version: 66.06
glider: 1
mission: 14
dive: 115
start: 10 16 109 17 12 55
data:
$ID,1
$MISSION,14
$DIVE,115
$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,-221566.69
$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,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,77.18998
$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
$GPS1,171343,6638.976,-6028.938,27,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,171930,6638.944,-6028.903,9,1.1,10,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,-0.179
$KALMAN_X,-62041.5,-1576.6,-1363.5,-25303.8,1827.9
$KALMAN_Y,3923.5,199.2,31.9,-29520.2,344.1
$MHEAD_RNG_PITCHd_Wd,122.1,404042,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,82,0.00,0.00,-52.35,0.000,2,0.007,0.000,399,2176,2189,0,0,0,0,0,0
$GC,86,-0.99,-146.6,3.1,-2.0,11,144,10.27,3.00,-30.15,0.000,4,0.000,0.000,2532,334,3102,8,0,15,0,0,0
$GC,324,-0.81,-146.6,32.6,-11.8,45,339,0.00,3.12,0.00,0.007,6,0.007,0.000,2530,2281,3154,0,0,16,0,0,0
$GC,525,-0.81,-146.6,51.2,-9.6,64,540,0.00,3.28,0.00,0.007,4,0.007,0.000,2530,430,3101,0,0,15,0,0,0
$GC,792,-0.81,-146.6,75.5,-8.9,87,801,0.00,3.15,0.00,0.007,6,0.007,0.000,2531,2237,3103,0,0,13,0,0,0
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1115,-0.31,0.0,100.8,7.7,117,1244,0.62,0.00,119.00,0.000,6,0.000,0.007,2657,1812,2523,2,0,0,0,1,0
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1250,0.99,146.6,111.4,0.0,130,1385,1.30,3.30,122.25,0.000,4,0.000,0.000,2957,3562,1915,1,0,14,0,0,0
$GC,1638,2.83,648.4,137.7,-9.0,166,1937,1.83,3.20,266.40,0.000,6,0.000,0.000,3341,1844,595,1,0,16,0,2,0
$GC,2251,4.45,1074.1,185.3,-6.6,225,2266,0.00,2.80,0.12,0.000,4,0.007,0.000,3343,3554,597,0,0,13,0,0,0
$GC,2473,4.99,1515.5,200.5,-7.1,244,2483,0.00,2.65,1.80,0.000,6,0.007,0.000,3342,1889,596,0,0,12,0,0,0
$GC,2808,5.59,2000.3,227.6,-8.5,276,2824,0.00,3.28,0.12,0.000,4,0.007,0.000,3344,3604,595,0,0,16,0,0,0
$GC,2916,6.14,2447.4,235.2,-7.3,285,2932,0.00,3.17,0.10,0.000,6,0.007,0.001,3348,1930,595,0,0,20,0,0,0
$GC,3247,6.70,2904.7,259.3,-7.6,316,3262,0.00,3.22,0.12,0.007,4,0.007,0.000,3342,3787,596,0,0,18,0,0,0
$GC,3267,7.28,3378.3,261.1,-8.1,317,3278,0.00,4.10,0.17,0.007,6,0.007,0.000,3345,1860,594,0,0,26,0,0,0
$GC,3603,7.80,3798.9,285.3,-6.4,349,3620,0.00,3.55,0.12,0.007,4,0.007,0.000,3342,3679,589,0,0,23,0,0,0
$GC,3735,8.33,4231.0,293.8,-6.8,360,3753,0.00,3.25,0.80,0.000,6,0.000,0.000,3343,1834,596,0,0,17,0,0,0
$GC,4068,8.87,4664.8,316.4,-6.9,391,4083,0.00,2.97,0.12,0.007,4,0.000,0.000,3345,3579,596,0,0,17,0,0,0
$GC,4110,9.42,5119.6,319.6,-7.5,394,4121,0.00,3.45,1.02,0.000,6,0.007,0.000,3344,1873,595,0,0,18,0,0,0
$GC,4445,9.96,5551.9,342.6,-6.8,426,4463,0.00,3.15,0.15,0.007,4,0.007,0.000,3345,3554,595,0,0,16,0,0,0
