version: 66.06
glider: 1
mission: 14
dive: 126
start: 10 18 109 11 51 36
data:
$ID,1
$MISSION,14
$DIVE,126
$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,-221911.52
$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,78.687263
$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
$GPS1,115206,6641.882,-6028.646,7,1.1,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,115651,6641.885,-6028.596,34,1.1,34,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.149,-0.180
$KALMAN_X,-68333.4,1418.7,663.0,-23954.3,-375.6
$KALMAN_Y,10859.5,-70.3,-456.9,-30224.7,-716.1
$MHEAD_RNG_PITCHd_Wd,122.3,407858,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-57.83,0.000,2,0.007,0.000,345,2284,2349,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.1,-1.8,12,142,11.55,3.65,-24.80,0.000,4,0.000,0.000,2672,431,3099,13,0,20,0,0,0
$GC,282,-0.66,-146.6,26.5,-16.5,43,298,1.02,3.60,0.00,0.000,6,0.000,0.000,2421,2239,3102,2,0,20,0,0,0
$GC,484,-0.66,-146.6,44.1,-8.8,62,500,0.80,2.88,0.00,0.000,4,0.000,0.000,2601,3681,3101,1,0,14,0,0,0
$GC,754,-0.66,-146.6,62.0,-5.8,85,765,0.93,3.05,0.00,0.007,6,0.000,0.000,2488,1687,3101,3,0,15,0,0,0
$GC,1089,-0.66,-146.6,88.2,-9.6,117,1105,0.38,3.15,0.00,0.007,4,0.000,0.000,2632,243,3103,1,0,20,0,0,0
$GC,1144,-0.66,-146.6,93.7,-10.0,121,1155,1.05,4.03,0.00,0.000,6,0.000,0.000,2421,2260,3101,2,0,19,0,0,0
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1219,-0.31,0.0,100.4,9.8,128,1349,1.20,0.00,119.10,0.000,6,0.000,0.007,2692,1918,2515,1,0,0,0,0,0
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1352,0.99,146.6,113.2,0.0,141,1489,1.15,3.15,118.65,0.000,4,0.000,0.000,2967,3649,1921,0,0,17,0,0,0
$GC,1495,2.80,658.4,127.5,-9.4,154,1787,1.60,2.88,266.83,0.000,6,0.000,0.000,3341,1707,588,3,0,15,0,2,0
$GC,2112,4.45,1106.3,172.9,-7.3,214,2126,0.00,0.00,3.78,0.000,6,0.007,0.007,3344,1704,587,0,0,0,0,0,0
$GC,2440,5.06,1608.0,201.5,-9.0,245,2446,0.00,2.05,0.12,0.007,4,0.007,0.000,3343,519,583,0,0,9,0,0,0
$GC,2698,5.59,2036.9,218.7,-6.7,267,2709,0.00,2.67,2.05,0.000,6,0.000,0.000,3343,2140,585,0,0,10,0,0,0
$GC,3033,6.20,2530.5,246.2,-8.8,299,3047,0.00,0.00,4.18,0.000,6,0.007,0.007,3344,2143,580,0,0,0,0,0,0
$GC,3362,6.73,2959.4,269.9,-6.7,330,3376,0.00,0.00,4.00,0.000,6,0.007,0.007,3346,2131,568,0,0,0,0,0,0
$GC,3690,7.25,3381.9,291.2,-6.5,361,3704,0.00,0.00,4.12,0.000,6,0.007,0.000,3343,2143,561,0,0,0,0,0,0
$GC,4020,7.79,3824.0,315.5,-7.1,392,4035,0.00,3.08,0.12,0.007,4,0.007,0.000,3341,330,557,0,0,18,0,0,0
