version: 66.06
glider: 1
mission: 14
dive: 22
start: 9 24 109 22 8 19
data:
$ID,1
$MISSION,14
$DIVE,22
$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,-219215.02
$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,3
$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,59.237511
$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
$GPS1,220904,6644.092,-6010.934,21,1.1,21,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,221351,6644.058,-6010.966,23,1.1,23,18.0
$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,232.6,23774,-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,27,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-73.38,0.000,2,0.007,0.000,408,1853,2842,0,0,0,0,0,0
$GC,107,-1.10,-146.6,3.1,-1.9,15,134,10.55,2.30,-8.70,0.000,4,0.000,0.000,2532,374,3103,7,0,10,0,0,0
$GC,325,-1.21,-146.6,37.5,-7.8,41,333,0.55,3.15,0.00,0.007,6,0.007,0.000,2417,2133,3103,1,0,17,0,0,0
$GC,524,-1.33,-146.6,52.4,-7.5,60,539,0.00,3.35,0.00,0.007,4,0.007,0.000,2415,324,3103,0,0,19,0,0,0
$GC,551,-1.46,-146.6,54.8,-8.2,62,568,0.40,3.33,0.00,0.007,6,0.000,0.000,2288,2186,3068,1,0,14,0,0,0
$GC,881,-1.46,-146.6,83.0,-9.8,93,888,0.65,2.33,0.00,0.007,4,0.000,0.000,2451,3536,3098,1,0,12,0,0,0
$GC,937,-1.37,-146.6,89.8,-12.0,97,947,0.32,3.05,0.00,0.000,6,0.007,0.000,2407,1847,3104,1,0,15,0,0,0
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1044,-0.31,0.0,100.0,9.2,107,1175,1.12,0.00,119.20,0.000,6,0.000,0.007,2667,2177,2512,2,0,0,0,0,0
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1178,1.10,146.6,111.8,0.0,120,1326,1.45,2.62,117.45,0.000,4,0.000,0.000,2958,3741,1926,2,0,16,0,0,0
$GC,1349,2.94,620.4,128.0,-9.3,135,1626,1.83,3.30,262.23,0.000,6,0.000,0.000,3406,1675,610,1,0,17,0,0,0
$GC,1951,3.52,1094.3,186.7,-9.3,193,1957,0.00,2.00,0.22,0.007,4,0.007,0.000,3406,414,609,0,0,8,0,0,0
$GC,2104,4.12,1582.1,200.7,-9.8,206,2120,0.00,3.10,1.25,0.000,6,0.007,0.000,3406,2270,611,0,0,15,0,0,0
$GC,2434,4.68,2033.5,229.6,-8.4,237,2440,0.00,2.05,0.15,0.007,4,0.007,0.000,3404,3553,610,0,0,10,0,0,0
$GC,2532,5.23,2481.8,237.6,-8.3,245,2550,0.00,2.75,1.70,0.000,6,0.007,0.000,3405,1847,612,0,0,10,0,0,0
$GC,2865,5.80,2942.8,264.9,-8.8,276,2880,0.00,3.92,0.57,0.000,4,0.007,0.000,3405,3556,610,0,0,25,0,0,0
$GC,2964,6.36,3400.9,273.5,-8.7,284,2974,0.00,2.75,2.42,0.000,6,0.007,0.000,3405,1898,610,0,0,12,0,0,0
$GC,3299,6.96,3886.4,304.4,-9.7,316,3314,0.00,3.42,0.40,0.000,4,0.007,0.000,3410,3586,611,0,0,16,0,0,0
$GC,3567,7.56,4380.3,330.4,-10.0,339,3579,0.00,4.22,0.45,0.000,6,0.007,0.000,3408,1796,613,0,0,25,0,0,0
$GC,3903,8.13,4843.4,361.6,-8.9,371,3915,0.00,2.75,4.70,0.000,4,0.007,0.000,3404,492,597,0,0,14,0,0,0
$GC,3948,8.74,5333.0,365.9,-9.8,375,3958,0.00,4.18,0.15,0.000,6,0.007,0.000,3405,2222,596,0,0,23,0,0,0
