version: 66.06
glider: 1
mission: 14
dive: 121
start: 10 17 109 16 36 51
data:
$ID,1
$MISSION,14
$DIVE,121
$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,-221753.81
$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,78.013588
$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
$GPS1,163739,6641.619,-6037.420,24,1.1,25,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,164416,6641.613,-6037.469,33,1.1,33,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.201,-0.119
$KALMAN_X,-68610.0,-362.5,-701.7,-26860.8,-15.0
$KALMAN_Y,7680.1,1448.5,378.7,-29989.6,-318.4
$MHEAD_RNG_PITCHd_Wd,102.6,412410,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.99,-146.6,0.0,0.0,0,87,0.00,0.00,-57.97,0.000,2,0.007,0.000,434,2013,2360,0,0,0,0,0,0
$GC,91,-0.99,-146.6,3.0,-1.8,12,143,9.95,2.47,-24.73,0.000,4,0.000,0.000,2565,371,3104,12,0,11,0,0,0
$GC,396,-0.99,-146.6,40.3,-7.0,51,412,0.55,3.03,0.00,0.000,6,0.000,0.000,2437,2160,3105,1,0,16,0,0,0
$GC,598,-0.99,-146.6,55.2,-8.7,70,615,0.50,3.62,0.00,0.007,4,0.000,0.000,2599,233,3101,1,0,20,0,0,0
$GC,728,-0.99,-146.6,67.7,-10.1,81,744,1.00,3.72,0.00,0.007,6,0.000,0.001,2408,2175,3102,2,0,21,0,0,0
$GC,1057,-0.99,-146.6,95.4,-7.2,112,1073,0.47,3.70,0.00,0.007,4,0.000,0.000,2540,461,3104,0,0,22,0,0,0
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1131,-0.31,0.0,100.5,7.8,117,1258,0.65,0.00,120.50,7.917,6,0.000,0.007,2685,2212,2508,1,0,0,0,0,0
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1262,0.99,146.6,110.1,0.0,130,1391,1.58,3.28,115.65,0.000,4,0.000,0.000,2969,3668,1932,2,0,18,0,0,0
$GC,1576,2.86,660.9,132.5,-9.4,158,1879,1.67,4.15,270.75,3.314,6,0.000,0.000,3327,1599,615,2,0,22,0,3,0
$GC,2204,4.51,1090.8,177.8,-6.7,219,2220,0.00,3.58,0.15,0.007,4,0.000,0.000,3325,3482,602,0,0,19,0,0,0
$GC,2366,5.12,1590.3,189.1,-9.0,233,2382,0.00,3.12,0.93,0.000,6,0.007,0.000,3325,1905,602,0,0,15,0,0,0
$GC,2696,5.68,2042.5,212.0,-7.5,264,2703,0.00,2.80,0.12,0.007,4,0.007,0.000,3326,3631,599,0,0,13,0,0,0
$GC,2843,6.34,2580.8,226.3,-10.2,276,2853,0.00,3.25,1.33,0.000,6,0.007,0.000,3328,1820,599,0,0,16,0,0,0
$GC,3178,6.85,2994.1,249.6,-6.2,308,3195,0.00,3.90,0.12,0.000,4,0.007,0.000,3323,3729,604,0,0,22,0,0,0
$GC,3241,7.47,3497.4,255.0,-9.1,313,3257,0.00,3.45,0.55,0.000,6,0.007,0.000,3325,1739,604,0,0,18,0,0,0
$GC,3571,7.97,3906.7,275.7,-6.1,344,3586,0.00,4.03,0.12,0.000,4,0.007,0.000,3328,3648,604,0,0,20,0,0,0
$GC,3838,8.46,4305.8,291.9,-5.8,367,3848,0.00,3.20,1.33,0.000,6,0.007,0.000,3325,2019,605,0,0,18,0,0,0
$GC,4174,8.91,4669.4,310.4,-4.6,399,4181,0.00,2.50,0.20,0.007,4,0.007,0.000,3325,3648,608,0,0,13,0,0,0
