version: 66.07
glider: 22
mission: 14
dive: 97
start: 11 14 109 22 54 37
data:
$ID,22
$MISSION,14
$DIVE,97
$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,-250356.97
$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,24
$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
$GPS1,141109,224936,1923.683,-15558.062,37,1.7,37,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-66.6
$GPS2,141109,225356,1923.767,-15558.076,15,1.6,15,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.289,-0.050
$KALMAN_X,-197663.4,681.1,664.8,226776.6,-10474.7
$KALMAN_Y,57421.9,54.0,-294.9,-117509.9,2251.8
$MHEAD_RNG_PITCHd_Wd,7.6,453,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.62,-64.6,0.0,0.0,0,88,0.00,0.00,-73.65,0.000,2,0.000,0.000,373,2912,2631,0,0,0,0,0,0
$GC,90,-1.65,-94.3,3.0,-6.9,14,115,9.55,2.47,-10.23,0.000,4,0.161,0.054,2129,1464,3002,0,0,0,0,0,0
$GC,355,-1.65,-94.3,85.4,-27.4,45,359,0.00,2.55,0.00,0.000,6,0.000,0.044,2128,2925,3006,0,0,0,0,0,0
$GC,569,-1.65,-94.3,134.4,-21.2,56,573,0.00,2.47,0.00,0.000,4,0.000,0.041,2129,1478,3008,0,0,0,0,0,0
$GC,736,-1.65,-94.3,168.5,-19.5,61,739,0.00,2.47,0.00,0.000,6,0.000,0.044,2129,2926,3010,0,0,0,0,0,0
$GC,1059,-1.65,-94.3,233.8,-19.9,72,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2926,3010,0,0,0,0,0,0
$GC,1363,-1.65,-94.3,286.9,-16.9,82,1366,0.00,1.83,0.00,0.000,4,0.000,0.056,2129,3955,3011,0,0,0,0,0,0
$GC,1608,-1.65,-94.3,330.7,-16.3,87,1612,0.00,1.85,0.00,0.000,6,0.000,0.039,2129,2857,3011,0,0,0,0,0,0
$GC,1920,-1.65,-94.3,380.3,-15.9,93,1924,0.00,1.98,0.00,0.000,4,0.000,0.057,2129,3952,3011,0,0,0,0,0,0
$GC,2091,-1.65,-94.3,408.1,-14.2,95,2095,0.00,1.85,0.00,0.000,6,0.000,0.040,2128,2867,3010,0,0,0,0,0,0
$GC,2414,-1.65,-94.3,457.4,-15.3,101,2418,0.00,1.98,0.00,0.000,4,0.000,0.059,2129,3949,3010,0,0,0,0,0,0
$GC,2494,-1.65,-94.3,470.0,-16.2,102,2498,0.00,1.85,0.00,0.000,6,0.000,0.041,2129,2870,3009,0,0,0,0,0,0
$GC,2843,-1.65,-94.3,522.0,-14.6,108,2847,0.00,1.98,0.00,0.000,4,0.000,0.061,2128,3947,3006,0,0,0,0,0,0
$GC,2945,-1.65,-94.3,537.5,-15.6,109,2949,0.00,1.77,0.00,0.000,6,0.000,0.042,2129,2918,3005,0,0,0,0,0,0
$GC,3273,-1.65,-94.3,585.4,-14.6,115,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2918,3002,0,0,0,0,0,0
$GC,3574,-1.65,-94.3,624.8,-12.8,120,3578,0.00,1.90,0.00,0.000,4,0.000,0.066,2128,3942,2999,0,0,0,0,0,0
$GC,3660,-1.65,-94.3,636.4,-14.0,121,3664,0.00,1.80,0.00,0.000,6,0.000,0.043,2128,2915,2998,0,0,0,0,0,0
$GC,4004,-1.65,-94.3,680.0,-12.7,127,4008,0.00,1.95,0.00,0.000,4,0.000,0.074,2129,3946,2997,0,0,0,0,0,0
$GC,4148,-1.65,-94.3,699.8,-13.8,129,4152,0.00,1.83,0.00,0.000,6,0.000,0.047,2129,2928,2996,0,0,0,0,0,0
$GC,4498,-1.65,-94.3,742.5,-12.1,135,4501,0.00,1.95,0.00,0.000,4,0.000,0.082,2129,3941,2994,0,0,0,0,0,0
$GC,4550,-1.65,-94.3,749.4,-13.2,135,4555,0.00,1.85,0.00,0.000,6,0.000,0.053,2129,2924,2994,0,0,0,0,0,0
