version: 66.07
glider: 22
mission: 17
dive: 52
start: 3 25 110 14 0 56
data:
$ID,22
$MISSION,17
$DIVE,52
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,275
$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,200
$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,375
$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,-255761.47
$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,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2570
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,39
$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
$GPS1,250310,134936,1933.894,-15601.343,37,1.3,42,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.7
$GPS2,250310,140014,1934.185,-15601.360,14,1.5,14,9.7
$SPEED_LIMITS,0.173,0.294
$TGT_NAME,HARP
$TGT_LATLONG,1934.700,-15602.400
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.070,-0.265
$KALMAN_X,-12230.5,105.3,286.5,9841.8,-2726.7
$KALMAN_Y,18097.3,-1033.0,55.4,2922.8,4439.5
$MHEAD_RNG_PITCHd_Wd,155.5,2050,-17.3,-10.000
$D_GRID,660
$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,-1.26,-166.3,0.0,0.0,0,75,0.00,0.00,-56.70,0.000,2,0.000,0.000,375,2516,2623,0,0,0,0,0,0
$GC,78,-1.29,-194.6,3.1,-6.3,11,123,10.10,2.58,-27.98,0.000,4,0.148,0.068,2299,3930,3740,0,0,0,0,0,0
$GC,143,-1.29,-194.6,18.2,-25.6,24,150,0.00,2.28,0.00,0.000,6,0.000,0.037,2299,2604,3741,0,0,0,0,0,0
$GC,216,-1.29,-194.6,38.7,-29.2,32,220,0.00,2.42,0.00,0.000,4,0.000,0.058,2299,3933,3741,0,0,0,0,0,0
$GC,248,-1.29,-194.6,48.1,-29.9,35,252,0.00,2.35,0.00,0.000,6,0.000,0.038,2299,2569,3740,0,0,0,0,0,0
$GC,444,-1.29,-194.6,98.8,-24.6,54,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2565,3742,0,0,0,0,0,0
$GC,637,-1.29,-194.6,144.5,-22.8,61,641,0.00,2.47,0.00,0.000,4,0.000,0.058,2299,3929,3743,0,0,0,0,0,0
$GC,674,-1.29,-194.6,152.8,-22.1,62,678,0.00,2.35,0.00,0.000,6,0.000,0.037,2299,2548,3743,0,0,0,0,0,0
$GC,1004,-1.29,-194.6,224.8,-20.1,73,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2300,2542,3744,0,0,0,0,0,0
$GC,1307,-1.29,-194.6,286.7,-18.9,83,1311,0.00,2.53,0.00,0.000,4,0.000,0.059,2299,3936,3746,0,0,0,0,0,0
$GC,1350,-1.29,-194.6,295.1,-19.5,84,1354,0.00,2.35,0.00,0.000,6,0.000,0.038,2299,2560,3746,0,0,0,0,0,0
$GC,1703,-1.29,-194.6,363.1,-19.4,91,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2556,3745,0,0,0,0,0,0
$GC,2005,-1.29,-194.6,418.5,-18.1,96,2009,0.00,2.50,0.00,0.000,4,0.000,0.062,2299,3927,3742,0,0,0,0,0,0
$GC,2036,-1.29,-194.6,424.1,-17.9,96,2041,0.00,2.35,0.00,0.000,6,0.000,0.040,2299,2567,3743,0,0,0,0,0,0
$GC,2370,-1.29,-194.6,478.9,-16.4,102,2374,0.00,2.47,0.00,0.000,4,0.000,0.063,2299,3937,3742,0,0,0,0,0,0
$GC,2397,-1.29,-194.6,483.5,-16.9,102,2400,0.00,2.38,0.00,0.000,6,0.000,0.041,2299,2571,3742,0,0,0,0,0,0
$GC,2736,-1.29,-194.6,534.9,-14.9,108,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2567,3739,0,0,0,0,0,0
$GC,3038,-1.29,-194.6,580.2,-15.0,113,3046,0.00,2.45,0.00,0.000,4,0.000,0.054,2299,1166,3734,0,0,0,0,0,0
$GC,3071,-1.29,-194.6,584.8,-13.3,113,3079,0.00,2.45,0.00,0.000,6,0.000,0.050,2299,2565,3734,0,0,0,0,0,0
$GC,3396,-1.29,-194.6,628.9,-13.8,119,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2566,3731,0,0,0,0,0,0
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3641,-0.31,0.0,665.8,15.3,123,3813,1.02,0.00,163.32,1.049,6,0.099,0.000,2514,2006,2944,0,0,0,0,0,0
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3814,begin climb
$GC,3815,1.29,194.6,673.8,0.0,125,3995,1.60,0.00,168.45,1.026,6,0.068,0.000,2865,2006,2149,0,0,0,0,0,0
$GC,4301,1.29,194.6,647.4,10.3,133,4310,0.00,2.62,0.00,0.000,4,0.000,0.064,2865,3414,2138,0,0,0,0,0,0
$GC,4325,1.29,194.6,644.8,10.7,133,4333,0.00,2.53,0.00,0.000,6,0.000,0.045,2867,1993,2136,0,0,0,0,0,0
$GC,4660,1.30,198.0,610.7,9.9,139,4669,0.00,2.50,0.00,0.000,4,0.000,0.063,2865,597,2135,0,0,0,0,0,0
$GC,4710,1.30,198.0,605.4,10.6,139,4718,0.00,2.53,0.00,0.000,6,0.000,0.046,2865,2017,2134,0,0,0,0,0,0
