version: 66.07
glider: 22
mission: 17
dive: 8
start: 3 17 110 17 6 30
data:
$ID,22
$MISSION,17
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,0
$T_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,280
$T_MISSION,320
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52198
$NAV_MODE,1
$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,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,365
$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,-255010.91
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2450
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2781
$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,-22.561892
$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,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,170310,170027,1941.284,-15609.038,34,2.4,53,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-67.7
$GPS2,170310,170549,1941.408,-15609.120,15,1.4,32,9.7
$SPEED_LIMITS,0.204,0.343
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.249,-0.236
$KALMAN_X,-21423.3,959.2,630.6,13115.6,-7550.3
$KALMAN_Y,22089.8,-2873.1,-1587.2,-15641.9,11332.3
$MHEAD_RNG_PITCHd_Wd,123.8,7645,-16.3,-11.786
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.23,-243.3,0.0,0.0,0,102,0.00,0.00,-74.62,0.000,2,0.000,0.000,376,2304,2781,0,0,0,0,0,0
$GC,106,-1.23,-243.3,3.0,-5.4,9,149,10.45,2.17,-18.60,0.000,4,0.155,0.055,2329,1041,3775,0,0,0,0,0,0
$GC,254,-1.23,-243.3,46.7,-20.0,23,271,0.00,2.42,0.00,0.000,6,0.000,0.045,2329,2450,3776,0,0,0,0,0,0
$GC,455,-1.23,-243.3,100.7,-28.1,42,467,0.00,2.53,0.00,0.000,4,0.000,0.063,2329,3860,3777,0,0,0,0,0,0
$GC,559,-1.23,-243.3,125.9,-23.2,45,571,0.00,2.38,0.00,0.000,6,0.000,0.037,2329,2432,3778,0,0,0,0,0,0
$GC,893,-1.23,-243.3,199.5,-21.8,56,905,0.00,2.58,0.00,0.000,4,0.000,0.061,2329,3863,3780,0,0,0,0,0,0
$GC,1007,-1.23,-243.3,221.2,-17.0,59,1019,0.00,2.40,0.00,0.000,6,0.000,0.038,2329,2437,3780,0,0,0,0,0,0
$GC,1336,-1.23,-243.3,279.7,-17.5,70,1348,0.00,2.55,0.00,0.000,4,0.000,0.062,2329,3860,3781,0,0,0,0,0,0
$GC,1438,-1.23,-243.3,296.7,-15.5,73,1450,0.00,2.38,0.00,0.000,6,0.000,0.039,2330,2450,3780,0,0,0,0,0,0
$GC,1781,-1.23,-243.3,351.5,-15.8,79,1793,0.00,2.58,0.00,0.000,4,0.000,0.063,2329,3869,3780,0,0,0,0,0,0
$GC,1906,-1.23,-243.3,370.4,-14.2,80,1923,0.00,2.40,0.00,0.000,6,0.000,0.040,2329,2447,3780,0,0,0,0,0,0
$GC,2220,-1.23,-243.3,413.0,-13.6,86,2232,0.00,2.55,0.00,0.000,4,0.000,0.065,2329,3857,3780,0,0,0,0,0,0
$GC,2278,-1.23,-243.3,421.1,-12.3,86,2296,0.00,2.40,0.00,0.000,6,0.000,0.041,2329,2446,3780,0,0,0,0,0,0
$GC,2592,-1.23,-243.3,461.1,-12.8,92,2604,0.00,2.58,0.00,0.000,4,0.000,0.068,2329,3863,3779,0,0,0,0,0,0
$GC,2694,-1.23,-243.3,474.4,-12.2,93,2706,0.00,2.45,0.00,0.000,6,0.000,0.042,2329,2448,3778,0,0,0,0,0,0
$GC,3027,-1.23,-243.3,516.2,-12.9,99,3039,0.00,2.60,0.00,0.000,4,0.000,0.070,2329,3868,3775,0,0,0,0,0,0
$GC,3118,-1.23,-243.3,528.7,-13.1,100,3130,0.00,2.47,0.00,0.000,6,0.000,0.043,2329,2442,3774,0,0,0,0,0,0
$GC,3462,-1.23,-243.3,573.0,-13.2,106,3474,0.00,2.62,0.00,0.000,4,0.000,0.072,2329,3857,3771,0,0,0,0,0,0
$GC,3521,-1.23,-243.3,581.2,-12.4,106,3538,0.00,2.42,0.00,0.000,6,0.000,0.044,2329,2449,3769,0,0,0,0,0,0
$GC,3834,-1.23,-243.3,618.6,-12.1,112,3846,0.00,2.60,0.00,0.000,4,0.000,0.074,2329,3860,3766,0,0,0,0,0,0
