version: 66.06
glider: 1
mission: 14
dive: 135
start: 10 20 109 4 49 57
data:
$ID,1
$MISSION,14
$DIVE,135
$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,-222144.17
$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,5
$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,80.12368
$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
$GPS1,045054,6641.964,-5949.421,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,045728,6641.781,-5949.838,12,1.1,12,18.0
$SPEED_LIMITS,0.122,0.234
$TGT_NAME,HOLD
$TGT_LATLONG,6400.000,-5448.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.139,-0.188
$KALMAN_X,-54114.0,1852.3,881.2,-10639.2,-1439.7
$KALMAN_Y,12957.4,2.9,171.4,-33297.9,52.1
$MHEAD_RNG_PITCHd_Wd,125.6,387067,-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,25,begin dive
$GC,27,-0.99,-146.6,0.0,0.0,0,93,0.00,0.00,-63.00,0.000,2,0.007,0.000,457,2279,2525,0,0,0,0,0,0
$GC,97,-0.99,-146.6,3.0,-1.6,13,144,10.00,3.05,-19.40,0.000,4,0.000,0.000,2528,368,3099,9,0,16,0,0,0
$GC,396,-0.99,-146.6,39.3,-7.3,49,409,0.77,4.12,0.00,0.007,6,0.000,0.000,2415,2343,3127,2,0,22,0,0,0
$GC,608,-1.05,-146.6,53.5,-7.0,69,624,0.28,3.50,0.00,0.007,4,0.000,0.000,2504,417,3107,0,0,16,0,0,0
$GC,876,-1.05,-146.6,72.7,-6.9,92,887,0.32,4.28,0.00,0.000,6,0.007,0.000,2464,2223,3102,1,0,23,0,0,0
$GC,1212,-1.05,-146.6,98.9,-8.2,124,1227,0.00,4.10,0.00,0.000,4,0.007,0.000,2465,456,3110,0,0,21,0,0,0
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1240,-0.31,0.0,100.5,7.8,125,1368,0.93,0.00,122.47,0.000,6,0.000,0.007,2692,2198,2500,1,0,0,0,0,0
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1371,0.99,146.6,111.1,0.0,138,1521,1.20,2.53,119.15,0.000,4,0.000,0.000,2962,3449,1908,1,0,10,0,0,0
$GC,1774,2.61,603.4,141.9,-7.6,173,2067,1.83,2.80,263.08,0.000,6,0.000,0.000,3326,1823,611,3,0,14,0,3,0
$GC,2392,4.41,1081.9,190.5,-8.3,233,2408,0.00,3.60,0.12,0.000,4,0.007,0.000,3326,3547,619,0,0,19,0,0,0
$GC,2661,4.91,1489.4,209.7,-6.0,256,2672,0.00,3.55,0.68,0.000,6,0.007,0.000,3325,1835,610,0,0,17,0,0,0
$GC,2997,5.48,1952.7,230.2,-7.8,288,3012,0.00,2.78,0.25,0.007,4,0.000,0.000,3325,3634,610,0,0,14,0,0,0
$GC,3227,6.06,2424.2,248.3,-8.1,308,3243,0.00,2.83,1.50,0.000,6,0.007,0.000,3325,1895,576,0,0,10,0,0,0
$GC,3557,6.60,2860.4,271.7,-6.9,339,3572,0.00,3.00,0.15,0.007,4,0.007,0.000,3323,3695,612,0,0,14,0,0,0
$GC,3787,7.14,3304.5,288.3,-7.2,359,3803,0.00,3.15,0.85,0.000,6,0.007,0.000,3323,2016,613,0,0,19,0,0,0
$GC,4117,7.78,3823.2,315.6,-9.6,390,4133,0.00,3.20,0.15,0.000,4,0.007,0.000,3324,492,610,0,0,19,0,0,0
