version: 66.07
glider: 22
mission: 14
dive: 100
start: 11 15 109 11 3 42
data:
$ID,22
$MISSION,14
$DIVE,100
$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,-250450.12
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,151109,105837,1923.422,-15557.494,33,1.2,33,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-68.7
$GPS2,151109,110301,1923.499,-15557.489,14,1.6,19,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.283,-0.079
$KALMAN_X,-212577.8,1192.0,909.7,241966.0,-12171.2
$KALMAN_Y,62180.5,-738.0,-1066.4,-121189.1,4034.6
$MHEAD_RNG_PITCHd_Wd,306.5,1286,-33.1,-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,-1.89,-45.7,0.0,0.0,0,88,0.00,0.00,-74.07,0.000,2,0.000,0.000,370,2868,2656,0,0,0,0,0,0
$GC,91,-1.90,-58.0,3.5,-8.2,14,111,9.30,1.95,-5.30,0.000,4,0.163,0.069,2075,3949,2856,0,0,0,0,0,0
$GC,350,-1.90,-58.0,92.5,-26.0,43,357,0.00,1.75,0.00,0.000,6,0.000,0.037,2075,2901,2859,0,0,0,0,0,0
$GC,538,-1.90,-58.0,133.8,-21.4,52,542,0.00,1.88,0.00,0.000,4,0.000,0.051,2075,3953,2861,0,0,0,0,0,0
$GC,784,-1.90,-58.0,190.7,-20.3,59,788,0.00,1.73,0.00,0.000,6,0.000,0.038,2075,2918,2864,0,0,0,0,0,0
$GC,1098,-1.90,-58.0,241.9,-15.0,70,1102,0.00,1.83,0.00,0.000,4,0.000,0.052,2075,3943,2865,0,0,0,0,0,0
$GC,1135,-1.90,-58.0,247.5,-15.8,71,1139,0.00,1.73,0.00,0.000,6,0.000,0.038,2075,2912,2865,0,0,0,0,0,0
$GC,1465,-1.90,-58.0,297.5,-15.1,82,1469,0.00,1.85,0.00,0.000,4,0.000,0.054,2075,3941,2865,0,0,0,0,0,0
$GC,1621,-1.90,-58.0,322.1,-16.5,85,1624,0.00,1.70,0.00,0.000,6,0.000,0.041,2075,2913,2866,0,0,0,0,0,0
$GC,1958,-1.90,-58.0,367.4,-12.8,91,1962,0.00,1.88,0.00,0.000,4,0.000,0.056,2075,3952,2865,0,0,0,0,0,0
$GC,2060,-1.90,-58.0,382.7,-15.3,92,2064,0.00,1.75,0.00,0.000,6,0.000,0.041,2075,2925,2865,0,0,0,0,0,0
$GC,2388,-1.90,-58.0,428.1,-13.5,98,2392,0.00,2.42,0.00,0.000,4,0.000,0.046,2075,1525,2865,0,0,0,0,0,0
$GC,2538,-1.90,-58.0,448.5,-13.2,100,2542,0.00,2.42,0.00,0.000,6,0.000,0.048,2075,2921,2865,0,0,0,0,0,0
$GC,2877,-1.90,-58.0,495.7,-14.0,106,2880,0.00,1.85,0.00,0.000,4,0.000,0.061,2075,3953,2860,0,0,0,0,0,0
$GC,2897,-1.90,-58.0,498.7,-14.1,106,2901,0.00,1.77,0.00,0.000,6,0.000,0.042,2076,2926,2860,0,0,0,0,0,0
$GC,3241,-1.90,-58.0,540.7,-11.8,112,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2925,2857,0,0,0,0,0,0
$GC,3543,-1.90,-58.0,575.4,-11.7,117,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2926,2855,0,0,0,0,0,0
$GC,3845,-1.90,-58.0,608.2,-10.8,122,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2926,2854,0,0,0,0,0,0
$GC,4147,-1.90,-58.0,641.7,-11.1,127,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2926,2852,0,0,0,0,0,0
$GC,4448,-1.90,-58.2,672.3,-10.0,132,4453,0.00,1.90,0.00,0.000,4,0.000,0.071,2075,3943,2849,0,0,0,0,0,0
