version: 66.07
glider: 22
mission: 14
dive: 99
start: 11 15 109 7 21 19
data:
$ID,22
$MISSION,14
$DIVE,99
$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,290
$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,-250429.14
$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,53
$R_STBD_OVSHOOT,42
$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
$GPS1,151109,071556,1924.249,-15558.392,41,3.1,60,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-68.0
$GPS2,151109,072040,1924.364,-15558.436,33,2.5,52,9.7
$SPEED_LIMITS,0.163,0.306
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.306,-0.007
$KALMAN_X,-208372.1,1273.1,-21.6,236981.6,-9563.5
$KALMAN_Y,63119.6,-237.1,-730.8,-121387.9,3828.2
$MHEAD_RNG_PITCHd_Wd,121.8,1017,-33.3,-11.379
$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,-1.91,-55.5,0.0,0.0,0,87,0.00,0.00,-71.90,0.000,2,0.000,0.000,373,2939,2614,0,0,0,0,0,0
$GC,89,-1.94,-88.9,3.2,-6.8,14,114,9.18,1.77,-9.88,0.000,4,0.161,0.071,2066,3939,2982,0,0,0,0,0,0
$GC,273,-1.94,-88.9,67.4,-37.1,37,279,0.00,1.73,0.00,0.000,6,0.000,0.038,2066,2909,2983,0,0,0,0,0,0
$GC,483,-1.94,-88.9,124.1,-26.0,52,488,0.00,1.83,0.00,0.000,4,0.000,0.051,2066,3938,2985,0,0,0,0,0,0
$GC,552,-1.94,-88.9,143.0,-26.9,54,556,0.00,1.70,0.00,0.000,6,0.000,0.038,2066,2915,2987,0,0,0,0,0,0
$GC,882,-1.94,-88.9,220.8,-22.5,65,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2911,2989,0,0,0,0,0,0
$GC,1186,-1.94,-88.9,278.6,-18.2,75,1190,0.00,1.83,0.00,0.000,4,0.000,0.054,2066,3937,2990,0,0,0,0,0,0
$GC,1223,-1.94,-88.9,285.2,-17.9,76,1227,0.00,1.70,0.00,0.000,6,0.000,0.038,2066,2919,2990,0,0,0,0,0,0
$GC,1551,-1.94,-88.9,342.7,-17.3,83,1555,0.00,1.83,0.00,0.000,4,0.000,0.056,2066,3937,2990,0,0,0,0,0,0
$GC,1685,-1.94,-88.9,368.4,-18.9,85,1689,0.00,1.73,0.00,0.000,6,0.000,0.041,2066,2920,2990,0,0,0,0,0,0
$GC,2045,-1.94,-88.9,435.6,-18.5,91,2049,0.00,1.85,0.00,0.000,4,0.000,0.058,2066,3941,2990,0,0,0,0,0,0
$GC,2093,-1.94,-88.9,444.0,-17.3,91,2097,0.00,1.75,0.00,0.000,6,0.000,0.041,2066,2914,2989,0,0,0,0,0,0
$GC,2410,-1.94,-88.9,498.6,-17.4,97,2414,0.00,1.85,0.00,0.000,4,0.000,0.059,2065,3930,2987,0,0,0,0,0,0
$GC,2452,-1.94,-88.9,505.9,-17.7,97,2457,0.00,1.75,0.00,0.000,6,0.000,0.041,2066,2912,2986,0,0,0,0,0,0
$GC,2775,-1.94,-88.9,557.1,-15.3,103,2779,0.00,1.88,0.00,0.000,4,0.000,0.061,2066,3936,2983,0,0,0,0,0,0
$GC,2931,-1.94,-88.9,581.3,-15.2,105,2934,0.00,1.73,0.00,0.000,6,0.000,0.043,2066,2914,2981,0,0,0,0,0,0
$GC,3269,-1.94,-88.9,629.7,-14.2,111,3273,0.00,1.90,0.00,0.000,4,0.000,0.066,2066,3935,2979,0,0,0,0,0,0
$GC,3301,-1.94,-88.9,634.6,-15.9,111,3305,0.00,1.77,0.00,0.000,6,0.000,0.044,2066,2922,2979,0,0,0,0,0,0
