version: 66.07
glider: 22
mission: 14
dive: 110
start: 11 17 109 5 1 45
data:
$ID,22
$MISSION,14
$DIVE,110
$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,-250693.17
$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,27
$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
$GPS1,171109,045655,1925.527,-15558.707,40,1.5,40,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-69.6
$GPS2,171109,050102,1925.585,-15558.723,14,1.4,14,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.264,-0.128
$KALMAN_X,-263594.7,1530.4,-475.2,291888.7,-9874.4
$KALMAN_Y,79913.9,-330.3,720.2,-137300.8,2494.8
$MHEAD_RNG_PITCHd_Wd,147.0,3196,-20.0,-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,-1.25,-125.5,0.0,0.0,0,85,0.00,0.00,-70.97,0.000,2,0.000,0.000,377,2916,2593,0,0,0,0,0,0
$GC,88,-1.30,-177.2,3.1,-7.2,13,124,9.98,2.50,-19.38,0.000,4,0.160,0.053,2205,1470,3343,0,0,0,0,0,0
$GC,320,-1.30,-177.2,66.7,-27.2,42,324,0.00,2.53,0.00,0.000,6,0.000,0.044,2205,2918,3344,0,0,0,0,0,0
$GC,536,-1.30,-177.2,124.6,-26.2,57,539,0.00,2.47,0.00,0.000,4,0.000,0.041,2205,1469,3346,0,0,0,0,0,0
$GC,556,-1.30,-177.2,129.7,-23.5,57,561,0.00,2.53,0.00,0.000,6,0.000,0.043,2205,2922,3346,0,0,0,0,0,0
$GC,870,-1.30,-177.2,203.8,-23.1,68,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2921,3349,0,0,0,0,0,0
$GC,1174,-1.30,-177.2,263.0,-18.3,78,1178,0.00,1.83,0.00,0.000,4,0.000,0.056,2205,3955,3350,0,0,0,0,0,0
$GC,1296,-1.30,-177.2,287.4,-20.0,81,1303,0.00,1.83,0.00,0.000,6,0.000,0.038,2205,2852,3349,0,0,0,0,0,0
$GC,1634,-1.30,-177.2,347.5,-17.5,89,1638,0.00,1.98,0.00,0.000,4,0.000,0.056,2205,3950,3350,0,0,0,0,0,0
$GC,1671,-1.30,-177.2,354.2,-18.4,89,1675,0.00,1.85,0.00,0.000,6,0.000,0.039,2205,2851,3350,0,0,0,0,0,0
$GC,1999,-1.30,-177.2,408.0,-16.4,95,2003,0.00,2.00,0.00,0.000,4,0.000,0.058,2205,3955,3349,0,0,0,0,0,0
$GC,2063,-1.30,-177.2,418.9,-16.9,96,2067,0.00,1.85,0.00,0.000,6,0.000,0.040,2205,2866,3350,0,0,0,0,0,0
$GC,2429,-1.30,-177.2,473.2,-14.5,102,2433,0.00,1.98,0.00,0.000,4,0.000,0.060,2205,3947,3346,0,0,0,0,0,0
$GC,2540,-1.30,-177.2,489.5,-14.3,103,2545,0.00,1.85,0.00,0.000,6,0.000,0.041,2205,2872,3345,0,0,0,0,0,0
$GC,2858,-1.30,-177.2,537.2,-15.1,109,2862,0.00,1.98,0.00,0.000,4,0.000,0.061,2205,3946,3343,0,0,0,0,0,0
$GC,2901,-1.30,-177.2,543.8,-15.9,109,2905,0.00,1.77,0.00,0.000,6,0.000,0.042,2205,2918,3343,0,0,0,0,0,0
$GC,3223,-1.30,-177.2,593.8,-15.5,115,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2917,3339,0,0,0,0,0,0
