version: 66.06
glider: 1
mission: 14
dive: 119
start: 10 17 109 8 41 26
data:
$ID,1
$MISSION,14
$DIVE,119
$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,-221679
$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,77.732224
$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
$GPS1,084211,6639.631,-6033.007,22,1.1,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,084659,6639.570,-6032.967,35,1.1,35,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.130,-0.195
$KALMAN_X,-66528.6,-91.7,-382.0,-26334.0,973.8
$KALMAN_Y,5186.3,656.2,686.0,-30736.3,-1029.5
$MHEAD_RNG_PITCHd_Wd,128.2,407150,-12.9,-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,-53.10,0.000,2,0.007,0.000,398,1794,2215,0,0,0,0,0,0
$GC,87,-0.99,-146.6,3.0,-1.6,11,145,11.23,2.88,-29.40,0.000,4,0.000,0.000,2623,326,3108,15,0,14,0,0,0
$GC,352,-0.92,-146.6,34.6,-8.2,47,362,1.00,3.30,0.00,0.007,6,0.000,0.000,2391,2394,3108,2,0,16,0,0,0
$GC,563,-0.92,-146.6,50.1,-6.7,67,580,0.77,3.40,0.00,0.007,4,0.000,0.000,2576,403,3109,2,0,14,0,0,0
$GC,833,-0.92,-146.6,73.0,-8.1,90,844,0.82,3.28,0.00,0.007,6,0.000,0.000,2414,2222,3079,2,0,17,0,0,0
$GC,1169,-0.92,-146.6,97.6,-6.7,122,1185,0.60,3.08,0.00,0.007,4,0.000,0.000,2548,586,3109,1,0,15,0,0,0
$STATE,1206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1216,-0.31,0.0,100.2,6.7,125,1348,0.57,0.00,120.95,0.000,6,0.000,0.007,2695,2251,2519,2,0,0,0,1,0
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1353,0.99,146.6,109.6,0.0,138,1497,1.15,2.67,120.93,0.000,4,0.000,0.000,2966,3633,1922,0,0,13,0,0,0
$GC,1749,2.74,613.5,142.8,-7.9,173,2042,1.83,3.20,266.98,0.000,6,0.000,0.000,3341,2038,598,2,0,16,0,2,0
$GC,2367,4.35,1029.0,182.4,-6.2,233,2383,0.00,2.88,0.12,0.007,4,0.007,0.000,3344,3424,600,0,0,15,0,0,0
$GC,2590,4.89,1468.4,197.2,-7.0,252,2601,0.00,3.00,1.52,0.000,6,0.000,0.000,3343,1689,587,0,0,18,0,0,0
$GC,2925,5.44,1915.9,221.2,-7.3,284,2943,0.00,3.55,0.12,0.007,4,0.007,0.000,3343,3622,595,0,0,16,0,0,0
$GC,3195,5.99,2367.4,241.4,-7.4,307,3205,0.00,3.55,1.02,0.000,6,0.007,0.000,3343,1900,601,0,0,19,0,0,0
$GC,3530,6.58,2842.9,267.7,-8.1,339,3545,0.00,2.88,0.12,0.007,4,0.007,0.000,3345,3616,602,0,0,12,0,0,0
$GC,3798,7.14,3299.3,289.3,-7.5,362,3808,0.00,3.00,1.73,0.000,6,0.007,0.000,3344,1884,605,0,0,10,0,0,0
$GC,4133,7.72,3772.5,315.4,-8.1,394,4149,0.00,3.85,0.12,0.000,4,0.007,0.000,3339,3445,600,0,0,21,0,0,0
$GC,4401,8.26,4213.1,334.3,-7.0,417,4412,0.00,3.20,1.30,0.000,6,0.007,0.000,3338,2030,599,0,0,18,0,0,0
