version: 66.06
glider: 1
mission: 14
dive: 130
start: 10 19 109 4 17 41
data:
$ID,1
$MISSION,14
$DIVE,130
$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,-222020.47
$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,79.266808
$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
$GPS1,041826,6642.493,-6011.341,24,1.1,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,042421,6642.436,-6011.338,22,1.1,22,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,-0.183
$KALMAN_X,-62285.7,1494.8,1350.7,-18227.4,-2822.6
$KALMAN_Y,12101.4,317.6,-116.0,-31252.1,58.1
$MHEAD_RNG_PITCHd_Wd,123.6,399260,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-53.38,0.000,2,0.007,0.000,440,2219,2190,0,0,0,0,0,0
$GC,85,-0.99,-146.6,3.0,-1.7,11,143,10.98,2.88,-29.60,0.000,4,0.000,0.000,2540,616,3105,12,0,17,0,0,0
$GC,394,-0.69,-146.6,45.5,-12.8,49,402,0.00,2.97,0.00,0.007,6,0.007,0.000,2544,2251,3111,0,0,16,0,0,0
$GC,592,-0.69,-146.6,66.6,-8.2,68,606,0.00,2.92,0.00,0.007,4,0.007,0.000,2542,463,3103,0,0,14,0,0,0
$GC,857,-0.69,-146.6,87.8,-8.5,91,866,0.00,3.12,0.00,0.007,6,0.007,0.000,2546,2176,3106,0,0,11,0,0,0
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1029,-0.31,0.0,100.0,7.2,107,1157,0.45,0.00,120.80,7.917,6,0.000,0.007,2669,1827,2503,0,0,0,0,0,0
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1160,0.99,146.6,109.8,0.0,120,1306,1.52,3.08,116.12,8.169,4,0.000,0.000,2978,3436,1929,2,0,18,0,0,0
$GC,1559,2.68,611.4,143.8,-7.9,155,1883,1.88,2.95,276.98,3.136,6,0.000,0.000,3377,1983,591,3,0,17,0,5,0
$GC,2198,4.18,993.2,185.8,-5.2,217,2213,0.00,3.30,0.12,0.007,4,0.007,0.001,3374,3634,582,0,0,16,0,0,0
$GC,2466,4.66,1382.8,200.9,-5.5,240,2476,0.00,2.95,1.33,0.000,6,0.007,0.000,3378,2028,593,0,0,15,0,0,0
$GC,2801,5.20,1819.0,219.7,-6.9,272,2816,0.00,2.85,0.12,0.000,4,0.007,0.000,3374,3569,578,0,0,15,0,0,0
$GC,3068,5.75,2270.4,239.8,-7.4,295,3079,0.00,3.25,1.20,0.000,6,0.007,0.000,3375,1687,592,0,0,19,0,0,0
$GC,3404,6.29,2710.2,262.9,-7.1,327,3420,0.00,3.08,0.22,0.007,4,0.007,0.000,3375,3492,588,0,0,19,0,0,0
$GC,3673,6.84,3157.1,282.9,-7.3,350,3683,0.00,2.97,1.38,0.000,6,0.007,0.000,3375,1672,596,0,0,12,0,0,0
$GC,4008,7.42,3628.5,308.8,-8.1,382,4023,0.00,4.12,0.12,0.000,4,0.007,0.000,3374,3742,581,0,0,22,0,0,0
$GC,4276,7.98,4083.7,329.7,-7.6,405,4286,0.00,3.55,0.98,0.000,6,0.000,0.001,3376,1829,588,0,0,22,0,0,0
$GC,4611,8.52,4520.9,354.2,-7.0,437,4627,0.00,3.55,0.12,0.007,4,0.000,0.000,3373,3661,587,0,0,19,0,0,0
$GC,4880,9.05,4951.5,373.4,-6.8,460,4891,0.00,2.90,1.33,0.000,6,0.007,0.000,3375,1848,586,0,0,15,0,0,0
