version: 66.06
glider: 1
mission: 14
dive: 72
start: 10 6 109 14 9 5
data:
$ID,1
$MISSION,14
$DIVE,72
$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,-220599.55
$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,8
$R_STBD_OVSHOOT,1
$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,68.880989
$FG_AHR_24V,4.6384029
$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
$GPS1,140957,6657.192,-5741.420,30,1.1,30,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,141704,6657.148,-5741.379,31,1.1,31,18.0
$SPEED_LIMITS,0.122,0.200
$TGT_NAME,NUUK1
$TGT_LATLONG,6600.000,-5700.000
$TGT_RADIUS,20000.000
$KALMAN_CONTROL,0.052,-0.193
$KALMAN_X,18407.9,-1283.8,-786.7,15214.3,1286.6
$KALMAN_Y,8578.3,-1086.2,-488.3,1392.2,880.6
$MHEAD_RNG_PITCHd_Wd,146.9,110333,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-58.22,0.000,2,0.000,0.000,514,2165,2382,0,0,0,0,0,0
$GC,92,-1.07,-146.6,3.1,-2.3,12,145,10.27,3.03,-24.12,0.000,4,0.000,0.000,2534,502,3107,12,0,17,0,0,0
$GC,186,-0.71,-146.6,18.6,-19.1,28,202,0.00,3.17,0.00,0.007,6,0.007,0.000,2535,2466,3112,0,0,17,0,0,0
$GC,263,-0.47,-146.6,31.1,-16.0,36,279,0.62,3.35,0.00,0.007,4,0.000,0.000,2664,3530,3110,2,0,20,0,0,0
$GC,531,-0.47,-146.6,55.1,-9.0,59,539,0.62,3.22,0.00,0.000,6,0.000,0.000,2532,1768,3111,1,0,15,0,0,0
$GC,863,-0.47,-146.6,85.9,-9.4,91,878,0.40,3.05,0.00,0.000,4,0.023,0.000,2583,3611,3112,1,0,13,0,0,0
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1022,begin apogee
$GC,1031,-0.31,0.0,100.3,8.6,105,1163,0.28,0.00,119.25,8.016,6,0.000,0.000,2667,1872,2524,0,0,0,0,0,0
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1167,1.07,146.6,112.3,0.0,118,1310,1.42,2.28,120.93,0.000,4,0.000,0.000,2951,439,1918,2,0,10,0,0,0
$GC,1562,2.96,655.0,149.9,-9.3,153,1846,1.80,3.10,262.20,0.000,6,0.000,0.000,3351,2179,603,2,0,14,0,0,0
$GC,2160,4.62,1106.5,204.5,-7.5,211,2176,0.00,2.88,0.12,0.007,4,0.007,0.000,3353,438,597,0,0,10,0,0,0
$GC,2429,5.23,1602.9,223.8,-9.0,234,2439,0.00,3.78,0.80,0.000,6,0.007,0.001,3352,2235,604,0,0,20,0,0,0
$GC,2764,5.75,2025.1,245.2,-6.6,266,2780,0.00,3.10,0.12,0.007,4,0.000,0.000,3351,439,612,0,0,16,0,0,0
$GC,3033,6.29,2460.0,265.1,-7.0,289,3043,0.00,3.28,1.05,0.000,6,0.007,0.000,3353,2194,603,0,0,17,0,0,0
$GC,3368,6.87,2931.0,291.1,-8.1,321,3384,0.00,3.90,0.15,0.007,4,0.007,0.000,3353,430,598,0,0,22,0,0,0
$GC,3636,7.55,3485.9,318.4,-10.8,344,3648,0.00,3.65,0.80,0.000,6,0.007,0.000,3360,2313,601,0,0,20,0,0,0
$GC,3973,8.13,3958.3,349.0,-8.2,376,3988,0.00,3.38,0.12,0.007,4,0.007,0.000,3352,304,605,0,0,18,0,0,0
$GC,4241,8.67,4399.3,369.8,-7.2,399,4251,0.00,3.30,1.30,0.000,6,0.007,0.000,3353,2185,604,0,0,16,0,0,0
$GC,4576,9.19,4822.3,392.7,-6.6,431,4592,0.00,3.17,0.12,0.000,4,0.007,0.000,3352,396,604,0,0,16,0,0,0
$GC,4844,9.76,5286.2,411.7,-7.9,454,4854,0.00,3.03,1.58,0.000,6,0.007,0.000,3356,2230,602,0,0,13,0,0,0
$GC,5179,10.34,5756.0,438.4,-8.1,486,5186,0.00,2.78,0.15,0.007,4,0.000,0.000,3351,479,607,0,0,10,0,0,0
$GC,5439,10.90,6212.5,459.7,-7.7,508,5449,0.00,3.12,1.55,0.000,6,0.007,0.000,3350,2186,604,0,0,14,0,0,0
$GC,5774,11.45,6660.0,485.1,-7.4,540,5789,0.00,3.33,0.12,0.000,4,0.007,0.000,3353,566,599,0,0,17,0,0,0
$GC,6042,11.99,7093.7,504.7,-6.9,563,6052,0.00,3.22,1.05,0.000,6,0.007,0.000,3346,2124,620,0,0,18,0,0,0
$GC,6379,12.54,7540.0,528.8,-7.4,595,6385,0.00,2.65,0.20,0.007,4,0.007,0.000,3348,379,605,0,0,13,0,0,0