$GC,4288,8.36,4286.9,334.9,-7.8,415,4298,0.00,3.53,0.62,0.000,6,0.007,0.000,3344,2200,558,0,0,19,0,0,0
$GC,4623,8.87,4704.7,356.4,-6.4,447,4638,0.00,3.00,0.12,0.007,4,0.007,0.000,3341,392,637,0,0,14,0,0,0
$GC,4891,9.45,5176.9,377.7,-8.1,470,4901,0.00,3.17,1.38,0.000,6,0.007,0.000,3342,2124,558,0,0,16,0,0,0
$GC,5226,9.92,5552.3,397.3,-5.0,502,5240,0.00,0.00,4.15,0.000,6,0.007,0.007,3343,2126,556,0,0,0,0,0,0
$GC,5555,10.49,6022.1,420.0,-8.0,533,5569,0.00,0.00,3.83,0.000,6,0.000,0.007,3343,2124,544,0,0,0,0,0,0
$GC,5883,10.98,6419.9,441.3,-5.7,564,5897,0.00,0.00,4.03,0.000,6,0.000,0.007,3344,2125,521,0,0,0,0,0,0
$GC,6213,11.47,6812.0,460.2,-5.5,595,6229,0.00,2.65,0.20,0.007,4,0.007,0.000,3344,3646,532,0,0,16,0,0,0
$GC,6482,11.98,7231.4,476.5,-6.4,618,6492,0.00,3.60,0.52,0.007,6,0.007,0.000,3342,1789,535,0,0,19,0,0,0
$GC,6816,12.49,7648.9,497.8,-6.3,650,6823,0.00,2.40,0.12,0.000,4,0.007,0.000,3342,429,538,0,0,11,0,0,0
$GC,7075,13.03,8088.0,515.5,-7.0,672,7086,0.00,3.17,1.38,0.000,6,0.007,0.000,3341,2392,533,0,0,15,0,0,0
$GC,7410,12.90,8088.0,503.7,8.5,704,7416,0.00,2.03,0.12,0.007,4,0.007,0.000,3343,3613,536,0,0,9,0,0,0
$GC,7668,12.90,8088.0,484.1,7.8,726,7679,0.00,3.08,2.00,0.000,6,0.007,0.000,3343,2027,533,0,0,14,0,0,0
$GC,8003,13.10,8124.3,460.6,5.9,758,8010,0.00,2.58,0.12,0.007,4,0.007,0.000,3342,493,542,0,0,10,0,0,0
$GC,8194,13.10,8124.3,447.3,9.7,774,8205,0.00,2.67,2.72,0.000,6,0.007,0.000,3337,2256,530,0,0,14,0,0,0
$GC,8530,13.24,8163.6,426.1,5.8,806,8536,0.00,2.45,0.12,0.007,4,0.007,0.000,3341,3550,530,0,0,11,0,0,0
$GC,8615,13.03,8163.6,418.2,11.1,813,8631,0.00,2.97,1.08,0.000,6,0.007,0.000,3342,1990,543,0,0,16,0,0,0
$GC,8945,13.03,8163.6,395.0,8.1,844,8960,0.00,0.00,4.43,0.000,6,0.007,0.007,3341,1996,521,0,0,0,0,0,0
$GC,9275,12.24,8163.6,320.6,24.5,875,9281,0.00,2.70,0.03,0.007,4,0.000,0.000,3341,544,521,0,0,15,0,0,0
$GC,9396,12.19,8163.6,305.6,9.0,885,9413,0.00,3.00,1.10,0.000,6,0.007,0.000,3342,2198,519,0,0,13,0,0,0
$GC,9727,12.19,8163.6,280.8,7.6,916,9733,0.00,2.03,0.12,0.007,4,0.007,0.000,3344,3582,520,0,0,10,0,0,0
$GC,9794,12.12,8163.6,274.7,9.1,921,9805,0.00,3.00,1.83,0.000,6,0.007,0.000,3341,1851,519,0,0,15,0,0,0
$GC,10129,12.12,8163.6,248.0,7.6,953,10144,0.00,3.12,0.15,0.007,4,0.007,0.000,3342,475,519,0,0,17,0,0,0
$GC,10396,12.12,8163.6,226.8,8.1,976,10403,0.00,2.92,0.38,0.000,6,0.007,0.000,3342,2130,520,0,0,14,0,0,0
$GC,10721,12.12,8163.6,200.6,7.9,1007,10740,0.00,3.58,0.15,0.007,4,0.000,0.000,3340,564,519,0,0,20,0,0,0
