version: 66.07
glider: 23
mission: 14
dive: 4
start: 3 17 110 3 18 58
data:
$ID,23
$MISSION,14
$DIVE,4
$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,300
$T_MISSION,400
$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,1.027
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,-40883.055
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2677
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.779308
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,14
$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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,170310,031350,1946.470,-15608.671,9,1.3,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.0
$GPS2,170310,031819,1946.602,-15608.729,13,1.5,13,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.136,-0.245
$KALMAN_X,-2617.7,-3004.6,-110.9,1752.7,732.6
$KALMAN_Y,4966.1,5749.4,190.2,-3577.5,-1586.5
$MHEAD_RNG_PITCHd_Wd,141.2,13849,-17.4,-11.000
$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,17,-1.37,-194.7,0.0,0.0,0,94,0.00,0.00,-74.43,0.000,2,0.000,0.000,365,2311,2821,0,0,0,0,0,0
$GC,97,-1.37,-194.7,3.4,-6.3,15,127,10.60,2.25,-14.23,0.000,4,0.168,0.051,2191,3702,3472,0,0,0,0,0,0
$GC,260,-1.37,-194.7,36.8,-18.7,38,266,0.00,2.22,0.00,0.000,6,0.000,0.020,2191,2315,3473,0,0,0,0,0,0
$GC,451,-1.37,-194.7,74.3,-20.1,57,455,0.00,2.30,0.00,0.000,4,0.000,0.035,2191,3700,3473,0,0,0,0,0,0
$GC,494,-1.37,-194.7,81.9,-17.2,61,498,0.00,2.25,0.00,0.000,6,0.000,0.020,2191,2296,3473,0,0,0,0,0,0
$GC,699,-1.37,-194.7,114.4,-15.4,75,707,0.00,2.33,0.00,0.000,4,0.000,0.039,2191,3699,3474,0,0,0,0,0,0
$GC,807,-1.37,-194.7,130.8,-15.4,78,815,0.00,2.20,0.00,0.000,6,0.000,0.021,2191,2300,3474,0,0,0,0,0,0
$GC,1123,-1.37,-194.7,177.9,-15.2,89,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2301,3474,0,0,0,0,0,0
$GC,1426,-1.37,-194.7,221.8,-14.1,99,1435,0.00,2.33,0.00,0.000,4,0.000,0.041,2191,3697,3474,0,0,0,0,0,0
$GC,1476,-1.37,-194.7,229.0,-13.9,100,1484,0.00,2.22,0.00,0.000,6,0.000,0.022,2191,2300,3474,0,0,0,0,0,0
$GC,1786,-1.37,-194.7,269.2,-12.5,110,1795,0.00,2.78,0.00,0.000,4,0.000,0.038,2190,901,3473,0,0,0,0,0,0
$GC,1815,-1.37,-194.7,272.8,-12.9,111,1823,0.00,2.72,0.00,0.000,6,0.000,0.029,2191,2299,3472,0,0,0,0,0,0
$GC,2177,-1.37,-194.7,317.4,-11.7,121,2186,0.00,2.33,0.00,0.000,4,0.000,0.045,2191,3702,3470,0,0,0,0,0,0
$GC,2217,-1.37,-194.7,322.0,-12.1,121,2225,0.00,2.25,0.00,0.000,6,0.000,0.026,2191,2296,3470,0,0,0,0,0,0
$GC,2547,-1.37,-194.7,358.7,-11.1,127,2555,0.00,2.75,0.00,0.000,4,0.000,0.038,2191,897,3467,0,0,0,0,0,0