$GC,4736,8.78,4630.2,355.8,-6.3,449,4752,0.00,4.00,0.12,0.007,4,0.007,0.000,3341,3783,599,0,0,24,0,0,0
$GC,5005,9.26,5021.9,371.4,-5.5,472,5016,0.00,3.55,0.62,0.000,6,0.007,0.000,3345,1850,601,0,0,20,0,0,0
$GC,5341,9.72,5400.5,389.0,-5.1,504,5348,0.00,2.72,0.12,0.007,4,0.007,0.000,3341,3555,599,0,0,12,0,0,0
$GC,5600,10.19,5777.9,402.1,-5.0,526,5611,0.00,3.17,1.42,0.000,6,0.007,0.000,3343,1806,601,0,0,16,0,0,0
$GC,5935,10.65,6153.5,418.9,-5.0,558,5952,0.00,3.78,0.12,0.000,4,0.007,0.000,3346,3633,599,0,0,20,0,0,0
$GC,6205,11.14,6552.4,433.9,-5.7,581,6215,0.00,3.53,0.62,0.000,6,0.007,0.000,3345,1893,598,0,0,18,0,0,0
$GC,6539,11.69,6998.2,454.4,-7.2,613,6556,0.00,3.80,0.12,0.007,4,0.007,0.000,3342,3702,601,0,0,20,0,0,0
$GC,6809,12.23,7440.7,474.5,-7.1,636,6821,0.00,4.40,0.17,0.007,6,0.007,0.000,3344,1924,600,0,0,26,0,0,0
$GC,7145,12.73,7846.4,495.3,-5.9,668,7163,0.00,3.30,0.17,0.007,4,0.007,0.000,3343,3625,591,0,0,16,0,0,0
$GC,7415,12.85,7944.3,504.1,3.9,691,7426,0.00,3.20,1.35,0.000,6,0.007,0.000,3344,2017,599,0,0,16,0,0,0
$GC,7751,12.65,7944.3,474.9,9.6,723,7757,0.00,2.65,0.12,0.007,4,0.007,0.000,3344,3576,598,0,0,13,0,0,0
$GC,7780,12.46,7944.3,472.1,9.8,725,7796,0.00,3.83,0.20,0.007,6,0.007,0.000,3345,1414,594,0,0,21,0,0,0
$GC,8110,12.60,7972.1,448.9,6.1,756,8126,0.00,3.72,0.15,0.000,4,0.007,0.000,3347,3635,598,0,0,19,0,0,0
$GC,8379,12.78,7995.2,430.6,6.3,779,8391,0.00,3.45,0.75,0.000,6,0.007,0.000,3343,1874,601,0,0,16,0,0,0
$GC,8715,12.70,7995.2,406.9,9.1,811,8731,0.00,3.03,0.12,0.007,4,0.007,0.000,3344,3673,616,0,0,12,0,0,0
$GC,8983,12.85,8014.2,385.5,6.4,834,8993,0.00,3.40,1.10,0.000,6,0.007,0.000,3346,1769,599,0,0,17,0,0,0
$GC,9318,13.00,8021.2,362.5,6.8,866,9334,0.00,3.33,0.17,0.007,4,0.007,0.000,3343,3655,601,0,0,18,0,0,0
$GC,9586,12.94,8021.2,344.1,9.1,889,9597,0.00,2.95,1.67,0.000,6,0.007,0.000,3343,1948,605,0,0,15,0,0,0
$GC,9921,13.03,8024.5,313.2,6.9,921,9940,0.00,2.83,0.12,0.007,4,0.007,0.000,3348,3639,595,0,0,12,0,0,0
$GC,10192,13.11,8024.5,293.9,7.1,944,10202,0.00,3.17,1.55,0.000,6,0.007,0.000,3343,1926,603,0,0,16,0,0,0
$GC,10527,13.11,8024.5,266.6,8.6,976,10543,0.00,3.20,0.17,0.000,4,0.007,0.000,3343,3575,604,0,0,16,0,0,0
$GC,10795,13.04,8024.5,238.5,10.2,999,10805,0.00,4.30,0.15,0.000,6,0.007,0.000,3349,1813,601,0,0,26,0,0,0
$GC,11130,13.09,8024.5,209.8,7.5,1031,11146,0.00,3.53,0.12,0.000,4,0.007,0.000,3345,3553,601,0,0,16,0,0,0
