version: 66.07
glider: 22
mission: 14
dive: 107
start: 11 16 109 15 53 15
data:
$ID,22
$MISSION,14
$DIVE,107
$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,-250641.73
$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,43
$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
$GPS1,161109,154825,1924.919,-15558.784,43,1.5,43,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-68.3
$GPS2,161109,155232,1924.985,-15558.815,15,1.5,15,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.280,-0.088
$KALMAN_X,-248332.9,828.5,-215.4,276911.3,-11136.0
$KALMAN_Y,73631.4,-575.3,933.6,-132083.4,2128.6
$MHEAD_RNG_PITCHd_Wd,132.3,2315,-26.4,-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,-1.55,-72.1,0.0,0.0,0,88,0.00,0.00,-73.82,0.000,2,0.000,0.000,370,2944,2651,0,0,0,0,0,0
$GC,91,-1.58,-105.0,3.2,-6.9,14,116,9.65,0.00,-10.43,0.000,6,0.159,0.000,2147,2944,3049,0,0,0,0,0,0
$GC,184,-1.58,-105.0,31.9,-34.0,29,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2944,3050,0,0,0,0,0,0
$GC,369,-1.58,-105.0,90.7,-25.6,47,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2944,3051,0,0,0,0,0,0
$GC,563,-1.58,-105.0,135.7,-22.4,56,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2944,3052,0,0,0,0,0,0
$GC,866,-1.58,-105.0,205.5,-23.2,66,870,0.00,1.75,0.00,0.000,4,0.000,0.055,2146,3940,3054,0,0,0,0,0,0
$GC,887,-1.58,-105.0,210.5,-24.1,66,891,0.00,1.80,0.00,0.000,6,0.000,0.037,2147,2850,3054,0,0,0,0,0,0
$GC,1201,-1.58,-105.0,271.8,-18.6,77,1205,0.00,1.95,0.00,0.000,4,0.000,0.053,2147,3942,3056,0,0,0,0,0,0
$GC,1366,-1.58,-105.0,302.4,-18.8,82,1370,0.00,1.80,0.00,0.000,6,0.000,0.038,2147,2855,3057,0,0,0,0,0,0
$GC,1694,-1.58,-105.0,354.9,-15.6,88,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2853,3057,0,0,0,0,0,0
$GC,1996,-1.58,-105.0,404.3,-16.6,93,2000,0.00,1.95,0.00,0.000,4,0.000,0.057,2148,3935,3057,0,0,0,0,0,0
$GC,2188,-1.58,-105.0,436.5,-16.3,96,2192,0.00,1.83,0.00,0.000,6,0.000,0.041,2147,2861,3056,0,0,0,0,0,0
$GC,2554,-1.58,-105.0,491.5,-14.9,102,2559,0.00,1.95,0.00,0.000,4,0.000,0.059,2147,3934,3053,0,0,0,0,0,0
$GC,2613,-1.58,-105.0,501.1,-17.0,102,2618,0.00,1.83,0.00,0.000,6,0.000,0.041,2147,2871,3052,0,0,0,0,0,0
$GC,2919,-1.58,-105.0,548.2,-15.3,108,2923,0.00,1.92,0.00,0.000,4,0.000,0.061,2147,3928,3051,0,0,0,0,0,0
$GC,3031,-1.58,-105.0,566.1,-15.4,109,3035,0.00,1.75,0.00,0.000,6,0.000,0.043,2147,2915,3050,0,0,0,0,0,0
$GC,3349,-1.58,-105.0,612.2,-14.3,115,3353,0.00,1.88,0.00,0.000,4,0.000,0.064,2147,3930,3047,0,0,0,0,0,0
$GC,3471,-1.58,-105.0,628.9,-13.3,116,3477,0.00,1.75,0.00,0.000,6,0.000,0.043,2148,2928,3046,0,0,0,0,0,0
$GC,3778,-1.58,-105.0,666.4,-12.0,122,3782,0.00,1.88,0.00,0.000,4,0.000,0.071,2147,3933,3043,0,0,0,0,0,0
$GC,3853,-1.58,-105.0,677.1,-14.6,123,3857,0.00,1.80,0.00,0.000,6,0.000,0.045,2147,2917,3042,0,0,0,0,0,0
$GC,4207,-1.58,-105.0,722.2,-12.7,129,4211,0.00,1.92,0.00,0.000,4,0.000,0.079,2147,3927,3039,0,0,0,0,0,0
$GC,4255,-1.58,-105.0,728.6,-13.5,129,4259,0.00,1.80,0.00,0.000,6,0.000,0.051,2148,2926,3039,0,0,0,0,0,0
