version: 66.06
glider: 1
mission: 14
dive: 57
start: 10 3 109 13 35 54
data:
$ID,1
$MISSION,14
$DIVE,57
$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,1
$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,-220140.42
$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,6
$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,66.336929
$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
$GPS1,133626,6701.617,-5648.468,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,134056,6701.617,-5648.206,25,1.1,25,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.178,0.090
$KALMAN_X,35020.7,2382.9,1787.7,30799.4,-1817.3
$KALMAN_Y,9306.7,362.8,76.6,6899.9,-751.5
$MHEAD_RNG_PITCHd_Wd,278.7,175794,-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,-146.5,0.0,0.0,0,103,0.00,0.00,-73.15,0.000,2,0.007,0.000,422,1920,2816,0,0,0,0,0,0
$GC,107,-1.07,-146.6,3.0,-1.8,15,144,10.20,3.92,-7.70,0.000,4,0.000,0.000,2521,3651,3061,16,0,21,0,0,0
$GC,369,-0.62,-146.6,55.3,-18.7,46,385,0.38,4.25,0.00,0.007,6,0.000,0.000,2610,1859,3063,1,0,26,0,0,0
$STATE,686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,686,begin apogee
$GC,693,-0.31,0.0,100.7,13.4,76,809,0.00,0.00,111.62,0.000,6,0.007,0.007,2611,2164,2510,0,0,0,0,0,0
$STATE,810,end apogee,CONTROL_FINISHED_OK
$STATE,810,begin climb
$GC,813,1.07,146.6,116.9,0.0,88,942,2.15,2.55,116.18,0.000,4,0.000,0.000,2979,3635,1931,3,0,12,0,0,0
$GC,992,3.38,791.2,142.0,-13.8,104,1297,2.20,4.28,270.17,0.000,6,0.000,0.000,3384,1646,605,3,0,28,0,3,0
$GC,1621,4.11,1385.0,222.5,-12.1,165,1637,0.00,4.15,0.15,0.000,4,0.007,0.000,3389,3649,597,0,0,20,0,0,0
$GC,1889,4.83,1964.6,252.9,-11.7,188,1901,0.00,2.90,1.70,0.000,6,0.007,0.000,3389,1815,602,0,0,17,0,0,0
$GC,2226,5.53,2539.0,290.5,-11.5,220,2241,0.00,3.00,0.12,0.007,4,0.007,0.000,3389,3647,598,0,0,13,0,0,0
$GC,2493,6.21,3088.0,320.6,-10.7,243,2504,0.00,3.60,1.05,0.000,6,0.007,0.000,3384,1987,601,0,0,17,0,0,0
$GC,2829,6.90,3647.5,358.3,-11.0,275,2844,0.00,3.33,0.12,0.007,4,0.007,0.000,3388,3455,604,0,0,18,0,0,0
$GC,3097,7.64,4251.5,390.2,-12.5,298,3107,0.00,3.90,0.52,0.007,6,0.007,0.000,3383,1825,601,0,0,21,0,0,0
$GC,3432,8.30,4785.5,426.3,-10.2,330,3447,0.00,2.90,0.12,0.007,4,0.000,0.000,3385,3560,601,0,0,12,0,0,0
$GC,3699,8.94,5311.9,454.2,-10.0,353,3709,0.00,2.80,1.90,0.000,6,0.000,0.000,3388,1908,602,0,0,13,0,0,0
$GC,4034,9.63,5871.2,489.6,-11.0,385,4049,0.00,2.90,0.12,0.007,4,0.007,0.000,3389,3767,604,0,0,14,0,0,0
$GC,4302,10.28,6393.9,518.4,-9.8,408,4312,0.00,3.05,1.15,0.000,6,0.007,0.000,3386,1928,603,0,0,17,0,0,0
$GC,4637,10.63,6494.5,537.0,3.8,440,4653,0.00,3.78,0.12,0.007,4,0.007,0.000,3389,3617,606,0,0,22,0,0,0
$GC,4905,10.07,6494.5,497.7,16.5,463,4916,0.00,3.40,1.40,0.000,6,0.007,0.000,3387,1796,600,0,0,19,0,0,0
$GC,5240,9.79,6494.5,450.5,11.0,495,5256,0.00,4.25,0.12,0.000,4,0.007,0.000,3385,3596,601,0,0,21,0,0,0
$GC,5508,9.54,6494.5,421.9,10.8,518,5519,0.00,4.15,0.38,0.000,6,0.007,0.000,3387,1752,596,0,0,23,0,0,0
