version: 66.06
glider: 1
mission: 14
dive: 62
start: 10 4 109 9 11 56
data:
$ID,1
$MISSION,14
$DIVE,62
$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,-220292.48
$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,2
$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,67.032944
$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
$GPS1,091224,6659.533,-5656.835,6,1.1,6,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,091843,6659.510,-5656.949,29,1.1,29,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,15000.000
$KALMAN_CONTROL,-0.196,-0.040
$KALMAN_X,36904.9,-1952.7,-135.2,29016.4,-138.4
$KALMAN_Y,8164.7,-603.4,-580.3,5734.7,1272.3
$MHEAD_RNG_PITCHd_Wd,240.4,168739,-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,-68.50,0.000,2,0.000,0.000,519,2428,2691,0,0,0,0,0,0
$GC,102,-1.07,-146.6,3.1,-2.2,14,134,10.18,3.17,-13.90,0.000,4,0.000,0.000,2564,343,3115,13,0,18,0,0,0
$GC,241,-0.76,-146.6,27.9,-19.4,36,258,0.28,3.95,0.00,0.007,6,0.007,0.001,2446,2236,3110,0,0,21,0,0,0
$GC,445,-0.76,-146.6,56.7,-10.7,55,461,0.65,3.20,0.00,0.007,4,0.000,256.513,2617,3454,3111,2,0,18,0,0,0
$GC,713,-0.76,-146.6,80.0,-7.7,78,720,0.62,2.95,0.00,0.007,6,0.000,0.000,2492,1796,3112,1,0,13,0,0,0
$STATE,940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,940,begin apogee
$GC,950,-0.31,0.0,100.1,9.3,100,1081,0.93,0.00,117.82,0.000,6,0.000,0.007,2736,2168,2533,1,0,0,0,0,0
$STATE,1082,end apogee,CONTROL_FINISHED_OK
$STATE,1082,begin climb
$GC,1085,1.07,146.6,111.8,0.0,113,1228,1.33,3.28,126.68,7.165,4,0.000,0.000,2999,503,1910,1,0,16,0,1,0
$GC,1481,3.00,668.2,147.2,-9.8,150,1780,1.65,3.03,267.00,0.000,6,0.000,0.000,3337,2229,588,3,0,16,0,2,0
$GC,2094,4.78,1140.8,207.5,-8.2,209,2110,0.00,3.58,0.12,0.000,4,0.007,0.000,3340,580,589,0,0,18,0,0,0
$GC,2363,5.32,1581.9,228.5,-7.2,232,2373,0.00,3.20,1.17,0.000,6,0.000,0.000,3337,2390,589,0,0,17,0,0,0
$GC,2698,6.01,2143.8,254.9,-11.1,264,2713,0.00,4.07,0.12,0.000,4,0.007,0.000,3336,447,591,0,0,23,0,0,0
$GC,2965,6.57,2600.4,276.7,-7.7,287,2975,0.00,2.80,1.88,0.000,6,0.007,0.000,3336,2151,589,0,0,12,0,0,0
$GC,3300,7.15,3071.9,303.6,-8.2,319,3316,0.00,2.90,0.12,0.007,4,0.007,0.000,3336,300,584,0,0,15,0,0,0
$GC,3569,7.76,3567.2,325.9,-8.9,342,3579,0.00,3.25,1.20,0.000,6,0.007,0.000,3338,2139,592,0,0,11,0,0,0
$GC,3904,8.35,4049.0,354.1,-8.5,374,3911,0.00,2.78,0.12,0.000,4,0.007,0.000,3339,461,593,0,0,12,0,0,0
$GC,4163,8.94,4522.9,376.7,-8.2,396,4174,0.00,2.62,1.98,0.000,6,0.007,0.000,3344,2140,591,0,0,13,0,0,0
$GC,4500,9.51,4989.0,404.1,-8.0,428,4515,0.00,2.97,0.12,0.007,4,0.007,0.000,3340,600,591,0,0,14,0,0,0
$GC,4768,10.10,5466.9,425.9,-8.4,451,4778,0.00,2.65,1.88,0.000,6,0.007,0.000,3341,2180,589,0,0,15,0,0,0
$GC,5103,10.67,5930.9,452.0,-7.9,483,5119,0.00,2.83,0.15,0.000,4,0.007,0.000,3337,383,584,0,0,16,0,0,0
$GC,5371,11.24,6396.9,473.3,-8.0,506,5381,0.00,3.00,1.30,0.000,6,0.007,0.000,3336,2231,582,0,0,15,0,0,0
