version: 66.06
glider: 1
mission: 14
dive: 118
start: 10 17 109 4 47 39
data:
$ID,1
$MISSION,14
$DIVE,118
$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,-221642.23
$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,5
$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,77.595001
$FG_AHR_24V,4.6384382
$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
$GPS1,044823,6639.960,-6036.093,23,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,045413,6639.959,-6036.080,9,1.1,9,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.151,-0.178
$KALMAN_X,-66586.7,-1116.9,-873.3,-26940.1,1062.2
$KALMAN_Y,5131.1,570.2,924.0,-30170.0,76.9
$MHEAD_RNG_PITCHd_Wd,121.6,409414,-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,25,-0.99,-146.6,0.0,0.0,0,86,0.00,0.00,-58.30,0.000,2,0.007,0.000,435,1826,2382,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.1,-1.8,12,143,10.43,3.33,-24.10,0.000,4,0.000,0.000,2524,3791,3120,12,0,19,0,0,0
$GC,168,-0.49,-146.6,8.7,-12.7,25,185,0.57,3.17,0.00,0.007,6,0.000,0.000,2647,1760,3114,2,0,20,0,0,0
$GC,252,-0.16,-146.6,22.7,-17.2,38,267,0.35,2.55,0.00,0.007,4,0.000,0.000,2737,404,3123,1,0,14,0,0,0
$GC,295,0.14,-146.6,29.8,-15.7,41,305,0.00,3.70,0.00,0.007,6,0.007,0.000,2732,2639,3115,0,0,21,0,0,0
$GC,502,0.21,-146.6,56.3,-16.0,61,517,0.00,3.92,0.00,0.007,4,0.007,0.000,2733,426,3117,0,0,21,0,0,0
$GC,768,0.21,-146.6,73.1,-9.3,84,776,0.00,3.85,0.00,0.007,6,0.007,0.000,2733,2188,3116,0,0,20,0,0,0
$STATE,1046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1046,begin apogee
$GC,1054,-0.31,0.0,100.7,9.4,111,1192,0.62,0.00,124.97,0.000,6,0.000,0.000,2562,1827,2504,2,0,0,0,1,0
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1197,0.99,146.6,112.9,0.0,125,1338,1.70,3.22,120.85,0.000,4,0.000,0.000,2917,3740,1906,1,0,17,0,0,0
$GC,1590,2.67,589.0,144.3,-7.1,160,1894,2.00,4.00,265.88,0.000,6,0.000,0.000,3316,1829,600,2,0,18,0,3,0
$GC,2208,4.28,1005.6,193.6,-6.3,220,2224,0.00,3.25,0.15,0.007,4,0.007,0.000,3317,3554,600,0,0,16,0,0,0
$GC,2476,4.76,1399.0,208.1,-5.6,243,2487,0.00,3.40,1.10,0.000,6,0.007,0.000,3316,1441,594,0,0,18,0,0,0
$GC,2811,5.24,1785.7,226.1,-5.4,275,2827,0.00,3.75,0.12,0.000,4,0.007,0.000,3315,3645,600,0,0,18,0,0,0
$GC,3080,5.79,2234.6,243.5,-7.4,298,3091,0.00,2.70,1.58,0.000,6,0.007,0.000,3316,1920,605,0,0,13,0,0,0
$GC,3416,6.39,2720.7,271.4,-8.5,330,3433,0.00,3.17,0.12,0.007,4,0.007,0.000,3312,3642,600,0,0,17,0,0,0
$GC,3686,6.91,3143.5,291.7,-6.5,353,3696,0.00,3.03,1.33,0.000,6,0.007,0.000,3313,1905,600,0,0,18,0,0,0
