version: 66.07
glider: 22
mission: 14
dive: 106
start: 11 16 109 11 46 34
data:
$ID,22
$MISSION,14
$DIVE,106
$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,35
$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,-250626.06
$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,56
$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
$GPS1,161109,114107,1923.993,-15557.281,35,1.3,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-69.3
$GPS2,161109,114554,1924.077,-15557.287,33,1.9,43,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.275,-0.103
$KALMAN_X,-242658.0,1045.2,1579.4,271858.3,-13429.5
$KALMAN_Y,71370.1,-740.2,-284.2,-130103.2,4405.5
$MHEAD_RNG_PITCHd_Wd,253.8,1252,-33.1,-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,-1.89,-45.7,0.0,0.0,0,85,0.00,0.00,-71.68,0.000,2,0.000,0.000,373,2943,2590,0,0,0,0,0,0
$GC,88,-1.91,-60.8,3.1,-7.8,14,109,9.23,1.80,-7.75,0.000,4,0.160,0.069,2074,3949,2867,0,0,0,0,0,0
$GC,348,-1.91,-60.8,95.0,-33.9,44,354,0.00,1.73,0.00,0.000,6,0.000,0.037,2074,2920,2869,0,0,0,0,0,0
$GC,556,-1.91,-60.8,145.3,-20.8,53,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2917,2872,0,0,0,0,0,0
$GC,859,-1.91,-60.8,204.3,-18.5,63,863,0.00,2.35,0.00,0.000,4,0.000,0.041,2074,1526,2875,0,0,0,0,0,0
$GC,897,-1.91,-60.8,211.4,-17.5,64,900,0.00,2.40,0.00,0.000,6,0.000,0.042,2074,2914,2875,0,0,0,0,0,0
$GC,1226,-1.91,-60.8,266.3,-16.6,75,1230,0.00,1.83,0.00,0.000,4,0.000,0.054,2074,3952,2876,0,0,0,0,0,0
$GC,1301,-1.91,-60.8,279.0,-16.7,77,1305,0.00,1.75,0.00,0.000,6,0.000,0.038,2074,2902,2876,0,0,0,0,0,0
$GC,1624,-1.91,-60.8,327.6,-15.1,85,1628,0.00,1.88,0.00,0.000,4,0.000,0.054,2074,3949,2876,0,0,0,0,0,0
$GC,1770,-1.91,-60.8,349.7,-15.7,87,1773,0.00,1.70,0.00,0.000,6,0.000,0.041,2074,2924,2876,0,0,0,0,0,0
$GC,2118,-1.91,-60.8,398.5,-13.8,93,2122,0.00,1.85,0.00,0.000,4,0.000,0.057,2074,3947,2876,0,0,0,0,0,0
$GC,2219,-1.91,-60.8,415.1,-16.7,94,2224,0.00,1.77,0.00,0.000,6,0.000,0.041,2074,2905,2875,0,0,0,0,0,0
$GC,2548,-1.91,-60.8,460.8,-13.7,100,2552,0.00,1.90,0.00,0.000,4,0.000,0.058,2074,3953,2874,0,0,0,0,0,0
$GC,2623,-1.91,-60.8,471.4,-15.0,101,2626,0.00,1.77,0.00,0.000,6,0.000,0.041,2074,2920,2873,0,0,0,0,0,0
$GC,2977,-1.91,-60.8,516.9,-13.0,107,2981,0.00,2.42,0.00,0.000,4,0.000,0.048,2074,1523,2871,0,0,0,0,0,0
$GC,2998,-1.91,-60.8,519.7,-13.1,107,3002,0.00,2.47,0.00,0.000,6,0.000,0.050,2074,2914,2871,0,0,0,0,0,0
$GC,3342,-1.91,-60.8,562.9,-12.5,113,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2914,2868,0,0,0,0,0,0
$GC,3644,-1.91,-60.8,597.9,-11.5,118,3648,0.00,2.45,0.00,0.000,4,0.000,0.051,2074,1536,2866,0,0,0,0,0,0
$GC,3795,-1.91,-60.8,614.3,-11.2,120,3798,0.00,2.45,0.00,0.000,6,0.000,0.054,2074,2920,2865,0,0,0,0,0,0
$GC,4132,-1.91,-60.8,652.6,-11.3,126,4136,0.00,1.92,0.00,0.000,4,0.000,0.074,2074,3951,2861,0,0,0,0,0,0
$GC,4294,-1.91,-60.8,672.9,-13.6,128,4297,0.00,1.80,0.00,0.000,6,0.000,0.046,2074,2931,2861,0,0,0,0,0,0
