version: 66.06
glider: 1
mission: 14
dive: 68
start: 10 5 109 17 1 52
data:
$ID,1
$MISSION,14
$DIVE,68
$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,-220466.92
$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,10
$R_STBD_OVSHOOT,6
$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,68.125587
$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
$GPS1,170246,6659.646,-5728.995,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,170944,6659.644,-5728.991,26,1.1,26,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.034,-0.197
$KALMAN_X,24648.4,-1944.9,-1361.7,19234.0,2310.4
$KALMAN_Y,8302.7,1026.7,197.7,3461.9,-1543.1
$MHEAD_RNG_PITCHd_Wd,152.3,112598,-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
$STATE,24,begin dive
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$GC,3303,0.55,-146.6,0.1,0.0,568,3309,0.00,2.67,0.00,0.007,4,0.007,0.000,2815,513,3109,0,0,13,0,0,0
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$GC,3646,0.55,-146.6,0.0,0.0,628,3662,0.00,3.42,0.00,0.007,4,0.007,0.000,2820,401,3107,0,0,18,0,0,0
$GC,3915,0.55,-146.6,0.0,0.0,675,3930,0.00,3.08,0.00,0.007,6,0.000,0.000,2817,2083,3108,0,0,17,0,0,0
$GC,3998,0.55,-146.6,0.1,0.0,689,4013,0.00,3.10,0.00,0.007,4,0.007,0.000,2821,491,3106,0,0,16,0,0,0
$GC,4266,0.55,-146.6,0.0,0.0,736,4272,0.00,2.97,0.00,0.007,6,0.007,0.000,2818,2227,3110,0,0,15,0,0,0
$GC,4339,0.55,-146.6,0.1,-0.2,749,4354,0.00,3.22,0.00,0.007,4,0.007,0.000,2819,539,3109,0,0,18,0,0,0
$GC,4607,0.55,-146.6,0.1,-0.0,796,4613,0.00,2.70,0.00,0.007,6,0.007,0.000,2819,2241,3108,0,0,13,0,0,0
$GC,4681,0.55,-146.6,0.0,-0.0,809,4696,0.00,3.47,0.00,0.007,4,0.007,0.000,2817,437,3110,0,0,18,0,0,0
$GC,4950,0.55,-146.6,0.0,-0.0,856,4965,0.00,3.05,0.00,0.007,6,0.007,0.000,2819,2104,3109,0,0,15,0,0,0
$GC,5033,0.55,-146.6,0.1,-0.0,870,5048,0.00,3.12,0.00,0.007,4,0.007,0.000,2819,424,3109,0,0,17,0,0,0
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$GC,5387,0.55,-146.6,0.0,0.0,931,5402,0.00,3.17,0.00,0.007,4,0.007,0.000,2819,450,3118,0,0,13,0,0,0
$GC,5655,0.55,-146.6,0.1,0.1,978,5671,0.00,3.65,0.00,0.007,6,0.000,0.000,2821,2301,3107,0,0,23,0,0,0
$GC,5738,0.55,-146.6,0.0,0.0,992,5753,0.00,3.85,0.00,0.007,4,0.007,0.000,2821,447,3108,0,0,19,0,0,0
$GC,6007,0.55,-146.6,0.0,-0.0,1039,6022,0.00,3.75,0.00,0.007,6,0.007,0.000,2820,2222,3108,0,0,19,0,0,0
$GC,6090,0.55,-146.6,0.0,0.0,1053,6105,0.00,3.58,0.00,0.007,4,0.000,0.000,2820,526,3106,0,0,17,0,0,0