$GC,10992,12.12,8163.6,179.7,7.5,1030,11003,0.00,3.15,2.03,0.000,6,0.007,0.000,3345,2228,521,0,0,18,0,0,0
$GC,11327,12.17,8164.9,155.7,7.0,1062,11342,0.00,0.00,4.10,0.000,6,0.007,0.007,3343,2230,506,0,0,0,0,0,0
$GC,11657,12.23,8167.0,133.0,7.0,1093,11673,0.00,3.58,0.12,0.000,4,0.007,0.000,3344,480,513,0,0,19,0,0,0
$GC,11926,12.32,8183.8,115.0,6.5,1116,11936,0.00,3.12,0.75,0.000,6,0.000,0.000,3342,2273,514,0,0,14,0,0,0
$GC,12261,12.48,8226.6,92.9,5.7,1148,12276,0.00,2.85,0.15,0.007,4,0.007,0.000,3341,3632,508,0,0,16,0,0,0
$GC,12426,12.32,8226.6,81.0,9.9,1162,12437,0.00,3.47,0.35,0.000,6,0.007,0.000,3346,1908,509,0,0,17,0,0,0
$GC,12762,12.52,8230.2,58.0,6.9,1194,12769,0.00,2.42,0.12,0.000,4,0.007,0.000,3344,382,500,0,0,13,0,0,0
$GC,12819,12.66,8230.2,53.2,8.1,1198,12829,0.00,3.42,0.22,0.007,6,0.007,0.000,3343,2141,507,0,0,15,0,0,0
$GC,13153,12.40,8230.2,10.3,11.4,1237,13159,0.00,2.90,0.00,0.007,4,0.007,0.000,3345,403,508,0,0,15,0,0,0
$STATE,13235,end climb,SURFACE_DEPTH_REACHED
$STATE,13236,begin surface coast
$FINISH,0.0,1.012199
$STATE,13255,end surface coast,CONTROL_FINISHED_OK
$STATE,13256,begin surface
$SM_CCo,13347,0.00,0.000,0,0,509,488.39
$SM_GC,0.05,14.73,0.00,0.00,0.000,0.007,0.000,444,2300,509,-10.17,7.75,488.39
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255869849,12.750000,12.735833,80,0,0,0,0,0,829,0,0,0,0,0
$RAFOS,3,1255869245,12.583333,12.568055,80,0,0,0,0,0,769,0,0,0,0,0
$RAFOS,2,1255868641,12.416667,12.400278,80,0,0,0,0,0,984,0,0,0,0,0
$RAFOS,1,1255868044,12.250000,12.234445,80,0,0,0,0,0,747,0,0,0,0,0
$RAFOS,0,1255867449,12.083333,12.069167,80,0,0,0,0,0,545,0,0,0,0,0
$RAFOS_FIX,6632.691895,-6213.474609,181009,121223,5,80,46.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078236480
$INTERNAL_PRESSURE,16.1772
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,276.920
$10V_AH,10.7,41.010
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,78.813
$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,34.400,121.575,561.500,0.000,0.000,0.000,0.000,88.743,0.000,0.000,34.697,2113.062,8904.429,951.902,1281.633,432.051,33.348,1136.706,0.000,1209.023,1800.000,2.815,0.000
$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,755.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,41011,1255
$CAP_FILE_SIZE,156384,8
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,37,620,2,0
$SOUNDSPEED,1451.1
$GPS,181009,154240,6642.424,-6024.478,19,1.1,20,18.0