version: 66.07
glider: 22
mission: 14
dive: 103
start: 11 15 109 22 57 23
data:
$ID,22
$MISSION,14
$DIVE,103
$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,-250516.19
$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,2
$R_STBD_OVSHOOT,35
$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
$GPS1,151109,225230,1923.420,-15557.725,37,1.3,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.5
$GPS2,151109,225643,1923.489,-15557.703,11,1.3,16,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.284,-0.076
$KALMAN_X,-228404.8,1282.1,1418.7,256819.8,-13952.5
$KALMAN_Y,66105.4,192.6,-1052.0,-126093.1,4543.2
$MHEAD_RNG_PITCHd_Wd,321.6,1078,-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,-73.97,0.000,2,0.000,0.000,371,2826,2643,0,0,0,0,0,0
$GC,90,-1.92,-69.9,3.1,-6.5,14,111,9.38,2.30,-7.03,0.000,4,0.165,0.054,2074,1464,2903,0,0,0,0,0,0
$GC,281,-1.92,-69.9,62.0,-29.8,38,285,0.00,2.55,0.00,0.000,6,0.000,0.044,2074,2916,2906,0,0,0,0,0,0
$GC,497,-1.92,-69.9,116.0,-22.7,55,501,0.00,2.47,0.00,0.000,4,0.000,0.041,2074,1468,2907,0,0,0,0,0,0
$GC,625,-1.92,-69.9,144.4,-21.1,59,629,0.00,2.53,0.00,0.000,6,0.000,0.043,2074,2923,2908,0,0,0,0,0,0
$GC,960,-1.92,-69.9,214.7,-18.8,70,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2923,2910,0,0,0,0,0,0
$GC,1264,-1.92,-69.9,267.1,-17.1,80,1267,0.00,2.47,0.00,0.000,4,0.000,0.042,2074,1460,2912,0,0,0,0,0,0
$GC,1439,-1.92,-69.9,294.9,-14.6,85,1443,0.00,2.55,0.00,0.000,6,0.000,0.045,2073,2919,2913,0,0,0,0,0,0
$GC,1787,-1.92,-69.9,350.5,-15.9,92,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2918,2913,0,0,0,0,0,0
$GC,2089,-1.92,-69.9,397.9,-15.5,97,2093,0.00,1.85,0.00,0.000,4,0.000,0.060,2074,3953,2912,0,0,0,0,0,0
$GC,2239,-1.92,-69.9,420.6,-15.4,99,2243,0.00,1.88,0.00,0.000,6,0.000,0.041,2074,2861,2911,0,0,0,0,0,0
$GC,2583,-1.92,-69.9,470.2,-14.1,105,2587,0.00,1.98,0.00,0.000,4,0.000,0.059,2074,3944,2908,0,0,0,0,0,0
$GC,2668,-1.92,-69.9,482.5,-14.2,106,2672,0.00,1.85,0.00,0.000,6,0.000,0.042,2074,2871,2907,0,0,0,0,0,0
$GC,3012,-1.92,-69.9,530.4,-13.7,112,3016,0.00,1.98,0.00,0.000,4,0.000,0.061,2074,3948,2906,0,0,0,0,0,0
$GC,3049,-1.92,-69.9,535.8,-14.9,112,3054,0.00,1.80,0.00,0.000,6,0.000,0.043,2074,2914,2907,0,0,0,0,0,0
$GC,3377,-1.92,-69.9,581.4,-13.7,118,3381,0.00,1.90,0.00,0.000,4,0.000,0.063,2074,3945,2903,0,0,0,0,0,0
$GC,3420,-1.92,-69.9,587.6,-14.4,118,3424,0.00,1.80,0.00,0.000,6,0.000,0.043,2072,2920,2903,0,0,0,0,0,0
$GC,3743,-1.92,-69.9,630.1,-13.1,124,3747,0.00,2.42,0.00,0.000,4,0.000,0.056,2074,1525,2900,0,0,0,0,0,0
$GC,3801,-1.92,-69.9,637.6,-12.7,124,3807,0.00,2.53,0.00,0.000,6,0.000,0.057,2074,2916,2900,0,0,0,0,0,0
$GC,4108,-1.92,-69.9,676.0,-12.4,130,4112,0.00,1.95,0.00,0.000,4,0.000,0.080,2074,3955,2897,0,0,0,0,0,0
$GC,4231,-1.92,-69.9,692.2,-13.6,131,4237,0.00,1.85,0.00,0.000,6,0.000,0.048,2074,2924,2897,0,0,0,0,0,0
$GC,4537,-1.92,-69.9,727.7,-11.4,137,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2924,2895,0,0,0,0,0,0