$GC,3635,-1.94,-88.9,682.7,-14.6,117,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2922,2976,0,0,0,0,0,0
$GC,3936,-1.94,-88.9,729.0,-15.2,122,3940,0.00,1.95,0.00,0.000,4,0.000,0.087,2066,3926,2974,0,0,0,0,0,0
$GC,4101,-1.94,-88.9,755.4,-14.7,124,4106,0.00,1.83,0.00,0.000,6,0.000,0.057,2066,2933,2973,0,0,0,0,0,0
$GC,4430,-1.94,-88.9,801.4,-14.1,130,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2933,2971,0,0,0,0,0,0
$GC,4731,-1.94,-88.9,842.6,-13.6,135,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2933,2969,0,0,0,0,0,0
$GC,5033,-1.94,-88.9,884.7,-14.0,140,5038,0.00,2.12,0.00,0.000,4,0.000,0.140,2066,3917,2969,0,0,0,0,0,0
$GC,5097,-1.94,-88.9,894.4,-15.7,141,5101,0.00,2.08,0.00,0.000,6,0.000,0.120,2066,2929,2968,0,0,0,0,0,0
$GC,5462,-1.94,-88.9,945.6,-14.0,147,5467,0.00,2.33,0.00,0.000,4,0.000,0.176,2066,3924,2965,0,0,0,0,0,0
$GC,5638,-1.94,-88.9,972.2,-15.0,149,5643,0.00,2.38,0.00,0.000,6,0.000,0.175,2066,2914,2964,0,0,0,0,0,0
$STATE,5773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5773,begin apogee
$GC,5778,-0.28,0.0,990.2,13.2,152,5861,1.88,0.00,79.60,1.310,6,0.135,0.000,2428,2739,2618,0,0,0,0,0,0
$STATE,5862,end apogee,CONTROL_FINISHED_OK
$STATE,5862,begin climb
$GC,5863,1.94,88.9,992.1,0.0,153,5961,2.33,3.47,87.35,1.277,4,0.084,0.200,2915,1328,2254,0,0,0,0,0,0
$GC,6034,1.94,88.9,967.7,18.4,155,6038,0.00,3.15,0.00,0.000,6,0.000,0.160,2915,2716,2249,0,0,0,0,0,0
$GC,6346,1.94,88.9,904.6,20.6,161,6351,0.00,2.95,0.00,0.000,4,0.000,0.132,2915,1335,2243,0,0,0,0,0,0
$GC,6400,1.94,88.9,893.5,19.8,161,6404,0.00,2.90,0.00,0.000,6,0.000,0.116,2915,2754,2243,0,0,0,0,0,0
$GC,6712,1.94,88.9,833.3,19.2,167,6716,0.00,2.85,0.00,0.000,4,0.000,0.099,2915,1325,2238,0,0,0,0,0,0
$GC,6807,1.94,88.9,815.8,17.2,168,6812,0.00,2.75,0.00,0.000,6,0.000,0.078,2915,2750,2239,0,0,0,0,0,0
$GC,7141,1.94,88.9,754.7,18.3,174,7145,0.00,2.67,0.00,0.000,4,0.000,0.073,2915,1319,2236,0,0,0,0,0,0
$GC,7302,1.94,88.9,724.9,18.8,176,7306,0.00,2.62,0.00,0.000,6,0.000,0.058,2915,2766,2235,0,0,0,0,0,0
$GC,7630,1.94,88.9,667.6,17.4,182,7633,0.00,2.62,0.00,0.000,4,0.000,0.061,2915,1322,2233,0,0,0,0,0,0
$GC,7746,1.94,88.9,647.0,17.7,183,7751,0.00,2.60,0.00,0.000,6,0.000,0.052,2915,2756,2233,0,0,0,0,0,0
$GC,8059,1.94,88.9,590.9,17.9,189,8063,0.00,2.60,0.00,0.000,4,0.000,0.056,2915,1322,2233,0,0,0,0,0,0
$GC,8304,1.94,88.9,550.6,16.0,192,8308,0.00,2.58,0.00,0.000,6,0.000,0.048,2915,2759,2233,0,0,0,0,0,0
$GC,8616,1.94,88.9,502.7,15.2,198,8620,0.00,2.60,0.00,0.000,4,0.000,0.051,2915,1311,2232,0,0,0,0,0,0
$GC,8862,1.94,88.9,465.9,14.8,201,8866,0.00,2.58,0.00,0.000,6,0.000,0.046,2915,2763,2231,0,0,0,0,0,0
