version: 66.06
glider: 1
mission: 14
dive: 65
start: 10 5 109 0 24 45
data:
$ID,1
$MISSION,14
$DIVE,65
$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,-220382.19
$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,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,67.554955
$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
$GPS1,002536,6658.396,-5712.685,29,1.1,29,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,003028,6658.394,-5712.571,26,1.1,26,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.012,-0.200
$KALMAN_X,31802.3,-2170.1,-1423.9,24321.8,2562.1
$KALMAN_Y,6582.4,66.7,107.7,3898.8,450.2
$MHEAD_RNG_PITCHd_Wd,158.6,108560,-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,-68.20,0.000,2,0.007,0.000,390,2205,2677,0,0,0,0,0,0
$GC,102,-1.07,-146.6,3.3,-2.6,14,145,10.95,3.25,-14.30,0.000,4,0.000,0.000,2610,328,3113,12,0,16,0,0,0
$GC,375,-0.91,-146.6,46.4,-14.1,47,391,0.82,3.15,0.00,0.007,6,0.000,0.000,2418,2128,3106,2,0,13,0,0,0
$GC,579,-0.91,-146.6,67.6,-9.1,66,596,0.68,3.38,0.00,0.007,4,0.000,0.000,2548,3418,3104,1,0,21,0,0,0
$GC,849,-0.85,-146.6,93.2,-10.4,89,859,0.30,3.28,0.00,0.007,6,0.000,0.000,2464,1833,3103,1,0,17,0,0,0
$STATE,915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,916,begin apogee
$GC,923,-0.31,0.0,100.4,10.9,96,1050,1.10,0.00,121.47,0.000,6,0.000,0.007,2688,2179,2505,1,0,0,0,0,0
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1054,1.07,146.6,114.9,0.0,109,1182,1.35,3.20,116.35,0.000,4,0.000,0.000,2985,484,1925,0,0,16,0,0,0
$GC,1436,2.85,630.7,152.1,-8.6,144,1713,1.73,3.35,261.62,0.000,6,0.000,0.000,3400,2253,607,1,0,18,0,0,0
$GC,2038,4.62,1108.1,207.1,-8.3,202,2054,0.00,3.15,0.65,0.000,4,0.007,0.000,3400,486,608,0,0,15,0,0,0
$GC,2306,5.20,1573.9,228.5,-8.0,225,2317,0.00,2.80,2.22,0.000,6,0.007,0.000,3401,2143,606,0,0,13,0,0,0
$GC,2641,5.81,2074.0,256.8,-9.1,257,2657,0.00,3.38,0.75,0.000,4,0.007,0.000,3400,588,607,0,0,18,0,0,0
$GC,2909,6.41,2557.2,280.4,-8.5,280,2920,0.00,3.17,1.52,0.000,6,0.007,0.000,3399,2238,605,0,0,14,0,0,0
$GC,3245,6.96,3009.1,307.2,-7.5,312,3260,0.00,2.80,0.60,0.000,4,0.007,0.000,3400,421,606,0,0,13,0,0,0
$GC,3513,7.53,3470.4,328.1,-7.8,335,3523,0.00,2.80,1.90,0.000,6,0.007,0.000,3399,2204,609,0,0,12,0,0,0
$GC,3847,8.07,3912.9,353.2,-7.2,367,3863,0.00,3.17,0.47,0.000,4,0.000,0.000,3402,507,621,0,0,13,0,0,0
$GC,4116,8.65,4380.1,373.0,-8.0,390,4126,0.00,3.03,1.50,0.000,6,0.007,0.000,3401,2129,609,0,0,13,0,0,0
$GC,4451,9.21,4835.9,397.7,-7.7,422,4457,0.00,2.58,0.30,0.000,4,0.007,0.000,3401,503,606,0,0,11,0,0,0
$GC,4710,9.76,5284.9,416.9,-7.4,444,4720,0.00,3.65,0.80,0.000,6,0.007,0.000,3399,2326,606,0,0,22,0,0,0
$GC,5045,10.35,5761.2,443.4,-8.3,476,5061,0.00,3.38,0.28,0.007,4,0.007,0.000,3412,360,606,0,0,16,0,0,0
$GC,5313,10.92,6226.2,465.3,-8.0,499,5324,0.00,3.30,1.50,0.000,6,0.007,0.000,3404,2211,604,0,0,16,0,0,0
$GC,5648,11.51,6703.5,492.6,-8.3,531,5664,0.00,3.05,0.15,0.007,4,0.007,0.000,3399,412,606,0,0,12,0,0,0
$GC,5916,12.09,7181.4,515.4,-8.4,554,5928,0.00,3.10,1.48,0.000,6,0.007,0.000,3400,2212,608,0,0,17,0,0,0
$GC,6252,12.71,7678.8,545.0,-9.0,586,6268,0.00,3.00,0.55,0.000,4,0.007,0.000,3399,509,608,0,0,12,0,0,0
