version: 66.07
glider: 22
mission: 17
dive: 7
start: 3 17 110 12 47 3
data:
$ID,22
$MISSION,17
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,0
$T_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,280
$T_MISSION,320
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52198
$NAV_MODE,1
$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,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-255009.66
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,2300
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,60
$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,-22.561892
$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,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,170310,123621,1942.906,-15608.559,32,1.8,32,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-68.0
$GPS2,170310,124622,1943.078,-15608.734,14,3.1,33,9.7
$SPEED_LIMITS,0.204,0.343
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.184,-0.289
$KALMAN_X,-17405.9,1669.0,-387.7,10091.5,-5049.9
$KALMAN_Y,20107.7,-4521.4,495.1,-11031.5,6574.3
$MHEAD_RNG_PITCHd_Wd,137.8,8655,-16.3,-11.786
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.23,-243.4,0.0,0.0,0,101,0.00,0.00,-74.65,0.000,2,0.000,0.000,372,2346,2833,0,0,0,0,0,0
$GC,105,-1.23,-243.4,3.5,-7.7,9,148,10.45,2.45,-14.52,0.000,4,0.153,0.057,2327,918,3612,0,0,0,0,0,0
$GC,252,-1.23,-243.4,43.9,-19.5,22,264,0.00,2.33,0.00,0.000,6,0.000,0.044,2327,2271,3613,0,0,0,0,0,0
$GC,451,-1.23,-243.4,95.2,-28.4,40,463,0.00,2.58,0.00,0.000,4,0.000,0.061,2327,3712,3614,0,0,0,0,0,0
$GC,585,-1.23,-243.4,125.9,-23.0,45,597,0.00,2.35,0.00,0.000,6,0.000,0.038,2327,2306,3614,0,0,0,0,0,0
$GC,929,-1.23,-243.4,191.5,-18.7,56,941,0.00,2.50,0.00,0.000,4,0.000,0.058,2327,3709,3615,0,0,0,0,0,0
$GC,1069,-1.23,-243.4,216.2,-18.1,60,1081,0.00,2.40,0.00,0.000,6,0.000,0.039,2326,2288,3615,0,0,0,0,0,0
$GC,1408,-1.23,-243.4,274.8,-16.8,71,1420,0.00,2.55,0.00,0.000,4,0.000,0.060,2327,3711,3615,0,0,0,0,0,0
$GC,1619,-1.23,-243.4,306.3,-14.0,77,1631,0.00,2.40,0.00,0.000,6,0.000,0.041,2327,2299,3615,0,0,0,0,0,0
$GC,1974,-1.23,-243.4,356.5,-14.5,83,1986,0.00,2.55,0.00,0.000,4,0.000,0.062,2327,3711,3615,0,0,0,0,0,0
$GC,2172,-1.23,-243.4,383.7,-12.9,86,2184,0.00,2.42,0.00,0.000,6,0.000,0.041,2327,2294,3613,0,0,0,0,0,0
$GC,2543,-1.23,-243.4,427.1,-11.5,92,2555,0.00,2.55,0.00,0.000,4,0.000,0.063,2327,3705,3610,0,0,0,0,0,0
$GC,2754,-1.23,-243.4,454.6,-13.1,95,2766,0.00,2.42,0.00,0.000,6,0.000,0.043,2327,2301,3607,0,0,0,0,0,0
$GC,3114,-1.23,-243.4,498.3,-12.4,101,3126,0.00,2.58,0.00,0.000,4,0.000,0.067,2327,3709,3604,0,0,0,0,0,0
$GC,3313,-1.23,-243.4,525.6,-13.8,104,3325,0.00,2.45,0.00,0.000,6,0.000,0.044,2327,2298,3602,0,0,0,0,0,0
$GC,3684,-1.23,-243.4,574.9,-13.4,110,3696,0.00,2.60,0.00,0.000,4,0.000,0.070,2327,3712,3598,0,0,0,0,0,0
$GC,3887,-1.23,-243.4,603.8,-13.8,113,3899,0.00,2.47,0.00,0.000,6,0.000,0.045,2327,2293,3596,0,0,0,0,0,0
$GC,4258,-1.23,-243.4,650.4,-12.1,119,4270,0.00,2.62,0.00,0.000,4,0.000,0.076,2328,3706,3594,0,0,0,0,0,0
$GC,4462,-1.23,-243.4,673.8,-11.1,122,4474,0.00,2.47,0.00,0.000,6,0.000,0.048,2327,2301,3592,0,0,0,0,0,0