$GC,4573,-1.58,-105.0,770.0,-13.0,135,4577,0.00,1.95,0.00,0.000,4,0.000,0.087,2147,3929,3037,0,0,0,0,0,0
$GC,4631,-1.58,-105.0,777.7,-13.4,135,4638,0.00,1.88,0.00,0.000,6,0.000,0.061,2147,2923,3037,0,0,0,0,0,0
$GC,4938,-1.58,-105.0,815.2,-12.2,141,4943,0.00,2.00,0.00,0.000,4,0.000,0.104,2148,3918,3035,0,0,0,0,0,0
$GC,4996,-1.58,-105.0,823.0,-13.4,141,5002,0.00,1.92,0.00,0.000,6,0.000,0.079,2148,2921,3035,0,0,0,0,0,0
$GC,5303,-1.58,-105.0,860.5,-12.1,147,5307,0.00,2.10,0.00,0.000,4,0.000,0.124,2148,3921,3034,0,0,0,0,0,0
$GC,5432,-1.58,-105.0,877.5,-13.4,149,5436,0.00,2.05,0.00,0.000,6,0.000,0.109,2146,2923,3032,0,0,0,0,0,0
$GC,5797,-1.58,-105.0,923.6,-12.6,155,5801,0.00,2.25,0.00,0.000,4,0.000,0.160,2147,3918,3031,0,0,0,0,0,0
$GC,5845,-1.58,-105.0,929.7,-13.2,155,5849,0.00,2.20,0.00,0.000,6,0.000,0.142,2148,2917,3030,0,0,0,0,0,0
$GC,6162,-1.58,-105.0,968.7,-12.3,161,6166,0.00,2.42,0.00,0.000,4,0.000,0.191,2147,3920,3029,0,0,0,0,0,0
$GC,6242,-1.58,-105.0,979.5,-13.9,162,6247,0.00,2.40,0.00,0.000,6,0.000,0.179,2148,2912,3028,0,0,0,0,0,0
$STATE,6348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6348,begin apogee
$GC,6353,-0.28,0.0,993.5,12.9,164,6451,1.45,0.00,94.85,1.318,6,0.128,0.000,2431,2739,2618,0,0,0,0,0,0
$STATE,6451,end apogee,CONTROL_FINISHED_OK
$STATE,6451,begin climb
$GC,6453,1.58,105.0,995.9,0.0,165,6563,1.95,0.00,105.88,1.279,6,0.084,0.000,2835,2739,2189,0,0,0,0,0,0
$GC,6832,1.58,105.0,943.8,16.4,172,6837,0.00,3.15,0.00,0.000,4,0.000,0.163,2835,1329,2178,0,0,0,0,0,0
$GC,6934,1.58,105.0,926.8,16.6,173,6938,0.00,2.95,0.00,0.000,6,0.000,0.130,2835,2724,2177,0,0,0,0,0,0
$GC,7256,1.58,105.0,872.1,17.1,179,7261,0.00,2.85,0.00,0.000,4,0.000,0.112,2835,1333,2174,0,0,0,0,0,0
$GC,7309,1.58,105.0,863.2,17.0,179,7313,0.00,2.85,0.00,0.000,6,0.000,0.097,2835,2758,2173,0,0,0,0,0,0
$GC,7622,1.58,105.0,811.8,16.4,185,7625,0.00,2.75,0.00,0.000,4,0.000,0.087,2835,1326,2171,0,0,0,0,0,0
$GC,7691,1.58,105.0,800.5,16.3,186,7695,0.00,2.70,0.00,0.000,6,0.000,0.074,2835,2763,2171,0,0,0,0,0,0
$GC,8051,1.58,105.0,744.3,15.2,192,8055,0.00,2.72,0.00,0.000,4,0.000,0.072,2836,1322,2169,0,0,0,0,0,0
$GC,8109,1.58,105.0,735.8,14.6,192,8115,0.00,2.65,0.00,0.000,6,0.000,0.061,2836,2757,2169,0,0,0,0,0,0
$GC,8416,1.58,105.0,694.3,13.3,198,8421,0.00,2.65,0.00,0.000,4,0.000,0.063,2835,1323,2168,0,0,0,0,0,0
$GC,8490,1.58,105.0,684.9,12.4,199,8495,0.00,2.62,0.00,0.000,6,0.000,0.054,2835,2765,2168,0,0,0,0,0,0
$GC,8846,1.58,105.0,641.2,12.1,205,8849,0.00,2.60,0.00,0.000,4,0.000,0.058,2835,1318,2167,0,0,0,0,0,0
$GC,8930,1.58,105.0,630.3,13.5,206,8935,0.00,2.60,0.00,0.000,6,0.000,0.051,2835,2757,2167,0,0,0,0,0,0
$GC,9275,1.58,105.0,585.7,13.1,212,9279,0.00,2.60,0.00,0.000,4,0.000,0.054,2835,1317,2166,0,0,0,0,0,0
$GC,9371,1.58,105.0,572.6,13.2,213,9375,0.00,2.58,0.00,0.000,6,0.000,0.049,2836,2762,2166,0,0,0,0,0,0
$GC,9704,1.58,105.0,528.8,13.2,219,9708,0.00,2.60,0.00,0.000,4,0.000,0.052,2835,1313,2165,0,0,0,0,0,0
$GC,9800,1.58,105.0,517.1,12.1,220,9804,0.00,2.58,0.00,0.000,6,0.000,0.048,2835,2759,2165,0,0,0,0,0,0
