version: 66.06
glider: 1
mission: 14
dive: 124
start: 10 18 109 4 16 12
data:
$ID,1
$MISSION,14
$DIVE,124
$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,-221847.56
$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,78.421539
$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
$GPS1,041653,6643.902,-6038.199,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,042301,6643.909,-6038.225,23,1.1,23,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,-0.155
$KALMAN_X,-70440.6,-869.9,481.2,-26330.0,554.8
$KALMAN_Y,10892.8,867.2,1002.3,-29030.2,-810.1
$MHEAD_RNG_PITCHd_Wd,113.7,415926,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.99,-145.7,0.0,0.0,0,92,0.00,0.00,-63.50,0.000,2,0.007,0.000,410,2191,2464,0,0,0,0,0,0
$GC,95,-0.99,-146.6,3.1,-1.9,13,141,10.20,2.65,-21.00,0.000,4,0.000,0.000,2529,451,3103,9,0,13,0,0,0
$GC,392,-0.99,-146.6,35.9,-8.2,52,404,0.30,2.88,0.00,0.007,6,0.000,0.000,2442,2268,3101,1,0,13,0,0,0
$GC,591,-0.99,-146.6,52.9,-9.0,71,606,0.28,3.80,0.00,0.007,4,0.000,0.000,2536,294,3103,0,0,21,0,0,0
$GC,858,-0.99,-146.6,76.9,-8.8,94,869,0.60,3.35,0.00,0.007,6,0.000,0.000,2441,2397,3101,2,0,19,0,0,0
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1146,-0.31,0.0,100.4,7.2,121,1277,1.12,0.00,120.15,0.000,6,0.000,0.007,2694,1716,2520,1,0,0,0,1,0
$STATE,1278,end apogee,CONTROL_FINISHED_OK
$STATE,1280,begin climb
$GC,1282,0.99,146.6,109.0,0.0,134,1415,1.48,3.42,119.40,0.000,4,0.000,0.000,2995,3601,1930,1,0,19,0,0,0
$GC,1667,2.65,597.2,135.1,-7.5,169,1980,1.77,2.85,272.10,0.000,6,0.000,0.000,3368,1813,609,3,0,13,0,5,0
$GC,2304,4.41,1077.1,186.6,-8.4,231,2320,0.00,3.55,0.17,0.007,4,0.000,0.000,3372,3753,606,0,0,19,0,0,0
$GC,2573,4.97,1534.8,208.9,-7.7,254,2584,0.00,3.40,1.02,0.000,6,0.007,0.000,3368,1869,606,0,0,19,0,0,0
$GC,2909,5.51,1973.9,233.3,-7.1,286,2926,0.00,4.10,0.15,0.000,4,0.007,0.000,3369,3664,608,0,0,22,0,0,0
$GC,3179,6.04,2406.1,251.6,-6.9,309,3189,0.00,4.22,0.25,0.000,6,0.007,0.000,3373,2022,610,0,0,22,0,0,0
$GC,3514,6.53,2804.2,271.9,-5.8,341,3529,0.00,2.80,0.22,0.000,4,0.007,0.000,3369,3782,611,0,0,16,0,0,0
$GC,3781,7.02,3203.4,287.5,-5.8,364,3793,0.00,3.40,1.15,0.000,6,0.007,0.000,3370,1861,606,0,0,16,0,0,0
$GC,4118,7.55,3628.3,307.2,-6.7,396,4135,0.00,3.00,0.15,0.007,4,0.007,0.000,3368,3565,606,0,0,15,0,0,0
$GC,4387,8.04,4031.5,324.0,-6.0,419,4398,0.00,3.58,0.57,0.000,6,0.007,0.000,3371,1417,608,0,0,21,0,0,0
$GC,4722,8.54,4435.4,344.3,-6.0,451,4737,0.00,4.62,0.40,0.000,4,0.000,0.000,3371,3566,604,0,0,24,0,0,0
$GC,4989,9.10,4888.5,366.8,-7.6,474,5000,0.00,3.17,1.40,0.000,6,0.000,0.000,3370,1780,605,0,0,17,0,0,0
$GC,5324,9.56,5264.7,387.0,-5.1,506,5340,0.00,3.10,0.15,0.000,4,0.007,0.000,3369,3603,606,0,0,15,0,0,0
$GC,5593,10.00,5625.8,401.3,-4.6,529,5603,0.00,2.88,2.08,0.000,6,0.007,0.000,3367,1841,605,0,0,11,0,0,0
$GC,5928,10.54,6065.1,420.9,-7.1,561,5945,0.00,3.67,0.15,0.000,4,0.007,0.000,3370,3497,603,0,0,19,0,0,0
$GC,6197,11.02,6454.9,438.8,-5.5,584,6207,0.00,2.97,1.62,0.000,6,0.007,0.000,3369,1853,604,0,0,13,0,0,0
$GC,6532,11.50,6845.8,457.4,-5.6,616,6548,0.00,3.40,0.20,0.007,4,0.007,0.000,3373,3782,607,0,0,17,0,0,0
$GC,6800,12.07,7303.0,473.8,-7.7,639,6812,0.00,3.88,0.57,0.000,6,0.007,0.000,3374,1738,605,0,0,20,0,0,0
$GC,7137,12.59,7726.2,498.8,-6.6,671,7155,0.00,3.40,0.28,0.007,4,0.000,0.000,3369,3622,605,0,0,15,0,0,0
$GC,7406,12.38,7726.2,492.9,9.9,694,7417,0.00,2.92,1.85,0.000,6,0.007,0.000,3370,1625,611,0,0,14,0,0,0
$GC,7741,12.18,7726.2,459.6,9.1,726,7757,0.00,3.42,0.15,0.007,4,0.007,0.000,3369,3648,598,0,0,18,0,0,0