$GC,5216,9.59,5389.6,397.4,-7.0,492,5232,0.00,3.03,0.15,0.007,4,0.007,0.000,3377,3622,588,0,0,18,0,0,0
$GC,5484,10.12,5822.7,415.6,-6.8,515,5494,0.00,3.05,1.42,0.000,6,0.007,0.000,3378,1887,587,0,0,17,0,0,0
$GC,5819,10.62,6228.8,436.7,-6.0,547,5835,0.00,2.95,0.12,0.007,4,0.000,0.000,3374,3447,586,0,0,16,0,0,0
$GC,6087,11.11,6624.2,452.1,-5.6,570,6098,0.00,2.53,2.17,0.000,6,0.007,0.000,3373,1863,583,0,0,11,0,0,0
$GC,6423,11.55,6985.4,468.3,-4.5,602,6438,0.00,3.25,0.12,0.000,4,0.007,0.000,3374,3705,585,0,0,17,0,0,0
$GC,6691,12.05,7391.9,482.4,-6.0,625,6701,0.00,3.62,0.60,0.000,6,0.000,0.000,3375,1886,585,0,0,17,0,0,0
$GC,7026,12.54,7784.4,502.7,-5.5,657,7041,0.00,3.03,0.12,0.000,4,0.007,0.000,3375,3652,581,0,0,16,0,0,0
$GC,7293,13.04,8196.2,518.1,-6.2,680,7304,0.00,3.40,1.08,0.000,6,0.007,0.000,3374,1917,585,0,0,18,0,0,0
$GC,7629,13.52,8581.9,538.3,-5.3,712,7644,0.00,3.03,0.12,0.000,4,0.007,0.000,3376,3607,585,0,0,15,0,0,0
$GC,7897,14.02,8993.8,555.5,-6.2,735,7902,0.00,2.72,0.00,0.007,6,0.007,0.000,3375,1844,586,0,0,13,0,0,0
$GC,8221,14.19,9128.6,566.5,2.7,766,8236,0.00,2.97,0.00,0.007,4,0.007,0.000,3369,3550,589,0,0,14,0,0,0
$GC,8488,13.94,9128.6,541.8,10.7,789,8495,0.00,3.05,0.00,0.007,6,0.007,0.000,3376,1817,591,0,0,12,0,0,0
$GC,8812,13.94,9128.6,513.1,7.2,820,8828,0.00,3.53,0.00,0.007,4,0.007,0.000,3373,3644,583,0,0,21,0,0,0
$GC,9080,13.97,9152.9,493.1,6.2,843,9088,0.00,2.90,0.00,0.007,6,0.007,0.000,3374,1656,587,0,0,17,0,0,0
$GC,9405,14.03,9152.9,474.3,7.4,874,9421,0.00,3.42,0.00,0.007,4,0.007,0.000,3374,3579,585,0,0,18,0,0,0
$GC,9674,14.18,9168.4,456.4,6.5,897,9683,0.00,2.80,0.00,0.007,6,0.007,0.000,3373,1873,582,0,0,16,0,0,0
$GC,10008,14.10,9168.4,427.0,9.9,929,10024,0.00,2.88,0.00,0.007,4,0.007,0.000,3369,3678,582,0,0,15,0,0,0
$GC,10277,14.27,9192.0,406.7,6.3,952,10286,0.00,3.65,0.00,0.007,6,0.000,0.000,3374,1877,562,0,0,19,0,0,0
$GC,10612,14.44,9221.7,383.5,6.1,984,10628,0.00,3.28,0.00,0.007,4,0.007,0.000,3374,3665,584,0,0,15,0,0,0
$GC,10880,14.59,9231.4,364.9,6.7,1007,10890,0.00,3.65,0.00,0.007,6,0.007,0.000,3376,1913,584,0,0,19,0,0,0
$GC,11215,14.64,9231.4,342.8,7.3,1039,11230,0.00,2.78,0.00,0.007,4,0.007,0.000,3375,3657,586,0,0,16,0,0,0
$GC,11482,14.65,9241.1,326.4,6.7,1062,11491,0.00,3.38,0.00,0.007,6,0.007,0.000,3374,1483,581,0,0,19,0,0,0
$GC,11816,14.65,9241.1,300.6,7.0,1094,11831,0.00,4.22,0.00,0.007,4,0.007,0.000,3376,3634,589,0,0,18,0,0,0
$GC,12084,14.65,9241.1,277.2,8.6,1117,12090,0.00,3.17,0.00,0.000,6,0.007,0.000,3373,1901,588,0,0,15,0,0,0