$GC,3882,-1.23,-243.3,624.8,-11.9,112,3894,0.00,2.47,0.00,0.000,6,0.000,0.044,2329,2445,3766,0,0,0,0,0,0
$GC,4205,-1.23,-243.3,661.0,-11.3,118,4217,0.00,2.62,0.00,0.000,4,0.000,0.078,2329,3853,3763,0,0,0,0,0,0
$GC,4296,-1.23,-243.3,672.4,-11.7,119,4308,0.00,2.47,0.00,0.000,6,0.000,0.046,2329,2450,3763,0,0,0,0,0,0
$GC,4640,-1.23,-243.3,711.2,-11.5,125,4652,0.00,2.70,0.00,0.000,4,0.000,0.085,2329,3851,3762,0,0,0,0,0,0
$GC,4711,-1.23,-243.3,720.3,-11.9,126,4723,0.00,2.53,0.00,0.000,6,0.000,0.051,2329,2444,3761,0,0,0,0,0,0
$GC,5076,-1.23,-243.3,763.7,-12.1,132,5088,0.00,2.75,0.00,0.000,4,0.000,0.099,2329,3859,3758,0,0,0,0,0,0
$GC,5147,-1.23,-243.3,773.1,-12.3,133,5159,0.00,2.60,0.00,0.000,6,0.000,0.063,2329,2450,3758,0,0,0,0,0,0
$GC,5512,-1.23,-243.3,815.9,-11.8,139,5525,0.00,2.85,0.00,0.000,4,0.000,0.115,2329,3848,3754,0,0,0,0,0,0
$GC,5588,-1.23,-243.3,825.7,-12.1,140,5600,0.00,2.70,0.00,0.000,6,0.000,0.086,2329,2443,3753,0,0,0,0,0,0
$GC,5949,-1.23,-243.3,865.0,-10.9,146,5961,0.00,2.97,0.00,0.000,4,0.000,0.138,2329,3857,3752,0,0,0,0,0,0
$GC,6030,-1.23,-243.3,874.7,-10.3,147,6042,0.00,2.88,0.00,0.000,6,0.000,0.112,2329,2442,3752,0,0,0,0,0,0
$GC,6385,-1.23,-243.3,914.4,-11.6,153,6398,0.00,3.15,0.00,0.000,4,0.000,0.164,2329,3854,3752,0,0,0,0,0,0
$GC,6455,-1.23,-243.3,922.8,-12.2,154,6467,0.00,3.03,0.00,0.000,6,0.000,0.142,2328,2453,3750,0,0,0,0,0,0
$GC,6826,-1.23,-243.3,967.3,-12.0,160,6839,0.00,3.38,0.00,0.000,4,0.000,0.200,2329,3850,3748,0,0,0,0,0,0
$GC,6897,-1.23,-243.3,976.9,-12.4,161,6910,0.00,3.25,0.00,0.000,6,0.000,0.178,2329,2449,3748,0,0,0,0,0,0
$STATE,7019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7019,begin apogee
$GC,7024,-0.29,0.0,991.1,11.8,163,7241,1.00,0.00,206.23,1.287,6,0.102,0.000,2535,1999,2782,0,0,0,0,0,0
$STATE,7247,end apogee,CONTROL_FINISHED_OK
$STATE,7247,begin climb
$GC,7249,1.23,243.3,1004.8,0.0,166,7486,1.52,3.72,217.25,1.299,4,0.071,0.221,2866,587,1788,0,0,0,0,0,0
$GC,7543,1.23,243.3,988.1,14.3,170,7556,0.00,3.33,0.00,0.000,6,0.000,0.178,2866,1986,1780,0,0,0,0,0,0
$GC,7883,1.23,243.3,941.9,13.9,176,7895,0.00,3.17,0.00,0.000,4,0.000,0.158,2866,3418,1776,0,0,0,0,0,0
$GC,7910,1.23,243.3,936.9,15.3,176,7923,0.00,3.15,0.00,0.000,6,0.000,0.145,2866,1994,1774,0,0,0,0,0,0
$GC,8255,1.23,243.3,886.4,14.9,182,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1994,1773,0,0,0,0,0,0
$GC,8556,1.23,243.3,840.7,15.1,187,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1993,1772,0,0,0,0,0,0
$GC,8857,1.23,243.3,793.8,15.6,192,8869,0.00,2.78,0.00,0.000,4,0.000,0.088,2866,3431,1772,0,0,0,0,0,0
$GC,8895,1.23,243.3,786.9,16.8,192,8907,0.00,2.70,0.00,0.000,6,0.000,0.067,2866,1984,1771,0,0,0,0,0,0
$GC,9228,1.23,243.3,732.0,16.9,198,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1984,1770,0,0,0,0,0,0
$GC,9529,1.23,243.3,681.4,16.7,203,9541,0.00,2.58,0.00,0.000,4,0.000,0.071,2866,580,1770,0,0,0,0,0,0
$GC,9561,1.23,243.3,675.5,15.8,203,9573,0.00,2.60,0.00,0.000,6,0.000,0.051,2866,2028,1770,0,0,0,0,0,0
$GC,9900,1.23,243.3,623.0,15.7,209,9912,0.00,2.53,0.00,0.000,4,0.000,0.067,2866,3407,1769,0,0,0,0,0,0
$GC,9991,1.23,243.3,607.3,15.7,210,10003,0.00,2.53,0.00,0.000,6,0.000,0.047,2866,1979,1769,0,0,0,0,0,0
