version: 66.06
glider: 1
mission: 14
dive: 59
start: 10 3 109 20 30 53
data:
$ID,1
$MISSION,14
$DIVE,59
$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,-220206.33
$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,8
$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,66.585648
$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
$GPS1,203145,6702.445,-5648.173,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-50.0
$GPS2,203815,6702.471,-5648.232,24,1.1,24,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.195,-0.044
$KALMAN_X,37232.0,1468.4,365.2,31020.6,-1825.3
$KALMAN_Y,10079.2,241.4,273.9,7542.3,321.9
$MHEAD_RNG_PITCHd_Wd,239.3,176109,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.07,-146.6,0.0,0.0,0,98,0.00,0.00,-68.30,0.000,2,0.007,0.000,456,1797,2665,0,0,0,0,0,0
$GC,102,-1.07,-146.6,3.2,-2.3,14,145,10.12,2.92,-14.70,0.000,4,0.000,0.000,2566,236,3103,12,0,14,0,0,0
$GC,324,-0.88,-146.6,42.4,-14.3,41,334,0.50,3.17,0.00,0.007,6,0.000,0.000,2451,2122,3106,1,0,14,0,0,0
$GC,531,-0.88,-146.6,65.2,-9.4,61,538,0.28,2.65,0.00,0.007,4,0.000,0.000,2539,3476,3109,0,0,13,0,0,0
$GC,790,-0.93,-146.6,89.4,-10.1,83,800,0.43,3.40,0.00,0.007,6,0.000,0.000,2421,1881,3107,1,0,17,0,0,0
$STATE,899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,899,begin apogee
$GC,906,-0.31,0.0,100.4,10.2,94,1035,1.23,0.00,119.57,0.000,6,0.000,0.007,2711,2130,2519,1,0,0,0,0,0
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1039,1.07,146.6,113.6,0.0,107,1184,1.15,2.75,117.10,0.000,4,0.000,0.000,2966,426,1931,1,0,10,0,0,0
$GC,1436,3.02,674.5,151.9,-10.0,142,1730,2.53,3.33,266.85,0.000,6,0.000,0.000,3327,2030,606,5,0,14,0,2,0
$GC,2054,3.61,1157.6,211.4,-8.5,202,2061,0.00,2.55,0.12,0.007,4,0.007,0.000,3325,481,609,0,0,12,0,0,0
$GC,2314,4.23,1661.3,234.4,-9.2,224,2324,0.00,3.95,0.30,0.000,6,0.007,0.000,3327,2151,608,0,0,22,0,0,0
$GC,2648,5.96,2117.3,261.8,-7.7,256,2664,0.00,3.53,0.12,0.007,4,0.007,0.000,3326,489,606,0,0,18,0,0,0
$GC,2916,6.55,2590.8,286.0,-8.2,279,2927,0.00,2.78,1.85,0.000,6,0.007,0.000,3327,2146,605,0,0,15,0,0,0
$GC,3251,7.21,3130.5,314.7,-10.4,311,3267,0.00,3.33,0.12,0.007,4,0.000,0.000,3328,406,609,0,0,16,0,0,0
$GC,3519,7.78,3592.2,340.3,-7.8,334,3529,0.00,2.80,1.92,0.000,6,0.007,0.000,3328,2219,606,0,0,12,0,0,0
$GC,3854,8.33,4042.6,366.5,-7.5,366,3869,0.00,3.15,0.15,0.000,4,0.007,0.000,3326,307,611,0,0,15,0,0,0
$GC,4122,8.90,4502.5,386.8,-7.8,389,4132,0.00,3.55,0.73,0.000,6,0.007,0.000,3328,2224,609,0,0,23,0,0,0
$GC,4457,9.49,4981.1,412.2,-8.4,421,4472,0.00,3.40,0.17,0.007,4,0.007,0.000,3326,476,608,0,0,19,0,0,0
$GC,4725,10.04,5429.9,432.8,-7.4,444,4735,0.00,3.25,1.38,0.000,6,0.007,0.000,3327,2320,606,0,0,15,0,0,0
$GC,5060,10.56,5850.8,455.9,-6.5,476,5075,0.00,3.47,0.12,0.007,4,0.007,0.000,3330,326,606,0,0,16,0,0,0
$GC,5328,11.15,6333.1,475.8,-8.5,499,5338,0.00,3.53,0.62,0.000,6,0.007,0.000,3326,2149,609,0,0,21,0,0,0
$GC,5662,11.69,6770.4,502.8,-7.1,531,5678,0.00,3.42,0.12,0.007,4,0.007,0.000,3326,503,606,0,0,17,0,0,0
$GC,5931,12.22,7201.0,521.8,-6.8,554,5941,0.00,3.03,1.60,0.000,6,0.007,0.000,3326,2223,602,0,0,13,0,0,0
$GC,6266,12.50,7429.9,538.9,-0.3,586,6281,0.00,3.05,0.15,0.007,4,0.000,0.000,3323,502,605,0,0,15,0,0,0
$GC,6533,12.50,7429.9,519.1,7.6,609,6543,0.00,2.92,2.25,0.000,6,0.007,0.000,3328,2230,607,0,0,12,0,0,0
$GC,6868,12.55,7469.0,495.2,5.8,641,6884,0.00,3.30,0.17,0.000,4,0.007,0.000,3328,425,605,0,0,16,0,0,0
