version: 66.07
glider: 22
mission: 14
dive: 96
start: 11 14 109 18 29 12
data:
$ID,22
$MISSION,14
$DIVE,96
$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,-250340.92
$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,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
$GPS1,141109,182407,1924.696,-15558.448,25,1.8,25,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-68.3
$GPS2,141109,182832,1924.797,-15558.513,38,1.7,38,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.267,-0.121
$KALMAN_X,-193980.1,994.0,699.1,222017.7,-12862.0
$KALMAN_Y,57661.9,-96.7,-628.9,-115381.3,4775.1
$MHEAD_RNG_PITCHd_Wd,139.1,1727,-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,-64.6,0.0,0.0,0,87,0.00,0.00,-73.57,0.000,2,0.000,0.000,376,2923,2632,0,0,0,0,0,0
$GC,90,-1.64,-83.1,3.1,-8.1,14,115,9.57,2.53,-8.93,0.000,4,0.163,0.053,2132,1469,2958,0,0,0,0,0,0
$GC,146,-1.64,-83.1,17.1,-24.6,25,152,0.00,2.55,0.00,0.000,6,0.000,0.043,2132,2929,2960,0,0,0,0,0,0
$GC,213,-1.64,-83.1,37.3,-30.5,33,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2930,2959,0,0,0,0,0,0
$GC,399,-1.64,-83.1,90.4,-26.4,51,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2930,2960,0,0,0,0,0,0
$GC,603,-1.64,-83.1,136.0,-22.7,61,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2930,2962,0,0,0,0,0,0
$GC,906,-1.64,-83.1,197.5,-19.8,71,911,0.00,1.80,0.00,0.000,4,0.000,0.054,2132,3953,2962,0,0,0,0,0,0
$GC,970,-1.64,-83.1,210.9,-20.3,73,974,0.00,1.83,0.00,0.000,6,0.000,0.037,2132,2854,2963,0,0,0,0,0,0
$GC,1305,-1.64,-83.1,272.7,-16.6,84,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2850,2965,0,0,0,0,0,0
$GC,1638,-1.64,-83.1,321.2,-14.2,93,1643,0.00,1.98,0.00,0.000,4,0.000,0.054,2132,3955,2966,0,0,0,0,0,0
$GC,1814,-1.64,-83.1,348.4,-15.9,95,1819,0.00,1.85,0.00,0.000,6,0.000,0.038,2132,2850,2966,0,0,0,0,0,0
$GC,2132,-1.64,-83.1,394.2,-14.4,101,2136,0.00,1.98,0.00,0.000,4,0.000,0.057,2132,3950,2964,0,0,0,0,0,0
$GC,2217,-1.64,-83.1,406.8,-15.3,102,2222,0.00,1.85,0.00,0.000,6,0.000,0.040,2132,2861,2965,0,0,0,0,0,0
$GC,2562,-1.64,-83.1,455.1,-14.3,108,2565,0.00,1.98,0.00,0.000,4,0.000,0.058,2132,3953,2963,0,0,0,0,0,0
$GC,2759,-1.64,-83.1,484.9,-14.0,111,2763,0.00,1.85,0.00,0.000,6,0.000,0.041,2132,2868,2961,0,0,0,0,0,0
$GC,3120,-1.64,-83.1,535.0,-14.3,117,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2866,2959,0,0,0,0,0,0
$GC,3421,-1.64,-83.1,575.8,-13.4,122,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2866,2957,0,0,0,0,0,0
$GC,3723,-1.64,-83.1,614.1,-12.6,127,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2866,2955,0,0,0,0,0,0
$GC,4024,-1.64,-83.1,650.2,-11.8,132,4028,0.00,2.00,0.00,0.000,4,0.000,0.068,2132,3946,2951,0,0,0,0,0,0
$GC,4238,-1.64,-83.1,678.5,-12.1,135,4242,0.00,1.88,0.00,0.000,6,0.000,0.044,2132,2884,2950,0,0,0,0,0,0
$GC,4582,-1.64,-83.1,719.0,-11.9,141,4586,0.00,2.00,0.00,0.000,4,0.000,0.078,2132,3939,2947,0,0,0,0,0,0
$GC,4625,-1.64,-83.1,724.5,-12.7,141,4629,0.00,1.83,0.00,0.000,6,0.000,0.049,2132,2926,2946,0,0,0,0,0,0
