version: 66.06
glider: 1
mission: 14
dive: 60
start: 10 4 109 0 19 4
data:
$ID,1
$MISSION,14
$DIVE,60
$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,-220240.06
$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,66.722374
$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
$GPS1,001954,6700.594,-5649.842,28,1.1,28,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,002604,6700.611,-5649.766,32,1.1,32,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.182,-0.084
$KALMAN_X,37803.4,540.7,-157.5,30796.8,-822.0
$KALMAN_Y,8948.0,-808.3,170.6,6503.2,-33.9
$MHEAD_RNG_PITCHd_Wd,227.2,174298,-14.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.06,-146.6,0.0,0.0,0,91,0.00,0.00,-63.15,0.000,2,0.007,0.000,369,2237,2519,0,0,0,0,0,0
$GC,95,-1.06,-146.6,3.0,-1.9,13,143,10.70,3.40,-19.08,0.000,4,0.000,0.000,2517,422,3096,8,0,21,0,0,0
$GC,154,-0.50,-146.6,12.2,-15.2,23,171,0.65,3.38,0.00,0.007,6,0.000,0.000,2643,2469,3065,2,0,18,0,0,0
$GC,241,-0.22,-146.6,29.6,-19.8,34,247,0.00,1.92,0.00,0.007,4,0.007,0.000,2640,3586,3098,0,0,8,0,0,0
$GC,308,-0.02,-146.6,39.7,-14.7,39,318,0.62,2.95,0.00,0.007,6,0.000,0.000,2785,1925,3097,2,0,15,0,0,0
$GC,515,-0.02,-146.6,62.3,-8.2,59,532,0.62,2.97,0.00,0.000,4,0.000,0.000,2657,3617,3098,1,0,15,0,0,0
$GC,783,-0.02,-146.6,85.8,-9.5,82,790,0.73,3.03,0.00,0.007,6,0.000,0.000,2776,1843,3104,2,0,15,0,0,0
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,943,-0.31,0.0,100.5,9.7,97,1065,0.85,0.00,116.35,0.000,6,0.000,0.007,2596,2142,2514,1,0,0,0,0,0
$STATE,1066,end apogee,CONTROL_FINISHED_OK
$STATE,1066,begin climb
$GC,1069,1.06,146.6,111.4,0.0,109,1203,1.67,3.05,123.43,0.000,4,0.000,0.000,2999,408,1906,2,0,18,0,0,0
$GC,1455,2.94,611.0,145.3,-7.9,144,1749,1.60,3.30,262.70,0.000,6,0.000,0.000,3348,2177,604,1,0,15,0,2,0
$GC,2063,3.54,1095.1,196.1,-8.5,203,2080,0.00,3.25,0.12,0.000,4,0.007,0.000,3345,439,606,0,0,17,0,0,0
$GC,2332,4.13,1578.9,219.2,-8.5,226,2342,0.00,3.33,1.12,0.000,6,0.007,0.000,3349,2195,602,0,0,18,0,0,0
$GC,2667,4.73,2061.5,247.4,-8.5,258,2683,0.00,2.97,0.12,0.000,4,0.007,0.000,3348,621,603,0,0,15,0,0,0
$GC,2936,5.32,2545.5,270.7,-8.5,281,2947,0.00,2.65,1.83,0.000,6,0.007,0.000,3349,2284,607,0,0,12,0,0,0
$GC,3272,5.93,3036.4,301.3,-8.8,313,3287,0.00,3.28,0.15,0.000,4,0.007,0.000,3348,280,605,0,0,17,0,0,0
$GC,3540,7.63,3474.1,322.5,-7.1,336,3551,0.00,3.95,0.50,0.000,6,0.007,0.000,3350,2026,606,0,0,21,0,0,0
$GC,3876,8.15,3892.8,346.8,-6.4,368,3892,0.00,3.35,0.12,0.000,4,0.007,0.000,3347,307,604,0,0,16,0,0,0
$GC,4144,8.67,4314.0,364.1,-6.5,391,4155,0.00,3.40,1.23,0.000,6,0.007,0.000,3348,2342,606,0,0,13,0,0,0
