version: 66.06
glider: 1
mission: 14
dive: 123
start: 10 18 109 0 27 38
data:
$ID,1
$MISSION,14
$DIVE,123
$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,-221820.41
$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,78.287033
$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
$GPS1,002808,6641.893,-6041.451,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,003249,6641.911,-6041.400,30,1.1,30,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,-0.184
$KALMAN_X,-70550.6,-1300.2,-681.1,-26891.6,1260.8
$KALMAN_Y,8800.4,687.5,521.6,-29932.5,-1425.3
$MHEAD_RNG_PITCHd_Wd,123.9,415011,-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,-58.47,0.000,2,0.007,0.000,361,1796,2381,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.0,-1.8,12,134,10.57,2.42,-23.95,0.000,4,0.000,0.000,2557,430,3109,8,0,14,0,0,0
$GC,365,-0.78,-146.6,37.4,-11.5,50,382,0.32,3.78,0.00,0.007,6,0.000,0.000,2425,2450,3104,1,0,24,0,0,0
$GC,571,-0.72,-146.6,53.6,-8.3,69,587,0.77,3.90,0.00,0.007,4,0.000,0.000,2609,404,3106,2,0,21,0,0,0
$GC,838,-0.77,-146.6,78.6,-8.5,92,846,0.43,2.95,0.00,0.007,6,0.000,0.000,2474,2242,3105,1,0,14,0,0,0
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1116,-0.31,0.0,100.1,7.6,118,1244,0.98,0.00,121.95,0.000,6,0.000,0.007,2684,1797,2501,1,0,0,0,0,0
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1250,0.99,146.6,109.8,0.0,131,1397,1.40,3.72,117.05,0.000,4,0.000,0.000,2962,3733,1920,2,0,20,0,0,0
$GC,1409,2.65,577.8,121.2,-6.7,145,1707,2.22,3.65,265.73,0.000,6,0.000,0.000,3360,1695,594,4,0,18,0,2,0
$GC,2021,4.38,1053.5,166.1,-8.2,204,2037,0.00,3.22,0.12,0.000,4,0.007,0.000,3364,3710,599,0,0,17,0,0,0
$GC,2200,4.96,1527.4,180.5,-8.1,219,2210,0.00,3.28,1.02,0.000,6,0.007,0.000,3362,1851,602,0,0,16,0,0,0
$GC,2535,5.54,1996.7,207.5,-8.0,251,2549,0.00,0.00,4.12,0.000,6,0.007,0.000,3361,1851,593,0,0,0,0,0,0
$GC,2863,6.10,2458.4,233.7,-7.7,282,2878,0.00,0.00,4.10,0.000,6,0.007,0.000,3364,1862,576,0,0,0,0,0,0
$GC,3192,6.61,2866.8,255.1,-6.0,313,3206,0.00,0.00,4.07,0.000,6,0.007,0.000,3357,1849,577,0,0,0,0,0,0
$GC,3520,7.20,3347.4,275.8,-8.3,344,3535,0.00,0.00,4.10,0.000,6,0.007,0.000,3364,1854,571,0,0,0,0,0,0
$GC,3849,7.68,3738.4,301.2,-5.5,375,3865,0.00,4.43,0.12,0.000,4,0.007,0.000,3361,3663,565,0,0,22,0,0,0
$GC,4091,8.14,4113.5,313.1,-5.0,396,4106,0.00,3.67,0.30,0.000,6,0.007,0.000,3361,1708,564,0,0,19,0,0,0
$GC,4421,8.64,4521.0,335.5,-6.0,427,4437,0.00,3.90,0.12,0.007,4,0.007,0.000,3362,3603,569,0,0,19,0,0,0
