version: 66.06
glider: 1
mission: 14
dive: 52
start: 10 2 109 12 37 37
data:
$ID,1
$MISSION,14
$DIVE,52
$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,470
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$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,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,275
$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,-220031.64
$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,2
$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,65.479965
$FG_AHR_24V,4.6383724
$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
$GPS1,123817,6659.534,-5716.064,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,124440,6659.538,-5715.982,33,1.1,33,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.200,0.001
$KALMAN_X,24284.0,2069.1,1041.4,22430.2,-1763.2
$KALMAN_Y,7969.8,-899.4,-141.4,5884.2,-375.1
$MHEAD_RNG_PITCHd_Wd,17.8,21200,-14.2,-7.021
$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,-1.07,-146.6,0.0,0.0,0,105,0.00,0.00,-74.82,0.000,2,0.007,0.000,398,1863,2871,0,0,0,0,0,0
$GC,108,-1.07,-146.6,3.2,-2.1,15,139,10.20,3.08,-5.88,0.000,4,0.000,0.000,2508,395,3049,11,0,19,0,0,0
$GC,326,-0.92,-146.6,35.5,-12.6,43,338,0.00,3.83,-2.03,0.000,6,0.007,0.000,2507,2221,3103,0,0,19,0,0,0
$GC,527,-0.92,-146.6,55.7,-9.2,62,533,0.00,2.65,0.00,0.007,4,0.000,0.000,2511,3783,3103,0,0,15,0,0,0
$GC,784,-0.92,-146.6,80.6,-10.4,84,795,0.00,4.05,0.00,0.000,6,0.007,0.000,2511,1765,3102,0,0,21,0,0,0
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1018,-0.31,0.0,100.8,8.7,106,1139,0.98,0.00,115.35,0.000,6,0.000,0.000,2730,2219,2530,3,0,0,0,0,0
$STATE,1140,end apogee,CONTROL_FINISHED_OK
$STATE,1140,begin climb
$GC,1143,1.07,146.6,111.6,0.0,118,1280,1.25,3.05,123.97,0.000,4,0.000,0.000,3026,378,1916,1,0,15,0,0,0
$GC,1532,2.98,649.1,148.6,-9.2,153,1838,1.60,3.00,267.62,0.000,6,0.000,0.000,3366,2291,603,2,0,17,0,3,0
$GC,2152,3.60,1152.7,204.0,-9.2,213,2168,0.00,3.40,0.12,0.007,4,0.007,0.000,3368,457,599,0,0,16,0,0,0
$GC,2421,4.20,1642.8,228.1,-8.8,236,2432,0.00,3.22,1.15,0.000,6,0.007,0.000,3366,2205,596,0,0,16,0,0,0
$GC,2756,4.81,2132.7,255.3,-8.8,268,2774,0.00,3.62,0.12,0.000,4,0.007,0.000,3369,418,598,0,0,18,0,0,0
$GC,3027,5.40,2613.2,277.6,-8.5,291,3037,0.00,2.65,2.03,0.000,6,0.007,0.000,3366,2131,601,0,0,11,0,0,0
$GC,3362,5.96,3071.0,304.9,-7.7,323,3378,0.00,3.65,0.22,0.007,4,0.000,0.000,3365,400,596,0,0,21,0,0,0
$GC,3630,6.52,3529.0,325.3,-7.7,346,3642,0.00,3.00,1.42,0.000,6,0.007,0.000,3367,2202,601,0,0,13,0,0,0
$GC,3966,7.08,3983.8,350.3,-7.6,378,3986,0.00,3.03,0.12,0.000,4,0.007,0.000,3371,384,601,0,0,19,0,0,0
$GC,4238,7.66,4454.8,372.3,-8.1,401,4248,0.00,3.30,0.82,0.000,6,0.007,0.000,3371,2353,604,0,0,19,0,0,0
$GC,4573,8.23,4919.6,399.2,-7.9,433,4588,0.00,2.88,0.12,0.000,4,0.007,0.000,3368,506,600,0,0,12,0,0,0
$GC,4840,8.81,5387.9,420.5,-8.1,456,4852,0.00,3.90,0.55,0.000,6,0.007,0.000,3367,2259,601,0,0,23,0,0,0
$GC,5177,9.38,5851.9,446.2,-7.9,488,5194,0.00,3.12,0.12,0.007,4,0.007,0.000,3367,338,589,0,0,15,0,0,0
$GC,5446,9.95,6316.8,467.9,-7.9,511,5456,0.00,4.28,0.17,0.000,6,0.007,0.000,3372,2165,606,0,0,26,0,0,0
$GC,5782,11.68,6756.0,494.8,-7.1,543,5797,0.00,3.05,0.12,0.007,4,0.007,0.000,3368,426,598,0,0,16,0,0,0
