version: 66.06
glider: 1
mission: 14
dive: 113
start: 10 16 109 8 58 10
data:
$ID,1
$MISSION,14
$DIVE,113
$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,-221536
$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,3
$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,76.902969
$FG_AHR_24V,4.6384358
$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
$GPS1,085850,6638.690,-6020.810,18,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,090500,6638.659,-6020.769,17,1.1,17,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.148,-0.181
$KALMAN_X,-58066.8,-1661.2,-1177.2,-23462.1,1863.3
$KALMAN_Y,3796.8,-473.9,-451.3,-28690.5,261.0
$MHEAD_RNG_PITCHd_Wd,122.8,399159,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-53.33,0.000,2,0.007,0.000,427,1844,2232,0,0,0,0,0,0
$GC,87,-0.99,-146.6,3.1,-1.8,11,134,10.23,3.05,-27.80,0.000,4,0.000,0.000,2544,410,3075,8,0,20,0,0,0
$GC,279,-0.58,-146.6,31.0,-14.4,40,291,0.80,3.30,-1.08,0.000,6,0.000,0.000,2677,2363,3109,2,0,17,0,0,0
$GC,487,-0.58,-146.6,48.9,-8.3,60,494,0.73,1.98,0.00,0.000,4,0.000,0.000,2515,3602,3107,1,0,10,0,0,0
$GC,701,-0.58,-146.6,68.6,-8.9,78,709,0.57,3.33,0.00,0.007,6,0.000,0.000,2657,1836,3109,2,0,18,0,0,0
$GC,1033,-0.58,-146.6,94.8,-7.2,110,1040,0.68,2.28,0.00,0.007,4,0.000,0.000,2504,435,3108,1,0,12,0,0,0
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1109,begin apogee
$GC,1119,-0.31,0.0,100.2,6.4,116,1247,0.77,0.00,120.78,0.000,6,0.000,0.007,2708,2149,2512,1,0,0,0,0,0
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1250,0.99,146.6,109.7,0.0,129,1388,1.17,2.78,117.38,0.000,4,0.000,0.000,2955,3701,1926,2,0,16,0,0,0
$GC,1640,2.73,608.2,140.4,-7.8,163,1934,1.80,4.65,265.42,0.000,6,0.000,0.000,3346,1825,596,1,0,26,0,1,0
$GC,2248,4.31,1042.9,188.3,-6.9,222,2264,0.00,3.08,0.12,0.007,4,0.007,0.000,3344,3648,592,0,0,13,0,0,0
$GC,2516,4.92,1540.9,206.7,-8.9,245,2526,0.00,3.30,1.33,0.000,6,0.007,0.000,3341,1864,603,0,0,14,0,0,0
$GC,2851,5.43,1956.2,230.0,-6.3,277,2867,0.00,3.78,0.12,0.000,4,0.007,0.000,3344,3689,599,0,0,19,0,0,0
$GC,3120,5.88,2324.7,246.4,-4.8,300,3130,0.00,3.65,0.57,0.000,6,0.007,0.000,3351,1826,612,0,0,18,0,0,0
$GC,3455,6.35,2703.4,264.6,-5.1,332,3471,0.00,3.88,0.12,0.007,4,0.007,0.000,3345,3574,601,0,0,19,0,0,0
$GC,3723,6.92,3163.1,280.2,-7.7,355,3733,0.00,3.67,0.57,0.000,6,0.007,0.000,3345,1912,601,0,0,22,0,0,0
$GC,4058,7.40,3553.2,298.5,-5.5,387,4074,0.00,2.92,0.12,0.007,4,0.007,0.000,3342,3579,600,0,0,13,0,0,0
$GC,4326,7.96,4012.7,318.2,-7.7,410,4338,0.00,3.40,1.02,0.000,6,0.007,0.000,3345,1820,603,0,0,16,0,0,0
$GC,4663,8.44,4402.9,339.5,-5.5,442,4680,0.00,3.65,0.12,0.007,4,0.007,0.000,3342,3618,604,0,0,20,0,0,0
