version: 66.06
glider: 1
mission: 14
dive: 50
start: 10 2 109 1 15 58
data:
$ID,1
$MISSION,14
$DIVE,50
$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,-3
$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,1
$HD_A,0.0035999999
$HD_B,0.014
$HD_C,6.1000001e-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,-219962.91
$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,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,65.09417
$FG_AHR_24V,4.6383724
$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
$GPS1,011627,6659.152,-5727.781,5,1.1,5,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,012106,6659.160,-5727.784,15,1.1,16,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.195,0.043
$KALMAN_X,17928.8,943.4,5304.3,17083.9,-9513.7
$KALMAN_Y,6816.8,-797.2,908.0,5179.6,-1369.5
$MHEAD_RNG_PITCHd_Wd,52.1,29597,-14.2,-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,22,begin dive
$GC,25,-1.07,-146.6,0.0,0.0,0,88,0.00,0.00,-59.45,0.000,2,0.007,0.000,397,2192,2382,0,0,0,0,0,0
$GC,91,-1.07,-146.6,3.0,-1.8,12,137,10.35,2.20,-23.88,0.000,4,0.000,0.000,2527,3436,3096,11,0,11,0,0,0
$GC,272,-0.88,-146.6,30.5,-12.2,38,278,0.00,2.58,0.00,0.007,6,0.007,0.000,2529,2007,3106,0,0,12,0,0,0
$GC,469,-0.88,-146.6,48.5,-8.5,56,475,0.00,2.70,0.00,0.007,4,0.007,0.000,2527,3480,3104,0,0,12,0,0,0
$GC,727,-0.93,-146.6,71.0,-8.8,78,739,0.30,3.33,0.00,0.007,6,0.000,0.000,2445,1545,3103,1,0,18,0,0,0
$GC,1063,-1.00,-146.6,96.8,-7.6,110,1079,0.43,3.90,0.00,0.007,4,0.007,0.000,2555,3688,3106,1,0,22,0,0,0
$STATE,1104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1104,begin apogee
$GC,1115,-0.31,0.0,100.3,7.9,113,1241,0.60,0.00,121.45,0.000,6,0.000,0.000,2686,1879,2503,1,0,0,0,0,0
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1244,1.07,146.6,110.5,0.0,126,1377,1.20,0.00,119.07,0.000,6,0.000,0.007,2965,1872,1908,2,0,0,0,0,0
$GC,1691,2.85,623.4,155.4,-8.3,169,1999,2.08,2.90,270.05,0.000,4,0.000,0.000,3336,472,597,5,0,15,0,4,0
$GC,2006,3.50,1149.9,181.3,-9.9,200,2022,0.00,3.22,0.85,0.000,6,0.007,0.000,3334,2362,599,0,0,17,0,0,0
$GC,2336,5.29,1641.8,215.0,-8.8,231,2356,0.00,3.47,0.12,0.007,4,0.007,0.000,3332,418,599,0,0,17,0,0,0
$GC,2608,5.85,2098.0,236.4,-7.7,254,2620,0.00,3.90,0.50,0.000,6,0.007,0.000,3336,2341,596,0,0,23,0,0,0
$GC,2945,6.48,2612.0,268.1,-9.5,286,2960,0.00,3.97,0.12,0.000,4,0.007,0.000,3335,415,592,0,0,19,0,0,0
$GC,3168,7.03,3057.8,285.7,-7.3,305,3178,0.00,4.30,0.17,0.007,6,0.000,0.000,3334,2152,598,0,0,23,0,0,0
$GC,3503,7.61,3532.2,311.3,-8.3,337,3519,0.00,4.03,0.12,0.000,4,0.007,0.000,3330,279,596,0,0,24,0,0,0