$GC,4834,-1.23,-243.4,711.7,-10.2,128,4845,0.00,2.65,0.00,0.000,4,0.000,0.083,2327,3709,3589,0,0,0,0,0,0
$GC,5001,-1.23,-243.4,730.6,-10.9,130,5013,0.00,2.53,0.00,0.000,6,0.000,0.057,2327,2301,3587,0,0,0,0,0,0
$GC,5340,-1.23,-243.4,765.0,-10.3,136,5352,0.00,2.72,0.00,0.000,4,0.000,0.096,2327,3702,3585,0,0,0,0,0,0
$GC,5519,-1.23,-243.4,786.0,-10.8,138,5531,0.00,2.62,0.00,0.000,6,0.000,0.072,2327,2294,3584,0,0,0,0,0,0
$GC,5841,-1.23,-243.4,821.8,-11.2,144,5853,0.00,2.83,0.00,0.000,4,0.000,0.112,2327,3700,3582,0,0,0,0,0,0
$GC,5998,-1.23,-243.4,838.7,-10.6,146,6011,0.00,2.72,0.00,0.000,6,0.000,0.094,2327,2295,3581,0,0,0,0,0,0
$GC,6344,-1.23,-243.4,871.7,-9.8,152,6356,0.00,2.95,0.00,0.000,4,0.000,0.137,2327,3702,3580,0,0,0,0,0,0
$GC,6480,-1.23,-243.4,885.8,-9.7,154,6492,0.00,2.88,0.00,0.000,6,0.000,0.119,2327,2292,3579,0,0,0,0,0,0
$GC,6846,-1.23,-243.4,922.5,-10.4,160,6858,0.00,3.15,0.00,0.000,4,0.000,0.168,2327,3700,3577,0,0,0,0,0,0
$GC,7014,-1.23,-243.4,942.4,-11.4,162,7026,0.00,3.08,0.00,0.000,6,0.000,0.155,2327,2298,3576,0,0,0,0,0,0
$GC,7349,-1.23,-243.4,976.9,-10.3,168,7362,0.00,3.42,0.00,0.000,4,0.000,0.203,2327,3693,3574,0,0,0,0,0,0
$STATE,7473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7473,begin apogee
$GC,7480,-0.29,0.0,990.6,10.8,169,7698,0.98,0.00,206.07,1.284,6,0.104,0.000,2531,2137,2618,0,0,0,0,0,0
$STATE,7703,end apogee,CONTROL_FINISHED_OK
$STATE,7703,begin climb
$GC,7705,1.23,243.4,999.1,0.0,173,7942,1.55,3.45,218.15,1.286,4,0.080,0.204,2862,726,1624,0,0,0,0,0,0
$GC,7978,1.23,243.4,970.4,15.2,177,7991,0.00,3.22,0.00,0.000,6,0.000,0.168,2862,2125,1619,0,0,0,0,0,0
$GC,8328,1.23,243.4,917.0,15.4,183,8341,0.00,3.12,0.00,0.000,4,0.000,0.152,2862,718,1613,0,0,0,0,0,0
$GC,8377,1.23,243.4,909.0,14.9,183,8389,0.00,3.03,0.00,0.000,6,0.000,0.127,2862,2147,1612,0,0,0,0,0,0
$GC,8699,1.23,243.4,862.3,14.6,189,8712,0.00,2.95,0.00,0.000,4,0.000,0.122,2862,717,1611,0,0,0,0,0,0
$GC,8775,1.23,243.4,851.3,13.1,190,8787,0.00,2.85,0.00,0.000,6,0.000,0.099,2862,2149,1611,0,0,0,0,0,0
$GC,9135,1.23,243.4,801.4,14.0,196,9147,0.00,2.80,0.00,0.000,4,0.000,0.096,2862,715,1610,0,0,0,0,0,0
$GC,9204,1.23,243.4,791.3,14.7,197,9216,0.00,2.78,0.00,0.000,6,0.000,0.085,2862,2156,1608,0,0,0,0,0,0
$GC,9575,1.23,243.4,739.1,14.1,203,9587,0.00,2.70,0.00,0.000,4,0.000,0.079,2862,717,1607,0,0,0,0,0,0
$GC,9628,1.23,243.4,730.5,15.1,203,9640,0.00,2.65,0.00,0.000,6,0.000,0.063,2862,2157,1608,0,0,0,0,0,0
$GC,9950,1.23,243.4,682.9,15.0,209,9962,0.00,2.65,0.00,0.000,4,0.000,0.068,2862,709,1608,0,0,0,0,0,0
$GC,9998,1.23,243.4,675.0,14.6,209,10010,0.00,2.62,0.00,0.000,6,0.000,0.056,2862,2158,1607,0,0,0,0,0,0
$GC,10321,1.23,243.4,628.1,14.6,215,10332,0.00,2.62,0.00,0.000,4,0.000,0.063,2862,708,1607,0,0,0,0,0,0
$GC,10401,1.23,243.4,615.8,13.9,216,10413,0.00,2.58,0.00,0.000,6,0.000,0.050,2862,2149,1608,0,0,0,0,0,0
$GC,10756,1.23,243.4,565.7,14.3,222,10768,0.00,2.60,0.00,0.000,4,0.000,0.059,2862,704,1607,0,0,0,0,0,0
$GC,10842,1.23,243.4,552.3,15.3,223,10854,0.00,2.58,0.00,0.000,6,0.000,0.050,2862,2151,1607,0,0,0,0,0,0
$GC,11191,1.23,243.4,501.2,14.7,229,11203,0.00,2.60,0.00,0.000,4,0.000,0.058,2862,708,1607,0,0,0,0,0,0
