version: 66.07
glider: 22
mission: 14
dive: 111
start: 11 17 109 9 15 36
data:
$ID,22
$MISSION,14
$DIVE,111
$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,-250706.09
$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,60
$R_STBD_OVSHOOT,45
$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
$GPS1,171109,091101,1924.228,-15558.199,42,1.0,42,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-69.1
$GPS2,171109,091456,1924.307,-15558.212,12,1.5,12,9.7
$SPEED_LIMITS,0.143,0.294
$TGT_NAME,VM
$TGT_LATLONG,1924.000,-15558.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.259,-0.138
$KALMAN_X,-268893.8,948.7,1443.5,296741.8,-13192.8
$KALMAN_Y,82053.1,-388.4,-1321.6,-139682.5,6650.9
$MHEAD_RNG_PITCHd_Wd,137.2,680,-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,-45.7,0.0,0.0,0,91,0.00,0.00,-76.88,0.000,2,0.000,0.000,372,2946,2735,0,0,0,0,0,0
$GC,93,-1.91,-61.8,3.5,-7.7,15,109,9.27,1.77,-3.47,0.000,4,0.161,0.070,2074,3938,2872,0,0,0,0,0,0
$GC,257,-1.91,-61.8,59.8,-36.1,35,263,0.00,1.73,0.00,0.000,6,0.000,0.038,2074,2908,2874,0,0,0,0,0,0
$GC,458,-1.91,-61.8,107.8,-21.6,53,463,0.00,1.83,0.00,0.000,4,0.000,0.052,2074,3932,2875,0,0,0,0,0,0
$GC,511,-1.91,-61.8,120.4,-24.7,54,516,0.00,1.70,0.00,0.000,6,0.000,0.037,2074,2904,2875,0,0,0,0,0,0
$GC,825,-1.91,-61.8,185.7,-20.4,65,830,0.00,1.83,0.00,0.000,4,0.000,0.051,2074,3931,2878,0,0,0,0,0,0
$GC,857,-1.91,-61.8,192.3,-21.2,66,861,0.00,1.67,0.00,0.000,6,0.000,0.038,2074,2920,2878,0,0,0,0,0,0
$GC,1193,-1.91,-61.8,251.2,-17.0,77,1197,0.00,1.80,0.00,0.000,4,0.000,0.052,2074,3931,2879,0,0,0,0,0,0
$GC,1304,-1.91,-61.8,269.8,-16.8,80,1309,0.00,1.70,0.00,0.000,6,0.000,0.038,2074,2907,2880,0,0,0,0,0,0
$GC,1653,-1.91,-61.8,320.5,-14.2,90,1657,0.00,1.83,0.00,0.000,4,0.000,0.054,2074,3930,2880,0,0,0,0,0,0
$GC,1706,-1.91,-61.8,328.2,-15.8,90,1710,0.00,1.70,0.00,0.000,6,0.000,0.039,2074,2922,2880,0,0,0,0,0,0
$GC,2018,-1.91,-61.8,372.5,-13.5,96,2022,0.00,1.83,0.00,0.000,4,0.000,0.055,2074,3935,2879,0,0,0,0,0,0
$GC,2087,-1.91,-61.8,382.5,-14.8,97,2092,0.00,1.73,0.00,0.000,6,0.000,0.040,2074,2921,2879,0,0,0,0,0,0
$GC,2448,-1.91,-61.8,433.4,-14.5,103,2452,0.00,2.40,0.00,0.000,4,0.000,0.046,2074,1530,2878,0,0,0,0,0,0
$GC,2485,-1.91,-61.8,438.5,-13.9,103,2489,0.00,2.42,0.00,0.000,6,0.000,0.048,2074,2901,2878,0,0,0,0,0,0
$GC,2813,-1.91,-61.8,482.2,-13.3,109,2817,0.00,2.40,0.00,0.000,4,0.000,0.046,2074,1526,2875,0,0,0,0,0,0
$GC,2877,-1.91,-61.8,490.5,-13.1,110,2881,0.00,2.50,0.00,0.000,6,0.000,0.050,2074,2928,2874,0,0,0,0,0,0
$GC,3243,-1.91,-61.8,535.8,-12.1,116,3247,0.00,1.85,0.00,0.000,4,0.000,0.064,2074,3953,2870,0,0,0,0,0,0
$GC,3393,-1.91,-61.8,553.0,-11.3,118,3396,0.00,1.75,0.00,0.000,6,0.000,0.044,2074,2927,2870,0,0,0,0,0,0
