version: 66.06
glider: 1
mission: 14
dive: 134
start: 10 19 109 23 28 17
data:
$ID,1
$MISSION,14
$DIVE,134
$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,-222130.83
$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,0
$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,79.937103
$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
$GPS1,232913,6640.747,-5953.824,33,1.1,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,233538,6640.643,-5953.932,23,1.1,24,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.141,-0.187
$KALMAN_X,-55514.3,1446.1,1075.2,-12020.1,-1087.0
$KALMAN_Y,12018.6,-569.1,-89.9,-33540.6,-360.0
$MHEAD_RNG_PITCHd_Wd,125.0,387560,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,88,0.00,0.00,-58.40,0.000,2,0.007,0.000,441,2224,2363,0,0,0,0,0,0
$GC,92,-0.99,-146.6,3.3,-2.6,12,144,10.45,2.88,-24.10,0.000,4,0.000,0.000,2562,408,3105,15,0,13,0,0,0
$GC,397,-0.99,-146.6,39.1,-6.9,49,413,0.88,3.35,0.00,0.007,6,0.000,0.000,2357,2351,3098,2,0,22,0,0,0
$GC,600,-0.99,-146.6,52.6,-6.7,68,616,0.75,3.42,0.00,0.007,4,0.000,0.000,2546,480,3097,2,0,14,0,0,0
$GC,868,-0.99,-146.6,72.4,-8.2,91,875,0.50,3.10,0.00,0.007,6,0.000,0.000,2421,2279,3099,1,0,15,0,0,0
$GC,1199,-0.99,-146.6,97.9,-7.8,123,1206,0.47,2.17,0.00,0.007,4,0.000,0.000,2550,3549,3102,0,0,9,0,0,0
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1236,-0.31,0.0,100.1,7.4,125,1356,0.77,0.00,114.53,0.000,6,0.000,0.007,2685,1821,2541,2,0,0,0,0,0
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,0.99,146.6,109.5,0.0,137,1498,1.17,3.88,126.12,0.000,4,0.000,0.000,2950,3650,1905,1,0,22,0,0,0
$GC,1752,2.75,605.2,140.5,-7.7,174,2029,1.70,3.17,257.40,0.000,6,0.000,0.000,3338,1844,618,1,0,13,0,1,0
$GC,2354,4.42,1057.3,187.4,-7.5,232,2365,0.00,2.80,4.70,0.000,4,0.007,0.000,3338,3573,606,0,0,9,0,0,0
$GC,2619,4.95,1491.8,205.9,-6.9,256,2635,0.00,4.38,0.03,0.007,6,0.007,0.000,3341,1822,607,0,0,23,0,0,0
$GC,2949,5.51,1949.1,229.9,-7.6,287,2965,0.00,3.22,0.12,0.000,4,0.007,0.000,3337,3699,612,0,0,16,0,0,0
$GC,3217,6.08,2411.6,250.4,-7.8,310,3230,0.00,4.43,0.15,0.007,6,0.007,0.000,3339,1810,606,0,0,28,0,0,0
$GC,3555,6.57,2803.4,274.0,-5.5,342,3572,0.00,3.30,0.15,0.000,4,0.007,0.000,3342,3543,604,0,0,18,0,0,0
$GC,3687,7.02,3177.0,280.8,-4.9,353,3703,0.00,2.90,1.15,0.000,6,0.000,0.001,3340,1859,605,0,0,17,0,0,0