$GC,4863,-1.65,-94.3,786.7,-11.8,141,4867,0.00,2.00,0.00,0.000,4,0.000,0.093,2129,3940,2991,0,0,0,0,0,0
$GC,4921,-1.65,-94.3,793.9,-12.6,141,4927,0.00,1.92,0.00,0.000,6,0.000,0.067,2129,2917,2991,0,0,0,0,0,0
$GC,5228,-1.65,-94.3,827.3,-10.7,147,5232,0.00,2.75,0.00,0.000,4,0.000,0.105,2129,1504,2989,0,0,0,0,0,0
$GC,5254,-1.65,-94.3,830.2,-11.0,147,5258,0.00,2.75,0.00,0.000,6,0.000,0.097,2128,2901,2990,0,0,0,0,0,0
$GC,5593,-1.65,-94.3,866.9,-10.8,153,5597,0.00,2.20,0.00,0.000,4,0.000,0.135,2129,3954,2987,0,0,0,0,0,0
$GC,5657,-1.65,-94.3,874.7,-12.5,154,5661,0.00,2.10,0.00,0.000,6,0.000,0.108,2129,2927,2987,0,0,0,0,0,0
$GC,6023,-1.65,-94.3,914.3,-10.7,160,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2927,2985,0,0,0,0,0,0
$GC,6325,-1.65,-94.3,946.6,-10.6,165,6329,0.00,2.40,0.00,0.000,4,0.000,0.179,2128,3951,2983,0,0,0,0,0,0
$GC,6441,-1.65,-94.3,961.0,-13.0,166,6446,0.00,2.38,0.00,0.000,6,0.000,0.167,2127,2920,2983,0,0,0,0,0,0
$STATE,6752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6752,begin apogee
$GC,6757,-0.28,0.0,996.1,11.2,172,6843,1.55,0.00,83.20,1.335,6,0.130,0.000,2431,2747,2618,0,0,0,0,0,0
$STATE,6843,end apogee,CONTROL_FINISHED_OK
$STATE,6843,begin climb
$GC,6845,1.65,94.3,997.7,0.0,173,6941,2.03,0.00,92.70,1.299,6,0.082,0.000,2854,2747,2233,0,0,0,0,0,0
$GC,7236,1.65,94.3,938.7,17.0,180,7240,0.00,3.12,0.00,0.000,4,0.000,0.160,2854,1337,2221,0,0,0,0,0,0
$GC,7315,1.65,94.3,925.2,16.8,181,7320,0.00,3.05,0.00,0.000,6,0.000,0.133,2854,2754,2219,0,0,0,0,0,0
$GC,7665,1.65,94.3,864.7,17.3,187,7669,0.00,2.88,0.00,0.000,4,0.000,0.110,2854,1328,2216,0,0,0,0,0,0
$GC,7745,1.65,94.3,851.0,16.4,188,7749,0.00,2.85,0.00,0.000,6,0.000,0.095,2854,2760,2215,0,0,0,0,0,0
$GC,8095,1.65,94.3,789.5,17.8,194,8098,0.00,2.75,0.00,0.000,4,0.000,0.082,2854,1317,2214,0,0,0,0,0,0
$GC,8217,1.65,94.3,767.9,17.9,195,8224,0.00,2.72,0.00,0.000,6,0.000,0.070,2854,2757,2214,0,0,0,0,0,0
$GC,8524,1.65,94.3,714.3,17.4,201,8528,0.00,2.67,0.00,0.000,4,0.000,0.067,2854,1329,2212,0,0,0,0,0,0
$GC,8609,1.65,94.3,699.9,16.4,202,8613,0.00,2.62,0.00,0.000,6,0.000,0.056,2854,2758,2212,0,0,0,0,0,0
$GC,8953,1.65,94.3,646.7,15.0,208,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2758,2210,0,0,0,0,0,0
$GC,9255,1.65,94.3,603.7,14.2,213,9259,0.00,2.62,0.00,0.000,4,0.000,0.058,2853,1321,2210,0,0,0,0,0,0
$GC,9362,1.65,94.3,589.3,13.2,214,9366,0.00,2.60,0.00,0.000,6,0.000,0.051,2854,2764,2210,0,0,0,0,0,0
$GC,9684,1.65,94.3,545.9,13.3,220,9688,0.00,2.62,0.00,0.000,4,0.000,0.054,2854,1311,2209,0,0,0,0,0,0
$GC,9812,1.65,94.3,529.7,12.8,222,9817,0.00,2.60,0.00,0.000,6,0.000,0.048,2854,2763,2209,0,0,0,0,0,0
$GC,10178,1.65,94.3,483.0,13.1,228,10182,0.00,2.58,0.00,0.000,4,0.000,0.051,2854,1305,2208,0,0,0,0,0,0
$GC,10328,1.65,94.3,461.5,14.3,230,10332,0.00,2.55,0.00,0.000,6,0.000,0.047,2854,2759,2208,0,0,0,0,0,0
$GC,10667,1.65,94.3,415.5,13.4,236,10670,0.00,2.55,0.00,0.000,4,0.000,0.050,2854,1307,2208,0,0,0,0,0,0
