version: 66.07
glider: 22
mission: 14
dive: 109
start: 11 17 109 0 30 23
data:
$ID,22
$MISSION,14
$DIVE,109
$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,-250678.12
$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,48
$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
$GPS1,171109,002507,1923.687,-15557.746,39,1.3,39,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-67.2
$GPS2,171109,002943,1923.760,-15557.745,12,1.9,17,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.290,-0.048
$KALMAN_X,-258334.5,1384.7,1432.3,286558.4,-13345.4
$KALMAN_Y,75955.1,-71.6,15.5,-136240.0,2543.2
$MHEAD_RNG_PITCHd_Wd,305.3,629,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.89,-45.7,0.0,0.0,0,89,0.00,0.00,-74.75,0.000,2,0.000,0.000,371,2949,2669,0,0,0,0,0,0
$GC,91,-1.91,-64.5,3.2,-7.3,14,111,9.32,1.75,-5.75,0.000,4,0.162,0.070,2075,3935,2883,0,0,0,0,0,0
$GC,131,-1.91,-64.5,16.2,-34.2,22,137,0.00,1.80,0.00,0.000,6,0.000,0.038,2076,2866,2884,0,0,0,0,0,0
$GC,199,-1.91,-64.5,40.5,-37.0,30,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2866,2884,0,0,0,0,0,0
$GC,385,-1.91,-64.5,98.3,-24.8,48,389,0.00,2.35,0.00,0.000,4,0.000,0.041,2076,1472,2886,0,0,0,0,0,0
$GC,470,-1.91,-64.5,115.7,-20.5,51,474,0.00,2.47,0.00,0.000,6,0.000,0.043,2076,2901,2886,0,0,0,0,0,0
$GC,784,-1.91,-64.5,178.9,-20.5,62,788,0.00,1.85,0.00,0.000,4,0.000,0.053,2076,3955,2889,0,0,0,0,0,0
$GC,891,-1.91,-64.5,199.7,-22.1,65,895,0.00,1.83,0.00,0.000,6,0.000,0.038,2076,2855,2890,0,0,0,0,0,0
$GC,1215,-1.91,-64.5,255.5,-15.8,76,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2851,2891,0,0,0,0,0,0
$GC,1519,-1.91,-64.5,302.4,-15.1,86,1523,0.00,1.98,0.00,0.000,4,0.000,0.054,2076,3955,2892,0,0,0,0,0,0
$GC,1641,-1.91,-64.5,322.2,-15.9,87,1648,0.00,1.85,0.00,0.000,6,0.000,0.039,2076,2860,2892,0,0,0,0,0,0
$GC,1948,-1.91,-64.5,368.6,-15.0,93,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2859,2892,0,0,0,0,0,0
$GC,2250,-1.91,-64.5,411.1,-14.0,98,2254,0.00,2.38,0.00,0.000,4,0.000,0.045,2074,1480,2891,0,0,0,0,0,0
$GC,2378,-1.91,-64.5,428.4,-12.0,100,2382,0.00,2.50,0.00,0.000,6,0.000,0.048,2076,2920,2891,0,0,0,0,0,0
$GC,2743,-1.91,-64.5,474.4,-12.4,106,2747,0.00,1.88,0.00,0.000,4,0.000,0.061,2076,3950,2887,0,0,0,0,0,0
$GC,2775,-1.91,-64.5,478.8,-14.0,106,2779,0.00,1.88,0.00,0.000,6,0.000,0.041,2076,2866,2886,0,0,0,0,0,0
$GC,3109,-1.91,-64.5,525.0,-13.9,112,3113,0.00,1.98,0.00,0.000,4,0.000,0.061,2076,3950,2884,0,0,0,0,0,0
$GC,3199,-1.91,-64.5,538.6,-14.8,113,3203,0.00,1.88,0.00,0.000,6,0.000,0.042,2076,2873,2884,0,0,0,0,0,0
$GC,3538,-1.91,-64.5,585.8,-13.9,119,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2872,2881,0,0,0,0,0,0
$GC,3840,-1.91,-64.5,624.3,-12.8,124,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2872,2879,0,0,0,0,0,0
$GC,4141,-1.91,-64.5,660.2,-12.1,129,4146,0.00,2.00,0.00,0.000,4,0.000,0.069,2076,3944,2878,0,0,0,0,0,0
$GC,4226,-1.91,-64.5,671.7,-13.0,130,4231,0.00,1.80,0.00,0.000,6,0.000,0.045,2076,2928,2876,0,0,0,0,0,0
$GC,4571,-1.91,-64.5,711.9,-11.5,136,4575,0.00,1.95,0.00,0.000,4,0.000,0.077,2076,3951,2873,0,0,0,0,0,0
