version: 66.06
glider: 1
mission: 14
dive: 108
start: 10 15 109 10 0 45
data:
$ID,1
$MISSION,14
$DIVE,108
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,3
$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,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,-221424.41
$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,1
$R_STBD_OVSHOOT,1
$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,76.108025
$FG_AHR_24V,4.6384106
$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
$GPS1,100126,6642.962,-6000.446,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,100745,6642.968,-6000.367,10,1.1,10,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.137,-0.190
$KALMAN_X,-46973.2,-702.8,-4363.5,-17527.2,6651.3
$KALMAN_Y,8393.6,-678.2,-2815.8,-22762.0,4102.0
$MHEAD_RNG_PITCHd_Wd,126.2,394216,-13.0,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-57.97,0.000,2,0.007,0.000,378,1902,2366,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.1,-1.9,12,138,10.20,0.00,-24.45,0.000,6,0.000,0.007,2549,1906,3099,13,0,0,0,0,0
$GC,208,-0.61,-146.6,15.5,-16.9,32,222,0.00,2.95,0.00,0.007,4,0.000,0.000,2551,3647,3104,0,0,16,0,0,0
$GC,279,-0.32,-146.6,27.8,-15.6,40,296,0.47,2.95,0.00,0.000,6,0.000,0.000,2674,1973,3103,1,0,17,0,0,0
$GC,483,-0.32,-146.6,43.8,-7.9,59,490,0.52,2.40,0.00,0.000,4,0.000,0.000,2542,398,3103,1,0,12,0,0,0
$GC,663,-0.32,-146.6,57.5,-8.7,74,670,0.60,3.15,0.00,0.000,6,0.000,0.000,2683,2221,3105,1,0,15,0,0,0
$GC,995,-0.32,-146.6,85.4,-8.8,106,1010,0.60,2.72,0.00,0.007,4,0.000,0.000,2617,3589,3104,2,0,15,0,0,0
$GC,1129,-0.32,-146.6,97.9,-10.2,117,1139,0.00,3.03,0.00,0.007,6,0.007,0.000,2619,1822,3103,0,0,17,0,0,0
$STATE,1153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1161,-0.31,0.0,100.5,9.7,120,1290,0.00,0.00,116.95,0.000,6,0.007,0.007,2618,2056,2525,0,0,0,0,0,0
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1294,0.99,146.6,112.7,0.0,133,1431,1.62,3.40,122.03,0.000,4,0.000,0.000,2965,310,1921,2,0,19,0,0,0
$GC,1672,2.72,587.4,143.9,-7.1,167,1986,1.77,3.47,267.25,0.000,6,0.000,0.000,3362,2032,630,1,0,16,0,5,0
$GC,2300,4.38,1014.5,185.8,-6.7,228,2315,0.00,3.40,5.10,0.000,4,0.000,0.000,3360,3784,610,0,0,21,0,0,0
$GC,2562,4.94,1468.7,203.9,-7.5,251,2572,0.00,3.40,0.88,0.000,6,0.007,0.000,3360,1864,609,0,0,18,0,0,0
$GC,2896,5.50,1921.3,228.6,-7.5,283,2912,0.00,3.22,0.35,0.007,4,0.000,0.000,3362,192,612,0,0,16,0,0,0
$GC,3021,6.07,2384.3,238.4,-7.8,293,3030,0.00,3.42,1.27,0.000,6,0.007,0.000,3363,2227,618,0,0,15,0,0,0
$GC,3355,6.62,2838.2,263.8,-7.5,325,3366,0.00,2.38,4.70,0.000,4,0.007,0.000,3361,3639,601,0,0,9,0,0,0
$GC,3389,7.22,3320.4,266.6,-8.4,328,3405,0.00,2.92,1.33,0.000,6,0.007,0.000,3361,1819,600,0,0,12,0,0,0
$GC,3719,7.70,3714.3,286.9,-5.6,359,3737,0.00,2.90,0.15,0.007,4,0.007,0.000,3364,359,602,0,0,15,0,0,0
$GC,3990,8.19,4110.0,301.6,-5.6,382,4000,0.00,3.55,0.70,0.000,6,0.007,0.000,3362,2223,602,0,0,16,0,0,0
$GC,4324,8.71,4531.5,323.0,-6.5,414,4340,0.00,3.65,0.12,0.007,4,0.007,0.000,3361,416,598,0,0,21,0,0,0
$GC,4593,9.29,5007.4,342.7,-8.2,437,4603,0.00,2.83,1.80,0.000,6,0.007,0.000,3360,2155,602,0,0,14,0,0,0
