,-1.64,-87.7,121.9,-22.6,60,567,0.00,2.40,0.00,0.000,4,0.000,0.041,2133,1513,2979,0,0,0,0,0,0
$GC,648,-1.64,-87.7,140.8,-23.2,62,652,0.00,2.45,0.00,0.000,6,0.000,0.043,2133,2925,2979,0,0,0,0,0,0
$GC,962,-1.64,-87.7,204.4,-19.7,73,966,0.00,1.80,0.00,0.000,4,0.000,0.054,2133,3947,2982,0,0,0,0,0,0
$GC,978,-1.64,-87.7,207.2,-18.5,73,982,0.00,1.75,0.00,0.000,6,0.000,0.038,2133,2895,2982,0,0,0,0,0,0
$GC,1298,-1.64,-87.7,270.2,-19.7,84,1301,0.00,2.25,0.00,0.000,4,0.000,0.041,2133,1535,2984,0,0,0,0,0,0
$GC,1462,-1.64,-87.7,298.4,-17.0,89,1467,0.00,2.42,0.00,0.000,6,0.000,0.044,2133,2932,2984,0,0,0,0,0,0
$GC,1791,-1.64,-87.7,350.5,-15.6,95,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2932,2985,0,0,0,0,0,0
$GC,2092,-1.64,-87.7,396.2,-14.8,100,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2932,2985,0,0,0,0,0,0
$GC,2394,-1.64,-87.7,441.3,-15.0,105,2399,0.00,1.83,0.00,0.000,4,0.000,0.060,2133,3953,2984,0,0,0,0,0,0
$GC,2485,-1.64,-87.7,455.7,-15.1,106,2489,0.00,1.75,0.00,0.000,6,0.000,0.040,2133,2924,2982,0,0,0,0,0,0
$GC,2823,-1.64,-87.7,503.9,-14.4,112,2827,0.00,1.90,0.00,0.000,4,0.000,0.060,2133,3953,2980,0,0,0,0,0,0
$GC,2914,-1.64,-87.7,516.6,-14.1,113,2918,0.00,1.77,0.00,0.000,6,0.000,0.041,2133,2919,2979,0,0,0,0,0,0
$GC,3253,-1.64,-87.7,559.9,-12.8,119,3257,0.00,2.42,0.00,0.000,4,0.000,0.050,2133,1534,2976,0,0,0,0,0,0
$GC,3327,-1.64,-87.7,569.4,-12.8,120,3331,0.00,2.47,0.00,0.000,6,0.000,0.051,2133,2916,2976,0,0,0,0,0,0
$GC,3682,-1.64,-87.7,614.4,-12.6,126,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2916,2975,0,0,0,0,0,0
$GC,3984,-1.64,-87.7,655.6,-13.7,131,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2916,2973,0,0,0,0,0,0
$GC,4286,-1.64,-87.7,701.9,-15.5,136,4290,0.00,1.95,0.00,0.000,4,0.000,0.082,2133,3953,2969,0,0,0,0,0,0
$GC,4381,-1.64,-87.7,717.0,-15.5,137,4386,0.00,1.83,0.00,0.000,6,0.000,0.048,2133,2937,2968,0,0,0,0,0,0
$GC,4715,-1.64,-87.7,764.5,-14.2,143,4719,0.00,1.98,0.00,0.000,4,0.000,0.087,2133,3950,2966,0,0,0,0,0,0
$GC,4838,-1.64,-87.7,783.4,-16.0,144,4845,0.00,1.90,0.00,0.000,6,0.000,0.064,2133,2931,2966,0,0,0,0,0,0
$GC,5145,-1.64,-87.7,827.9,-14.4,150,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2932,2964,0,0,0,0,0,0
$GC,5447,-1.64,-87.7,866.7,-12.5,155,5451,0.00,2.88,0.00,0.000,4,0.000,0.122,2133,1508,2962,0,0,0,0,0,0
$GC,5521,-1.64,-87.7,875.6,-12.1,156,5525,0.00,2.88,0.00,0.000,6,0.000,0.117,2133,2907,2962,0,0,0,0,0,0
$GC,5876,-1.64,-87.7,918.6,-12.1,162,5880,0.00,2.33,0.00,0.000,4,0.000,0.165,2133,3957,2960,0,0,0,0,0,0