$GC,6049,12.24,7218.2,514.8,-7.9,566,6061,0.00,2.90,1.75,0.000,6,0.007,0.000,3370,2167,598,0,0,14,0,0,0
$GC,6386,12.89,7744.5,541.6,-9.9,598,6407,0.00,3.40,0.25,0.007,4,0.000,0.000,3363,398,600,0,0,18,0,0,0
$GC,6660,13.48,8219.7,568.0,-8.3,621,6670,0.00,3.33,0.95,0.000,6,0.007,0.000,3365,2127,602,0,0,19,0,0,0
$GC,6994,14.03,8667.2,592.7,-7.4,653,7000,0.00,2.67,0.00,0.007,4,0.007,0.000,3369,505,599,0,0,10,0,0,0
$GC,7253,14.56,9101.8,611.0,-7.0,675,7259,0.00,2.97,0.00,0.000,6,0.007,0.000,3365,2210,596,0,0,17,0,0,0
$GC,7578,15.09,9535.1,634.0,-6.9,706,7596,0.00,3.20,0.00,0.007,4,0.007,0.000,3368,530,601,0,0,17,0,0,0
$GC,7848,15.64,9977.6,653.1,-7.2,729,7857,0.00,3.28,0.00,0.007,6,0.000,0.000,3368,2191,602,0,0,19,0,0,0
$GC,8182,16.26,10482.3,680.4,-9.2,761,8197,0.00,3.40,0.00,0.007,4,0.007,0.000,3369,478,615,0,0,15,0,0,0
$GC,8450,16.81,10926.3,702.2,-7.3,784,8459,0.00,3.40,0.00,0.007,6,0.007,0.000,3367,2446,593,0,0,18,0,0,0
$GC,8784,17.34,11359.6,725.5,-6.9,816,8799,0.00,4.35,0.00,0.007,4,0.000,0.000,3368,496,603,0,0,22,0,0,0
$GC,9051,17.88,11797.2,744.9,-7.1,839,9058,0.00,3.30,0.00,0.007,6,0.007,0.000,3369,2182,595,0,0,22,0,0,0
$GC,9384,18.44,12253.5,769.2,-7.7,871,9399,0.00,3.53,0.00,0.000,4,0.007,0.000,3368,339,601,0,0,16,0,0,0
$GC,9651,18.70,12465.9,777.0,0.2,894,9661,0.00,3.53,0.00,0.007,6,0.007,0.000,3369,2312,595,0,0,22,0,0,0
$GC,9985,18.31,12465.9,769.1,9.2,926,9991,0.00,2.38,0.00,0.007,4,0.007,0.000,3365,3654,603,0,0,11,0,0,0
$GC,10117,17.89,12465.9,753.0,13.5,937,10133,0.00,3.20,0.00,0.007,6,0.007,0.000,3366,1896,599,0,0,16,0,0,0
$GC,10448,17.95,12474.2,721.3,6.8,968,10453,0.00,2.38,0.00,0.007,4,0.007,0.000,3366,478,598,0,0,11,0,0,0
$GC,10706,18.02,12485.2,703.3,6.7,990,10714,0.00,3.40,0.00,0.000,6,0.007,0.000,3369,2229,601,0,0,19,0,0,0
$GC,11030,18.02,12485.2,679.7,7.9,1021,11045,0.00,3.30,0.00,0.007,4,0.007,0.000,3367,492,598,0,0,14,0,0,0
$GC,11296,18.02,12485.2,658.8,8.3,1044,11304,0.00,3.15,0.00,0.007,6,0.000,0.000,3367,2315,603,0,0,18,0,0,0
$GC,11622,18.24,12527.8,638.5,5.7,1075,11637,0.00,3.40,0.00,0.007,4,0.007,0.000,3366,445,621,0,0,15,0,0,0
$GC,11890,18.54,12568.6,619.2,5.7,1098,11898,0.00,3.42,0.00,0.007,6,0.000,0.000,3363,2161,600,0,0,17,0,0,0
$GC,12215,18.24,12568.6,589.8,13.9,1129,12230,0.00,2.80,0.00,0.007,4,0.007,0.000,3368,510,599,0,0,13,0,0,0
$GC,12481,18.38,12568.6,567.5,7.1,1152,12488,0.00,3.03,0.00,0.007,6,0.000,0.000,3367,2235,602,0,0,19,0,0,0
$GC,12807,18.32,12568.6,538.6,10.0,1183,12822,0.00,3.30,0.00,0.007,4,0.007,0.000,3368,497,604,0,0,14,0,0,0
$GC,13074,18.42,12572.6,516.4,6.9,1206,13084,0.00,4.57,0.00,0.007,6,0.007,0.000,3366,2193,598,0,0,31,0,0,0
$GC,13408,18.50,12572.6,491.9,7.1,1238,13426,0.00,3.25,0.00,0.007,4,0.007,0.000,3364,376,602,0,0,18,0,0,0
$GC,13678,18.58,12572.6,471.2,7.7,1261,13685,0.00,3.35,0.00,0.007,6,0.007,0.000,3367,2303,600,0,0,18,0,0,0
$GC,14011,18.44,12572.6,444.1,10.2,1293,14026,0.00,3.42,0.00,0.000,4,0.007,0.000,3369,397,602,0,0,17,0,0,0
$GC,14277,18.44,12572.6,416.4,8.6,1316,14284,0.00,3.53,0.00,0.007,6,0.000,0.000,3367,2329,607,0,0,19,0,0,0
$GC,14603,18.44,12572.6,392.8,8.8,1347,14618,0.00,3.62,0.00,0.000,4,0.007,0.000,3368,456,597,0,0,16,0,0,0
