version: 66.06
glider: 1
mission: 14
dive: 122
start: 10 17 109 20 35 12
data:
$ID,1
$MISSION,14
$DIVE,122
$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,-221788.61
$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,2
$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,78.150368
$FG_AHR_24V,4.6384392
$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
$GPS1,203603,6641.188,-6040.179,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,204051,6641.143,-6040.241,33,1.1,33,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.210,-0.104
$KALMAN_X,-69675.1,-662.5,-1290.4,-26945.4,704.6
$KALMAN_Y,7762.9,745.7,563.3,-30368.0,-1222.4
$MHEAD_RNG_PITCHd_Wd,98.3,413333,-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,-58.28,0.000,2,0.007,0.000,405,1878,2377,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.0,-1.7,12,134,10.95,2.55,-23.75,0.000,4,0.000,0.000,2602,487,3097,12,0,14,0,0,0
$GC,387,-0.99,-146.6,41.2,-9.1,51,403,1.08,3.45,0.00,0.007,6,0.000,0.000,2417,2270,3104,3,0,20,0,0,0
$GC,589,-0.99,-146.6,57.3,-7.6,70,604,0.62,3.30,0.00,0.007,4,0.000,0.000,2546,619,3103,1,0,13,0,0,0
$GC,609,-0.99,-146.6,58.9,-7.4,71,618,0.57,2.78,0.00,0.007,6,0.000,0.000,2406,2209,3104,2,0,14,0,0,0
$GC,934,-1.06,-146.6,86.5,-8.7,102,950,0.30,2.75,0.00,0.007,4,0.000,0.000,2504,507,3106,1,0,14,0,0,0
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1116,-0.31,0.0,100.3,7.4,117,1247,0.68,0.00,120.15,0.000,6,0.000,0.007,2664,2313,2519,1,0,0,0,1,0
$STATE,1248,end apogee,CONTROL_FINISHED_OK
$STATE,1248,begin climb
$GC,1252,0.99,146.6,111.9,0.0,130,1397,1.33,2.40,125.43,0.000,4,0.000,0.000,2961,3618,1904,1,0,12,0,1,0
$GC,1600,2.66,627.9,146.1,-8.3,162,1899,1.80,2.70,263.55,0.000,6,0.000,0.000,3354,1858,613,3,0,14,0,3,0
$GC,2213,4.50,1102.2,195.2,-8.1,221,2225,0.00,3.03,4.75,0.000,4,0.007,0.000,3359,3601,597,0,0,14,0,0,0
$GC,2478,5.04,1537.4,212.6,-6.8,245,2493,0.00,3.38,0.70,0.000,6,0.007,0.000,3356,1841,599,0,0,15,0,0,0
$GC,2808,5.55,1958.1,233.6,-6.4,276,2823,0.00,3.42,0.12,0.000,4,0.007,0.000,3356,3751,596,0,0,21,0,0,0
$GC,3076,6.14,2436.9,254.6,-8.2,299,3086,0.00,3.80,0.38,0.000,6,0.000,0.000,3356,1875,567,0,0,20,0,0,0
$GC,3411,6.65,2851.8,277.3,-6.2,331,3426,0.00,2.95,0.12,0.007,4,0.007,0.000,3358,3510,598,0,0,13,0,0,0
$GC,3644,7.17,3268.2,292.1,-6.2,351,3654,0.00,3.08,1.55,0.000,6,0.007,0.000,3358,1748,597,0,0,14,0,0,0
$GC,3979,7.65,3658.7,314.4,-5.4,383,3994,0.00,3.35,0.12,0.007,4,0.007,0.000,3357,3621,600,0,0,17,0,0,0
$GC,4247,8.16,4073.2,328.5,-6.2,406,4257,0.00,3.42,0.77,0.000,6,0.007,0.000,3357,1906,595,0,0,17,0,0,0
$GC,4582,8.64,4465.5,348.4,-5.5,438,4597,0.00,3.08,0.12,0.007,4,0.007,0.000,3358,3469,596,0,0,13,0,0,0
$GC,4849,9.16,4887.9,365.7,-6.4,461,4861,0.00,3.08,1.58,0.000,6,0.000,0.000,3359,1858,595,0,0,15,0,0,0
$GC,5185,9.63,5275.3,385.5,-5.3,493,5201,0.00,3.05,0.12,0.007,4,0.007,0.000,3355,3615,597,0,0,14,0,0,0
$GC,5453,10.20,5734.7,402.8,-7.6,516,5463,0.00,3.00,1.30,0.000,6,0.007,0.000,3359,1901,601,0,0,14,0,0,0
$GC,5788,10.69,6132.5,425.7,-5.7,548,5803,0.00,2.95,0.17,0.007,4,0.000,0.000,3355,3526,599,0,0,14,0,0,0
$GC,6056,11.18,6530.6,440.6,-5.7,571,6066,0.00,3.03,1.60,0.000,6,0.007,0.000,3357,1900,597,0,0,14,0,0,0
$GC,6391,11.73,6975.1,459.5,-7.1,603,6406,0.00,2.75,0.12,0.007,4,0.007,0.000,3356,3594,596,0,0,13,0,0,0
$GC,6658,12.29,7433.7,480.0,-7.6,626,6669,0.00,3.42,1.05,0.000,6,0.007,0.000,3353,1825,595,0,0,20,0,0,0
$GC,6994,12.39,7514.2,490.7,4.5,658,7011,0.00,3.50,0.12,0.000,4,0.007,0.000,3359,3636,611,0,0,18,0,0,0
$GC,7263,12.19,7514.2,463.6,10.9,681,7274,0.00,3.10,1.73,0.000,6,0.007,0.000,3362,1805,597,0,0,15,0,0,0