$GC,12415,14.54,9241.1,240.7,12.8,1149,12421,0.00,2.60,0.00,0.000,4,0.007,0.000,3380,3570,587,0,0,13,0,0,0
$GC,12673,14.54,9241.1,214.4,8.3,1171,12680,0.00,3.30,0.00,0.007,6,0.007,0.000,3372,1706,586,0,0,19,0,0,0
$GC,13006,14.38,9241.1,180.2,13.2,1203,13021,0.00,3.20,0.00,0.007,4,0.007,0.000,3375,3458,582,0,0,17,0,0,0
$GC,13274,14.32,9241.1,148.8,9.7,1226,13280,0.00,2.95,0.00,0.007,6,0.007,0.000,3377,1670,587,0,0,14,0,0,0
$GC,13598,14.32,9241.1,115.5,8.4,1257,13613,0.00,3.40,0.00,0.007,4,0.007,0.000,3374,3657,587,0,0,15,0,0,0
$GC,13866,14.48,9241.1,96.3,7.7,1280,13873,0.00,3.33,0.00,0.007,6,0.007,0.000,3375,1930,588,0,0,17,0,0,0
$GC,14190,14.48,9241.1,66.1,8.8,1311,14205,0.00,3.22,0.00,0.007,4,0.000,0.000,3373,3588,588,0,0,17,0,0,0
$GC,14457,14.48,9241.1,41.4,11.0,1334,14465,0.00,2.92,0.00,0.007,6,0.007,0.000,3376,1834,578,0,0,16,0,0,0
$GC,14654,14.48,9241.1,21.9,9.7,1353,14669,0.00,3.05,0.00,0.007,4,0.007,0.000,3374,3581,585,0,0,16,0,0,0
$STATE,14914,end climb,SURFACE_DEPTH_REACHED
$STATE,14914,begin surface coast
$FINISH,1.6,1.025095
$STATE,14949,end surface coast,CONTROL_FINISHED_OK
$STATE,14949,begin surface
$SM_CCo,15040,0.00,0.000,0,0,562,471.71
$SM_GC,0.05,14.70,0.00,0.00,0.000,0.007,0.007,414,1811,562,-10.31,-6.08,471.71
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,2,1255940641,8.416667,8.400278,80,0,0,0,0,0,935,0,0,0,0,0
$RAFOS,1,1255940044,8.250000,8.234445,80,0,0,0,0,0,697,0,0,0,0,0
$RAFOS,0,1255939447,8.083333,8.068611,80,0,0,0,0,0,524,0,0,0,0,0
$RAFOS,4,1255927447,4.750000,4.735278,80,0,0,0,0,0,804,0,0,0,0,0
$RAFOS,3,1255926851,4.583333,4.569722,80,0,0,0,0,0,708,0,0,0,0,0
$RAFOS,1,1255925643,4.250000,4.234167,80,0,0,0,0,0,710,0,0,0,0,0
$RAFOS_FIX,6635.519043,-6141.625488,191009,040436,4,80,914.24
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078247226
$INTERNAL_PRESSURE,16.1354
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,279.973
$10V_AH,10.7,41.294
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,79.410
$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,29.525,158.625,526.750,0.000,0.000,0.000,0.000,110.286,0.000,0.000,23.267,2423.352,9929.240,993.193,1568.098,508.852,33.354,1195.785,0.000,1492.931,2160.000,2.163,0.000
$DEVICE_MAMPS,0.251,0.871,8169.204,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,846.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,47210,1403
$CAP_FILE_SIZE,176132,8
$CFSIZE,260165632,242008064
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,29,825,5,0
$SOUNDSPEED,1453.2
$GPS,191009,083821,6643.337,-6008.086,13,1.1,13,18.0