$GC,6359,0.55,-146.6,0.1,-0.0,1100,6374,0.00,3.35,0.00,0.007,6,0.007,0.000,2818,2420,3103,0,0,19,0,0,0
$GC,6443,0.55,-146.6,0.1,-0.0,1114,6457,0.00,4.68,0.00,0.007,4,0.000,0.000,2818,497,3124,0,0,28,0,0,0
$GC,6711,0.55,-146.6,0.0,-0.0,1161,6726,0.00,3.00,0.00,0.000,6,0.007,0.000,2819,2255,3107,0,0,14,0,0,0
$GC,6794,0.55,-146.6,0.0,0.0,1175,6808,0.00,3.10,0.00,0.007,4,0.007,0.000,2821,441,3109,0,0,14,0,0,0
$GC,7062,0.55,-146.6,0.0,0.1,1222,7076,0.00,2.88,0.00,0.007,6,0.007,0.000,2817,2161,3108,0,0,15,0,0,0
$GC,7144,0.55,-146.6,0.1,-0.0,1236,7149,0.00,2.70,0.00,0.007,4,0.007,0.000,2817,560,3108,0,0,13,0,0,0
$GC,7403,0.55,-146.6,0.0,-0.0,1282,7419,0.00,2.88,0.00,0.007,6,0.007,0.000,2817,2116,3108,0,0,12,0,0,0
$GC,7487,0.55,-146.6,0.0,-0.0,1296,7503,0.00,3.15,0.00,0.007,4,0.000,0.000,2818,294,3108,0,0,18,0,0,0
$GC,7756,0.55,-146.6,0.0,-0.0,1343,7771,0.00,3.53,0.00,0.007,6,0.007,0.000,2817,2172,3108,0,0,18,0,0,0
$GC,7839,0.55,-146.6,0.0,0.0,1357,7846,0.00,2.58,0.00,0.007,4,0.007,0.000,2822,572,3106,0,0,13,0,0,0
$GC,8100,0.55,-146.6,0.0,0.0,1403,8115,0.00,3.33,0.00,0.007,6,0.007,0.000,2818,2323,3108,0,0,18,0,0,0
$GC,8183,0.55,-146.6,0.0,0.0,1417,8198,0.00,3.28,0.00,0.007,4,0.007,0.000,2818,403,3107,0,0,13,0,0,0
$GC,8451,0.55,-146.6,0.0,0.0,1464,8465,0.00,2.92,0.00,0.007,6,0.007,0.000,2819,2166,3106,0,0,13,0,0,0
$GC,8534,0.55,-146.6,0.1,-0.0,1478,8548,0.00,2.78,0.00,0.007,4,0.007,0.000,2817,422,3109,0,0,14,0,0,0
$GC,8801,0.55,-146.6,0.0,-0.0,1525,8816,0.00,2.90,0.00,0.007,6,0.007,0.000,2819,2117,3108,0,0,16,0,0,0
$GC,8884,0.55,-146.6,0.0,0.1,1539,8899,0.00,3.50,0.00,0.007,4,0.007,0.000,2819,501,3107,0,0,18,0,0,0
$GC,9152,0.55,-146.6,0.0,0.0,1586,9167,0.00,3.25,0.00,0.000,6,0.007,0.000,2822,2242,3108,0,0,17,0,0,0
$GC,9235,0.55,-146.6,0.1,-0.0,1600,9250,0.00,3.22,0.00,0.007,4,0.000,0.000,2821,374,3109,0,0,16,0,0,0
$GC,9503,0.55,-146.6,0.0,-0.0,1647,9510,0.00,2.90,0.00,0.000,6,0.007,0.000,2817,2211,3108,0,0,15,0,0,0
$GC,9578,0.55,-146.6,0.0,-0.0,1660,9593,0.00,3.03,0.00,0.000,4,0.007,0.000,2817,373,3107,0,0,16,0,0,0
$GC,9846,0.55,-146.6,0.0,0.0,1707,9861,0.00,3.25,0.00,0.000,6,0.007,0.000,2818,2129,3107,0,0,14,0,0,0
$GC,9928,0.55,-146.6,0.0,-0.0,1721,9935,0.00,2.88,0.00,0.000,4,0.007,0.000,2816,507,3109,0,0,13,0,0,0
$GC,10188,0.55,-146.6,0.0,-0.0,1767,10205,0.00,3.25,0.00,0.007,6,0.007,0.000,2820,2153,3108,0,0,16,0,0,0
$GC,10273,0.55,-146.6,0.0,-0.0,1781,10289,0.00,4.28,0.00,0.007,4,0.000,0.000,2820,375,3102,0,0,24,0,0,0