$GC,3771,8.19,4003.8,333.5,-8.2,360,3783,0.00,3.03,1.67,0.000,6,0.007,0.000,3335,2220,595,0,0,15,0,0,0
$GC,4108,8.78,4479.7,360.8,-8.3,392,4124,0.00,0.00,3.75,0.000,6,0.000,0.007,3334,2225,588,0,0,0,0,0,0
$GC,4438,9.40,4981.0,387.9,-9.1,423,4459,0.00,3.10,0.12,0.000,4,0.007,0.000,3336,415,585,0,0,16,0,0,0
$GC,4712,9.94,5425.6,407.6,-7.3,446,4722,0.00,3.38,0.98,0.000,6,0.000,0.000,3334,2274,588,0,0,17,0,0,0
$GC,5046,10.48,5865.8,432.8,-7.2,478,5062,0.00,3.33,0.12,0.007,4,0.007,0.000,3334,619,586,0,0,19,0,0,0
$GC,5315,11.02,6303.1,452.4,-7.1,501,5325,0.00,2.67,1.98,0.000,6,0.000,0.000,3335,2137,585,0,0,14,0,0,0
$GC,5650,11.54,6725.2,476.2,-6.6,533,5665,0.00,2.95,0.12,0.007,4,0.007,0.000,3336,343,586,0,0,15,0,0,0
$GC,5918,12.13,7205.9,494.5,-8.5,556,5929,0.00,3.12,1.23,0.000,6,0.007,0.000,3332,2162,587,0,0,13,0,0,0
$GC,6255,12.66,7639.1,521.8,-6.9,588,6270,0.00,0.00,3.33,0.000,6,0.000,0.007,3334,2158,584,0,0,0,0,0,0
$GC,6584,13.18,8059.5,543.8,-6.5,619,6602,0.00,2.90,0.12,0.000,4,0.007,0.000,3331,241,591,0,0,17,0,0,0
$GC,6855,13.79,8550.7,562.7,-8.8,642,6866,0.00,4.55,0.03,0.007,6,0.007,0.000,3334,2149,583,0,0,25,0,0,0
$GC,7191,14.36,9014.2,593.7,-7.9,674,7193,0.00,0.00,0.00,0.007,6,0.007,0.007,3331,2152,582,0,0,0,0,0,0
$GC,7513,14.91,9464.8,617.2,-7.5,704,7528,0.00,2.80,0.00,0.007,4,0.007,0.000,3337,440,582,0,0,16,0,0,0
$GC,7589,15.55,9983.7,623.8,-9.7,710,7595,0.00,3.03,0.00,0.007,6,0.007,0.000,3335,2140,581,0,0,16,0,0,0
$GC,7914,16.09,10425.5,648.4,-7.2,741,7916,0.00,0.00,0.00,0.007,6,0.007,0.007,3334,2138,583,0,0,0,0,0,0
$GC,8235,16.63,10859.4,671.3,-6.9,771,8237,0.00,0.00,0.00,0.007,6,0.007,0.007,3337,2145,589,0,0,0,0,0,0
$GC,8553,17.18,11309.2,694.9,-7.5,801,8568,0.00,2.90,0.00,0.000,4,0.007,0.000,3335,458,580,0,0,13,0,0,0
$GC,8821,17.73,11759.8,715.1,-7.5,824,8831,0.00,3.30,0.00,0.007,6,0.007,0.000,3333,2166,581,0,0,15,0,0,0
$GC,9157,18.30,12221.4,740.4,-7.8,856,9171,0.00,3.20,0.00,0.007,4,0.007,0.000,3335,282,584,0,0,15,0,0,0
$GC,9424,18.85,12664.1,760.9,-7.2,879,9434,0.00,3.85,0.00,0.007,6,0.000,0.000,3334,2062,582,0,0,18,0,0,0
$GC,9759,19.42,13131.6,786.0,-8.0,911,9765,0.00,2.55,0.00,0.007,4,0.000,0.000,3334,436,581,0,0,11,0,0,0
$GC,10017,19.98,13585.0,805.7,-7.6,933,10023,0.00,3.30,0.00,0.000,6,0.007,0.000,3332,2189,582,0,0,15,0,0,0
$GC,10343,20.39,13921.1,828.7,-3.8,964,10358,0.00,3.30,0.00,0.007,4,0.007,0.000,3330,471,584,0,0,17,0,0,0
$GC,10611,20.10,13921.1,815.5,11.6,987,10617,0.00,3.30,0.00,0.007,6,0.007,0.000,3332,2215,581,0,0,15,0,0,0