$GC,2586,-1.37,-194.7,362.7,-10.4,127,2595,0.00,2.75,0.00,0.000,6,0.000,0.031,2191,2300,3467,0,0,0,0,0,0
$GC,2906,-1.37,-194.7,397.2,-10.8,133,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2300,3465,0,0,0,0,0,0
$GC,3208,-1.37,-194.7,432.9,-11.9,138,3216,0.00,2.80,0.00,0.000,4,0.000,0.039,2191,892,3462,0,0,0,0,0,0
$GC,3226,-1.37,-194.7,435.2,-12.0,138,3234,0.00,2.78,0.00,0.000,6,0.000,0.033,2191,2301,3463,0,0,0,0,0,0
$GC,3567,-1.37,-194.7,473.5,-11.4,144,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2300,3460,0,0,0,0,0,0
$GC,3869,-1.37,-194.7,508.6,-11.8,149,3877,0.00,2.80,0.00,0.000,4,0.000,0.040,2191,895,3456,0,0,0,0,0,0
$GC,3930,-1.37,-194.7,515.6,-11.2,150,3938,0.00,2.78,0.00,0.000,6,0.000,0.034,2191,2299,3455,0,0,0,0,0,0
$GC,4293,-1.37,-194.7,557.0,-11.2,156,4301,0.00,2.80,0.00,0.000,4,0.000,0.041,2191,898,3452,0,0,0,0,0,0
$GC,4354,-1.37,-194.7,563.8,-10.9,157,4362,0.00,2.78,0.00,0.000,6,0.000,0.035,2191,2300,3451,0,0,0,0,0,0
$GC,4717,-1.37,-194.7,602.5,-10.4,163,4725,0.00,2.83,0.00,0.000,4,0.000,0.041,2191,900,3450,0,0,0,0,0,0
$GC,4772,-1.37,-194.7,608.1,-10.1,163,4782,0.00,2.72,0.00,0.000,6,0.000,0.036,2191,2301,3449,0,0,0,0,0,0
$GC,5081,-1.37,-194.7,640.1,-10.4,169,5089,0.00,2.78,0.00,0.000,4,0.000,0.041,2191,904,3447,0,0,0,0,0,0
$GC,5131,-1.37,-194.7,644.9,-9.2,169,5140,0.00,2.80,0.00,0.000,6,0.000,0.037,2191,2308,3446,0,0,0,0,0,0
$GC,5439,-1.37,-194.7,673.8,-9.5,174,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2307,3444,0,0,0,0,0,0
$GC,5741,-1.37,-194.7,699.1,-8.2,179,5749,0.00,2.83,0.00,0.000,4,0.000,0.044,2191,905,3442,0,0,0,0,0,0
$GC,5818,-1.37,-194.7,706.2,-9.2,180,5826,0.00,2.78,0.00,0.000,6,0.000,0.040,2190,2299,3441,0,0,0,0,0,0
$GC,6164,-1.37,-194.7,738.5,-9.4,186,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2298,3439,0,0,0,0,0,0
$GC,6466,-1.37,-194.7,769.0,-10.2,191,6475,0.00,2.80,0.00,0.000,4,0.000,0.045,2191,901,3438,0,0,0,0,0,0
$GC,6528,-1.37,-194.7,775.2,-10.2,192,6536,0.00,2.80,0.00,0.000,6,0.000,0.041,2191,2306,3437,0,0,0,0,0,0
$GC,6891,-1.37,-194.7,812.9,-10.2,198,6899,0.00,2.40,0.00,0.000,4,0.000,0.058,2191,3710,3436,0,0,0,0,0,0
$GC,6925,-1.37,-194.7,816.5,-10.1,198,6932,0.00,2.30,0.00,0.000,6,0.000,0.031,2191,2303,3436,0,0,0,0,0,0
$GC,7250,-1.37,-194.7,844.7,-8.6,204,7259,0.00,2.83,0.00,0.000,4,0.000,0.050,2191,890,3434,0,0,0,0,0,0
$GC,7316,-1.37,-194.7,850.8,-9.1,205,7325,0.00,2.85,0.00,0.000,6,0.000,0.042,2191,2307,3434,0,0,0,0,0,0
$GC,7674,-1.37,-194.7,882.4,-9.0,211,7683,0.00,2.83,0.00,0.000,4,0.000,0.045,2191,896,3432,0,0,0,0,0,0
$GC,7730,-1.37,-194.7,887.6,-8.8,211,7739,0.00,2.78,0.00,0.000,6,0.000,0.041,2191,2309,3432,0,0,0,0,0,0