$GC,6419,13.26,8130.3,558.1,-7.5,600,6441,0.00,2.75,6.85,0.000,6,0.007,0.000,3402,2203,586,0,0,12,0,0,0
$GC,6755,13.81,8576.7,583.5,-7.4,632,6770,0.00,3.15,0.12,0.000,4,0.007,0.000,3401,444,584,0,0,15,0,0,0
$GC,7022,14.32,8992.2,602.2,-6.4,655,7029,0.00,2.88,0.00,0.007,6,0.007,0.000,3400,2160,586,0,0,15,0,0,0
$GC,7347,14.84,9414.4,623.8,-6.6,686,7362,0.00,3.10,0.00,0.007,4,0.007,0.000,3402,505,580,0,0,14,0,0,0
$GC,7615,15.36,9835.2,641.5,-6.5,709,7626,0.00,3.95,0.00,0.007,6,0.007,0.000,3398,2379,584,0,0,21,0,0,0
$GC,7950,15.89,10267.0,664.2,-6.9,741,7967,0.00,3.53,0.00,0.007,4,0.007,0.000,3404,312,586,0,0,15,0,0,0
$GC,8220,16.44,10716.9,683.9,-7.5,764,8230,0.00,4.53,0.00,0.007,6,0.000,0.000,3402,2430,586,0,0,25,0,0,0
$GC,8555,16.99,11160.4,707.8,-7.3,796,8570,0.00,4.28,0.00,0.000,4,0.007,0.000,3402,372,589,0,0,25,0,0,0
$GC,8822,17.54,11605.6,727.3,-7.3,819,8833,0.00,3.65,0.00,0.007,6,0.007,0.000,3398,2297,585,0,0,20,0,0,0
$GC,9157,18.12,12077.1,752.0,-8.2,851,9173,0.00,4.00,0.00,0.007,4,0.007,0.000,3405,336,551,0,0,25,0,0,0
$GC,9424,18.67,12528.4,771.6,-7.5,874,9430,0.00,3.12,0.00,0.007,6,0.007,0.000,3402,2176,584,0,0,13,0,0,0
$GC,9749,18.89,12651.2,784.2,3.1,905,9765,0.00,3.62,0.00,0.007,4,0.007,0.000,3399,457,590,0,0,19,0,0,0
$GC,10017,18.62,12651.2,755.8,11.4,928,10024,0.00,2.70,0.00,0.007,6,0.007,0.000,3402,2189,587,0,0,11,0,0,0
$GC,10342,18.56,12651.2,724.5,8.3,959,10356,0.00,3.10,0.00,0.007,4,0.000,0.000,3403,494,589,0,0,13,0,0,0
$GC,10608,18.50,12651.2,702.2,8.3,982,10618,0.00,3.67,0.00,0.007,6,0.007,0.000,3399,2256,584,0,0,20,0,0,0
$GC,10942,18.51,12657.5,677.0,6.8,1014,10957,0.00,2.88,0.00,0.007,4,0.007,0.000,3401,448,591,0,0,12,0,0,0
$GC,11209,18.51,12657.5,658.6,7.6,1037,11217,0.00,3.17,0.00,0.000,6,0.007,0.000,3400,2297,584,0,0,17,0,0,0
$GC,11534,18.51,12657.5,635.1,7.3,1068,11549,0.00,3.17,0.00,0.007,4,0.007,0.000,3397,409,584,0,0,17,0,0,0
$GC,11801,18.51,12657.5,615.1,7.0,1091,11809,0.00,3.20,0.00,0.000,6,0.007,0.000,3402,2200,584,0,0,13,0,0,0
$GC,12126,18.51,12657.5,591.4,7.5,1122,12141,0.00,4.03,0.00,0.007,4,0.007,0.000,3402,499,589,0,0,22,0,0,0
$GC,12393,18.51,12657.5,570.1,7.4,1145,12401,0.00,3.00,0.00,0.000,6,0.007,0.000,3398,2148,585,0,0,11,0,0,0
$GC,12718,18.66,12692.8,548.5,5.9,1176,12733,0.00,3.00,0.00,0.007,4,0.007,0.000,3400,352,586,0,0,16,0,0,0
$GC,12985,18.87,12729.0,530.7,5.9,1199,12991,0.00,3.10,0.00,0.007,6,0.007,0.000,3402,2205,577,0,0,14,0,0,0
$GC,13310,19.03,12729.0,509.7,8.5,1230,13325,0.00,2.88,0.00,0.007,4,0.007,0.000,3397,459,584,0,0,15,0,0,0
$GC,13577,19.05,12742.6,492.1,6.6,1253,13588,0.00,3.50,0.00,0.007,6,0.007,0.000,3402,2206,590,0,0,17,0,0,0
$GC,13912,18.97,12742.6,459.6,9.9,1285,13928,0.00,3.15,0.00,0.007,4,0.007,0.000,3400,415,587,0,0,15,0,0,0
$GC,14180,19.03,12742.6,437.8,7.8,1308,14190,0.00,3.90,0.00,0.007,6,0.007,0.000,3399,2166,585,0,0,21,0,0,0
$GC,14515,19.04,12748.2,413.7,6.8,1340,14530,0.00,3.35,0.00,0.007,4,0.000,0.000,3398,490,584,0,0,14,0,0,0
$GC,14783,18.98,12748.2,389.7,10.1,1363,14789,0.00,2.88,0.00,0.007,6,0.007,0.000,3399,2193,590,0,0,13,0,0,0
$GC,15107,18.98,12748.2,359.1,8.3,1394,15122,0.00,3.50,0.00,0.007,4,0.007,0.000,3401,431,586,0,0,16,0,0,0