$GC,4017,7.49,3558.7,300.4,-5.2,384,4033,0.00,3.78,0.12,0.007,4,0.007,0.000,3340,3567,604,0,0,21,0,0,0
$GC,4285,7.96,3935.6,315.7,-5.0,407,4295,0.00,3.22,1.50,0.000,6,0.007,0.000,3340,1934,605,0,0,15,0,0,0
$GC,4621,8.44,4328.5,336.2,-5.6,439,4637,0.00,3.03,0.12,0.007,4,0.000,0.000,3342,3596,603,0,0,19,0,0,0
$GC,4890,8.93,4728.1,352.2,-5.8,462,4900,0.00,2.70,1.62,0.000,6,0.007,0.000,3338,1921,604,0,0,12,0,0,0
$GC,5225,9.47,5162.9,370.4,-6.9,494,5240,0.00,3.03,0.12,0.000,4,0.007,0.000,3339,3606,568,0,0,18,0,0,0
$GC,5493,9.94,5546.5,385.3,-5.3,517,5503,0.00,2.67,1.98,0.000,6,0.000,0.000,3339,1881,606,0,0,11,0,0,0
$GC,5828,10.48,5989.8,407.4,-7.2,549,5834,0.00,2.17,0.12,0.000,4,0.007,14.482,3341,477,605,0,0,11,0,0,0
$GC,5916,11.02,6426.6,413.5,-7.0,556,5931,0.00,2.92,1.12,0.000,6,0.007,0.000,3338,2141,605,0,0,16,0,0,0
$GC,6246,11.51,6827.1,433.7,-5.8,587,6262,0.00,3.00,0.12,0.007,4,0.007,0.000,3338,3580,609,0,0,14,0,0,0
$GC,6514,12.01,7226.5,449.9,-5.8,610,6524,0.00,2.92,1.67,0.000,6,0.007,0.000,3339,1862,605,0,0,13,0,0,0
$GC,6851,12.53,7653.3,471.0,-6.6,642,6870,0.00,3.47,0.15,0.007,4,0.007,0.000,3339,3606,606,0,0,18,0,0,0
$GC,7123,13.06,8082.3,489.0,-6.7,665,7133,0.00,3.15,1.08,0.000,6,0.007,0.000,3336,1911,605,0,0,18,0,0,0
$GC,7457,13.54,8473.2,509.9,-5.5,697,7473,0.00,3.83,0.12,0.000,4,0.007,0.000,3342,3508,609,0,0,22,0,0,0
$GC,7726,14.06,8893.4,524.9,-6.4,720,7733,0.00,3.22,0.00,0.007,6,0.007,0.000,3342,1745,605,0,0,19,0,0,0
$GC,8057,14.53,9280.6,545.8,-5.4,752,8073,0.00,4.00,0.00,0.007,4,0.007,0.000,3336,3650,606,0,0,22,0,0,0
$GC,8325,14.98,9646.3,559.0,-4.7,775,8335,0.00,3.40,0.00,0.007,6,0.007,0.000,3332,1866,606,0,0,16,0,0,0
$GC,8660,15.49,10059.9,576.3,-6.2,807,8675,0.00,3.50,0.00,0.007,4,0.007,0.000,3339,3665,607,0,0,20,0,0,0
$GC,8927,16.01,10484.8,594.3,-6.6,830,8937,0.00,3.58,0.00,0.007,6,0.007,0.000,3340,1882,606,0,0,19,0,0,0
$GC,9262,16.53,10907.9,614.9,-6.5,862,9277,0.00,3.58,0.00,0.007,4,0.007,0.000,3337,3608,605,0,0,20,0,0,0
$GC,9530,17.03,11308.8,631.4,-5.8,885,9539,0.00,3.17,0.00,0.007,6,0.007,0.000,3340,1802,607,0,0,17,0,0,0
$GC,9864,17.49,11688.1,650.2,-5.1,917,9879,0.00,3.50,0.00,0.007,4,0.007,0.000,3338,3649,605,0,0,16,0,0,0
$GC,10132,17.99,12092.3,665.3,-5.9,940,10141,0.00,3.50,0.00,0.007,6,0.000,0.000,3341,1704,607,0,0,20,0,0,0
$GC,10467,18.45,12465.1,686.4,-4.9,972,10482,0.00,3.42,0.00,0.007,4,0.007,0.000,3337,3645,604,0,0,16,0,0,0
