version: 66.06
glider: 1
mission: 14
dive: 55
start: 10 3 109 4 40 20
data:
$ID,1
$MISSION,14
$DIVE,55
$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,1
$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,-220083.45
$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,7
$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,66.030144
$FG_AHR_24V,4.6384006
$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
$GPS1,044054,6701.988,-5700.722,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,044642,6701.985,-5700.752,15,1.1,16,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.193,-0.054
$KALMAN_X,29935.7,1536.5,1263.9,28176.7,-1601.9
$KALMAN_Y,9218.1,687.3,109.0,7219.7,-338.6
$MHEAD_RNG_PITCHd_Wd,236.4,166962,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-78.62,0.000,2,0.007,0.000,462,2202,2979,0,0,0,0,0,0
$GC,110,-1.07,-146.6,3.1,-2.3,16,143,10.35,3.03,-4.25,0.000,4,0.000,0.000,2546,3678,3102,8,0,19,0,0,0
$GC,208,-0.79,-146.6,19.1,-16.2,32,223,0.00,3.67,0.00,0.007,6,0.007,0.000,2545,1834,3100,0,0,17,0,0,0
$GC,410,-0.70,-146.6,45.1,-10.1,52,416,0.00,2.53,0.00,0.000,4,0.007,0.000,2550,394,3103,0,0,14,0,0,0
$GC,667,-0.70,-146.6,68.6,-9.7,74,675,0.00,3.92,0.00,0.007,6,0.007,0.000,2549,2144,3100,0,0,20,0,0,0
$STATE,992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,993,begin apogee
$GC,1000,-0.31,0.0,100.0,9.3,105,1130,0.77,0.00,119.40,0.000,6,0.000,0.007,2680,1898,2509,1,0,0,0,0,0
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1134,1.07,146.6,113.3,0.0,118,1271,1.33,2.65,120.68,0.000,4,0.000,0.000,2971,3634,1913,1,0,13,0,1,0
$GC,1524,2.96,647.9,152.3,-9.1,154,1823,1.88,2.88,266.95,0.000,6,0.000,0.000,3364,1841,601,2,0,14,0,3,0
$GC,2148,3.56,1136.7,206.8,-8.7,214,2164,0.00,3.58,0.20,0.000,4,0.007,0.000,3362,3529,602,0,0,18,0,0,0
$GC,2417,4.14,1609.2,229.0,-8.2,237,2427,0.00,2.62,1.98,0.000,6,0.007,0.000,3362,1837,600,0,0,10,0,0,0
$GC,2751,4.75,2103.0,256.6,-8.9,269,2767,0.00,2.92,0.12,0.007,4,0.007,0.000,3360,3580,601,0,0,11,0,0,0
$GC,3019,6.55,2574.2,277.9,-8.2,292,3029,0.00,3.22,1.30,0.000,6,0.007,0.000,3361,1876,601,0,0,17,0,0,0
$GC,3354,7.10,3020.8,303.4,-7.4,324,3370,0.00,3.00,0.15,0.007,4,0.007,0.000,3358,3640,601,0,0,16,0,0,0
$GC,3623,7.72,3525.3,328.1,-9.2,347,3634,0.00,3.00,1.25,0.000,6,0.000,0.000,3363,1910,602,0,0,16,0,0,0
$GC,3959,8.29,3989.6,356.3,-7.9,379,3975,0.00,3.70,0.15,0.007,4,0.007,0.000,3361,3752,600,0,0,21,0,0,0
$GC,4227,8.86,4455.1,377.3,-8.0,402,4237,0.00,3.35,1.25,0.000,6,0.007,0.000,3363,1785,603,0,0,19,0,0,0
$GC,4562,9.43,4920.5,403.7,-8.0,434,4578,0.00,3.65,0.17,0.000,4,0.007,0.000,3359,3682,594,0,0,19,0,0,0
$GC,4831,10.02,5401.2,425.6,-8.5,457,4841,0.00,3.08,1.17,0.000,6,0.007,0.000,3360,1704,602,0,0,19,0,0,0