$GC,4947,-1.64,-83.1,762.0,-11.6,147,4952,0.00,2.62,0.00,0.000,4,0.000,0.081,2132,1514,2945,0,0,0,0,0,0
$GC,4995,-1.64,-83.1,768.0,-12.7,147,5000,0.00,2.60,0.00,0.000,6,0.000,0.071,2132,2904,2945,0,0,0,0,0,0
$GC,5313,-1.64,-83.1,805.9,-11.9,153,5317,0.00,2.08,0.00,0.000,4,0.000,0.110,2132,3953,2943,0,0,0,0,0,0
$GC,5393,-1.64,-83.1,815.6,-12.4,154,5397,0.00,1.98,0.00,0.000,6,0.000,0.077,2132,2924,2942,0,0,0,0,0,0
$GC,5742,-1.64,-83.1,853.7,-10.8,160,5746,0.00,2.15,0.00,0.000,4,0.000,0.121,2132,3954,2941,0,0,0,0,0,0
$GC,5784,-1.64,-83.1,858.7,-12.3,160,5789,0.00,2.08,0.00,0.000,6,0.000,0.098,2132,2923,2941,0,0,0,0,0,0
$GC,6108,-1.64,-83.1,892.9,-10.6,166,6111,0.00,2.22,0.00,0.000,4,0.000,0.141,2132,3947,2939,0,0,0,0,0,0
$GC,6149,-1.64,-83.1,897.9,-11.8,166,6154,0.00,2.17,0.00,0.000,6,0.000,0.122,2132,2914,2938,0,0,0,0,0,0
$GC,6472,-1.64,-83.1,933.3,-10.9,172,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2914,2937,0,0,0,0,0,0
$GC,6775,-1.64,-83.1,964.5,-10.3,177,6779,0.00,3.17,0.00,0.000,4,0.000,0.184,2132,1504,2935,0,0,0,0,0,0
$GC,6865,-1.64,-86.6,973.8,-9.6,178,6870,0.00,3.22,0.00,0.000,6,0.000,0.173,2132,2923,2935,0,0,0,0,0,0
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7081,-0.28,0.0,995.7,10.2,182,7158,1.52,0.00,74.18,1.322,6,0.130,0.000,2431,2748,2618,0,0,0,0,0,0
$STATE,7158,end apogee,CONTROL_FINISHED_OK
$STATE,7158,begin climb
$GC,7160,1.64,86.6,997.5,0.0,183,7248,2.00,0.00,83.93,1.298,6,0.084,0.000,2851,2748,2265,0,0,0,0,0,0
$GC,7523,1.64,86.6,946.6,16.1,189,7527,0.00,3.12,0.00,0.000,4,0.000,0.164,2851,1331,2254,0,0,0,0,0,0
$GC,7602,1.64,86.6,933.7,16.6,190,7606,0.00,3.05,0.00,0.000,6,0.000,0.137,2851,2753,2253,0,0,0,0,0,0
$GC,7940,1.64,86.6,877.9,16.5,196,7944,0.00,2.92,0.00,0.000,4,0.000,0.120,2851,1329,2250,0,0,0,0,0,0
$GC,8042,1.64,86.6,861.0,16.6,197,8046,0.00,2.83,0.00,0.000,6,0.000,0.100,2851,2758,2250,0,0,0,0,0,0
$GC,8369,1.64,86.6,806.2,16.6,203,8374,0.00,2.78,0.00,0.000,4,0.000,0.087,2851,1332,2247,0,0,0,0,0,0
$GC,8428,1.64,86.6,796.4,16.9,203,8434,0.00,2.72,0.00,0.000,6,0.000,0.076,2851,2754,2247,0,0,0,0,0,0
$GC,8735,1.64,86.6,746.5,16.2,209,8739,0.00,2.70,0.00,0.000,4,0.000,0.073,2852,1326,2246,0,0,0,0,0,0
$GC,8863,1.64,86.6,725.3,15.9,211,8867,0.00,2.60,0.00,0.000,6,0.000,0.059,2851,2760,2246,0,0,0,0,0,0
$GC,9228,1.64,86.6,669.0,14.8,217,9232,0.00,2.65,0.00,0.000,4,0.000,0.061,2851,1321,2244,0,0,0,0,0,0
$GC,9346,1.64,86.6,653.0,13.8,218,9350,0.00,2.60,0.00,0.000,6,0.000,0.053,2851,2754,2245,0,0,0,0,0,0
$GC,9658,1.64,86.6,611.3,13.3,224,9662,0.00,2.60,0.00,0.000,4,0.000,0.056,2851,1323,2243,0,0,0,0,0,0
$GC,9781,1.64,86.6,595.0,13.3,225,9786,0.00,2.58,0.00,0.000,6,0.000,0.049,2851,2757,2243,0,0,0,0,0,0
$GC,10087,1.64,86.6,554.1,13.3,231,10091,0.00,2.58,0.00,0.000,4,0.000,0.052,2851,1320,2242,0,0,0,0,0,0
$GC,10172,1.64,86.6,541.6,14.5,232,10176,0.00,2.55,0.00,0.000,6,0.000,0.047,2851,2749,2242,0,0,0,0,0,0
$GC,10517,1.64,86.6,491.1,14.5,238,10521,0.00,2.53,0.00,0.000,4,0.000,0.051,2851,1311,2241,0,0,0,0,0,0
$GC,10762,1.64,86.6,461.4,12.0,241,10766,0.00,2.58,0.00,0.000,6,0.000,0.046,2851,2761,2242,0,0,0,0,0,0
