version: 66.06
glider: 1
mission: 14
dive: 110
start: 10 15 109 19 48 17
data:
$ID,1
$MISSION,14
$DIVE,110
$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,-221485.78
$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,6
$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,76.444992
$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
$GPS1,194848,6640.372,-6008.833,8,1.1,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,195454,6640.323,-6008.789,30,1.1,30,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,-0.184
$KALMAN_X,-52207.3,-1564.2,-1230.2,-20655.1,1589.1
$KALMAN_Y,5296.9,-1485.8,-368.0,-26149.7,288.9
$MHEAD_RNG_PITCHd_Wd,124.1,394953,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,96,0.00,0.00,-67.68,0.000,2,0.007,0.000,408,1904,2652,0,0,0,0,0,0
$GC,100,-0.99,-146.6,3.2,-1.8,14,143,10.48,2.55,-14.88,0.000,4,0.000,0.000,2524,311,3106,10,0,16,0,0,0
$GC,294,-0.94,-146.6,30.0,-7.4,41,309,0.60,3.50,0.00,0.000,6,0.000,0.000,2458,2216,3105,2,0,19,0,0,0
$GC,499,-0.94,-146.6,47.3,-9.6,60,505,0.47,2.38,0.00,0.007,4,0.000,0.000,2565,3562,3102,1,0,11,0,0,0
$GC,679,-0.94,-146.6,62.4,-7.0,75,690,0.47,3.55,0.00,0.007,6,0.000,0.000,2437,1683,3104,1,0,18,0,0,0
$GC,1014,-0.94,-146.6,88.3,-8.2,107,1030,0.80,2.80,0.00,0.007,4,0.000,0.000,2574,513,3103,2,0,16,0,0,0
$STATE,1156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1156,begin apogee
$GC,1166,-0.31,0.0,100.1,8.0,119,1287,0.52,0.00,116.45,0.000,6,0.000,0.000,2696,2185,2541,0,0,0,0,0,0
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1291,0.99,146.6,109.5,0.0,131,1428,1.38,2.42,125.40,0.000,4,0.000,0.000,2990,3720,1906,1,0,12,0,0,0
$GC,1682,2.74,607.5,138.9,-7.7,167,1979,2.22,3.72,265.52,0.000,6,0.000,0.000,3427,1842,597,4,0,18,0,3,0
$GC,2305,4.46,1061.1,184.7,-7.5,227,2320,0.00,3.00,0.22,0.000,4,0.007,0.000,3426,3650,599,0,0,16,0,0,0
$GC,2572,5.01,1507.9,204.7,-7.3,250,2582,0.00,3.58,0.95,0.000,6,0.007,0.000,3427,1978,599,0,0,17,0,0,0
$GC,2908,5.59,1972.7,230.7,-7.9,282,2924,0.00,2.90,0.12,0.007,4,0.007,0.000,3425,3634,600,0,0,14,0,0,0
$GC,3176,6.05,2348.4,247.2,-5.0,305,3186,0.00,3.28,1.30,0.000,6,0.007,0.000,3429,1818,597,0,0,17,0,0,0
$GC,3511,6.58,2777.7,269.4,-6.7,337,3526,0.00,2.83,0.12,0.007,4,0.007,0.000,3427,3529,600,0,0,11,0,0,0
$GC,3779,7.04,3154.3,284.6,-5.0,360,3789,0.00,2.62,1.62,0.000,6,0.007,0.000,3427,1962,592,0,0,11,0,0,0
$GC,4114,7.56,3577.8,305.0,-6.5,392,4130,0.00,3.33,0.15,0.007,4,0.007,0.000,3427,3565,597,0,0,21,0,0,0
$GC,4382,8.12,4036.3,323.6,-7.7,415,4392,0.00,3.40,1.12,0.000,6,0.007,0.000,3424,1744,594,0,0,17,0,0,0
$GC,4717,8.64,4453.0,345.1,-6.3,447,4732,0.00,3.25,0.12,0.007,4,0.007,0.000,3425,3675,599,0,0,18,0,0,0
$GC,4985,9.12,4844.4,360.5,-5.5,470,4996,0.00,3.72,0.35,0.000,6,0.007,0.000,3430,1836,598,0,0,21,0,0,0
