version: 66.06
glider: 1
mission: 14
dive: 64
start: 10 4 109 19 2 27
data:
$ID,1
$MISSION,14
$DIVE,64
$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,-220354.08
$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,5
$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,67.372665
$FG_AHR_24V,4.638402
$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
$GPS1,190316,6658.438,-5706.499,26,1.1,27,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,190901,6658.502,-5706.648,25,1.1,25,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.004,-0.200
$KALMAN_X,34258.7,-2443.3,-1041.6,26050.0,2292.4
$KALMAN_Y,6695.6,-313.2,-85.4,4547.5,680.9
$MHEAD_RNG_PITCHd_Wd,160.7,108461,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.07,-146.6,0.0,0.0,0,94,0.00,0.00,-63.70,0.000,2,0.007,0.000,381,1782,2543,0,0,0,0,0,0
$GC,98,-1.07,-146.6,3.4,-2.8,13,135,10.20,2.30,-18.85,0.000,4,0.000,0.000,2497,421,3113,10,0,14,0,0,0
$GC,387,-0.89,-146.6,46.4,-12.8,47,397,0.00,3.88,-0.03,0.000,6,0.000,0.000,2496,2214,3113,0,0,19,0,0,0
$GC,596,-0.89,-146.6,65.9,-9.7,67,611,0.00,3.83,0.00,0.007,4,0.007,0.000,2498,368,3114,0,0,21,0,0,0
$GC,806,-0.89,-146.6,86.3,-9.9,85,816,0.00,2.83,0.00,0.007,6,0.007,0.000,2495,2144,3114,0,0,14,0,0,0
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,956,-0.31,0.0,100.6,9.7,99,1083,0.95,0.00,121.70,7.821,6,0.000,0.007,2701,1915,2511,1,0,0,0,0,0
$STATE,1084,end apogee,CONTROL_FINISHED_OK
$STATE,1084,begin climb
$GC,1086,1.07,146.6,113.4,0.0,112,1228,1.23,2.35,117.43,0.000,4,0.000,0.000,3008,628,1938,1,0,9,0,1,0
$GC,1481,3.02,669.2,153.2,-9.8,147,1774,1.58,3.03,267.15,0.000,6,0.000,0.000,3358,2300,603,2,0,19,0,1,0
$GC,2088,4.73,1111.7,206.8,-7.2,206,2103,0.00,2.58,0.35,0.000,4,0.007,0.000,3353,3774,603,0,0,17,0,0,0
$GC,2131,5.26,1544.7,209.9,-6.9,209,2141,0.00,3.22,1.20,0.000,6,0.007,0.000,3355,1926,605,0,0,16,0,0,0
$GC,2465,5.77,1959.5,233.7,-6.3,241,2472,0.00,2.55,0.15,0.007,4,0.007,0.000,3357,432,602,0,0,11,0,0,0
$GC,2725,6.33,2415.1,252.1,-7.7,263,2735,0.00,3.58,0.70,0.000,6,0.007,0.000,3355,2143,603,0,0,18,0,0,0
$GC,3059,6.90,2880.4,277.0,-8.0,295,3076,0.00,2.90,0.20,0.007,4,0.007,0.000,3354,3588,606,0,0,17,0,0,0
$GC,3329,7.49,3355.9,298.1,-8.3,318,3339,0.00,3.00,1.38,0.000,6,0.007,0.000,3354,1845,606,0,0,15,0,0,0
$GC,3664,8.04,3803.8,323.2,-7.4,350,3671,0.00,2.42,0.12,0.007,4,0.000,0.000,3355,498,606,0,0,13,0,0,0