$GC,7136,12.48,7469.0,478.2,7.3,664,7146,0.00,2.67,2.28,0.000,6,0.007,0.001,3328,2130,600,0,0,13,0,0,0
$GC,7471,12.55,7469.0,456.7,7.7,696,7486,0.00,3.03,0.12,0.007,4,0.007,0.000,3328,304,606,0,0,15,0,0,0
$GC,7738,12.46,7469.0,431.6,9.3,719,7750,0.00,3.17,1.70,0.000,6,0.007,0.000,3325,2134,605,0,0,16,0,0,0
$GC,8074,12.53,7469.0,405.7,7.6,751,8090,0.00,3.17,0.12,0.007,4,0.007,0.000,3327,454,604,0,0,16,0,0,0
$GC,8341,12.53,7469.0,383.1,8.8,774,8353,0.00,4.00,1.17,0.000,6,0.007,0.000,3324,2231,604,0,0,24,0,0,0
$GC,8677,12.53,7469.0,353.7,8.9,806,8692,0.00,3.35,0.15,0.000,4,0.007,0.000,3327,440,604,0,0,15,0,0,0
$GC,8945,12.54,7476.5,332.1,6.8,829,8955,0.00,3.53,0.98,0.000,6,0.007,0.000,3328,2431,598,0,0,20,0,0,0
$GC,9280,12.57,7505.4,308.1,6.1,861,9296,0.00,3.58,0.12,0.007,4,0.007,0.000,3329,575,604,0,0,19,0,0,0
$GC,9548,12.46,7505.4,290.1,10.2,884,9558,0.00,3.78,0.93,0.000,6,0.007,0.000,3327,2226,605,0,0,23,0,0,0
$GC,9883,12.56,7505.4,256.3,7.2,916,9898,0.00,3.00,0.12,0.007,4,0.007,0.000,3327,402,604,0,0,14,0,0,0
$GC,10149,12.56,7505.4,237.1,7.9,939,10161,0.00,3.67,1.60,0.000,6,0.007,0.000,3327,2137,604,0,0,17,0,0,0
$GC,10485,12.56,7505.4,204.8,7.5,971,10492,0.00,2.60,0.15,0.007,4,0.000,0.000,3327,456,604,0,0,12,0,0,0
$GC,10744,12.57,7515.7,187.8,6.7,993,10754,0.00,3.90,0.30,0.007,6,0.007,0.000,3330,2236,611,0,0,20,0,0,0
$GC,11079,12.48,7515.7,155.2,9.6,1025,11095,0.00,3.45,0.12,0.007,4,0.007,0.000,3326,592,602,0,0,20,0,0,0
$GC,11347,12.62,7517.5,136.6,7.0,1048,11358,0.00,2.70,1.92,0.000,6,0.007,0.000,3325,2213,604,0,0,14,0,0,0
$GC,11682,12.55,7517.5,105.4,10.1,1080,11698,0.00,3.88,0.12,0.007,4,0.007,0.000,3326,250,607,0,0,20,0,0,0
$GC,11950,12.55,7517.5,83.0,8.2,1103,11960,0.00,3.75,0.85,0.000,6,0.007,0.000,3326,2158,605,0,0,21,0,0,0
$GC,12285,12.46,7517.5,53.9,8.7,1135,12303,0.00,3.75,0.12,0.007,4,0.000,0.000,3326,492,607,0,0,19,0,0,0
$GC,12555,12.55,7517.5,31.4,7.5,1158,12566,0.00,3.28,1.48,0.000,6,0.000,0.000,3328,2174,602,0,0,20,0,0,0
$GC,12759,12.65,7595.7,18.9,4.5,1179,12774,0.00,3.20,0.12,0.000,4,0.007,0.000,3326,349,605,0,0,19,0,0,0
$STATE,12969,end climb,SURFACE_DEPTH_REACHED
$STATE,12969,begin surface coast
$FINISH,1.3,1.012464
$STATE,13009,end surface coast,CONTROL_FINISHED_OK
$STATE,13009,begin surface
$SM_CCo,13099,0.00,0.000,0,0,608,465.09
$SM_GC,0.04,14.75,0.00,0.00,0.000,0.007,0.007,360,2240,608,-10.52,6.02,465.09
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,0,1254614643,0.083333,0.067500,80,0,0,0,0,0,1040,0,0,0,0,0
$RAFOS,4,1254602642,20.750000,20.733889,80,0,0,0,0,0,847,0,0,0,0,0
$RAFOS,2,1254601446,20.416666,20.401667,80,0,0,0,0,0,643,0,0,0,0,0
$RAFOS_FIX,6709.578125,-5444.126953,031009,121248,5,80,8.68
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078206073
$INTERNAL_PRESSURE,16.1669
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,222.699
$10V_AH,10.7,35.193
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,66.711
$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,30.975,144.000,529.950,0.000,0.000,0.000,0.000,145.526,0.000,0.000,25.366,2072.666,8621.370,919.613,1377.548,514.140,33.352,1111.814,0.000,1310.552,1080.000,3.504,0.000
$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,732.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336816
$DATA_FILE_SIZE,40951,1223
$CAP_FILE_SIZE,163161,8
$CFSIZE,260165632,248795136
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,31,732,2,0
$SOUNDSPEED,1462.8
$GPS,041009,001954,6700.594,-5649.842,28,1.1,28,18.0