$GC,10942,20.04,13921.1,790.1,7.7,1019,10944,0.00,0.00,0.00,0.007,6,0.007,0.007,3335,2216,584,0,0,0,0,0,0
$GC,11264,20.18,13958.8,769.4,5.8,1049,11275,0.00,0.00,0.00,0.007,6,0.007,0.007,3327,2213,580,0,0,0,0,0,0
$GC,11589,20.41,13993.7,747.2,5.9,1080,11592,0.00,0.00,0.00,0.007,6,0.007,0.007,3334,2216,564,0,0,0,0,0,0
$GC,11908,20.44,14020.6,725.1,6.2,1110,11923,0.00,3.97,0.00,0.007,4,0.007,0.000,3340,380,584,0,0,24,0,0,0
$GC,12176,20.36,14020.6,707.3,9.3,1133,12182,0.00,3.28,0.00,0.007,6,0.000,0.000,3338,2346,582,0,0,18,0,0,0
$GC,12500,20.36,14020.6,672.9,9.3,1164,12519,0.00,3.58,0.00,0.007,4,0.007,0.000,3334,591,582,0,0,15,0,0,0
$GC,12772,20.43,14020.6,650.8,8.5,1187,12782,0.00,3.45,0.00,0.007,6,0.007,0.000,3334,2120,584,0,0,18,0,0,0
$GC,13107,20.51,14020.6,623.2,8.1,1219,13109,0.00,0.00,0.00,0.007,6,0.007,0.007,3331,2120,581,0,0,0,0,0,0
$GC,13428,20.62,14020.6,596.9,7.7,1249,13443,0.00,2.83,0.00,0.007,4,0.007,0.000,3334,436,584,0,0,13,0,0,0
$GC,13695,20.51,14020.6,570.6,10.4,1272,13703,0.00,3.65,0.00,0.007,6,0.007,0.000,3335,2227,581,0,0,19,0,0,0
$GC,14020,20.62,14020.6,542.0,7.3,1303,14022,0.00,0.00,0.00,0.007,6,0.007,0.007,3335,2232,582,0,0,0,0,0,0
$GC,14341,20.62,14020.6,518.0,7.6,1333,14356,0.00,4.00,0.00,0.007,4,0.000,0.000,3333,512,577,0,0,22,0,0,0
$GC,14609,20.52,14020.6,495.0,11.3,1356,14619,0.00,3.00,0.00,0.007,6,0.007,0.000,3335,2191,583,0,0,14,0,0,0
$GC,14933,20.62,14020.6,462.8,7.5,1387,14935,0.00,0.00,0.00,0.007,6,0.007,0.007,3329,2187,584,0,0,0,0,0,0
$GC,15254,20.62,14020.6,437.4,8.6,1417,15269,0.00,2.83,0.00,0.007,4,0.007,0.000,3334,606,581,0,0,14,0,0,0
$GC,15521,20.62,14020.6,414.5,8.7,1440,15531,0.00,2.78,0.00,0.007,6,0.007,0.000,3329,2190,582,0,0,14,0,0,0
$GC,15845,20.62,14020.6,386.4,8.8,1471,15847,0.00,0.00,0.00,0.000,6,0.007,0.007,3336,2189,580,0,0,0,0,0,0
$GC,16166,20.62,14020.6,359.3,7.9,1501,16168,0.00,0.00,0.00,0.007,6,0.007,0.007,3333,2185,586,0,0,0,0,0,0
$GC,16484,20.62,14020.6,331.2,9.0,1531,16499,0.00,3.97,0.00,0.007,4,0.000,0.000,3336,476,602,0,0,21,0,0,0
$GC,16683,20.62,14020.6,312.4,8.6,1548,16695,0.00,2.92,0.00,0.007,6,0.007,0.000,3339,2138,584,0,0,15,0,0,0
$GC,17009,20.68,14069.6,285.9,5.4,1579,17024,0.00,2.78,0.00,0.007,4,0.007,0.000,3335,493,576,0,0,16,0,0,0
$GC,17275,20.53,14069.6,269.2,10.0,1602,17282,0.00,3.20,0.00,0.007,6,0.007,0.000,3333,2178,584,0,0,13,0,0,0
$GC,17600,20.53,14069.6,229.8,10.6,1633,17616,0.00,3.53,0.00,0.007,4,0.007,0.000,3337,249,580,0,0,19,0,0,0
$GC,17868,20.61,14069.6,207.4,9.1,1656,17879,0.00,3.90,0.00,0.000,6,0.007,0.000,3331,2021,582,0,0,23,0,0,0