$GC,3923,8.59,4249.1,342.4,-7.3,372,3933,0.00,3.28,1.05,0.000,6,0.007,0.000,3354,2135,604,0,0,18,0,0,0
$GC,4258,9.14,4701.2,366.8,-7.5,404,4275,0.00,3.42,0.32,0.007,4,0.000,0.000,3356,506,609,0,0,19,0,0,0
$GC,4528,9.77,5206.9,388.6,-9.3,427,4538,0.00,3.53,0.62,0.000,6,0.007,0.000,3354,2402,603,0,0,21,0,0,0
$GC,4862,10.38,5705.6,418.2,-9.0,459,4878,0.00,3.50,0.12,0.007,4,0.000,0.000,3353,487,605,0,0,17,0,0,0
$GC,5131,11.00,6212.3,443.7,-9.3,482,5142,0.00,3.70,0.60,0.000,6,0.007,0.000,3354,2238,604,0,0,20,0,0,0
$GC,5467,11.61,6710.0,474.6,-9.0,514,5483,0.00,2.92,0.12,0.007,4,0.007,0.000,3356,468,596,0,0,15,0,0,0
$GC,5736,12.23,7208.6,498.9,-9.0,537,5746,0.00,3.17,1.05,0.000,6,0.007,0.000,3354,2325,610,0,0,19,0,0,0
$GC,6070,12.84,7705.5,528.5,-9.0,569,6086,0.00,3.00,0.12,0.000,4,0.007,0.000,3354,435,600,0,0,16,0,0,0
$GC,6338,13.44,8193.0,552.3,-8.7,592,6348,0.00,3.28,0.95,0.000,6,0.007,0.000,3354,2214,603,0,0,18,0,0,0
$GC,6673,14.04,8681.9,581.3,-8.7,624,6689,0.00,3.33,0.00,0.007,4,0.007,0.000,3355,484,602,0,0,18,0,0,0
$GC,6942,14.58,9121.4,600.4,-7.1,647,6951,0.00,3.30,0.00,0.007,6,0.007,0.000,3352,2183,606,0,0,19,0,0,0
$GC,7276,15.13,9571.0,625.8,-7.5,679,7282,0.00,2.67,0.00,0.000,4,0.007,0.000,3354,3596,606,0,0,14,0,0,0
$GC,7401,15.77,10089.5,636.2,-9.7,689,7411,0.00,3.62,0.00,0.007,6,0.007,0.000,3361,1912,602,0,0,19,0,0,0
$GC,7736,16.32,10536.4,663.4,-7.4,721,7742,0.00,2.62,0.00,0.007,4,0.000,0.000,3356,405,600,0,0,12,0,0,0
$GC,7994,16.89,11002.8,683.0,-8.0,743,8000,0.00,2.92,0.00,0.007,6,0.007,0.000,3356,2162,603,0,0,15,0,0,0
$GC,8319,17.44,11449.5,707.4,-7.4,774,8325,0.00,2.83,0.00,0.000,4,0.007,0.000,3353,617,609,0,0,12,0,0,0
$GC,8578,18.02,11917.0,728.8,-8.0,796,8587,0.00,3.12,0.00,0.007,6,0.007,0.000,3355,2204,605,0,0,16,0,0,0
$GC,8911,18.18,12049.6,741.4,2.8,828,8926,0.00,3.25,0.00,0.007,4,0.000,0.000,3353,442,615,0,0,18,0,0,0
$GC,9178,17.93,12049.6,714.4,10.8,851,9184,0.00,3.15,0.00,0.007,6,0.007,0.000,3357,2188,603,0,0,15,0,0,0
$GC,9502,17.94,12055.0,685.5,6.8,882,9517,0.00,3.00,0.00,0.000,4,0.007,0.000,3356,387,607,0,0,13,0,0,0
$GC,9769,17.94,12055.0,667.4,7.5,905,9776,0.00,2.97,0.00,0.007,6,0.007,0.000,3356,2066,610,0,0,16,0,0,0
$GC,10094,17.96,12068.7,645.2,6.6,936,10100,0.00,2.50,0.00,0.007,4,0.007,0.000,3354,414,605,0,0,12,0,0,0
$GC,10351,17.96,12068.7,627.3,7.0,958,10360,0.00,2.65,0.00,0.007,6,0.007,0.000,3352,2238,608,0,0,12,0,0,0