$GC,5166,10.55,5832.8,452.6,-6.9,489,5181,0.00,3.20,0.22,0.007,4,0.007,0.000,3360,3639,626,0,0,17,0,0,0
$GC,5434,11.07,6254.1,471.2,-6.5,512,5444,0.00,3.40,1.08,0.000,6,0.007,0.000,3360,1858,602,0,0,17,0,0,0
$GC,5769,11.61,6690.5,494.9,-7.0,544,5785,0.00,3.25,0.12,0.007,4,0.007,0.000,3360,3594,580,0,0,11,0,0,0
$GC,6038,12.14,7123.4,514.5,-6.9,567,6048,0.00,3.88,0.60,0.000,6,0.007,0.000,3362,1752,620,0,0,19,0,0,0
$GC,6373,12.75,7620.1,542.9,-9.0,599,6389,0.00,4.10,0.12,0.007,4,0.007,0.000,3362,3702,601,0,0,22,0,0,0
$GC,6641,13.31,8074.4,564.6,-7.6,622,6651,0.00,3.15,1.40,0.000,6,0.007,0.000,3360,1830,605,0,0,15,0,0,0
$GC,6976,13.87,8526.6,588.5,-7.5,654,6991,0.00,3.00,0.12,0.007,4,0.000,0.000,3361,3562,602,0,0,15,0,0,0
$GC,7244,14.44,8989.6,608.7,-7.9,677,7250,0.00,2.88,0.00,0.007,6,0.007,0.000,3360,1868,599,0,0,13,0,0,0
$GC,7569,15.00,9448.3,633.4,-7.8,708,7584,0.00,3.17,0.00,0.007,4,0.007,0.000,3360,3618,601,0,0,13,0,0,0
$GC,7836,15.27,9663.0,639.7,0.1,731,7843,0.00,2.75,0.00,0.007,6,0.007,0.000,3362,1895,601,0,0,12,0,0,0
$GC,8161,14.88,9663.0,633.3,8.3,762,8175,0.00,3.08,0.00,0.007,4,0.007,0.000,3359,3486,603,0,0,15,0,0,0
$GC,8427,14.58,9663.0,602.9,11.6,785,8435,0.00,2.88,0.00,0.007,6,0.007,0.000,3362,1816,597,0,0,14,0,0,0
$GC,8752,14.52,9663.0,573.6,8.5,816,8768,0.00,3.25,0.00,0.007,4,0.007,0.000,3360,3615,601,0,0,14,0,0,0
$GC,9022,14.48,9663.0,552.4,7.9,839,9031,0.00,4.32,0.00,0.007,6,0.007,0.000,3359,1672,602,0,0,27,0,0,0
$GC,9356,14.41,9663.0,525.9,7.8,871,9371,0.00,3.17,0.00,0.007,4,0.007,0.000,3363,3619,603,0,0,16,0,0,0
$GC,9624,14.56,9694.0,504.5,6.0,894,9629,0.00,2.85,0.00,0.000,6,0.007,0.000,3354,1907,602,0,0,14,0,0,0
$GC,9947,14.56,9694.0,484.9,8.1,925,9965,0.00,3.40,0.00,0.007,4,0.007,0.000,3364,3621,601,0,0,19,0,0,0
$GC,10217,14.48,9694.0,461.1,8.7,948,10223,0.00,3.30,0.00,0.007,6,0.000,0.000,3362,1873,594,0,0,14,0,0,0
$GC,10541,14.49,9696.7,437.6,6.9,979,10557,0.00,3.03,0.00,0.007,4,0.007,0.000,3358,3616,601,0,0,12,0,0,0
$GC,10809,14.49,9696.7,418.6,7.4,1002,10818,0.00,3.05,0.00,0.000,6,0.007,0.000,3361,1881,597,0,0,15,0,0,0
$GC,11135,14.71,9724.4,396.2,6.1,1033,11150,0.00,3.35,0.00,0.000,4,0.007,0.000,3361,3582,602,0,0,18,0,0,0
$GC,11401,14.63,9724.4,374.8,9.4,1056,11408,0.00,3.22,0.00,0.007,6,0.007,0.000,3359,1800,600,0,0,17,0,0,0
$GC,11727,14.76,9744.4,346.4,6.4,1087,11743,0.00,3.65,0.00,0.007,4,0.007,0.000,3362,3695,601,0,0,22,0,0,0
$GC,11995,14.92,9744.4,326.9,7.1,1110,12003,0.00,3.67,0.00,0.007,6,0.007,0.000,3360,1824,601,0,0,17,0,0,0
$GC,12320,14.83,9744.4,304.7,9.8,1141,12326,0.00,2.80,0.00,0.000,4,0.007,0.000,3361,3567,604,0,0,12,0,0,0
$GC,12578,14.70,9744.4,274.9,10.6,1163,12588,0.00,3.55,0.00,0.000,6,0.007,0.000,3363,1602,599,0,0,17,0,0,0
