version: 66.06
glider: 1
mission: 14
dive: 133
start: 10 19 109 18 14 38
data:
$ID,1
$MISSION,14
$DIVE,133
$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,-222105.16
$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,4
$R_STBD_OVSHOOT,3
$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,79.75563
$FG_AHR_24V,4.6384406
$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
$GPS1,181530,6642.696,-5959.679,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,182155,6642.605,-5959.916,35,1.1,35,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.141,-0.186
$KALMAN_X,-57266.6,648.3,940.4,-13666.8,-826.9
$KALMAN_Y,12870.5,737.1,60.2,-32306.8,-324.8
$MHEAD_RNG_PITCHd_Wd,124.9,393465,-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,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,87,0.00,0.00,-56.92,0.000,2,0.007,0.000,491,2269,2337,0,0,0,0,0,0
$GC,90,-0.99,-146.6,3.2,-2.1,12,140,11.20,3.40,-25.30,0.000,4,0.000,0.000,2664,491,3109,16,0,19,0,0,0
$GC,392,-0.87,-146.6,43.1,-10.2,51,409,0.88,2.58,0.00,0.000,6,0.000,0.001,2445,2156,3107,3,0,13,0,0,0
$GC,597,-0.83,-146.6,60.4,-8.3,70,613,0.50,3.05,0.00,0.000,4,0.000,0.000,2586,484,3107,0,0,16,0,0,0
$GC,865,-0.83,-146.6,82.1,-7.2,93,875,0.50,3.17,0.00,0.007,6,0.007,0.000,2419,2159,3106,1,0,16,0,0,0
$STATE,1125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1125,begin apogee
$GC,1132,-0.31,0.0,100.3,6.8,118,1258,1.42,0.00,120.43,7.917,6,0.000,0.007,2685,1837,2517,3,0,0,0,0,0
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1262,0.99,146.6,108.9,0.0,131,1391,1.42,2.83,116.65,0.000,4,0.000,256.513,3037,3508,1927,1,0,11,0,0,0
$GC,1644,2.84,637.9,138.7,-8.7,165,1948,1.45,2.90,272.12,3.297,6,0.000,0.000,3360,1899,591,3,0,16,0,3,0
$GC,2273,4.49,1065.7,186.1,-6.7,226,2288,0.00,3.15,0.12,0.007,4,0.007,0.000,3360,3623,587,0,0,16,0,0,0
$GC,2540,5.03,1505.9,203.7,-7.1,249,2550,0.00,3.10,1.58,0.000,6,0.007,0.000,3362,2028,591,0,0,12,0,0,0
$GC,2875,5.58,1952.6,227.2,-7.3,281,2890,0.00,2.92,0.12,0.000,4,0.007,0.000,3362,3650,589,0,0,16,0,0,0
$GC,3143,6.13,2397.4,246.9,-7.2,304,3153,0.00,3.42,0.82,0.000,6,0.007,0.000,3362,1838,584,0,0,17,0,0,0
$GC,3478,6.66,2832.7,271.2,-6.9,336,3494,0.00,3.33,0.17,0.007,4,0.000,0.000,3365,3611,588,0,0,16,0,0,0
$GC,3746,7.14,3219.0,287.0,-5.3,359,3758,0.00,2.97,1.52,0.000,6,0.007,0.000,3362,1914,593,0,0,12,0,0,0
$GC,4082,7.61,3600.0,306.8,-5.2,391,4098,0.00,2.90,0.12,0.007,4,0.007,0.000,3363,3594,592,0,0,15,0,0,0
$GC,4351,8.05,3961.7,320.5,-4.6,414,4361,0.00,3.25,0.95,0.000,6,0.000,0.000,3362,1827,591,0,0,18,0,0,0
$GC,4685,8.52,4340.8,337.3,-5.1,446,4701,0.00,3.72,0.12,0.007,4,0.007,0.000,3360,3482,591,0,0,19,0,0,0
$GC,4954,9.06,4783.1,352.4,-7.1,469,4964,0.00,2.92,1.73,0.000,6,0.007,0.000,3362,1888,589,0,0,13,0,0,0
$GC,5289,9.59,5215.1,375.5,-6.8,501,5305,0.00,3.35,0.12,0.007,4,0.007,0.000,3362,3654,592,0,0,17,0,0,0
$GC,5558,10.14,5655.8,394.2,-7.1,524,5568,0.00,3.22,0.93,0.000,6,0.007,0.000,3361,1822,592,0,0,18,0,0,0