$GC,3736,-1.91,-61.8,590.7,-11.1,124,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2922,2866,0,0,0,0,0,0
$GC,4038,-1.91,-61.8,627.0,-12.0,129,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2922,2864,0,0,0,0,0,0
$GC,4340,-1.91,-61.8,661.7,-11.2,134,4344,0.00,2.50,0.00,0.000,4,0.000,0.058,2074,1502,2861,0,0,0,0,0,0
$GC,4398,-1.91,-61.8,667.9,-10.8,134,4404,0.00,2.58,0.00,0.000,6,0.000,0.058,2074,2917,2861,0,0,0,0,0,0
$GC,4705,-1.91,-61.8,700.5,-10.6,140,4710,0.00,1.98,0.00,0.000,4,0.000,0.088,2074,3953,2858,0,0,0,0,0,0
$GC,4769,-1.91,-61.8,707.6,-11.0,141,4773,0.00,1.85,0.00,0.000,6,0.000,0.049,2074,2927,2857,0,0,0,0,0,0
$GC,5135,-1.91,-62.1,743.8,-10.0,147,5138,0.00,2.55,0.00,0.000,4,0.000,0.074,2074,1516,2856,0,0,0,0,0,0
$GC,5171,-1.91,-62.1,747.5,-10.4,147,5175,0.00,2.60,0.00,0.000,6,0.000,0.067,2074,2918,2855,0,0,0,0,0,0
$GC,5500,-1.91,-62.1,782.0,-10.7,153,5504,0.00,2.62,0.00,0.000,4,0.000,0.081,2074,1515,2855,0,0,0,0,0,0
$GC,5638,-1.91,-62.1,796.2,-10.6,155,5642,0.00,2.70,0.00,0.000,6,0.000,0.084,2074,2917,2854,0,0,0,0,0,0
$GC,5993,-1.91,-65.7,830.9,-9.5,161,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2917,2852,0,0,0,0,0,0
$GC,6295,-1.92,-71.6,858.8,-9.1,166,6300,0.00,2.85,0.00,0.000,4,0.000,0.117,2074,1520,2851,0,0,0,0,0,0
$GC,6435,-1.93,-82.3,870.7,-8.4,168,6439,0.00,2.83,0.00,0.000,6,0.000,0.114,2074,2925,2850,0,0,0,0,0,0
$GC,6784,-1.94,-92.6,900.7,-8.5,174,6788,0.00,2.97,0.00,0.000,4,0.000,0.140,2074,1511,2850,0,0,0,0,0,0
$GC,6884,-1.94,-95.0,909.9,-9.6,175,6889,0.00,3.00,0.00,0.000,6,0.000,0.138,2074,2926,2849,0,0,0,0,0,0
$GC,7207,-1.95,-101.9,939.1,-9.0,181,7212,0.00,3.12,0.00,0.000,4,0.000,0.165,2074,1520,2848,0,0,0,0,0,0
$GC,7261,-1.96,-111.0,943.7,-8.7,181,7266,0.00,3.10,0.00,0.000,6,0.000,0.156,2074,2932,2848,0,0,0,0,0,0
$GC,7567,-1.98,-127.6,967.7,-7.6,187,7572,0.00,2.42,0.00,0.000,4,0.000,0.196,2074,3953,2847,0,0,0,0,0,0
$GC,7733,-2.00,-144.7,980.4,-7.5,189,7737,0.00,2.40,0.00,0.000,6,0.000,0.180,2074,2930,2846,0,0,0,0,0,0
$STATE,7878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7878,begin apogee
$GC,7882,-0.28,0.0,990.3,6.7,192,7942,1.85,0.00,53.47,1.322,6,0.134,0.000,2431,2745,2618,0,0,0,0,0,0
$STATE,7942,end apogee,CONTROL_FINISHED_OK
$STATE,7942,begin climb
$GC,7944,2.00,144.7,989.8,0.0,193,8089,2.38,0.00,141.00,1.302,6,0.081,0.000,2929,2744,2028,0,0,0,0,0,0
$GC,8362,2.00,144.7,889.8,27.5,200,8366,0.00,2.92,0.00,0.000,4,0.000,0.126,2929,1325,2014,0,0,0,0,0,0
$GC,8452,2.00,144.7,865.8,25.6,201,8456,0.00,2.90,0.00,0.000,6,0.000,0.103,2930,2758,2013,0,0,0,0,0,0
$GC,8791,2.00,144.7,777.1,25.9,207,8795,0.00,2.75,0.00,0.000,4,0.000,0.081,2930,1331,2009,0,0,0,0,0,0
$GC,8942,2.00,144.7,740.7,23.9,209,8945,0.00,2.62,0.00,0.000,6,0.000,0.062,2930,2766,2008,0,0,0,0,0,0