$GC,4480,9.27,4804.4,392.1,-8.8,423,4496,0.00,3.10,0.15,0.007,4,0.007,0.000,3347,452,594,0,0,16,0,0,0
$GC,4748,9.84,5264.9,413.3,-7.8,446,4758,0.00,3.03,1.50,0.000,6,0.007,0.000,3346,2298,603,0,0,16,0,0,0
$GC,5083,10.40,5721.1,439.1,-7.6,478,5099,0.00,3.30,0.15,0.007,4,0.007,0.000,3341,468,600,0,0,14,0,0,0
$GC,5351,10.99,6202.9,460.0,-8.5,501,5362,0.00,3.53,0.93,0.000,6,0.007,0.000,3350,2264,603,0,0,20,0,0,0
$GC,5687,11.58,6680.8,487.4,-8.3,533,5702,0.00,4.05,0.12,0.000,4,0.007,0.000,3349,469,606,0,0,22,0,0,0
$GC,5955,12.14,7138.1,508.1,-7.7,556,5966,0.00,2.67,1.73,0.000,6,0.007,0.000,3347,2177,604,0,0,13,0,0,0
$GC,6291,12.69,7585.9,533.4,-7.4,588,6307,0.00,2.83,0.12,0.000,4,0.007,0.000,3348,508,604,0,0,11,0,0,0
$GC,6560,13.24,8035.7,553.8,-7.4,611,6570,0.00,3.65,0.45,0.000,6,0.000,0.000,3347,2398,603,0,0,23,0,0,0
$GC,6895,13.80,8486.3,579.2,-7.5,643,6910,0.00,3.25,0.12,0.000,4,0.007,0.000,3344,469,603,0,0,14,0,0,0
$GC,7163,14.36,8943.3,599.0,-7.7,666,7168,0.00,2.83,0.00,0.007,6,0.007,0.000,3346,2138,605,0,0,13,0,0,0
$GC,7488,14.06,8943.3,590.2,11.5,697,7502,0.00,2.90,0.00,0.007,4,0.007,0.000,3347,304,601,0,0,15,0,0,0
$GC,7754,13.79,8943.3,558.3,12.0,720,7761,0.00,3.42,0.00,0.007,6,0.007,0.000,3349,2327,604,0,0,21,0,0,0
$GC,8086,13.93,8952.9,533.7,6.7,752,8101,0.00,3.95,0.00,0.007,4,0.007,0.000,3349,468,608,0,0,21,0,0,0
$GC,8354,14.15,8990.2,515.3,5.8,775,8364,0.00,3.95,0.00,0.007,6,0.007,0.000,3348,2065,603,0,0,19,0,0,0
$GC,8688,14.07,8990.2,488.6,9.4,807,8703,0.00,3.35,0.00,0.007,4,0.007,0.000,3348,517,601,0,0,15,0,0,0
$GC,8955,14.07,8990.2,464.6,7.9,830,8963,0.00,2.83,0.00,0.007,6,0.007,0.000,3350,2236,595,0,0,12,0,0,0
$GC,9280,14.07,8990.2,440.2,7.4,861,9295,0.00,3.17,0.00,0.007,4,0.007,0.000,3349,374,601,0,0,16,0,0,0
$GC,9547,14.07,8990.2,419.5,8.0,884,9553,0.00,3.65,0.00,0.007,6,0.007,0.000,3348,2473,610,0,0,20,0,0,0
$GC,9873,14.16,8997.5,397.0,6.8,915,9888,0.00,3.62,0.00,0.007,4,0.007,0.000,3346,408,595,0,0,20,0,0,0
$GC,10141,14.33,9029.7,378.8,6.0,938,10151,0.00,3.58,0.00,0.007,6,0.000,0.000,3347,2142,603,0,0,20,0,0,0
$GC,10477,14.36,9056.7,355.4,6.2,970,10493,0.00,3.25,0.00,0.007,4,0.007,0.000,3347,399,602,0,0,16,0,0,0
$GC,10745,14.26,9056.7,332.4,10.8,993,10751,0.00,3.30,0.00,0.007,6,0.007,0.000,3341,2173,591,0,0,15,0,0,0
$GC,11072,14.38,9056.9,302.9,7.0,1024,11087,0.00,3.22,0.00,0.007,4,0.007,0.000,3344,508,603,0,0,14,0,0,0
$GC,11339,14.51,9056.9,281.9,7.7,1047,11347,0.00,2.62,0.00,0.000,6,0.007,0.000,3345,2202,603,0,0,13,0,0,0
$GC,11664,14.51,9056.9,258.2,9.0,1078,11678,0.00,2.78,0.00,0.007,4,0.007,0.000,3348,401,606,0,0,13,0,0,0
