version: 66.06
glider: 1
mission: 14
dive: 54
start: 10 2 109 23 30 15
data:
$ID,1
$MISSION,14
$DIVE,54
$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,-220066.02
$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,3
$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,65.851807
$FG_AHR_24V,4.6384006
$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
$GPS1,233059,6659.873,-5706.705,21,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,233719,6659.846,-5706.588,16,1.1,17,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.187,0.070
$KALMAN_X,27860.0,1734.0,959.0,26120.7,-1817.6
$KALMAN_Y,8086.8,-769.6,84.6,6024.9,-4.2
$MHEAD_RNG_PITCHd_Wd,8.1,14639,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-68.35,0.000,2,0.007,0.000,391,2285,2678,0,0,0,0,0,0
$GC,102,-1.07,-146.6,3.0,-1.9,14,149,10.50,2.95,-14.45,0.000,4,0.000,0.000,2499,3546,3112,6,0,17,0,0,0
$GC,402,-1.14,-146.6,39.5,-10.6,50,419,0.57,2.90,0.00,0.007,6,0.000,0.000,2397,1760,3112,2,0,16,0,0,0
$GC,608,-1.24,-146.6,58.1,-9.1,69,624,0.32,3.53,0.00,0.007,4,0.000,0.000,2434,3765,3111,1,0,19,0,0,0
$GC,876,-1.28,-146.6,80.0,-8.2,92,887,0.00,3.20,0.00,0.007,6,0.007,0.000,2436,1956,3109,0,0,13,0,0,0
$STATE,1102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1102,begin apogee
$GC,1110,-0.31,0.0,100.8,8.6,114,1239,1.23,0.00,122.88,0.000,6,0.000,0.007,2708,2180,2506,1,0,0,0,0,0
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1242,1.07,146.6,111.0,0.0,127,1386,1.12,2.78,120.65,0.000,4,0.000,0.000,3021,450,1908,1,0,16,0,0,0
$GC,1638,2.73,583.0,140.1,-7.0,162,1923,1.80,2.90,259.38,0.000,6,0.000,0.000,3347,2196,614,2,0,15,0,1,0
$GC,2237,4.48,1041.3,197.7,-7.7,220,2249,0.00,3.50,4.75,0.000,4,0.000,0.000,3347,250,603,0,0,18,0,0,0
$GC,2501,5.09,1540.3,221.4,-9.0,243,2512,0.00,3.25,1.33,0.000,6,0.007,0.000,3348,2138,601,0,0,17,0,0,0
$GC,2836,5.70,2029.7,250.3,-8.7,275,2843,0.00,2.75,0.12,0.007,4,0.007,0.000,3349,446,598,0,0,12,0,0,0
$GC,3096,6.30,2519.3,274.3,-8.7,297,3106,0.00,3.05,1.38,0.000,6,0.007,0.000,3345,2298,601,0,0,16,0,0,0
$GC,3431,6.93,3035.8,305.4,-9.6,329,3448,0.00,3.40,0.12,0.007,4,0.007,0.000,3351,383,601,0,0,20,0,0,0
$GC,3700,7.51,3502.2,329.6,-8.0,352,3710,0.00,3.17,1.38,0.000,6,0.007,0.000,3348,2182,602,0,0,17,0,0,0
$GC,4035,8.02,3914.7,353.4,-6.3,384,4055,0.00,2.90,0.12,0.000,4,0.007,0.000,3349,324,600,0,0,16,0,0,0
$GC,4307,8.64,4418.5,375.2,-9.2,407,4317,0.00,3.42,1.15,0.000,6,0.007,0.000,3348,2223,600,0,0,19,0,0,0
$GC,4642,9.17,4855.6,402.4,-7.1,439,4659,0.00,3.53,0.12,0.007,4,0.007,0.000,3346,465,599,0,0,18,0,0,0
$GC,4911,9.76,5336.0,421.8,-8.4,462,4924,0.00,4.53,0.05,0.007,6,0.007,0.000,3351,2318,601,0,0,25,0,0,0
$GC,5249,10.32,5786.7,452.2,-7.5,494,5264,0.00,4.32,0.12,0.007,4,0.007,0.000,3347,612,595,0,0,24,0,0,0
$GC,5517,10.84,6213.1,471.1,-6.7,517,5527,0.00,3.78,0.65,0.000,6,0.007,0.000,3344,2288,602,0,0,21,0,0,0
$GC,5852,11.43,6691.4,495.5,-8.4,549,5870,0.00,3.83,0.20,0.007,4,0.007,0.000,3344,586,604,0,0,19,0,0,0
