version: 66.07
glider: 22
mission: 14
dive: 87
start: 11 13 109 3 13 30
data:
$ID,22
$MISSION,14
$DIVE,87
$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,30
$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,-250019.83
$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,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,39
$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
$GPS1,131109,030824,1924.481,-15557.781,38,1.3,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.0
$GPS2,131109,031250,1924.545,-15557.794,17,1.4,17,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.284,-0.076
$KALMAN_X,-146004.9,1502.3,763.5,174681.3,-11899.8
$KALMAN_Y,46751.2,609.3,-593.4,-105679.1,2103.8
$MHEAD_RNG_PITCHd_Wd,189.9,1072,-27.9,-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,-1.62,-64.6,0.0,0.0,0,91,0.00,0.00,-76.70,0.000,2,0.000,0.000,371,2938,2732,0,0,0,0,0,0
$GC,93,-1.64,-82.6,3.6,-8.1,15,113,9.65,2.42,-5.50,0.000,4,0.163,0.054,2132,1510,2956,0,0,0,0,0,0
$GC,123,-1.64,-82.6,14.5,-34.4,21,130,0.00,2.45,0.00,0.000,6,0.000,0.045,2132,2900,2957,0,0,0,0,0,0
$GC,191,-1.64,-82.6,36.9,-32.0,29,191,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2901,2958,0,0,0,0,0,0
$GC,377,-1.64,-82.6,85.8,-23.6,47,381,0.00,2.38,0.00,0.000,4,0.000,0.040,2132,1511,2959,0,0,0,0,0,0
$GC,398,-1.64,-82.6,90.2,-21.0,49,402,0.00,2.47,0.00,0.000,6,0.000,0.043,2132,2931,2959,0,0,0,0,0,0
$GC,601,-1.64,-82.6,133.3,-21.2,59,606,0.00,2.42,0.00,0.000,4,0.000,0.041,2132,1511,2960,0,0,0,0,0,0
$GC,735,-1.64,-82.6,160.1,-19.0,63,739,0.00,2.45,0.00,0.000,6,0.000,0.043,2132,2920,2961,0,0,0,0,0,0
$GC,1065,-1.64,-82.6,225.5,-18.6,74,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2920,2963,0,0,0,0,0,0
$GC,1369,-1.64,-82.6,279.4,-16.4,84,1372,0.00,2.40,0.00,0.000,4,0.000,0.041,2133,1508,2963,0,0,0,0,0,0
$GC,1469,-1.64,-82.6,293.8,-14.1,87,1474,0.00,2.47,0.00,0.000,6,0.000,0.044,2132,2927,2964,0,0,0,0,0,0
$GC,1828,-1.64,-82.6,350.1,-15.4,94,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2928,2964,0,0,0,0,0,0
$GC,2130,-1.64,-82.6,397.6,-15.8,99,2134,0.00,2.45,0.00,0.000,4,0.000,0.044,2132,1512,2963,0,0,0,0,0,0
$GC,2156,-1.64,-82.6,401.4,-14.4,99,2160,0.00,2.50,0.00,0.000,6,0.000,0.047,2132,2931,2963,0,0,0,0,0,0
$GC,2495,-1.64,-82.6,451.7,-14.7,105,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2931,2962,0,0,0,0,0,0
$GC,2797,-1.64,-82.6,491.8,-13.1,110,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2930,2961,0,0,0,0,0,0
$GC,3098,-1.64,-82.6,531.2,-13.3,115,3103,0.00,1.85,0.00,0.000,4,0.000,0.063,2132,3955,2959,0,0,0,0,0,0
$GC,3141,-1.64,-82.6,537.5,-14.2,115,3145,0.00,1.80,0.00,0.000,6,0.000,0.041,2132,2909,2958,0,0,0,0,0,0
$GC,3464,-1.64,-82.6,582.0,-13.6,121,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2909,2956,0,0,0,0,0,0
$GC,3765,-1.64,-82.6,620.3,-12.6,126,3769,0.00,1.92,0.00,0.000,4,0.000,0.065,2132,3944,2953,0,0,0,0,0,0
$GC,3866,-1.64,-82.6,634.1,-13.8,127,3871,0.00,1.77,0.00,0.000,6,0.000,0.043,2132,2927,2953,0,0,0,0,0,0
$GC,4195,-1.64,-82.6,676.3,-12.9,133,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2926,2950,0,0,0,0,0,0
$GC,4497,-1.64,-82.6,713.0,-12.3,138,4501,0.00,1.95,0.00,0.000,4,0.000,0.079,2132,3946,2947,0,0,0,0,0,0
