version: 66.07
glider: 22
mission: 14
dive: 98
start: 11 15 109 3 7 13
data:
$ID,22
$MISSION,14
$DIVE,98
$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,-250375.39
$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,37
$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
$GPS1,151109,030207,1925.524,-15557.467,35,1.6,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-67.0
$GPS2,151109,030631,1925.618,-15557.464,12,1.9,17,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.255,-0.145
$KALMAN_X,-202184.0,758.0,803.6,232162.3,-10571.8
$KALMAN_Y,61066.9,-70.4,692.0,-118627.2,2529.5
$MHEAD_RNG_PITCHd_Wd,187.6,3139,-24.6,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.46,-82.9,0.0,0.0,0,88,0.00,0.00,-72.78,0.000,2,0.000,0.000,373,2927,2617,0,0,0,0,0,0
$GC,90,-1.50,-119.1,3.1,-7.1,14,116,9.70,1.83,-12.77,0.000,4,0.158,0.070,2166,3944,3104,0,0,0,0,0,0
$GC,254,-1.50,-119.1,55.5,-33.3,35,261,0.00,1.80,0.00,0.000,6,0.000,0.037,2166,2862,3105,0,0,0,0,0,0
$GC,445,-1.50,-119.1,110.2,-27.2,52,449,0.00,2.33,0.00,0.000,4,0.000,0.040,2166,1475,3107,0,0,0,0,0,0
$GC,503,-1.50,-119.1,122.8,-21.0,53,510,0.00,2.47,0.00,0.000,6,0.000,0.042,2166,2910,3107,0,0,0,0,0,0
$GC,812,-1.50,-119.1,187.5,-19.5,64,816,0.00,1.83,0.00,0.000,4,0.000,0.054,2166,3948,3110,0,0,0,0,0,0
$GC,843,-1.50,-119.1,193.6,-19.8,65,847,0.00,1.83,0.00,0.000,6,0.000,0.037,2166,2852,3110,0,0,0,0,0,0
$GC,1179,-1.50,-119.1,258.7,-19.4,76,1183,0.00,1.98,0.00,0.000,4,0.000,0.054,2166,3955,3112,0,0,0,0,0,0
$GC,1324,-1.50,-119.1,287.2,-19.7,80,1327,0.00,1.85,0.00,0.000,6,0.000,0.038,2166,2846,3112,0,0,0,0,0,0
$GC,1641,-1.50,-119.1,342.3,-17.0,87,1644,0.00,2.00,0.00,0.000,4,0.000,0.055,2166,3955,3112,0,0,0,0,0,0
$GC,1715,-1.50,-119.1,354.5,-16.2,88,1719,0.00,1.85,0.00,0.000,6,0.000,0.039,2166,2862,3112,0,0,0,0,0,0
$GC,2070,-1.50,-119.1,410.0,-15.6,94,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2860,3112,0,0,0,0,0,0
$GC,2372,-1.50,-119.1,454.1,-14.5,99,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2860,3111,0,0,0,0,0,0
$GC,2673,-1.50,-119.1,496.9,-14.4,104,2677,0.00,1.98,0.00,0.000,4,0.000,0.060,2165,3943,3108,0,0,0,0,0,0
$GC,2774,-1.50,-119.1,512.0,-15.4,105,2779,0.00,1.85,0.00,0.000,6,0.000,0.041,2166,2869,3107,0,0,0,0,0,0
$GC,3103,-1.50,-119.1,559.2,-14.1,111,3107,0.00,1.98,0.00,0.000,4,0.000,0.062,2166,3943,3105,0,0,0,0,0,0
$GC,3220,-1.50,-119.1,576.4,-14.0,112,3224,0.00,1.85,0.00,0.000,6,0.000,0.042,2166,2880,3103,0,0,0,0,0,0
$GC,3532,-1.50,-119.1,617.8,-13.3,118,3536,0.00,1.98,0.00,0.000,4,0.000,0.066,2166,3943,3102,0,0,0,0,0,0
$GC,3559,-1.50,-119.1,621.4,-14.6,118,3563,0.00,1.80,0.00,0.000,6,0.000,0.043,2166,2913,3101,0,0,0,0,0,0
$GC,3897,-1.50,-119.1,663.1,-12.0,124,3901,0.00,1.95,0.00,0.000,4,0.000,0.072,2165,3947,3097,0,0,0,0,0,0
$GC,3982,-1.50,-119.1,674.9,-14.0,125,3987,0.00,1.80,0.00,0.000,6,0.000,0.044,2166,2929,3097,0,0,0,0,0,0
$GC,4327,-1.50,-119.1,716.0,-11.8,131,4331,0.00,1.95,0.00,0.000,4,0.000,0.081,2166,3943,3094,0,0,0,0,0,0
$GC,4417,-1.50,-119.1,727.7,-13.7,132,4422,0.00,1.85,0.00,0.000,6,0.000,0.050,2166,2920,3094,0,0,0,0,0,0