$GC,4284,9.28,5771.1,393.3,-8.0,407,4298,0.00,4.75,0.12,0.007,4,0.007,0.000,3403,419,563,0,0,26,0,0,0
$GC,4322,9.82,6212.0,396.5,-8.1,410,4337,0.00,3.65,0.38,0.000,6,0.007,0.000,3406,2352,598,0,0,18,0,0,0
$GC,4651,10.36,6652.3,423.9,-8.0,441,4671,0.00,3.75,0.12,0.007,4,0.000,0.000,3408,395,597,0,0,17,0,0,0
$GC,4709,10.93,7113.1,428.9,-8.8,445,4720,0.00,4.03,0.25,0.000,6,0.007,0.000,3407,2187,597,0,0,25,0,0,0
$GC,5044,11.49,7572.7,457.7,-8.7,477,5061,0.00,2.78,0.12,0.007,4,0.007,0.000,3404,434,597,0,0,13,0,0,0
$GC,5118,12.08,8052.7,464.5,-9.5,483,5135,0.00,2.95,1.15,0.000,6,0.007,0.000,3407,2062,600,0,0,14,0,0,0
$GC,5450,12.64,8505.8,494.4,-8.5,514,5457,0.00,2.65,0.12,0.000,4,0.007,0.000,3406,277,594,0,0,14,0,0,0
$GC,5513,13.23,8982.6,500.8,-9.4,519,5529,0.00,4.03,0.00,0.007,6,0.007,0.000,3405,2337,596,0,0,25,0,0,0
$GC,5843,13.75,9412.5,526.4,-7.7,550,5849,0.00,2.50,0.00,0.000,4,0.007,0.000,3402,3630,598,0,0,12,0,0,0
$GC,6102,15.51,9831.3,546.1,-7.3,572,6111,0.00,3.35,0.00,0.007,6,0.007,0.000,3405,1763,596,0,0,19,0,0,0
$GC,6436,15.89,10141.3,573.9,-3.3,604,6450,0.00,2.90,0.00,0.007,4,0.007,0.000,3405,3636,601,0,0,13,0,0,0
$GC,6704,15.75,10141.3,559.4,10.8,627,6710,0.00,3.15,0.00,0.007,6,0.007,0.000,3408,1737,599,0,0,13,0,0,0
$GC,7029,15.75,10141.3,531.9,9.4,658,7044,0.00,3.35,0.00,0.007,4,0.007,0.000,3407,3616,604,0,0,18,0,0,0
$GC,7056,15.77,10152.9,529.9,7.6,660,7071,0.00,3.40,0.00,0.000,6,0.007,0.000,3403,1848,602,0,0,19,0,0,0
$GC,7385,15.72,10152.9,504.8,8.4,691,7399,0.00,3.03,0.00,0.007,4,0.007,0.000,3406,3701,598,0,0,14,0,0,0
$GC,7652,15.89,10198.3,489.0,6.4,714,7663,0.00,4.03,0.00,0.007,6,0.007,0.000,3401,1850,600,0,0,21,0,0,0
$GC,7988,15.81,10198.3,458.1,10.1,746,8003,0.00,3.53,0.00,0.007,4,0.007,0.000,3406,3628,600,0,0,20,0,0,0
$GC,8254,15.86,10198.3,434.3,8.2,769,8262,0.00,3.90,0.00,0.007,6,0.007,0.000,3403,1628,597,0,0,19,0,0,0
$GC,8579,15.91,10198.3,408.0,8.6,800,8585,0.00,1.95,0.00,0.007,4,0.007,0.000,3402,608,594,0,0,11,0,0,0
$GC,8769,15.91,10198.3,391.9,9.7,816,8777,0.00,3.33,0.00,0.007,6,0.007,0.000,3409,2195,597,0,0,17,0,0,0
$GC,9096,15.96,10239.3,368.9,6.5,847,9111,0.00,3.30,0.00,0.007,4,0.007,0.000,3405,3783,596,0,0,20,0,0,0
$GC,9291,15.89,10239.3,350.5,10.2,864,9306,0.00,3.30,0.00,0.007,6,0.007,0.000,3408,1882,602,0,0,17,0,0,0
$GC,9620,16.02,10260.5,322.3,7.2,895,9626,0.00,2.65,0.00,0.007,4,0.007,0.000,3410,3561,594,0,0,14,0,0,0
$GC,9879,15.94,10260.5,300.9,10.5,917,9889,0.00,3.00,0.00,0.007,6,0.000,0.000,3404,1754,597,0,0,15,0,0,0
$GC,10204,16.00,10260.5,268.0,8.8,948,10219,0.00,3.22,0.00,0.007,4,0.007,0.000,3408,3539,599,0,0,15,0,0,0
$GC,10381,16.00,10260.5,252.1,9.0,963,10387,0.00,3.17,0.00,0.007,6,0.007,0.000,3406,1807,595,0,0,14,0,0,0
$GC,10706,16.02,10270.7,223.6,7.6,994,10722,0.00,3.58,0.00,0.007,4,0.007,0.000,3402,3713,597,0,0,21,0,0,0