$GC,5843,9.28,6494.5,385.3,11.4,550,5859,0.00,3.62,0.12,0.007,4,0.007,0.000,3393,3710,603,0,0,17,0,0,0
$GC,6111,9.01,6494.5,355.2,11.1,573,6122,0.00,3.25,1.65,0.000,6,0.000,0.000,3388,1810,603,0,0,15,0,0,0
$GC,6446,8.85,6494.5,321.1,9.4,605,6462,0.00,4.25,0.12,0.000,4,0.007,0.000,3386,3624,602,0,0,21,0,0,0
$GC,6713,8.53,6494.5,291.9,11.4,628,6724,0.00,3.03,1.67,0.000,6,0.007,0.000,3387,1907,604,0,0,14,0,0,0
$GC,7048,8.33,6494.5,257.3,9.7,660,7064,0.00,3.15,0.15,0.000,4,0.007,0.000,3389,3740,599,0,0,18,0,0,0
$GC,7316,8.13,6494.5,230.1,10.7,683,7327,0.00,3.05,1.75,0.000,6,0.007,0.000,3387,1879,601,0,0,17,0,0,0
$GC,7651,7.81,6494.5,195.1,11.1,715,7667,0.00,2.90,0.22,0.000,4,0.007,0.000,3386,3701,601,0,0,14,0,0,0
$GC,7919,7.59,6494.5,168.0,9.2,738,7931,0.00,3.33,1.38,0.000,6,0.007,0.000,3386,1951,602,0,0,15,0,0,0
$GC,8255,7.36,6494.5,139.4,8.3,770,8272,0.00,2.90,0.20,0.007,4,0.007,0.000,3388,3597,600,0,0,14,0,0,0
$GC,8525,7.11,6494.5,116.7,8.6,793,8537,0.00,3.03,1.30,0.000,6,0.007,0.000,3387,1822,599,0,0,17,0,0,0
$GC,8862,7.02,6494.5,88.2,7.7,825,8877,0.00,3.28,0.12,0.007,4,0.007,0.000,3387,3551,599,0,0,16,0,0,0
$GC,9130,6.88,6503.3,66.6,6.7,848,9142,0.00,2.83,1.92,0.000,6,0.000,0.000,3391,1815,612,0,0,12,0,0,0
$GC,9466,6.50,6503.3,43.9,9.1,880,9481,0.00,2.90,0.12,0.000,4,0.007,0.000,3387,3604,603,0,0,13,0,0,0
$GC,9734,6.53,6570.9,28.4,4.8,903,9745,0.00,2.55,2.03,0.000,6,0.007,0.000,3389,2024,605,0,0,12,0,0,0
$GC,9939,6.53,6570.9,14.7,8.3,927,9946,0.00,2.60,0.17,0.000,4,0.007,0.000,3386,3701,599,0,0,13,0,0,0
$STATE,10112,end climb,SURFACE_DEPTH_REACHED
$STATE,10112,begin surface coast
$FINISH,0.0,1.012198
$STATE,10158,end surface coast,CONTROL_FINISHED_OK
$STATE,10158,begin surface
$SM_CCo,10250,0.00,0.000,0,0,607,465.82
$SM_GC,0.06,14.62,0.00,0.00,0.000,0.007,0.007,410,1898,607,-10.29,-3.62,465.82
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1254587044,16.416666,16.401112,80,0,0,0,0,0,650,0,0,0,0,0
$RAFOS,1,1254586447,16.250000,16.235277,80,0,0,0,0,0,858,0,0,0,0,0
$RAFOS,0,1254585842,16.083334,16.067223,80,0,0,0,0,0,1048,0,0,0,0,0
$RAFOS_FIX,6709.578125,-5444.126953,031009,121248,5,80,8.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078220418
$INTERNAL_PRESSURE,16.2001
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,221.599
$10V_AH,10.7,35.060
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,66.435
$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,29.550,114.450,519.925,0.000,0.000,0.000,0.000,86.697,0.000,0.000,26.074,1641.707,6630.974,839.543,1084.124,356.892,33.340,1011.436,0.000,1022.616,1080.000,2.800,0.000
$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,578.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336804
$DATA_FILE_SIZE,31599,966
$CAP_FILE_SIZE,127067,0
$CFSIZE,260165632,248963072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,34,589,3,0
$SOUNDSPEED,1461.4
$GPS,031009,163445,6700.682,-5647.668,11,1.1,12,18.0