$GC,10543,0.55,-146.6,0.0,0.2,1828,10557,0.00,2.95,0.00,0.007,6,0.007,0.000,2815,2168,3108,0,0,13,0,0,0
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$GC,10894,0.55,-146.6,0.1,-0.0,1889,10908,0.00,3.03,0.00,0.007,6,0.007,0.000,2813,2120,3112,0,0,15,0,0,0
$GC,10977,0.55,-146.6,0.1,0.0,1903,10982,0.00,2.90,0.00,0.007,4,0.000,0.000,2820,591,3108,0,0,13,0,0,0
$GC,11235,0.55,-146.6,0.1,-0.0,1949,11250,0.00,2.90,0.00,0.007,6,0.000,0.000,2818,2219,3109,0,0,15,0,0,0
$GC,11318,0.55,-146.6,0.0,0.0,1963,11332,0.00,2.83,0.00,0.007,4,0.000,0.000,2816,476,3107,0,0,14,0,0,0
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$GC,11660,0.55,-146.6,0.0,0.0,2023,11675,0.00,3.62,0.00,0.007,4,0.000,0.000,2822,457,3108,0,0,17,0,0,0
$GC,11929,0.55,-146.6,0.1,-0.0,2070,11943,0.00,3.42,0.00,0.007,6,0.000,0.000,2818,2228,3107,0,0,18,0,0,0
$GC,12011,0.55,-146.6,0.0,0.0,2084,12027,0.00,3.60,0.00,0.007,4,0.007,0.000,2817,604,3108,0,0,19,0,0,0
$GC,12280,0.55,-146.6,0.0,0.0,2131,12294,0.00,3.05,0.00,0.007,6,0.007,0.000,2818,2221,3107,0,0,14,0,0,0
$GC,12364,0.55,-146.6,0.0,0.0,2145,12378,0.00,2.90,0.00,0.000,4,0.007,0.000,2818,450,3106,0,0,17,0,0,0
$GC,12632,0.55,-146.6,0.0,0.0,2192,12646,0.00,3.08,0.00,0.007,6,0.000,0.000,2819,2291,3108,0,0,15,0,0,0
$GC,12714,0.55,-146.6,0.0,0.0,2206,12729,0.00,3.85,0.00,0.007,4,0.000,0.000,2823,493,3107,0,0,18,0,0,0
$GC,12982,0.55,-146.6,0.0,0.0,2253,12998,0.00,3.03,0.00,0.007,6,0.007,0.000,2819,2330,3109,0,0,17,0,0,0
$GC,13066,0.55,-146.6,0.1,-0.0,2267,13082,0.00,3.45,0.00,0.007,4,0.007,0.000,2820,419,3110,0,0,18,0,0,0
$GC,13334,0.55,-146.6,0.0,-0.0,2314,13350,0.00,3.50,0.00,0.007,6,0.007,0.000,2817,2336,3108,0,0,19,0,0,0
$GC,13417,0.55,-146.6,0.1,-0.0,2328,13432,0.00,3.42,0.00,0.000,4,0.007,0.000,2817,522,3110,0,0,14,0,0,0
$GC,13685,0.55,-146.6,0.0,0.0,2375,13691,0.00,2.95,0.00,0.007,6,0.007,0.000,2814,2022,3110,0,0,15,0,0,0
$GC,13760,0.55,-146.6,0.0,0.3,2388,13766,0.00,2.40,0.00,0.007,4,0.007,0.000,2821,484,3107,0,0,11,0,0,0
$GC,14019,0.55,-146.6,0.0,0.2,2434,14034,0.00,3.15,0.00,0.007,6,0.007,0.000,2819,2181,3108,0,0,16,0,0,0
$GC,14102,0.55,-146.6,0.0,-0.0,2448,14117,0.00,2.88,0.00,0.007,4,0.000,0.000,2820,518,3107,0,0,14,0,0,0
$GC,14370,0.55,-146.6,0.0,-0.0,2495,14376,0.00,2.58,0.00,0.007,6,0.007,0.000,2820,2021,3164,0,0,14,0,0,0
$GC,14444,0.55,-146.6,0.0,0.0,2508,14461,0.00,3.47,0.00,0.007,4,0.007,0.000,2816,256,3107,0,0,19,0,0,0
$GC,14714,0.55,-146.6,0.0,-0.0,2555,14730,0.00,4.05,0.00,0.007,6,0.007,0.000,2824,2194,3109,0,0,21,0,0,0