$GC,4928,9.83,5442.6,368.1,-6.9,469,4944,0.00,3.50,0.12,0.000,4,0.007,0.000,3361,501,595,0,0,18,0,0,0
$GC,5196,10.34,5859.3,386.1,-6.3,492,5206,0.00,2.75,1.55,0.000,6,0.007,0.000,3360,2185,601,0,0,12,0,0,0
$GC,5531,10.83,6259.8,404.9,-5.8,524,5547,0.00,3.20,0.12,0.007,4,0.000,0.000,3361,555,602,0,0,15,0,0,0
$GC,5750,11.31,6644.7,416.9,-5.3,543,5765,0.00,3.08,1.10,0.000,6,0.007,0.000,3361,2459,604,0,0,16,0,0,0
$GC,6079,11.81,7057.6,435.8,-6.2,574,6095,0.00,3.62,0.15,0.007,4,0.007,0.000,3359,454,600,0,0,19,0,0,0
$GC,6348,12.29,7441.6,451.9,-5.3,597,6358,0.00,2.80,1.55,0.000,6,0.007,0.000,3358,2216,603,0,0,14,0,0,0
$GC,6683,12.84,7890.5,470.9,-7.3,629,6699,0.00,3.45,0.12,0.000,4,0.007,0.000,3361,432,606,0,0,19,0,0,0
$GC,6952,13.33,8290.2,487.4,-5.8,652,6962,0.00,2.78,1.85,0.000,6,0.007,0.000,3363,2206,600,0,0,14,0,0,0
$GC,7287,13.82,8684.1,507.8,-5.6,684,7303,0.00,2.88,0.00,0.007,4,0.007,0.000,3363,232,601,0,0,13,0,0,0
$GC,7308,14.30,9077.7,509.1,-5.6,685,7318,0.00,3.70,0.00,0.007,6,0.007,0.000,3362,2016,604,0,0,20,0,0,0
$GC,7643,14.81,9492.6,529.9,-6.3,717,7649,0.00,2.42,0.00,0.000,4,0.007,0.000,3358,457,602,0,0,12,0,0,0
$GC,7818,15.29,9886.2,540.6,-5.6,732,7832,0.00,3.08,0.00,0.007,6,0.007,0.000,3362,2336,599,0,0,15,0,0,0
$GC,8147,15.77,10272.7,558.2,-5.4,763,8162,0.00,3.40,0.00,0.000,4,0.007,0.000,3360,399,601,0,0,15,0,0,0
$GC,8415,16.30,10702.9,576.1,-6.8,786,8425,0.00,4.18,0.00,0.007,6,0.007,0.000,3362,2195,600,0,0,23,0,0,0
$GC,8750,16.76,11076.7,596.4,-4.9,818,8765,0.00,3.40,0.00,0.007,4,0.007,0.000,3360,438,601,0,0,17,0,0,0
$GC,8979,17.33,11544.9,610.4,-8.0,838,8995,0.00,3.03,0.00,0.007,6,0.007,0.000,3361,2172,600,0,0,16,0,0,0
$GC,9309,17.66,11812.4,630.9,-1.5,869,9315,0.00,2.75,0.00,0.007,4,0.000,0.000,3361,471,605,0,0,11,0,0,0
$GC,9566,17.70,11846.2,614.8,5.9,891,9573,0.00,3.28,0.00,0.000,6,0.007,0.000,3361,2194,596,0,0,17,0,0,0
$GC,9893,17.77,11846.2,591.5,7.3,922,9908,0.00,3.30,0.00,0.007,4,0.007,0.000,3361,247,600,0,0,20,0,0,0
$GC,10160,17.77,11849.6,573.4,6.9,945,10173,0.00,3.97,0.00,0.007,6,0.007,0.000,3363,2128,602,0,0,22,0,0,0
$GC,10497,17.67,11849.6,543.1,8.8,977,10503,0.00,2.58,0.00,0.007,4,0.007,0.000,3363,592,658,0,0,13,0,0,0
$GC,10756,17.84,11884.4,527.1,5.9,999,10763,0.00,2.62,0.00,0.007,6,0.007,0.000,3358,2138,602,0,0,12,0,0,0
$GC,11080,17.72,11884.4,498.0,10.0,1030,11095,0.00,3.15,0.00,0.007,4,0.007,0.000,3360,582,593,0,0,18,0,0,0
$GC,11348,17.83,11884.4,476.4,7.2,1053,11354,0.00,2.83,0.00,0.007,6,0.000,0.000,3361,2100,603,0,0,15,0,0,0
$GC,11672,17.91,11884.4,451.6,7.1,1084,11678,0.00,2.67,0.00,0.007,4,0.000,0.000,3361,426,601,0,0,12,0,0,0
$GC,11931,17.94,11902.2,433.8,6.5,1106,11937,0.00,3.00,0.00,0.000,6,0.007,0.000,3359,2188,601,0,0,15,0,0,0
$GC,12256,17.79,11902.2,409.3,11.1,1137,12271,0.00,3.90,0.00,0.007,4,0.007,0.000,3363,313,600,0,0,21,0,0,0
$GC,12524,17.85,11902.2,381.1,8.3,1160,12531,0.00,3.08,0.00,0.007,6,0.007,0.000,3359,2015,596,0,0,15,0,0,0
$GC,12855,17.76,11902.2,354.3,9.9,1192,12861,0.00,2.65,0.00,0.007,4,0.007,0.000,3363,475,593,0,0,11,0,0,0
$GC,12907,17.66,11902.2,349.2,9.8,1196,12921,0.00,3.03,0.00,0.007,6,0.007,0.000,3362,2176,600,0,0,16,0,0,0