$GC,5321,9.66,5289.3,382.9,-7.2,502,5338,0.00,3.55,0.17,0.007,4,0.007,0.000,3424,3690,590,0,0,19,0,0,0
$GC,5590,10.13,5670.3,399.8,-5.2,525,5600,0.00,3.33,1.23,0.000,6,0.007,0.000,3430,1909,598,0,0,17,0,0,0
$GC,5925,10.61,6061.3,421.1,-5.5,557,5941,0.00,3.22,0.15,0.007,4,0.000,0.000,3424,3475,598,0,0,17,0,0,0
$GC,6193,11.12,6469.9,436.3,-6.1,580,6203,0.00,2.80,1.90,0.000,6,0.007,0.000,3425,1774,599,0,0,14,0,0,0
$GC,6528,11.62,6876.7,457.8,-6.0,612,6544,0.00,3.30,0.15,0.007,4,0.007,0.000,3430,3595,598,0,0,15,0,0,0
$GC,6567,12.13,7292.2,460.3,-6.3,615,6583,0.00,3.22,0.82,0.000,6,0.007,0.000,3427,1983,597,0,0,17,0,0,0
$GC,6897,12.60,7672.1,479.2,-5.1,646,6913,0.00,2.85,0.20,0.007,4,0.007,0.000,3427,3778,603,0,0,17,0,0,0
$GC,7166,13.14,8111.4,494.2,-7.0,669,7176,0.00,4.03,0.15,0.007,6,0.000,0.000,3427,1636,600,0,0,24,0,0,0
$GC,7500,13.68,8550.2,518.3,-7.0,701,7516,0.00,3.30,0.15,0.007,4,0.007,0.000,3425,3572,597,0,0,11,0,0,0
$GC,7768,14.19,8968.3,536.2,-6.4,724,7779,0.00,4.15,0.00,0.007,6,0.007,0.000,3423,1851,614,0,0,24,0,0,0
$GC,8104,14.67,9362.2,556.0,-5.6,756,8110,0.00,2.70,0.00,0.007,4,0.000,0.000,3426,3469,595,0,0,13,0,0,0
$GC,8363,14.99,9615.3,569.3,-1.1,778,8373,0.00,3.28,0.00,0.000,6,0.007,0.000,3424,1817,596,0,0,21,0,0,0
$GC,8697,14.92,9615.3,547.4,7.9,810,8712,0.00,3.03,0.00,0.000,4,0.007,0.000,3424,3654,596,0,0,13,0,0,0
$GC,8963,14.92,9615.3,522.4,8.2,833,8970,0.00,3.30,0.00,0.007,6,0.007,0.000,3424,1862,603,0,0,16,0,0,0
$GC,9288,14.95,9636.8,504.7,6.3,864,9303,0.00,3.05,0.00,0.007,4,0.007,0.000,3423,3594,597,0,0,18,0,0,0
$GC,9555,15.08,9636.8,487.8,7.7,887,9565,0.00,3.88,0.00,0.007,6,0.007,0.000,3423,1861,598,0,0,22,0,0,0
$GC,9889,14.98,9636.8,462.0,8.6,919,9904,0.00,3.15,0.00,0.007,4,0.007,0.000,3424,3600,598,0,0,15,0,0,0
$GC,10156,15.08,9651.1,443.6,6.6,942,10167,0.00,3.58,0.00,0.007,6,0.007,0.000,3426,1906,599,0,0,18,0,0,0
$GC,10492,15.16,9651.1,420.1,7.0,974,10498,0.00,2.72,0.00,0.007,4,0.007,0.000,3427,3540,595,0,0,11,0,0,0
$GC,10750,15.04,9651.1,399.8,10.3,996,10759,0.00,3.15,0.00,0.007,6,0.007,0.000,3428,1845,597,0,0,20,0,0,0
$GC,11084,15.18,9665.8,371.2,6.6,1028,11099,0.00,3.10,0.00,0.007,4,0.007,0.000,3427,3633,598,0,0,17,0,0,0
$GC,11351,15.07,9665.8,351.1,9.2,1051,11357,0.00,3.30,0.00,0.007,6,0.007,0.000,3426,1913,599,0,0,17,0,0,0
$GC,11676,15.15,9672.9,322.7,6.8,1082,11691,0.00,3.15,0.00,0.007,4,0.007,0.000,3423,3774,596,0,0,16,0,0,0
$GC,11944,15.15,9672.9,303.2,7.2,1105,11950,0.00,3.15,0.00,0.007,6,0.007,0.000,3426,1870,613,0,0,13,0,0,0
$GC,12275,15.17,9683.7,280.2,6.7,1137,12290,0.00,3.03,0.00,0.007,4,0.007,0.000,3423,3574,585,0,0,15,0,0,0
$GC,12542,15.08,9683.7,260.3,9.2,1160,12549,0.00,3.08,0.00,0.007,6,0.007,0.000,3425,1969,599,0,0,14,0,0,0
$GC,12866,15.08,9683.7,228.7,8.0,1191,12881,0.00,3.10,0.00,0.007,4,0.007,0.000,3421,3573,597,0,0,17,0,0,0