$GC,5018,1.30,198.0,573.7,10.3,144,5027,0.00,2.58,0.00,0.000,4,0.000,0.058,2865,584,2132,0,0,0,0,0,0
$GC,5058,1.30,198.0,569.2,10.8,144,5066,0.00,2.53,0.00,0.000,6,0.000,0.045,2865,2011,2133,0,0,0,0,0,0
$GC,5378,1.30,198.3,536.9,10.0,150,5386,0.00,2.53,0.00,0.000,4,0.000,0.059,2865,3414,2130,0,0,0,0,0,0
$GC,5411,1.30,198.3,533.2,10.5,150,5420,0.00,2.50,0.00,0.000,6,0.000,0.044,2865,1986,2128,0,0,0,0,0,0
$GC,5737,1.30,199.9,500.5,9.9,156,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1986,2129,0,0,0,0,0,0
$GC,6038,1.30,199.9,468.5,10.7,161,6042,0.00,2.58,0.00,0.000,4,0.000,0.058,2865,3406,2127,0,0,0,0,0,0
$GC,6123,1.30,199.9,458.6,10.9,162,6127,0.00,2.50,0.00,0.000,6,0.000,0.043,2865,1995,2127,0,0,0,0,0,0
$GC,6467,1.35,246.2,428.9,8.1,168,6511,0.00,0.00,43.15,0.931,6,0.000,0.000,2865,1996,1939,0,0,0,0,0,0
$GC,6770,1.35,246.2,398.1,10.5,173,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1995,1931,0,0,0,0,0,0
$GC,7070,1.35,246.2,367.0,10.0,178,7075,0.00,2.60,0.00,0.000,4,0.000,0.055,2865,3410,1929,0,0,0,0,0,0
$GC,7134,1.35,246.2,360.3,11.9,179,7138,0.00,2.53,0.00,0.000,6,0.000,0.042,2865,1990,1928,0,0,0,0,0,0
$GC,7501,1.35,246.2,324.0,10.0,185,7504,0.00,2.47,0.00,0.000,4,0.000,0.056,2865,593,1926,0,0,0,0,0,0
$GC,7553,1.35,246.2,318.2,10.9,185,7559,0.00,2.47,0.00,0.000,6,0.000,0.041,2865,2007,1926,0,0,0,0,0,0
$GC,7861,1.35,246.2,286.3,10.0,193,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2007,1925,0,0,0,0,0,0
$GC,8164,1.37,261.4,258.3,9.4,203,8183,0.00,2.58,12.82,0.748,4,0.000,0.054,2865,3406,1878,0,0,0,0,0,0
$GC,8253,1.37,261.4,249.0,11.4,205,8259,0.00,2.50,0.00,0.000,6,0.000,0.041,2865,1991,1876,0,0,0,0,0,0
$GC,8562,1.39,286.3,218.6,9.0,216,8587,0.10,0.00,23.12,0.744,6,0.098,0.000,2890,1991,1776,0,0,0,0,0,0
$GC,8866,1.39,286.5,188.0,10.0,226,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1991,1771,0,0,0,0,0,0
$GC,9169,1.39,286.5,157.7,10.2,236,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1991,1770,0,0,0,0,0,0
$GC,9472,1.39,286.5,121.0,12.7,246,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1990,1770,0,0,0,0,0,0
$GC,9780,1.39,286.5,81.8,10.4,266,9784,0.00,2.50,0.00,0.000,4,0.000,0.050,2890,3409,1770,0,0,0,0,0,0
$GC,9806,1.40,292.9,79.0,9.7,268,9817,0.00,2.45,6.10,0.502,6,0.000,0.038,2890,1991,1750,0,0,0,0,0,0
$GC,10003,1.44,328.0,61.8,8.6,287,10043,0.00,2.53,31.25,0.580,4,0.000,0.050,2890,591,1604,0,0,0,0,0,0
$GC,10084,1.44,328.0,54.2,10.1,295,10089,0.00,2.45,0.00,0.000,6,0.000,0.038,2890,2010,1602,0,0,0,0,0,0
$GC,10281,1.44,328.0,35.5,10.7,314,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2010,1602,0,0,0,0,0,0
$GC,10469,1.47,361.0,16.8,8.7,335,10505,0.00,2.50,28.23,0.523,4,0.000,0.052,2891,3394,1470,0,0,0,0,0,0
$GC,10559,1.47,361.0,8.8,11.8,352,10564,0.00,2.35,0.00,0.000,6,0.000,0.038,2890,1984,1469,0,0,0,0,0,0
$STATE,10620,end climb,SURFACE_DEPTH_REACHED
$STATE,10620,begin surface coast
$FINISH,0.1,0.999470
$STATE,10659,end surface coast,CONTROL_FINISHED_OK
$STATE,10659,begin surface
$SM_CCo,10678,9.88,0.460,0,0,1414,375.06
$SM_GC,2.39,0.00,0.00,9.88,0.000,0.000,0.460,372,2577,1414,-10.18,0.20,375.06
$IRIDIUM_FIX,1925.22,-15600.62,180911,080848
$TT8_MAMPS,0.305592
$HUMID,1078036764
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.7,13.255
$10V_AH,9.9,21.579
$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,23.725,91.250,476.450,9.875,0.000,56.084,105.620,260.653,0.000,0.000,15.069,0.000,8925.439,572.712,1707.653,205.123,33.331,1169.976,0.000,829.325,0.000,0.534,0.000
$DEVICE_MAMPS,148.410,68.085,1048.815,459.765,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,246.254,0.000,0.000,0.000,0.000,0.000,11564.839,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,88.572,0.000,0.000,0.000
$MEM,344664
$DATA_FILE_SIZE,13461,371
$CAP_FILE_SIZE,89608,0
$CFSIZE,260034560,253353984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,170154,1933.435,-15601.409,42,1.6,59,9.7