version: 66.06
glider: 1
mission: 14
dive: 18
start: 9 24 109 7 53 16
data:
$ID,1
$MISSION,14
$DIVE,18
$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,412
$T_MISSION,470
$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,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,375
$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,-219117.61
$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,7
$R_STBD_OVSHOOT,12
$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,58.734177
$FG_AHR_24V,4.6383615
$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
$GPS1,075357,6643.641,-6025.363,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,075924,6643.641,-6025.297,22,1.1,22,18.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,182.8,5040432,-14.8,-8.010
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,102,0.00,0.00,-72.93,0.000,2,0.007,0.000,377,1888,2831,0,0,0,0,0,0
$GC,106,-1.10,-146.6,3.2,-2.8,15,134,11.10,2.83,-8.77,0.000,4,0.000,0.000,2511,3425,3101,14,0,15,0,0,0
$GC,168,-0.58,-146.6,17.1,-23.0,26,187,0.47,3.03,0.00,0.007,6,0.000,0.000,2626,1830,3099,1,0,14,0,0,0
$GC,257,-0.41,-146.6,35.1,-16.7,35,276,0.32,2.58,0.00,0.007,4,0.000,0.000,2590,316,3100,1,0,13,0,0,0
$GC,528,-0.32,-146.6,68.9,-12.7,58,538,0.32,3.53,0.00,0.007,6,0.000,0.000,2640,2226,3100,1,0,17,0,0,0
$STATE,797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,797,begin apogee
$GC,805,-0.31,0.0,100.9,11.8,84,924,0.00,0.00,114.97,0.000,6,0.000,0.007,2643,1886,2528,0,0,0,0,0,0
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,928,1.10,146.6,115.4,0.0,96,1074,1.70,2.78,123.65,0.000,4,0.000,0.000,3018,3617,1923,0,0,17,0,1,0
$GC,1327,2.96,626.2,157.1,-9.5,132,1619,1.62,3.45,266.67,0.000,6,0.000,0.000,3352,1861,596,2,0,17,0,2,0
$GC,1944,3.57,1121.6,220.1,-10.0,192,1961,0.00,3.30,0.12,0.007,4,0.007,0.000,3349,3737,603,0,0,19,0,0,0
$GC,2212,4.14,1588.4,244.5,-9.0,215,2223,0.00,4.03,0.40,0.000,6,0.007,0.000,3355,1717,623,0,0,23,0,0,0
$GC,2547,4.81,2128.5,282.2,-11.7,247,2566,0.00,3.62,0.12,0.007,4,0.000,0.000,3354,3593,601,0,0,17,0,0,0
$GC,2819,5.39,2602.1,308.6,-9.2,270,2829,0.00,2.72,1.73,0.000,6,0.007,0.000,3350,1894,602,0,0,14,0,0,0
$GC,3154,5.98,3082.5,338.4,-9.5,302,3169,0.00,2.75,0.12,0.007,4,0.007,0.000,3353,3588,601,0,0,13,0,0,0
$GC,3421,6.58,3565.9,363.6,-9.6,325,3432,0.00,3.67,0.80,0.000,6,0.007,0.000,3356,1896,601,0,0,19,0,0,0
$GC,3756,7.19,4063.1,396.3,-10.1,357,3772,0.00,3.47,0.12,0.007,4,0.000,0.000,3352,3577,604,0,0,18,0,0,0
$GC,4025,7.77,4533.6,422.0,-9.1,380,4037,0.00,4.72,0.03,0.007,6,0.007,0.000,3353,2037,601,0,0,30,0,0,0
$GC,4362,8.35,5008.5,452.6,-9.3,412,4369,0.00,2.58,0.12,0.007,4,0.000,0.000,3359,3456,607,0,0,12,0,0,0
$GC,4622,8.91,5465.7,475.9,-8.6,434,4632,0.00,2.65,1.80,0.000,6,0.000,0.000,3356,1813,604,0,0,12,0,0,0
$GC,4958,9.47,5919.3,503.8,-8.5,466,4974,0.00,3.58,0.12,0.007,4,0.000,0.000,3353,3606,602,0,0,19,0,0,0
$GC,5226,11.15,6337.8,526.9,-7.2,489,5237,0.00,3.28,1.35,0.000,6,0.007,0.000,3354,1874,603,0,0,14,0,0,0
$GC,5561,10.91,6337.8,515.8,10.5,521,5577,0.00,3.15,0.12,0.007,4,0.007,0.000,3354,3587,599,0,0,16,0,0,0
$GC,5829,10.88,6372.0,496.8,6.8,544,5840,0.00,2.92,1.50,0.000,6,0.007,0.000,3353,1751,603,0,0,15,0,0,0
$GC,6166,11.17,6462.4,476.7,4.7,576,6183,0.00,3.65,0.12,0.000,4,0.007,0.000,3353,3657,604,0,0,18,0,0,0
