version: 66.06
glider: 1
mission: 14
dive: 53
start: 10 2 109 18 13 41
data:
$ID,1
$MISSION,14
$DIVE,53
$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,-220047.12
$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,65.670845
$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
$GPS1,181412,6702.373,-5712.375,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,182018,6702.386,-5712.352,14,1.1,14,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.200,0.005
$KALMAN_X,25758.5,1567.6,1141.2,24043.4,-2247.2
$KALMAN_Y,9738.6,738.9,101.8,7369.3,726.8
$MHEAD_RNG_PITCHd_Wd,113.3,17622,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-63.72,0.000,2,0.007,0.000,375,2089,2540,0,0,0,0,0,0
$GC,97,-1.07,-146.6,3.2,-2.5,13,134,10.80,3.45,-17.00,0.000,4,0.000,0.000,2500,191,3058,10,0,19,0,0,0
$GC,175,-0.65,-146.6,16.0,-18.9,27,190,0.47,3.17,-1.58,0.000,6,0.000,0.000,2585,2211,3103,1,0,16,0,0,0
$GC,260,-0.42,-146.6,32.0,-16.2,36,276,0.38,2.95,0.00,0.007,4,0.000,0.000,2692,3530,3104,1,0,14,0,0,0
$GC,528,-0.38,-146.6,63.4,-9.6,59,538,0.73,3.15,0.00,0.007,6,0.000,0.000,2587,1838,3090,2,0,16,0,0,0
$GC,862,-0.32,-146.6,95.6,-9.9,91,879,0.65,3.05,0.00,0.007,4,0.000,0.000,2693,3760,3100,2,0,17,0,0,0
$STATE,903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,904,begin apogee
$GC,914,-0.31,0.0,100.0,9.9,94,1045,0.45,0.00,119.20,0.000,6,0.000,0.007,2586,1993,2518,1,0,0,0,0,0
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1048,1.07,146.6,113.4,0.0,107,1187,1.67,3.00,121.38,0.000,4,0.000,0.000,2985,267,1912,1,0,15,0,0,0
$GC,1439,2.88,618.3,147.3,-8.2,142,1744,1.88,3.33,266.73,0.000,6,0.000,0.000,3368,2164,606,3,0,16,0,3,0
$GC,2059,4.67,1060.9,197.2,-7.2,202,2074,0.00,2.90,0.12,0.007,4,0.007,0.000,3373,401,606,0,0,14,0,0,0
$GC,2326,5.19,1484.0,216.0,-6.6,225,2337,0.00,3.03,1.62,0.000,6,0.007,0.000,3368,2154,605,0,0,15,0,0,0
$GC,2662,5.80,1986.6,243.8,-9.2,257,2681,0.00,3.25,0.15,0.000,4,0.007,0.000,3368,301,596,0,0,17,0,0,0
$GC,2934,6.37,2447.7,267.6,-7.8,280,2944,0.00,2.90,1.55,0.000,6,0.007,0.000,3369,2192,605,0,0,15,0,0,0
$GC,3269,6.97,2931.4,294.4,-8.6,312,3275,0.00,2.75,0.15,0.007,4,0.007,0.000,3374,438,603,0,0,11,0,0,0
$GC,3528,7.58,3427.0,316.5,-8.9,334,3538,0.00,3.15,1.58,0.000,6,0.000,0.000,3370,2184,603,0,0,14,0,0,0
$GC,3863,8.18,3916.9,346.0,-8.8,366,3880,0.00,3.83,0.12,0.007,4,0.007,0.000,3366,535,604,0,0,19,0,0,0
$GC,4132,8.79,4412.2,370.6,-8.9,389,4143,0.00,2.58,2.08,0.000,6,0.007,0.000,3366,2097,607,0,0,12,0,0,0