$GC,4839,-1.92,-69.9,763.0,-11.9,142,4844,0.00,2.62,0.00,0.000,4,0.000,0.081,2074,1517,2893,0,0,0,0,0,0
$GC,4871,-1.92,-69.9,766.6,-11.2,142,4875,0.00,2.65,0.00,0.000,6,0.000,0.074,2074,2920,2893,0,0,0,0,0,0
$GC,5205,-1.92,-69.9,804.2,-11.2,148,5208,0.00,2.05,0.00,0.000,4,0.000,0.111,2074,3951,2891,0,0,0,0,0,0
$GC,5252,-1.92,-69.9,809.9,-12.5,148,5256,0.00,1.95,0.00,0.000,6,0.000,0.075,2074,2932,2891,0,0,0,0,0,0
$GC,5569,-1.92,-69.9,846.3,-11.5,154,5573,0.00,2.78,0.00,0.000,4,0.000,0.110,2074,1502,2888,0,0,0,0,0,0
$GC,5596,-1.92,-69.9,849.4,-12.0,154,5601,0.00,2.85,0.00,0.000,6,0.000,0.107,2074,2918,2888,0,0,0,0,0,0
$GC,5935,-1.92,-69.9,888.3,-11.4,160,5939,0.00,2.22,0.00,0.000,4,0.000,0.146,2074,3955,2887,0,0,0,0,0,0
$GC,5966,-1.92,-69.9,892.2,-12.6,160,5971,0.00,2.17,0.00,0.000,6,0.000,0.120,2074,2920,2886,0,0,0,0,0,0
$GC,6300,-1.92,-69.9,928.3,-10.6,166,6304,0.00,3.05,0.00,0.000,4,0.000,0.159,2074,1506,2885,0,0,0,0,0,0
$GC,6315,-1.92,-69.9,930.0,-10.7,166,6320,0.00,3.05,0.00,0.000,6,0.000,0.147,2074,2925,2884,0,0,0,0,0,0
$GC,6660,-1.92,-69.9,966.1,-10.6,172,6664,0.00,2.42,0.00,0.000,4,0.000,0.195,2073,3954,2884,0,0,0,0,0,0
$GC,6697,-1.92,-69.9,970.2,-11.7,172,6701,0.00,2.42,0.00,0.000,6,0.000,0.172,2074,2920,2883,0,0,0,0,0,0
$STATE,6903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6903,begin apogee
$GC,6907,-0.28,0.0,992.5,10.7,176,6973,1.85,0.00,62.55,1.320,6,0.135,0.000,2431,2748,2618,0,0,0,0,0,0
$STATE,6974,end apogee,CONTROL_FINISHED_OK
$STATE,6974,begin climb
$GC,6976,1.92,69.9,993.8,0.0,177,7048,2.30,0.00,69.10,1.298,6,0.081,0.000,2913,2748,2333,0,0,0,0,0,0
$GC,7326,1.92,69.9,937.7,17.9,183,7331,0.00,3.12,0.00,0.000,4,0.000,0.159,2913,1331,2321,0,0,0,0,0,0
$GC,7449,1.92,69.9,915.2,18.4,184,7455,0.00,2.97,0.00,0.000,6,0.000,0.128,2913,2752,2321,0,0,0,0,0,0
$GC,7756,1.92,69.9,859.7,18.2,190,7760,0.00,2.90,0.00,0.000,4,0.000,0.110,2913,1330,2319,0,0,0,0,0,0
$GC,7953,1.92,69.9,825.6,17.5,193,7957,0.00,2.78,0.00,0.000,6,0.000,0.086,2913,2751,2318,0,0,0,0,0,0
$GC,8313,1.92,69.9,764.9,16.8,199,8317,0.00,2.70,0.00,0.000,4,0.000,0.075,2913,1331,2316,0,0,0,0,0,0
$GC,8559,1.92,69.9,724.9,15.7,202,8563,0.00,2.65,0.00,0.000,6,0.000,0.059,2913,2768,2315,0,0,0,0,0,0
$GC,8871,1.92,69.9,677.9,14.8,208,8875,0.00,2.67,0.00,0.000,4,0.000,0.062,2913,1320,2314,0,0,0,0,0,0
$GC,8914,1.92,69.9,671.9,13.9,208,8918,0.00,2.58,0.00,0.000,6,0.000,0.054,2913,2758,2315,0,0,0,0,0,0
$GC,9231,1.92,69.9,628.1,13.5,214,9235,0.00,2.62,0.00,0.000,4,0.000,0.058,2913,1313,2314,0,0,0,0,0,0
$GC,9477,1.92,69.9,592.9,13.7,217,9481,0.00,2.60,0.00,0.000,6,0.000,0.051,2913,2757,2313,0,0,0,0,0,0
$GC,9789,1.92,69.9,549.3,13.8,223,9793,0.00,2.60,0.00,0.000,4,0.000,0.053,2913,1312,2312,0,0,0,0,0,0
$GC,10035,1.92,69.9,516.6,13.2,226,10038,0.00,2.58,0.00,0.000,6,0.000,0.048,2913,2757,2312,0,0,0,0,0,0
$GC,10347,1.92,69.9,479.9,11.3,232,10351,0.00,2.58,0.00,0.000,4,0.000,0.051,2913,1317,2311,0,0,0,0,0,0
