version: 66.06
glider: 1
mission: 14
dive: 24
start: 9 25 109 5 55 41
data:
$ID,1
$MISSION,14
$DIVE,24
$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,-219265.16
$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,3
$R_STBD_OVSHOOT,2
$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,59.51186
$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
$GPS1,055622,6645.147,-6002.526,18,1.1,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,060230,6645.124,-6002.461,27,1.1,27,18.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$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,231.8,30255,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-73.60,0.000,2,0.007,0.000,472,2342,2820,0,0,0,0,0,0
$GC,107,-1.10,-146.6,3.3,-2.8,15,134,10.15,2.08,-9.25,0.000,4,0.000,0.000,2485,3552,3110,10,0,10,0,0,0
$GC,162,-0.35,-146.6,17.0,-24.8,25,169,0.70,2.92,0.00,0.007,6,0.000,0.000,2678,1747,3108,2,0,13,0,0,0
$GC,234,-0.14,-146.6,30.3,-15.3,33,240,0.00,2.62,0.00,0.000,4,0.007,0.000,2678,341,3107,0,0,14,0,0,0
$GC,491,-0.14,-146.6,55.3,-9.4,55,499,0.00,3.28,0.00,0.000,6,0.007,0.000,2679,2211,3104,0,0,15,0,0,0
$GC,819,-0.14,-146.6,88.8,-10.4,86,833,0.00,2.80,0.00,0.007,4,0.007,0.000,2678,3732,3105,0,0,16,0,0,0
$STATE,932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,943,-0.31,0.0,100.4,9.6,96,1075,0.30,0.00,119.22,0.000,6,0.000,0.000,2594,1888,2520,1,0,0,0,0,0
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1079,1.10,146.6,112.9,0.0,109,1214,2.22,2.88,123.68,0.000,4,0.000,0.000,2993,3586,1904,2,0,13,0,0,0
$GC,1467,2.87,589.8,146.3,-8.1,144,1780,1.92,3.17,267.25,0.000,6,0.000,0.000,3405,1918,607,1,0,16,0,5,0
$GC,2094,3.45,1060.1,206.1,-9.1,205,2113,0.00,3.35,0.32,0.000,4,0.007,0.000,3407,3465,608,0,0,18,0,0,0
$GC,2366,4.03,1529.0,231.5,-9.1,228,2377,0.00,3.08,1.42,0.000,6,0.007,0.000,3406,1851,611,0,0,17,0,0,0
$GC,2702,4.60,1997.5,262.5,-9.1,260,2717,0.00,3.47,4.72,0.000,4,0.007,0.000,3403,275,596,0,0,20,0,0,0
$GC,2773,5.20,2479.7,269.1,-9.6,266,2785,0.00,3.33,1.08,0.000,6,0.007,0.000,3406,2293,600,0,0,17,0,0,0
$GC,3110,7.02,2933.0,297.2,-8.5,298,3116,0.00,2.40,0.12,0.000,4,0.007,0.000,3405,3551,598,0,0,12,0,0,0
$GC,3369,7.54,3356.3,318.3,-7.4,320,3380,0.00,3.35,1.17,0.000,6,0.007,0.000,3400,1750,600,0,0,17,0,0,0
$GC,3705,8.06,3775.6,343.9,-7.3,352,3721,0.00,2.90,0.12,0.007,4,0.007,0.000,3401,3659,597,0,0,15,0,0,0
$GC,3974,8.59,4211.1,366.0,-7.9,375,3985,0.00,3.25,1.40,0.000,6,0.007,0.000,3403,1919,599,0,0,13,0,0,0
$GC,4310,9.20,4700.4,394.4,-9.8,407,4327,0.00,3.00,0.12,0.007,4,0.007,0.000,3410,3540,598,0,0,16,0,0,0
$GC,4512,9.72,5124.7,413.3,-7.4,424,4522,0.00,2.75,1.98,0.000,6,0.007,0.000,3409,1893,599,0,0,11,0,0,0
$GC,4847,10.24,5550.1,437.9,-7.5,456,4863,0.00,3.03,0.12,0.000,4,0.007,0.000,3402,3606,598,0,0,15,0,0,0