$GC,4656,-1.91,-64.5,722.1,-11.9,137,4660,0.00,1.85,0.00,0.000,6,0.000,0.050,2076,2923,2872,0,0,0,0,0,0
$GC,5000,-1.91,-64.5,758.2,-10.3,143,5004,0.00,2.62,0.00,0.000,4,0.000,0.080,2076,1508,2871,0,0,0,0,0,0
$GC,5048,-1.91,-64.5,763.0,-10.1,143,5052,0.00,2.62,0.00,0.000,6,0.000,0.071,2076,2907,2870,0,0,0,0,0,0
$GC,5365,-1.91,-64.5,795.5,-10.1,149,5370,0.00,2.05,0.00,0.000,4,0.000,0.104,2076,3952,2868,0,0,0,0,0,0
$GC,5397,-1.91,-64.5,798.9,-11.3,149,5401,0.00,1.95,0.00,0.000,6,0.000,0.069,2076,2923,2868,0,0,0,0,0,0
$GC,5731,-1.91,-64.5,834.7,-10.8,155,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2923,2867,0,0,0,0,0,0
$GC,6033,-1.91,-64.5,866.9,-10.7,160,6037,0.00,2.17,0.00,0.000,4,0.000,0.127,2076,3951,2866,0,0,0,0,0,0
$GC,6080,-1.91,-64.5,872.5,-12.5,160,6084,0.00,2.10,0.00,0.000,6,0.000,0.106,2076,2922,2866,0,0,0,0,0,0
$GC,6398,-1.91,-64.5,905.0,-10.0,166,6402,0.00,2.95,0.00,0.000,4,0.000,0.140,2076,1499,2865,0,0,0,0,0,0
$GC,6462,-1.91,-66.8,911.4,-9.7,167,6466,0.00,3.03,0.00,0.000,6,0.000,0.137,2076,2928,2865,0,0,0,0,0,0
$GC,6822,-1.91,-66.8,948.3,-10.2,173,6826,0.00,2.38,0.00,0.000,4,0.000,0.181,2076,3954,2862,0,0,0,0,0,0
$GC,6886,-1.91,-66.8,955.0,-10.5,174,6890,0.00,2.38,0.00,0.000,6,0.000,0.160,2076,2921,2862,0,0,0,0,0,0
$GC,7252,-1.92,-70.0,990.0,-9.5,180,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2921,2860,0,0,0,0,0,0
$STATE,7310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7310,begin apogee
$GC,7314,-0.28,0.0,995.5,9.5,181,7374,1.83,0.00,56.97,1.322,6,0.133,0.000,2428,2739,2618,0,0,0,0,0,0
$STATE,7375,end apogee,CONTROL_FINISHED_OK
$STATE,7375,begin climb
$GC,7377,1.92,70.0,996.7,0.0,182,7451,2.30,0.00,70.45,1.296,6,0.081,0.000,2910,2739,2332,0,0,0,0,0,0
$GC,7734,1.92,70.0,940.8,17.5,188,7738,0.00,3.08,0.00,0.000,4,0.000,0.161,2910,1333,2323,0,0,0,0,0,0
$GC,7824,1.92,70.0,925.5,16.7,189,7829,0.00,3.05,0.00,0.000,6,0.000,0.132,2910,2755,2321,0,0,0,0,0,0
$GC,8163,1.92,70.0,870.9,15.9,195,8167,0.00,2.95,0.00,0.000,4,0.000,0.115,2910,1325,2319,0,0,0,0,0,0
$GC,8360,1.92,70.0,839.5,15.5,198,8364,0.00,2.80,0.00,0.000,6,0.000,0.090,2910,2751,2318,0,0,0,0,0,0
$GC,8721,1.92,70.0,786.3,14.6,204,8725,0.00,2.70,0.00,0.000,4,0.000,0.081,2910,1322,2316,0,0,0,0,0,0
$GC,8854,1.92,70.0,766.9,14.5,206,8858,0.00,2.65,0.00,0.000,6,0.000,0.065,2910,2763,2316,0,0,0,0,0,0
$GC,9214,1.92,70.0,712.9,15.0,212,9218,0.00,2.67,0.00,0.000,4,0.000,0.064,2910,1320,2314,0,0,0,0,0,0
$GC,9449,1.92,70.0,680.2,14.1,215,9453,0.00,2.62,0.00,0.000,6,0.000,0.054,2910,2763,2314,0,0,0,0,0,0
$GC,9772,1.92,70.0,634.1,14.4,221,9776,0.00,2.62,0.00,0.000,4,0.000,0.057,2910,1319,2314,0,0,0,0,0,0
$GC,10017,1.92,70.0,597.5,14.8,224,10022,0.00,2.58,0.00,0.000,6,0.000,0.050,2910,2755,2313,0,0,0,0,0,0
$GC,10330,1.92,70.0,553.7,13.8,230,10334,0.00,2.60,0.00,0.000,4,0.000,0.053,2910,1309,2313,0,0,0,0,0,0
$GC,10480,1.92,70.0,534.1,13.7,232,10484,0.00,2.55,0.00,0.000,6,0.000,0.048,2910,2764,2313,0,0,0,0,0,0
$GC,10818,1.92,70.0,494.8,11.3,238,10822,0.00,2.58,0.00,0.000,4,0.000,0.050,2910,1317,2312,0,0,0,0,0,0