$GC,4715,10.50,5996.2,361.8,-7.2,449,4726,0.00,3.17,1.10,0.000,6,0.007,0.000,3345,1637,594,0,0,15,0,0,0
$GC,5051,11.05,6443.1,385.5,-7.3,481,5067,0.00,4.47,0.12,0.007,4,0.007,0.000,3341,3577,594,0,0,25,0,0,0
$GC,5124,11.60,6890.6,390.8,-7.3,487,5139,0.00,2.92,1.20,0.000,6,0.007,0.002,3345,1851,609,0,0,13,0,0,0
$GC,5454,12.15,7335.4,413.4,-7.2,518,5469,0.00,3.17,0.12,0.007,4,0.007,0.000,3344,3558,609,0,0,15,0,0,0
$GC,5485,12.72,7795.0,415.9,-7.7,520,5497,0.00,3.03,1.52,0.000,6,0.007,0.000,3342,1801,596,0,0,17,0,0,0
$GC,5822,13.25,8225.8,439.8,-6.8,552,5838,0.00,3.38,0.12,0.000,4,0.007,0.000,3345,3655,593,0,0,17,0,0,0
$GC,5917,13.79,8664.6,446.5,-7.0,560,5933,0.00,3.47,0.00,0.007,6,0.007,0.000,3342,1817,599,0,0,18,0,0,0
$GC,6247,14.28,9065.2,465.7,-5.8,591,6262,0.00,3.92,0.00,0.007,4,0.007,0.000,3345,3761,592,0,0,22,0,0,0
$GC,6454,14.78,9472.8,477.9,-6.0,609,6469,0.00,3.60,0.00,0.007,6,0.007,0.000,3344,2021,591,0,0,17,0,0,0
$GC,6783,15.35,9935.0,501.2,-7.8,640,6798,0.00,2.97,0.00,0.007,4,0.007,0.000,3345,3550,596,0,0,13,0,0,0
$GC,7051,15.06,9935.0,504.2,7.3,663,7057,0.00,3.33,0.00,0.007,6,0.007,0.000,3343,1932,595,0,0,14,0,0,0
$GC,7375,15.06,9935.0,478.7,7.3,694,7391,0.00,3.60,0.00,0.007,4,0.000,0.000,3343,3782,594,0,0,20,0,0,0
$GC,7474,15.06,9935.0,471.4,7.5,702,7480,0.00,3.90,0.00,0.007,6,0.007,0.000,3338,1789,595,0,0,24,0,0,0
$GC,7799,15.26,9991.3,452.4,5.2,733,7814,0.00,2.88,0.00,0.007,4,0.007,0.000,3348,3693,597,0,0,16,0,0,0
$GC,7887,15.19,9991.3,446.4,8.1,740,7897,0.00,4.57,0.00,0.007,6,0.007,0.000,3341,1848,591,0,0,23,0,0,0
$GC,8222,15.10,9991.3,417.4,8.4,772,8228,0.00,2.42,0.00,0.007,4,0.000,0.000,3342,464,588,0,0,11,0,0,0
$GC,8239,15.10,9991.3,416.1,7.4,773,8254,0.00,3.30,0.00,0.007,6,0.000,0.000,3344,2188,598,0,0,20,0,0,0
$GC,8568,15.10,9991.3,393.5,7.7,804,8582,0.00,3.15,0.00,0.007,4,0.007,0.000,3345,3640,592,0,0,16,0,0,0
$GC,8834,15.10,9991.3,372.7,8.1,827,8843,0.00,2.70,0.00,0.000,6,0.007,0.000,3343,1914,594,0,0,12,0,0,0
$GC,9159,15.10,9991.3,345.3,8.3,858,9165,0.00,3.00,0.00,0.007,4,0.007,0.000,3350,3545,593,0,0,14,0,0,0
$GC,9417,15.10,9991.3,325.0,7.1,880,9424,0.00,3.15,0.00,0.007,6,0.007,0.000,3347,1916,597,0,0,14,0,0,0
$GC,9742,15.10,9991.3,299.1,8.1,911,9748,0.00,2.70,0.00,0.007,4,0.000,0.000,3344,3526,595,0,0,11,0,0,0
$GC,9775,15.10,9991.3,296.3,8.9,913,9786,0.00,3.65,0.00,0.007,6,0.007,0.000,3343,1847,595,0,0,19,0,0,0
$GC,10110,15.10,9991.3,269.3,8.3,945,10125,0.00,3.25,0.00,0.000,4,0.007,0.000,3344,3615,595,0,0,14,0,0,0
$GC,10376,15.10,9991.3,248.1,8.4,968,10383,0.00,3.53,0.00,0.007,6,0.007,0.000,3340,1818,597,0,0,21,0,0,0
$GC,10701,15.10,9991.3,223.0,7.8,999,10718,0.00,3.65,0.00,0.007,4,0.007,0.000,3342,3546,604,0,0,21,0,0,0