$GC,14798,0.55,-146.6,0.1,-0.0,2569,14813,0.00,3.17,0.00,0.007,4,0.000,0.000,2820,428,3101,0,0,14,0,0,0
$GC,15067,0.55,-146.6,0.0,-0.0,2616,15073,0.00,2.97,0.00,0.007,6,0.007,0.000,2822,2233,3102,0,0,13,0,0,0
$GC,15141,0.55,-146.6,0.0,0.0,2629,15155,0.00,3.08,0.00,0.007,4,0.007,0.000,2816,572,3108,0,0,14,0,0,0
$GC,15409,0.55,-146.6,0.0,0.0,2676,15423,0.00,2.80,0.00,0.007,6,0.007,0.000,2818,2193,3109,0,0,15,0,0,0
$GC,15491,0.55,-146.6,0.0,-0.0,2690,15505,0.00,2.85,0.00,0.007,4,0.007,0.000,2817,435,3109,0,0,12,0,0,0
$GC,15759,0.55,-146.6,0.0,0.0,2737,15774,0.00,3.05,0.00,0.007,6,0.007,0.000,2816,2126,3110,0,0,13,0,0,0
$GC,15843,0.55,-146.6,0.0,0.0,2751,15857,0.00,3.28,0.00,0.007,4,0.007,0.000,2819,331,3110,0,0,18,0,0,0
$STATE,15906,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,15906,begin apogee
$GC,15918,-0.31,0.0,0.0,0.0,2762,15924,1.02,0.00,2.28,0.000,2,0.000,0.000,2599,2149,3108,1,0,0,0,0,0
$STATE,15925,end apogee,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,0.0,1.012198
$STATE,15940,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15940,begin surface
$SM_CCo,15964,275.30,0.000,4,0,1386,275.23
$SM_GC,0.05,0.00,0.00,275.30,0.007,0.007,0.000,418,1928,1386,-10.50,-2.80,275.23
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254775441,20.750000,20.733612,80,0,0,0,0,0,757,0,0,0,0,0
$RAFOS,3,1254774845,20.583334,20.568056,80,0,0,0,0,0,882,0,0,0,0,0
$RAFOS,2,1254774242,20.416666,20.400555,80,0,0,0,0,0,557,0,0,0,0,0
$RAFOS,1,1254773644,20.250000,20.234444,80,0,0,0,0,0,767,0,0,0,0,0
$RAFOS,0,1254773041,20.083334,20.066944,80,0,0,0,0,0,947,0,0,0,0,0
$RAFOS_FIX,6640.489746,-5444.179688,051009,202023,5,80,10.73
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078169731
$INTERNAL_PRESSURE,16.2671
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,230.636
$10V_AH,10.7,35.967
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,68.290
$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,30.975,295.975,2.275,275.300,0.000,0.000,0.000,153.638,0.000,0.000,27.429,4170.480,8389.876,1345.843,2110.121,680.441,33.349,1547.860,0.000,2037.662,1800.000,1.773,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1621.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336348
$DATA_FILE_SIZE,78482,2766
$CAP_FILE_SIZE,260346,0
$CFSIZE,260165632,247828480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,40,1495,4,0
$SOUNDSPEED,1496.8
$GPS,051009,214422,6659.644,-5728.991,32,1.1,32,18.0