version: 66.07
glider: 23
mission: 14
dive: 5
start: 3 17 110 8 0 5
data:
$ID,23
$MISSION,14
$DIVE,5
$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,-40884.316
$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,42
$R_STBD_OVSHOOT,27
$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
$GPS1,170310,075100,1945.033,-15607.510,39,1.5,39,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-66.3
$GPS2,170310,075925,1945.213,-15607.580,15,1.4,32,9.7
$SPEED_LIMITS,0.191,0.280
$TGT_NAME,LR
$TGT_LATLONG,1940.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.090,-0.265
$KALMAN_X,-5789.4,-418.5,67.5,4158.0,-372.7
$KALMAN_Y,12110.1,732.7,-234.9,-7844.4,2109.1
$MHEAD_RNG_PITCHd_Wd,151.6,10651,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.37,-194.7,0.0,0.0,0,112,0.00,0.00,-83.03,0.000,2,0.000,0.000,357,2303,3082,0,0,0,0,0,0
$GC,116,-1.37,-194.7,4.1,-6.5,10,151,10.85,2.80,-5.93,0.000,4,0.171,0.048,2194,901,3474,0,0,0,0,0,0
$GC,250,-1.37,-194.7,46.7,-17.4,22,262,0.00,2.72,0.00,0.000,6,0.000,0.024,2195,2308,3476,0,0,0,0,0,0
$GC,449,-1.37,-194.7,87.4,-20.1,40,460,0.00,2.28,0.00,0.000,4,0.000,0.036,2195,3712,3476,0,0,0,0,0,0
$GC,518,-1.37,-194.7,101.2,-20.3,45,530,0.00,2.22,0.00,0.000,6,0.000,0.022,2195,2306,3477,0,0,0,0,0,0
$GC,863,-1.37,-194.7,162.5,-16.5,56,875,0.00,2.30,0.00,0.000,4,0.000,0.039,2195,3707,3478,0,0,0,0,0,0
$GC,938,-1.37,-194.7,175.8,-15.0,58,950,0.00,2.25,0.00,0.000,6,0.000,0.021,2195,2283,3478,0,0,0,0,0,0
$GC,1278,-1.37,-194.7,223.8,-13.7,69,1290,0.00,2.75,0.00,0.000,4,0.000,0.036,2195,894,3479,0,0,0,0,0,0
$GC,1305,-1.37,-194.7,228.0,-13.5,69,1322,0.00,2.70,0.00,0.000,6,0.000,0.028,2195,2292,3479,0,0,0,0,0,0
$GC,1620,-1.37,-194.7,266.9,-11.4,80,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2292,3479,0,0,0,0,0,0
$GC,1925,-1.37,-194.7,302.6,-11.3,90,1937,0.00,2.78,0.00,0.000,4,0.000,0.036,2195,898,3479,0,0,0,0,0,0
$GC,1947,-1.37,-194.7,305.7,-11.3,90,1959,0.00,2.75,0.00,0.000,6,0.000,0.030,2194,2300,3478,0,0,0,0,0,0
$GC,2297,-1.37,-194.7,346.2,-11.7,96,2309,0.00,2.83,0.00,0.000,4,0.000,0.037,2195,902,3477,0,0,0,0,0,0
$GC,2324,-1.37,-194.7,349.8,-10.9,96,2336,0.00,2.78,0.00,0.000,6,0.000,0.032,2194,2300,3477,0,0,0,0,0,0
$GC,2669,-1.37,-194.7,386.8,-10.9,102,2681,0.00,2.83,0.00,0.000,4,0.000,0.038,2194,901,3475,0,0,0,0,0,0
$GC,2728,-1.37,-194.7,394.0,-11.3,102,2745,0.00,2.75,0.00,0.000,6,0.000,0.034,2194,2301,3475,0,0,0,0,0,0
$GC,3042,-1.37,-194.7,430.1,-11.9,108,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2300,3472,0,0,0,0,0,0