$GC,4528,-1.64,-82.6,717.1,-13.5,138,4532,0.00,1.83,0.00,0.000,6,0.000,0.048,2133,2931,2947,0,0,0,0,0,0
$GC,4862,-1.64,-82.6,756.8,-11.8,144,4866,0.00,1.95,0.00,0.000,4,0.000,0.084,2132,3941,2945,0,0,0,0,0,0
$GC,4899,-1.64,-82.6,761.3,-12.4,144,4903,0.00,1.88,0.00,0.000,6,0.000,0.056,2133,2917,2945,0,0,0,0,0,0
$GC,5227,-1.64,-82.6,798.4,-11.4,150,5231,0.00,2.03,0.00,0.000,4,0.000,0.097,2132,3937,2942,0,0,0,0,0,0
$GC,5275,-1.64,-82.6,803.7,-10.4,150,5279,0.00,1.92,0.00,0.000,6,0.000,0.071,2132,2921,2942,0,0,0,0,0,0
$GC,5593,-1.64,-86.6,835.1,-9.6,156,5597,0.00,2.08,0.00,0.000,4,0.000,0.113,2132,3937,2941,0,0,0,0,0,0
$GC,5624,-1.64,-86.6,838.3,-10.6,156,5628,0.00,2.00,0.00,0.000,6,0.000,0.087,2132,2919,2941,0,0,0,0,0,0
$GC,5958,-1.65,-89.2,870.9,-9.7,162,5962,0.00,2.17,0.00,0.000,4,0.000,0.130,2132,3943,2939,0,0,0,0,0,0
$GC,6000,-1.65,-89.2,875.3,-10.3,162,6004,0.00,2.10,0.00,0.000,6,0.000,0.107,2132,2916,2939,0,0,0,0,0,0
$GC,6323,-1.65,-89.9,907.1,-9.9,168,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2917,2936,0,0,0,0,0,0
$GC,6624,-1.65,-89.9,939.4,-10.7,173,6628,0.00,2.38,0.00,0.000,4,0.000,0.173,2132,3938,2936,0,0,0,0,0,0
$GC,6715,-1.65,-89.9,950.3,-12.7,174,6719,0.00,2.30,0.00,0.000,6,0.000,0.160,2132,2924,2935,0,0,0,0,0,0
$GC,7054,-1.65,-89.9,989.8,-11.6,180,7058,0.00,2.55,0.00,0.000,4,0.000,0.209,2132,3938,2934,0,0,0,0,0,0
$STATE,7063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7063,begin apogee
$GC,7070,-0.28,0.0,991.1,11.9,180,7145,1.50,0.00,71.65,1.328,6,0.134,0.000,2426,2738,2618,0,0,0,0,0,0
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7148,1.65,89.9,994.2,0.0,181,7242,2.03,0.00,87.07,1.294,6,0.085,0.000,2850,2738,2250,0,0,0,0,0,0
$GC,7570,1.65,89.9,941.9,14.3,188,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2738,2239,0,0,0,0,0,0
$GC,7872,1.65,89.9,896.8,15.2,193,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2738,2236,0,0,0,0,0,0
$GC,8173,1.65,89.9,851.8,14.8,198,8178,0.00,2.78,0.00,0.000,4,0.000,0.102,2850,1322,2234,0,0,0,0,0,0
$GC,8232,1.65,89.9,843.5,14.3,198,8238,0.00,2.78,0.00,0.000,6,0.000,0.088,2850,2740,2234,0,0,0,0,0,0
$GC,8539,1.65,89.9,798.7,14.8,204,8543,0.00,2.70,0.00,0.000,4,0.000,0.082,2850,1319,2232,0,0,0,0,0,0
$GC,8586,1.65,89.9,791.8,14.2,204,8591,0.00,2.75,0.00,0.000,6,0.000,0.073,2850,2764,2232,0,0,0,0,0,0
$GC,8904,1.65,89.9,746.1,14.4,210,8908,0.00,2.72,0.00,0.000,4,0.000,0.072,2850,1299,2231,0,0,0,0,0,0
$GC,8968,1.65,89.9,736.9,14.3,211,8972,0.00,2.67,0.00,0.000,6,0.000,0.061,2850,2768,2231,0,0,0,0,0,0
$GC,9333,1.65,89.9,682.0,14.9,217,9337,0.00,2.28,0.00,0.000,4,0.000,0.084,2850,3955,2229,0,0,0,0,0,0
$GC,9360,1.65,89.9,677.8,16.2,217,9364,0.00,2.20,0.00,0.000,6,0.000,0.045,2850,2721,2228,0,0,0,0,0,0
$GC,9699,1.65,89.9,630.4,13.9,223,9703,0.00,2.45,0.00,0.000,4,0.000,0.057,2850,1329,2228,0,0,0,0,0,0
$GC,9827,1.65,89.9,613.1,12.6,225,9831,0.00,2.58,0.00,0.000,6,0.000,0.048,2850,2768,2228,0,0,0,0,0,0
$GC,10192,1.65,89.9,564.6,13.5,231,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2769,2228,0,0,0,0,0,0
$GC,10494,1.65,89.9,526.2,12.8,236,10499,0.00,2.55,0.00,0.000,4,0.000,0.051,2850,1343,2227,0,0,0,0,0,0