$GC,4894,8.93,4800.5,354.9,-5.7,462,4911,0.00,3.95,0.15,0.007,6,0.000,0.000,3347,1931,609,0,0,22,0,0,0
$GC,5225,9.50,5262.4,375.0,-7.8,493,5232,0.00,2.65,0.12,0.007,4,0.007,0.000,3342,3559,603,0,0,10,0,0,0
$GC,5484,9.99,5662.2,391.2,-5.8,515,5496,0.00,2.92,1.65,0.000,6,0.007,0.000,3345,1647,599,0,0,16,0,0,0
$GC,5821,10.48,6059.0,411.8,-5.7,547,5839,0.00,3.60,0.12,0.007,4,0.007,0.000,3342,3506,602,0,0,19,0,0,0
$GC,6091,11.00,6482.0,426.9,-6.5,570,6101,0.00,3.03,1.27,0.000,6,0.007,0.000,3350,1832,602,0,0,12,0,0,0
$GC,6427,11.52,6902.7,449.7,-6.4,602,6443,0.00,3.33,0.12,0.007,4,0.007,0.000,3351,3459,603,0,0,18,0,0,0
$GC,6570,12.02,7315.5,458.9,-6.2,614,6587,0.00,3.90,0.15,0.007,6,0.007,0.000,3347,1662,603,0,0,25,0,0,0
$GC,6901,12.56,7751.9,480.4,-7.0,645,6917,0.00,3.85,0.12,0.007,4,0.007,0.000,3342,3609,599,0,0,19,0,0,0
$GC,7169,13.08,8177.2,498.4,-6.6,668,7180,0.00,3.53,0.88,0.000,6,0.007,0.000,3342,1671,598,0,0,18,0,0,0
$GC,7504,13.56,8565.2,520.5,-5.4,700,7511,0.00,2.33,0.20,0.007,4,0.007,0.000,3346,423,597,0,0,13,0,0,0
$GC,7539,14.02,8937.0,522.3,-4.9,702,7548,0.00,3.50,0.00,0.007,6,0.007,0.000,3345,2170,601,0,0,16,0,0,0
$GC,7874,13.81,8937.0,518.5,9.1,734,7880,0.00,2.45,0.00,0.007,4,0.007,0.000,3343,3590,609,0,0,11,0,0,0
$GC,8131,13.81,8937.0,498.7,7.1,756,8139,0.00,3.28,0.00,0.007,6,0.000,0.000,3350,1624,601,0,0,19,0,0,0
$GC,8457,13.74,8937.0,474.1,7.7,787,8472,0.00,3.90,0.00,0.000,4,0.007,0.000,3343,3590,601,0,0,24,0,0,0
$GC,8724,13.91,8990.2,456.6,5.3,810,8734,0.00,3.50,0.00,0.007,6,0.007,0.000,3346,1707,601,0,0,18,0,0,0
$GC,9059,14.02,9000.3,435.2,6.7,842,9075,0.00,3.30,0.00,0.000,4,0.007,0.000,3349,3579,599,0,0,17,0,0,0
$GC,9327,13.93,9000.3,416.3,9.1,865,9334,0.00,3.12,0.00,0.007,6,0.007,0.000,3346,1765,599,0,0,15,0,0,0
$GC,9652,14.03,9000.3,387.2,7.3,896,9667,0.00,3.53,0.00,0.007,4,0.007,0.000,3346,3534,592,0,0,16,0,0,0
$GC,9920,13.93,9000.3,366.6,10.1,919,9927,0.00,2.75,0.00,0.000,6,0.007,0.000,3344,1916,600,0,0,13,0,0,0
$GC,10246,13.87,9000.3,332.8,9.4,950,10261,0.00,3.12,0.00,0.007,4,0.007,0.000,3346,3585,600,0,0,16,0,0,0
$GC,10513,13.92,9000.3,311.5,7.6,973,10520,0.00,3.15,0.00,0.007,6,0.007,0.000,3344,1801,602,0,0,18,0,0,0
$GC,10844,13.92,9000.3,285.6,7.6,1005,10860,0.00,3.75,0.00,0.000,4,0.007,0.000,3346,3758,567,0,0,21,0,0,0
$GC,11111,13.92,9000.3,265.3,7.5,1028,11119,0.00,3.20,0.00,0.007,6,0.007,0.000,3344,1826,601,0,0,17,0,0,0
$GC,11436,13.97,9000.3,241.1,7.2,1059,11451,0.00,3.67,0.00,0.007,4,0.007,0.000,3346,3679,601,0,0,19,0,0,0
$GC,11704,14.04,9000.3,221.6,7.2,1082,11713,0.00,3.53,0.00,0.007,6,0.007,0.000,3342,1715,602,0,0,19,0,0,0
$GC,12038,14.12,9015.2,198.6,6.5,1114,12054,0.00,3.85,0.00,0.007,4,0.007,0.000,3345,3493,590,0,0,20,0,0,0