$GC,8038,-1.37,-194.7,913.8,-8.5,217,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2308,3431,0,0,0,0,0,0
$GC,8340,-1.37,-194.7,938.6,-8.1,222,8348,0.00,2.83,0.00,0.000,4,0.000,0.045,2191,896,3430,0,0,0,0,0,0
$GC,8385,-1.37,-194.7,942.3,-8.1,222,8397,0.00,2.83,0.00,0.000,6,0.000,0.041,2191,2301,3430,0,0,0,0,0,0
$GC,8707,-1.37,-194.7,969.0,-8.4,228,8720,0.00,2.85,0.00,0.000,4,0.000,0.044,2191,889,3428,0,0,0,0,0,0
$GC,8751,-1.37,-194.7,972.9,-8.2,228,8763,0.00,2.83,0.00,0.000,6,0.000,0.040,2191,2305,3428,0,0,0,0,0,0
$STATE,9016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9016,begin apogee
$GC,9021,-0.33,0.0,994.6,8.2,233,9187,1.12,0.00,154.93,1.483,6,0.088,0.000,2425,2412,2677,0,0,0,0,0,0
$STATE,9192,end apogee,CONTROL_FINISHED_OK
$STATE,9192,begin climb
$GC,9194,1.37,194.7,997.6,0.0,235,9376,1.70,2.45,163.52,1.440,4,0.052,0.055,2796,3790,1882,0,0,0,0,0,0
$GC,9541,1.37,194.7,947.5,19.8,240,9553,0.00,2.28,0.00,0.000,6,0.000,0.029,2796,2396,1875,0,0,0,0,0,0
$GC,9891,1.37,194.7,884.9,18.3,246,9903,0.00,2.40,0.00,0.000,4,0.000,0.057,2796,3791,1874,0,0,0,0,0,0
$GC,9928,1.37,194.7,876.9,18.3,246,9940,0.00,2.28,0.00,0.000,6,0.000,0.029,2796,2394,1874,0,0,0,0,0,0
$GC,10261,1.37,194.7,817.9,17.8,252,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2394,1874,0,0,0,0,0,0
$GC,10563,1.37,194.7,765.3,17.6,257,10574,0.00,2.40,0.00,0.000,4,0.000,0.058,2796,3792,1873,0,0,0,0,0,0
$GC,10631,1.37,194.7,752.9,18.7,258,10643,0.00,2.28,0.00,0.000,6,0.000,0.030,2796,2390,1872,0,0,0,0,0,0
$GC,11002,1.37,194.7,687.9,17.4,264,11014,0.00,2.38,0.00,0.000,4,0.000,0.057,2796,3783,1872,0,0,0,0,0,0
$GC,11093,1.37,194.7,670.7,18.2,265,11105,0.00,2.25,0.00,0.000,6,0.000,0.030,2796,2392,1872,0,0,0,0,0,0
$GC,11448,1.37,194.7,616.4,15.0,271,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2392,1871,0,0,0,0,0,0
$GC,11749,1.37,194.7,574.6,13.8,276,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2392,1870,0,0,0,0,0,0
$GC,12050,1.37,194.7,532.7,13.9,281,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2390,1870,0,0,0,0,0,0
$GC,12352,1.37,194.7,489.5,14.3,286,12364,0.00,2.35,0.00,0.000,4,0.000,0.056,2797,3786,1870,0,0,1,0,0,0
$GC,12411,1.37,194.7,479.7,16.1,286,12428,0.00,2.22,0.00,0.000,6,0.000,0.028,2796,2392,1871,0,0,0,0,0,0
$GC,12725,1.37,194.7,434.1,14.6,292,12736,0.00,2.38,0.00,0.000,4,0.000,0.055,2796,3799,1871,0,0,0,0,0,0
$GC,12757,1.37,194.7,428.7,14.2,292,12768,0.00,2.22,0.00,0.000,6,0.000,0.027,2796,2397,1871,0,0,0,0,0,0
$GC,13096,1.37,194.7,381.1,14.0,298,13107,0.00,2.33,0.00,0.000,4,0.000,0.054,2796,3789,1871,0,0,0,0,0,0