$GC,4756,-1.50,-119.1,771.7,-13.2,138,4760,0.00,2.00,0.00,0.000,4,0.000,0.090,2166,3943,3092,0,0,0,0,0,0
$GC,4847,-1.50,-119.1,784.4,-13.7,139,4851,0.00,1.90,0.00,0.000,6,0.000,0.064,2166,2929,3091,0,0,0,0,0,0
$GC,5186,-1.50,-119.1,829.8,-13.2,145,5190,0.00,2.08,0.00,0.000,4,0.000,0.111,2166,3944,3089,0,0,0,0,0,0
$GC,5239,-1.50,-119.1,837.5,-14.8,145,5243,0.00,2.03,0.00,0.000,6,0.000,0.088,2166,2916,3089,0,0,0,0,0,0
$GC,5551,-1.50,-119.1,881.2,-13.9,151,5555,0.00,2.20,0.00,0.000,4,0.000,0.137,2165,3936,3087,0,0,0,0,0,0
$GC,5642,-1.50,-119.1,894.1,-13.9,152,5646,0.00,2.12,0.00,0.000,6,0.000,0.120,2166,2922,3086,0,0,0,0,0,0
$GC,5981,-1.50,-119.1,936.6,-12.4,158,5984,0.00,2.33,0.00,0.000,4,0.000,0.172,2166,3929,3084,0,0,0,0,0,0
$GC,6044,-1.50,-119.1,945.1,-14.0,159,6048,0.00,2.28,0.00,0.000,6,0.000,0.156,2165,2922,3084,0,0,0,0,0,0
$GC,6410,-1.50,-119.1,989.3,-12.0,165,6415,0.00,2.53,0.00,0.000,4,0.000,0.209,2166,3928,3083,0,0,0,0,0,0
$STATE,6418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6418,begin apogee
$GC,6426,-0.28,0.0,990.6,12.3,165,6536,1.33,0.00,106.47,1.317,6,0.127,0.000,2429,2741,2618,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6538,1.50,119.1,995.5,0.0,167,6665,1.85,3.53,115.55,1.283,4,0.084,0.202,2817,1333,2131,0,0,0,0,0,0
$GC,6722,1.50,119.1,976.3,15.9,170,6727,0.00,3.25,0.00,0.000,6,0.000,0.167,2817,2728,2127,0,0,0,0,0,0
$GC,7088,1.50,119.1,918.8,15.7,176,7092,0.00,3.03,0.00,0.000,4,0.000,0.143,2817,1323,2119,0,0,0,0,0,0
$GC,7158,1.50,119.1,907.6,16.0,177,7162,0.00,3.00,0.00,0.000,6,0.000,0.122,2817,2764,2118,0,0,0,0,0,0
$GC,7512,1.50,119.1,851.0,15.8,183,7516,0.00,2.85,0.00,0.000,4,0.000,0.101,2817,1326,2115,0,0,0,0,0,0
$GC,7554,1.50,119.1,844.2,15.9,183,7559,0.00,2.83,0.00,0.000,6,0.000,0.091,2817,2754,2115,0,0,0,0,0,0
$GC,7878,1.50,119.1,793.2,15.6,189,7881,0.00,2.72,0.00,0.000,4,0.000,0.084,2817,1329,2113,0,0,0,0,0,0
$GC,7904,1.50,119.1,789.3,15.2,189,7908,0.00,2.70,0.00,0.000,6,0.000,0.075,2819,2761,2113,0,0,0,0,0,0
$GC,8243,1.50,119.1,738.6,15.0,195,8247,0.00,2.72,0.00,0.000,4,0.000,0.073,2817,1321,2111,0,0,0,0,0,0
$GC,8323,1.50,119.1,727.0,15.0,196,8327,0.00,2.67,0.00,0.000,6,0.000,0.064,2817,2775,2112,0,0,0,0,0,0
$GC,8672,1.50,119.1,680.2,13.1,202,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2775,2110,0,0,0,0,0,0
$GC,8974,1.50,119.1,640.9,13.1,207,8978,0.00,2.67,0.00,0.000,4,0.000,0.062,2817,1324,2109,0,0,0,0,0,0
$GC,9044,1.50,119.1,631.5,13.7,208,9048,0.00,2.58,0.00,0.000,6,0.000,0.053,2817,2768,2109,0,0,0,0,0,0
$GC,9398,1.50,119.1,582.0,14.0,214,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2768,2108,0,0,0,0,0,0
$GC,9700,1.50,119.1,540.8,13.7,219,9704,0.00,2.62,0.00,0.000,4,0.000,0.055,2818,1317,2108,0,0,0,0,0,0
$GC,9742,1.50,119.1,535.4,13.3,219,9746,0.00,2.58,0.00,0.000,6,0.000,0.048,2817,2753,2108,0,0,0,0,0,0
$GC,10065,1.50,119.1,497.5,11.6,225,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2753,2107,0,0,0,0,0,0
$GC,10367,1.50,119.1,462.9,11.5,230,10371,0.00,2.58,0.00,0.000,4,0.000,0.051,2818,1318,2107,0,0,0,0,0,0