$GC,12305,14.07,9015.2,176.6,8.5,1137,12314,0.00,2.38,0.00,0.007,6,0.007,0.000,3351,1947,601,0,0,10,0,0,0
$GC,12630,14.17,9017.2,151.0,7.0,1168,12646,0.00,3.03,0.00,0.007,4,0.007,0.000,3343,3607,603,0,0,15,0,0,0
$GC,12898,14.09,9017.2,129.6,9.2,1191,12905,0.00,3.15,0.00,0.007,6,0.007,0.000,3343,1681,602,0,0,16,0,0,0
$GC,13223,14.01,9017.2,100.5,9.8,1222,13238,0.00,3.42,0.00,0.007,4,0.007,0.000,3345,3629,591,0,0,18,0,0,0
$GC,13467,14.01,9017.2,78.9,8.4,1243,13476,0.00,2.92,0.00,0.007,6,0.007,0.000,3345,1854,604,0,0,15,0,0,0
$GC,13792,14.01,9017.2,57.3,7.6,1274,13808,0.00,3.40,0.00,0.007,4,0.007,0.000,3342,3654,602,0,0,17,0,0,0
$GC,14060,14.05,9017.2,36.5,8.0,1297,14070,0.00,3.97,0.00,0.007,6,0.007,0.000,3342,1879,599,0,0,24,0,0,0
$GC,14270,14.03,9047.0,20.9,6.1,1317,14285,0.00,3.17,0.00,0.007,4,0.007,0.000,3342,3593,603,0,0,17,0,0,0
$GC,14448,14.07,9075.4,9.7,6.1,1346,14463,0.00,3.35,0.00,0.007,6,0.007,0.000,3345,1787,603,0,0,17,0,0,0
$GC,14531,14.08,9085.0,4.4,6.7,1360,14536,0.00,2.75,0.00,0.007,4,0.000,0.000,3346,3453,601,0,0,12,0,0,0
$GC,14548,14.09,9089.1,3.2,6.9,1363,14553,0.00,2.83,0.00,0.000,3,0.000,0.000,3349,1777,603,0,0,16,0,0,0
$STATE,14554,end climb,SURFACE_DEPTH_REACHED
$STATE,14554,begin surface coast
$FINISH,0.1,1.012198
$STATE,14597,end surface coast,CONTROL_FINISHED_OK
$STATE,14598,begin surface
$SM_CCo,14685,0.00,0.000,0,0,601,466.07
$SM_GC,0.05,14.70,0.00,0.00,0.000,0.007,0.007,459,2240,601,-9.96,6.02,466.07
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255697046,12.750000,12.735000,80,0,0,0,0,0,856,0,0,0,0,0
$RAFOS,3,1255696442,12.583333,12.567223,80,0,0,0,0,0,768,0,0,0,0,0
$RAFOS,2,1255695850,12.416667,12.402778,80,0,0,0,0,0,934,0,0,0,0,0
$RAFOS,1,1255695249,12.250000,12.235833,80,0,0,0,0,0,719,0,0,0,0,0
$RAFOS,0,1255694646,12.083333,12.068334,80,0,0,0,0,0,572,0,0,0,0,0
$RAFOS_FIX,6629.041504,-6203.900391,161009,121223,5,80,6.51
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078141040
$INTERNAL_PRESSURE,16.2209
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,268.535
$10V_AH,10.7,40.152
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.040
$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,31.450,177.250,512.500,0.000,0.000,0.000,0.000,116.800,0.000,0.000,18.153,2368.962,9687.367,976.035,1509.113,535.620,33.355,1178.136,0.000,1443.459,1800.000,2.533,0.000
$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,829.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,44025,1372
$CAP_FILE_SIZE,179186,8
$CFSIZE,260165632,243355648
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,30,920,1,0
$SOUNDSPEED,1452.1
$GPS,161009,131310,6639.191,-6024.920,22,1.1,22,18.0