$GC,3344,-1.37,-194.7,464.3,-11.2,113,3356,0.00,2.83,0.00,0.000,4,0.000,0.039,2194,903,3470,0,0,0,0,0,0
$GC,3376,-1.37,-194.7,468.1,-10.5,113,3388,0.00,2.80,0.00,0.000,6,0.000,0.034,2194,2306,3469,0,0,0,0,0,0
$GC,3716,-1.37,-194.7,499.1,-9.2,119,3728,0.00,2.83,0.00,0.000,4,0.000,0.040,2194,896,3467,0,0,0,0,0,0
$GC,3748,-1.37,-194.7,502.7,-9.5,119,3761,0.00,2.80,0.00,0.000,6,0.000,0.035,2194,2308,3465,0,0,0,0,0,0
$GC,4088,-1.37,-194.7,535.0,-9.9,125,4100,0.00,2.80,0.00,0.000,4,0.000,0.039,2194,899,3463,0,0,0,0,0,0
$GC,4159,-1.37,-194.7,542.6,-9.7,126,4171,0.00,2.80,0.00,0.000,6,0.000,0.035,2194,2310,3462,0,0,0,0,0,0
$GC,4525,-1.37,-194.7,579.2,-10.3,132,4538,0.00,2.83,0.00,0.000,4,0.000,0.040,2194,901,3458,0,0,0,0,0,0
$GC,4579,-1.37,-194.7,585.4,-10.3,132,4591,0.00,2.80,0.00,0.000,6,0.000,0.036,2195,2303,3458,0,0,0,0,0,0
$GC,4894,-1.37,-194.7,616.6,-10.1,137,4906,0.00,2.83,0.00,0.000,4,0.000,0.041,2194,895,3457,0,0,0,0,0,0
$GC,4921,-1.37,-194.7,619.8,-10.1,137,4933,0.00,2.80,0.00,0.000,6,0.000,0.037,2194,2304,3457,0,0,0,0,0,0
$GC,5266,-1.37,-194.7,653.1,-9.7,143,5279,0.00,2.83,0.00,0.000,4,0.000,0.042,2194,901,3455,0,0,0,0,0,0
$GC,5310,-1.37,-194.7,657.7,-8.8,143,5322,0.00,2.83,0.00,0.000,6,0.000,0.037,2194,2309,3455,0,0,0,0,0,0
$GC,5639,-1.37,-194.7,688.4,-9.6,149,5651,0.00,2.83,0.00,0.000,4,0.000,0.044,2194,900,3453,0,0,0,0,0,0
$GC,5693,-1.37,-194.7,694.0,-9.2,149,5705,0.00,2.80,0.00,0.000,6,0.000,0.040,2194,2299,3452,0,0,0,0,0,0
$GC,6007,-1.37,-194.7,721.0,-8.6,154,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2299,3451,0,0,0,0,0,0
$GC,6309,-1.37,-194.7,747.0,-8.7,159,6321,0.00,2.83,0.00,0.000,4,0.000,0.045,2194,906,3449,0,0,0,0,0,0
$GC,6390,-1.37,-194.7,754.9,-8.8,160,6402,0.00,2.80,0.00,0.000,6,0.000,0.041,2194,2303,3449,0,0,0,0,0,0
$GC,6746,-1.37,-194.7,789.1,-10.0,166,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2303,3447,0,0,0,0,0,0
$GC,7046,-1.37,-194.7,818.5,-9.7,171,7058,0.00,2.83,0.00,0.000,4,0.000,0.044,2194,898,3446,0,0,0,0,0,0
$GC,7105,-1.37,-194.7,824.7,-10.3,171,7122,0.00,2.80,0.00,0.000,6,0.000,0.040,2194,2294,3446,0,0,0,0,0,0
$GC,7420,-1.37,-194.7,854.7,-9.7,177,7432,0.00,2.83,0.00,0.000,4,0.000,0.044,2194,898,3445,0,0,0,0,0,0
$GC,7458,-1.37,-194.7,858.8,-9.8,177,7470,0.00,2.83,0.00,0.000,6,0.000,0.040,2194,2308,3444,0,0,0,0,0,0
$GC,7792,-1.37,-194.7,890.0,-9.6,183,7805,0.00,2.85,0.00,0.000,4,0.000,0.044,2194,899,3443,0,0,0,0,0,0
$GC,7836,-1.37,-194.7,895.0,-10.2,183,7848,0.00,2.83,0.00,0.000,6,0.000,0.040,2194,2310,3443,0,0,0,0,0,0