$GC,13171,1.37,194.7,368.9,15.5,299,13182,0.00,2.22,0.00,0.000,6,0.000,0.027,2797,2390,1870,0,0,0,0,0,0
$GC,13531,1.37,194.7,318.9,13.9,305,13543,0.00,2.33,0.00,0.000,4,0.000,0.053,2796,3798,1870,0,0,1,0,0,0
$GC,13640,1.37,194.7,301.8,13.8,306,13651,0.00,2.22,0.00,0.000,6,0.000,0.026,2796,2391,1871,0,0,0,0,0,0
$GC,13974,1.37,194.7,261.4,11.6,317,13986,0.00,2.35,0.00,0.000,4,0.000,0.053,2796,3801,1871,0,0,1,0,0,0
$GC,14044,1.37,194.7,251.3,14.6,319,14056,0.00,2.22,0.00,0.000,6,0.000,0.024,2796,2392,1871,0,0,0,0,0,0
$GC,14378,1.37,194.7,211.6,11.2,330,14390,0.00,2.75,0.00,0.000,4,0.000,0.037,2797,997,1872,0,0,0,0,0,0
$GC,14492,1.46,274.2,201.3,8.0,333,14570,0.00,2.80,63.50,0.883,6,0.000,0.031,2796,2405,1558,0,0,0,0,0,0
$GC,14889,1.46,274.2,151.2,14.1,346,14902,0.00,2.83,0.00,0.000,4,0.000,0.035,2796,1003,1550,0,0,0,0,0,0
$GC,14944,1.46,274.2,142.4,15.1,347,14956,0.00,2.78,0.00,0.000,6,0.000,0.026,2797,2405,1550,0,0,0,0,0,0
$GC,15260,1.46,274.2,101.7,12.8,357,15272,0.00,2.80,0.00,0.000,4,0.000,0.032,2796,1003,1550,0,0,0,0,0,0
$GC,15376,1.46,274.2,87.4,12.0,365,15388,0.00,2.78,0.00,0.000,6,0.000,0.026,2797,2406,1551,0,0,0,0,0,0
$GC,15575,1.46,274.2,61.3,13.1,383,15587,0.00,2.78,0.00,0.000,4,0.000,0.031,2797,999,1550,0,0,0,0,0,0
$GC,15625,1.46,274.2,54.1,12.8,386,15642,0.00,2.75,0.00,0.000,6,0.000,0.024,2797,2401,1551,0,0,0,0,0,0
$GC,15826,1.46,274.2,29.7,12.3,405,15843,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2400,1552,0,0,0,0,0,0
$GC,16043,1.46,274.2,5.3,11.2,434,16060,0.00,2.75,0.00,0.000,4,0.000,0.030,2797,1007,1554,0,0,0,0,0,0
$STATE,16067,end climb,SURFACE_DEPTH_REACHED
$STATE,16067,begin surface coast
$FINISH,0.0,1.010514
$STATE,16092,end surface coast,CONTROL_FINISHED_OK
$STATE,16093,begin surface
$SM_CCo,16129,36.28,0.612,0,0,1250,350.04
$SM_GC,0.88,0.00,0.00,36.28,0.000,0.000,0.612,357,2301,1250,-9.86,0.03,350.04
$IRIDIUM_FIX,1936.66,-15604.81,090911,212119
$TT8_MAMPS,0.136318
$HUMID,1078069023
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.5,7.224
$10V_AH,9.8,2.503
$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,24.050,169.375,381.950,36.275,0.000,0.000,0.000,0.000,0.000,0.000,15.729,0.000,12427.019,530.374,3159.694,189.364,32.342,1806.944,0.000,1310.471,0.000,0.545,0.000
$DEVICE_MAMPS,168.300,73.440,1482.570,612.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,298.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353440
$DATA_FILE_SIZE,16763,440
$CAP_FILE_SIZE,181272,0
$CFSIZE,260034560,256475136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170310,075100,1945.033,-15607.510,39,1.5,39,9.7