$GC,5897,-1.64,-87.7,921.2,-12.7,162,5901,0.00,2.22,0.00,0.000,6,0.000,0.136,2133,2925,2960,0,0,0,0,0,0
$GC,6241,-1.64,-87.7,960.2,-11.4,168,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2926,2958,0,0,0,0,0,0
$STATE,6541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6541,begin apogee
$GC,6546,-0.28,0.0,993.5,11.0,173,6626,1.52,0.00,77.22,1.322,6,0.129,0.000,2432,2742,2618,0,0,0,0,0,0
$STATE,6626,end apogee,CONTROL_FINISHED_OK
$STATE,6626,begin climb
$GC,6628,1.64,87.7,995.0,0.0,174,6718,1.98,0.00,84.95,1.289,6,0.083,0.000,2849,2743,2260,0,0,0,0,0,0
$GC,7046,1.64,87.7,934.9,15.5,181,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2742,2248,0,0,0,0,0,0
$GC,7348,1.64,87.7,888.0,15.6,186,7352,0.00,2.85,0.00,0.000,4,0.000,0.120,2849,1320,2244,0,0,0,0,0,0
$GC,7395,1.64,87.7,880.3,16.4,186,7399,0.00,2.92,0.00,0.000,6,0.000,0.108,2849,2750,2244,0,0,0,0,0,0
$GC,7713,1.64,87.7,826.9,16.8,192,7717,0.00,2.80,0.00,0.000,4,0.000,0.091,2849,1326,2243,0,0,0,0,0,0
$GC,7787,1.64,87.7,814.5,17.0,193,7792,0.00,2.75,0.00,0.000,6,0.000,0.079,2849,2776,2243,0,0,0,0,0,0
$GC,8142,1.64,87.7,757.9,15.6,199,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2776,2240,0,0,0,0,0,0
$GC,8444,1.64,87.7,711.6,15.3,204,8449,0.00,2.70,0.00,0.000,4,0.000,0.064,2849,1325,2238,0,0,0,0,0,0
$GC,8481,1.64,87.7,706.0,14.9,204,8485,0.00,2.62,0.00,0.000,6,0.000,0.056,2849,2760,2238,0,0,0,0,0,0
$GC,8810,1.64,87.7,658.8,14.2,210,8813,0.00,2.60,0.00,0.000,4,0.000,0.060,2849,1316,2237,0,0,0,0,0,0
$GC,8932,1.64,87.7,642.4,13.7,211,8938,0.00,2.62,0.00,0.000,6,0.000,0.052,2849,2763,2237,0,0,0,0,0,0
$GC,9239,1.64,87.7,603.0,12.6,217,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2763,2236,0,0,0,0,0,0
$GC,9541,1.64,87.7,568.6,11.2,222,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2763,2236,0,0,0,0,0,0
$GC,9842,1.64,87.7,534.1,11.5,227,9847,0.00,2.60,0.00,0.000,4,0.000,0.053,2849,1319,2235,0,0,0,0,0,0
$GC,10029,1.64,87.7,510.8,12.6,229,10035,0.00,2.58,0.00,0.000,6,0.000,0.048,2850,2763,2235,0,0,0,0,0,0
$GC,10336,1.64,87.7,472.4,12.7,235,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2763,2234,0,0,0,0,0,0
$GC,10637,1.64,87.7,434.1,12.7,240,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2763,2234,0,0,0,0,0,0
$GC,10939,1.64,87.7,398.8,11.7,245,10944,0.00,2.58,0.00,0.000,4,0.000,0.049,2849,1314,2234,0,0,0,0,0,0
$GC,11169,1.65,90.9,375.1,9.7,248,11174,0.00,2.55,0.00,0.000,6,0.000,0.044,2849,2758,2233,0,0,0,0,0,0
$GC,11497,1.65,90.9,342.9,10.1,254,11501,0.00,2.58,0.00,0.000,4,0.000,0.048,2849,1306,2234,0,0,0,0,0,0