$GC,10970,15.10,9991.3,203.2,7.2,1022,10978,0.00,3.38,0.00,0.007,6,0.007,0.000,3344,1783,595,0,0,16,0,0,0
$GC,11295,15.23,10032.5,183.8,5.7,1053,11311,0.00,3.00,0.00,0.007,4,0.007,0.000,3343,3667,597,0,0,16,0,0,0
$GC,11469,15.31,10051.1,173.6,6.4,1068,11485,0.00,3.45,0.00,0.007,6,0.007,0.000,3344,1705,593,0,0,16,0,0,0
$GC,11800,15.42,10061.3,152.4,6.7,1099,11817,0.00,3.83,0.00,0.007,4,0.007,0.000,3342,3755,588,0,0,20,0,0,0
$GC,11907,15.30,10061.3,141.7,10.3,1108,11922,0.00,3.53,0.00,0.007,6,0.000,0.000,3350,1724,593,0,0,18,0,0,0
$GC,12236,15.43,10066.7,112.6,6.8,1139,12253,0.00,3.70,0.00,0.007,4,0.007,0.000,3342,3705,600,0,0,19,0,0,0
$GC,12421,15.53,10066.7,99.9,7.6,1155,12438,0.00,3.83,0.00,0.000,6,0.007,0.000,3345,1936,592,0,0,21,0,0,0
$GC,12751,15.53,10066.7,72.4,7.7,1186,12766,0.00,3.22,0.00,0.007,4,0.007,0.000,3340,3616,596,0,0,16,0,0,0
$GC,13018,15.53,10066.7,50.4,7.5,1209,13025,0.00,3.28,0.00,0.007,6,0.007,0.000,3340,1654,596,0,0,17,0,0,0
$GC,13343,15.62,10132.6,26.7,4.9,1240,13359,0.00,3.88,0.00,0.007,4,0.007,0.000,3344,3476,598,0,0,20,0,0,0
$GC,13497,15.43,10132.6,19.6,7.5,1253,13503,0.00,2.97,0.00,0.007,6,0.007,0.000,3342,1874,595,0,0,16,0,0,0
$GC,13571,15.10,10132.6,10.8,13.9,1266,13586,0.00,3.42,0.00,0.007,4,0.007,0.000,3343,3704,597,0,0,20,0,0,0
$STATE,13623,end climb,SURFACE_DEPTH_REACHED
$STATE,13623,begin surface coast
$FINISH,1.7,1.014742
$STATE,13647,end surface coast,CONTROL_FINISHED_OK
$STATE,13647,begin surface
$SM_CCo,13739,0.00,0.000,0,0,597,466.32
$SM_GC,0.05,14.62,0.00,0.00,0.000,0.007,0.007,560,1737,597,-9.66,-8.28,466.32
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255725847,20.750000,20.735277,80,0,0,0,0,0,857,0,0,0,0,0
$RAFOS,3,1255725251,20.583334,20.569723,80,0,0,0,0,0,730,0,0,0,0,0
$RAFOS,2,1255724651,20.416666,20.403055,80,0,0,0,0,0,940,0,0,0,0,0
$RAFOS,1,1255724047,20.250000,20.235277,80,0,0,0,0,0,748,0,0,0,0,0
$RAFOS,0,1255723445,20.083334,20.068056,80,0,0,0,0,0,592,0,0,0,0,0
$RAFOS_FIX,6626.292969,-6209.821289,161009,202048,5,80,7.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078178125
$INTERNAL_PRESSURE,16.2195
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,269.509
$10V_AH,10.7,40.288
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.318
$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,28.650,187.400,516.525,0.000,0.000,0.000,0.000,108.375,0.000,0.000,10.104,2122.130,9053.357,1068.939,1322.732,521.057,33.350,1281.602,0.000,1265.822,1800.000,2.073,0.000
$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,785.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,41000,1279
$CAP_FILE_SIZE,166710,9
$CFSIZE,260165632,243208192
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,27,968,3,0
$SOUNDSPEED,1451.0
$GPS,161009,211133,6636.917,-6031.189,24,1.1,25,18.0