$GC,4688,9.14,4924.7,350.7,-5.9,450,4699,0.00,3.10,1.48,0.000,6,0.007,0.000,3364,1788,566,0,0,14,0,0,0
$GC,5023,9.65,5336.9,370.3,-6.1,482,5038,0.00,0.00,4.20,0.000,6,0.000,0.007,3361,1788,556,0,0,0,0,0,0
$GC,5352,10.17,5765.1,394.5,-6.7,513,5358,0.00,2.12,0.25,0.000,4,0.007,0.000,3363,399,557,0,0,11,0,0,0
$GC,5427,10.68,6175.5,399.2,-6.1,519,5443,0.00,3.92,0.15,0.007,6,0.007,0.000,3362,2152,548,0,0,23,0,0,0
$GC,5757,11.17,6578.4,418.7,-5.8,550,5771,0.00,0.00,3.83,0.000,6,0.007,0.007,3362,2148,604,0,0,0,0,0,0
$GC,6086,11.67,6981.9,438.4,-5.9,581,6092,0.00,2.28,0.12,0.000,4,0.007,0.000,3362,3572,549,0,0,11,0,0,0
$GC,6344,12.19,7403.3,454.4,-6.4,603,6355,0.00,2.83,1.83,0.000,6,0.000,0.000,3360,1946,553,0,0,12,0,0,0
$GC,6680,12.67,7795.6,474.0,-5.5,635,6696,0.00,3.55,0.12,0.000,4,0.007,0.000,3362,3664,553,0,0,17,0,0,0
$GC,6948,13.25,8264.9,491.5,-8.0,658,6959,0.00,3.42,0.73,0.000,6,0.007,0.000,3360,1879,549,0,0,20,0,0,0
$GC,7283,13.07,8264.9,485.0,9.4,690,7298,0.00,2.90,0.12,0.007,4,0.000,0.000,3365,3613,550,0,0,13,0,0,0
$GC,7550,13.07,8264.9,463.7,8.3,713,7562,0.00,2.88,2.42,0.000,6,0.007,0.000,3361,1863,548,0,0,15,0,0,0
$GC,7887,13.23,8287.0,438.5,6.3,745,7902,0.00,0.00,4.22,0.000,6,0.000,0.007,3360,1864,540,0,0,0,0,0,0
$GC,8216,13.13,8287.0,413.7,8.8,776,8232,0.00,0.00,4.10,0.000,6,0.007,0.007,3360,1868,530,0,0,0,0,0,0
$GC,8546,13.29,8309.8,390.4,6.3,807,8563,0.00,3.95,0.15,0.007,4,0.000,0.000,3364,3782,530,0,0,23,0,0,0
$GC,8714,13.09,8309.8,377.2,11.0,821,8725,0.00,3.45,1.33,0.000,6,0.007,0.000,3356,1902,529,0,0,19,0,0,0
$GC,9049,13.23,8309.8,354.2,8.2,853,9066,0.00,3.12,0.12,0.000,4,0.007,0.000,3363,3565,530,0,0,14,0,0,0
$GC,9156,12.90,8309.8,341.4,12.9,862,9172,0.00,2.83,1.30,0.000,6,0.000,0.000,3361,1877,537,0,0,14,0,0,0
$GC,9486,12.92,8319.3,321.3,6.7,893,9502,0.00,0.00,4.22,0.000,6,0.007,0.007,3365,1877,520,0,0,0,0,0,0
$GC,9816,12.84,8319.3,290.1,9.3,924,9832,0.00,3.10,0.12,0.000,4,0.007,0.000,3364,3729,519,0,0,13,0,0,0
$GC,10085,13.03,8359.3,273.4,5.7,947,10096,0.00,4.18,0.15,0.007,6,0.007,0.000,3365,1900,519,0,0,23,0,0,0
$GC,10420,13.27,8399.8,251.4,5.7,979,10437,0.00,3.10,0.12,0.007,4,0.007,0.000,3363,232,487,0,0,18,0,0,0
$GC,10556,13.20,8399.8,241.5,10.3,990,10568,0.00,3.47,0.05,0.000,6,0.007,0.000,3363,2160,518,0,0,16,0,0,0
$GC,10892,13.26,8399.8,217.0,8.0,1022,10899,0.00,2.40,0.12,0.000,4,0.007,0.000,3363,3478,523,0,0,13,0,0,0
$GC,10933,13.07,8399.8,212.3,12.4,1025,10949,0.00,3.47,0.50,0.000,6,0.007,0.000,3361,1762,518,0,0,19,0,0,0
$GC,11263,13.23,8410.4,190.9,6.7,1056,11269,0.00,2.20,0.12,0.000,4,0.007,0.000,3366,479,519,0,0,9,0,0,0