$GC,4020,7.43,3570.9,314.6,-6.7,385,4036,0.00,2.65,0.25,0.000,4,0.007,0.000,3315,3538,600,0,0,16,0,0,0
$GC,4288,7.98,4016.2,332.8,-7.2,408,4300,0.00,2.67,1.65,0.000,6,0.007,0.000,3317,1931,597,0,0,12,0,0,0
$GC,4625,8.56,4484.8,361.0,-8.0,440,4642,0.00,3.70,0.12,0.000,4,0.007,0.000,3316,3505,601,0,0,19,0,0,0
$GC,4895,9.06,4891.0,379.3,-6.0,463,4905,0.00,2.92,1.77,0.000,6,0.000,0.000,3313,1918,598,0,0,12,0,0,0
$GC,5231,9.55,5295.3,399.1,-5.9,495,5247,0.00,3.38,0.12,0.007,4,0.007,0.000,3315,3786,598,0,0,16,0,0,0
$GC,5500,10.09,5733.5,419.6,-7.0,518,5510,0.00,3.30,1.20,0.000,6,0.007,0.000,3319,1825,604,0,0,18,0,0,0
$GC,5835,10.58,6132.7,440.1,-5.8,550,5851,0.00,3.30,0.12,0.007,4,0.007,0.000,3317,3573,592,0,0,18,0,0,0
$GC,6103,11.14,6584.2,455.3,-7.4,573,6115,0.00,3.20,1.27,0.000,6,0.007,0.000,3316,2031,601,0,0,18,0,0,0
$GC,6439,11.63,6983.9,477.5,-5.8,605,6455,0.00,3.03,0.12,0.007,4,0.007,24.502,3316,3584,599,0,0,18,0,0,0
$GC,6707,12.13,7393.1,494.9,-6.1,628,6717,0.00,2.62,2.05,0.000,6,0.007,0.000,3320,1907,599,0,0,12,0,0,0
$GC,7042,12.06,7393.1,482.8,7.2,660,7048,0.00,2.75,0.12,0.007,4,0.000,0.000,3314,3597,599,0,0,11,0,0,0
$GC,7301,12.00,7393.1,463.2,7.2,682,7313,0.00,3.17,1.38,0.000,6,0.007,0.000,3315,1834,600,0,0,16,0,0,0
$GC,7637,12.03,7414.3,440.8,6.3,714,7653,0.00,3.30,0.12,0.000,4,0.007,0.000,3317,3703,564,0,0,18,0,0,0
$GC,7905,12.04,7421.5,422.8,6.8,737,7917,0.00,3.75,1.23,0.000,6,0.000,0.000,3315,1830,602,0,0,18,0,0,0
$GC,8241,12.26,7477.1,402.2,5.2,769,8257,0.00,2.92,0.12,0.007,4,0.007,0.000,3316,3678,595,0,0,16,0,0,0
$GC,8509,12.15,7477.1,382.4,9.6,792,8519,0.00,2.95,1.65,0.000,6,0.007,0.000,3314,1995,599,0,0,12,0,0,0
$GC,8844,12.29,7496.3,354.9,6.4,824,8860,0.00,2.90,0.17,0.000,4,0.007,0.000,3314,3715,599,0,0,16,0,0,0
$GC,9112,12.19,7496.3,334.2,9.6,847,9123,0.00,3.40,1.40,0.000,6,0.007,0.000,3316,1925,581,0,0,16,0,0,0
$GC,9447,12.27,7496.3,305.3,7.3,879,9462,0.00,2.70,0.12,0.000,4,0.007,0.000,3316,3523,599,0,0,15,0,0,0
$GC,9715,12.18,7496.3,284.0,10.2,902,9725,0.00,2.75,1.85,0.000,6,0.007,0.000,3311,1884,602,0,0,12,0,0,0
$GC,10050,12.27,7503.3,255.5,6.8,934,10066,0.00,3.65,0.12,0.000,4,0.007,0.000,3317,3599,601,0,0,20,0,0,0
$GC,10318,12.17,7503.3,234.5,10.3,957,10330,0.00,3.30,1.52,0.000,6,0.007,0.000,3316,1549,601,0,0,20,0,0,0
$GC,10654,12.17,7503.3,207.6,8.7,989,10670,0.00,3.72,0.15,0.007,4,0.007,0.000,3316,3443,603,0,0,17,0,0,0
$GC,10921,12.17,7503.3,185.9,8.0,1012,10933,0.00,3.20,2.17,0.000,6,0.000,0.000,3316,1760,597,0,0,16,0,0,0
