version: 66.06
glider: 1
mission: 14
dive: 71
start: 10 6 109 8 22 50
data:
$ID,1
$MISSION,14
$DIVE,71
$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,-220567.22
$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,8
$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,68.6819
$FG_AHR_24V,4.6384029
$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
$GPS1,082324,6658.987,-5736.835,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,082913,6658.987,-5736.835,34,1.1,34,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.045,-0.195
$KALMAN_X,20115.7,-850.8,-808.5,16348.9,1332.2
$KALMAN_Y,9562.6,-663.2,88.1,2742.8,190.1
$MHEAD_RNG_PITCHd_Wd,148.9,112712,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.07,-146.6,0.0,0.0,0,89,0.00,0.00,-56.70,0.000,6,0.007,0.007,426,2236,3108,0,0,0,0,0,0
$GC,92,-1.07,-146.6,3.3,-2.7,12,119,10.05,3.25,0.00,0.007,4,0.000,0.000,2555,373,3112,10,0,19,0,0,0
$GC,337,-0.88,-146.6,45.7,-12.8,42,347,0.57,2.80,0.00,0.007,6,0.000,0.000,2428,2312,3109,2,0,15,0,0,0
$GC,544,-0.88,-146.6,66.4,-9.0,62,559,0.55,3.05,0.00,0.007,4,0.023,0.000,2571,464,3106,1,0,14,0,0,0
$GC,811,-0.88,-146.6,91.7,-9.1,85,818,0.52,3.00,0.00,0.007,6,0.000,0.000,2439,2229,3109,1,0,14,0,0,0
$STATE,899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,900,begin apogee
$GC,907,-0.31,0.0,100.2,9.4,94,1037,1.08,0.00,119.03,0.000,6,0.000,0.007,2694,1801,2516,1,0,0,0,0,0
$STATE,1038,end apogee,CONTROL_FINISHED_OK
$STATE,1038,begin climb
$GC,1041,1.07,146.6,113.0,0.0,107,1186,1.40,2.50,119.57,7.917,4,0.000,0.000,3018,496,1926,2,0,12,0,0,0
$GC,1439,3.00,667.6,153.2,-9.8,142,1722,1.73,3.65,262.40,3.613,6,0.000,0.000,3381,2224,608,2,0,19,0,0,0
$GC,2036,3.60,1152.8,208.4,-8.6,200,2052,0.00,3.60,0.15,0.007,4,0.007,0.000,3378,558,604,0,0,16,0,0,0
$GC,2305,4.19,1638.7,232.3,-8.6,223,2315,0.00,2.92,1.50,0.000,6,0.007,0.000,3380,2277,607,0,0,16,0,0,0
$GC,2640,4.84,2166.3,263.0,-10.0,255,2656,0.00,3.17,0.12,0.007,4,0.007,0.000,3379,446,607,0,0,18,0,0,0
$GC,2908,6.57,2623.1,285.1,-7.7,278,2919,0.00,2.88,1.90,0.000,6,0.007,0.000,3381,2341,606,0,0,10,0,0,0
$GC,3244,7.10,3052.9,311.9,-6.8,310,3260,0.00,3.05,0.40,0.000,4,0.000,0.000,3379,526,605,0,0,17,0,0,0
$GC,3375,7.69,3535.4,321.2,-8.5,321,3390,0.00,3.00,1.12,0.000,6,0.007,0.000,3380,2362,605,0,0,14,0,0,0
$GC,3705,8.21,3962.0,346.6,-6.7,352,3720,0.00,3.38,0.35,0.000,4,0.007,0.000,3380,426,600,0,0,16,0,0,0
$GC,3973,8.74,4389.2,366.5,-6.7,375,3983,0.00,3.55,1.15,0.000,6,0.007,0.000,3381,2509,607,0,0,16,0,0,0