$GC,3525,-1.30,-177.2,640.0,-15.3,120,3530,0.00,1.92,0.00,0.000,4,0.000,0.069,2205,3943,3337,0,0,0,0,0,0
$GC,3568,-1.30,-177.2,646.6,-15.6,120,3572,0.00,1.77,0.00,0.000,6,0.000,0.044,2205,2929,3337,0,0,0,0,0,0
$GC,3890,-1.30,-177.2,692.8,-14.1,126,3894,0.00,1.92,0.00,0.000,4,0.000,0.077,2205,3940,3334,0,0,0,0,0,0
$GC,3927,-1.30,-177.2,698.0,-14.2,126,3932,0.00,1.83,0.00,0.000,6,0.000,0.046,2205,2918,3333,0,0,0,0,0,0
$GC,4256,-1.30,-177.2,739.1,-12.4,132,4260,0.00,1.98,0.00,0.000,4,0.000,0.082,2205,3941,3332,0,0,0,0,0,0
$GC,4368,-1.30,-177.2,753.3,-12.7,133,4372,0.00,1.85,0.00,0.000,6,0.000,0.054,2205,2930,3331,0,0,0,0,0,0
$GC,4685,-1.30,-177.2,790.6,-11.8,139,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2930,3328,0,0,0,0,0,0
$GC,4987,-1.30,-177.2,826.1,-11.7,144,4991,0.00,2.05,0.00,0.000,4,0.000,0.110,2204,3936,3327,0,0,0,0,0,0
$GC,5078,-1.30,-177.2,837.5,-12.7,145,5081,0.00,1.98,0.00,0.000,6,0.000,0.086,2204,2929,3327,0,0,0,0,0,0
$GC,5416,-1.30,-177.2,879.4,-12.4,151,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2930,3324,0,0,0,0,0,0
$GC,5718,-1.30,-177.2,917.6,-12.7,156,5722,0.00,2.28,0.00,0.000,4,0.000,0.156,2205,3941,3322,0,0,0,0,0,0
$GC,5819,-1.30,-177.2,931.5,-12.9,157,5823,0.00,2.22,0.00,0.000,6,0.000,0.142,2205,2927,3322,0,0,0,0,0,0
$GC,6147,-1.30,-177.2,973.3,-12.6,163,6151,0.00,2.45,0.00,0.000,4,0.000,0.195,2205,3932,3320,0,0,0,0,0,0
$GC,6206,-1.30,-177.2,980.8,-13.3,163,6212,0.00,2.42,0.00,0.000,6,0.000,0.179,2205,2912,3320,0,0,0,0,0,0
$STATE,6330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6330,begin apogee
$GC,6334,-0.28,0.0,996.0,12.2,166,6499,1.12,0.00,161.95,1.318,6,0.117,0.000,2430,2740,2618,0,0,0,0,0,0
$STATE,6499,end apogee,CONTROL_FINISHED_OK
$STATE,6499,begin climb
$GC,6501,1.30,177.2,999.8,0.0,168,6683,1.65,3.47,171.48,1.273,4,0.086,0.199,2774,1333,1892,0,0,0,0,0,0
$GC,6783,1.30,177.2,969.4,14.6,172,6788,0.00,3.20,0.00,0.000,6,0.000,0.162,2774,2737,1883,0,0,0,0,0,0
$GC,7112,1.30,177.2,923.4,14.1,178,7116,0.00,3.08,0.00,0.000,4,0.000,0.143,2774,1323,1877,0,0,0,0,0,0
$GC,7133,1.30,177.2,920.4,14.6,178,7137,0.00,3.08,0.00,0.000,6,0.000,0.130,2774,2775,1877,0,0,0,0,0,0
$GC,7472,1.30,177.2,871.2,14.5,184,7476,0.00,2.95,0.00,0.000,4,0.000,0.112,2774,1323,1874,0,0,0,0,0,0
$GC,7498,1.30,177.2,867.3,14.5,184,7502,0.00,2.85,0.00,0.000,6,0.000,0.101,2774,2758,1874,0,0,0,0,0,0
$GC,7837,1.30,177.2,819.9,13.9,190,7841,0.00,2.80,0.00,0.000,4,0.000,0.091,2774,1317,1872,0,0,0,0,0,0