$GC,10735,18.98,12897.5,703.4,-6.8,995,10744,0.00,3.55,0.00,0.007,6,0.007,0.000,3340,1853,601,0,0,16,0,0,0
$GC,11069,18.82,12897.5,691.6,9.5,1027,11084,0.00,2.95,0.00,0.007,4,0.007,0.000,3341,3527,599,0,0,16,0,0,0
$GC,11335,18.82,12897.5,668.5,8.1,1050,11344,0.00,2.92,0.00,0.007,6,0.007,0.000,3341,1862,608,0,0,14,0,0,0
$GC,11661,18.99,12932.7,646.7,5.9,1081,11677,0.00,3.17,0.00,0.007,4,0.007,0.000,3339,3602,624,0,0,20,0,0,0
$GC,11929,18.93,12932.7,626.0,9.8,1104,11936,0.00,3.15,0.00,0.007,6,0.007,0.000,3341,1728,606,0,0,15,0,0,0
$GC,12254,19.12,12968.0,601.4,5.9,1135,12269,0.00,3.42,0.00,0.007,4,0.007,0.000,3339,3690,605,0,0,19,0,0,0
$GC,12522,19.26,12974.4,582.7,6.8,1158,12532,0.00,3.70,0.00,0.007,6,0.000,0.000,3337,1937,605,0,0,18,0,0,0
$GC,12856,19.16,12974.4,558.8,9.8,1190,12871,0.00,3.28,0.00,0.007,4,0.007,0.000,3336,3792,626,0,0,19,0,0,0
$GC,13124,19.06,12974.4,531.2,9.4,1213,13130,0.00,3.15,0.00,0.000,6,0.007,0.000,3338,1821,608,0,0,14,0,0,0
$GC,13449,19.27,13010.2,510.7,5.9,1244,13465,0.00,3.20,0.00,0.007,4,0.000,0.000,3342,3784,599,0,0,15,0,0,0
$GC,13718,19.13,13010.2,484.0,10.7,1267,13728,0.00,4.03,0.00,0.007,6,0.007,0.000,3336,1862,606,0,0,21,0,0,0
$GC,14054,19.29,13042.2,458.9,6.0,1299,14070,0.00,3.83,0.00,0.007,4,0.007,0.000,3340,3509,610,0,0,21,0,0,0
$GC,14322,19.15,13042.2,434.0,10.3,1322,14331,0.00,3.42,0.00,0.007,6,0.007,0.000,3339,1671,605,0,0,18,0,0,0
$GC,14656,19.33,13080.1,406.2,5.8,1354,14672,0.00,3.65,0.00,0.007,4,0.007,0.000,3339,3606,605,0,0,19,0,0,0
$GC,14924,19.34,13088.1,386.4,6.8,1377,14931,0.00,2.90,0.00,0.007,6,0.007,0.000,3340,1767,601,0,0,14,0,0,0
$GC,15249,19.28,13088.1,362.1,11.4,1408,15264,0.00,3.50,0.00,0.007,4,0.007,0.000,3334,3614,606,0,0,14,0,0,0
$GC,15516,19.41,13088.1,341.2,7.2,1431,15523,0.00,2.88,0.00,0.007,6,0.000,0.000,3338,1914,605,0,0,11,0,0,0
$GC,15841,19.41,13088.1,313.2,7.5,1462,15843,0.00,0.00,0.00,0.007,6,0.007,0.007,3341,1912,606,0,0,0,0,0,0
$GC,16163,19.41,13088.1,284.5,9.2,1492,16169,0.00,2.60,0.00,0.007,4,0.000,0.000,3339,3557,602,0,0,12,0,0,0
$GC,16423,19.42,13095.3,260.2,6.8,1514,16431,0.00,3.08,0.00,0.007,6,0.007,0.000,3338,1995,604,0,0,14,0,0,0
$GC,16747,18.84,13095.3,224.8,20.7,1545,16753,0.00,2.78,0.00,0.000,4,0.007,0.000,3339,3578,605,0,0,12,0,0,0
$GC,16979,18.18,13095.3,165.5,23.9,1565,16994,0.00,3.45,0.00,0.007,6,0.000,0.000,3340,1999,606,0,0,17,0,0,0
