version: 66.06
glider: 1
mission: 14
dive: 129
start: 10 18 109 23 58 35
data:
$ID,1
$MISSION,14
$DIVE,129
$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,-221996.22
$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,6
$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,79.115593
$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
$GPS1,235925,6641.550,-6015.045,28,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,000518,6641.572,-6014.912,13,1.1,13,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.147,-0.182
$KALMAN_X,-64057.7,2418.1,1154.3,-19792.6,-2340.7
$KALMAN_Y,11181.4,-585.2,392.0,-31451.3,-802.5
$MHEAD_RNG_PITCHd_Wd,123.2,399976,-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,23,begin dive
$GC,25,-0.99,-146.6,0.0,0.0,0,76,0.00,0.00,-48.03,0.000,2,0.007,0.000,480,2212,2069,0,0,0,0,0,0
$GC,80,-0.99,-146.6,3.0,-2.6,10,143,10.12,3.38,-34.17,0.000,4,0.000,0.000,2543,198,3106,12,0,18,0,0,0
$GC,249,-0.79,-146.6,26.3,-16.6,37,267,0.00,3.80,0.00,0.000,6,0.007,0.000,2544,2525,3163,0,0,20,0,0,0
$GC,453,-0.73,-146.6,45.1,-8.7,56,459,0.00,2.15,0.00,0.007,4,0.007,0.000,2538,3781,3105,0,0,14,0,0,0
$GC,711,-0.73,-146.6,69.1,-7.1,78,718,0.00,3.90,0.00,0.007,6,0.007,0.000,2542,1895,3106,0,0,18,0,0,0
$GC,1043,-0.73,-146.6,91.9,-6.8,110,1049,0.00,2.72,0.00,0.007,4,0.007,0.000,2532,3637,3104,0,0,13,0,0,0
$GC,1128,-0.78,-146.6,97.8,-6.8,117,1145,0.00,3.50,0.00,0.007,6,0.007,0.000,2546,1644,3103,0,0,20,0,0,0
$STATE,1159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1159,begin apogee
$GC,1167,-0.31,0.0,100.3,7.3,120,1300,1.05,0.00,117.55,0.000,6,0.000,0.007,2685,2199,2525,2,0,0,0,0,0
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1303,0.99,146.6,109.5,0.0,133,1445,1.17,0.00,122.20,0.000,6,0.000,0.007,2955,2196,1916,1,0,0,0,0,0
$GC,1761,2.66,588.2,144.2,-7.1,176,2055,1.90,0.00,268.58,0.000,6,0.000,0.007,3367,2200,599,4,0,0,0,2,0
$GC,2369,4.30,1012.3,190.5,-6.6,235,2384,0.00,0.00,3.83,0.000,6,0.007,0.007,3364,2205,590,0,0,0,0,0,0
$GC,2698,4.81,1425.7,211.2,-6.2,266,2713,0.00,0.00,4.10,0.000,6,0.007,0.007,3365,2195,579,0,0,0,0,0,0
$GC,3027,5.33,1851.6,232.1,-6.6,297,3034,0.00,2.67,0.12,0.007,4,0.007,0.000,3364,454,583,0,0,14,0,0,0
$GC,3287,5.85,2273.8,248.1,-6.5,319,3297,0.00,3.28,0.98,0.000,6,0.007,0.000,3372,2309,552,0,0,14,0,0,0
$GC,3621,6.37,2694.8,269.8,-6.5,351,3638,0.00,3.67,0.12,0.000,4,0.007,0.000,3366,372,580,0,0,17,0,0,0
$GC,3890,6.91,3132.4,287.4,-7.0,374,3902,0.00,3.08,1.50,0.000,6,0.007,0.000,3366,2063,578,0,0,16,0,0,0
$GC,4227,7.42,3545.5,309.1,-6.2,406,4244,0.00,2.90,0.12,0.000,4,0.007,0.000,3367,3744,582,0,0,17,0,0,0
$GC,4279,8.02,4032.2,313.4,-8.6,410,4294,0.00,4.25,0.00,0.007,6,0.007,0.000,3367,1846,580,0,0,26,0,0,0
$GC,4608,8.52,4445.1,339.5,-6.2,441,4623,0.00,0.00,4.15,0.000,6,0.000,0.007,3366,1839,570,0,0,0,0,0,0
$GC,4937,9.05,4874.3,358.9,-6.7,472,4951,0.00,0.00,4.10,0.000,6,0.007,0.007,3367,1849,563,0,0,0,0,0,0