$GC,4626,-1.91,-60.8,713.8,-12.1,134,4630,0.00,2.55,0.00,0.000,4,0.000,0.065,2074,1523,2858,0,0,0,0,0,0
$GC,4658,-1.91,-60.8,717.6,-11.9,134,4662,0.00,2.58,0.00,0.000,6,0.000,0.065,2074,2915,2858,0,0,0,0,0,0
$GC,4992,-1.91,-60.8,756.8,-11.7,140,4995,0.00,2.58,0.00,0.000,4,0.000,0.074,2074,1516,2857,0,0,0,0,0,0
$GC,5044,-1.91,-60.8,762.8,-11.6,140,5049,0.00,2.65,0.00,0.000,6,0.000,0.074,2074,2919,2856,0,0,0,0,0,0
$GC,5357,-1.91,-60.8,795.4,-10.3,146,5361,0.00,2.08,0.00,0.000,4,0.000,0.112,2074,3959,2855,0,0,0,0,0,0
$GC,5442,-1.91,-60.8,804.6,-11.2,147,5446,0.00,1.95,0.00,0.000,6,0.000,0.072,2074,2935,2854,0,0,0,0,0,0
$GC,5786,-1.91,-60.8,840.0,-10.1,153,5790,0.00,2.80,0.00,0.000,4,0.000,0.107,2074,1483,2853,0,0,0,0,0,0
$GC,5882,-1.91,-65.4,849.5,-9.3,154,5886,0.00,2.88,0.00,0.000,6,0.000,0.105,2074,2917,2852,0,0,0,0,0,0
$GC,6216,-1.92,-68.9,881.7,-9.5,160,6220,0.00,2.90,0.00,0.000,4,0.000,0.128,2074,1505,2851,0,0,0,0,0,0
$GC,6258,-1.92,-70.8,885.7,-9.7,160,6262,0.00,2.95,0.00,0.000,6,0.000,0.123,2074,2918,2851,0,0,0,0,0,0
$GC,6576,-1.92,-74.7,915.2,-9.4,166,6579,0.00,2.30,0.00,0.000,4,0.000,0.163,2074,3955,2850,0,0,0,0,0,0
$GC,6612,-1.92,-74.7,919.0,-10.5,166,6617,0.00,2.22,0.00,0.000,6,0.000,0.137,2074,2930,2850,0,0,0,0,0,0
$GC,6941,-1.93,-82.3,948.9,-8.9,172,6945,0.00,2.40,0.00,0.000,4,0.000,0.179,2074,3951,2849,0,0,0,0,0,0
$GC,7027,-1.94,-87.1,957.1,-9.3,173,7030,0.00,2.35,0.00,0.000,6,0.000,0.166,2074,2909,2849,0,0,0,0,0,0
$GC,7365,-1.95,-99.1,985.9,-8.2,179,7369,0.00,3.30,0.00,0.000,4,0.000,0.202,2074,1505,2848,0,0,0,0,0,0
$STATE,7416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7416,begin apogee
$GC,7423,-0.28,0.0,990.0,8.3,179,7480,1.77,0.00,53.45,1.323,6,0.134,0.000,2428,2756,2619,0,0,0,0,0,0
$STATE,7480,end apogee,CONTROL_FINISHED_OK
$STATE,7480,begin climb
$GC,7482,1.95,99.1,990.7,0.0,180,7585,2.33,0.00,98.25,1.302,6,0.083,0.000,2926,2756,2215,0,0,0,0,0,0
$GC,7845,1.95,99.1,921.5,21.9,186,7849,0.00,3.12,0.00,0.000,4,0.000,0.151,2926,1332,2203,0,0,0,0,0,0
$GC,7950,1.95,99.1,898.5,20.9,187,7954,0.00,2.95,0.00,0.000,6,0.000,0.120,2926,2759,2202,0,0,0,0,0,0
$GC,8268,1.95,99.1,832.9,20.8,193,8272,0.00,2.80,0.00,0.000,4,0.000,0.096,2926,1327,2199,0,0,0,0,0,0
$GC,8406,1.95,99.1,806.1,19.2,195,8410,0.00,2.75,0.00,0.000,6,0.000,0.077,2926,2759,2198,0,0,0,0,0,0
$GC,8761,1.95,99.1,736.1,19.7,201,8765,0.00,2.67,0.00,0.000,4,0.000,0.070,2926,1316,2196,0,0,0,0,0,0
$GC,8937,1.95,99.1,701.3,19.0,203,8941,0.00,2.65,0.00,0.000,6,0.000,0.057,2926,2763,2195,0,0,0,0,0,0
$GC,9255,1.95,99.1,640.9,18.9,209,9259,0.00,2.62,0.00,0.000,4,0.000,0.061,2926,1313,2194,0,0,0,0,0,0
$GC,9329,1.95,99.1,626.7,19.2,210,9333,0.00,2.60,0.00,0.000,6,0.000,0.051,2927,2755,2194,0,0,0,0,0,0
$GC,9684,1.95,99.1,562.6,18.0,216,9688,0.00,2.60,0.00,0.000,4,0.000,0.054,2926,1319,2193,0,0,0,0,0,0