$GC,4273,8.39,4321.2,329.9,-8.9,403,4283,0.00,3.22,1.42,0.000,6,0.007,0.000,3324,2177,614,0,0,17,0,0,0
$GC,4610,8.93,4756.2,353.5,-6.9,435,4616,0.00,2.28,0.15,0.000,4,0.007,0.000,3328,3607,611,0,0,12,0,0,0
$GC,4868,9.44,5169.8,370.8,-6.2,457,4879,0.00,3.38,1.20,0.000,6,0.007,0.000,3327,1650,612,0,0,16,0,0,0
$GC,5203,9.95,5582.7,391.4,-6.2,489,5219,0.00,3.45,0.25,0.007,4,0.000,0.000,3326,3605,613,0,0,19,0,0,0
$GC,5427,10.49,6023.8,405.7,-7.1,508,5437,0.00,2.90,1.77,0.000,6,0.007,0.000,3325,1860,604,0,0,15,0,0,0
$GC,5762,10.98,6423.4,427.1,-5.8,540,5779,0.00,3.47,0.28,0.000,4,0.007,0.000,3325,3680,612,0,0,17,0,0,0
$GC,6031,11.48,6830.1,442.1,-6.0,563,6041,0.00,3.08,1.45,0.000,6,0.000,0.000,3327,1893,612,0,0,16,0,0,0
$GC,6366,12.01,7261.0,463.7,-6.8,595,6382,0.00,3.35,0.15,0.007,4,0.007,0.000,3323,3655,611,0,0,16,0,0,0
$GC,6388,12.54,7692.9,465.2,-6.8,596,6397,0.00,3.53,0.60,0.000,6,0.007,0.000,3325,2030,612,0,0,18,0,0,0
$GC,6722,13.03,8086.6,488.0,-5.6,628,6729,0.00,2.45,0.25,0.000,4,0.007,0.000,3327,3594,613,0,0,12,0,0,0
$GC,6981,13.49,8462.0,501.7,-5.0,650,6992,0.00,3.45,1.25,0.000,6,0.007,0.000,3328,1967,613,0,0,19,0,0,0
$GC,7318,14.00,8877.5,522.3,-6.3,682,7324,0.00,2.42,0.00,0.007,4,0.007,0.000,3324,3566,613,0,0,11,0,0,0
$GC,7577,14.44,9238.1,534.7,-4.5,704,7586,0.00,3.28,0.00,0.007,6,0.007,0.000,3325,1757,612,0,0,14,0,0,0
$GC,7911,14.93,9635.6,553.6,-5.7,736,7926,0.00,3.28,0.00,0.007,4,0.007,0.000,3325,3637,610,0,0,18,0,0,0
$GC,8178,15.40,10016.7,567.4,-5.2,759,8185,0.00,2.83,0.00,0.007,6,0.007,0.000,3324,1912,612,0,0,13,0,0,0
$GC,8505,15.87,10399.6,586.3,-5.2,790,8511,0.00,2.67,0.00,0.007,4,0.007,0.000,3325,3591,613,0,0,12,0,0,0
$GC,8764,16.34,10783.9,600.0,-5.3,812,8773,0.00,3.17,0.00,0.007,6,0.007,0.000,3324,1839,607,0,0,18,0,0,0
$GC,9099,16.89,11224.9,623.2,-7.1,844,9114,0.00,2.90,0.00,0.007,4,0.007,0.000,3324,3617,578,0,0,16,0,0,0
$GC,9164,17.39,11638.3,627.6,-6.2,849,9171,0.00,3.15,0.00,0.007,6,0.007,0.000,3324,1806,609,0,0,12,0,0,0
$GC,9496,17.90,12052.2,647.8,-6.2,881,9510,0.00,3.05,0.00,0.007,4,0.007,0.000,3329,3785,611,0,0,13,0,0,0
$GC,9762,18.42,12471.9,664.5,-6.4,904,9772,0.00,3.20,0.00,0.007,6,0.000,0.000,3325,1917,611,0,0,17,0,0,0
$GC,10096,18.95,12904.4,685.9,-6.8,936,10112,0.00,2.92,0.00,0.007,4,0.007,0.000,3325,3607,612,0,0,13,0,0,0
$GC,10364,19.40,13272.6,699.9,-4.8,959,10374,0.00,3.42,0.00,0.007,6,0.007,0.000,3323,1893,609,0,0,18,0,0,0
$GC,10699,19.87,13654.7,717.8,-5.2,991,10713,0.00,2.92,0.00,0.007,4,0.000,0.000,3323,3622,612,0,0,16,0,0,0
$GC,10966,20.37,14055.6,734.1,-5.8,1014,10972,0.00,3.10,0.00,0.007,6,0.007,0.000,3329,1811,611,0,0,16,0,0,0