$GC,5266,9.54,5269.0,377.4,-5.6,503,5281,0.00,2.83,0.12,0.007,4,0.007,0.000,3364,538,566,0,0,16,0,0,0
$GC,5533,9.99,5633.3,392.2,-4.6,526,5544,0.00,2.80,1.75,0.000,6,0.007,0.000,3364,2139,564,0,0,15,0,0,0
$GC,5869,10.47,6030.4,410.0,-5.7,558,5876,0.00,2.78,0.12,0.007,4,0.007,0.000,3365,383,564,0,0,11,0,0,0
$GC,6128,10.95,6419.1,425.4,-5.4,580,6138,0.00,3.85,0.77,0.000,6,0.007,0.000,3366,2302,564,0,0,19,0,0,0
$GC,6464,11.52,6878.3,448.0,-7.7,612,6480,0.00,2.95,0.12,0.007,4,0.007,0.000,3369,523,562,0,0,13,0,0,0
$GC,6732,11.98,7254.8,464.7,-5.0,635,6744,0.00,2.55,2.08,0.000,6,0.007,0.000,3364,2141,563,0,0,12,0,0,0
$GC,7069,12.53,7703.9,485.7,-7.4,667,7075,0.00,2.62,0.12,0.007,4,0.007,0.000,3367,3650,563,0,0,12,0,0,0
$GC,7256,13.05,8121.6,498.9,-6.4,683,7272,0.00,3.33,0.70,0.000,6,0.007,0.000,3366,1973,562,0,0,17,0,0,0
$GC,7586,13.53,8512.9,518.5,-5.5,714,7601,0.00,3.10,0.12,0.000,4,0.007,0.000,3365,3779,562,0,0,15,0,0,0
$GC,7854,14.04,8925.9,534.0,-6.2,737,7864,0.00,3.47,0.00,0.007,6,0.007,0.000,3365,1555,564,0,0,19,0,0,0
$GC,8189,14.22,9076.2,547.2,2.2,769,8195,0.00,2.00,0.00,0.007,4,0.007,0.000,3368,424,564,0,0,8,0,0,0
$GC,8447,14.01,9076.2,524.1,10.3,791,8454,0.00,2.95,0.00,0.007,6,0.007,0.000,3364,2067,562,0,0,11,0,0,0
$GC,8771,14.01,9079.4,495.1,6.9,822,8786,0.00,2.90,0.00,0.007,4,0.000,0.000,3365,489,562,0,0,15,0,0,0
$GC,9038,14.01,9079.4,475.5,8.2,845,9045,0.00,3.62,0.00,0.000,6,0.007,0.000,3364,2164,562,0,0,21,0,0,0
$GC,9364,14.11,9091.2,453.8,6.6,876,9369,0.00,2.42,0.00,0.007,4,0.007,0.000,3366,3632,564,0,0,13,0,0,0
$GC,9430,13.92,9091.2,447.5,10.3,881,9438,0.00,3.60,0.00,0.007,6,0.007,0.000,3365,1969,566,0,0,20,0,0,0
$GC,9762,14.34,9110.4,425.9,6.4,913,9777,0.00,3.05,0.00,0.007,4,0.007,0.000,3365,3625,559,0,0,15,0,0,0
$GC,9822,14.14,9110.4,420.5,9.7,918,9837,0.00,3.03,0.00,0.000,6,0.007,0.000,3362,1803,559,0,0,16,0,0,0
$GC,10151,14.35,9144.5,388.9,5.9,949,10157,0.00,2.10,0.00,0.007,4,0.000,0.000,3369,413,562,0,0,10,0,0,0
$GC,10409,14.23,9144.5,372.1,8.8,971,10419,0.00,3.40,0.00,0.007,6,0.007,0.000,3364,2211,563,0,0,17,0,0,0
$GC,10744,14.32,9144.5,343.7,7.1,1003,10750,0.00,2.62,0.00,0.007,4,0.000,0.000,3365,3785,560,0,0,15,0,0,0
$GC,11001,14.32,9144.5,325.4,7.6,1025,11009,0.00,3.70,0.00,0.007,6,0.007,0.000,3368,1854,562,0,0,20,0,0,0
$GC,11333,14.35,9169.5,301.3,6.2,1057,11348,0.00,2.90,0.00,0.007,4,0.000,0.000,3365,3551,562,0,0,15,0,0,0
$GC,11517,14.09,9169.5,287.8,10.4,1073,11533,0.00,3.15,0.00,0.000,6,0.007,0.000,3366,1919,561,0,0,13,0,0,0
$GC,11847,14.19,9176.3,265.5,6.8,1104,11853,0.00,2.65,0.00,0.000,4,0.007,0.000,3367,403,564,0,0,13,0,0,0
$GC,11898,14.11,9176.3,260.6,10.2,1108,11914,0.00,3.25,0.00,0.007,6,0.007,0.000,3365,2233,564,0,0,13,0,0,0
$GC,12228,14.21,9189.7,239.3,6.6,1139,12234,0.00,2.67,0.00,0.000,4,0.007,0.000,3368,3632,563,0,0,14,0,0,0
