version: 66.07
glider: 22
mission: 17
dive: 24
start: 3 20 110 8 49 50
data:
$ID,22
$MISSION,17
$DIVE,24
$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,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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52198
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,0
$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,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,-255233.12
$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,2600
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,2944
$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
$GPS1,200310,084107,1931.999,-15600.219,31,1.5,31,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-70.3
$GPS2,200310,084913,1932.200,-15600.286,14,1.4,14,9.7
$SPEED_LIMITS,0.173,0.280
$TGT_NAME,K1
$TGT_LATLONG,1920.000,-15557.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.069,-0.272
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,156.1,23313,-16.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-175.2,0.0,0.0,0,93,0.00,0.00,-66.47,0.000,2,0.000,0.000,378,2610,2786,0,0,0,0,0,0
$GC,95,-1.18,-175.2,3.8,-7.9,8,139,10.45,2.38,-16.30,0.000,4,0.152,0.072,2337,3936,3660,0,0,0,0,0,0
$GC,266,-1.18,-175.2,54.4,-21.8,23,283,0.00,2.30,0.00,0.000,6,0.000,0.038,2337,2571,3662,0,0,0,0,0,0
$GC,467,-1.18,-175.2,97.4,-20.0,42,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2570,3663,0,0,0,0,0,0
$GC,674,-1.18,-175.2,139.0,-19.4,50,686,0.00,2.45,0.00,0.000,4,0.000,0.060,2337,3940,3664,0,0,0,0,0,0
$GC,750,-1.18,-175.2,155.2,-18.0,52,762,0.00,2.30,0.00,0.000,6,0.000,0.037,2337,2558,3665,0,0,0,0,0,0
$GC,1089,-1.18,-175.2,212.7,-16.2,63,1101,0.00,2.47,0.00,0.000,4,0.000,0.059,2337,3946,3666,0,0,0,0,0,0
$GC,1132,-1.18,-175.2,221.1,-18.1,64,1144,0.00,2.30,0.00,0.000,6,0.000,0.038,2337,2594,3667,0,0,0,0,0,0
$GC,1466,-1.18,-175.2,277.2,-17.3,75,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2590,3667,0,0,0,0,0,0
$GC,1799,-1.18,-175.2,329.3,-15.1,83,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2590,3667,0,0,0,0,0,0
$GC,2101,-1.18,-175.2,371.7,-13.9,88,2112,0.00,2.47,0.00,0.000,4,0.000,0.065,2338,3947,3666,0,0,0,0,0,0
$GC,2127,-1.18,-175.2,376.2,-14.4,88,2139,0.00,2.30,0.00,0.000,6,0.000,0.040,2336,2599,3666,0,0,0,0,0,0
$GC,2471,-1.18,-175.2,419.1,-12.4,94,2483,0.00,2.45,0.00,0.000,4,0.000,0.064,2337,3940,3664,0,0,0,0,0,0
$GC,2497,-1.18,-175.2,423.1,-12.6,94,2509,0.00,2.30,0.00,0.000,6,0.000,0.041,2337,2598,3663,0,0,0,0,0,0
$GC,2841,-1.18,-175.2,466.4,-13.0,100,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2593,3659,0,0,0,0,0,0
$GC,3142,-1.18,-175.2,504.4,-12.6,105,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2593,3657,0,0,0,0,0,0
$GC,3443,-1.18,-175.2,539.1,-11.6,110,3455,0.00,2.42,0.00,0.000,4,0.000,0.053,2337,1205,3654,0,0,0,0,0,0
$GC,3464,-1.18,-175.2,542.3,-11.5,110,3476,0.00,2.45,0.00,0.000,6,0.000,0.050,2337,2605,3654,0,0,0,0,0,0
$GC,3814,-1.18,-175.2,579.3,-10.7,116,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2605,3651,0,0,0,0,0,0