$GC,10709,1.65,94.3,410.1,13.3,236,10713,0.00,2.53,0.00,0.000,6,0.000,0.045,2854,2759,2208,0,0,0,0,0,0
$GC,11031,1.65,94.3,370.9,12.1,242,11036,0.00,2.58,0.00,0.000,4,0.000,0.049,2854,1313,2208,0,0,0,0,0,0
$GC,11079,1.65,94.3,365.4,12.2,242,11083,0.00,2.55,0.00,0.000,6,0.000,0.044,2854,2757,2208,0,0,0,0,0,0
$GC,11397,1.65,94.3,331.3,10.4,248,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2757,2208,0,0,0,0,0,0
$GC,11698,1.65,94.3,300.8,10.1,253,11703,0.00,2.55,0.00,0.000,4,0.000,0.048,2854,1316,2208,0,0,0,0,0,0
$GC,11784,1.67,109.0,292.5,8.5,254,11798,0.00,2.53,9.60,0.776,6,0.000,0.043,2854,2759,2172,0,0,0,0,0,0
$GC,12129,1.68,119.5,260.2,8.9,266,12143,0.00,0.00,10.88,0.763,6,0.000,0.000,2854,2759,2129,0,0,0,0,0,0
$GC,12464,1.69,131.6,229.2,8.7,277,12480,0.00,2.55,11.90,0.740,4,0.000,0.044,2855,1310,2081,0,0,0,0,0,0
$GC,12719,1.69,131.6,202.5,11.3,285,12724,0.00,2.53,0.00,0.000,6,0.000,0.041,2854,2752,2078,0,0,0,0,0,0
$GC,13050,1.69,133.3,169.1,9.8,296,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2753,2078,0,0,0,0,0,0
$GC,13353,1.69,133.3,138.7,10.8,306,13357,0.00,2.10,0.00,0.000,4,0.000,0.052,2854,3941,2078,0,0,0,0,0,0
$GC,13443,1.69,133.3,127.9,11.0,308,13449,0.00,2.12,0.00,0.000,6,0.000,0.037,2854,2685,2077,0,0,0,0,0,0
$GC,13752,1.74,178.3,103.3,5.3,319,13797,0.00,2.38,41.03,0.635,4,0.000,0.043,2854,1305,1890,0,0,0,0,0,0
$GC,13808,1.74,178.3,98.0,10.6,320,13814,0.00,2.53,0.00,0.000,6,0.000,0.039,2854,2753,1888,0,0,0,0,0,0
$GC,14124,1.77,203.4,68.0,7.4,351,14150,0.12,2.12,22.25,0.571,4,0.086,0.051,2885,3954,1787,0,0,0,0,0,0
$GC,14208,1.77,203.4,58.4,14.0,358,14213,0.00,2.15,0.00,0.000,6,0.000,0.037,2885,2686,1783,0,0,0,0,0,0
$GC,14399,1.77,203.4,33.0,13.9,377,14403,0.00,2.35,0.00,0.000,4,0.000,0.044,2886,1308,1783,0,0,0,0,0,0
$GC,14457,1.77,203.4,25.0,14.6,382,14463,0.00,2.47,0.00,0.000,6,0.000,0.039,2886,2753,1782,0,0,0,0,0,0
$STATE,14652,end climb,SURFACE_DEPTH_REACHED
$STATE,14652,begin surface coast
$FINISH,0.0,1.023023
$STATE,14679,end surface coast,CONTROL_FINISHED_OK
$STATE,14679,begin surface
$SM_CCo,14697,98.10,0.499,0,0,987,400.08
$SM_GC,0.63,0.00,0.00,98.10,0.000,0.000,0.499,373,2927,987,-9.76,0.20,400.08
$IRIDIUM_FIX,1918.37,-15559.47,100511,121214
$TT8_MAMPS,0.059826
$HUMID,1078582571
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.1,17.996
$10V_AH,10.0,44.747
$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,24.100,132.350,271.550,98.100,0.000,24.425,36.659,112.373,0.000,0.000,15.415,0.000,12378.021,546.318,1746.020,375.225,33.340,1326.884,0.000,1452.264,0.000,0.531,0.000
$DEVICE_MAMPS,161.070,201.721,1334.580,499.317,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,280.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,15868,420
$CAP_FILE_SIZE,114580,0
$CFSIZE,260034560,249409536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,339.9,1
$GPS,151109,030207,1925.524,-15557.467,35,1.6,35,9.7