version: 66.06
glider: 1
mission: 14
dive: 120
start: 10 17 109 12 43 52
data:
$ID,1
$MISSION,14
$DIVE,120
$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,-221718.86
$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,77.874352
$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
$GPS1,124428,6640.509,-6033.405,13,1.1,14,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,124918,6640.503,-6033.396,38,1.1,38,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.190,-0.136
$KALMAN_X,-67121.6,8.2,-121.3,-26376.2,580.5
$KALMAN_Y,6370.2,1490.4,62.9,-30460.6,-941.1
$MHEAD_RNG_PITCHd_Wd,107.6,408645,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-58.25,0.000,2,0.007,0.000,398,2544,2368,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.1,-1.6,12,145,10.40,3.45,-24.33,0.000,4,0.000,0.000,2541,617,3105,13,0,19,0,0,0
$GC,222,-0.59,-146.6,22.5,-18.9,34,232,0.40,3.15,0.00,0.007,6,0.007,0.000,2614,2395,3100,1,0,18,0,0,0
$GC,432,-0.49,-146.6,49.5,-10.0,54,447,0.52,3.83,0.00,0.007,4,0.000,0.000,2480,552,3101,1,0,25,0,0,0
$GC,699,-0.49,-146.6,69.9,-7.7,77,707,0.70,2.55,0.00,0.007,6,0.000,0.000,2636,2152,3104,1,0,9,0,0,0
$GC,1024,-0.49,-146.6,95.0,-7.3,108,1041,0.38,2.90,0.00,0.007,4,0.000,0.000,2549,332,3117,1,0,14,0,0,0
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1095,begin apogee
$GC,1106,-0.31,0.0,100.1,6.8,114,1232,0.73,0.00,121.30,0.000,6,0.000,0.007,2674,2202,2504,2,0,0,0,0,0
$STATE,1233,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1236,0.99,146.6,109.8,0.0,127,1383,1.38,3.53,116.90,0.000,4,0.000,0.000,2967,376,1923,2,0,20,0,0,0
$GC,1530,2.73,605.5,132.8,-7.6,153,1838,1.75,3.58,270.95,0.000,6,0.000,0.000,3380,2018,612,1,0,20,0,3,0
$GC,2153,4.42,1064.6,186.4,-7.6,213,2160,0.00,2.75,0.12,0.000,4,0.007,0.000,3376,486,598,0,0,13,0,0,0
$GC,2210,4.98,1526.1,190.8,-7.7,217,2220,0.00,2.92,1.42,0.000,6,0.007,0.000,3376,2216,593,0,0,12,0,0,0
$GC,2545,5.51,1956.8,214.2,-6.7,249,2552,0.00,2.40,0.12,0.007,4,0.007,0.000,3378,3701,597,0,0,12,0,0,0
$GC,2804,6.03,2379.9,230.9,-6.5,271,2815,0.00,3.35,1.15,0.000,6,0.007,0.000,3377,1849,597,0,0,18,0,0,0
$GC,3140,6.62,2852.8,254.8,-8.1,303,3156,0.00,3.25,0.12,0.000,4,0.007,0.000,3380,3750,595,0,0,16,0,0,0
$GC,3408,7.21,3339.4,276.5,-8.5,326,3420,0.00,4.70,0.05,0.000,6,0.007,0.000,3379,1739,598,0,0,27,0,0,0
$GC,3745,7.74,3767.5,301.5,-6.6,358,3765,0.00,3.05,0.12,0.007,4,0.007,0.000,3377,3599,592,0,0,12,0,0,0
$GC,3804,8.28,4202.2,305.6,-6.8,362,3814,0.00,2.78,2.03,0.000,6,0.007,0.000,3379,1858,594,0,0,11,0,0,0