$GC,5706,11.80,6846.5,499.0,-7.5,538,5721,0.00,4.65,0.12,0.007,4,0.007,0.000,3334,453,591,0,0,27,0,0,0
$GC,5974,12.35,7297.0,518.7,-7.5,561,5984,0.00,3.40,1.12,0.000,6,0.007,0.000,3342,2233,588,0,0,16,0,0,0
$GC,6309,12.92,7757.5,544.1,-7.8,593,6325,0.00,4.25,0.12,0.007,4,0.007,0.000,3339,345,591,0,0,22,0,0,0
$GC,6577,13.47,8204.1,564.6,-7.4,616,6588,0.00,3.33,1.08,0.000,6,0.007,0.000,3336,2035,591,0,0,14,0,0,0
$GC,6912,14.00,8642.0,588.4,-7.1,648,6928,0.00,4.05,0.12,0.007,4,0.007,0.000,3332,424,589,0,0,24,0,0,0
$GC,7180,14.55,9085.3,608.0,-7.3,671,7190,0.00,3.22,0.00,0.007,6,0.007,0.000,3337,2327,589,0,0,17,0,0,0
$GC,7514,15.07,9508.2,630.8,-6.6,703,7529,0.00,3.45,0.00,0.000,4,0.007,0.000,3338,599,589,0,0,15,0,0,0
$GC,7782,15.62,9957.8,649.8,-7.5,726,7790,0.00,2.25,0.00,0.007,6,0.007,0.000,3341,2121,594,0,0,12,0,0,0
$GC,8107,16.17,10403.6,673.7,-7.3,757,8122,0.00,3.45,0.00,0.007,4,0.007,0.000,3335,557,586,0,0,20,0,0,0
$GC,8375,16.54,10702.4,690.9,-2.6,780,8381,0.00,2.90,0.00,0.000,6,0.007,0.000,3334,2119,594,0,0,14,0,0,0
$GC,8699,16.48,10702.4,671.6,8.0,811,8714,0.00,3.88,0.00,0.007,4,0.007,0.000,3336,400,587,0,0,22,0,0,0
$GC,8966,16.48,10702.4,650.4,7.5,834,8974,0.00,3.25,0.00,0.007,6,0.007,0.000,3334,2321,592,0,0,19,0,0,0
$GC,9291,16.53,10743.8,630.9,5.7,865,9308,0.00,3.50,0.00,0.007,4,0.007,0.000,3340,436,588,0,0,17,0,0,0
$GC,9560,16.55,10760.2,612.6,6.5,888,9567,0.00,2.75,0.00,0.007,6,0.007,0.000,3336,2156,590,0,0,10,0,0,0
$GC,9885,16.56,10767.9,589.9,6.8,919,9900,0.00,2.95,0.00,0.007,4,0.007,0.000,3338,576,596,0,0,15,0,0,0
$GC,10152,16.56,10767.9,570.4,7.3,942,10158,0.00,3.00,0.00,0.000,6,0.007,0.000,3339,2186,588,0,0,13,0,0,0
$GC,10480,16.44,10767.9,543.9,10.3,973,10495,0.00,3.40,0.00,0.007,4,0.007,0.000,3336,370,551,0,0,20,0,0,0
$GC,10747,16.37,10767.9,515.5,9.3,996,10754,0.00,3.17,0.00,0.007,6,0.007,0.000,3340,2130,588,0,0,14,0,0,0
$GC,11075,16.37,10767.9,489.5,8.2,1027,11089,0.00,2.90,0.00,0.007,4,0.007,0.000,3337,403,588,0,0,15,0,0,0
$GC,11341,16.37,10767.9,467.1,8.3,1050,11349,0.00,2.83,0.00,0.007,6,0.007,0.000,3337,2170,579,0,0,13,0,0,0
$GC,11665,16.37,10767.9,438.6,8.8,1081,11680,0.00,3.20,0.00,0.000,4,0.007,0.000,3336,481,591,0,0,16,0,0,0
$GC,11932,16.37,10767.9,415.5,8.2,1104,11939,0.00,3.40,0.00,0.000,6,0.007,0.000,3336,2145,590,0,0,18,0,0,0
$GC,12258,16.59,10797.9,392.9,6.1,1135,12275,0.00,3.92,0.00,0.007,4,0.007,0.000,3339,415,584,0,0,20,0,0,0
$GC,12527,16.66,10797.9,372.0,7.6,1158,12534,0.00,3.15,0.00,0.000,6,0.007,0.000,3335,2324,590,0,0,20,0,0,0
$GC,12858,16.66,10797.9,345.3,7.7,1190,12873,0.00,3.33,0.00,0.007,4,0.007,0.000,3338,498,586,0,0,17,0,0,0
$GC,13125,16.52,10797.9,319.4,12.3,1213,13133,0.00,2.62,0.00,0.000,6,0.007,0.000,3339,2137,590,0,0,13,0,0,0
$GC,13450,16.62,10797.9,282.0,8.9,1244,13465,0.00,2.88,0.00,0.007,4,0.007,0.000,3339,514,592,0,0,12,0,0,0