$GC,7895,1.30,177.2,812.2,13.0,190,7902,0.00,2.78,0.00,0.000,6,0.000,0.080,2774,2754,1873,0,0,0,0,0,0
$GC,8203,1.30,177.2,768.9,14.1,196,8207,0.00,2.75,0.00,0.000,4,0.000,0.078,2774,1322,1871,0,0,0,0,0,0
$GC,8234,1.30,177.2,764.4,14.5,196,8238,0.00,2.70,0.00,0.000,6,0.000,0.068,2774,2749,1871,0,0,0,0,0,0
$GC,8567,1.30,177.2,716.6,14.4,202,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2749,1871,0,0,0,0,0,0
$GC,8869,1.30,177.2,672.9,14.3,207,8873,0.00,2.65,0.00,0.000,4,0.000,0.064,2776,1322,1870,0,0,0,0,0,0
$GC,8906,1.30,177.2,667.7,13.3,207,8910,0.00,2.62,0.00,0.000,6,0.000,0.054,2775,2761,1870,0,0,0,0,0,0
$GC,9234,1.30,177.2,621.0,14.3,213,9238,0.00,2.62,0.00,0.000,4,0.000,0.058,2774,1323,1869,0,0,0,0,0,0
$GC,9293,1.30,177.2,612.6,14.5,213,9299,0.00,2.60,0.00,0.000,6,0.000,0.051,2775,2763,1869,0,0,0,0,0,0
$GC,9600,1.30,177.2,569.9,13.7,219,9604,0.00,2.62,0.00,0.000,4,0.000,0.055,2775,1318,1868,0,0,0,0,0,0
$GC,9653,1.30,177.2,562.5,13.2,219,9657,0.00,2.55,0.00,0.000,6,0.000,0.049,2775,2764,1869,0,0,0,0,0,0
$GC,9965,1.30,177.2,517.5,14.5,225,9969,0.00,2.60,0.00,0.000,4,0.000,0.052,2774,1319,1868,0,0,0,0,0,0
$GC,9996,1.30,177.2,513.0,13.9,225,10001,0.00,2.55,0.00,0.000,6,0.000,0.047,2775,2748,1868,0,0,0,0,0,0
$GC,10331,1.30,177.2,468.0,13.3,231,10334,0.00,2.53,0.00,0.000,4,0.000,0.051,2774,1316,1868,0,0,0,0,0,0
$GC,10362,1.30,177.2,463.7,13.7,231,10367,0.00,2.58,0.00,0.000,6,0.000,0.046,2774,2764,1869,0,0,0,0,0,0
$GC,10695,1.30,177.2,420.9,12.6,237,10699,0.00,2.60,0.00,0.000,4,0.000,0.051,2774,1311,1868,0,0,0,0,0,0
$GC,10754,1.30,177.2,413.4,13.0,237,10760,0.00,2.55,0.00,0.000,6,0.000,0.045,2775,2753,1869,0,0,0,0,0,0
$GC,11061,1.30,177.2,378.2,11.2,243,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2753,1868,0,0,0,0,0,0
$GC,11363,1.32,191.8,349.5,9.2,248,11373,0.00,0.00,9.30,0.798,6,0.000,0.000,2775,2753,1836,0,0,0,0,0,0
$GC,11665,1.32,191.8,319.0,10.1,253,11669,0.00,2.55,0.00,0.000,4,0.000,0.048,2775,1313,1834,0,0,0,0,0,0
$GC,11739,1.32,191.8,310.9,11.6,254,11743,0.00,2.55,0.00,0.000,6,0.000,0.043,2774,2764,1834,0,0,0,0,0,0
$GC,12065,1.32,191.8,273.7,11.5,263,12069,0.00,2.12,0.00,0.000,4,0.000,0.058,2775,3943,1834,0,0,0,0,0,0
$GC,12123,1.32,191.8,267.0,11.8,264,12130,0.00,2.15,0.00,0.000,6,0.000,0.040,2775,2701,1834,0,0,0,0,0,0
$GC,12432,1.32,191.8,231.3,11.8,275,12436,0.00,2.35,0.00,0.000,4,0.000,0.048,2775,1348,1833,0,0,0,0,0,0