$GC,4308,9.32,4858.5,388.8,-8.1,407,4324,0.00,3.53,0.25,0.000,4,0.007,0.000,3381,457,609,0,0,17,0,0,0
$GC,4576,9.86,5299.4,410.3,-7.2,430,4588,0.00,3.15,1.62,0.000,6,0.000,0.000,3378,2294,612,0,0,15,0,0,0
$GC,4913,10.40,5742.6,433.7,-7.2,462,4919,0.00,2.38,0.12,0.007,4,0.007,0.000,3376,3702,600,0,0,11,0,0,0
$GC,4965,10.96,6197.7,437.5,-7.6,466,4980,0.00,3.30,0.93,0.000,6,0.007,0.000,3386,1795,604,0,0,17,0,0,0
$GC,5295,11.55,6671.2,464.2,-8.2,497,5301,0.00,2.45,0.25,0.007,4,0.007,0.000,3380,507,605,0,0,14,0,0,0
$GC,5554,12.15,7163.2,486.8,-8.8,519,5564,0.00,3.33,0.93,0.000,6,0.007,0.000,3377,2171,605,0,0,18,0,0,0
$GC,5889,12.72,7622.7,514.7,-7.8,551,5905,0.00,3.55,0.30,0.000,4,0.007,0.000,3382,466,607,0,0,18,0,0,0
$GC,6013,13.25,8055.6,524.3,-6.9,561,6023,0.00,3.05,1.00,0.000,6,0.007,0.000,3385,2275,607,0,0,15,0,0,0
$GC,6348,13.81,8509.3,550.6,-7.6,593,6365,0.00,3.35,0.28,0.000,4,0.007,0.000,3380,400,606,0,0,18,0,0,0
$GC,6618,14.38,8976.8,571.5,-8.0,616,6624,0.00,3.30,0.00,0.007,6,0.007,0.000,3385,2273,608,0,0,16,0,0,0
$GC,6942,15.01,9486.8,598.1,-9.4,647,6957,0.00,3.17,0.00,0.007,4,0.000,0.000,3379,515,607,0,0,15,0,0,0
$GC,7210,15.60,9965.8,621.2,-8.4,670,7219,0.00,3.42,0.00,0.007,6,0.007,0.000,3379,2199,608,0,0,20,0,0,0
$GC,7544,16.19,10450.8,649.4,-8.6,702,7559,0.00,3.30,0.00,0.007,4,0.000,0.000,3378,433,605,0,0,15,0,0,0
$GC,7811,16.80,10941.0,673.3,-8.8,725,7818,0.00,3.08,0.00,0.000,6,0.007,0.000,3381,2206,608,0,0,18,0,0,0
$GC,8143,17.38,11414.2,701.9,-8.2,757,8158,0.00,3.40,0.00,0.007,4,0.007,0.000,3379,486,608,0,0,17,0,0,0
$GC,8410,17.98,11905.5,724.4,-8.8,780,8419,0.00,3.28,0.00,0.007,6,0.007,0.000,3382,2152,605,0,0,17,0,0,0
$GC,8744,18.58,12386.4,752.2,-8.5,812,8759,0.00,3.33,0.00,0.007,4,0.007,0.000,3376,614,606,0,0,16,0,0,0
$GC,9012,19.14,12842.5,771.1,-7.7,835,9019,0.00,3.15,0.00,0.007,6,0.007,0.000,3378,2132,605,0,0,18,0,0,0
$GC,9343,19.68,13286.0,795.1,-7.3,867,9358,0.00,3.15,0.00,0.007,4,0.007,0.000,3377,3562,608,0,0,17,0,0,0
$GC,9510,20.26,13752.1,807.6,-8.0,881,9516,0.00,2.88,0.00,0.000,6,0.007,0.000,3380,1895,604,0,0,14,0,0,0
$GC,9841,20.80,14194.3,832.8,-7.2,913,9847,0.00,2.42,0.00,0.007,4,0.007,0.000,3381,486,609,0,0,11,0,0,0
$GC,10099,21.21,14526.4,851.4,-3.7,935,10108,0.00,3.42,0.00,0.007,6,0.007,0.000,3381,2343,607,0,0,20,0,0,0
$GC,10433,21.14,14526.4,834.0,8.6,967,10448,0.00,3.03,0.00,0.007,4,0.007,0.000,3379,397,606,0,0,13,0,0,0
$GC,10699,21.14,14526.4,812.0,8.0,990,10707,0.00,3.65,0.00,0.007,6,0.007,0.000,3381,2192,605,0,0,20,0,0,0