$GC,10850,1.92,70.0,491.2,10.7,238,10854,0.00,2.55,0.00,0.000,6,0.000,0.047,2910,2759,2312,0,0,0,0,0,0
$GC,11183,1.92,70.0,451.7,12.0,244,11187,0.00,2.58,0.00,0.000,4,0.000,0.049,2910,1314,2312,0,0,0,0,0,0
$GC,11354,1.92,70.0,431.6,11.0,246,11358,0.00,2.55,0.00,0.000,6,0.000,0.045,2910,2756,2312,0,0,0,0,0,0
$GC,11677,1.92,70.0,397.8,10.2,252,11681,0.00,2.55,0.00,0.000,4,0.000,0.048,2910,1317,2311,0,0,0,0,0,0
$GC,11922,1.92,70.0,370.5,10.0,255,11926,0.00,2.53,0.00,0.000,6,0.000,0.045,2910,2751,2311,0,0,0,0,0,0
$GC,12235,1.92,72.6,340.1,9.6,261,12239,0.00,2.55,0.00,0.000,4,0.000,0.048,2910,1306,2311,0,0,0,0,0,0
$GC,12481,1.93,85.6,319.5,8.1,264,12497,0.00,2.50,11.55,0.811,6,0.000,0.044,2910,2761,2269,0,0,0,0,0,0
$GC,12822,1.94,94.5,287.1,8.7,272,12833,0.00,0.00,9.60,0.769,6,0.000,0.000,2910,2762,2232,0,0,0,0,0,0
$GC,13125,1.95,100.9,259.0,9.1,282,13136,0.00,2.20,7.32,0.704,4,0.000,0.057,2910,3954,2205,0,0,0,0,0,0
$GC,13370,1.96,108.7,237.1,8.9,289,13383,0.00,2.17,8.30,0.702,6,0.000,0.038,2910,2689,2174,0,0,0,0,0,0
$GC,13709,1.96,108.7,205.3,10.2,301,13713,0.00,2.40,0.00,0.000,4,0.000,0.045,2910,1304,2173,0,0,0,0,0,0
$GC,13955,1.98,124.8,187.2,7.6,308,13975,0.00,2.47,15.80,0.703,6,0.000,0.041,2910,2761,2109,0,0,0,0,0,0
$GC,14295,1.98,124.8,149.6,11.5,320,14298,0.00,2.50,0.00,0.000,4,0.000,0.043,2910,1298,2106,0,0,0,0,0,0
$GC,14443,1.98,125.8,134.7,9.9,324,14449,0.00,2.50,0.00,0.000,6,0.000,0.039,2910,2750,2106,0,0,0,0,0,0
$GC,14752,1.98,125.8,101.9,11.5,335,14752,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2750,2105,0,0,0,0,0,0
$GC,15063,2.04,182.0,83.1,1.8,363,15118,0.12,2.50,50.67,0.608,4,0.090,0.040,2941,1308,1874,0,0,0,0,0,0
$GC,15358,2.04,182.0,54.9,11.6,390,15364,0.00,2.45,0.00,0.000,6,0.000,0.038,2941,2765,1869,0,0,0,0,0,0
$GC,15549,2.04,182.0,32.5,12.3,409,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2765,1869,0,0,0,0,0,0
$GC,15738,2.04,182.0,7.6,13.4,435,15744,0.00,2.47,0.00,0.000,4,0.000,0.041,2941,1297,1869,0,0,0,0,0,0
$STATE,15773,end climb,SURFACE_DEPTH_REACHED
$STATE,15773,begin surface coast
$FINISH,0.1,1.023016
$STATE,15795,end surface coast,CONTROL_FINISHED_OK
$STATE,15795,begin surface
$SM_CCo,15816,114.85,0.497,0,0,986,400.08
$SM_GC,0.87,0.00,0.00,114.85,0.000,0.000,0.497,376,2915,986,-9.74,-0.14,400.08
$IRIDIUM_FIX,1916.08,-15557.38,120511,141451
$TT8_MAMPS,0.059826
$HUMID,1078565797
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,22.9,19.228
$10V_AH,10.0,45.327
$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,24.725,138.375,230.675,114.850,0.000,31.177,30.810,118.361,0.000,0.000,17.433,0.000,13253.608,533.100,1999.941,408.235,33.350,1411.057,0.000,1677.479,0.000,0.531,0.000
$DEVICE_MAMPS,161.837,200.954,1322.308,497.016,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,298.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,15884,446
$CAP_FILE_SIZE,127271,0
$CFSIZE,260034560,248737792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,340.3,1
$GPS,171109,045655,1925.527,-15558.707,40,1.5,40,9.7