$GC,8165,-1.37,-194.7,926.9,-9.8,189,8177,0.00,2.85,0.00,0.000,4,0.000,0.044,2194,900,3442,0,0,0,0,0,0
$GC,8224,-1.37,-194.7,933.4,-10.8,189,8242,0.00,2.78,0.00,0.000,6,0.000,0.040,2194,2295,3441,0,0,0,0,0,0
$GC,8538,-1.37,-194.7,963.2,-9.7,195,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2295,3441,0,0,0,0,0,0
$STATE,8838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8838,begin apogee
$GC,8843,-0.33,0.0,991.5,9.4,200,9012,1.12,0.00,158.00,1.481,6,0.094,0.000,2423,2402,2678,0,0,0,0,0,0
$STATE,9018,end apogee,CONTROL_FINISHED_OK
$STATE,9018,begin climb
$GC,9020,1.37,194.7,997.4,0.0,202,9202,1.73,2.45,164.20,1.437,4,0.051,0.055,2798,3781,1882,0,0,0,0,0,0
$GC,9340,1.37,194.7,960.1,18.6,206,9358,0.00,2.25,0.00,0.000,6,0.000,0.028,2798,2400,1875,0,0,0,0,0,0
$GC,9654,1.37,194.7,907.1,16.9,212,9666,0.00,2.40,0.00,0.000,4,0.000,0.057,2798,3794,1873,0,0,0,0,0,0
$GC,9681,1.37,194.7,901.6,17.7,212,9692,0.00,2.28,0.00,0.000,6,0.000,0.029,2798,2398,1874,0,0,0,0,0,0
$GC,10025,1.37,194.7,843.0,17.3,218,10037,0.00,2.40,0.00,0.000,4,0.000,0.057,2798,3795,1872,0,0,0,0,0,0
$GC,10159,1.37,194.7,818.5,18.2,220,10171,0.00,2.25,0.00,0.000,6,0.000,0.029,2798,2396,1873,0,0,0,0,0,0
$GC,10531,1.37,194.7,756.0,16.6,226,10543,0.00,2.40,0.00,0.000,4,0.000,0.057,2798,3799,1872,0,0,0,0,0,0
$GC,10601,1.37,194.7,742.5,17.9,227,10612,0.00,2.28,0.00,0.000,6,0.000,0.029,2798,2396,1872,0,0,0,0,0,0
$GC,10967,1.37,194.7,681.1,16.9,233,10978,0.00,2.38,0.00,0.000,4,0.000,0.057,2798,3786,1871,0,0,0,0,0,0
$GC,11096,1.37,194.7,655.9,19.8,234,11114,0.00,2.25,0.00,0.000,6,0.000,0.029,2798,2396,1871,0,0,0,0,0,0
$GC,11410,1.37,194.7,600.8,17.8,240,11422,0.00,2.35,0.00,0.000,4,0.000,0.058,2798,3789,1871,0,0,1,0,0,0
$GC,11458,1.37,194.7,591.2,18.2,240,11470,0.00,2.22,0.00,0.000,6,0.000,0.028,2798,2396,1871,0,0,0,0,0,0
$GC,11780,1.37,194.7,539.7,15.9,246,11792,0.00,2.85,0.00,0.000,4,0.000,0.043,2798,993,1870,0,0,0,0,0,0
$GC,11829,1.37,194.7,531.6,14.5,246,11841,0.00,2.85,0.00,0.000,6,0.000,0.036,2798,2398,1870,0,0,0,0,0,0
$GC,12151,1.37,194.7,486.2,14.1,252,12163,0.00,2.33,0.00,0.000,4,0.000,0.057,2798,3791,1870,0,0,0,0,0,0
$GC,12405,1.37,194.7,441.6,18.3,255,12423,0.00,2.25,0.00,0.000,6,0.000,0.028,2798,2382,1870,0,0,0,0,0,0
$GC,12719,1.37,194.7,393.0,15.6,261,12731,0.00,2.38,0.00,0.000,4,0.000,0.054,2798,3803,1870,0,0,0,0,0,0
$GC,12767,1.37,194.7,384.9,15.6,261,12779,0.00,2.25,0.00,0.000,6,0.000,0.027,2798,2391,1870,0,0,0,0,0,0