$GC,4464,-1.90,-58.6,674.0,-9.9,132,4468,0.00,1.80,0.00,0.000,6,0.000,0.045,2075,2930,2849,0,0,0,0,0,0
$GC,4814,-1.90,-58.6,709.7,-10.5,138,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2930,2847,0,0,0,0,0,0
$GC,5115,-1.91,-60.4,739.2,-9.7,143,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2930,2846,0,0,0,0,0,0
$GC,5417,-1.91,-60.4,769.1,-10.1,148,5422,0.00,2.65,0.00,0.000,4,0.000,0.084,2075,1519,2844,0,0,0,0,0,0
$GC,5486,-1.91,-60.4,776.1,-10.3,149,5490,0.00,2.62,0.00,0.000,6,0.000,0.074,2075,2909,2844,0,0,0,0,0,0
$GC,5847,-1.91,-60.4,813.4,-10.4,155,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2910,2843,0,0,0,0,0,0
$GC,6148,-1.91,-60.8,843.3,-9.9,160,6152,0.00,2.12,0.00,0.000,4,0.000,0.124,2075,3953,2842,0,0,0,0,0,0
$GC,6294,-1.91,-60.8,858.2,-10.0,162,6297,0.00,2.00,0.00,0.000,6,0.000,0.100,2075,2933,2841,0,0,0,0,0,0
$GC,6637,-1.92,-72.6,887.6,-8.3,168,6641,0.00,2.90,0.00,0.000,4,0.000,0.132,2075,1502,2840,0,0,0,0,0,0
$GC,6777,-1.94,-95.1,898.1,-6.7,170,6781,0.00,2.92,0.00,0.000,6,0.000,0.127,2075,2928,2839,0,0,0,0,0,0
$GC,7125,-1.97,-114.2,923.6,-7.2,176,7129,0.00,2.25,0.00,0.000,4,0.000,0.162,2075,3953,2837,0,0,0,0,0,0
$GC,7200,-1.99,-132.5,929.3,-7.3,177,7204,0.00,2.28,0.00,0.000,6,0.000,0.144,2075,2919,2837,0,0,0,0,0,0
$GC,7555,-2.00,-146.6,956.1,-7.9,183,7559,0.00,3.15,0.00,0.000,4,0.000,0.177,2075,1501,2836,0,0,0,0,0,0
$GC,7630,-2.00,-146.6,963.6,-10.4,184,7634,0.00,3.17,0.00,0.000,6,0.000,0.163,2075,2927,2836,0,0,0,0,0,0
$STATE,7911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7911,begin apogee
$GC,7916,-0.28,0.0,992.0,10.0,189,7974,1.83,0.00,51.03,1.326,6,0.135,0.000,2428,2740,2618,0,0,0,0,0,0
$STATE,7974,end apogee,CONTROL_FINISHED_OK
$STATE,7974,begin climb
$GC,7976,2.00,146.6,993.7,0.0,190,8127,2.35,3.40,141.43,1.312,4,0.083,0.192,2931,1332,2019,0,0,0,0,0,0
$GC,8163,2.00,146.6,964.6,23.0,193,8168,0.00,3.20,0.00,0.000,6,0.000,0.158,2932,2753,2015,0,0,0,0,0,0
$GC,8513,2.00,146.6,875.6,25.4,199,8517,0.00,2.95,0.00,0.000,4,0.000,0.123,2931,1330,2005,0,0,0,0,0,0
$GC,8641,2.00,146.6,845.8,23.6,201,8645,0.00,2.85,0.00,0.000,6,0.000,0.095,2931,2762,2004,0,0,0,0,0,0
$GC,9006,2.00,146.6,759.3,24.0,207,9010,0.00,2.75,0.00,0.000,4,0.000,0.077,2931,1323,2000,0,0,0,0,0,0
$GC,9064,2.00,146.6,745.3,25.0,207,9071,0.00,2.67,0.00,0.000,6,0.000,0.062,2931,2759,2000,0,0,0,0,0,0
$GC,9372,2.00,146.6,668.7,25.0,213,9376,0.00,2.67,0.00,0.000,4,0.000,0.063,2931,1317,1999,0,0,0,0,0,0
$GC,9527,2.00,146.6,632.2,23.7,215,9531,0.00,2.60,0.00,0.000,6,0.000,0.054,2931,2767,1998,0,0,0,0,0,0
$GC,9860,2.00,146.6,555.8,22.9,221,9864,0.00,2.60,0.00,0.000,4,0.000,0.055,2931,1313,1996,0,0,0,0,0,0