$GC,10582,1.92,69.9,455.5,10.2,235,10586,0.00,2.55,0.00,0.000,6,0.000,0.047,2913,2752,2311,0,0,0,0,0,0
$GC,10904,1.92,70.6,423.1,9.9,241,10908,0.00,2.58,0.00,0.000,4,0.000,0.049,2913,1306,2310,0,0,0,0,0,0
$GC,11150,1.92,70.6,397.4,10.5,244,11154,0.00,2.58,0.00,0.000,6,0.000,0.045,2913,2762,2311,0,0,0,0,0,0
$GC,11462,1.93,82.4,370.7,8.3,250,11472,0.00,0.00,8.82,0.824,6,0.000,0.000,2913,2762,2281,0,0,0,0,0,0
$GC,11822,1.93,82.4,335.1,10.4,256,11826,0.00,2.55,0.00,0.000,4,0.000,0.047,2913,1317,2279,0,0,0,0,0,0
$GC,11982,1.93,85.3,318.5,9.6,258,11991,0.00,2.53,3.78,0.581,6,0.000,0.044,2913,2753,2270,0,0,0,0,0,0
$GC,12316,1.94,90.2,285.2,9.3,266,12323,0.00,0.00,6.30,0.703,6,0.000,0.000,2913,2753,2251,0,0,0,0,0,0
$GC,12620,1.96,105.0,261.3,7.8,276,12639,0.00,2.58,15.30,0.789,4,0.000,0.046,2913,1299,2188,0,0,0,0,0,0
$GC,12737,1.97,119.6,251.7,7.9,279,12755,0.00,2.53,14.32,0.765,6,0.000,0.042,2913,2760,2130,0,0,0,0,0,0
$GC,13082,1.97,119.6,217.6,10.3,291,13086,0.00,2.53,0.00,0.000,4,0.000,0.044,2913,1300,2126,0,0,0,0,0,0
$GC,13231,1.97,119.6,201.5,10.8,295,13235,0.00,2.50,0.00,0.000,6,0.000,0.041,2913,2757,2126,0,0,0,0,0,0
$GC,13539,1.97,121.6,170.9,9.7,305,13543,0.00,2.50,0.00,0.000,4,0.000,0.043,2913,1299,2125,0,0,0,0,0,0
$GC,13679,1.98,123.2,156.0,9.8,309,13687,0.00,2.47,4.22,0.504,6,0.000,0.041,2913,2757,2114,0,0,0,0,0,0
$GC,14002,1.98,123.2,120.9,10.6,320,14006,0.00,2.47,0.00,0.000,4,0.000,0.042,2913,1299,2115,0,0,0,0,0,0
$GC,14248,1.99,134.1,96.7,8.4,329,14263,0.00,2.50,11.12,0.585,6,0.000,0.039,2913,2753,2070,0,0,0,0,0,0
$GC,14451,2.02,165.2,80.2,5.5,348,14484,0.00,2.55,28.23,0.601,4,0.000,0.041,2913,1306,1943,0,0,0,0,0,0
$GC,14546,2.02,165.2,71.4,11.3,357,14549,0.00,2.47,0.00,0.000,6,0.000,0.039,2913,2765,1941,0,0,0,0,0,0
$GC,14736,2.04,184.4,54.5,7.2,375,14758,0.12,2.58,17.65,0.551,4,0.090,0.041,2944,1305,1864,0,0,0,0,0,0
$GC,14949,2.04,184.4,29.1,13.0,395,14953,0.00,2.47,0.00,0.000,6,0.000,0.039,2944,2749,1862,0,0,0,0,0,0
$STATE,15142,end climb,SURFACE_DEPTH_REACHED
$STATE,15143,begin surface coast
$FINISH,0.1,1.023156
$STATE,15164,end surface coast,CONTROL_FINISHED_OK
$STATE,15164,begin surface
$SM_CCo,15182,116.18,0.503,0,0,987,400.08
$SM_GC,0.80,0.00,0.00,116.18,0.000,0.000,0.503,371,2948,987,-9.77,0.79,400.08
$IRIDIUM_FIX,1918.37,-15559.47,110511,121205
$TT8_MAMPS,0.059059
$HUMID,1078568377
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.9,18.622
$10V_AH,10.0,45.027
$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,24.825,147.900,241.400,116.175,0.000,22.862,34.237,105.482,0.000,0.000,16.737,0.000,12667.393,527.201,1955.888,390.598,33.339,1397.550,0.000,1636.738,0.000,0.530,0.000
$DEVICE_MAMPS,164.905,200.187,1320.007,503.152,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,287.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,15887,429
$CAP_FILE_SIZE,125486,0
$CFSIZE,260034560,249077760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,348.8,1
$GPS,161109,031325,1925.213,-15558.146,42,1.4,42,9.7