version: 66.06
glider: 1
mission: 14
dive: 21
start: 9 24 109 18 27 52
data:
$ID,1
$MISSION,14
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_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,412
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-219190.92
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,0
$R_STBD_OVSHOOT,5
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,59.108566
$FG_AHR_24V,4.6383615
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,182849,6643.228,-6013.802,35,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,183407,6643.212,-6013.708,29,1.1,29,18.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$KALMAN_CONTROL,0.000,0.000
$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,264.7,21575,-14.8,-8.010
$D_GRID,100
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,108,0.00,0.00,-78.03,0.000,2,0.007,0.000,394,2225,2979,0,0,0,0,0,0
$GC,111,-1.10,-146.6,3.3,-2.4,16,144,11.50,3.33,-3.80,0.000,4,0.000,0.000,2560,606,3108,15,0,20,0,0,0
$GC,150,1.00,-146.6,14.7,-28.9,22,165,1.92,2.75,0.00,0.007,6,0.000,0.000,2972,2196,3109,2,0,16,0,0,0
$GC,236,1.18,-146.6,32.4,-16.2,31,241,0.00,2.40,0.00,0.000,4,0.007,0.000,2973,3711,3108,0,0,12,0,0,0
$GC,493,1.18,-146.6,59.2,-10.4,53,501,0.00,3.53,0.00,0.007,6,0.007,0.000,2970,1758,3107,0,0,22,0,0,0
$GC,820,1.18,-146.6,93.4,-10.7,84,836,0.00,4.07,0.00,0.000,4,0.007,0.000,2969,3785,3108,0,0,22,0,0,0
$STATE,879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,879,begin apogee
$GC,890,-0.31,0.0,100.2,10.6,89,1019,1.73,0.00,122.80,0.000,6,0.000,0.007,2579,1619,2509,1,0,0,0,0,0
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1022,1.10,146.6,114.7,0.0,102,1160,1.98,2.50,118.97,0.000,4,0.000,0.000,2997,316,1916,1,0,13,0,1,0
$GC,1412,2.90,586.2,150.6,-8.0,137,1694,1.52,3.15,262.62,0.000,6,0.000,0.000,3331,2242,611,1,0,15,0,1,0
$GC,2019,3.56,1120.0,207.6,-11.4,196,2035,0.00,3.40,0.65,0.000,4,0.007,0.000,3326,415,615,0,0,18,0,0,0
$GC,2287,4.17,1613.0,236.1,-10.0,219,2299,0.00,3.05,1.38,0.000,6,0.007,0.000,3331,2234,611,0,0,17,0,0,0
$GC,2624,4.76,2092.3,267.7,-9.5,251,2639,0.00,3.03,0.25,0.007,4,0.007,0.000,3329,377,615,0,0,17,0,0,0
$GC,2858,5.31,2539.4,289.3,-8.3,271,2868,0.00,3.72,0.90,0.000,6,0.007,0.000,3331,2026,612,0,0,21,0,0,0
$GC,3193,5.85,2981.3,318.9,-8.1,303,3209,0.00,2.95,0.50,0.000,4,0.007,0.000,3332,250,606,0,0,18,0,0,0
$GC,3462,6.42,3448.9,341.4,-9.0,326,3473,0.00,3.55,1.12,0.000,6,0.007,0.000,3330,2474,610,0,0,18,0,0,0
$GC,3798,6.97,3894.9,369.4,-8.2,358,3816,0.00,4.38,0.20,0.000,4,0.007,0.000,3331,397,640,0,0,21,0,0,0
$GC,4068,7.50,4326.8,391.3,-7.7,381,4079,0.00,2.60,2.50,0.000,6,0.007,0.000,3332,2134,612,0,0,13,0,0,0
$GC,4403,8.09,4804.4,423.0,-9.4,413,4419,0.00,2.83,0.25,0.007,4,0.007,0.000,3331,346,611,0,0,16,0,0,0
$GC,4671,8.62,5234.5,443.3,-7.7,436,4683,0.00,3.15,1.40,0.000,6,0.007,0.000,3329,2126,609,0,0,18,0,0,0
$GC,5008,9.15,5661.2,469.0,-7.5,468,5025,0.00,2.95,0.20,0.000,4,0.007,0.000,3333,302,610,0,0,12,0,0,0
$GC,5277,9.71,6123.8,494.1,-8.8,491,5287,0.00,2.90,1.67,0.000,6,0.007,0.000,3331,2164,609,0,0,15,0,0,0
$GC,5613,10.26,6563.2,523.6,-8.0,523,5628,0.00,3.15,0.12,0.007,4,0.007,0.000,3332,405,608,0,0,19,0,0,0
$GC,5880,10.80,7002.3,545.5,-8.0,546,5892,0.00,3.12,1.73,0.000,6,0.007,0.000,3333,2166,609,0,0,15,0,0,0
$GC,6216,10.46,7002.3,547.1,9.9,578,6235,0.00,2.83,0.25,0.007,4,0.007,0.000,3332,455,612,0,0,13,0,0,0
$GC,6487,10.41,7002.3,521.3,8.5,601,6498,0.00,3.03,1.70,0.000,6,0.007,0.000,3334,2271,609,0,0,16,0,0,0