$GC,4139,8.80,4630.9,327.3,-6.6,394,4155,0.00,3.60,0.15,0.007,4,0.007,0.000,3377,3786,599,0,0,20,0,0,0
$GC,4408,9.33,5059.0,345.6,-6.6,417,4418,0.00,3.42,0.80,0.000,6,0.007,0.000,3376,1855,594,0,0,16,0,0,0
$GC,4742,9.87,5497.8,368.6,-7.0,449,4749,0.00,2.42,0.25,0.000,4,0.007,0.000,3380,458,596,0,0,12,0,0,0
$GC,4772,10.41,5939.4,370.7,-7.1,451,4788,0.00,3.28,0.85,0.000,6,0.007,0.000,3380,2148,595,0,0,17,0,0,0
$GC,5102,10.90,6338.7,390.7,-5.7,482,5109,0.00,2.67,0.12,0.007,4,0.000,0.000,3379,3556,616,0,0,15,0,0,0
$GC,5305,11.40,6744.0,402.5,-5.9,499,5315,0.00,2.75,2.00,0.000,6,0.000,0.000,3380,1908,605,0,0,10,0,0,0
$GC,5640,11.90,7145.5,423.9,-5.8,531,5655,0.00,2.83,0.12,0.000,4,0.007,0.000,3377,3558,593,0,0,11,0,0,0
$GC,5907,12.43,7583.0,439.5,-6.9,554,5919,0.00,2.92,1.45,0.000,6,0.000,0.000,3379,1902,595,0,0,13,0,0,0
$GC,6243,12.92,7978.7,460.6,-5.6,586,6260,0.00,2.72,0.12,0.007,4,0.007,0.000,3379,274,594,0,0,14,0,0,0
$GC,6434,13.52,8464.6,472.9,-8.5,602,6444,0.00,4.47,0.03,0.007,6,0.007,0.000,3380,2230,596,0,0,27,0,0,0
$GC,6769,13.98,8841.1,492.2,-5.0,634,6774,0.00,2.12,0.00,0.007,4,0.000,0.000,3377,3627,594,0,0,9,0,0,0
$GC,7027,14.35,9140.7,506.3,-2.5,656,7037,0.00,3.15,0.00,0.007,6,0.007,0.000,3380,1914,600,0,0,14,0,0,0
$GC,7361,14.13,9140.7,485.4,10.0,688,7367,0.00,2.78,0.00,0.007,4,0.007,0.000,3381,3530,594,0,0,12,0,0,0
$GC,7620,14.05,9140.7,460.3,8.3,710,7626,0.00,3.17,0.00,0.007,6,0.007,0.000,3374,1790,595,0,0,18,0,0,0
$GC,7944,14.00,9140.7,434.3,7.9,741,7960,0.00,3.30,0.00,0.007,4,0.000,0.000,3379,3611,596,0,0,14,0,0,0
$GC,8163,13.95,9140.7,417.7,8.0,760,8178,0.00,3.17,0.00,0.000,6,0.007,0.000,3381,1738,592,0,0,13,0,0,0
$GC,8492,14.21,9213.2,397.9,4.7,791,8507,0.00,3.35,0.00,0.007,4,0.007,0.000,3380,3784,595,0,0,16,0,0,0
$GC,8602,14.35,9250.2,392.5,5.8,800,8612,0.00,3.12,0.00,0.007,6,0.007,0.000,3378,1889,592,0,0,13,0,0,0
$GC,8936,14.57,9281.7,371.4,6.0,832,8951,0.00,3.20,0.00,0.007,4,0.007,0.000,3379,3549,596,0,0,17,0,0,0
$GC,9204,14.47,9281.7,347.0,10.4,855,9210,0.00,3.30,0.00,0.007,6,0.007,0.000,3379,1818,596,0,0,15,0,0,0
$GC,9529,14.57,9294.4,319.2,6.6,886,9545,0.00,3.15,0.00,0.007,4,0.007,0.000,3377,3631,595,0,0,18,0,0,0
$GC,9797,14.46,9294.4,296.9,9.5,909,9804,0.00,3.03,0.00,0.007,6,0.007,0.000,3377,1871,594,0,0,15,0,0,0
$GC,10121,14.55,9294.4,267.2,8.9,940,10136,0.00,3.53,0.00,0.000,4,0.007,0.000,3379,3784,592,0,0,20,0,0,0
$GC,10388,14.61,9294.4,243.0,9.5,963,10401,0.00,4.28,0.00,0.007,6,0.000,0.000,3381,1710,592,0,0,27,0,0,0