$GC,11223,1.23,243.4,495.8,13.9,229,11235,0.00,2.55,0.00,0.000,6,0.000,0.048,2862,2146,1607,0,0,0,0,0,0
$GC,11562,1.23,243.4,450.9,13.4,235,11574,0.00,2.58,0.00,0.000,4,0.000,0.057,2862,703,1607,0,0,0,0,0,0
$GC,11621,1.23,243.4,442.0,13.9,235,11638,0.00,2.53,0.00,0.000,6,0.000,0.047,2862,2141,1606,0,0,0,0,0,0
$GC,11935,1.23,243.4,399.4,13.8,241,11946,0.00,2.55,0.00,0.000,4,0.000,0.056,2861,708,1606,0,0,0,0,0,0
$GC,12010,1.23,243.4,388.7,14.5,242,12022,0.00,2.55,0.00,0.000,6,0.000,0.047,2862,2157,1605,0,0,0,0,0,0
$GC,12370,1.23,243.4,340.8,13.3,248,12382,0.00,2.60,0.00,0.000,4,0.000,0.055,2862,705,1606,0,0,0,0,0,0
$GC,12418,1.23,243.4,334.2,11.9,248,12430,0.00,2.53,0.00,0.000,6,0.000,0.046,2862,2146,1606,0,0,0,0,0,0
$GC,12740,1.23,243.4,294.7,12.5,254,12752,0.00,2.53,0.00,0.000,4,0.000,0.062,2862,3552,1607,0,0,0,0,0,0
$GC,12778,1.23,243.4,289.0,13.3,255,12790,0.00,2.53,0.00,0.000,6,0.000,0.044,2862,2102,1606,0,0,0,0,0,0
$GC,13112,1.24,259.4,249.8,11.3,266,13138,0.00,2.50,11.93,0.757,4,0.000,0.054,2862,728,1559,0,0,0,0,0,0
$GC,13256,1.30,307.0,232.9,10.2,270,13313,0.00,2.47,43.58,0.799,6,0.000,0.044,2862,2146,1366,0,0,0,0,0,0
$GC,13616,1.30,307.0,186.8,14.1,281,13628,0.00,2.50,0.00,0.000,4,0.000,0.051,2862,726,1358,0,0,0,0,0,0
$GC,13723,1.32,330.1,172.9,11.0,284,13756,0.12,2.47,19.83,0.703,6,0.086,0.043,2894,2149,1272,0,0,0,0,0,0
$GC,14059,1.32,330.1,122.0,14.7,294,14071,0.00,2.50,0.00,0.000,4,0.000,0.050,2894,718,1268,0,0,0,0,0,0
$GC,14102,1.32,330.1,114.9,13.7,295,14114,0.00,2.47,0.00,0.000,6,0.000,0.042,2894,2146,1266,0,0,0,0,0,0
$GC,14431,1.32,330.1,71.3,12.3,319,14443,0.00,2.45,0.00,0.000,4,0.000,0.048,2894,729,1266,0,0,0,0,0,0
$GC,14493,1.34,345.9,63.3,11.3,323,14524,0.00,2.40,14.32,0.565,6,0.000,0.041,2894,2146,1205,0,0,0,0,0,0
$GC,14708,1.34,345.9,36.6,12.7,343,14720,0.00,2.47,0.00,0.000,4,0.000,0.056,2895,3547,1205,0,0,0,0,0,0
$GC,14734,1.34,345.9,33.1,13.4,344,14745,0.00,2.42,0.00,0.000,6,0.000,0.039,2894,2127,1204,0,0,0,0,0,0
$GC,14946,1.34,345.9,4.9,13.1,371,14963,0.00,2.40,0.00,0.000,4,0.000,0.050,2894,732,1204,0,0,0,0,0,0
$STATE,14970,end climb,SURFACE_DEPTH_REACHED
$STATE,14970,begin surface coast
$FINISH,-0.0,1.009897
$STATE,14995,end surface coast,CONTROL_FINISHED_OK
$STATE,14996,begin surface
$SM_CCo,15032,2.38,0.233,0,0,1191,350.04
$SM_GC,1.74,0.00,0.00,2.38,0.000,0.000,0.233,376,2303,1191,-10.23,0.08,350.04
$IRIDIUM_FIX,1934.38,-15606.90,100911,060608
$TT8_MAMPS,0.113848
$HUMID,1077987732
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.5,4.987
$10V_AH,9.9,4.064
$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,24.025,180.525,513.875,2.375,0.000,0.000,0.000,0.000,0.000,0.000,35.234,0.000,10202.050,573.010,4166.291,254.834,33.331,2119.741,0.000,1607.111,0.000,0.534,0.000
$DEVICE_MAMPS,153.000,204.255,1285.965,232.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,253.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345400
$DATA_FILE_SIZE,13479,377
$CAP_FILE_SIZE,196560,0
$CFSIZE,260034560,256630784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170310,170027,1941.284,-15609.038,34,2.4,53,9.7