$GC,4468,9.34,4864.5,398.8,-7.5,421,4488,0.00,3.50,0.15,0.007,4,0.007,0.000,3365,348,604,0,0,18,0,0,0
$GC,4741,9.94,5345.9,421.7,-8.5,444,4751,0.00,3.30,1.25,0.000,6,0.007,0.000,3368,2140,603,0,0,16,0,0,0
$GC,5076,10.52,5818.4,449.7,-8.2,476,5091,0.00,2.83,0.17,0.000,4,0.007,0.000,3373,511,604,0,0,13,0,0,0
$GC,5343,11.09,6280.5,471.1,-7.9,499,5354,0.00,2.45,2.05,0.000,6,0.007,0.000,3369,2250,604,0,0,12,0,0,0
$GC,5679,11.69,6769.5,498.8,-8.7,531,5697,0.00,3.03,0.12,0.000,4,0.007,0.000,3364,493,598,0,0,12,0,0,0
$GC,5949,12.31,7273.7,522.2,-9.2,554,5959,0.00,3.58,0.75,0.000,6,0.007,0.000,3368,2233,604,0,0,18,0,0,0
$GC,6284,12.92,7773.6,552.1,-9.1,586,6301,0.00,3.47,0.12,0.000,4,0.007,0.000,3363,472,600,0,0,20,0,0,0
$GC,6553,13.56,8294.3,577.1,-9.7,609,6563,0.00,3.28,1.38,0.000,6,0.007,0.000,3367,2081,598,0,0,20,0,0,0
$GC,6888,14.13,8753.1,604.0,-7.8,641,6905,0.00,2.90,0.00,0.007,4,0.007,0.000,3368,341,604,0,0,14,0,0,0
$GC,7158,14.74,9251.1,628.8,-9.0,664,7168,0.00,3.67,0.00,0.007,6,0.007,0.000,3369,2207,603,0,0,20,0,0,0
$GC,7493,15.33,9728.0,657.1,-8.3,696,7508,0.00,3.58,0.00,0.007,4,0.007,0.000,3367,234,634,0,0,21,0,0,0
$GC,7760,15.92,10213.4,679.5,-8.6,719,7769,0.00,3.42,0.00,0.007,6,0.007,0.000,3367,2274,598,0,0,16,0,0,0
$GC,8094,16.49,10675.5,706.9,-7.9,751,8109,0.00,3.55,0.00,0.007,4,0.000,0.000,3364,312,605,0,0,19,0,0,0
$GC,8361,17.07,11146.5,727.3,-8.1,774,8371,0.00,3.95,0.00,0.007,6,0.007,0.000,3366,2312,600,0,0,20,0,0,0
$GC,8697,17.45,11455.5,751.1,-2.9,806,8711,0.00,3.97,0.00,0.000,4,0.007,0.000,3368,392,604,0,0,19,0,0,0
$GC,8964,17.19,11455.5,736.3,10.9,829,8974,0.00,3.03,0.00,0.007,6,0.007,0.000,3370,2360,604,0,0,15,0,0,0
$GC,9288,17.12,11455.5,709.4,7.7,860,9304,0.00,2.90,0.00,0.007,4,0.007,0.000,3369,3528,596,0,0,16,0,0,0
$GC,9338,16.99,11455.5,705.2,9.2,864,9353,0.00,3.53,0.00,0.007,6,0.007,0.000,3369,1802,604,0,0,18,0,0,0
$GC,9667,17.34,11462.8,683.6,6.8,895,9682,0.00,3.92,0.00,0.007,4,0.007,0.000,3369,3588,605,0,0,21,0,0,0
$GC,9919,17.10,11462.8,659.8,10.4,917,9936,0.00,2.97,0.00,0.007,6,0.007,0.000,3369,1920,604,0,0,13,0,0,0
$GC,10250,17.30,11507.2,638.7,5.6,948,10257,0.00,2.65,0.00,0.007,4,0.007,0.000,3365,447,604,0,0,15,0,0,0
$GC,10509,17.25,11507.2,617.3,8.6,970,10515,0.00,3.30,0.00,0.007,6,0.007,0.000,3365,2198,604,0,0,14,0,0,0
$GC,10834,17.31,11511.8,592.3,6.9,1001,10851,0.00,2.83,0.00,0.007,4,0.007,0.000,3366,482,604,0,0,14,0,0,0
$GC,11081,17.36,11511.8,574.4,7.3,1022,11087,0.00,3.12,0.00,0.007,6,0.007,0.000,3364,2168,603,0,0,17,0,0,0