$GC,12279,14.02,9189.7,234.1,10.9,1143,12295,0.00,3.78,0.00,0.007,6,0.007,0.000,3372,1717,563,0,0,22,0,0,0
$GC,12609,14.02,9189.7,205.1,10.9,1174,12615,0.00,2.28,0.00,0.007,4,0.007,0.000,3368,488,559,0,0,12,0,0,0
$GC,12642,14.02,9189.7,201.4,10.0,1176,12649,0.00,2.95,0.00,0.007,6,0.007,0.000,3367,2342,562,0,0,15,0,0,0
$GC,12967,13.66,9189.7,147.4,17.2,1207,12982,0.00,2.80,0.00,0.007,4,0.007,0.000,3362,3594,565,0,0,18,0,0,0
$GC,12999,13.45,9189.7,142.6,14.1,1209,13006,0.00,2.75,0.00,0.007,6,0.000,0.000,3367,1706,557,0,0,13,0,0,0
$GC,13323,13.61,9211.9,118.4,6.3,1240,13328,0.00,1.83,0.00,0.007,4,0.007,0.000,3364,488,562,0,0,11,0,0,0
$GC,13389,13.61,9211.9,113.4,7.8,1245,13397,0.00,3.08,0.00,0.000,6,0.007,0.000,3366,2195,564,0,0,16,0,0,0
$GC,13715,13.73,9242.3,94.2,6.0,1276,13721,0.00,2.60,0.00,0.007,4,0.000,0.000,3370,3787,562,0,0,16,0,0,0
$GC,13759,13.56,9242.3,89.5,10.7,1279,13767,0.00,3.05,0.00,0.007,6,0.000,0.000,3367,1789,563,0,0,13,0,0,0
$GC,14084,13.73,9250.9,67.4,6.7,1310,14090,0.00,2.60,0.00,0.007,4,0.007,0.000,3367,497,561,0,0,13,0,0,0
$GC,14162,13.73,9250.9,60.3,10.2,1316,14170,0.00,2.60,0.00,0.000,6,0.007,0.000,3364,2224,567,0,0,14,0,0,0
$GC,14487,13.79,9250.9,33.0,7.6,1347,14493,0.00,2.30,0.00,0.007,4,0.007,0.000,3364,3441,561,0,0,12,0,0,0
$GC,14539,13.62,9250.9,28.3,11.2,1351,14555,0.00,3.30,0.00,0.007,6,0.007,0.000,3367,1903,566,0,0,16,0,0,0
$GC,14748,14.18,9255.3,15.6,6.9,1375,14755,0.00,2.40,0.00,0.007,4,0.000,0.000,3368,422,562,0,0,13,0,0,0
$STATE,14899,end climb,SURFACE_DEPTH_REACHED
$STATE,14899,begin surface coast
$FINISH,0.0,1.012198
$STATE,14945,end surface coast,CONTROL_FINISHED_OK
$STATE,14945,begin surface
$SM_CCo,15036,0.00,0.000,0,0,566,474.66
$SM_GC,0.04,14.70,0.00,0.00,0.000,0.007,0.007,445,2224,566,-10.09,5.54,474.66
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,0,1255925045,4.083333,4.068056,80,0,0,0,0,0,546,0,0,0,0,0
$RAFOS,4,1255913043,0.750000,0.734167,80,0,0,0,0,0,830,0,0,0,0,0
$RAFOS,3,1255912443,0.583333,0.567500,80,0,0,0,0,0,750,0,0,0,0,0
$RAFOS,1,1255911246,0.250000,0.235000,80,0,0,0,0,0,700,0,0,0,0,0
$RAFOS_FIX,6628.979980,-6156.776855,191009,000025,3,80,46.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078238733
$INTERNAL_PRESSURE,16.1325
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,278.752
$10V_AH,10.7,41.221
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,79.256
$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,28.950,161.925,533.275,0.000,0.000,0.000,0.000,110.134,0.000,0.000,15.778,2350.911,10046.629,1034.914,1394.199,533.604,33.355,1202.751,0.000,1335.069,2160.000,2.490,0.000
$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,858.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,47296,1410
$CAP_FILE_SIZE,175787,8
$CFSIZE,260165632,242094080
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,31,829,2,0
$SOUNDSPEED,1452.6
$GPS,191009,041826,6642.493,-6011.341,24,1.1,24,18.0