$GC,13089,1.37,194.7,340.9,13.6,267,13101,0.00,2.80,0.00,0.000,4,0.000,0.039,2798,1002,1870,0,0,0,0,0,0
$GC,13137,1.37,194.7,334.0,12.9,267,13150,0.00,2.83,0.00,0.000,6,0.000,0.034,2798,2404,1870,0,0,0,0,0,0
$GC,13460,1.37,194.7,295.8,11.9,273,13472,0.00,2.33,0.00,0.000,4,0.000,0.054,2798,3793,1870,0,0,0,0,0,0
$GC,13564,1.37,194.7,281.8,13.7,276,13576,0.00,2.20,0.00,0.000,6,0.000,0.026,2798,2398,1871,0,0,0,0,0,0
$GC,13903,1.37,194.7,240.9,12.5,287,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2394,1871,0,0,0,0,0,0
$GC,14208,1.37,194.7,202.6,12.2,297,14220,0.00,2.33,0.00,0.000,4,0.000,0.050,2800,3792,1872,0,0,0,0,0,0
$GC,14344,1.37,194.7,185.3,11.1,301,14355,0.00,2.20,0.00,0.000,6,0.000,0.024,2798,2385,1871,0,0,0,0,0,0
$GC,14683,1.44,255.8,155.4,8.7,312,14745,0.00,2.80,48.55,0.819,4,0.000,0.034,2798,1009,1633,0,0,0,0,0,0
$GC,14805,1.44,255.8,141.1,12.5,315,14817,0.00,2.80,0.00,0.000,6,0.000,0.028,2798,2408,1630,0,0,0,0,0,0
$GC,15120,1.44,255.8,98.9,13.9,325,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2407,1628,0,0,0,0,0,0
$GC,15321,1.44,255.8,73.2,12.8,344,15333,0.00,2.78,0.00,0.000,4,0.000,0.030,2799,1008,1628,0,0,0,0,0,0
$GC,15449,1.44,255.8,56.0,14.4,354,15466,0.00,2.72,0.00,0.000,6,0.000,0.026,2798,2396,1629,0,0,0,0,0,0
$GC,15651,1.44,255.8,31.1,12.3,373,15663,0.00,2.75,0.00,0.000,4,0.000,0.030,2799,1008,1630,0,0,0,0,0,0
$GC,15710,1.44,255.8,23.7,11.3,377,15722,0.00,2.75,0.00,0.000,6,0.000,0.025,2799,2404,1631,0,0,0,0,0,0
$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15901,begin surface coast
$FINISH,-0.0,1.023682
$STATE,15930,end surface coast,CONTROL_FINISHED_OK
$STATE,15930,begin surface
$SM_CCo,15966,45.53,0.615,0,0,1250,350.04
$SM_GC,0.62,0.00,0.00,45.53,0.000,0.000,0.615,358,2294,1250,-9.86,-0.17,350.04
$IRIDIUM_FIX,1938.95,-15611.09,100911,020214
$TT8_MAMPS,0.13482
$HUMID,1078047087
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.5,7.391
$10V_AH,9.8,2.582
$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,24.325,178.725,370.750,45.525,0.000,56.281,71.745,167.868,0.000,0.000,34.891,0.000,11419.251,504.067,4406.682,264.058,33.342,2000.817,0.000,1296.216,0.000,0.545,0.000
$DEVICE_MAMPS,171.360,74.970,1481.040,615.060,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,279.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353356
$DATA_FILE_SIZE,13445,411
$CAP_FILE_SIZE,175049,0
$CFSIZE,260034560,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170310,122931,1944.058,-15607.117,37,1.4,37,9.7