$GC,18204,20.49,14069.6,166.7,12.8,1688,18206,0.00,0.00,0.00,0.007,6,0.007,0.007,3334,2023,583,0,0,0,0,0,0
$GC,18524,20.57,14069.6,135.9,8.5,1718,18530,0.00,2.50,0.00,0.000,4,0.007,0.000,3331,457,585,0,0,9,0,0,0
$GC,18710,20.42,14069.6,116.3,12.5,1734,18726,0.00,4.28,0.00,0.007,6,0.007,0.000,3334,2271,581,0,0,23,0,0,0
$GC,19041,20.60,14082.5,81.8,6.6,1765,19056,0.00,3.78,0.00,0.007,4,0.000,0.000,3331,363,585,0,0,21,0,0,0
$GC,19308,20.60,14082.5,63.1,9.3,1788,19319,0.00,3.38,0.00,0.007,6,0.007,0.000,3330,2215,587,0,0,14,0,0,0
$GC,19633,20.60,14082.5,31.7,9.0,1819,19649,0.00,3.67,0.00,0.000,4,0.007,0.000,3335,449,582,0,0,23,0,0,0
$GC,19858,20.65,14128.7,17.5,5.5,1842,19874,0.00,3.85,0.00,0.007,6,0.000,0.000,3334,2345,581,0,0,19,0,0,0
$GC,19942,20.73,14189.9,13.1,5.1,1856,19955,0.00,0.00,0.00,0.007,6,0.007,0.007,3336,2354,584,0,0,0,0,0,0
$GC,20024,20.81,14253.1,8.8,5.0,1869,20036,0.00,0.00,0.00,0.007,6,0.007,0.007,3338,2355,581,0,0,0,0,0,0
$STATE,20084,end climb,SURFACE_DEPTH_REACHED
$STATE,20084,begin surface coast
$FINISH,0.1,1.012199
$STATE,20121,end surface coast,CONTROL_FINISHED_OK
$STATE,20121,begin surface
$SM_CCo,20209,0.00,0.000,0,0,582,469.01
$SM_GC,0.05,14.68,0.00,0.00,0.000,0.007,0.000,379,1768,582,-10.40,-7.44,469.01
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254458641,4.750000,4.733611,80,0,0,0,0,0,765,0,0,0,0,0
$RAFOS,3,1254458046,4.583333,4.568333,80,0,0,0,0,0,891,0,0,0,0,0
$RAFOS,2,1254457441,4.416667,4.400278,80,0,0,0,0,0,577,0,0,0,0,0
$RAFOS,1,1254456851,4.250000,4.236389,80,0,0,0,0,0,741,0,0,0,0,0
$RAFOS,0,1254456247,4.083333,4.068611,80,0,0,0,0,0,917,0,0,0,0,0
$RAFOS_FIX,6705.392578,-5537.370605,021009,040423,5,80,7.28
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078222416
$INTERNAL_PRESSURE,16.2561
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,216.506
$10V_AH,10.7,34.504
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,65.279
$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,29.625,180.025,525.925,0.000,0.000,0.000,0.000,91.667,0.000,0.000,16.337,3413.693,13541.781,1123.705,1900.990,552.443,33.339,1329.693,0.000,1824.750,1800.000,5.049,0.000
$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,1133.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336788
$DATA_FILE_SIZE,62942,1885
$CAP_FILE_SIZE,215502,0
$CFSIZE,260165632,249495552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,33,923,4,0
$SOUNDSPEED,1462.4
$CURRENT,0.278,337.6,1
$GPS,021009,070137,6702.259,-5724.104,35,1.1,35,18.0