$GC,5893,10.63,6056.8,417.2,-5.8,556,5909,0.00,3.67,0.12,0.007,4,0.007,0.000,3362,3598,591,0,0,18,0,0,0
$GC,6161,11.15,6482.9,433.8,-6.6,579,6172,0.00,4.28,0.08,0.007,6,0.007,0.000,3366,1888,590,0,0,27,0,0,0
$GC,6497,11.70,6923.8,458.9,-7.1,611,6504,0.00,2.62,0.12,0.000,4,0.007,0.000,3363,3608,585,0,0,12,0,0,0
$GC,6756,12.20,7335.7,475.8,-6.2,633,6766,0.00,3.05,1.25,0.000,6,0.007,0.000,3372,1880,579,0,0,16,0,0,0
$GC,7091,12.71,7751.7,497.2,-6.3,665,7107,0.00,2.97,0.12,0.007,4,0.007,0.000,3363,3732,591,0,0,18,0,0,0
$GC,7360,13.23,8170.4,514.4,-6.4,688,7371,0.00,3.50,0.68,0.000,6,0.007,0.000,3363,1872,590,0,0,17,0,0,0
$GC,7696,13.74,8589.0,535.4,-6.4,720,7711,0.00,3.00,0.15,0.000,4,0.007,0.000,3363,3567,589,0,0,12,0,0,0
$GC,7963,14.24,8992.5,551.8,-5.9,743,7970,0.00,2.80,0.00,0.007,6,0.000,0.000,3361,1863,594,0,0,15,0,0,0
$GC,8288,14.70,9369.4,568.6,-5.0,774,8304,0.00,3.40,0.00,0.007,4,0.007,0.000,3362,3579,594,0,0,16,0,0,0
$GC,8557,15.26,9820.1,585.7,-7.4,797,8562,0.00,2.78,0.00,0.007,6,0.000,0.000,3365,1826,593,0,0,15,0,0,0
$GC,8881,15.74,10212.0,606.7,-5.5,828,8897,0.00,3.70,0.00,0.000,4,0.007,0.000,3363,3609,592,0,0,20,0,0,0
$GC,9150,16.23,10612.6,622.7,-5.8,851,9156,0.00,3.03,0.00,0.007,6,0.007,0.000,3359,1980,594,0,0,13,0,0,0
$GC,9475,16.69,10982.8,640.5,-4.8,882,9490,0.00,2.97,0.00,0.007,4,0.007,0.000,3359,3460,594,0,0,15,0,0,0
$GC,9743,17.16,11365.7,655.6,-5.2,905,9752,0.00,3.28,0.00,0.007,6,0.007,0.000,3363,1840,592,0,0,19,0,0,0
$GC,10077,16.98,11365.7,643.5,9.5,937,10092,0.00,3.30,0.00,0.007,4,0.007,0.000,3362,3678,591,0,0,17,0,0,0
$GC,10343,16.98,11365.7,622.3,8.3,960,10351,0.00,3.12,0.00,0.007,6,0.007,0.000,3363,1749,583,0,0,14,0,0,0
$GC,10669,17.17,11406.3,600.4,5.7,991,10685,0.00,3.47,0.00,0.007,4,0.000,0.000,3361,3566,581,0,0,18,0,0,0
$GC,10937,17.07,11406.3,580.0,9.2,1014,10946,0.00,3.53,0.00,0.007,6,0.007,0.000,3364,1857,592,0,0,19,0,0,0
$GC,11271,17.13,11406.3,551.8,7.5,1046,11286,0.00,3.08,0.00,0.007,4,0.007,0.000,3362,3531,589,0,0,17,0,0,0
$GC,11538,17.19,11406.3,532.3,7.4,1069,11545,0.00,3.38,0.00,0.007,6,0.007,0.000,3365,1826,593,0,0,17,0,0,0
$GC,11870,17.19,11406.3,508.4,8.1,1101,11885,0.00,3.47,0.00,0.007,4,0.007,0.000,3361,3576,592,0,0,15,0,0,0
$GC,12137,17.38,11447.9,492.0,5.7,1124,12147,0.00,3.55,0.00,0.007,6,0.007,0.000,3367,1844,593,0,0,17,0,0,0
$GC,12472,17.25,11447.9,460.1,9.9,1156,12474,0.00,0.00,0.00,0.007,6,0.007,0.000,3364,1843,588,0,0,0,0,0,0
$GC,12793,17.10,11447.9,427.5,10.7,1186,12808,0.00,3.28,0.00,0.007,4,0.007,0.000,3359,3594,591,0,0,17,0,0,0
$GC,13060,17.18,11447.9,404.4,7.5,1209,13069,0.00,3.28,0.00,0.007,6,0.000,0.000,3362,1719,592,0,0,17,0,0,0
$GC,13394,17.25,11447.9,378.8,7.7,1241,13409,0.00,3.17,0.00,0.007,4,0.007,0.000,3360,3609,588,0,0,15,0,0,0
$GC,13661,17.16,11447.9,357.3,9.2,1264,13668,0.00,3.08,0.00,0.007,6,0.007,0.000,3359,1898,593,0,0,16,0,0,0
$GC,13986,17.29,11466.8,329.5,6.4,1295,14001,0.00,3.38,0.00,0.007,4,0.007,0.000,3361,3701,579,0,0,18,0,0,0
$GC,14254,17.16,11466.8,309.6,10.9,1318,14264,0.00,4.60,0.00,0.007,6,0.007,0.000,3364,1949,589,0,0,24,0,0,0