$GC,10676,17.96,12068.7,603.8,7.1,989,10691,0.00,3.55,0.00,0.007,4,0.007,0.000,3353,423,607,0,0,14,0,0,0
$GC,10943,17.96,12068.7,584.8,7.4,1012,10951,0.00,3.05,0.00,0.000,6,0.007,0.000,3352,2338,602,0,0,15,0,0,0
$GC,11268,17.96,12073.1,562.6,6.9,1043,11283,0.00,3.35,0.00,0.007,4,0.007,0.000,3357,578,605,0,0,17,0,0,0
$GC,11535,17.97,12083.5,544.3,6.7,1066,11543,0.00,2.65,0.00,0.007,6,0.007,0.000,3354,2014,607,0,0,14,0,0,0
$GC,11860,17.97,12083.5,521.3,7.2,1097,11874,0.00,2.83,0.00,0.007,4,0.007,0.000,3361,470,604,0,0,15,0,0,0
$GC,12127,17.99,12094.6,502.1,6.7,1120,12136,0.00,3.72,0.00,0.007,6,0.007,0.000,3357,2324,604,0,0,20,0,0,0
$GC,12461,18.00,12104.0,479.4,6.7,1152,12476,0.00,3.65,0.00,0.007,4,0.007,0.000,3357,318,604,0,0,20,0,0,0
$GC,12728,18.00,12104.0,459.6,7.7,1175,12735,0.00,3.30,0.00,0.007,6,0.007,0.000,3356,2194,603,0,0,16,0,0,0
$GC,13053,18.00,12104.0,435.0,7.9,1206,13069,0.00,3.08,0.00,0.007,4,0.007,0.000,3355,373,603,0,0,16,0,0,0
$GC,13321,18.00,12104.0,414.3,8.1,1229,13331,0.00,4.12,0.00,0.007,6,0.007,0.000,3354,2344,607,0,0,22,0,0,0
$GC,13655,18.00,12104.0,388.0,8.3,1261,13670,0.00,3.78,0.00,0.007,4,0.007,0.000,3356,337,605,0,0,19,0,0,0
$GC,13923,18.18,12126.4,370.8,6.3,1284,13929,0.00,2.95,0.00,0.007,6,0.007,0.000,3357,2193,608,0,0,16,0,0,0
$GC,14254,18.27,12126.4,345.9,7.1,1316,14271,0.00,3.42,0.00,0.007,4,0.007,0.000,3354,497,608,0,0,16,0,0,0
$GC,14523,18.19,12126.4,321.8,10.1,1339,14530,0.00,3.33,0.00,0.007,6,0.007,0.000,3356,2378,619,0,0,19,0,0,0
$GC,14847,18.19,12126.4,293.7,8.0,1370,14862,0.00,3.17,0.00,0.000,4,0.007,0.000,3351,370,604,0,0,18,0,0,0
$GC,15114,18.19,12126.4,272.3,8.2,1393,15121,0.00,3.33,0.00,0.000,6,0.007,0.000,3357,2205,605,0,0,15,0,0,0
$GC,15439,18.19,12126.4,246.4,8.1,1424,15454,0.00,3.03,0.00,0.000,4,0.007,0.000,3357,508,598,0,0,16,0,0,0
$GC,15705,18.19,12126.4,225.4,7.6,1447,15715,0.00,2.67,0.00,0.007,6,0.007,0.000,3352,2116,606,0,0,10,0,0,0
$GC,16030,18.19,12126.4,200.3,7.5,1478,16047,0.00,3.15,0.00,0.000,4,0.007,0.000,3354,272,604,0,0,19,0,0,0
$GC,16299,18.19,12126.4,181.0,7.1,1501,16309,0.00,3.78,0.00,0.007,6,0.007,0.000,3357,2208,603,0,0,21,0,0,0
$GC,16633,18.22,12148.4,160.0,6.3,1533,16648,0.00,3.08,0.00,0.007,4,0.007,0.000,3355,551,603,0,0,17,0,0,0
$GC,16900,18.22,12148.4,137.1,8.0,1556,16908,0.00,3.12,0.00,0.007,6,0.007,0.000,3357,2150,603,0,0,16,0,0,0
