version: 66.06
glider: 1
mission: 14
dive: 63
start: 10 4 109 14 4 6
data:
$ID,1
$MISSION,14
$DIVE,63
$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,-220326.66
$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,2
$R_STBD_OVSHOOT,5
$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,67.201546
$FG_AHR_24V,4.638402
$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
$GPS1,140439,6657.829,-5659.654,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,141030,6657.830,-5659.675,32,1.1,32,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.197,-0.036
$KALMAN_X,36358.7,-2044.6,-623.4,28128.1,1570.6
$KALMAN_Y,6696.5,-1210.2,-380.9,4567.4,944.5
$MHEAD_RNG_PITCHd_Wd,241.5,166203,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.07,-146.6,0.0,0.0,0,86,0.00,0.00,-58.30,0.000,2,0.007,0.000,530,2360,2360,0,0,0,0,0,0
$GC,90,-1.07,-146.6,3.0,-2.0,12,132,9.95,2.72,-23.80,0.000,4,0.000,0.000,2525,3571,3086,12,0,18,0,0,0
$GC,383,-0.88,-146.6,50.7,-13.4,48,394,0.00,3.67,0.00,0.007,6,0.007,0.000,2524,1781,3077,0,0,22,0,0,0
$GC,718,-0.88,-146.6,85.4,-9.6,80,734,0.00,3.53,0.00,0.007,4,0.007,0.000,2516,3768,3075,0,0,18,0,0,0
$STATE,860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,860,begin apogee
$GC,870,-0.31,0.0,100.5,10.5,92,987,0.73,0.00,112.07,0.000,6,0.000,0.000,2681,1934,2521,1,0,0,0,0,0
$STATE,988,end apogee,CONTROL_FINISHED_OK
$STATE,988,begin climb
$GC,990,1.07,146.6,112.8,0.0,104,1138,1.27,2.53,119.97,0.000,4,0.000,0.000,3001,473,1922,3,0,13,0,0,0
$GC,1390,3.05,701.6,154.4,-10.8,139,1683,1.92,3.03,267.27,0.000,6,0.000,0.000,3389,2138,596,3,0,14,0,2,0
$GC,2008,3.66,1200.7,213.2,-9.0,199,2023,0.00,3.05,0.12,0.007,4,0.007,0.000,3387,458,593,0,0,16,0,0,0
$GC,2276,4.26,1685.3,237.7,-8.6,222,2286,0.00,3.10,1.50,0.000,6,0.007,0.001,3390,2441,595,0,0,16,0,0,0
$GC,2611,4.82,2137.8,265.0,-7.5,254,2627,0.00,3.53,0.12,0.007,4,0.000,0.000,3383,489,595,0,0,19,0,0,0
$GC,2879,5.47,2668.5,285.3,-10.1,277,2890,0.00,3.17,1.23,0.000,6,0.007,0.000,3392,2099,593,0,0,14,0,0,0
$GC,3214,7.18,3084.0,308.2,-6.4,309,3230,0.00,2.95,0.12,0.000,4,0.007,0.000,3392,449,596,0,0,16,0,0,0
$GC,3482,7.69,3504.8,326.0,-6.5,332,3492,0.00,3.08,1.50,0.000,6,0.007,0.000,3387,2330,595,0,0,16,0,0,0
$GC,3817,8.32,4010.4,355.8,-9.3,364,3833,0.00,3.35,0.12,0.007,4,0.007,0.000,3390,621,595,0,0,15,0,0,0
$GC,4085,8.89,4474.5,377.3,-7.9,387,4095,0.00,3.15,1.12,0.000,6,0.007,0.000,3390,2124,594,0,0,17,0,0,0
$GC,4420,9.46,4942.3,403.6,-8.0,419,4435,0.00,2.83,0.12,0.007,4,0.007,0.000,3389,462,596,0,0,13,0,0,0
$GC,4688,10.02,5396.9,425.1,-7.6,442,4698,0.00,3.55,0.93,0.000,6,0.007,0.000,3388,2019,590,0,0,18,0,0,0
$GC,5023,10.62,5887.0,453.7,-8.8,474,5038,0.00,2.95,0.12,0.007,4,0.007,0.000,3391,472,596,0,0,17,0,0,0
$GC,5291,11.23,6378.5,477.0,-8.8,497,5301,0.00,3.53,0.93,0.000,6,0.007,0.000,3388,2269,596,0,0,20,0,0,0
$GC,5626,11.74,6796.9,501.2,-6.4,529,5641,0.00,2.78,0.12,0.007,4,0.007,0.000,3391,433,594,0,0,16,0,0,0