$GC,6435,11.07,6462.4,455.9,10.9,599,6446,0.00,2.78,2.20,0.000,6,0.007,0.000,3355,1903,603,0,0,11,0,0,0
$GC,6770,11.21,6491.9,424.2,6.9,631,6777,0.00,2.75,0.12,0.007,4,0.007,0.000,3353,3570,600,0,0,9,0,0,0
$GC,7029,11.21,6491.9,405.1,9.6,653,7042,0.00,3.35,1.83,0.000,6,0.007,0.000,3353,1832,599,0,0,17,0,0,0
$GC,7366,11.21,6491.9,377.3,8.4,685,7383,0.00,3.30,0.15,0.007,4,0.007,0.000,3356,3659,604,0,0,19,0,0,0
$GC,7635,11.29,6512.5,356.1,7.3,708,7646,0.00,3.05,1.70,0.000,6,0.007,0.000,3352,1895,592,0,0,15,0,0,0
$GC,7971,11.37,6523.1,330.8,7.6,740,7978,0.00,2.75,0.12,0.007,4,0.007,0.000,3353,3622,601,0,0,10,0,0,0
$GC,8230,11.37,6523.1,307.0,9.2,762,8241,0.00,3.08,2.28,0.000,6,0.007,0.000,3353,1562,603,0,0,15,0,0,0
$GC,8565,11.37,6523.1,275.6,9.4,794,8579,0.00,4.78,0.12,0.000,4,0.007,0.000,3352,3568,601,0,0,27,0,0,0
$GC,8831,11.37,6523.1,251.6,9.0,817,8843,0.00,3.33,1.90,0.000,6,0.007,0.000,3354,1654,601,0,0,19,0,0,0
$GC,9167,11.37,6523.1,223.7,8.2,849,9185,0.00,3.65,0.15,0.000,4,0.007,0.000,3356,3599,600,0,0,20,0,0,0
$GC,9437,11.28,6523.1,200.6,10.9,872,9447,0.00,3.80,0.80,0.000,6,0.007,0.000,3354,1713,599,0,0,20,0,0,0
$GC,9773,11.45,6546.8,168.4,7.1,904,9789,0.00,3.40,0.12,0.007,4,0.007,0.000,3355,3637,600,0,0,20,0,0,0
$GC,10041,11.34,6546.8,141.6,11.6,927,10053,0.00,4.00,0.68,0.000,6,0.007,0.000,3355,1908,600,0,0,20,0,0,0
$GC,10378,11.40,6546.8,110.5,8.4,959,10385,0.00,2.67,0.12,0.000,4,0.007,0.000,3353,3534,599,0,0,15,0,0,0
$GC,10637,11.41,6555.7,88.9,7.7,981,10647,0.00,3.03,1.33,0.000,6,0.007,0.000,3354,1895,602,0,0,15,0,0,0
$GC,10972,11.41,6555.7,59.9,8.3,1013,10978,0.00,2.67,0.12,0.000,4,0.007,0.000,3352,3551,599,0,0,15,0,0,0
$GC,11232,11.41,6555.7,37.7,8.7,1035,11241,0.00,2.83,1.30,0.000,6,0.007,0.000,3354,1874,612,0,0,15,0,0,0
$GC,11440,11.48,6612.3,21.4,5.9,1055,11461,0.00,3.00,0.12,0.000,4,0.007,0.000,3351,3761,602,0,0,15,0,0,0
$STATE,11677,end climb,SURFACE_DEPTH_REACHED
$STATE,11678,begin surface coast
$FINISH,0.1,1.012198
$STATE,11707,end surface coast,CONTROL_FINISHED_OK
$STATE,11707,begin surface
$SM_CCo,11798,0.00,0.000,0,0,598,465.58
$SM_GC,0.05,14.40,0.00,0.00,0.000,0.007,0.007,378,1958,598,-10.46,-1.75,465.58
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253781843,8.750000,8.734167,80,0,0,0,0,0,845,0,0,0,0,0
$RAFOS,3,1253781243,8.583333,8.567500,80,0,0,0,0,0,786,0,0,0,0,0
$RAFOS,2,1253780641,8.416667,8.400278,80,0,0,0,0,0,972,0,0,0,0,0
$RAFOS,1,1253780041,8.250000,8.233611,80,0,0,0,0,0,748,0,0,0,0,0
$RAFOS,0,1253779443,8.083333,8.067500,80,0,0,0,0,0,574,0,0,0,0,0
$RAFOS_FIX,6634.890625,-6212.495605,240909,080801,5,80,50.47
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078195925
$INTERNAL_PRESSURE,16.2516
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,185.994
$10V_AH,10.7,31.524
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,58.848
$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,29.950,130.700,529.075,0.000,0.000,0.000,0.000,106.185,0.000,0.000,23.399,2044.528,7565.222,878.278,1239.172,428.198,0.000,1063.916,0.000,1171.142,1800.000,2.693,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330124
$DATA_FILE_SIZE,37771,1099
$CAP_FILE_SIZE,146728,0
$CFSIZE,260165632,252682240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,33,670,3,0
$SOUNDSPEED,1453.5
$CURRENT,0.220,  2.0,1
$GPS,240909,111849,6644.066,-6021.670,17,1.1,18,18.0