$GC,11032,21.20,14570.4,791.9,5.6,1022,11047,0.00,3.85,0.00,0.007,4,0.007,0.000,3381,529,603,0,0,21,0,0,0
$GC,11299,21.26,14619.0,774.3,5.5,1045,11309,0.00,3.72,0.00,0.007,6,0.007,0.001,3376,2320,608,0,0,20,0,0,0
$GC,11634,21.29,14643.2,750.9,6.2,1077,11650,0.00,3.25,0.00,0.007,4,0.007,0.000,3382,440,605,0,0,16,0,0,0
$GC,11902,21.37,14643.2,733.2,8.9,1100,11911,0.00,3.40,0.00,0.000,6,0.007,0.000,3379,2220,599,0,0,17,0,0,0
$GC,12236,21.37,14643.2,699.6,9.4,1132,12251,0.00,3.72,0.00,0.007,4,0.007,0.000,3377,497,608,0,0,19,0,0,0
$GC,12503,21.37,14643.2,677.8,8.3,1155,12511,0.00,3.45,0.00,0.007,6,0.007,0.000,3381,2052,606,0,0,17,0,0,0
$GC,12828,21.37,14643.2,650.7,8.5,1186,12835,0.00,2.67,0.00,0.007,4,0.007,0.000,3381,505,607,0,0,15,0,0,0
$GC,13086,21.37,14643.2,627.0,9.6,1208,13093,0.00,3.35,0.00,0.007,6,0.007,0.000,3382,2417,603,0,0,18,0,0,0
$GC,13411,21.37,14643.2,596.6,9.4,1239,13427,0.00,3.95,0.00,0.007,4,0.007,0.000,3379,360,607,0,0,20,0,0,0
$GC,13679,21.38,14651.3,573.4,6.8,1262,13686,0.00,3.28,0.00,0.007,6,0.007,0.000,3381,2247,612,0,0,16,0,0,0
$GC,14010,21.25,14651.3,547.2,11.7,1294,14026,0.00,3.60,0.00,0.007,4,0.007,0.000,3378,633,605,0,0,20,0,0,0
$GC,14278,21.25,14651.3,515.1,10.5,1317,14286,0.00,3.08,0.00,0.007,6,0.007,0.000,3378,2197,608,0,0,18,0,0,0
$GC,14602,21.25,14651.3,486.2,8.8,1348,14609,0.00,2.80,0.00,0.007,4,0.007,0.000,3378,444,606,0,0,15,0,0,0
$GC,14861,21.31,14651.3,463.5,8.7,1370,14867,0.00,3.50,0.00,0.007,6,0.007,0.000,3378,2480,605,0,0,19,0,0,0
$GC,15186,21.31,14651.3,434.2,8.9,1401,15201,0.00,3.15,0.00,0.007,4,0.007,0.000,3382,314,605,0,0,15,0,0,0
$GC,15453,21.31,14651.3,410.0,8.5,1424,15463,0.00,3.83,0.00,0.007,6,0.007,0.000,3383,2063,606,0,0,17,0,0,0
$GC,15787,21.31,14651.3,378.7,9.6,1456,15803,0.00,3.17,0.00,0.000,4,0.007,0.000,3379,413,605,0,0,17,0,0,0
$GC,16055,21.31,14651.3,352.0,9.3,1479,16063,0.00,3.38,0.00,0.007,6,0.007,0.000,3380,2208,609,0,0,18,0,0,0
$GC,16380,21.31,14651.3,320.8,10.1,1510,16395,0.00,3.53,0.00,0.007,4,0.000,0.000,3381,321,606,0,0,19,0,0,0
$GC,16648,21.33,14665.3,295.5,6.6,1533,16657,0.00,3.28,0.00,0.007,6,0.007,0.000,3382,2181,606,0,0,15,0,0,0
$GC,16981,21.25,14665.3,271.1,10.5,1565,16997,0.00,3.60,0.00,0.007,4,0.000,0.000,3380,514,607,0,0,17,0,0,0
$GC,17249,21.16,14665.3,239.7,11.7,1588,17256,0.00,3.00,0.00,0.007,6,0.007,0.000,3379,2154,610,0,0,14,0,0,0
$GC,17573,21.25,14665.3,215.8,7.2,1619,17579,0.00,2.42,0.00,0.007,4,0.007,0.000,3383,490,606,0,0,15,0,0,0