$GC,13717,16.62,10797.9,259.0,8.5,1267,13725,0.00,2.55,0.00,0.007,6,0.007,0.000,3340,2148,588,0,0,13,0,0,0
$GC,14041,16.62,10797.9,230.5,8.3,1298,14057,0.00,3.15,0.00,0.007,4,0.007,0.000,3335,425,589,0,0,17,0,0,0
$GC,14309,16.62,10797.9,207.9,7.8,1321,14316,0.00,3.12,0.00,0.007,6,0.007,0.000,3336,2152,588,0,0,16,0,0,0
$GC,14634,16.62,10797.9,183.7,7.3,1352,14640,0.00,2.83,0.00,0.007,4,0.007,0.000,3338,508,591,0,0,12,0,0,0
$GC,14894,16.62,10797.9,163.5,8.1,1374,14903,0.00,2.72,0.00,0.007,6,0.007,0.000,3342,2154,590,0,0,16,0,0,0
$GC,15227,16.67,10797.9,135.8,8.0,1406,15244,0.00,3.03,0.00,0.007,4,0.007,0.000,3338,427,589,0,0,14,0,0,0
$GC,15496,16.67,10797.9,113.3,8.2,1429,15503,0.00,3.17,0.00,0.007,6,0.000,0.000,3336,2142,592,0,0,14,0,0,0
$GC,15821,16.67,10797.9,87.6,7.8,1460,15837,0.00,3.35,0.00,0.007,4,0.000,0.000,3337,282,589,0,0,18,0,0,0
$GC,16088,16.59,10797.9,66.0,9.3,1483,16099,0.00,4.40,0.00,0.007,6,0.007,0.000,3337,2215,590,0,0,22,0,0,0
$GC,16424,16.59,10797.9,33.9,9.7,1515,16440,0.00,3.28,0.00,0.000,4,0.007,0.000,3345,418,590,0,0,19,0,0,0
$GC,16694,16.57,10835.5,12.8,5.8,1547,16710,0.00,3.30,0.00,0.007,6,0.007,0.001,3336,2128,589,0,0,16,0,0,0
$GC,16778,16.50,10835.5,6.6,7.0,1561,16793,0.00,3.35,0.00,0.000,4,0.007,0.000,3339,311,608,0,0,16,0,0,0
$STATE,16825,end climb,SURFACE_DEPTH_REACHED
$STATE,16825,begin surface coast
$FINISH,1.2,1.013241
$STATE,16866,end surface coast,CONTROL_FINISHED_OK
$STATE,16868,begin surface
$SM_CCo,16960,0.00,0.000,0,0,593,468.28
$SM_GC,0.06,14.65,0.00,0.00,0.000,0.007,0.007,528,2356,593,-9.69,9.19,468.28
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254660244,12.750000,12.734445,80,0,0,0,0,0,820,0,0,0,0,0
$RAFOS,3,1254659647,12.583333,12.568611,80,0,0,0,0,0,935,0,0,0,0,0
$RAFOS,2,1254659047,12.416667,12.401944,80,0,0,0,0,0,616,0,0,0,0,0
$RAFOS,1,1254658451,12.250000,12.236389,80,0,0,0,0,0,805,0,0,0,0,0
$RAFOS,0,1254657849,12.083333,12.069167,80,0,0,0,0,0,991,0,0,0,0,0
$RAFOS_FIX,6659.052734,-5438.574707,041009,121223,5,80,8.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078166021
$INTERNAL_PRESSURE,16.1484
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,225.414
$10V_AH,10.7,35.423
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,67.192
$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,30.275,188.200,524.250,0.000,0.000,0.000,0.000,124.728,0.000,0.000,31.860,2695.299,11287.476,1046.354,1759.637,574.164,33.352,1253.073,0.000,1670.440,1800.000,3.826,0.000
$DEVICE_MAMPS,119.000,256513.000,7165.166,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.630,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336760
$DATA_FILE_SIZE,53503,1576
$CAP_FILE_SIZE,199661,10
$CFSIZE,260165632,248496128
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,35,957,3,0
$SOUNDSPEED,1463.1
$GPS,041009,140439,6657.829,-5659.654,12,1.1,12,18.0