$GC,13133,15.15,9693.8,208.9,6.7,1214,13140,0.00,3.08,0.00,0.007,6,0.007,0.000,3426,1830,602,0,0,16,0,0,0
$GC,13465,15.26,9728.2,188.0,5.9,1246,13480,0.00,3.45,0.00,0.007,4,0.007,0.000,3423,3792,597,0,0,17,0,0,0
$GC,13732,15.27,9735.9,169.8,6.8,1269,13741,0.00,3.58,0.00,0.000,6,0.007,0.000,3427,2024,602,0,0,17,0,0,0
$GC,14066,15.20,9735.9,141.3,10.1,1301,14080,0.00,2.90,0.00,0.007,4,0.000,0.000,3428,3703,600,0,0,11,0,0,0
$GC,14299,15.20,9735.9,121.4,7.3,1321,14308,0.00,3.33,0.00,0.007,6,0.007,0.000,3429,1694,601,0,0,13,0,0,0
$GC,14634,15.20,9735.9,93.8,9.1,1353,14649,0.00,3.28,0.00,0.007,4,0.007,0.000,3427,3606,599,0,0,16,0,0,0
$GC,14902,15.20,9735.9,70.8,8.7,1376,14911,0.00,3.08,0.00,0.000,6,0.007,0.000,3428,2011,599,0,0,15,0,0,0
$GC,15236,15.20,9735.9,41.1,7.6,1408,15251,0.00,3.30,0.00,0.007,4,0.007,0.000,3427,3549,600,0,0,22,0,0,0
$GC,15382,15.26,9735.9,30.3,8.3,1420,15388,0.00,3.00,0.00,0.007,6,0.007,0.000,3424,2006,597,0,0,18,0,0,0
$GC,15582,14.97,9735.9,15.8,10.7,1442,15598,0.00,3.65,0.00,0.007,4,0.000,0.000,3425,390,601,0,0,21,0,0,0
$GC,15632,14.66,9735.9,8.9,13.6,1450,15646,0.00,3.17,0.00,0.007,6,0.007,0.000,3424,2311,601,0,0,15,0,0,0
$STATE,15683,end climb,SURFACE_DEPTH_REACHED
$STATE,15684,begin surface coast
$FINISH,1.8,1.024944
$STATE,15713,end surface coast,CONTROL_FINISHED_OK
$STATE,15713,begin surface
$SM_CCo,15803,0.00,0.000,0,0,598,466.81
$SM_GC,0.05,14.60,0.00,0.00,0.000,0.007,0.007,425,1574,598,-10.06,-12.66,466.81
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,0,1255651442,0.083333,0.067222,80,0,0,0,0,0,566,0,0,0,0,0
$RAFOS,4,1255639441,20.750000,20.733612,80,0,0,0,0,0,846,0,0,0,0,0
$RAFOS,3,1255638848,20.583334,20.568890,80,0,0,0,0,0,709,0,0,0,0,0
$RAFOS,2,1255638243,20.416666,20.400833,80,0,0,0,0,0,938,0,0,0,0,0
$RAFOS,1,1255637643,20.250000,20.234167,80,0,0,0,0,0,718,0,0,0,0,0
$RAFOS,0,1255637041,20.083334,20.066944,80,0,0,0,0,0,572,0,0,0,0,0
$RAFOS_FIX,6628.995605,-6148.271484,151009,202048,5,80,41.26
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078115310
$INTERNAL_PRESSURE,16.2446
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,266.269
$10V_AH,10.7,39.934
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,76.592
$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,31.550,180.450,518.400,0.000,0.000,0.000,0.000,110.514,0.000,0.000,30.897,2475.697,10508.414,1016.964,1636.467,532.276,33.352,1225.118,0.000,1554.388,2520.000,2.599,0.000
$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,883.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,47214,1464
$CAP_FILE_SIZE,189960,8
$CFSIZE,260165632,243589120
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,37,927,3,0
$SOUNDSPEED,1453.8
$GPS,161009,002132,6640.404,-6013.495,31,1.1,31,18.0