$GC,11303,13.23,8410.4,187.0,9.7,1059,11319,0.00,2.80,1.33,0.000,6,0.007,0.000,3360,2220,519,0,0,13,0,0,0
$GC,11633,13.28,8410.4,162.5,7.6,1090,11640,0.00,2.38,0.12,0.000,4,0.007,0.000,3362,3547,526,0,0,12,0,0,0
$GC,11690,13.09,8410.4,155.2,12.3,1094,11697,0.00,2.90,0.08,0.000,6,0.007,0.000,3363,1837,518,0,0,12,0,0,0
$GC,12014,13.09,8410.4,126.1,11.3,1125,12030,0.00,2.90,0.12,0.000,4,0.007,0.000,3362,3727,516,0,0,12,0,0,0
$GC,12035,13.25,8410.4,123.6,11.8,1126,12045,0.00,3.30,0.93,0.000,6,0.007,0.000,3363,2045,520,0,0,15,0,0,0
$GC,12370,12.79,8410.4,59.8,20.2,1158,12386,0.00,3.83,0.12,0.007,4,0.000,0.000,3361,561,513,0,0,20,0,0,0
$GC,12454,12.90,8410.4,50.8,9.0,1165,12470,0.00,2.88,1.17,0.000,6,0.007,0.000,3363,2359,516,0,0,15,0,0,0
$GC,12784,12.96,8419.6,24.4,6.7,1196,12791,0.00,2.45,0.12,0.000,4,0.007,0.000,3362,3460,533,0,0,13,0,0,0
$GC,12888,12.89,8419.6,16.8,8.5,1207,12904,0.00,2.92,1.10,0.000,6,0.007,0.000,3363,1855,519,0,0,17,0,0,0
$GC,12975,13.11,8458.7,11.7,5.8,1221,12982,0.00,2.25,0.12,0.007,4,0.007,0.000,3363,485,520,0,0,10,0,0,0
$STATE,13120,end climb,SURFACE_DEPTH_REACHED
$STATE,13120,begin surface coast
$FINISH,1.6,1.024067
$STATE,13171,end surface coast,CONTROL_FINISHED_OK
$STATE,13171,begin surface
$SM_CCo,13262,0.00,0.000,0,0,523,485.69
$SM_GC,0.04,14.68,0.00,0.00,0.000,0.007,0.007,409,2189,523,-9.80,4.72,485.69
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,0,1255838643,4.083333,4.067500,80,0,0,0,0,0,619,0,0,0,0,0
$RAFOS,4,1255826645,0.750000,0.734722,80,0,0,0,0,0,868,0,0,0,0,0
$RAFOS,3,1255826057,0.583333,0.571389,80,0,0,0,0,0,732,0,0,0,0,0
$RAFOS,2,1255825446,0.416667,0.401667,80,0,0,0,0,0,996,0,0,0,0,0
$RAFOS_FIX,6625.247070,-6221.837891,181009,000001,5,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078236054
$INTERNAL_PRESSURE,16.1321
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,275.166
$10V_AH,10.7,40.818
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.411
$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,31.375,133.525,559.950,0.000,0.000,0.000,0.000,88.178,0.000,0.000,30.815,2100.501,8772.061,1016.242,1245.516,439.409,33.351,1215.887,0.000,1172.562,1080.000,3.493,0.000
$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,763.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,40952,1256
$CAP_FILE_SIZE,157571,8
$CFSIZE,260165632,242593792
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,32,682,2,0
$SOUNDSPEED,1451.5
$GPS,181009,041653,6643.902,-6038.199,19,1.1,19,18.0