$GC,13236,17.74,11904.3,320.9,7.0,1227,13251,0.00,3.15,0.00,0.007,4,0.007,0.000,3362,388,594,0,0,17,0,0,0
$GC,13503,17.81,11915.5,301.4,6.7,1250,13513,0.00,3.28,0.00,0.007,6,0.007,0.000,3361,2166,601,0,0,16,0,0,0
$GC,13837,17.76,11915.5,279.0,8.6,1282,13852,0.00,3.90,0.00,0.000,4,0.007,0.000,3360,484,601,0,0,21,0,0,0
$GC,14105,17.71,11915.5,253.6,8.8,1305,14114,0.00,3.58,0.00,0.007,6,0.007,0.000,3359,2162,601,0,0,19,0,0,0
$GC,14439,17.81,11915.5,228.5,7.4,1337,14444,0.00,2.25,0.00,0.007,4,0.007,0.000,3361,3554,604,0,0,9,0,0,0
$GC,14472,17.88,11915.5,226.0,7.2,1339,14479,0.00,2.67,0.00,0.007,6,0.007,0.000,3361,1769,601,0,0,13,0,0,0
$GC,14796,17.88,11915.5,200.7,7.4,1370,14812,0.00,3.28,0.00,0.007,4,0.000,0.000,3359,346,598,0,0,20,0,0,0
$GC,14952,17.95,11972.1,190.1,5.2,1383,14959,0.00,2.88,0.00,0.007,6,0.007,0.000,3363,2172,603,0,0,13,0,0,0
$GC,15277,18.00,11972.1,166.6,8.2,1414,15292,0.00,3.17,0.00,0.007,4,0.007,0.000,3363,465,601,0,0,16,0,0,0
$GC,15544,17.84,11972.1,144.6,9.3,1437,15550,0.00,3.15,0.00,0.007,6,0.000,0.000,3363,2204,601,0,0,17,0,0,0
$GC,15868,17.84,11972.1,114.2,8.0,1468,15884,0.00,3.67,0.00,0.007,4,0.007,0.000,3361,471,601,0,0,19,0,0,0
$GC,16136,17.96,12004.6,96.5,6.0,1491,16143,0.00,3.28,0.00,0.007,6,0.007,0.000,3365,2130,603,0,0,17,0,0,0
$GC,16468,17.97,12008.1,72.2,6.9,1523,16483,0.00,3.30,0.00,0.007,4,0.007,0.000,3363,294,600,0,0,17,0,0,0
$GC,16736,17.92,12008.1,52.0,8.8,1546,16743,0.00,3.53,0.00,0.007,6,0.007,0.000,3360,2262,599,0,0,20,0,0,0
$GC,17067,18.05,12008.1,22.2,7.4,1578,17073,0.00,2.50,0.00,0.007,4,0.007,0.000,3358,3696,602,0,0,11,0,0,0
$GC,17327,18.09,12046.2,6.4,5.8,1620,17342,0.00,4.03,0.00,0.007,6,0.007,0.000,3361,1873,602,0,0,22,0,0,0
$STATE,17374,end climb,SURFACE_DEPTH_REACHED
$STATE,17374,begin surface coast
$FINISH,0.1,1.012198
$STATE,17420,end surface coast,CONTROL_FINISHED_OK
$STATE,17420,begin surface
$SM_CCo,17508,0.00,0.000,0,0,594,465.82
$SM_GC,0.05,14.82,0.00,0.00,0.000,0.007,0.000,420,2236,594,-9.88,5.82,465.82
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255610646,12.750000,12.735000,80,0,0,0,0,0,793,0,0,0,0,0
$RAFOS,3,1255610042,12.583333,12.567223,80,0,0,0,0,0,745,0,0,0,0,0
$RAFOS,2,1255609449,12.416667,12.402500,80,0,0,0,0,0,879,0,0,0,0,0
$RAFOS,1,1255608850,12.250000,12.236111,80,0,0,0,0,0,649,0,0,0,0,0
$RAFOS_FIX,6635.114746,-6146.714355,151009,121256,4,80,9.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078068446
$INTERNAL_PRESSURE,16.2532
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,264.875
$10V_AH,10.7,39.779
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,76.270
$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,30.625,202.825,529.200,0.000,0.000,0.000,0.000,121.846,0.000,0.000,10.220,2742.257,11667.631,1099.043,1754.227,593.552,33.358,1320.202,0.000,1686.885,1800.000,2.394,0.000
$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,988.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,53542,1636
$CAP_FILE_SIZE,209950,8
$CFSIZE,260165632,243732480
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,28,1036,5,0
$SOUNDSPEED,1455.3
$GPS,151009,150213,6643.363,-6004.966,21,1.1,21,18.0