$GC,10500,1.50,119.1,448.1,10.9,232,10504,0.00,2.55,0.00,0.000,6,0.000,0.046,2818,2753,2107,0,0,0,0,0,0
$GC,10860,1.50,119.1,407.5,11.4,238,10864,0.00,2.58,0.00,0.000,4,0.000,0.049,2817,1308,2106,0,0,0,0,0,0
$GC,10897,1.50,119.1,403.1,11.7,238,10901,0.00,2.55,0.00,0.000,6,0.000,0.044,2818,2749,2106,0,0,0,0,0,0
$GC,11226,1.50,119.1,363.1,12.3,244,11230,0.00,2.50,0.00,0.000,4,0.000,0.048,2817,1314,2106,0,0,0,0,0,0
$GC,11311,1.50,119.1,353.2,11.9,245,11315,0.00,2.53,0.00,0.000,6,0.000,0.044,2818,2751,2106,0,0,0,0,0,0
$GC,11650,1.50,119.1,309.2,13.2,251,11654,0.00,2.55,0.00,0.000,4,0.000,0.048,2817,1310,2106,0,0,0,0,0,0
$GC,11826,1.50,119.1,289.4,10.0,254,11830,0.00,2.55,0.00,0.000,6,0.000,0.043,2818,2762,2107,0,0,0,0,0,0
$GC,12145,1.51,126.4,259.3,9.4,265,12149,0.00,2.12,0.00,0.000,4,0.000,0.058,2816,3941,2106,0,0,0,0,0,0
$GC,12321,1.51,126.4,239.6,11.7,270,12325,0.00,2.12,0.00,0.000,6,0.000,0.039,2817,2700,2105,0,0,0,0,0,0
$GC,12640,1.52,140.8,211.2,8.8,281,12660,0.00,2.33,15.40,0.733,4,0.000,0.046,2818,1354,2044,0,0,0,0,0,0
$GC,12799,1.52,140.8,195.4,10.7,286,12804,0.00,2.45,0.00,0.000,6,0.000,0.041,2818,2759,2043,0,0,0,0,0,0
$GC,13135,1.53,145.6,161.2,9.6,297,13144,0.00,2.10,5.72,0.575,4,0.000,0.055,2817,3947,2023,0,0,0,0,0,0
$GC,13278,1.53,145.6,145.3,10.7,301,13283,0.00,2.05,0.00,0.000,6,0.000,0.037,2817,2746,2021,0,0,0,0,0,0
$GC,13592,1.54,159.3,117.5,8.9,312,13611,0.00,2.45,13.12,0.618,4,0.000,0.043,2818,1351,1968,0,0,0,0,0,0
$GC,13751,1.54,159.3,100.9,12.5,317,13755,0.00,2.42,0.00,0.000,6,0.000,0.040,2818,2751,1966,0,0,0,0,0,0
$GC,14073,1.60,210.9,73.2,5.8,346,14125,0.12,2.47,45.08,0.597,4,0.084,0.042,2850,1357,1757,0,0,0,0,0,0
$GC,14225,1.60,210.9,58.6,10.9,360,14231,0.00,2.42,0.00,0.000,6,0.000,0.039,2850,2762,1754,0,0,0,0,0,0
$GC,14416,1.60,210.9,36.8,12.0,379,14421,0.00,2.10,0.00,0.000,4,0.000,0.054,2850,3949,1751,0,0,0,0,0,0
$GC,14529,1.60,210.9,21.4,13.6,389,14534,0.00,2.03,0.00,0.000,6,0.000,0.037,2850,2746,1750,0,0,0,0,0,0
$STATE,14697,end climb,SURFACE_DEPTH_REACHED
$STATE,14697,begin surface coast
$FINISH,0.2,1.002574
$STATE,14724,end surface coast,CONTROL_FINISHED_OK
$STATE,14724,begin surface
$SM_CCo,14742,99.00,0.502,0,0,986,400.08
$SM_GC,0.71,0.00,0.00,99.00,0.000,0.000,0.502,373,2939,986,-9.76,0.51,400.08
$IRIDIUM_FIX,1916.08,-15559.47,100511,171749
$TT8_MAMPS,0.059059
$HUMID,1078589023
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.0,18.116
$10V_AH,10.0,44.795
$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,23.750,148.600,301.350,99.000,0.000,25.191,44.409,104.951,0.000,0.000,17.798,0.000,12337.655,543.941,1824.105,392.505,33.348,1393.026,0.000,1511.829,0.000,0.531,0.000
$DEVICE_MAMPS,158.002,209.391,1316.939,502.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,284.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,15895,425
$CAP_FILE_SIZE,123563,0
$CFSIZE,260034560,249335808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,350.1,1
$GPS,151109,071556,1924.249,-15558.392,41,3.1,60,9.7