$GC,4114,-1.18,-175.2,614.6,-11.9,121,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2605,3648,0,0,0,0,0,0
$GC,4416,-1.18,-175.2,646.2,-10.8,126,4428,0.00,2.47,0.00,0.000,4,0.000,0.078,2337,3949,3645,0,0,0,0,0,0
$GC,4448,-1.18,-175.2,650.3,-12.6,126,4460,0.00,2.35,0.00,0.000,6,0.000,0.043,2337,2607,3645,0,0,0,0,0,0
$GC,4787,-1.18,-175.2,685.5,-10.3,132,4799,0.00,2.50,0.00,0.000,4,0.000,0.066,2337,1198,3643,0,0,0,0,0,0
$GC,4819,-1.18,-175.2,689.1,-10.1,132,4831,0.00,2.53,0.00,0.000,6,0.000,0.059,2337,2608,3643,0,0,0,0,0,0
$GC,5157,-1.18,-175.2,725.4,-11.4,138,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2608,3641,0,0,0,0,0,0
$GC,5458,-1.18,-175.2,761.9,-12.3,143,5470,0.00,2.60,0.00,0.000,4,0.000,0.077,2337,1199,3638,0,0,0,0,0,0
$GC,5490,-1.18,-175.2,765.8,-11.1,143,5502,0.00,2.60,0.00,0.000,6,0.000,0.073,2337,2605,3638,0,0,0,0,0,0
$GC,5829,-1.18,-175.2,803.1,-11.4,149,5841,0.00,2.67,0.00,0.000,4,0.000,0.091,2337,1207,3636,0,0,0,0,0,0
$GC,5856,-1.18,-175.2,806.3,-10.4,149,5868,0.00,2.70,0.00,0.000,6,0.000,0.089,2337,2609,3636,0,0,0,0,0,0
$GC,6200,-1.18,-175.2,819.4,-1.2,155,6212,0.00,2.67,0.00,0.000,4,0.000,0.116,2337,3955,3634,0,0,0,0,0,0
$STATE,6333,end dive,NO_VERTICAL_VELOCITY
$STATE,6333,begin apogee
$GC,6340,-0.29,0.0,819.5,0.0,157,6498,0.95,0.00,147.27,1.195,6,0.103,0.000,2532,2019,2944,0,0,0,0,0,0
$STATE,6504,end apogee,CONTROL_FINISHED_OK
$STATE,6504,begin climb
$GC,6506,1.18,175.2,819.3,0.0,159,6675,1.52,0.00,156.57,1.161,6,0.089,0.000,2852,2019,2229,0,0,0,0,0,0
$GC,6935,1.20,190.0,794.3,9.4,166,6962,0.00,2.83,12.82,1.032,4,0.000,0.089,2852,3413,2168,0,0,0,0,0,0
$GC,7144,1.20,190.0,775.5,10.1,169,7156,0.00,2.65,0.00,0.000,6,0.000,0.062,2852,1989,2162,0,0,0,0,0,0
$GC,7510,1.20,190.0,734.3,12.1,175,7522,0.00,2.70,0.00,0.000,4,0.000,0.072,2852,3417,2159,0,0,0,0,0,0
$GC,7617,1.20,190.0,718.7,14.6,176,7629,0.00,2.58,0.00,0.000,6,0.000,0.050,2852,1984,2158,0,0,0,0,0,0
$GC,7950,1.20,190.0,676.6,12.7,182,7962,0.00,2.67,0.00,0.000,4,0.000,0.063,2852,3431,2157,0,0,0,0,0,0
$GC,8008,1.20,190.0,668.5,13.7,182,8026,0.00,2.55,0.00,0.000,6,0.000,0.046,2852,1985,2158,0,0,0,0,0,0
$GC,8322,1.20,190.0,630.4,12.4,188,8334,0.00,2.65,0.00,0.000,4,0.000,0.061,2852,3429,2157,0,0,0,0,0,0
$GC,8360,1.20,190.0,625.1,12.8,188,8372,0.00,2.53,0.00,0.000,6,0.000,0.044,2852,1996,2156,0,0,0,0,0,0
$GC,8693,1.20,190.0,587.8,11.1,194,8705,0.00,2.62,0.00,0.000,4,0.000,0.060,2852,3423,2156,0,0,0,0,0,0
$GC,8746,1.20,190.0,581.7,10.9,194,8758,0.00,2.53,0.00,0.000,6,0.000,0.044,2852,1987,2155,0,0,0,0,0,0
$GC,9060,1.22,216.0,553.0,9.0,199,9092,0.00,0.00,23.15,1.008,6,0.000,0.000,2852,1987,2063,0,0,0,0,0,0
$GC,9362,1.23,219.6,523.9,9.9,204,9373,0.00,2.60,0.00,0.000,4,0.000,0.058,2852,3420,2056,0,0,0,0,0,0
$GC,9545,1.23,219.6,503.0,11.8,206,9557,0.00,2.50,0.00,0.000,6,0.000,0.044,2852,1996,2054,0,0,0,0,0,0
$GC,9859,1.23,219.6,471.8,10.1,211,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1996,2054,0,0,0,0,0,0
$GC,10161,1.23,224.7,442.5,9.8,216,10182,0.00,2.67,7.60,0.821,4,0.000,0.057,2852,3426,2028,0,0,0,0,0,0
$GC,10305,1.25,239.5,427.4,9.4,218,10332,0.00,2.53,15.10,0.900,6,0.000,0.043,2852,1984,1967,0,0,0,0,0,0