$GC,5894,12.27,7221.6,521.2,-6.7,552,5904,0.00,2.90,1.52,0.000,6,0.000,0.000,3392,2349,595,0,0,14,0,0,0
$GC,6229,12.81,7662.7,543.8,-7.2,584,6245,0.00,3.50,0.20,0.007,4,0.007,0.000,3391,240,596,0,0,20,0,0,0
$GC,6497,13.37,8120.2,563.7,-7.7,607,6507,0.00,3.25,1.30,0.000,6,0.007,0.000,3389,2161,595,0,0,17,0,0,0
$GC,6832,13.95,8590.8,590.6,-8.1,639,6847,0.00,2.88,0.12,0.000,4,0.007,0.000,3391,484,594,0,0,17,0,0,0
$GC,7100,14.51,9050.2,612.2,-7.8,662,7105,0.00,2.80,0.00,0.007,6,0.000,0.000,3388,2190,597,0,0,17,0,0,0
$GC,7424,15.08,9506.5,637.9,-7.7,693,7441,0.00,3.17,0.00,0.007,4,0.000,0.000,3392,406,593,0,0,15,0,0,0
$GC,7693,15.65,9976.1,659.6,-8.1,716,7700,0.00,3.05,0.00,0.000,6,0.007,0.000,3391,2136,597,0,0,14,0,0,0
$GC,8018,16.24,10449.5,686.1,-8.2,747,8024,0.00,2.58,0.00,0.000,4,0.007,0.000,3394,543,592,0,0,13,0,0,0
$GC,8277,16.61,10753.6,702.4,-2.8,769,8283,0.00,2.62,0.00,0.000,6,0.007,0.000,3388,2163,595,0,0,11,0,0,0
$GC,8601,16.36,10753.6,679.7,10.8,800,8616,0.00,3.33,0.00,0.007,4,0.007,0.000,3390,588,594,0,0,21,0,0,0
$GC,8868,16.37,10758.0,653.3,6.9,823,8876,0.00,2.78,0.00,0.007,6,0.007,0.000,3392,2107,594,0,0,15,0,0,0
$GC,9192,16.37,10758.0,630.8,7.4,854,9199,0.00,2.85,0.00,0.007,4,0.007,0.000,3390,487,587,0,0,13,0,0,0
$GC,9451,16.37,10762.4,612.7,6.9,876,9457,0.00,3.15,0.00,0.007,6,0.007,0.000,3390,2249,595,0,0,16,0,0,0
$GC,9775,16.37,10762.4,590.1,7.0,907,9792,0.00,3.40,0.00,0.000,4,0.007,0.000,3393,561,595,0,0,20,0,0,0
$GC,10043,16.37,10762.4,571.2,7.3,930,10053,0.00,2.53,0.00,0.007,6,0.000,0.000,3387,2175,596,0,0,10,0,0,0
$GC,10368,16.37,10762.4,549.1,7.1,961,10383,0.00,2.88,0.00,0.007,4,0.007,0.000,3390,499,593,0,0,15,0,0,0
$GC,10634,16.37,10762.4,531.4,7.1,984,10643,0.00,2.80,0.00,0.007,6,0.007,0.000,3390,2131,595,0,0,12,0,0,0
$GC,10959,16.37,10762.4,508.9,7.1,1015,10974,0.00,3.20,0.00,0.000,4,0.007,0.000,3388,524,595,0,0,14,0,0,0
$GC,11227,16.51,10788.7,490.5,6.2,1038,11234,0.00,3.25,0.00,0.000,6,0.007,0.000,3394,2167,595,0,0,14,0,0,0
$GC,11558,16.43,10788.7,468.4,8.5,1070,11574,0.00,3.12,0.00,0.007,4,0.007,0.000,3391,343,594,0,0,18,0,0,0
$GC,11826,16.68,10832.8,452.5,5.6,1093,11833,0.00,3.17,0.00,0.007,6,0.007,0.000,3390,2148,594,0,0,16,0,0,0
$GC,12158,16.70,10850.0,429.0,6.5,1125,12173,0.00,3.28,0.00,0.007,4,0.007,0.000,3389,424,594,0,0,16,0,0,0
$GC,12425,16.61,10850.0,406.3,9.7,1148,12432,0.00,2.85,0.00,0.007,6,0.000,0.000,3387,2317,596,0,0,13,0,0,0
$GC,12750,16.70,10850.0,377.4,7.2,1179,12767,0.00,3.40,0.00,0.007,4,0.007,0.000,3387,391,594,0,0,19,0,0,0
$GC,13019,16.62,10850.0,354.1,10.1,1202,13026,0.00,3.45,0.00,0.007,6,0.000,0.000,3386,2170,593,0,0,15,0,0,0
$GC,13343,16.72,10850.0,324.4,7.9,1233,13358,0.00,2.83,0.00,0.007,4,0.007,0.000,3393,551,593,0,0,12,0,0,0
$GC,13610,16.63,10850.0,301.9,9.4,1256,13617,0.00,2.83,0.00,0.007,6,0.007,0.000,3390,2313,591,0,0,16,0,0,0
$GC,13934,16.63,10850.0,270.5,9.2,1287,13949,0.00,3.40,0.00,0.007,4,0.007,0.000,3393,298,594,0,0,16,0,0,0