$GC,10617,1.65,89.9,510.1,13.2,237,10623,0.00,2.47,0.00,0.000,6,0.000,0.046,2850,2765,2227,0,0,0,0,0,0
$GC,10923,1.65,89.9,471.8,12.3,243,10927,0.00,2.53,0.00,0.000,4,0.000,0.050,2850,1346,2227,0,0,0,0,0,0
$GC,11083,1.65,89.9,452.9,11.3,245,11088,0.00,2.50,0.00,0.000,6,0.000,0.045,2850,2759,2228,0,0,0,0,0,0
$GC,11417,1.65,89.9,415.9,11.1,251,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2759,2227,0,0,0,0,0,0
$GC,11719,1.65,89.9,380.7,11.8,256,11723,0.00,2.50,0.00,0.000,4,0.000,0.048,2850,1323,2226,0,0,0,0,0,0
$GC,11964,1.65,89.9,352.6,12.3,259,11968,0.00,2.53,0.00,0.000,6,0.000,0.043,2850,2763,2226,0,0,0,0,0,0
$GC,12277,1.65,89.9,320.5,10.1,265,12280,0.00,2.12,0.00,0.000,4,0.000,0.058,2850,3943,2226,0,0,0,0,0,0
$GC,12345,1.65,89.9,312.7,11.4,266,12350,0.00,2.10,0.00,0.000,6,0.000,0.040,2850,2725,2225,0,0,0,0,0,0
$GC,12677,1.65,95.0,281.1,9.5,274,12681,0.00,2.38,0.00,0.000,4,0.000,0.047,2850,1355,2226,0,0,0,0,0,0
$GC,12757,1.66,105.2,273.8,8.9,276,12773,0.00,2.45,10.23,0.765,6,0.000,0.042,2850,2759,2188,0,0,0,0,0,0
$GC,13075,1.68,118.4,247.5,8.6,287,13095,0.00,2.55,13.20,0.766,4,0.000,0.045,2850,1347,2135,0,0,0,0,0,0
$GC,13335,1.68,118.4,222.5,10.3,295,13340,0.00,2.45,0.00,0.000,6,0.000,0.041,2850,2749,2134,0,0,0,0,0,0
$GC,13666,1.68,118.4,189.8,10.0,306,13670,0.00,2.40,0.00,0.000,4,0.000,0.044,2850,1347,2132,0,0,0,0,0,0
$GC,13911,1.69,133.2,165.0,8.5,313,13931,0.00,2.42,13.98,0.691,6,0.000,0.040,2850,2751,2075,0,0,0,0,0,0
$GC,14253,1.70,139.4,132.7,9.4,325,14265,0.00,2.42,7.15,0.589,4,0.000,0.041,2850,1349,2048,0,0,0,0,0,0
$GC,14369,1.71,143.7,121.8,9.6,328,14379,0.00,2.40,5.22,0.532,6,0.000,0.040,2850,2759,2032,0,0,0,0,0,0
$GC,14683,1.71,143.7,91.2,10.1,343,14687,0.00,2.42,0.00,0.000,4,0.000,0.042,2850,1331,2031,0,0,0,0,0,0
$GC,14817,1.72,153.0,76.6,9.0,355,14832,0.00,2.40,9.40,0.560,6,0.000,0.039,2850,2756,1994,0,0,0,0,0,0
$GC,15020,1.76,196.2,61.5,5.5,375,15063,0.12,2.47,37.97,0.591,4,0.088,0.041,2882,1354,1817,0,0,0,0,0,0
$GC,15305,1.76,196.2,28.3,10.6,402,15309,0.00,2.40,0.00,0.000,6,0.000,0.038,2882,2755,1812,0,0,0,0,0,0
$GC,15500,1.77,202.0,6.4,9.4,431,15511,0.00,2.40,5.72,0.435,4,0.000,0.041,2882,1346,1793,0,0,0,0,0,0
$STATE,15534,end climb,SURFACE_DEPTH_REACHED
$STATE,15535,begin surface coast
$FINISH,0.0,1.009491
$STATE,15567,end surface coast,CONTROL_FINISHED_OK
$STATE,15568,begin surface
$SM_CCo,15588,100.35,0.509,0,0,986,400.08
$SM_GC,0.71,0.00,0.00,100.35,0.000,0.000,0.509,376,2920,986,-9.75,0.00,400.08
$IRIDIUM_FIX,1916.08,-15600.40,080511,171701
$TT8_MAMPS,0.059826
$HUMID,1078573539
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.1,16.938
$10V_AH,10.0,44.275
$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,24.200,141.350,261.600,100.350,0.000,25.803,38.188,115.346,0.000,0.000,17.476,0.000,13279.777,509.768,1757.482,398.949,33.347,1329.129,0.000,1447.324,0.000,0.532,0.000
$DEVICE_MAMPS,163.371,209.391,1327.677,508.521,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,296.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353812
$DATA_FILE_SIZE,15873,444
$CAP_FILE_SIZE,123429,0
$CFSIZE,260034560,249925632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,  8.9,1
$GPS,131109,073601,1923.571,-15558.566,42,1.4,42,9.7