$GC,6123,11.99,7144.4,516.8,-7.6,572,6134,0.00,2.40,2.15,0.000,6,0.000,0.000,3348,2150,605,0,0,11,0,0,0
$GC,6459,12.53,7585.9,540.8,-7.2,604,6478,0.00,2.88,0.12,0.007,4,0.007,0.000,3350,497,576,0,0,15,0,0,0
$GC,6730,13.14,8079.0,563.4,-8.9,627,6741,0.00,3.05,1.60,0.000,6,0.007,0.000,3343,2154,608,0,0,13,0,0,0
$GC,7065,13.68,8523.0,591.0,-7.3,659,7081,0.00,3.30,0.12,0.000,4,0.007,0.000,3350,351,599,0,0,17,0,0,0
$GC,7333,14.24,8974.4,611.3,-7.5,682,7343,0.00,3.65,0.00,0.007,6,0.000,0.000,3347,2207,595,0,0,16,0,0,0
$GC,7668,14.80,9427.4,636.2,-7.6,714,7683,0.00,3.12,0.00,0.007,4,0.007,0.000,3346,454,595,0,0,13,0,0,0
$GC,7935,15.35,9880.2,656.0,-7.6,737,7941,0.00,3.20,0.00,0.007,6,0.007,0.000,3349,2154,600,0,0,16,0,0,0
$GC,8267,15.89,10317.7,680.0,-7.1,769,8282,0.00,4.10,0.00,0.007,4,0.007,0.000,3348,443,597,0,0,23,0,0,0
$GC,8534,16.42,10750.9,699.5,-6.9,792,8542,0.00,3.53,0.00,0.007,6,0.007,0.000,3348,2389,601,0,0,21,0,0,0
$GC,8859,16.97,11198.6,724.0,-7.4,823,8874,0.00,3.33,0.00,0.007,4,0.007,0.000,3346,443,600,0,0,15,0,0,0
$GC,9126,16.59,11198.6,722.6,8.2,846,9133,0.00,2.95,0.00,0.007,6,0.007,0.000,3345,2100,602,0,0,13,0,0,0
$GC,9451,16.59,11198.6,696.5,7.1,877,9457,0.00,2.50,0.00,0.007,4,0.007,0.000,3349,507,601,0,0,10,0,0,0
$GC,9709,16.59,11198.6,677.4,7.7,899,9717,0.00,2.80,0.00,0.007,6,0.007,0.000,3344,2134,601,0,0,14,0,0,0
$GC,10034,16.72,11220.1,654.3,6.3,930,10050,0.00,3.55,0.00,0.007,4,0.007,0.000,3345,336,602,0,0,21,0,0,0
$GC,10302,16.67,11220.1,635.5,8.2,953,10314,0.00,4.53,0.00,0.007,6,0.007,0.000,3347,2150,599,0,0,26,0,0,0
$GC,10639,16.67,11220.1,608.2,7.5,985,10645,0.00,2.70,0.00,0.007,4,0.000,0.000,3347,452,601,0,0,12,0,0,0
$GC,10896,16.67,11220.1,587.3,8.1,1007,10905,0.00,3.25,0.00,0.007,6,0.000,0.000,3348,2178,604,0,0,15,0,0,0
$GC,11221,16.67,11220.1,561.1,8.1,1038,11227,0.00,2.80,0.00,0.007,4,0.007,0.000,3349,515,600,0,0,13,0,0,0
$GC,11480,16.84,11248.7,544.8,6.1,1060,11487,0.00,3.25,0.00,0.007,6,0.007,0.000,3347,2284,602,0,0,18,0,0,0
$GC,11804,16.74,11248.7,517.8,10.5,1091,11820,0.00,2.88,0.00,0.007,4,0.007,0.000,3344,465,599,0,0,16,0,0,0
$GC,12072,16.84,11284.1,494.5,5.9,1114,12078,0.00,2.95,0.00,0.007,6,0.007,0.000,3348,2229,602,0,0,15,0,0,0
$GC,12397,16.90,11284.1,471.0,7.1,1145,12412,0.00,2.92,0.00,0.007,4,0.007,0.000,3347,471,598,0,0,13,0,0,0
$GC,12665,16.74,11284.1,450.0,8.1,1168,12676,0.00,2.85,0.00,0.000,6,0.007,0.000,3348,2216,598,0,0,15,0,0,0
$GC,12990,16.93,11289.5,430.5,6.8,1199,13004,0.00,2.83,0.00,0.007,4,0.007,0.000,3347,620,598,0,0,13,0,0,0
$GC,13256,16.80,11289.5,400.0,12.3,1222,13264,0.00,2.70,0.00,0.000,6,0.007,0.000,3349,2096,591,0,0,12,0,0,0
$GC,13582,16.94,11289.5,373.8,7.5,1253,13597,0.00,3.28,0.00,0.007,4,0.000,0.000,3347,438,599,0,0,16,0,0,0
$GC,13850,17.18,11304.2,353.1,6.5,1276,13857,0.00,3.62,0.00,0.007,6,0.007,0.000,3347,2137,601,0,0,17,0,0,0
$GC,14174,17.08,11304.2,325.1,10.2,1307,14189,0.00,2.92,0.00,0.007,4,0.007,0.000,3348,485,602,0,0,16,0,0,0