$GC,6823,10.62,7050.3,496.0,6.3,633,6839,0.00,3.53,0.15,0.000,4,0.007,0.000,3331,410,610,0,0,18,0,0,0
$GC,7091,10.75,7055.5,476.6,7.8,656,7102,0.00,3.65,0.93,0.000,6,0.000,0.000,3331,2371,610,0,0,22,0,0,0
$GC,7427,10.68,7055.5,452.2,9.1,688,7442,0.00,4.05,0.20,0.007,4,0.000,0.000,3333,455,608,0,0,22,0,0,0
$GC,7694,10.63,7055.5,425.6,9.7,711,7704,0.00,2.95,2.03,0.000,6,0.007,0.000,3331,2067,608,0,0,12,0,0,0
$GC,8029,10.68,7055.5,396.9,8.5,743,8045,0.00,3.25,0.20,0.000,4,0.007,0.000,3329,445,615,0,0,17,0,0,0
$GC,8297,10.68,7055.5,373.5,8.2,766,8309,0.00,2.80,2.60,0.000,6,0.007,0.000,3331,2126,606,0,0,10,0,0,0
$GC,8633,10.68,7055.5,344.8,8.7,798,8653,0.00,3.47,0.15,0.007,4,0.007,0.000,3330,370,607,0,0,16,0,0,0
$GC,8904,10.68,7055.5,319.8,8.8,821,8915,0.00,3.17,2.40,0.000,6,0.000,0.000,3330,2343,604,0,0,12,0,0,0
$GC,9239,10.68,7055.5,289.5,8.7,853,9255,0.00,3.65,0.15,0.000,4,0.007,0.000,3330,404,607,0,0,18,0,0,0
$GC,9507,10.68,7055.5,265.1,8.8,876,9519,0.00,3.28,2.05,0.000,6,0.007,0.000,3332,2211,598,0,0,15,0,0,0
$GC,9844,10.82,7080.3,235.9,7.1,908,9860,0.00,3.28,0.15,0.000,4,0.007,0.000,3331,412,604,0,0,20,0,0,0
$GC,10113,10.98,7112.4,217.3,6.8,931,10123,0.00,3.25,1.17,0.000,6,0.000,0.000,3335,2183,601,0,0,15,0,0,0
$GC,10448,11.26,7173.5,193.0,5.8,963,10464,0.00,3.78,0.15,0.007,4,0.007,0.000,3330,502,606,0,0,18,0,0,0
$GC,10716,11.15,7173.5,166.6,11.4,986,10728,0.00,3.47,1.33,0.000,6,0.000,0.000,3329,2010,606,0,0,18,0,0,0
$GC,11052,11.21,7173.5,133.1,8.6,1018,11071,0.00,3.03,0.12,0.000,4,0.007,0.000,3337,275,606,0,0,16,0,0,0
$GC,11323,11.29,7175.0,110.0,8.0,1041,11333,0.00,3.80,0.73,0.000,6,0.007,0.000,3332,2228,603,0,0,19,0,0,0
$GC,11658,11.40,7178.1,80.1,7.9,1073,11665,0.00,2.78,0.15,0.007,4,0.007,0.000,3334,493,594,0,0,11,0,0,0
$GC,11918,11.56,7207.5,60.1,6.9,1095,11929,0.00,2.65,1.85,0.000,6,0.007,0.000,3333,2136,599,0,0,11,0,0,0
$GC,12254,11.60,7207.5,28.5,9.5,1127,12271,0.00,2.95,0.12,0.007,4,0.007,0.000,3338,553,603,0,0,15,0,0,0
$GC,12524,11.68,7207.5,8.2,8.1,1164,12541,0.00,2.83,1.25,0.000,6,0.007,0.000,3332,2079,605,0,0,15,0,0,0
$STATE,12594,end climb,SURFACE_DEPTH_REACHED
$STATE,12595,begin surface coast
$FINISH,1.3,1.001467
$STATE,12638,end surface coast,CONTROL_FINISHED_OK
$STATE,12639,begin surface
$SM_CCo,12725,0.00,0.000,0,0,605,464.84
$SM_GC,0.06,14.48,0.00,0.00,0.000,0.007,0.007,411,1857,605,-10.37,-5.06,464.84
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253825049,20.750000,20.735834,80,0,0,0,0,0,788,0,0,0,0,0
$RAFOS,3,1253824447,20.583334,20.568611,80,0,0,0,0,0,737,0,0,0,0,0
$RAFOS,2,1253823843,20.416666,20.400833,80,0,0,0,0,0,933,0,0,0,0,0
$RAFOS,1,1253823247,20.250000,20.235277,80,0,0,0,0,0,688,0,0,0,0,0
$RAFOS,0,1253822643,20.083334,20.067499,80,0,0,0,0,0,549,0,0,0,0,0
$RAFOS_FIX,6635.617676,-6152.261719,240909,202023,5,80,11.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078213601
$INTERNAL_PRESSURE,16.2788
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,187.696
$10V_AH,10.7,31.711
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,59.230
$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,33.125,142.050,537.100,0.000,0.000,0.000,0.000,134.120,0.000,0.000,30.306,2168.326,8186.024,940.714,1345.587,456.086,0.000,1140.463,0.000,1266.607,1800.000,3.974,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328792
$DATA_FILE_SIZE,40962,1183
$CAP_FILE_SIZE,154049,0
$CFSIZE,260165632,252456960
$ERRORS,0,0,1,0,0,4,0,0,0,0,0,33,729,2,0
$SOUNDSPEED,1453.9
$CURRENT,0.089,289.7,1
$GPS,240909,220904,6644.092,-6010.934,21,1.1,21,18.0