$GC,9988,2.00,146.6,528.9,20.9,223,9992,0.00,2.58,0.00,0.000,6,0.000,0.049,2931,2751,1996,0,0,0,0,0,0
$GC,10354,2.00,146.6,457.8,19.0,229,10358,0.00,2.58,0.00,0.000,4,0.000,0.052,2931,1322,1995,0,0,0,0,0,0
$GC,10454,2.00,146.6,439.2,18.0,230,10459,0.00,2.55,0.00,0.000,6,0.000,0.047,2931,2755,1995,0,0,0,0,0,0
$GC,10783,2.00,146.6,374.8,19.6,236,10787,0.00,2.58,0.00,0.000,4,0.000,0.050,2931,1315,1994,0,0,0,0,0,0
$GC,10933,2.00,146.6,346.1,18.6,238,10937,0.00,2.53,0.00,0.000,6,0.000,0.045,2931,2757,1993,0,0,0,0,0,0
$GC,11246,2.00,146.6,286.1,19.3,244,11250,0.00,2.58,0.00,0.000,4,0.000,0.048,2931,1307,1993,0,0,0,0,0,0
$GC,11358,2.00,146.6,266.1,18.9,247,11362,0.00,2.55,0.00,0.000,6,0.000,0.044,2931,2753,1993,0,0,0,0,0,0
$GC,11677,2.00,146.6,213.0,16.0,258,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2754,1992,0,0,0,0,0,0
$GC,11981,2.00,146.6,165.6,14.3,268,11985,0.00,2.53,0.00,0.000,4,0.000,0.045,2932,1310,1992,0,0,0,0,0,0
$GC,12082,2.00,146.6,151.1,14.2,271,12086,0.00,2.50,0.00,0.000,6,0.000,0.041,2931,2753,1993,0,0,0,0,0,0
$GC,12412,2.00,146.6,103.7,14.5,282,12416,0.00,2.50,0.00,0.000,4,0.000,0.042,2931,1309,1992,0,0,0,0,0,0
$GC,12487,2.00,146.6,93.0,13.8,287,12491,0.00,2.47,0.00,0.000,6,0.000,0.039,2931,2751,1993,0,0,0,0,0,0
$GC,12683,2.02,161.9,70.1,7.8,306,12698,0.00,2.53,9.55,0.574,4,0.000,0.041,2931,1305,1957,0,0,0,0,0,0
$GC,12746,2.02,161.9,64.2,10.2,312,12751,0.00,2.50,0.00,0.000,6,0.000,0.038,2931,2757,1956,0,0,0,0,0,0
$GC,12944,2.03,174.4,49.7,8.2,331,12960,0.00,2.15,12.45,0.561,4,0.000,0.051,2931,3944,1905,0,0,0,0,0,0
$GC,13199,2.03,174.4,20.4,11.9,354,13205,0.00,2.10,0.00,0.000,6,0.000,0.036,2931,2693,1903,0,0,0,0,0,0
$STATE,13362,end climb,SURFACE_DEPTH_REACHED
$STATE,13362,begin surface coast
$FINISH,0.2,1.023186
$STATE,13395,end surface coast,CONTROL_FINISHED_OK
$STATE,13395,begin surface
$SM_CCo,13413,121.90,0.517,0,0,987,400.33
$SM_GC,0.82,0.00,0.00,121.90,0.000,0.000,0.517,371,2929,987,-9.77,0.25,400.33
$IRIDIUM_FIX,1920.65,-15716.30,110511,010113
$TT8_MAMPS,0.059059
$HUMID,1078609668
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.0,18.324
$10V_AH,10.0,44.885
$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,24.625,120.100,214.450,121.900,0.000,30.566,27.685,114.829,0.000,0.000,20.352,0.000,11267.406,473.627,1677.894,372.030,33.346,1235.050,0.000,1396.604,0.000,0.530,0.000
$DEVICE_MAMPS,162.604,191.750,1326.143,516.958,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,261.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353856
$DATA_FILE_SIZE,12758,391
$CAP_FILE_SIZE,108811,0
$CFSIZE,260034560,249249792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,326.4,1
$GPS,151109,145007,1924.931,-15558.252,30,1.5,30,9.7