$GC,10664,1.25,239.5,392.1,10.3,224,10675,0.00,2.62,0.00,0.000,4,0.000,0.057,2852,3426,1962,0,0,0,0,0,0
$GC,10755,1.25,239.5,381.8,10.1,225,10767,0.00,2.53,0.00,0.000,6,0.000,0.044,2852,1985,1961,0,0,0,0,0,0
$GC,11099,1.28,266.5,350.8,9.0,231,11138,0.12,2.67,25.58,0.874,4,0.094,0.056,2881,3432,1854,0,0,0,0,0,0
$GC,11181,1.28,266.5,340.6,12.9,232,11192,0.00,2.55,0.00,0.000,6,0.000,0.043,2881,1991,1851,0,0,0,0,0,0
$GC,11541,1.28,266.5,299.8,11.4,238,11553,0.00,2.62,0.00,0.000,4,0.000,0.057,2880,3431,1848,0,0,0,0,0,0
$GC,11617,1.28,270.1,291.7,9.9,240,11629,0.00,2.50,0.00,0.000,6,0.000,0.042,2882,1996,1847,0,0,0,0,0,0
$GC,11946,1.30,286.9,262.7,9.4,251,11977,0.00,2.58,18.02,0.782,4,0.000,0.055,2881,591,1774,0,0,0,0,0,0
$GC,12009,1.30,286.9,255.6,10.7,252,12026,0.00,2.50,0.00,0.000,6,0.000,0.041,2881,2030,1772,0,0,0,0,0,0
$GC,12324,1.30,286.9,220.5,11.3,263,12336,0.00,2.55,0.00,0.000,4,0.000,0.053,2881,584,1770,0,0,0,0,0,0
$GC,12362,1.30,286.9,215.5,12.0,264,12374,0.00,2.47,0.00,0.000,6,0.000,0.041,2881,2012,1769,0,0,0,0,0,0
$GC,12696,1.30,286.9,177.9,10.7,275,12708,0.00,2.47,0.00,0.000,4,0.000,0.054,2881,3412,1769,0,0,0,0,0,0
$GC,12772,1.30,288.8,169.1,9.9,277,12783,0.00,2.45,0.00,0.000,6,0.000,0.040,2881,1985,1767,0,0,0,0,0,0
$GC,13100,1.30,288.8,135.7,10.0,288,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1984,1767,0,0,0,0,0,0
$GC,13405,1.35,330.3,111.0,8.4,298,13455,0.00,0.00,37.58,0.639,6,0.000,0.000,2881,1985,1596,0,0,0,0,0,0
$GC,13768,1.39,365.3,75.4,8.7,324,13817,0.00,2.60,30.50,0.585,4,0.000,0.051,2881,3399,1454,0,0,0,0,0,0
$GC,13923,1.39,365.3,58.7,11.5,336,13940,0.00,2.38,0.00,0.000,6,0.000,0.039,2881,2000,1450,0,0,0,0,0,0
$GC,14124,1.39,365.3,36.6,11.3,355,14136,0.00,2.47,0.00,0.000,4,0.000,0.053,2881,594,1449,0,0,0,0,0,0
$GC,14173,1.39,365.3,31.4,10.7,358,14184,0.00,2.42,0.00,0.000,6,0.000,0.039,2881,2020,1448,0,0,0,0,0,0
$GC,14382,1.41,383.6,10.9,9.3,384,14418,0.12,2.47,16.10,0.493,4,0.081,0.053,2915,3397,1379,0,0,0,0,0,0
$GC,14433,1.41,383.6,5.7,10.4,389,14450,0.00,2.40,0.00,0.000,6,0.000,0.040,2915,1997,1378,0,0,0,0,0,0
$STATE,14456,end climb,SURFACE_DEPTH_REACHED
$STATE,14456,begin surface coast
$FINISH,0.0,1.011022
$STATE,14487,end surface coast,CONTROL_FINISHED_OK
$STATE,14487,begin surface
$SM_CCo,14522,12.23,0.468,0,0,1312,400.08
$SM_GC,1.18,0.00,0.00,12.23,0.000,0.000,0.468,373,2601,1312,-10.24,0.03,400.08
$IRIDIUM_FIX,1925.22,-15558.54,130911,030313
$TT8_MAMPS,0.113848
$HUMID,1077981281
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,8.199
$10V_AH,9.9,9.871
$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,24.200,138.350,490.300,12.225,0.000,51.081,60.390,202.705,0.000,0.000,15.678,0.000,10250.021,544.874,4030.818,278.130,29.229,1895.558,0.000,1140.756,0.000,0.534,0.000
$DEVICE_MAMPS,152.235,116.280,1194.930,468.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,265.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,344632
$DATA_FILE_SIZE,13492,396
$CAP_FILE_SIZE,159607,0
$CFSIZE,260034560,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,125437,1931.393,-15600.166,37,1.8,37,9.7