$GC,17224,18.22,12148.4,108.6,8.6,1587,17231,0.00,2.92,0.00,0.007,4,0.007,0.000,3357,388,604,0,0,13,0,0,0
$GC,17483,18.26,12180.6,89.0,6.0,1609,17490,0.00,3.30,0.00,0.000,6,0.007,0.000,3360,2117,595,0,0,16,0,0,0
$GC,17807,18.26,12180.6,66.7,8.3,1640,17822,0.00,2.83,0.00,0.007,4,0.007,0.000,3354,392,604,0,0,14,0,0,0
$GC,18074,18.26,12180.6,44.4,8.2,1663,18081,0.00,2.95,0.00,0.007,6,0.007,0.000,3356,2050,612,0,0,13,0,0,0
$GC,18271,18.26,12180.6,28.2,7.1,1682,18286,0.00,3.30,0.00,0.007,4,0.007,0.000,3356,320,598,0,0,17,0,0,0
$GC,18540,18.33,12181.6,9.6,7.0,1718,18555,0.00,3.78,0.00,0.007,6,0.007,0.000,3356,2254,606,0,0,19,0,0,0
$GC,18623,18.33,12181.6,3.6,7.4,1732,18640,0.00,3.17,0.00,0.007,4,0.007,0.000,3355,467,607,0,0,12,0,0,0
$STATE,18643,end climb,SURFACE_DEPTH_REACHED
$STATE,18643,begin surface coast
$FINISH,1.4,1.013215
$STATE,18661,end surface coast,CONTROL_FINISHED_OK
$STATE,18661,begin surface
$SM_CCo,18753,0.00,0.000,0,0,605,464.84
$SM_GC,0.05,14.60,0.00,0.00,0.000,0.007,0.000,390,2196,605,-10.32,5.12,464.84
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,1,1254701641,0.250000,0.233611,80,0,0,0,0,0,833,0,0,0,0,0
$RAFOS,0,1254701051,0.083333,0.069722,80,0,0,0,0,0,946,0,0,0,0,0
$RAFOS,4,1254689043,20.750000,20.734167,80,0,0,0,0,0,805,0,0,0,0,0
$RAFOS,3,1254688445,20.583334,20.568056,80,0,0,0,0,0,922,0,0,0,0,0
$RAFOS,2,1254687841,20.416666,20.400278,80,0,0,0,0,0,617,0,0,0,0,0
$RAFOS,1,1254687242,20.250000,20.233889,80,0,0,0,0,0,829,0,0,0,0,0
$RAFOS,0,1254686642,20.083334,20.067223,80,0,0,0,0,0,990,0,0,0,0,0
$RAFOS_FIX,6658.174316,-5453.215332,041009,202023,5,80,21.11
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078133885
$INTERNAL_PRESSURE,16.1414
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,227.727
$10V_AH,10.7,35.593
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,67.546
$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,28.550,209.300,515.350,0.000,0.000,0.000,0.000,113.604,0.000,0.000,26.440,2970.069,12636.412,1061.562,1921.625,562.806,33.351,1278.901,0.000,1828.470,2520.000,2.615,0.000
$DEVICE_MAMPS,119.000,60.000,7820.518,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336368
$DATA_FILE_SIZE,56623,1738
$CAP_FILE_SIZE,215844,0
$CFSIZE,260165632,248295424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,28,1079,2,0
$SOUNDSPEED,1460.1
$GPS,051009,002536,6658.396,-5712.685,29,1.1,29,18.0