$GC,17832,21.17,14665.3,188.3,11.8,1641,17839,0.00,3.25,0.00,0.000,6,0.007,0.000,3380,2198,606,0,0,15,0,0,0
$GC,18163,21.27,14665.3,161.2,7.4,1673,18180,0.00,3.42,0.00,0.007,4,0.007,0.000,3380,325,603,0,0,16,0,0,0
$GC,18433,21.27,14665.3,137.0,9.4,1696,18443,0.00,3.65,0.00,0.007,6,0.007,0.000,3381,2235,603,0,0,20,0,0,0
$GC,18767,21.35,14665.3,108.2,8.3,1728,18782,0.00,3.88,0.00,0.007,4,0.007,0.000,3383,266,607,0,0,24,0,0,0
$GC,19034,21.35,14665.3,85.4,8.0,1751,19041,0.00,3.58,0.00,0.000,6,0.007,0.000,3376,2225,608,0,0,18,0,0,0
$GC,19359,21.35,14665.3,57.8,8.4,1782,19365,0.00,2.88,0.00,0.007,4,0.007,0.000,3381,626,607,0,0,16,0,0,0
$GC,19617,21.35,14665.3,37.2,8.9,1804,19626,0.00,2.72,0.00,0.000,6,0.007,0.000,3377,2246,606,0,0,11,0,0,0
$GC,19815,21.41,14665.3,21.6,7.1,1823,19831,0.00,2.83,0.00,0.007,4,0.007,0.000,3379,443,607,0,0,14,0,0,0
$STATE,20081,end climb,SURFACE_DEPTH_REACHED
$STATE,20081,begin surface coast
$FINISH,1.4,1.018698
$STATE,20121,end surface coast,CONTROL_FINISHED_OK
$STATE,20121,begin surface
$SM_CCo,20212,0.00,0.000,0,0,607,464.11
$SM_GC,0.04,14.70,0.00,0.00,0.000,0.000,0.007,518,2160,607,-9.52,3.76,464.11
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254833044,12.750000,12.734445,80,0,0,0,0,0,725,0,0,0,0,0
$RAFOS,3,1254832446,12.583333,12.568334,80,0,0,0,0,0,857,0,0,0,0,0
$RAFOS,2,1254831847,12.416667,12.401944,80,0,0,0,0,0,506,0,0,0,0,0
$RAFOS,1,1254831242,12.250000,12.233889,80,0,0,0,0,0,751,0,0,0,0,0
$RAFOS,0,1254830644,12.083333,12.067778,80,0,0,0,0,0,898,0,0,0,0,0
$RAFOS,4,1254818642,8.750000,8.733889,80,0,0,0,0,0,735,0,0,0,0,0
$RAFOS,3,1254818048,8.583333,8.568889,80,0,0,0,0,0,843,0,0,0,0,0
$RAFOS,1,1254816843,8.250000,8.234167,80,0,0,0,0,0,751,0,0,0,0,0
$RAFOS_FIX,6610.998535,-5352.350098,061009,121223,5,80,13.41
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078124514
$INTERNAL_PRESSURE,16.3066
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,233.007
$10V_AH,10.7,36.259
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,68.869
$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,30.600,226.875,513.375,0.000,0.000,0.000,0.000,151.861,0.000,0.000,35.271,3232.251,13623.315,1087.372,2068.990,611.778,33.371,1302.818,0.000,1961.844,2520.000,2.342,0.000
$DEVICE_MAMPS,119.000,60.000,7917.069,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336412
$DATA_FILE_SIZE,62983,1875
$CAP_FILE_SIZE,229971,9
$CFSIZE,260165632,247590912
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,31,1153,0,0
$SOUNDSPEED,1463.0
$GPS,061009,140957,6657.192,-5741.420,30,1.1,30,18.0