$GC,11398,13.11,8044.4,190.3,6.4,1054,11409,0.00,3.53,1.40,0.000,6,0.007,0.000,3343,1835,599,0,0,16,0,0,0
$GC,11733,13.11,8044.4,167.2,7.1,1086,11749,0.00,4.03,0.15,0.007,4,0.007,0.000,3342,3676,599,0,0,23,0,0,0
$GC,12003,13.11,8044.4,146.7,8.6,1109,12012,0.00,3.05,1.02,0.000,6,0.007,0.000,3343,1842,597,0,0,15,0,0,0
$GC,12337,13.17,8044.4,118.6,8.3,1141,12353,0.00,3.28,0.25,0.000,4,0.007,0.000,3343,3624,596,0,0,14,0,0,0
$GC,12606,13.23,8098.6,101.4,5.3,1164,12616,0.00,3.12,0.93,0.000,6,0.007,0.000,3342,1748,597,0,0,16,0,0,0
$GC,12941,13.25,8112.6,78.7,6.6,1196,12961,0.00,3.45,0.12,0.000,4,0.007,0.000,3348,3782,603,0,0,19,0,0,0
$GC,13213,13.25,8112.6,58.7,7.1,1219,13223,0.00,3.78,0.93,0.000,6,0.007,0.000,3343,1790,600,0,0,21,0,0,0
$GC,13548,13.16,8112.6,26.6,10.5,1251,13564,0.00,3.55,0.12,0.007,4,0.007,0.000,3346,3627,603,0,0,16,0,0,0
$GC,13738,13.17,8122.8,13.3,6.7,1276,13753,0.00,3.35,0.68,0.000,6,0.007,0.000,3344,1704,601,0,0,17,0,0,0
$GC,13822,13.21,8151.0,8.0,6.1,1290,13828,0.00,2.28,0.12,0.000,4,0.007,0.000,3343,503,599,0,0,13,0,0,0
$STATE,13904,end climb,SURFACE_DEPTH_REACHED
$STATE,13904,begin surface coast
$FINISH,1.6,1.025000
$STATE,13928,end surface coast,CONTROL_FINISHED_OK
$STATE,13928,begin surface
$SM_CCo,14018,0.00,0.000,0,0,599,465.58
$SM_GC,0.04,14.48,0.00,0.00,0.000,0.007,0.007,397,2554,599,-10.41,14.81,465.58
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1255782245,12.416667,12.401389,80,0,0,0,0,0,977,0,0,0,0,0
$RAFOS,1,1255781643,12.250000,12.234167,80,0,0,0,0,0,766,0,0,0,0,0
$RAFOS,0,1255781045,12.083333,12.068055,80,0,0,0,0,0,591,0,0,0,0,0
$RAFOS,3,1255768442,8.583333,8.567223,80,0,0,0,0,0,793,0,0,0,0,0
$RAFOS_FIX,6626.302246,-6223.931641,171009,040423,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078224958
$INTERNAL_PRESSURE,16.1055
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,272.435
$10V_AH,10.7,40.555
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,77.865
$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,32.450,166.350,531.950,0.000,0.000,0.000,0.000,88.511,0.000,0.000,35.786,2293.602,9188.482,985.428,1467.962,453.956,33.349,1201.616,0.000,1382.707,1440.000,1.959,0.000
$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,797.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,44112,1309
$CAP_FILE_SIZE,170670,0
$CFSIZE,260165632,242892800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,40,844,3,0
$SOUNDSPEED,1451.1
$GPS,171009,124428,6640.509,-6033.405,13,1.1,14,18.0