$GC,9930,1.95,99.1,520.8,16.9,219,9934,0.00,2.58,0.00,0.000,6,0.000,0.048,2926,2758,2193,0,0,0,0,0,0
$GC,10242,1.95,99.1,467.4,17.2,225,10246,0.00,2.60,0.00,0.000,4,0.000,0.051,2926,1309,2192,0,0,0,0,0,0
$GC,10487,1.95,99.1,429.3,14.7,228,10492,0.00,2.58,0.00,0.000,6,0.000,0.046,2926,2761,2192,0,0,0,0,0,0
$GC,10800,1.95,99.1,385.7,13.9,234,10804,0.00,2.55,0.00,0.000,4,0.000,0.049,2926,1303,2191,0,0,0,0,0,0
$GC,11045,1.95,99.1,349.3,14.8,237,11049,0.00,2.58,0.00,0.000,6,0.000,0.044,2926,2760,2192,0,0,0,0,0,0
$GC,11358,1.95,99.1,307.6,13.3,243,11361,0.00,2.53,0.00,0.000,4,0.000,0.048,2926,1308,2191,0,0,0,0,0,0
$GC,11603,1.95,100.9,278.2,9.7,249,11607,0.00,2.55,0.00,0.000,6,0.000,0.043,2926,2763,2191,0,0,0,0,0,0
$GC,11917,1.96,106.4,249.1,9.2,260,11921,0.00,2.53,0.00,0.000,4,0.000,0.045,2926,1300,2191,0,0,0,0,0,0
$GC,12163,1.97,117.8,228.7,8.3,267,12182,0.00,2.53,13.50,0.754,6,0.000,0.041,2926,2753,2137,0,0,0,0,0,0
$GC,12509,1.97,121.8,198.7,9.4,279,12518,0.00,2.50,5.45,0.604,4,0.000,0.042,2926,1306,2120,0,0,0,0,0,0
$GC,12549,1.98,130.8,194.9,8.7,280,12566,0.00,2.53,9.68,0.680,6,0.000,0.040,2926,2754,2083,0,0,0,0,0,0
$GC,12868,1.98,130.8,152.8,14.8,291,12872,0.00,2.47,0.00,0.000,4,0.000,0.042,2926,1303,2082,0,0,0,0,0,0
$GC,13114,1.98,130.8,119.9,11.2,298,13118,0.00,2.50,0.00,0.000,6,0.000,0.038,2926,2753,2082,0,0,0,0,0,0
$GC,13430,1.98,131.3,89.6,9.9,315,13434,0.00,2.50,0.00,0.000,4,0.000,0.041,2926,1302,2082,0,0,0,0,0,0
$GC,13675,2.05,193.1,79.8,1.0,338,13738,0.00,2.47,54.90,0.602,6,0.000,0.038,2926,2757,1828,0,0,0,0,0,0
$GC,13923,2.05,193.1,58.9,11.7,362,13927,0.00,2.50,0.00,0.000,4,0.000,0.041,2926,1310,1824,0,0,0,0,0,0
$GC,13986,2.05,193.1,50.2,14.8,368,13990,0.00,2.47,0.00,0.000,6,0.000,0.038,2926,2751,1822,0,0,0,0,0,0
$GC,14183,2.05,193.1,20.1,15.2,387,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2751,1822,0,0,0,0,0,0
$STATE,14299,end climb,SURFACE_DEPTH_REACHED
$STATE,14299,begin surface coast
$FINISH,0.2,1.023198
$STATE,14322,end surface coast,CONTROL_FINISHED_OK
$STATE,14322,begin surface
$SM_CCo,14339,108.28,0.499,0,0,987,400.08
$SM_GC,0.84,0.00,0.00,108.28,0.000,0.000,0.499,371,2943,987,-9.77,0.65,400.08
$IRIDIUM_FIX,1918.37,-15557.38,120511,010158
$TT8_MAMPS,0.059059
$HUMID,1078578700
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,18.925
$10V_AH,10.0,45.174
$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,24.425,145.725,235.225,108.275,0.000,30.397,29.195,108.475,0.000,0.000,43.629,0.000,11868.257,500.740,1966.050,390.882,33.342,1367.781,0.000,1628.650,0.000,0.531,0.000
$DEVICE_MAMPS,159.536,201.721,1323.075,499.317,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,275.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,15924,412
$CAP_FILE_SIZE,122870,0
$CFSIZE,260034560,248913920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,343.8,1
$GPS,161109,154825,1924.919,-15558.784,43,1.5,43,9.7