version: 66.07
glider: 22
mission: 14
dive: 112
start: 11 17 109 13 4 11
data:
$ID,22
$MISSION,14
$DIVE,112
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,140
$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,-250736.73
$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,33
$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
$GPS1,171109,125907,1923.765,-15557.776,57,1.2,57,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-67.5
$GPS2,171109,130331,1923.837,-15557.778,13,1.7,30,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.290,0.043
$KALMAN_X,-271996.9,841.8,854.7,301276.3,-4644.9
$KALMAN_Y,82378.6,-583.7,98.5,-142088.8,1783.0
$MHEAD_RNG_PITCHd_Wd,298.2,491,-33.1,-10.000
$D_GRID,360
$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,-45.7,0.0,0.0,0,86,0.00,0.00,-71.65,0.000,2,0.000,0.000,371,2931,2583,0,0,0,0,0,0
$GC,88,-1.91,-66.7,3.0,-6.9,13,113,9.23,1.83,-8.62,0.000,4,0.160,0.070,2074,3946,2892,0,0,0,0,0,0
$GC,331,-1.91,-66.7,84.9,-32.4,42,335,0.00,1.83,0.00,0.000,6,0.000,0.037,2074,2856,2895,0,0,0,0,0,0
$GC,544,-1.91,-66.7,137.9,-23.1,53,548,0.00,1.92,0.00,0.000,4,0.000,0.050,2074,3943,2896,0,0,0,0,0,0
$GC,571,-1.91,-66.7,144.0,-23.7,53,577,0.00,1.80,0.00,0.000,6,0.000,0.037,2074,2854,2896,0,0,0,0,0,0
$GC,879,-1.91,-66.7,205.6,-18.0,64,883,0.00,2.33,0.00,0.000,4,0.000,0.041,2074,1478,2899,0,0,0,0,0,0
$GC,954,-1.91,-66.7,219.4,-18.2,66,958,0.00,2.50,0.00,0.000,6,0.000,0.043,2074,2916,2900,0,0,0,0,0,0
$GC,1279,-1.91,-66.7,278.4,-17.3,77,1282,0.00,1.83,0.00,0.000,4,0.000,0.055,2076,3949,2901,0,0,0,0,0,0
$GC,1454,-1.91,-66.7,307.7,-16.6,81,1459,0.00,1.85,0.00,0.000,6,0.000,0.038,2074,2853,2901,0,0,0,0,0,0
$GC,1772,-1.91,-66.7,355.9,-15.0,87,1776,0.00,1.98,0.00,0.000,4,0.000,0.055,2074,3953,2900,0,0,0,0,0,0
$STATE,1797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1797,begin apogee
$GC,1803,-0.28,0.0,360.2,17.8,87,1865,1.77,0.00,58.60,0.742,6,0.121,0.000,2429,2695,2618,0,0,0,0,0,0
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1867,1.91,66.7,363.1,0.0,88,1931,2.25,2.42,57.55,0.736,4,0.074,0.046,2913,1311,2346,0,0,0,0,0,0
$GC,2065,1.91,66.7,341.5,14.3,91,2069,0.00,2.55,0.00,0.000,6,0.000,0.043,2913,2763,2342,0,0,0,0,0,0
$GC,2388,1.91,66.7,298.5,13.2,97,2392,0.00,2.55,0.00,0.000,4,0.000,0.046,2913,1314,2338,0,0,0,0,0,0
$GC,2544,1.92,71.5,281.9,9.3,101,2552,0.00,2.50,3.97,0.479,6,0.000,0.043,2913,2764,2326,0,0,0,0,0,0
$GC,2884,1.93,82.2,250.6,8.4,113,2898,0.00,2.58,10.45,0.648,4,0.000,0.046,2913,1299,2282,0,0,0,0,0,0
$GC,2985,1.94,90.9,241.9,8.7,116,2998,0.00,2.50,8.80,0.630,6,0.000,0.042,2913,2753,2247,0,0,0,0,0,0
$GC,3308,1.96,111.5,214.2,7.0,127,3332,0.00,2.20,18.38,0.680,4,0.000,0.055,2913,3943,2162,0,0,0,0,0,0
$GC,3573,1.96,112.5,186.2,9.9,135,3578,0.00,2.15,0.00,0.000,6,0.000,0.038,2913,2692,2158,0,0,0,0,0,0
$GC,3899,1.97,121.4,156.0,8.7,146,3912,0.00,2.40,9.27,0.602,4,0.000,0.044,2911,1296,2122,0,0,0,0,0,0
$GC,4116,1.97,121.4,132.2,12.1,152,4122,0.00,2.53,0.00,0.000,6,0.000,0.039,2913,2760,2119,0,0,0,0,0,0
$GC,4425,1.97,121.4,97.5,10.5,163,4429,0.00,2.08,0.00,0.000,4,0.000,0.051,2913,3941,2117,0,0,0,0,0,0
$GC,4462,1.98,125.2,94.0,9.4,166,4469,0.00,2.10,3.78,0.416,6,0.000,0.037,2913,2692,2107,0,0,0,0,0,0
$GC,4653,2.00,147.9,79.8,6.7,185,4676,0.00,0.00,21.38,0.580,6,0.000,0.000,2913,2692,2013,0,0,0,0,0,0
$GC,4859,2.00,147.9,58.9,11.7,205,4864,0.00,2.38,0.00,0.000,4,0.000,0.043,2913,1304,2009,0,0,0,0,0,0
$GC,5015,2.02,167.7,43.9,7.1,219,5040,0.10,2.45,16.85,0.531,6,0.097,0.039,2939,2769,1934,0,0,0,0,0,0
$GC,5226,2.02,167.7,24.2,10.0,240,5229,0.00,2.47,0.00,0.000,4,0.000,0.041,2940,1307,1931,0,0,0,0,0,0
$STATE,5426,end climb,SURFACE_DEPTH_REACHED
$STATE,5426,begin surface coast
$FINISH,0.1,1.023206
$STATE,5448,end surface coast,CONTROL_FINISHED_OK
$STATE,5448,begin surface
$SM_CCo,5468,118.15,0.495,0,0,985,400.08
$SM_GC,0.89,0.00,0.00,118.15,0.000,0.000,0.495,374,2919,985,-9.76,-0.03,400.08
$IRIDIUM_FIX,1916.08,-15637.28,130511,030307
$TT8_MAMPS,0.059059
$HUMID,1078563216
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.7,19.555
$10V_AH,10.0,45.444
$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,24.475,58.675,209.025,118.150,0.000,23.168,28.468,108.523,0.000,0.000,30.017,0.000,4171.190,423.872,961.912,286.210,33.343,858.606,0.000,777.838,0.000,0.530,0.000
$DEVICE_MAMPS,159.536,69.797,742.456,495.482,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,183.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,9615,278
$CAP_FILE_SIZE,61523,0
$CFSIZE,260034560,248655872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,348.7,1
$GPS,171109,143806,1924.849,-15558.154,27,1.5,28,9.7