$GC,5115,10.76,5974.9,457.5,-7.5,479,5126,0.00,3.15,1.45,0.000,6,0.007,0.000,3405,1818,599,0,0,13,0,0,0
$GC,5450,11.28,6394.8,481.7,-7.3,511,5466,0.00,3.15,0.12,0.007,4,0.007,0.000,3404,3586,601,0,0,17,0,0,0
$GC,5719,11.81,6828.2,501.8,-7.8,534,5730,0.00,3.03,1.33,0.000,6,0.000,0.000,3404,1907,592,0,0,16,0,0,0
$GC,6055,12.42,7323.5,532.3,-10.0,566,6061,0.00,2.30,0.12,0.007,4,0.007,0.000,3406,410,603,0,0,8,0,0,0
$GC,6067,13.03,7815.4,533.6,-9.9,566,6077,0.00,2.83,1.62,0.000,6,0.007,0.000,3404,2281,601,0,0,13,0,0,0
$GC,6402,13.53,8226.2,559.5,-7.0,598,6419,0.00,3.03,0.12,0.007,4,0.007,0.000,3404,337,600,0,0,16,0,0,0
$GC,6523,14.07,8660.7,568.4,-7.8,608,6538,0.00,2.97,0.00,0.007,6,0.007,0.000,3403,2242,594,0,0,14,0,0,0
$GC,6852,14.59,9089.3,594.4,-7.6,639,6867,0.00,3.10,0.00,0.007,4,0.007,0.000,3403,3691,599,0,0,18,0,0,0
$GC,7119,15.19,9574.4,619.7,-9.7,662,7126,0.00,3.15,0.00,0.007,6,0.007,0.000,3408,1922,599,0,0,14,0,0,0
$GC,7451,15.73,10009.9,647.5,-7.9,694,7466,0.00,3.22,0.00,0.007,4,0.007,0.000,3404,3686,564,0,0,17,0,0,0
$GC,7718,15.36,10009.9,645.9,9.4,717,7727,0.00,3.65,0.00,0.007,6,0.007,0.000,3404,1682,602,0,0,18,0,0,0
$GC,8043,15.29,10010.1,616.0,8.0,748,8059,0.00,3.45,0.00,0.000,4,0.007,0.000,3403,3742,599,0,0,18,0,0,0
$GC,8312,15.25,10015.8,594.4,7.8,771,8322,0.00,3.55,0.00,0.007,6,0.007,0.000,3398,1780,600,0,0,18,0,0,0
$GC,8646,15.40,10056.5,570.9,6.5,803,8662,0.00,3.65,0.00,0.007,4,0.007,0.000,3403,3582,603,0,0,17,0,0,0
$GC,8914,15.40,10056.5,550.4,8.8,826,8922,0.00,2.83,0.00,0.007,6,0.007,0.000,3404,1922,598,0,0,14,0,0,0
$GC,9238,15.40,10056.5,521.6,8.9,857,9257,0.00,3.17,0.00,0.007,4,0.007,0.000,3402,3603,599,0,0,16,0,0,0
$GC,9509,15.40,10056.5,497.5,9.0,880,9519,0.00,3.80,0.00,0.007,6,0.007,0.000,3410,1780,599,0,0,24,0,0,0
$GC,9843,15.41,10063.7,471.5,7.7,912,9858,0.00,3.15,0.00,0.000,4,0.007,0.000,3405,3603,598,0,0,16,0,0,0
$GC,10110,15.41,10065.0,450.7,8.0,935,10117,0.00,3.10,0.00,0.007,6,0.000,0.000,3400,1897,600,0,0,19,0,0,0
$GC,10436,15.47,10071.2,425.0,7.8,966,10451,0.00,3.65,0.00,0.000,4,0.007,0.000,3401,3594,591,0,0,17,0,0,0
$GC,10620,15.52,10071.9,410.2,8.0,982,10635,0.00,3.15,0.00,0.000,6,0.007,0.000,3404,1783,598,0,0,17,0,0,0
$GC,10950,15.72,10116.5,383.6,6.4,1013,10967,0.00,3.53,0.00,0.000,4,0.007,0.000,3405,3761,601,0,0,20,0,0,0
$GC,11219,15.61,10116.5,363.7,11.2,1036,11229,0.00,4.20,0.00,0.007,6,0.000,0.000,3408,1943,600,0,0,24,0,0,0
$GC,11554,15.61,10116.5,328.1,8.7,1068,11560,0.00,2.90,0.00,0.007,4,0.000,0.000,3403,3612,599,0,0,14,0,0,0
$GC,11812,15.74,10123.8,309.1,7.7,1090,11818,0.00,2.72,0.00,0.007,6,0.007,0.000,3403,1910,599,0,0,13,0,0,0
$GC,12136,15.66,10123.8,273.4,11.5,1121,12153,0.00,3.20,0.00,0.007,4,0.007,0.000,3407,3595,600,0,0,14,0,0,0