$GC,14870,18.53,12572.6,374.7,7.3,1370,14881,0.00,2.70,0.00,0.007,6,0.007,0.000,3367,2066,601,0,0,12,0,0,0
$GC,15195,18.44,12572.6,344.4,9.8,1401,15212,0.00,2.90,0.00,0.007,4,0.000,0.000,3367,463,595,0,0,15,0,0,0
$GC,15464,18.51,12572.6,322.7,8.4,1424,15471,0.00,3.03,0.00,0.007,6,0.007,0.000,3368,2277,599,0,0,15,0,0,0
$GC,15789,18.57,12572.6,296.1,8.1,1455,15804,0.00,3.25,0.00,0.000,4,0.007,0.000,3372,417,602,0,0,12,0,0,0
$GC,16056,18.72,12574.9,274.8,6.9,1478,16064,0.00,3.40,0.00,0.007,6,0.007,0.000,3368,2173,597,0,0,17,0,0,0
$GC,16381,18.64,12574.9,249.2,9.2,1509,16387,0.00,2.80,0.00,0.000,4,0.007,0.000,3370,472,600,0,0,14,0,0,0
$GC,16640,18.76,12588.5,225.3,6.6,1531,16649,0.00,3.50,0.00,0.007,6,0.007,0.000,3368,2204,599,0,0,18,0,0,0
$GC,16975,18.87,12601.0,201.0,6.6,1563,16990,0.00,3.90,0.00,0.007,4,0.007,0.000,3365,400,595,0,0,20,0,0,0
$GC,17242,18.87,12601.0,181.4,9.5,1586,17254,0.00,2.88,0.00,0.007,6,0.007,0.000,3364,2205,600,0,0,11,0,0,0
$GC,17568,18.87,12601.0,152.2,8.4,1617,17583,0.00,3.97,0.00,0.007,4,0.007,0.000,3366,317,602,0,0,23,0,0,0
$GC,17836,18.87,12601.0,131.4,7.2,1640,17841,0.00,3.25,0.00,0.007,6,0.007,0.000,3368,2220,600,0,0,16,0,0,0
$GC,18161,18.79,12601.0,101.2,9.1,1671,18177,0.00,3.12,0.00,0.007,4,0.007,0.000,3373,365,599,0,0,11,0,0,0
$GC,18429,18.87,12601.0,80.4,7.6,1694,18438,0.00,3.10,0.00,0.007,6,0.007,0.000,3368,2075,598,0,0,16,0,0,0
$GC,18753,18.87,12601.0,55.4,8.0,1725,18768,0.00,3.40,0.00,0.007,4,0.000,0.000,3368,386,617,0,0,17,0,0,0
$GC,19020,18.76,12601.0,35.1,9.6,1748,19027,0.00,2.97,0.00,0.007,6,0.007,0.000,3367,2013,598,0,0,14,0,0,0
$GC,19219,18.76,12601.0,17.8,7.3,1769,19225,0.00,2.62,0.00,0.007,4,0.007,0.000,3367,376,607,0,0,12,0,0,0
$STATE,19442,end climb,SURFACE_DEPTH_REACHED
$STATE,19442,begin surface coast
$FINISH,1.4,1.012437
$STATE,19488,end surface coast,CONTROL_FINISHED_OK
$STATE,19488,begin surface
$SM_CCo,19580,0.00,0.000,0,0,600,463.86
$SM_GC,0.04,14.73,0.00,0.00,0.000,0.007,0.007,370,2082,600,-10.18,1.72,463.86
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254501846,16.750000,16.735001,80,0,0,0,0,0,764,0,0,0,0,0
$RAFOS,3,1254501243,16.583334,16.567499,80,0,0,0,0,0,936,0,0,0,0,0
$RAFOS,2,1254500641,16.416666,16.400278,80,0,0,0,0,0,596,0,0,0,0,0
$RAFOS,1,1254500050,16.250000,16.236111,80,0,0,0,0,0,775,0,0,0,0,0
$RAFOS,0,1254499447,16.083334,16.068611,80,0,0,0,0,0,947,0,0,0,0,0
$RAFOS_FIX,6640.626465,-5419.333984,021009,161601,5,80,10.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078233457
$INTERNAL_PRESSURE,16.2542
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,218.062
$10V_AH,10.7,34.688
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,65.661
$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,28.750,217.050,517.025,0.000,0.000,0.000,0.000,110.651,0.000,0.000,33.876,3319.356,12931.209,1105.751,2016.003,606.832,33.344,1322.000,0.000,1914.929,1800.000,1.943,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1093.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336796
$DATA_FILE_SIZE,59809,1817
$CAP_FILE_SIZE,222882,8
$CFSIZE,260165632,249290752
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,28,1113,3,0
$SOUNDSPEED,1461.5
$CURRENT,0.228,339.8,1
$GPS,021009,181412,6702.373,-5712.375,7,1.1,7,18.0