$GC,14589,17.31,11473.9,276.9,6.8,1350,14595,0.00,2.72,0.00,0.000,4,0.007,0.000,3363,3600,589,0,0,13,0,0,0
$GC,14846,17.31,11473.9,258.1,9.3,1372,14854,0.00,3.15,0.00,0.007,6,0.007,0.000,3363,1852,592,0,0,14,0,0,0
$GC,15171,17.37,11473.9,224.6,9.0,1403,15188,0.00,3.17,0.00,0.007,4,0.007,0.000,3364,3641,592,0,0,15,0,0,0
$GC,15440,17.37,11473.9,202.4,8.6,1426,15446,0.00,3.28,0.00,0.007,6,0.007,0.000,3364,1800,592,0,0,18,0,0,0
$GC,15765,17.38,11486.5,177.1,6.6,1457,15780,0.00,3.28,0.00,0.007,4,0.007,0.000,3365,3779,592,0,0,18,0,0,0
$GC,16032,17.38,11486.5,157.1,7.4,1480,16039,0.00,3.30,0.00,0.007,6,0.007,0.000,3361,1813,590,0,0,17,0,0,0
$GC,16364,17.40,11497.2,131.1,6.7,1512,16379,0.00,3.03,0.00,0.007,4,0.007,0.000,3360,3662,592,0,0,14,0,0,0
$GC,16483,17.40,11497.2,122.5,7.6,1522,16497,0.00,3.08,0.00,0.007,6,0.007,0.000,3358,1956,591,0,0,14,0,0,0
$GC,16811,17.28,11497.2,90.1,9.6,1553,16826,0.00,3.58,0.00,0.007,4,0.000,0.000,3362,3787,591,0,0,20,0,0,0
$GC,17079,17.46,11517.5,67.9,6.4,1576,17088,0.00,3.05,0.00,0.007,6,0.007,0.000,3361,1894,587,0,0,17,0,0,0
$GC,17412,17.46,11517.5,45.4,7.4,1608,17427,0.00,3.03,0.00,0.000,4,0.007,0.000,3361,3644,591,0,0,16,0,0,0
$GC,17679,17.46,11517.5,26.1,7.2,1631,17686,0.00,2.95,0.00,0.007,6,0.007,0.000,3363,1618,595,0,0,15,0,0,0
$GC,17883,17.65,11671.3,13.7,2.1,1660,17899,0.00,3.60,0.00,0.007,4,0.007,0.000,3357,3609,588,0,0,20,0,0,0
$GC,18008,17.73,11739.9,6.0,4.8,1681,18023,0.00,3.67,0.00,0.000,6,0.007,0.000,3364,1822,591,0,0,22,0,0,0
$STATE,18066,end climb,SURFACE_DEPTH_REACHED
$STATE,18066,begin surface coast
$FINISH,0.0,1.012198
$STATE,18152,end surface coast,CONTROL_FINISHED_OK
$STATE,18152,begin surface
$SM_CCo,18239,0.00,0.000,0,0,593,468.03
$SM_GC,0.05,14.57,0.00,0.00,0.000,0.007,0.007,439,2219,593,-10.01,5.48,468.03
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1255985043,20.750000,20.734167,80,0,0,0,0,0,805,0,0,0,0,0
$RAFOS,3,1255984445,20.583334,20.568056,80,0,0,0,0,0,715,0,0,0,0,0
$RAFOS,2,1255983846,20.416666,20.401667,80,0,0,0,0,0,876,0,0,0,0,0
$RAFOS,1,1255983243,20.250000,20.234167,80,0,0,0,0,0,681,0,0,0,0,0
$RAFOS,0,1255982642,20.083334,20.067223,80,0,0,0,0,0,554,0,0,0,0,0
$RAFOS_FIX,6634.540039,-6138.156250,191009,202023,5,80,9.97
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078234584
$INTERNAL_PRESSURE,16.1995
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,282.517
$10V_AH,10.7,41.537
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,79.926
$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,31.950,195.125,520.050,0.000,0.000,0.000,0.000,113.592,0.000,0.000,35.863,2860.122,12223.651,1062.546,1891.128,590.319,33.358,1275.768,0.000,1792.959,1800.000,1.891,0.000
$DEVICE_MAMPS,119.000,256512.939,7917.069,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,56592,1706
$CAP_FILE_SIZE,212082,8
$CFSIZE,260165632,241709056
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,44,995,3,0
$SOUNDSPEED,1455.1
$GPS,191009,232913,6640.747,-5953.824,33,1.1,33,18.0