$GC,10335,1.23,243.3,556.9,14.7,216,10347,0.00,2.50,0.00,0.000,4,0.000,0.061,2866,587,1769,0,0,0,0,0,0
$GC,10388,1.23,243.3,548.6,14.3,216,10400,0.00,2.50,0.00,0.000,6,0.000,0.047,2866,2011,1769,0,0,0,0,0,0
$GC,10710,1.23,243.3,506.0,13.4,222,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2012,1769,0,0,0,0,0,0
$GC,11011,1.23,243.3,467.7,12.8,227,11023,0.00,2.55,0.00,0.000,4,0.000,0.063,2866,3417,1769,0,0,0,0,0,0
$GC,11054,1.23,243.3,461.3,14.1,227,11066,0.00,2.53,0.00,0.000,6,0.000,0.045,2866,1987,1768,0,0,0,0,0,0
$GC,11382,1.23,243.3,419.3,12.9,233,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1987,1768,0,0,0,0,0,0
$GC,11683,1.23,243.3,381.7,12.5,238,11695,0.00,2.58,0.00,0.000,4,0.000,0.060,2866,3408,1769,0,0,0,0,0,0
$GC,11763,1.23,243.3,370.1,13.8,239,11775,0.00,2.47,0.00,0.000,6,0.000,0.044,2866,1991,1768,0,0,0,0,0,0
$GC,12118,1.23,243.3,326.5,12.3,245,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1990,1768,0,0,0,0,0,0
$GC,12419,1.23,243.3,289.2,12.1,251,12431,0.00,2.55,0.00,0.000,4,0.000,0.058,2866,3412,1768,0,0,0,0,0,0
$GC,12473,1.23,243.3,281.9,12.7,252,12485,0.00,2.47,0.00,0.000,6,0.000,0.044,2866,1994,1768,0,0,0,0,0,0
$GC,12796,1.23,243.3,242.7,12.7,263,12808,0.00,2.47,0.00,0.000,4,0.000,0.057,2866,596,1767,0,0,0,0,0,0
$GC,12865,1.23,243.3,234.6,12.1,265,12877,0.00,2.45,0.00,0.000,6,0.000,0.042,2866,2010,1768,0,0,0,0,0,0
$GC,13205,1.29,299.1,198.5,10.0,276,13269,0.00,0.00,46.42,0.766,6,0.000,0.000,2866,2011,1559,0,0,0,0,0,0
$GC,13567,1.31,317.9,160.7,11.2,288,13601,0.00,0.00,16.77,0.685,6,0.000,0.000,2866,2010,1485,0,0,0,0,0,0
$GC,13900,1.34,349.6,124.6,10.8,299,13942,0.12,2.55,28.30,0.659,4,0.087,0.055,2898,3403,1353,0,0,0,0,0,0
$GC,14011,1.34,349.6,109.7,12.7,302,14023,0.00,2.42,0.00,0.000,6,0.000,0.040,2898,1993,1352,0,0,0,0,0,0
$GC,14335,1.34,349.6,68.4,12.6,327,14347,0.00,2.45,0.00,0.000,4,0.000,0.053,2898,595,1349,0,0,0,0,0,0
$GC,14385,1.34,349.6,61.9,11.8,330,14402,0.00,2.40,0.00,0.000,6,0.000,0.040,2899,2006,1348,0,0,0,0,0,0
$GC,14586,1.34,349.6,38.2,12.1,349,14598,0.00,2.47,0.00,0.000,4,0.000,0.055,2898,3409,1348,0,0,0,0,0,0
$GC,14678,1.34,349.6,26.0,13.5,356,14690,0.00,2.42,0.00,0.000,6,0.000,0.040,2898,1998,1350,0,0,0,0,0,0
$STATE,14878,end climb,SURFACE_DEPTH_REACHED
$STATE,14878,begin surface coast
$FINISH,0.2,1.023407
$STATE,14901,end surface coast,CONTROL_FINISHED_OK
$STATE,14901,begin surface
$SM_CCo,14937,10.65,0.470,0,0,1292,365.01
$SM_GC,1.17,0.00,0.00,10.65,0.000,0.000,0.470,375,2461,1292,-10.24,0.31,365.01
$IRIDIUM_FIX,1936.66,-15609.92,100911,060639
$TT8_MAMPS,0.113099
$HUMID,1077989023
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.4,5.173
$10V_AH,10.0,4.139
$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,24.075,160.175,514.975,10.650,0.000,30.088,26.494,141.370,0.000,0.000,32.717,0.000,10453.695,576.870,4046.812,271.809,33.322,2002.645,0.000,1255.149,0.000,0.533,0.000
$DEVICE_MAMPS,155.295,221.085,1298.970,469.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,261.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345344
$DATA_FILE_SIZE,13495,389
$CAP_FILE_SIZE,161605,0
$CFSIZE,260034560,256598016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170310,211806,1939.779,-15608.006,33,1.1,33,9.7