$GC,4433,9.44,5099.0,324.9,-6.7,421,4443,0.00,3.42,0.80,0.000,6,0.007,0.000,3328,1808,604,0,0,17,0,0,0
$GC,4768,9.92,5489.9,345.5,-5.5,453,4785,0.00,3.12,0.12,0.007,4,0.000,0.000,3326,3486,603,0,0,18,0,0,0
$GC,5037,10.51,5966.1,363.8,-8.2,476,5047,0.00,3.33,1.08,0.000,6,0.007,0.000,3324,1788,601,0,0,18,0,0,0
$GC,5372,11.00,6367.9,386.1,-5.8,508,5379,0.00,2.67,0.12,0.000,4,0.007,0.000,3327,416,607,0,0,14,0,0,0
$GC,5553,11.47,6751.2,396.0,-5.2,523,5563,0.00,3.35,0.95,0.000,6,0.000,0.000,3324,2325,605,0,0,17,0,0,0
$GC,5888,12.04,7211.4,415.8,-7.7,555,5894,0.00,2.65,0.15,0.007,4,0.007,0.000,3324,3659,606,0,0,15,0,0,0
$GC,6147,12.60,7664.0,436.2,-7.5,577,6157,0.00,2.83,1.83,0.000,6,0.007,0.000,3324,1975,603,0,0,11,0,0,0
$GC,6483,13.08,8061.9,456.8,-5.7,609,6499,0.00,3.28,0.12,0.007,4,0.007,0.000,3329,3606,603,0,0,16,0,0,0
$GC,6567,13.58,8466.6,461.6,-5.9,616,6584,0.00,3.78,0.20,0.000,6,0.007,0.000,3328,1795,604,0,0,22,0,0,0
$GC,6899,14.09,8877.8,481.7,-6.1,647,6915,0.00,3.40,0.00,0.007,4,0.007,0.000,3327,3780,598,0,0,21,0,0,0
$GC,7023,14.60,9289.6,489.3,-6.2,657,7032,0.00,3.25,0.00,0.000,6,0.007,0.000,3327,1791,603,0,0,14,0,0,0
$GC,7357,14.65,9332.7,496.1,5.6,689,7373,0.00,3.45,0.00,0.007,4,0.007,0.000,3329,3453,603,0,0,19,0,0,0
$GC,7598,14.43,9332.7,470.1,11.8,710,7613,0.00,2.95,0.00,0.000,6,0.007,0.000,3327,2014,591,0,0,15,0,0,0
$GC,7926,14.43,9332.7,439.4,7.3,741,7932,0.00,2.58,0.00,0.007,4,0.000,0.000,3330,614,603,0,0,13,0,0,0
$GC,7944,14.43,9332.7,438.1,7.8,742,7950,0.00,2.67,0.00,0.000,6,0.007,0.000,3330,2173,604,0,0,13,0,0,0
$GC,8267,14.43,9332.7,414.6,7.7,772,8282,0.00,2.88,0.00,0.007,4,0.000,0.000,3326,3644,603,0,0,13,0,0,0
$GC,8286,14.43,9332.7,413.1,7.6,773,8297,0.00,3.58,0.00,0.007,6,0.007,0.000,3327,2030,602,0,0,20,0,0,0
$GC,8621,14.43,9332.7,386.6,7.7,805,8628,0.00,2.95,0.00,0.007,4,0.007,0.000,3328,3682,604,0,0,17,0,0,0
$GC,8696,14.43,9332.7,380.7,7.9,811,8712,0.00,3.50,0.00,0.000,6,0.007,0.000,3326,1710,606,0,0,20,0,0,0
$GC,9025,14.43,9332.7,356.0,7.2,842,9032,0.00,3.00,0.00,0.000,4,0.007,0.000,3326,3663,607,0,0,17,0,0,0
$GC,9284,14.63,9390.8,340.4,5.2,864,9294,0.00,3.70,0.00,0.007,6,0.007,0.000,3329,1855,597,0,0,18,0,0,0
$GC,9619,14.53,9390.8,315.5,9.5,896,9634,0.00,3.45,0.00,0.000,4,0.007,0.000,3326,3640,603,0,0,17,0,0,0
$GC,9885,14.65,9390.8,292.1,7.2,919,9893,0.00,3.45,0.00,0.007,6,0.000,0.000,3325,1975,609,0,0,19,0,0,0
$GC,10217,14.65,9390.8,268.9,7.1,951,10231,0.00,2.78,0.00,0.007,4,0.007,0.000,3324,3652,604,0,0,16,0,0,0
$GC,10346,14.71,9390.8,259.6,8.0,962,10362,0.00,3.62,0.00,0.007,6,0.007,0.000,3329,1813,609,0,0,18,0,0,0
$GC,10676,14.79,9390.8,233.0,8.3,993,10691,0.00,2.92,0.00,0.007,4,0.000,0.000,3326,3598,602,0,0,14,0,0,0