$GC,11297,20.68,14305.7,747.5,-1.0,1046,11312,0.00,3.53,0.00,0.007,4,0.007,0.000,3324,3675,613,0,0,18,0,0,0
$GC,11565,20.68,14305.7,727.0,8.7,1069,11571,0.00,3.28,0.00,0.007,6,0.000,0.000,3332,1808,615,0,0,16,0,0,0
$GC,11889,20.69,14316.8,702.0,6.7,1100,11904,0.00,3.17,0.00,0.007,4,0.007,0.000,3325,3540,610,0,0,14,0,0,0
$GC,12157,20.75,14318.5,684.2,7.0,1123,12163,0.00,2.90,0.00,0.000,6,0.007,0.000,3324,1897,610,0,0,14,0,0,0
$GC,12488,20.82,14331.3,662.2,6.6,1155,12502,0.00,2.97,0.00,0.000,4,0.007,0.000,3323,3590,612,0,0,15,0,0,0
$GC,12755,20.82,14335.0,642.7,6.9,1178,12761,0.00,2.80,0.00,0.007,6,0.000,0.000,3326,1811,611,0,0,15,0,0,0
$GC,13079,20.83,14336.9,620.4,7.0,1209,13094,0.00,3.88,0.00,0.007,4,0.007,0.000,3325,3627,609,0,0,21,0,0,0
$GC,13345,20.83,14336.9,599.9,7.9,1232,13353,0.00,3.17,0.00,0.007,6,0.007,0.000,3330,1914,612,0,0,13,0,0,0
$GC,13670,20.83,14336.9,574.4,7.8,1263,13676,0.00,2.90,0.00,0.007,4,0.007,0.000,3325,3663,603,0,0,15,0,0,0
$GC,13928,20.83,14336.9,553.9,8.5,1285,13935,0.00,3.05,0.00,0.007,6,0.000,0.000,3324,1878,610,0,0,12,0,0,0
$GC,14253,20.94,14359.7,529.3,6.3,1316,14268,0.00,3.10,0.00,0.007,4,0.007,0.000,3324,3549,609,0,0,18,0,0,0
$GC,14521,20.98,14390.5,512.6,6.0,1339,14531,0.00,4.03,0.00,0.000,6,0.007,0.000,3327,1816,610,0,0,24,0,0,0
$GC,14855,20.87,14390.5,479.1,9.7,1371,14871,0.00,3.53,0.00,0.007,4,0.007,0.000,3325,3688,612,0,0,20,0,0,0
$GC,15123,20.88,14400.6,461.1,6.7,1394,15133,0.00,3.53,0.00,0.007,6,0.007,0.000,3325,1844,614,0,0,17,0,0,0
$GC,15458,20.76,14400.6,428.6,10.7,1426,15473,0.00,3.33,0.00,0.000,4,0.007,0.000,3325,3639,608,0,0,15,0,0,0
$GC,15725,20.82,14400.6,406.5,8.0,1449,15734,0.00,3.53,0.00,0.007,6,0.007,0.000,3325,1700,614,0,0,21,0,0,0
$GC,16059,20.88,14400.6,378.1,8.5,1481,16073,0.00,3.05,0.00,0.007,4,0.000,0.000,3326,3630,576,0,0,11,0,0,0
$GC,16326,20.93,14400.6,356.0,8.0,1504,16333,0.00,3.12,0.00,0.007,6,0.007,0.000,3324,1898,614,0,0,14,0,0,0
$GC,16657,20.99,14400.6,330.6,7.4,1536,16672,0.00,2.92,0.00,0.000,4,0.007,0.000,3326,3486,629,0,0,14,0,0,0
$GC,16923,20.99,14400.6,309.3,7.6,1559,16931,0.00,2.78,0.00,0.007,6,0.007,0.000,3324,1897,608,0,0,12,0,0,0
$GC,17248,20.99,14400.6,283.1,7.6,1590,17262,0.00,3.15,0.00,0.007,4,0.007,0.000,3328,3545,607,0,0,14,0,0,0
$GC,17336,20.99,14400.6,276.3,7.9,1597,17345,0.00,3.00,0.00,0.000,6,0.007,0.000,3328,1912,607,0,0,15,0,0,0
$GC,17671,21.04,14446.9,253.8,5.5,1629,17687,0.00,3.30,0.00,0.007,4,0.007,0.000,3321,3580,611,0,0,16,0,0,0
$GC,17939,20.90,14446.9,233.1,9.0,1652,17945,0.00,2.83,0.00,0.007,6,0.007,0.000,3323,2028,612,0,0,15,0,0,0