$GC,12913,14.84,9744.4,249.1,7.2,1195,12928,0.00,3.50,0.00,0.007,4,0.007,0.000,3360,3740,599,0,0,17,0,0,0
$GC,13180,14.73,9744.4,219.3,11.6,1218,13190,0.00,3.62,0.00,0.007,6,0.007,0.000,3359,1693,602,0,0,17,0,0,0
$GC,13515,14.90,9757.0,191.9,6.6,1250,13530,0.00,3.25,0.00,0.007,4,0.007,0.000,3361,3593,601,0,0,14,0,0,0
$GC,13781,15.00,9757.0,170.8,7.4,1273,13788,0.00,3.00,0.00,0.000,6,0.007,0.000,3360,1875,600,0,0,14,0,0,0
$GC,14107,15.19,9784.7,148.9,6.1,1304,14121,0.00,2.97,0.00,0.007,4,0.007,0.000,3364,3690,602,0,0,13,0,0,0
$GC,14374,15.09,9784.7,125.6,10.3,1327,14380,0.00,3.08,0.00,0.007,6,0.007,0.000,3362,2024,602,0,0,15,0,0,0
$GC,14698,15.02,9784.7,94.2,9.5,1358,14712,0.00,2.85,0.00,0.007,4,0.007,0.000,3358,3530,599,0,0,12,0,0,0
$GC,14854,14.95,9784.7,79.3,9.3,1371,14861,0.00,2.58,0.00,0.007,6,0.007,0.000,3361,1928,603,0,0,13,0,0,0
$GC,15179,15.01,9800.5,52.7,6.5,1402,15193,0.00,2.83,0.00,0.007,4,0.007,0.000,3362,3521,601,0,0,13,0,0,0
$GC,15445,14.88,9800.5,32.0,9.8,1425,15452,0.00,3.05,0.00,0.000,6,0.007,0.000,3361,1870,600,0,0,14,0,0,0
$GC,15647,14.83,9800.5,15.4,7.2,1449,15654,0.00,2.53,0.00,0.007,4,0.007,0.000,3358,485,601,0,0,13,0,0,0
$STATE,15788,end climb,SURFACE_DEPTH_REACHED
$STATE,15788,begin surface coast
$FINISH,1.6,1.025215
$STATE,15804,end surface coast,CONTROL_FINISHED_OK
$STATE,15804,begin surface
$SM_CCo,15895,0.00,0.000,0,0,600,465.33
$SM_GC,0.05,14.68,0.00,0.00,0.000,0.007,0.000,535,2205,600,-9.67,5.15,465.33
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254559445,8.750000,8.734722,80,0,0,0,0,0,799,0,0,0,0,0
$RAFOS,3,1254558843,8.583333,8.567500,80,0,0,0,0,0,957,0,0,0,0,0
$RAFOS,2,1254558241,8.416667,8.400278,80,0,0,0,0,0,645,0,0,0,0,0
$RAFOS,1,1254557644,8.250000,8.234445,80,0,0,0,0,0,851,0,0,0,0,0
$RAFOS,0,1254557045,8.083333,8.068055,80,0,0,0,0,0,1011,0,0,0,0,0
$RAFOS,3,1254544444,4.583333,4.567778,80,0,0,0,0,0,951,0,0,0,0,0
$RAFOS_FIX,6656.062988,-5427.193359,031009,080827,5,80,8.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078223602
$INTERNAL_PRESSURE,16.2133
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,220.297
$10V_AH,10.7,34.935
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,66.178
$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,29.000,172.775,518.450,0.000,0.000,0.000,0.000,105.438,0.000,0.000,16.453,2575.595,10595.113,993.789,1629.141,514.801,33.348,1195.661,0.000,1554.912,1800.000,3.341,0.000
$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,885.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336848
$DATA_FILE_SIZE,50358,1477
$CAP_FILE_SIZE,185551,8
$CFSIZE,260165632,249053184
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,25,854,4,0
$SOUNDSPEED,1464.8
$GPS,031009,091537,6702.373,-5656.321,10,1.1,10,18.0