$GC,10861,16.02,10275.6,212.5,7.8,1007,10876,0.00,3.20,0.00,0.007,6,0.007,0.000,3405,1939,597,0,0,17,0,0,0
$GC,11190,16.02,10275.6,180.4,9.5,1038,11205,0.00,3.03,0.00,0.007,4,0.007,0.000,3406,3711,596,0,0,15,0,0,0
$GC,11239,16.02,10275.6,175.5,10.5,1042,11255,0.00,3.58,0.00,0.007,6,0.007,0.000,3406,1988,596,0,0,18,0,0,0
$GC,11569,16.03,10281.3,149.5,7.8,1073,11588,0.00,3.15,0.00,0.007,4,0.007,0.000,3408,449,588,0,0,17,0,0,0
$GC,11599,15.94,10281.3,146.3,10.5,1075,11616,0.00,2.92,0.00,0.007,6,0.007,0.000,3406,2168,593,0,0,12,0,0,0
$GC,11931,15.98,10316.3,122.3,6.7,1106,11946,0.00,3.05,0.00,0.007,4,0.007,0.000,3403,3576,596,0,0,14,0,0,0
$GC,11995,15.98,10316.3,116.1,10.8,1111,12003,0.00,3.05,0.00,0.007,6,0.000,0.000,3407,1898,600,0,0,14,0,0,0
$GC,12321,16.05,10316.3,83.8,10.1,1142,12327,0.00,2.88,0.00,0.007,4,0.000,0.000,3406,3724,597,0,0,11,0,0,0
$GC,12339,16.05,10316.3,82.0,9.6,1143,12354,0.00,3.90,0.00,0.007,6,0.007,0.000,3406,1879,598,0,0,21,0,0,0
$GC,12668,16.05,10316.3,51.2,9.5,1174,12684,0.00,3.38,0.00,0.007,4,0.007,0.000,3409,3588,601,0,0,18,0,0,0
$GC,12935,16.05,10316.3,22.5,9.7,1197,12947,0.00,2.67,0.00,0.007,6,0.007,0.000,3409,1864,597,0,0,12,0,0,0
$GC,13143,15.90,10316.3,3.2,11.8,1231,13148,0.00,2.75,0.00,0.007,3,0.000,0.000,3405,3340,596,0,0,15,0,0,0
$STATE,13149,end climb,SURFACE_DEPTH_REACHED
$STATE,13149,begin surface coast
$FINISH,1.2,1.024672
$STATE,13170,end surface coast,CONTROL_FINISHED_OK
$STATE,13170,begin surface
$SM_CCo,13260,0.00,0.000,0,0,598,465.33
$SM_GC,0.05,14.70,0.00,0.00,0.000,0.007,0.000,421,1895,598,-10.27,-3.62,465.33
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253839447,0.750000,0.735278,80,0,0,0,0,0,786,0,0,0,0,0
$RAFOS,3,1253838847,0.583333,0.568611,80,0,0,0,0,0,733,0,0,0,0,0
$RAFOS,2,1253838244,0.416667,0.401111,80,0,0,0,0,0,914,0,0,0,0,0
$RAFOS,1,1253837642,0.250000,0.233889,80,0,0,0,0,0,704,0,0,0,0,0
$RAFOS,0,1253837045,0.083333,0.068056,80,0,0,0,0,0,522,0,0,0,0,0
$RAFOS_FIX,6637.599121,-6146.943848,250909,000001,5,80,9.02
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078213663
$INTERNAL_PRESSURE,16.2674
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,188.265
$10V_AH,10.7,31.775
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,59.362
$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,31.575,184.175,513.175,0.000,0.000,0.000,0.000,111.985,0.000,0.000,23.106,2245.095,8574.907,1051.295,1262.170,465.996,0.000,1249.940,0.000,1200.246,1800.000,3.611,0.000
$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,745.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328780
$DATA_FILE_SIZE,40998,1236
$CAP_FILE_SIZE,162775,8
$CFSIZE,260165632,252375040
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,28,941,0,0
$SOUNDSPEED,1453.8
$CURRENT,0.090,324.7,1
$GPS,250909,015727,6645.042,-6007.243,6,1.1,6,18.0