$GC,18264,20.76,14446.9,201.9,11.0,1683,18279,0.00,3.35,0.00,0.007,4,0.000,0.000,3325,3786,612,0,0,18,0,0,0
$GC,18530,20.76,14446.9,174.7,8.8,1706,18537,0.00,3.53,0.00,0.007,6,0.007,0.000,3326,1820,596,0,0,19,0,0,0
$GC,18856,20.86,14446.9,148.3,8.4,1737,18862,0.00,2.70,0.00,0.007,4,0.007,0.000,3326,3428,608,0,0,13,0,0,0
$GC,19113,20.76,14446.9,121.3,10.7,1759,19123,0.00,3.40,0.00,0.007,6,0.007,0.000,3323,1800,610,0,0,20,0,0,0
$GC,19448,20.86,14446.9,95.5,7.2,1791,19463,0.00,4.03,0.00,0.000,4,0.007,0.000,3323,3585,614,0,0,21,0,0,0
$GC,19714,20.86,14446.9,72.6,9.1,1814,19722,0.00,3.08,0.00,0.007,6,0.007,0.000,3326,1974,612,0,0,16,0,0,0
$GC,20040,20.95,14446.9,45.5,7.4,1845,20055,0.00,4.30,0.00,0.007,4,0.007,0.000,3325,3628,612,0,0,23,0,0,0
$GC,20307,20.89,14446.9,24.2,10.8,1868,20316,0.00,3.53,0.00,0.007,6,0.007,0.000,3326,1515,607,0,0,16,0,0,0
$GC,20516,20.89,14446.9,5.7,9.4,1901,20532,0.00,3.83,0.00,0.007,4,0.007,0.000,3325,3631,610,0,0,19,0,0,0
$STATE,20546,end climb,SURFACE_DEPTH_REACHED
$STATE,20546,begin surface coast
$FINISH,1.9,1.025313
$STATE,20575,end surface coast,CONTROL_FINISHED_OK
$STATE,20576,begin surface
$SM_CCo,20666,0.00,0.000,0,0,614,463.86
$SM_GC,0.05,14.50,0.00,0.00,0.000,0.000,0.007,423,1866,614,-10.30,-4.52,463.86
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1256028242,8.750000,8.733889,80,0,0,0,0,0,796,0,0,0,0,0
$RAFOS,3,1256027651,8.583333,8.569722,80,0,0,0,0,0,669,0,0,0,0,0
$RAFOS,2,1256027049,8.416667,8.402500,80,0,0,0,0,0,848,0,0,0,0,0
$RAFOS,1,1256026451,8.250000,8.236389,80,0,0,0,0,0,616,0,0,0,0,0
$RAFOS,0,1256025848,8.083333,8.068889,80,0,0,0,0,0,542,0,0,0,0,0
$RAFOS,4,1256013843,4.750000,4.734167,80,0,0,0,0,0,796,0,0,0,0,0
$RAFOS_FIX,6633.333984,-6126.699707,201009,080836,5,80,5.85
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078222695
$INTERNAL_PRESSURE,16.2323
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,284.002
$10V_AH,10.7,41.720
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,80.316
$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,29.825,238.475,517.175,0.000,0.000,0.000,0.000,141.240,0.000,0.000,12.362,3254.855,13905.066,1150.530,2084.217,670.900,33.359,1385.699,0.000,2008.933,1800.000,2.255,0.000
$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,1147.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,62986,1911
$CAP_FILE_SIZE,238466,0
$CFSIZE,260165632,241475584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,36,1194,3,0
$SOUNDSPEED,1457.1
$GPS,201009,104520,6642.429,-5949.507,35,1.1,35,18.0