$GC,12405,15.76,10123.8,248.6,8.7,1144,12412,0.00,3.05,0.00,0.007,6,0.000,0.000,3405,1909,600,0,0,17,0,0,0
$GC,12730,15.76,10123.8,217.2,10.2,1175,12746,0.00,3.22,0.00,0.007,4,0.007,0.000,3405,3677,597,0,0,13,0,0,0
$GC,12999,15.76,10123.8,189.8,9.8,1198,13008,0.00,3.08,0.00,0.000,6,0.007,0.000,3407,1976,612,0,0,16,0,0,0
$GC,13333,15.84,10123.8,158.8,8.4,1230,13348,0.00,3.08,0.00,0.000,4,0.007,0.000,3405,3452,596,0,0,17,0,0,0
$GC,13599,15.84,10123.8,134.7,9.6,1253,13611,0.00,2.78,0.00,0.007,6,0.007,0.000,3407,1693,604,0,0,14,0,0,0
$GC,13924,15.84,10123.8,103.4,9.1,1284,13939,0.00,3.40,0.00,0.007,4,0.007,0.000,3404,3577,597,0,0,13,0,0,0
$GC,14191,15.84,10123.8,78.9,9.2,1307,14199,0.00,3.83,0.00,0.007,6,0.007,0.000,3401,2014,598,0,0,20,0,0,0
$GC,14523,15.84,10123.8,49.0,8.8,1339,14529,0.00,2.75,0.00,0.007,4,0.007,0.000,3403,3606,600,0,0,14,0,0,0
$GC,14540,15.84,10123.8,47.5,8.9,1340,14546,0.00,2.85,0.00,0.007,6,0.007,0.000,3407,1946,592,0,0,12,0,0,0
$GC,14740,15.87,10152.5,33.7,7.0,1358,14756,0.00,4.18,0.00,0.007,4,0.007,0.000,3405,428,599,0,0,22,0,0,0
$GC,14865,15.97,10233.7,25.7,5.1,1368,14871,0.00,3.00,0.00,0.007,6,0.007,0.000,3403,2297,595,0,0,14,0,0,0
$GC,15068,15.97,10233.7,9.2,8.2,1398,15083,0.00,3.92,0.00,0.007,4,0.007,0.000,3407,468,601,0,0,19,0,0,0
$STATE,15143,end climb,SURFACE_DEPTH_REACHED
$STATE,15143,begin surface coast
$FINISH,0.0,1.012198
$STATE,15186,end surface coast,CONTROL_FINISHED_OK
$STATE,15186,begin surface
$SM_CCo,15277,0.00,0.000,0,0,599,467.54
$SM_GC,0.04,14.68,0.00,0.00,0.000,0.007,0.007,430,2290,599,-10.06,7.41,467.54
$SUPER,3,200,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253868251,8.750000,8.736389,80,0,0,0,0,0,756,0,0,0,0,0
$RAFOS,3,1253867646,8.583333,8.568334,80,0,0,0,0,0,731,0,0,0,0,0
$RAFOS,2,1253867043,8.416667,8.400833,80,0,0,0,0,0,894,0,0,0,0,0
$RAFOS,1,1253866450,8.250000,8.236111,80,0,0,0,0,0,638,0,0,0,0,0
$RAFOS,0,1253865847,8.083333,8.068611,80,0,0,0,0,0,511,0,0,0,0,0
$RAFOS_FIX,6641.121094,-6136.010742,250909,080801,5,80,8.01
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078185921
$INTERNAL_PRESSURE,16.2864
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,189.454
$10V_AH,10.7,31.917
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,59.656
$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,29.975,184.025,527.525,0.000,0.000,0.000,0.000,110.048,0.000,0.000,27.772,2602.399,9937.423,1042.943,1552.456,531.982,0.000,1250.302,0.000,1467.477,1800.000,2.779,0.000
$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,859.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328076
$DATA_FILE_SIZE,47288,1418
$CAP_FILE_SIZE,181982,8
$CFSIZE,260165632,252194816
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,29,919,5,0
$SOUNDSPEED,1455.9
$CURRENT,0.200,337.1,1
$GPS,250909,102005,6646.958,-5958.697,29,1.1,29,18.0