$GC,17307,18.18,13095.3,125.5,8.9,1596,17322,0.00,3.30,0.00,0.007,4,0.007,0.000,3339,3618,595,0,0,16,0,0,0
$GC,17518,18.38,13097.8,106.3,6.9,1614,17525,0.00,3.25,0.00,0.007,6,0.007,0.000,3338,1675,603,0,0,15,0,0,0
$GC,17849,18.22,13097.8,76.8,11.6,1646,17865,0.00,4.03,0.00,0.007,4,0.007,0.000,3337,3709,600,0,0,21,0,0,0
$GC,18119,18.02,13097.8,43.1,12.4,1669,18129,0.00,3.65,0.00,0.007,6,0.007,0.000,3332,1835,604,0,0,18,0,0,0
$GC,18328,18.39,13158.8,24.6,5.1,1689,18334,0.00,2.50,0.00,0.007,4,0.007,0.000,3338,359,604,0,0,14,0,0,0
$GC,18358,18.71,13186.9,22.7,6.1,1691,18373,0.00,3.50,0.00,0.007,6,0.007,0.000,3339,2195,605,0,0,19,0,0,0
$GC,18568,19.24,13186.9,3.0,11.9,1724,18574,0.00,2.67,0.00,0.007,3,0.007,0.000,3341,897,606,0,0,15,0,0,0
$STATE,18575,end climb,SURFACE_DEPTH_REACHED
$STATE,18575,begin surface coast
$FINISH,0.0,1.012198
$STATE,18601,end surface coast,CONTROL_FINISHED_OK
$STATE,18601,begin surface
$SM_CCo,18692,0.00,0.000,0,0,604,464.35
$SM_GC,0.04,14.65,0.00,0.00,0.000,0.007,0.007,458,2278,604,-9.95,7.21,464.35
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,3,1256013243,4.583333,4.567500,80,0,0,0,0,0,710,0,0,0,0,0
$RAFOS,2,1256012642,4.416667,4.400556,80,0,0,0,0,0,895,0,0,0,0,0
$RAFOS,1,1256012050,4.250000,4.236111,80,0,0,0,0,0,632,0,0,0,0,0
$RAFOS,0,1256011451,4.083333,4.069722,80,0,0,0,0,0,519,0,0,0,0,0
$RAFOS,4,1255999443,0.750000,0.734167,80,0,0,0,0,0,804,0,0,0,0,0
$RAFOS,3,1255998847,0.583333,0.568611,80,0,0,0,0,0,691,0,0,0,0,0
$RAFOS,1,1255997645,0.250000,0.234722,80,0,0,0,0,0,654,0,0,0,0,0
$RAFOS,0,1255997043,0.083333,0.067500,80,0,0,0,0,0,566,0,0,0,0,0
$RAFOS_FIX,6640.923828,-6128.442383,201009,040416,4,80,4.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078226245
$INTERNAL_PRESSURE,16.2339
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,283.255
$10V_AH,10.7,41.625
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,80.111
$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,31.350,214.700,514.225,0.000,0.000,0.000,0.000,115.648,0.000,0.000,24.686,3003.296,12502.240,1084.665,1909.048,601.922,33.360,1303.553,0.000,1813.175,3600.000,2.761,0.000
$DEVICE_MAMPS,119.000,14481.869,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,56605,1730
$CAP_FILE_SIZE,219813,8
$CFSIZE,260165632,241598464
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,38,1093,1,0
$SOUNDSPEED,1457.2
$GPS,201009,045054,6641.964,-5949.421,34,1.1,34,18.0