$GC,11258,12.29,7511.8,162.5,6.8,1044,11275,0.00,3.35,0.15,0.000,4,0.007,0.000,3317,3558,600,0,0,18,0,0,0
$GC,11527,12.40,7531.1,143.6,6.4,1067,11538,0.00,2.78,1.80,0.000,6,0.007,0.000,3315,1798,595,0,0,14,0,0,0
$GC,11863,12.56,7532.3,120.0,7.0,1099,11879,0.00,3.50,0.15,0.007,4,0.007,0.000,3315,3666,599,0,0,19,0,0,0
$GC,12131,12.25,7532.3,95.5,14.7,1122,12143,0.00,2.80,2.22,0.000,6,0.007,0.000,3319,1913,596,0,0,10,0,0,0
$GC,12467,12.41,7532.3,70.4,7.4,1154,12483,0.00,3.15,0.12,0.007,4,0.007,0.000,3315,3722,597,0,0,15,0,0,0
$GC,12735,12.32,7532.3,42.2,9.0,1177,12747,0.00,3.83,0.52,0.000,6,0.007,0.000,3312,1953,594,0,0,22,0,0,0
$GC,12946,12.39,7582.3,27.7,5.4,1197,12962,0.00,3.22,0.12,0.007,4,0.007,0.000,3315,3540,594,0,0,19,0,0,0
$GC,13159,12.45,7632.6,16.2,5.4,1221,13174,0.00,2.78,1.30,0.000,6,0.007,0.000,3320,1888,598,0,0,16,0,0,0
$GC,13243,12.38,7632.6,10.0,8.4,1235,13249,0.00,2.28,0.12,0.007,4,0.000,0.000,3319,460,593,0,0,11,0,0,0
$GC,13272,12.25,7632.6,6.9,10.1,1240,13287,0.00,3.20,0.90,0.000,6,0.007,0.000,3314,2295,594,0,0,16,0,0,0
$STATE,13307,end climb,SURFACE_DEPTH_REACHED
$STATE,13307,begin surface coast
$FINISH,0.0,1.012198
$STATE,13337,end surface coast,CONTROL_FINISHED_OK
$STATE,13337,begin surface
$SM_CCo,13425,0.00,0.000,0,0,596,467.79
$SM_GC,0.04,14.27,0.00,0.00,0.000,0.007,0.007,399,1798,596,-10.41,-6.73,467.79
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1255767846,8.416667,8.401667,80,0,0,0,0,0,980,0,0,0,0,0
$RAFOS,1,1255767243,8.250000,8.234167,80,0,0,0,0,0,777,0,0,0,0,0
$RAFOS,0,1255766643,8.083333,8.067500,80,0,0,0,0,0,607,0,0,0,0,0
$RAFOS,4,1255754643,4.750000,4.734167,80,0,0,0,0,0,889,0,0,0,0,0
$RAFOS_FIX,6626.302246,-6223.931641,171009,040423,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078211419
$INTERNAL_PRESSURE,16.137
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,271.841
$10V_AH,10.7,40.486
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.723
$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,29.950,154.925,544.375,0.000,0.000,0.000,0.000,112.424,0.000,0.000,11.717,2216.530,8724.302,1005.268,1400.609,502.334,33.352,1216.034,0.000,1335.924,1440.000,4.449,0.000
$DEVICE_MAMPS,119.000,24501.759,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,41012,1251
$CAP_FILE_SIZE,169022,0
$CFSIZE,260165632,242970624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,32,804,4,0
$SOUNDSPEED,1450.9
$GPS,171009,084211,6639.631,-6033.007,22,1.1,22,18.0