$GC,7599,12.31,7546.7,437.6,6.0,713,7614,0.00,3.38,0.12,0.007,4,0.000,0.000,3357,3590,592,0,0,18,0,0,0
$GC,7806,12.23,7546.7,423.7,8.6,731,7823,0.00,3.95,0.15,0.000,6,0.007,0.000,3356,1744,599,0,0,22,0,0,0
$GC,8137,12.23,7546.7,394.7,8.2,762,8154,0.00,3.47,0.20,0.007,4,0.000,0.000,3356,3751,592,0,0,20,0,0,0
$GC,8406,12.31,7563.6,375.9,6.5,785,8416,0.00,3.25,1.35,0.000,6,0.007,0.000,3362,1671,598,0,0,15,0,0,0
$GC,8741,12.39,7563.6,353.2,7.1,817,8756,0.00,3.15,0.12,0.007,4,0.007,0.000,3355,3723,592,0,0,16,0,0,0
$GC,9008,12.39,7563.6,332.3,7.8,840,9019,0.00,3.30,2.12,0.000,6,0.007,0.000,3356,1893,599,0,0,16,0,0,0
$GC,9343,12.39,7563.6,307.5,7.3,872,9359,0.00,3.92,0.15,0.000,4,0.007,0.000,3356,3760,594,0,0,22,0,0,0
$GC,9611,12.40,7571.4,289.0,6.8,895,9623,0.00,3.42,1.52,0.000,6,0.007,0.000,3358,1794,597,0,0,18,0,0,0
$GC,9947,12.43,7597.6,268.6,6.2,927,9964,0.00,3.47,0.12,0.007,4,0.007,0.000,3358,3583,593,0,0,18,0,0,0
$GC,10216,12.31,7597.6,246.5,10.3,950,10227,0.00,2.78,1.88,0.000,6,0.007,0.000,3355,1858,593,0,0,14,0,0,0
$GC,10552,12.41,7599.6,217.6,7.0,982,10568,0.00,3.40,0.12,0.007,4,0.007,0.000,3354,3786,597,0,0,20,0,0,0
$GC,10820,12.34,7599.6,197.3,8.5,1005,10830,0.00,3.88,0.80,0.000,6,0.007,0.000,3360,1888,594,0,0,21,0,0,0
$GC,11155,12.46,7609.0,172.7,6.7,1037,11171,0.00,3.33,0.12,0.007,4,0.007,0.000,3353,3645,595,0,0,19,0,0,0
$GC,11423,12.37,7609.0,151.8,9.5,1060,11433,0.00,2.90,2.20,0.000,6,0.007,0.000,3356,1876,595,0,0,13,0,0,0
$GC,11758,12.42,7609.0,121.7,7.9,1092,11774,0.00,3.10,0.12,0.000,4,0.007,0.000,3358,3627,594,0,0,16,0,0,0
$GC,12026,12.48,7609.0,100.9,7.1,1115,12038,0.00,3.12,1.48,0.000,6,0.007,0.000,3361,1811,594,0,0,12,0,0,0
$GC,12364,12.31,7609.0,75.9,9.9,1147,12380,0.00,3.03,0.17,0.000,4,0.007,0.000,3355,3585,596,0,0,15,0,0,0
$GC,12632,12.16,7609.0,47.9,10.3,1170,12642,0.00,3.42,1.35,0.000,6,0.007,0.000,3358,1757,596,0,0,17,0,0,0
$GC,12842,12.04,7609.0,30.4,7.9,1190,12857,0.00,3.20,0.12,0.000,4,0.007,0.000,3356,3596,596,0,0,16,0,0,0
$GC,13112,12.14,7689.1,15.2,4.5,1223,13128,0.00,3.30,0.73,0.000,6,0.007,0.000,3359,1861,592,0,0,18,0,0,0
$GC,13196,12.14,7689.6,10.0,7.0,1237,13211,0.00,3.03,0.12,0.000,4,0.007,0.000,3359,3678,608,0,0,14,0,0,0
$STATE,13299,end climb,SURFACE_DEPTH_REACHED
$STATE,13299,begin surface coast
$FINISH,1.7,1.015076
$STATE,13346,end surface coast,CONTROL_FINISHED_OK
$STATE,13347,begin surface
$SM_CCo,13437,0.00,0.000,0,0,597,467.05
$SM_GC,0.06,14.40,0.00,0.00,0.000,0.007,0.007,358,1793,597,-10.41,-6.53,467.05
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,1,1255824844,0.250000,0.234444,80,0,0,0,0,0,784,0,0,0,0,0
$RAFOS,0,1255824250,0.083333,0.069444,80,0,0,0,0,0,585,0,0,0,0,0
$RAFOS,4,1255812245,20.750000,20.734722,80,0,0,0,0,0,881,0,0,0,0,0
$RAFOS_FIX,6626.302246,-6223.931641,171009,040423,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078243875
$INTERNAL_PRESSURE,16.086
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,274.570
$10V_AH,10.7,40.755
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.278
$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,31.725,153.425,540.675,0.000,0.000,0.000,0.000,91.864,0.000,0.000,33.814,2154.460,8781.949,996.969,1415.844,436.468,33.356,1196.134,0.000,1337.670,1440.000,1.963,0.000
$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,766.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,41000,1263
$CAP_FILE_SIZE,162335,0
$CFSIZE,260165632,242663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,37,777,5,0
$SOUNDSPEED,1451.4
$GPS,181009,002808,6641.893,-6041.451,7,1.1,7,18.0