$GC,10696,14.79,9390.8,231.3,8.0,994,10704,0.00,2.95,0.00,0.007,6,0.007,0.000,3327,1920,609,0,0,13,0,0,0
$GC,11020,14.64,9390.8,197.9,11.2,1025,11035,0.00,3.08,0.00,0.000,4,0.007,0.000,3325,3511,603,0,0,14,0,0,0
$GC,11287,14.72,9390.8,173.6,7.7,1048,11295,0.00,3.03,0.00,0.007,6,0.007,0.000,3327,1807,602,0,0,16,0,0,0
$GC,11614,14.63,9390.8,149.3,7.8,1079,11628,0.00,3.15,0.00,0.000,4,0.007,0.000,3328,3602,603,0,0,17,0,0,0
$GC,11678,14.55,9390.8,143.7,8.2,1084,11685,0.00,3.35,0.00,0.007,6,0.000,0.000,3327,1797,604,0,0,16,0,0,0
$GC,12010,14.64,9413.7,121.3,6.3,1116,12025,0.00,3.38,0.00,0.007,4,0.007,0.000,3329,3767,604,0,0,15,0,0,0
$GC,12277,14.57,9413.7,97.6,10.1,1139,12286,0.00,3.28,0.00,0.007,6,0.007,0.000,3321,1734,607,0,0,15,0,0,0
$GC,12611,14.67,9441.9,70.5,6.1,1171,12627,0.00,3.88,0.00,0.007,4,0.007,0.000,3324,3650,602,0,0,21,0,0,0
$GC,12710,14.67,9441.9,63.7,7.6,1179,12717,0.00,3.22,0.00,0.007,6,0.007,0.000,3323,1907,606,0,0,15,0,0,0
$GC,13036,14.67,9444.9,38.8,6.9,1210,13050,0.00,3.03,0.00,0.000,4,0.007,0.000,3331,3604,609,0,0,17,0,0,0
$GC,13144,14.61,9444.9,31.7,7.4,1219,13158,0.00,3.08,0.00,0.007,6,0.007,0.000,3333,1983,604,0,0,17,0,0,0
$GC,13348,14.71,9468.1,18.9,6.3,1239,13354,0.00,2.45,0.00,0.007,4,0.000,0.000,3326,3598,604,0,0,12,0,0,0
$STATE,13576,end climb,SURFACE_DEPTH_REACHED
$STATE,13576,begin surface coast
$FINISH,1.6,1.019463
$STATE,13622,end surface coast,CONTROL_FINISHED_OK
$STATE,13622,begin surface
$SM_CCo,13712,0.00,0.000,0,0,601,464.60
$SM_GC,0.05,14.12,0.00,0.00,0.000,0.000,0.007,400,1883,601,-10.40,-4.21,464.60
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1255811046,20.416666,20.401667,80,0,0,0,0,0,989,0,0,0,0,0
$RAFOS,1,1255810442,20.250000,20.233889,80,0,0,0,0,0,787,0,0,0,0,0
$RAFOS,0,1255809851,20.083334,20.069723,80,0,0,0,0,0,568,0,0,0,0,0
$RAFOS_FIX,6626.302246,-6223.931641,171009,040423,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078247313
$INTERNAL_PRESSURE,16.0613
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,273.965
$10V_AH,10.7,40.688
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.141
$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,30.500,180.725,517.125,0.000,0.000,0.000,0.000,123.939,0.000,0.000,33.974,2152.245,9055.149,1017.858,1354.174,535.136,33.353,1218.137,0.000,1278.694,1080.000,2.794,0.000
$DEVICE_MAMPS,119.000,60.000,7917.069,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,44099,1288
$CAP_FILE_SIZE,168278,0
$CFSIZE,260165632,242733056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,38,938,3,0
$SOUNDSPEED,1451.2
$GPS,171009,203603,6641.188,-6040.179,29,1.1,29,18.0