$GC,10725,14.47,9294.4,211.4,10.8,995,10740,0.00,4.18,0.00,0.007,4,0.007,0.000,3379,3708,595,0,0,21,0,0,0
$GC,10993,14.47,9294.4,185.7,7.6,1018,11000,0.00,3.58,0.00,0.007,6,0.007,0.000,3383,1913,594,0,0,19,0,0,0
$GC,11324,14.53,9294.4,159.5,9.2,1050,11340,0.00,3.08,0.00,0.007,4,0.000,0.000,3380,3587,594,0,0,18,0,0,0
$GC,11591,14.53,9294.4,135.5,8.0,1073,11598,0.00,3.40,0.00,0.007,6,0.007,0.000,3383,1939,611,0,0,20,0,0,0
$GC,11916,14.53,9294.4,110.3,7.1,1104,11933,0.00,3.42,0.00,0.007,4,0.000,0.000,3379,3785,595,0,0,19,0,0,0
$GC,12184,14.53,9294.4,86.3,9.2,1127,12192,0.00,3.15,0.00,0.007,6,0.007,0.000,3378,1822,593,0,0,14,0,0,0
$GC,12509,14.70,9324.7,62.3,6.1,1158,12526,0.00,3.35,0.00,0.007,4,0.007,0.000,3381,3544,596,0,0,17,0,0,0
$GC,12778,14.60,9324.7,43.4,8.4,1181,12786,0.00,3.10,0.00,0.007,6,0.000,0.000,3378,1878,592,0,0,15,0,0,0
$GC,12975,14.67,9324.7,27.5,7.3,1200,12990,0.00,3.42,0.00,0.007,4,0.007,0.000,3379,3664,590,0,0,18,0,0,0
$GC,13243,14.67,9324.7,8.7,8.8,1235,13258,0.00,3.95,0.00,0.007,6,0.007,0.000,3377,1616,594,0,0,22,0,0,0
$STATE,13318,end climb,SURFACE_DEPTH_REACHED
$STATE,13318,begin surface coast
$FINISH,1.6,1.013651
$STATE,13366,end surface coast,CONTROL_FINISHED_OK
$STATE,13367,begin surface
$SM_CCo,13455,0.00,0.000,0,0,592,467.54
$SM_GC,0.05,14.50,0.00,0.00,0.000,0.007,0.000,431,2024,592,-10.22,-0.14,467.54
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1255796646,16.416666,16.401667,80,0,0,0,0,0,981,0,0,0,0,0
$RAFOS,1,1255796041,16.250000,16.233612,80,0,0,0,0,0,781,0,0,0,0,0
$RAFOS,0,1255795449,16.083334,16.069166,80,0,0,0,0,0,577,0,0,0,0,0
$RAFOS,3,1255782843,12.583333,12.567500,80,0,0,0,0,0,788,0,0,0,0,0
$RAFOS_FIX,6626.302246,-6223.931641,171009,040423,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078228517
$INTERNAL_PRESSURE,16.0704
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,273.043
$10V_AH,10.7,40.621
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.002
$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,30.750,162.550,520.200,0.000,0.000,0.000,0.000,88.757,0.000,0.000,38.877,2185.079,8847.787,963.394,1388.836,448.167,33.348,1174.591,0.000,1301.970,1080.000,3.499,0.000
$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,770.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,40906,1256
$CAP_FILE_SIZE,162624,9
$CFSIZE,260165632,242823168
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,42,828,3,0
$SOUNDSPEED,1451.2
$GPS,171009,163739,6641.619,-6037.420,24,1.1,25,18.0