$GC,11405,17.36,11511.8,548.6,9.2,1053,11411,0.00,2.65,0.00,0.007,4,0.007,0.000,3367,3610,601,0,0,11,0,0,0
$GC,11424,17.30,11511.8,547.0,9.0,1054,11430,0.00,2.88,0.00,0.007,6,0.007,0.000,3368,1870,598,0,0,10,0,0,0
$GC,11747,17.30,11511.8,517.9,8.9,1084,11753,0.00,2.55,0.00,0.007,4,0.007,0.000,3365,364,606,0,0,12,0,0,0
$GC,11870,17.30,11511.8,506.9,8.9,1094,11877,0.00,3.65,0.00,0.007,6,0.000,0.000,3366,2234,603,0,0,18,0,0,0
$GC,12202,17.30,11511.8,481.3,8.8,1126,12205,0.00,0.00,0.00,0.000,6,0.007,0.007,3369,2234,600,0,0,0,0,0,0
$GC,12522,17.30,11511.8,455.7,7.8,1156,12539,0.00,3.75,0.00,0.000,4,0.007,0.000,3367,383,608,0,0,22,0,0,0
$GC,12617,17.30,11511.8,447.9,8.0,1164,12635,0.00,4.05,0.00,0.007,6,0.007,0.000,3366,2285,602,0,0,24,0,0,0
$GC,12949,17.42,11532.7,426.9,6.3,1195,12955,0.00,2.08,0.00,0.007,4,0.007,0.000,3370,3587,591,0,0,9,0,0,0
$GC,13005,17.28,11532.7,421.6,10.5,1199,13013,0.00,3.12,0.00,0.007,6,0.000,0.000,3368,1756,603,0,0,15,0,0,0
$GC,13330,17.48,11540.7,399.1,6.8,1230,13336,0.00,2.40,0.00,0.007,4,0.007,0.000,3365,343,602,0,0,14,0,0,0
$GC,13419,17.48,11540.7,391.0,9.8,1237,13429,0.00,3.47,0.00,0.007,6,0.007,0.000,3364,2203,604,0,0,15,0,0,0
$GC,13744,17.48,11540.7,363.0,8.1,1268,13750,0.00,2.92,0.00,0.007,4,0.007,0.000,3367,3588,603,0,0,15,0,0,0
$GC,13774,17.48,11540.7,360.4,8.9,1270,13789,0.00,3.20,0.00,0.000,6,0.007,0.000,3368,1750,602,0,0,16,0,0,0
$GC,14102,17.48,11540.7,333.7,7.6,1301,14120,0.00,3.15,0.00,0.007,4,0.000,0.000,3370,265,607,0,0,21,0,0,0
$GC,14193,17.48,11540.7,326.9,7.2,1308,14202,0.00,3.08,0.00,0.007,6,0.007,0.000,3368,2220,603,0,0,17,0,0,0
$GC,14527,17.43,11540.7,300.7,8.2,1340,14529,0.00,0.00,0.00,0.007,6,0.007,0.000,3367,2226,603,0,0,0,0,0,0
$GC,14848,17.44,11553.8,279.9,6.6,1370,14864,0.00,3.65,0.00,0.007,4,0.000,0.000,3367,510,607,0,0,19,0,0,0
$GC,14943,17.44,11553.8,270.9,11.2,1378,14959,0.00,3.20,0.00,0.007,6,0.007,0.000,3368,2240,603,0,0,19,0,0,0
$GC,15272,17.44,11553.8,244.5,8.5,1409,15278,0.00,2.78,0.00,0.007,4,0.007,0.000,3366,3687,604,0,0,15,0,0,0
$GC,15317,17.29,11553.8,239.1,11.7,1412,15324,0.00,3.42,0.00,0.007,6,0.007,0.000,3361,1751,602,0,0,20,0,0,0
$GC,15649,17.54,11597.5,216.9,5.6,1444,15654,0.00,2.45,0.00,0.007,4,0.000,0.000,3365,565,603,0,0,14,0,0,0
$GC,15771,17.54,11597.5,206.1,9.2,1454,15779,0.00,3.28,0.00,0.007,6,0.007,0.000,3369,2331,606,0,0,18,0,0,0
$GC,16096,17.54,11597.5,180.2,9.9,1485,16101,0.00,2.10,0.00,0.007,4,0.007,0.000,3369,3604,597,0,0,10,0,0,0
$GC,16114,17.39,11597.5,178.3,11.6,1486,16128,0.00,3.00,0.00,0.007,6,0.000,0.000,3364,1839,606,0,0,14,0,0,0