$GC,14201,16.63,10850.0,245.5,9.4,1310,14208,0.00,3.45,0.00,0.007,6,0.007,0.000,3390,2155,591,0,0,17,0,0,0
$GC,14528,16.69,10850.0,216.6,8.3,1341,14543,0.00,3.15,0.00,0.007,4,0.007,0.000,3390,321,596,0,0,16,0,0,0
$GC,14795,16.69,10850.0,194.0,8.1,1364,14805,0.00,4.05,0.00,0.007,6,0.007,0.000,3392,2269,595,0,0,22,0,0,0
$GC,15129,16.69,10850.0,168.3,7.4,1396,15145,0.00,3.45,0.00,0.007,4,0.007,0.000,3392,361,594,0,0,18,0,0,0
$GC,15397,16.69,10850.0,148.5,7.8,1419,15404,0.00,3.08,0.00,0.007,6,0.007,0.000,3390,2363,597,0,0,15,0,0,0
$GC,15723,16.69,10850.0,121.8,8.2,1450,15738,0.00,3.45,0.00,0.007,4,0.007,0.000,3390,423,574,0,0,15,0,0,0
$GC,15990,16.69,10850.0,97.1,9.2,1473,15998,0.00,2.75,0.00,0.007,6,0.000,0.000,3390,2209,606,0,0,14,0,0,0
$GC,16316,16.70,10859.5,69.4,6.7,1504,16331,0.00,3.90,0.00,0.007,4,0.007,0.000,3392,336,595,0,0,19,0,0,0
$GC,16582,16.70,10859.5,50.7,7.8,1527,16590,0.00,3.40,0.00,0.000,6,0.007,0.000,3389,2318,597,0,0,17,0,0,0
$GC,16908,16.71,10867.7,26.1,6.8,1558,16924,0.00,3.33,0.00,0.007,4,0.007,0.000,3392,595,598,0,0,14,0,0,0
$GC,17050,16.75,10903.7,16.7,5.9,1574,17067,0.00,3.08,0.00,0.007,6,0.007,0.000,3389,2045,593,0,0,16,0,0,0
$GC,17135,16.70,10903.7,9.6,8.6,1588,17150,0.00,3.15,0.00,0.007,4,0.007,0.000,3384,281,595,0,0,19,0,0,0
$GC,17167,16.61,10903.7,6.6,8.7,1593,17182,0.00,3.53,0.00,0.007,6,0.007,0.000,3389,2258,591,0,0,19,0,0,0
$STATE,17219,end climb,SURFACE_DEPTH_REACHED
$STATE,17219,begin surface coast
$FINISH,1.3,1.024761
$STATE,17274,end surface coast,CONTROL_FINISHED_OK
$STATE,17274,begin surface
$SM_CCo,17362,0.00,0.000,0,0,594,467.05
$SM_GC,0.05,14.65,0.00,0.00,0.000,0.007,0.007,393,1776,594,-10.17,-6.73,467.05
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254674643,16.750000,16.734167,80,0,0,0,0,0,813,0,0,0,0,0
$RAFOS,3,1254674043,16.583334,16.567499,80,0,0,0,0,0,935,0,0,0,0,0
$RAFOS,2,1254673447,16.416666,16.401945,80,0,0,0,0,0,601,0,0,0,0,0
$RAFOS,1,1254672843,16.250000,16.234167,80,0,0,0,0,0,836,0,0,0,0,0
$RAFOS,0,1254672250,16.083334,16.069445,80,0,0,0,0,0,967,0,0,0,0,0
$RAFOS_FIX,6657.332520,-5445.366211,041009,161601,5,80,11.98
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078154419
$INTERNAL_PRESSURE,16.1557
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,226.104
$10V_AH,10.7,35.505
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,67.362
$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,28.525,189.425,510.550,0.000,0.000,0.000,0.000,103.573,0.000,0.000,33.191,2730.136,11614.415,1042.813,1798.805,543.476,33.353,1253.172,0.000,1704.774,1800.000,3.063,0.000
$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,974.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336788
$DATA_FILE_SIZE,53491,1611
$CAP_FILE_SIZE,202294,10
$CFSIZE,260165632,248401920
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,33,966,2,0
$SOUNDSPEED,1459.7
$GPS,041009,190316,6658.438,-5706.499,26,1.1,27,18.0