$GC,11075,1.64,86.6,428.3,10.5,247,11079,0.00,2.55,0.00,0.000,4,0.000,0.049,2851,1307,2241,0,0,0,0,0,0
$GC,11197,1.64,86.6,416.4,10.1,248,11204,0.00,2.55,0.00,0.000,6,0.000,0.045,2851,2749,2241,0,0,0,0,0,0
$GC,11504,1.64,86.6,384.8,10.2,254,11509,0.00,2.55,0.00,0.000,4,0.000,0.048,2851,1314,2240,0,0,0,0,0,0
$GC,11563,1.64,86.6,378.4,11.0,254,11568,0.00,2.50,0.00,0.000,6,0.000,0.044,2851,2757,2241,0,0,0,0,0,0
$GC,11869,1.64,86.6,345.8,10.5,260,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2758,2240,0,0,0,0,0,0
$GC,12171,1.64,86.6,314.2,10.5,265,12175,0.00,2.55,0.00,0.000,4,0.000,0.048,2851,1316,2241,0,0,0,0,0,0
$GC,12262,1.64,86.6,305.6,10.0,266,12265,0.00,2.53,0.00,0.000,6,0.000,0.044,2851,2752,2241,0,0,0,0,0,0
$GC,12571,1.66,100.2,276.5,8.6,275,12582,0.00,0.00,9.18,0.761,6,0.000,0.000,2850,2752,2208,0,0,0,0,0,0
$GC,12875,1.67,114.5,249.6,8.5,285,12895,0.00,2.60,13.93,0.779,4,0.000,0.045,2851,1308,2152,0,0,0,0,0,0
$GC,13135,1.67,114.5,222.2,10.1,293,13140,0.00,2.55,0.00,0.000,6,0.000,0.042,2851,2759,2148,0,0,0,0,0,0
$GC,13466,1.69,131.8,192.6,8.2,304,13487,0.00,2.20,16.67,0.735,4,0.000,0.055,2851,3945,2078,0,0,0,0,0,0
$GC,13539,1.70,135.6,185.5,9.6,306,13548,0.00,2.17,4.60,0.555,6,0.000,0.038,2851,2687,2064,0,0,0,0,0,0
$GC,13858,1.70,138.7,154.2,9.7,317,13867,0.00,2.42,4.05,0.501,4,0.000,0.044,2851,1306,2052,0,0,0,0,0,0
$GC,14007,1.70,138.7,138.1,10.5,321,14011,0.00,2.53,0.00,0.000,6,0.000,0.040,2851,2756,2052,0,0,0,0,0,0
$GC,14321,1.71,146.3,107.0,9.2,332,14335,0.00,2.17,8.18,0.581,4,0.000,0.053,2851,3953,2021,0,0,0,0,0,0
$GC,14389,1.71,146.3,100.4,10.0,334,14394,0.00,2.12,0.00,0.000,6,0.000,0.036,2851,2696,2019,0,0,0,0,0,0
$GC,14705,1.72,156.4,70.4,8.9,363,14720,0.00,2.40,10.02,0.558,4,0.000,0.044,2851,1311,1979,0,0,0,0,0,0
$GC,14961,1.78,207.9,55.2,4.7,387,15013,0.15,2.45,45.20,0.582,6,0.081,0.039,2887,2766,1769,0,0,0,0,0,0
$GC,15198,1.78,207.9,29.5,12.4,410,15202,0.00,2.50,0.00,0.000,4,0.000,0.041,2887,1297,1763,0,0,0,0,0,0
$STATE,15426,end climb,SURFACE_DEPTH_REACHED
$STATE,15426,begin surface coast
$FINISH,0.0,1.022764
$STATE,15447,end surface coast,CONTROL_FINISHED_OK
$STATE,15447,begin surface
$SM_CCo,15468,97.47,0.500,0,0,987,400.08
$SM_GC,0.71,0.00,0.00,97.47,0.000,0.000,0.500,373,2912,987,-9.76,-0.25,400.08
$IRIDIUM_FIX,1918.37,-15555.29,100511,080843
$TT8_MAMPS,0.059826
$HUMID,1078567087
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.8,17.888
$10V_AH,10.0,44.701
$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,24.175,140.225,269.925,97.475,0.000,24.352,27.600,101.582,0.000,0.000,38.194,0.000,13035.806,533.863,1881.022,371.489,33.339,1375.847,0.000,1546.703,0.000,0.531,0.000
$DEVICE_MAMPS,162.604,184.080,1321.541,500.084,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,300.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,15852,449
$CAP_FILE_SIZE,123436,0
$CFSIZE,260034560,249442304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,  5.1,1
$GPS,141109,224936,1923.683,-15558.062,37,1.7,37,9.7