$GC,8009,12.18,7726.2,440.4,7.3,749,8021,0.00,3.05,2.28,0.000,6,0.000,0.000,3372,1858,607,0,0,15,0,0,0
$GC,8346,12.33,7758.2,419.4,6.0,781,8361,0.00,2.78,0.12,0.000,4,0.007,0.000,3370,3679,605,0,0,13,0,0,0
$GC,8614,12.53,7794.1,400.9,5.9,804,8624,0.00,2.78,1.48,0.000,6,0.007,0.000,3374,1876,605,0,0,16,0,0,0
$GC,8948,12.65,7802.5,378.5,6.8,836,8964,0.00,2.88,0.12,0.007,4,0.007,0.000,3370,3615,607,0,0,14,0,0,0
$GC,9216,12.46,7802.5,360.0,11.2,859,9227,0.00,3.00,1.92,0.000,6,0.000,0.000,3373,1891,607,0,0,14,0,0,0
$GC,9551,12.46,7802.5,338.5,8.0,891,9567,0.00,3.10,0.22,0.007,4,0.007,0.000,3372,3730,605,0,0,17,0,0,0
$GC,9606,12.15,7802.5,333.1,11.0,895,9616,0.00,3.65,1.02,0.000,6,0.007,0.000,3371,1859,608,0,0,20,0,0,0
$GC,9941,12.04,7802.5,294.8,12.0,927,9948,0.00,2.62,0.12,0.007,4,0.000,0.000,3366,433,605,0,0,13,0,0,0
$GC,9952,12.04,7802.5,293.6,10.6,927,9963,0.00,3.33,1.90,0.000,6,0.007,0.000,3372,2150,604,0,0,16,0,0,0
$GC,10287,12.04,7802.5,261.9,9.1,959,10294,0.00,2.80,0.20,0.007,4,0.007,0.000,3369,3635,604,0,0,17,0,0,0
$GC,10546,12.22,7809.5,241.9,6.8,981,10556,0.00,3.08,1.50,0.000,6,0.007,0.000,3368,2018,605,0,0,14,0,0,0
$GC,10881,12.14,7809.5,213.2,9.7,1013,10897,0.00,0.00,4.28,0.000,6,0.007,0.007,3368,2016,594,0,0,0,0,0,0
$GC,11211,12.19,7809.5,186.9,7.9,1044,11217,0.00,2.62,0.12,0.007,4,0.007,0.000,3373,3578,596,0,0,13,0,0,0
$GC,11402,12.38,7816.0,171.1,6.8,1060,11414,0.00,3.03,1.52,0.000,6,0.000,0.000,3371,1914,592,0,0,18,0,0,0
$GC,11738,12.32,7816.0,147.4,10.6,1092,11755,0.00,3.00,0.12,0.007,4,0.007,0.000,3373,3711,597,0,0,16,0,0,0
$GC,12008,12.50,7848.0,130.0,6.0,1115,12018,0.00,3.50,0.62,0.000,6,0.007,0.000,3370,1846,593,0,0,19,0,0,0
$GC,12343,12.50,7848.0,105.1,7.5,1147,12358,0.00,2.92,0.12,0.000,4,0.007,0.000,3375,3611,594,0,0,11,0,0,0
$GC,12466,12.25,7848.0,93.4,10.2,1157,12476,0.00,3.08,1.08,0.000,6,0.007,0.000,3371,1890,595,0,0,12,0,0,0
$GC,12801,11.71,7848.0,21.2,17.9,1189,12807,0.00,2.45,0.12,0.000,4,0.007,0.000,3371,464,594,0,0,12,0,0,0
$GC,12922,11.71,7848.0,9.6,9.1,1208,12939,0.00,3.05,1.08,0.000,6,0.007,0.000,3370,2173,588,0,0,13,0,0,0
$STATE,12998,end climb,SURFACE_DEPTH_REACHED
$STATE,12998,begin surface coast
$FINISH,1.7,1.025101
$STATE,13036,end surface coast,CONTROL_FINISHED_OK
$STATE,13036,begin surface
$SM_CCo,13123,0.00,0.000,0,0,587,467.05
$SM_GC,0.04,14.68,0.00,0.00,0.000,0.007,0.007,355,1637,587,-10.52,-10.86,467.05
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255841042,4.750000,4.733889,80,0,0,0,0,0,875,0,0,0,0,0
$RAFOS,3,1255840443,4.583333,4.567500,80,0,0,0,0,0,808,0,0,0,0,0
$RAFOS,2,1255839862,4.416667,4.406111,80,0,0,0,0,0,889,0,0,0,0,0
$RAFOS_FIX,6631.190430,-6221.648438,181009,040444,4,80,283.22
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078221413
$INTERNAL_PRESSURE,16.1343
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,275.754
$10V_AH,10.7,40.883
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.546
$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,30.425,143.250,544.175,0.000,0.000,0.000,0.000,115.438,0.000,0.000,26.170,2059.249,8613.101,951.568,1342.988,499.592,33.349,1149.024,0.000,1278.088,1080.000,2.139,0.000
$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,748.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,40943,1227
$CAP_FILE_SIZE,161704,0
$CFSIZE,260165632,242511872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,28,727,6,0
$SOUNDSPEED,1451.5
$GPS,181009,080412,6643.772,-6033.745,18,1.1,18,18.0