$GC,11743,1.67,107.6,320.7,8.3,257,11762,0.00,2.55,14.45,0.828,6,0.000,0.043,2849,2762,2178,0,0,0,0,0,0
$GC,12090,1.67,110.7,288.1,9.7,265,12099,0.00,2.17,3.80,0.561,4,0.000,0.058,2849,3951,2166,0,0,0,0,0,0
$GC,12147,1.67,110.7,281.5,11.6,266,12153,0.00,2.17,0.00,0.000,6,0.000,0.039,2849,2695,2165,0,0,0,0,0,0
$GC,12455,1.67,110.7,243.9,12.2,277,12459,0.00,2.42,0.00,0.000,4,0.000,0.048,2849,1311,2164,0,0,0,0,0,0
$GC,12536,1.68,121.1,237.8,8.9,279,12552,0.00,2.53,10.90,0.733,6,0.000,0.041,2849,2760,2124,0,0,0,0,0,0
$GC,12854,1.68,124.4,205.6,9.7,290,12863,0.00,2.58,4.43,0.554,4,0.000,0.045,2849,1308,2110,0,0,0,0,0,0
$GC,13104,1.69,132.3,181.0,9.2,297,13119,0.00,2.50,8.90,0.647,6,0.000,0.040,2849,2751,2077,0,0,0,0,0,0
$GC,13445,1.69,132.3,146.8,10.7,309,13449,0.00,2.50,0.00,0.000,4,0.000,0.042,2849,1308,2076,0,0,0,0,0,0
$GC,13691,1.69,132.3,118.9,11.2,316,13694,0.00,2.47,0.00,0.000,6,0.000,0.039,2849,2766,2077,0,0,0,0,0,0
$GC,14006,1.74,178.0,95.7,5.3,331,14051,0.12,2.58,40.42,0.612,4,0.089,0.041,2881,1310,1890,0,0,0,0,0,0
$GC,14293,1.75,183.3,64.6,9.5,358,14303,0.00,2.45,5.28,0.456,6,0.000,0.039,2881,2758,1869,0,0,0,0,0,0
$GC,14490,1.75,183.3,42.1,10.8,377,14493,0.00,2.47,0.00,0.000,4,0.000,0.041,2881,1297,1868,0,0,0,0,0,0
$GC,14734,1.75,183.3,13.2,11.6,404,14741,0.00,2.50,0.00,0.000,6,0.000,0.039,2881,2755,1868,0,0,0,0,0,0
$GC,14803,1.75,183.3,4.6,12.3,417,14809,0.00,2.50,0.00,0.000,4,0.000,0.041,2881,1301,1867,0,0,0,0,0,0
$STATE,14817,end climb,SURFACE_DEPTH_REACHED
$STATE,14817,begin surface coast
$FINISH,0.0,1.009896
$STATE,14844,end surface coast,CONTROL_FINISHED_OK
$STATE,14844,begin surface
$SM_CCo,14865,109.20,0.496,0,0,986,400.08
$SM_GC,0.67,0.00,0.00,109.20,0.000,0.000,0.496,376,2923,986,-9.75,0.08,400.08
$IRIDIUM_FIX,1918.37,-15559.47,100511,040423
$TT8_MAMPS,0.059826
$HUMID,1078528377
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.4,17.785
$10V_AH,10.0,44.652
$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,24.025,120.475,250.350,109.200,0.000,25.629,26.323,108.479,0.000,0.000,36.023,0.000,12612.457,508.455,1747.283,366.750,33.346,1293.378,0.000,1435.745,0.000,0.532,0.000
$DEVICE_MAMPS,161.837,195.585,1322.308,496.249,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,283.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,15912,425
$CAP_FILE_SIZE,114243,0
$CFSIZE,260034560,249511936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,350.2,1
$GPS,141109,182407,1924.696,-15558.448,25,1.8,25,9.7