$GC,9279,2.00,144.7,657.7,24.5,215,9283,0.00,2.67,0.00,0.000,4,0.000,0.061,2929,1316,2008,0,0,0,0,0,0
$GC,9408,2.00,144.7,627.7,23.9,217,9411,0.00,2.60,0.00,0.000,6,0.000,0.053,2929,2773,2007,0,0,0,0,0,0
$GC,9773,2.00,144.7,542.5,23.3,223,9777,0.00,2.62,0.00,0.000,4,0.000,0.054,2929,1322,2005,0,0,0,0,0,0
$GC,9907,2.00,144.7,514.0,20.5,225,9911,0.00,2.55,0.00,0.000,6,0.000,0.048,2930,2766,2005,0,0,0,0,0,0
$GC,10261,2.00,144.7,440.6,20.7,231,10265,0.00,2.60,0.00,0.000,4,0.000,0.050,2929,1313,2004,0,0,0,0,0,0
$GC,10432,2.00,144.7,405.7,20.5,233,10436,0.00,2.58,0.00,0.000,6,0.000,0.045,2930,2762,2004,0,0,0,0,0,0
$GC,10755,2.00,144.7,341.1,20.2,239,10759,0.00,2.58,0.00,0.000,4,0.000,0.049,2930,1316,2003,0,0,0,0,0,0
$GC,10895,2.00,144.7,314.1,20.1,241,10899,0.00,2.53,0.00,0.000,6,0.000,0.044,2930,2767,2003,0,0,0,0,0,0
$GC,11215,2.00,144.7,254.0,18.1,250,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2767,2002,0,0,0,0,0,0
$GC,11518,2.00,144.7,203.5,16.0,260,11522,0.00,2.53,0.00,0.000,4,0.000,0.046,2930,1312,2002,0,0,0,0,0,0
$GC,11763,2.00,144.7,167.3,13.5,267,11767,0.00,2.53,0.00,0.000,6,0.000,0.041,2930,2761,2002,0,0,0,0,0,0
$GC,12077,2.00,144.7,124.2,13.6,278,12081,0.00,2.10,0.00,0.000,4,0.000,0.053,2930,3944,2001,0,0,0,0,0,0
$GC,12195,2.00,144.7,107.6,14.1,281,12199,0.00,2.12,0.00,0.000,6,0.000,0.037,2929,2692,1999,0,0,0,0,0,0
$GC,12515,2.00,144.7,63.7,11.8,308,12518,0.00,2.33,0.00,0.000,4,0.000,0.043,2929,1308,2001,0,0,0,0,0,0
$GC,12760,2.03,173.3,46.6,5.8,330,12787,0.00,2.47,20.95,0.581,6,0.000,0.038,2929,2761,1911,0,0,0,0,0,0
$GC,12971,2.03,173.3,25.7,12.0,351,12975,0.00,2.50,0.00,0.000,4,0.000,0.041,2929,1310,1908,0,0,0,0,0,0
$STATE,13161,end climb,SURFACE_DEPTH_REACHED
$STATE,13162,begin surface coast
$FINISH,0.1,1.023225
$STATE,13188,end surface coast,CONTROL_FINISHED_OK
$STATE,13188,begin surface
$SM_CCo,13209,124.20,0.522,0,0,987,400.08
$SM_GC,0.80,0.00,0.00,124.20,0.000,0.000,0.522,371,2930,987,-9.77,0.28,400.08
$IRIDIUM_FIX,1920.65,-15557.38,120511,232312
$TT8_MAMPS,0.059059
$HUMID,1078661281
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,22.8,19.490
$10V_AH,10.0,45.416
$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,24.600,128.250,215.425,124.200,0.000,25.375,24.875,100.187,0.000,0.000,12.301,0.000,11013.474,526.440,1672.921,346.658,33.338,1263.047,0.000,1396.285,0.000,0.532,0.000
$DEVICE_MAMPS,161.070,196.352,1321.541,522.327,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,259.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353840
$DATA_FILE_SIZE,12763,387
$CAP_FILE_SIZE,108754,0
$CFSIZE,260034560,248651776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,354.4,1
$GPS,171109,125907,1923.765,-15557.776,57,1.2,57,9.7