$GC,15374,18.98,12748.2,335.4,9.0,1417,15383,0.00,3.12,0.00,0.007,6,0.007,0.000,3398,2227,583,0,0,16,0,0,0
$GC,15699,18.98,12748.2,305.2,9.2,1448,15714,0.00,3.35,0.00,0.007,4,0.007,0.000,3401,406,586,0,0,19,0,0,0
$GC,15966,18.98,12748.2,280.5,8.4,1471,15974,0.00,3.17,0.00,0.007,6,0.007,0.000,3400,2210,584,0,0,15,0,0,0
$GC,16291,19.03,12748.2,253.1,8.4,1502,16306,0.00,2.95,0.00,0.007,4,0.007,0.000,3398,410,581,0,0,12,0,0,0
$GC,16558,19.03,12748.2,230.6,8.8,1525,16565,0.00,3.00,0.00,0.007,6,0.007,0.000,3400,2328,586,0,0,13,0,0,0
$GC,16883,18.97,12748.2,195.9,10.8,1556,16899,0.00,3.38,0.00,0.007,4,0.007,0.000,3400,244,586,0,0,16,0,0,0
$GC,17151,19.06,12749.5,174.0,7.0,1579,17161,0.00,3.80,0.00,0.007,6,0.007,0.000,3404,2215,586,0,0,19,0,0,0
$GC,17485,19.06,12749.5,147.6,7.9,1611,17500,0.00,3.05,0.00,0.007,4,0.007,0.000,3404,338,588,0,0,16,0,0,0
$GC,17752,19.06,12749.5,123.4,10.3,1634,17761,0.00,2.80,0.00,0.007,6,0.007,0.000,3401,2164,590,0,0,15,0,0,0
$GC,18077,19.06,12749.5,93.1,8.9,1665,18092,0.00,3.20,0.00,0.007,4,0.007,0.000,3403,381,586,0,0,18,0,0,0
$GC,18343,19.06,12749.5,70.5,9.7,1688,18351,0.00,3.12,0.00,0.007,6,0.007,0.000,3400,2170,588,0,0,15,0,0,0
$GC,18668,19.06,12749.5,44.2,8.1,1719,18683,0.00,3.30,0.00,0.007,4,0.007,0.000,3402,405,587,0,0,15,0,0,0
$GC,18831,19.06,12749.5,31.8,7.5,1733,18846,0.00,3.33,0.00,0.007,6,0.000,0.000,3402,2010,585,0,0,17,0,0,0
$GC,19037,19.06,12749.5,17.2,8.5,1755,19051,0.00,2.95,0.00,0.007,4,0.007,0.000,3397,421,588,0,0,12,0,0,0
$STATE,19268,end climb,SURFACE_DEPTH_REACHED
$STATE,19268,begin surface coast
$FINISH,1.2,1.015716
$STATE,19320,end surface coast,CONTROL_FINISHED_OK
$STATE,19320,begin surface
$SM_CCo,19410,0.00,0.000,0,0,586,469.75
$SM_GC,0.04,14.62,0.00,0.00,0.000,0.007,0.000,522,2205,586,-9.43,5.17,469.75
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254717845,4.750000,4.734722,80,0,0,0,0,0,774,0,0,0,0,0
$RAFOS,3,1254717242,4.583333,4.567222,80,0,0,0,0,0,924,0,0,0,0,0
$RAFOS,2,1254716646,4.416667,4.401667,80,0,0,0,0,0,572,0,0,0,0,0
$RAFOS,1,1254716042,4.250000,4.233889,80,0,0,0,0,0,823,0,0,0,0,0
$RAFOS,0,1254715445,4.083333,4.068056,80,0,0,0,0,0,968,0,0,0,0,0
$RAFOS,4,1254703442,0.750000,0.733889,80,0,0,0,0,0,791,0,0,0,0,0
$RAFOS,3,1254702845,0.583333,0.568056,80,0,0,0,0,0,907,0,0,0,0,0
$RAFOS_FIX,6645.016602,-5436.178223,051009,040423,5,80,8.30
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078131356
$INTERNAL_PRESSURE,16.1748
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,228.475
$10V_AH,10.7,35.684
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,67.735
$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,31.550,215.475,521.100,0.000,0.000,0.000,0.000,94.122,0.000,0.000,27.129,3128.089,12974.048,1120.856,2002.397,535.275,33.350,1336.851,0.000,1903.742,2520.000,1.445,0.000
$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,1083.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336356
$DATA_FILE_SIZE,59779,1805
$CAP_FILE_SIZE,220228,8
$CFSIZE,260165632,248188928
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,33,1054,0,0
$SOUNDSPEED,1461.6
$GPS,051009,055728,6658.895,-5717.363,10,1.1,10,18.0