$GC,10134,1.58,105.0,477.4,12.1,226,10138,0.00,2.58,0.00,0.000,4,0.000,0.051,2835,1315,2165,0,0,0,0,0,0
$GC,10187,1.58,105.0,470.8,12.3,226,10191,0.00,2.55,0.00,0.000,6,0.000,0.046,2836,2756,2165,0,0,0,0,0,0
$GC,10499,1.58,105.0,429.9,13.2,232,10503,0.00,2.53,0.00,0.000,4,0.000,0.050,2835,1311,2164,0,0,0,0,0,0
$GC,10744,1.58,105.0,397.3,12.6,235,10749,0.00,2.55,0.00,0.000,6,0.000,0.045,2835,2760,2164,0,0,0,0,0,0
$GC,11057,1.58,105.0,360.9,11.6,241,11061,0.00,2.53,0.00,0.000,4,0.000,0.048,2835,1312,2164,0,0,0,0,0,0
$GC,11302,1.58,105.0,334.3,11.0,244,11306,0.00,2.53,0.00,0.000,6,0.000,0.044,2835,2751,2164,0,0,0,0,0,0
$GC,11615,1.58,105.0,300.0,11.3,250,11618,0.00,2.15,0.00,0.000,4,0.000,0.058,2835,3943,2164,0,0,0,0,0,0
$GC,11651,1.58,105.0,295.5,12.0,251,11656,0.00,2.15,0.00,0.000,6,0.000,0.040,2835,2700,2162,0,0,0,0,0,0
$GC,11982,1.58,106.7,261.1,9.8,262,11985,0.00,2.28,0.00,0.000,4,0.000,0.055,2835,3950,2163,0,0,0,0,0,0
$GC,12222,1.59,111.9,236.7,9.5,269,12226,0.00,2.08,0.00,0.000,6,0.000,0.039,2836,2743,2162,0,0,0,0,0,0
$GC,12541,1.63,148.1,213.6,6.6,280,12581,0.00,2.47,34.78,0.764,4,0.000,0.047,2836,1354,2013,0,0,0,0,0,0
$GC,12822,1.63,148.1,185.3,11.0,288,12828,0.00,2.42,0.00,0.000,6,0.000,0.041,2835,2751,2008,0,0,0,0,0,0
$GC,13130,1.63,148.1,151.6,11.1,299,13134,0.00,2.42,0.00,0.000,4,0.000,0.043,2836,1351,2007,0,0,0,0,0,0
$GC,13306,1.63,148.1,132.6,11.4,304,13311,0.00,2.42,0.00,0.000,6,0.000,0.040,2835,2761,2007,0,0,0,0,0,0
$GC,13626,1.64,157.3,100.8,9.1,315,13640,0.00,2.15,8.30,0.564,4,0.000,0.052,2836,3954,1975,0,0,0,0,0,0
$GC,13759,1.64,157.3,86.0,12.1,325,13764,0.00,2.05,0.00,0.000,6,0.000,0.036,2836,2735,1974,0,0,0,0,0,0
$GC,13950,1.65,167.9,67.6,9.0,344,13965,0.00,2.15,11.02,0.548,4,0.000,0.051,2835,3950,1931,0,0,0,0,0,0
$GC,14205,1.69,203.6,42.8,6.7,367,14242,0.08,2.03,32.10,0.557,6,0.061,0.037,2862,2753,1787,0,0,0,0,0,0
$GC,14427,1.69,203.6,19.9,11.1,389,14433,0.00,2.12,0.00,0.000,4,0.000,0.053,2862,3941,1780,0,0,0,0,0,0
$STATE,14570,end climb,SURFACE_DEPTH_REACHED
$STATE,14571,begin surface coast
$FINISH,0.2,0.999195
$STATE,14596,end surface coast,CONTROL_FINISHED_OK
$STATE,14596,begin surface
$SM_CCo,14615,104.28,0.503,0,0,986,400.08
$SM_GC,0.84,0.00,0.00,104.28,0.000,0.000,0.503,375,2926,986,-9.75,0.17,400.08
$IRIDIUM_FIX,1918.37,-15557.38,120511,060620
$TT8_MAMPS,0.059826
$HUMID,1078592893
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.9,19.039
$10V_AH,10.0,45.223
$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,23.925,140.500,286.925,104.275,0.000,26.233,31.549,101.141,0.000,0.000,15.055,0.000,12136.939,583.820,1864.226,374.669,33.349,1416.969,0.000,1552.250,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,197.119,1317.706,503.152,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,280.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,15876,421
$CAP_FILE_SIZE,123375,0
$CFSIZE,260034560,248852480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,347.8,1
$GPS,161109,195937,1924.274,-15558.212,41,1.6,41,9.7