$GC,14441,17.18,11304.2,300.4,8.1,1330,14448,0.00,3.00,0.00,0.007,6,0.007,0.000,3348,2302,600,0,0,16,0,0,0
$GC,14766,17.18,11304.2,271.6,9.7,1361,14781,0.00,3.97,0.00,0.007,4,0.007,0.000,3347,352,598,0,0,22,0,0,0
$GC,15033,17.18,11304.2,244.8,10.2,1384,15043,0.00,3.20,0.00,0.007,6,0.007,0.000,3344,2077,600,0,0,15,0,0,0
$GC,15357,17.18,11304.2,211.9,9.4,1415,15363,0.00,2.62,0.00,0.007,4,0.007,0.000,3346,509,600,0,0,10,0,0,0
$GC,15614,17.18,11304.2,187.4,9.5,1437,15624,0.00,3.78,0.00,0.007,6,0.007,0.000,3348,2526,602,0,0,20,0,0,0
$GC,15948,17.18,11304.2,157.2,8.6,1469,15964,0.00,4.50,0.00,0.007,4,0.000,0.000,3348,394,601,0,0,22,0,0,0
$GC,16216,17.18,11304.2,132.7,9.6,1492,16228,0.00,2.90,0.00,0.000,6,0.007,0.000,3348,2019,601,0,0,17,0,0,0
$GC,16542,17.18,11304.2,107.7,7.2,1523,16548,0.00,2.65,0.00,0.007,4,0.000,0.000,3346,449,603,0,0,13,0,0,0
$GC,16799,17.18,11304.2,85.5,8.4,1545,16808,0.00,2.95,0.00,0.007,6,0.007,0.000,3347,2225,595,0,0,13,0,0,0
$GC,17124,17.18,11304.2,58.0,8.6,1576,17143,0.00,4.00,0.00,0.000,4,0.007,0.000,3348,417,600,0,0,21,0,0,0
$GC,17396,17.27,11309.3,35.6,6.9,1599,17402,0.00,2.92,0.00,0.007,6,0.007,0.000,3347,2171,600,0,0,13,0,0,0
$GC,17595,17.37,11393.0,23.9,4.3,1618,17602,0.00,2.67,0.00,0.007,4,0.007,0.000,3346,506,602,0,0,13,0,0,0
$STATE,17852,end climb,SURFACE_DEPTH_REACHED
$STATE,17852,begin surface coast
$FINISH,1.2,1.025189
$STATE,17881,end surface coast,CONTROL_FINISHED_OK
$STATE,17882,begin surface
$SM_CCo,17973,0.00,0.000,0,0,602,465.82
$SM_GC,0.05,14.62,0.00,0.00,0.000,0.007,0.007,458,2217,602,-10.13,5.03,465.82
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1254543845,4.416667,4.401389,80,0,0,0,0,0,611,0,0,0,0,0
$RAFOS,1,1254543244,4.250000,4.234445,80,0,0,0,0,0,835,0,0,0,0,0
$RAFOS,0,1254542645,4.083333,4.068056,80,0,0,0,0,0,995,0,0,0,0,0
$RAFOS,4,1254530651,0.750000,0.736389,80,0,0,0,0,0,762,0,0,0,0,0
$RAFOS,3,1254530046,0.583333,0.568333,80,0,0,0,0,0,933,0,0,0,0,0
$RAFOS,2,1254529442,0.416667,0.400556,80,0,0,0,0,0,622,0,0,0,0,0
$RAFOS,1,1254528842,0.250000,0.233889,80,0,0,0,0,0,852,0,0,0,0,0
$RAFOS,0,1254528245,0.083333,0.068056,80,0,0,0,0,0,983,0,0,0,0,0
$RAFOS_FIX,6658.410156,-5446.249023,031009,000001,5,80,34.83
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078231101
$INTERNAL_PRESSURE,16.225
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,219.573
$10V_AH,10.7,34.860
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,66.020
$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,30.175,194.825,518.400,0.000,0.000,0.000,0.000,116.308,0.000,0.000,17.899,3133.750,11816.849,1038.681,1844.849,579.806,33.337,1248.402,0.000,1761.708,3240.000,1.986,0.000
$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,995.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336772
$DATA_FILE_SIZE,56655,1659
$CAP_FILE_SIZE,207295,8
$CFSIZE,260165632,249118720
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,28,993,1,0
$SOUNDSPEED,1463.9
$CURRENT,0.156,  4.0,1
$GPS,031009,044054,6701.988,-5700.722,12,1.1,12,18.0