$GC,11930,14.51,9056.9,233.5,8.7,1101,11938,0.00,3.70,0.00,0.007,6,0.007,0.000,3344,2279,605,0,0,21,0,0,0
$GC,12262,14.51,9056.9,207.1,7.6,1133,12278,0.00,3.25,0.00,0.007,4,0.007,0.000,3348,495,606,0,0,17,0,0,0
$GC,12530,14.43,9056.9,181.0,9.6,1156,12540,0.00,3.55,0.00,0.007,6,0.000,0.000,3344,2219,606,0,0,17,0,0,0
$GC,12864,14.52,9056.9,153.8,7.5,1188,12880,0.00,3.92,0.00,0.007,4,0.007,0.000,3346,401,605,0,0,19,0,0,0
$GC,13132,14.52,9056.9,132.4,7.9,1211,13141,0.00,3.47,0.00,0.007,6,0.007,0.000,3348,2291,604,0,0,18,0,0,0
$GC,13466,14.03,9056.9,95.9,17.7,1243,13472,0.00,2.70,0.00,0.007,4,0.007,0.000,3355,3598,604,0,0,15,0,0,0
$GC,13724,13.90,9056.9,54.2,11.4,1265,13734,0.00,3.60,0.00,0.007,6,0.007,0.000,3346,1715,606,0,0,20,0,0,0
$GC,14059,14.11,9105.4,29.4,5.5,1297,14065,0.00,2.17,0.00,0.007,4,0.007,0.000,3346,494,603,0,0,12,0,0,0
$GC,14318,14.28,9148.6,13.1,5.6,1328,14333,0.00,2.90,0.00,0.007,6,0.000,0.000,3347,2240,601,0,0,15,0,0,0
$GC,14402,14.49,9190.6,8.4,5.7,1342,14417,0.00,3.72,0.00,0.000,4,0.007,0.000,3343,470,604,0,0,19,0,0,0
$STATE,14499,end climb,SURFACE_DEPTH_REACHED
$STATE,14499,begin surface coast
$FINISH,1.3,1.012712
$STATE,14545,end surface coast,CONTROL_FINISHED_OK
$STATE,14545,begin surface
$SM_CCo,14637,0.00,0.000,0,0,602,465.58
$SM_GC,0.05,14.57,0.00,0.00,0.000,0.007,0.007,472,2281,602,-9.94,7.18,465.58
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,1,1254629647,4.250000,4.235278,80,0,0,0,0,0,854,0,0,0,0,0
$RAFOS,0,1254629043,4.083333,4.067500,80,0,0,0,0,0,1033,0,0,0,0,0
$RAFOS,4,1254617046,0.750000,0.735000,80,0,0,0,0,0,827,0,0,0,0,0
$RAFOS,3,1254616447,0.583333,0.568611,80,0,0,0,0,0,951,0,0,0,0,0
$RAFOS,1,1254615244,0.250000,0.234444,80,0,0,0,0,0,876,0,0,0,0,0
$RAFOS_FIX,6727.501953,-5438.064453,041009,000012,4,80,1581.20
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078163687
$INTERNAL_PRESSURE,16.1311
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,223.285
$10V_AH,10.7,35.265
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,66.860
$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,32.025,169.350,512.950,0.000,0.000,0.000,0.000,117.393,0.000,0.000,32.748,2363.266,9631.756,980.659,1537.605,513.985,33.343,1178.719,0.000,1452.266,1800.000,3.209,0.000
$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,822.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336828
$DATA_FILE_SIZE,47212,1367
$CAP_FILE_SIZE,177725,8
$CFSIZE,260165632,248692736
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,36,864,2,0
$SOUNDSPEED,1463.1
$GPS,041009,043312,6659.542,-5650.681,15,1.1,15,18.0