$GC,9174,1.94,88.9,420.8,14.4,207,9178,0.00,2.60,0.00,0.000,4,0.000,0.050,2915,1308,2231,0,0,0,0,0,0
$GC,9409,1.94,88.9,385.9,13.5,210,9413,0.00,2.58,0.00,0.000,6,0.000,0.045,2915,2761,2231,0,0,0,0,0,0
$GC,9732,1.94,88.9,341.9,13.5,216,9736,0.00,2.58,0.00,0.000,4,0.000,0.048,2915,1313,2230,0,0,0,0,0,0
$GC,9924,1.94,88.9,316.2,13.9,219,9928,0.00,2.55,0.00,0.000,6,0.000,0.044,2915,2759,2230,0,0,0,0,0,0
$GC,10261,1.94,88.9,272.4,12.1,228,10265,0.00,2.12,0.00,0.000,4,0.000,0.057,2915,3943,2229,0,0,0,0,0,0
$GC,10304,1.94,88.9,266.9,13.0,229,10307,0.00,2.12,0.00,0.000,6,0.000,0.041,2915,2692,2228,0,0,0,0,0,0
$GC,10628,1.96,107.4,234.3,8.8,240,10646,0.00,2.47,12.70,0.766,4,0.000,0.048,2915,1308,2180,0,0,0,0,0,0
$GC,10791,1.97,116.9,219.5,10.1,245,10806,0.00,2.55,10.20,0.729,6,0.000,0.042,2915,2758,2140,0,0,0,0,0,0
$GC,11121,1.97,116.9,182.8,11.8,256,11125,0.00,2.55,0.00,0.000,4,0.000,0.045,2915,1304,2138,0,0,0,0,0,0
$GC,11366,1.98,125.5,158.0,10.2,263,11379,0.00,2.53,8.55,0.657,6,0.000,0.041,2915,2754,2106,0,0,0,0,0,0
$GC,11680,2.00,143.4,129.7,8.9,274,11701,0.00,2.12,17.17,0.673,4,0.000,0.051,2915,3949,2032,0,0,0,0,0,0
$GC,11759,2.00,143.4,120.0,13.8,276,11764,0.00,2.15,0.00,0.000,6,0.000,0.037,2915,2698,2029,0,0,0,0,0,0
$GC,12076,2.00,143.4,78.4,11.9,297,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2696,2028,0,0,0,0,0,0
$GC,12263,2.02,157.1,58.0,9.5,315,12283,0.00,2.30,12.50,0.571,4,0.000,0.051,2915,3951,1976,0,0,0,0,0,0
$GC,12522,2.05,188.6,38.7,7.1,339,12558,0.08,2.12,28.52,0.569,6,0.059,0.036,2941,2691,1848,0,0,0,0,0,0
$GC,12745,2.05,189.2,13.7,11.3,365,12751,0.00,2.25,0.00,0.000,4,0.000,0.051,2941,3951,1842,0,0,0,0,0,0
$STATE,12828,end climb,SURFACE_DEPTH_REACHED
$STATE,12828,begin surface coast
$FINISH,0.1,1.023092
$STATE,12851,end surface coast,CONTROL_FINISHED_OK
$STATE,12851,begin surface
$SM_CCo,12871,113.82,0.517,0,0,987,400.08
$SM_GC,0.82,0.00,0.00,113.82,0.000,0.000,0.517,370,2868,987,-9.78,-1.47,400.08
$IRIDIUM_FIX,1920.65,-15841.65,100511,212129
$TT8_MAMPS,0.059826
$HUMID,1078629023
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,22.8,18.220
$10V_AH,10.0,44.841
$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,24.625,118.075,256.600,113.825,0.000,22.476,39.455,96.868,0.000,0.000,53.132,0.000,10618.902,509.473,1771.228,357.842,33.348,1296.089,0.000,1454.138,0.000,0.532,0.000
$DEVICE_MAMPS,161.070,200.187,1310.036,516.958,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,257.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,12770,385
$CAP_FILE_SIZE,110415,0
$CFSIZE,260034560,249303040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 34.6,1
$GPS,151109,105837,1923.422,-15557.494,33,1.2,33,9.7