$GC,16443,17.61,11598.5,154.5,7.0,1517,16460,0.00,2.90,0.00,0.000,4,0.007,0.000,3366,454,605,0,0,15,0,0,0
$GC,16527,17.61,11598.5,146.3,9.8,1524,16543,0.00,3.10,0.00,0.007,6,0.000,0.000,3366,2319,609,0,0,16,0,0,0
$GC,16857,17.61,11598.5,119.5,9.1,1555,16859,0.00,0.00,0.00,0.007,6,0.007,0.000,3367,2321,605,0,0,0,0,0,0
$GC,17178,17.61,11598.5,93.0,7.2,1585,17196,0.00,3.60,0.00,0.007,4,0.000,0.000,3373,296,605,0,0,19,0,0,0
$GC,17287,17.61,11598.5,83.0,10.8,1594,17301,0.00,3.28,0.00,0.007,6,0.007,0.000,3368,2240,601,0,0,16,0,0,0
$GC,17616,17.61,11605.1,59.6,6.8,1625,17618,0.00,0.00,0.00,0.000,6,0.007,0.007,3362,2234,598,0,0,0,0,0,0
$GC,17936,17.69,11663.5,36.0,5.1,1655,17951,0.00,3.05,0.00,0.007,4,0.007,0.000,3368,455,606,0,0,13,0,0,0
$GC,18077,17.51,11663.5,24.4,11.6,1667,18092,0.00,3.38,0.00,0.007,6,0.007,0.000,3367,2435,604,0,0,18,0,0,0
$GC,18287,17.41,11663.5,4.0,9.6,1700,18305,0.00,3.53,0.00,0.000,4,0.007,0.000,3365,417,605,0,0,17,0,0,0
$STATE,18308,end climb,SURFACE_DEPTH_REACHED
$STATE,18309,begin surface coast
$FINISH,0.0,1.012198
$STATE,18343,end surface coast,CONTROL_FINISHED_OK
$STATE,18343,begin surface
$SM_CCo,18434,0.00,0.000,0,0,603,465.09
$SM_GC,0.05,14.55,0.00,0.00,0.000,0.007,0.007,389,2288,603,-10.16,7.41,465.09
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254516250,20.750000,20.736111,80,0,0,0,0,0,758,0,0,0,0,0
$RAFOS,3,1254515648,20.583334,20.568890,80,0,0,0,0,0,913,0,0,0,0,0
$RAFOS,2,1254515046,20.416666,20.401667,80,0,0,0,0,0,587,0,0,0,0,0
$RAFOS,1,1254514442,20.250000,20.233889,80,0,0,0,0,0,835,0,0,0,0,0
$RAFOS,0,1254513848,20.083334,20.068890,80,0,0,0,0,0,958,0,0,0,0,0
$RAFOS_FIX,6652.557129,-5440.160645,021009,202048,5,80,14.90
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078234013
$INTERNAL_PRESSURE,16.2341
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,218.834
$10V_AH,10.7,34.773
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,65.841
$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,31.575,222.050,520.675,0.000,0.000,0.000,0.000,114.094,0.000,0.000,14.501,3081.323,12216.680,1171.032,1761.354,588.854,33.341,1398.766,0.000,1684.229,1800.000,2.892,0.000
$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,1036.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336792
$DATA_FILE_SIZE,56627,1709
$CAP_FILE_SIZE,215186,9
$CFSIZE,260165632,249204736
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,39,1130,3,0
$SOUNDSPEED,1460.4
$CURRENT,0.202,106.4,1
$GPS,021009,233059,6659.873,-5706.705,21,1.1,22,18.0