$GC,12501,1.32,191.8,223.5,10.8,277,12505,0.00,2.42,0.00,0.000,6,0.000,0.042,2775,2761,1834,0,0,0,0,0,0
$GC,12831,1.33,198.9,188.9,9.6,288,12840,0.00,0.00,7.65,0.645,6,0.000,0.000,2775,2761,1807,0,0,0,0,0,0
$GC,13134,1.35,220.8,161.8,8.8,298,13157,0.00,0.00,21.50,0.687,6,0.000,0.000,2775,2761,1718,0,0,0,0,0,0
$GC,13438,1.35,220.8,131.8,10.1,308,13442,0.00,2.42,0.00,0.000,4,0.000,0.043,2775,1340,1713,0,0,0,0,0,0
$GC,13496,1.37,236.6,126.3,9.2,309,13516,0.00,2.45,15.10,0.626,6,0.000,0.039,2776,2758,1652,0,0,0,0,0,0
$GC,13829,1.37,239.6,94.5,9.8,324,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2758,1648,0,0,0,0,0,0
$GC,14014,1.42,280.2,78.1,7.8,342,14058,0.12,2.50,38.80,0.589,4,0.087,0.042,2807,1351,1474,0,0,0,0,0,0
$GC,14166,1.42,280.2,63.6,10.6,356,14171,0.00,2.42,0.00,0.000,6,0.000,0.040,2808,2756,1470,0,0,0,0,0,0
$GC,14357,1.43,294.2,45.9,9.3,375,14378,0.00,2.17,12.90,0.515,4,0.000,0.052,2807,3953,1417,0,0,0,0,0,0
$GC,14398,1.44,303.7,42.1,9.5,379,14412,0.00,2.05,9.85,0.495,6,0.000,0.036,2808,2738,1378,0,0,0,0,0,0
$GC,14606,1.44,303.7,21.8,10.5,399,14609,0.00,2.33,0.00,0.000,4,0.000,0.044,2807,1354,1375,0,0,0,0,0,0
$GC,14636,1.44,303.7,18.6,10.0,402,14643,0.00,2.40,0.00,0.000,6,0.000,0.039,2807,2756,1374,0,0,0,0,0,0
$GC,14706,1.44,303.7,11.7,10.2,415,14712,0.00,2.10,0.00,0.000,4,0.000,0.054,2807,3941,1375,0,0,0,0,0,0
$GC,14759,1.44,303.7,6.2,10.4,425,14765,0.00,2.00,0.00,0.000,6,0.000,0.036,2807,2750,1375,0,0,0,0,0,0
$STATE,14794,end climb,SURFACE_DEPTH_REACHED
$STATE,14794,begin surface coast
$FINISH,0.2,0.998780
$STATE,14826,end surface coast,CONTROL_FINISHED_OK
$STATE,14826,begin surface
$SM_CCo,14844,49.60,0.484,0,0,987,400.08
$SM_GC,0.89,0.00,0.00,49.60,0.000,0.000,0.484,372,2946,987,-9.77,0.71,400.08
$IRIDIUM_FIX,1918.37,-15557.38,120511,181824
$TT8_MAMPS,0.058292
$HUMID,1078626442
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,22.7,19.386
$10V_AH,10.0,45.372
$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,23.425,152.075,448.525,49.600,0.000,31.090,30.287,98.358,0.000,0.000,14.425,0.000,12537.330,659.595,1562.254,373.254,33.345,1413.271,0.000,1267.165,0.000,0.532,0.000
$DEVICE_MAMPS,160.303,200.954,1317.706,483.977,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,291.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,15908,438
$CAP_FILE_SIZE,120048,0
$CFSIZE,260034560,248688640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,349.5,1
$GPS,171109,091101,1924.228,-15558.199,42,1.0,42,9.7