$GC,6638,13.12,8011.0,548.4,-8.1,617,6648,0.00,3.45,1.17,0.000,6,0.007,0.000,3353,2113,596,0,0,19,0,0,0
$GC,6974,13.69,8476.7,575.1,-8.0,649,6981,0.00,2.80,0.12,0.007,4,0.000,0.000,3353,499,605,0,0,10,0,0,0
$GC,7234,14.27,8949.6,596.6,-8.2,671,7243,0.00,3.08,0.00,0.007,6,0.000,0.000,3354,2313,604,0,0,15,0,0,0
$GC,7571,14.84,9412.5,623.3,-7.9,703,7586,0.00,3.08,0.00,0.007,4,0.007,0.000,3351,504,603,0,0,12,0,0,0
$GC,7838,15.42,9885.1,644.3,-8.2,726,7845,0.00,2.75,0.00,0.007,6,0.007,0.000,3354,2165,604,0,0,13,0,0,0
$GC,8163,16.02,10374.0,670.6,-8.7,757,8178,0.00,2.97,0.00,0.007,4,0.007,0.000,3355,635,604,0,0,14,0,0,0
$GC,8430,16.61,10851.8,693.7,-8.4,780,8437,0.00,2.47,0.00,0.007,6,0.007,0.000,3347,2334,609,0,0,12,0,0,0
$GC,8755,17.15,11293.6,719.0,-7.2,811,8773,0.00,3.28,0.00,0.007,4,0.000,0.000,3354,489,606,0,0,18,0,0,0
$GC,9026,17.71,11748.8,739.8,-7.6,834,9035,0.00,3.92,0.00,0.007,6,0.007,0.000,3353,2261,601,0,0,22,0,0,0
$GC,9360,18.29,12220.4,765.6,-8.2,866,9375,0.00,3.12,0.00,0.000,4,0.007,0.000,3354,441,609,0,0,14,0,0,0
$GC,9628,18.88,12695.6,785.6,-8.3,889,9637,0.00,3.33,0.00,0.000,6,0.007,0.000,3354,2168,602,0,0,15,0,0,0
$GC,9962,19.44,13156.6,810.9,-7.8,921,9968,0.00,2.67,0.00,0.007,4,0.007,0.000,3350,517,605,0,0,12,0,0,0
$GC,10221,20.02,13628.8,832.0,-8.2,943,10230,0.00,3.50,0.00,0.007,6,0.007,0.000,3353,2287,604,0,0,19,0,0,0
$GC,10555,20.43,13956.1,857.7,-3.5,975,10570,0.00,3.58,0.00,0.000,4,0.007,0.000,3352,624,605,0,0,20,0,0,0
$GC,10823,20.13,13956.1,844.4,11.7,998,10829,0.00,3.15,0.00,0.007,6,0.007,0.000,3353,2179,598,0,0,15,0,0,0
$GC,11147,20.02,13956.1,809.6,8.5,1029,11164,0.00,3.20,0.00,0.007,4,0.007,0.000,3353,456,598,0,0,15,0,0,0
$GC,11416,20.02,13956.1,788.9,7.6,1052,11425,0.00,3.72,0.00,0.007,6,0.007,0.000,3351,2398,605,0,0,22,0,0,0
$GC,11750,19.96,13956.1,763.4,7.6,1084,11766,0.00,3.97,0.00,0.000,4,0.007,0.000,3350,609,611,0,0,20,0,0,0
$GC,12018,19.91,13956.1,743.3,7.6,1107,12026,0.00,3.05,0.00,0.000,6,0.007,0.000,3350,2194,603,0,0,19,0,0,0
$GC,12343,19.96,13956.1,721.4,7.0,1138,12359,0.00,2.80,0.00,0.007,4,0.007,0.000,3353,489,604,0,0,14,0,0,0
$GC,12610,19.96,13956.1,701.5,7.1,1161,12619,0.00,3.05,0.00,0.007,6,0.007,0.000,3350,2219,603,0,0,13,0,0,0
$GC,12937,19.97,13966.0,677.6,6.7,1192,12952,0.00,2.92,0.00,0.007,4,0.007,0.000,3353,442,605,0,0,12,0,0,0
$GC,13203,19.97,13966.0,659.3,7.1,1215,13210,0.00,3.50,0.00,0.007,6,0.007,0.000,3353,2253,605,0,0,16,0,0,0
$GC,13529,20.03,13966.0,635.6,7.7,1246,13544,0.00,3.40,0.00,0.007,4,0.007,0.000,3350,417,602,0,0,16,0,0,0
$GC,13796,20.24,14007.2,620.8,5.7,1269,13802,0.00,3.05,0.00,0.007,6,0.007,0.000,3354,2219,606,0,0,12,0,0,0
$GC,14121,20.49,14052.4,598.2,5.6,1300,14137,0.00,3.22,0.00,0.007,4,0.000,0.000,3352,504,619,0,0,16,0,0,0
$GC,14389,20.38,14052.4,577.1,10.1,1323,14399,0.00,3.40,0.00,0.000,6,0.007,0.000,3352,2073,605,0,0,17,0,0,0
$GC,14724,20.38,14052.4,543.1,8.5,1355,14730,0.00,2.65,0.00,0.000,4,0.007,0.000,3348,513,611,0,0,11,0,0,0
$GC,14981,20.38,14052.4,522.0,8.7,1377,14989,0.00,2.95,0.00,0.007,6,0.007,0.000,3351,2281,605,0,0,16,0,0,0
$GC,15306,20.38,14052.4,493.3,8.9,1408,15321,0.00,3.17,0.00,0.007,4,0.007,0.000,3356,279,599,0,0,16,0,0,0
$GC,15574,20.57,14053.2,473.0,7.0,1431,15583,0.00,3.03,0.00,0.007,6,0.007,0.000,3351,2159,608,0,0,16,0,0,0
$GC,15908,20.48,14053.2,441.1,11.8,1463,15925,0.00,3.42,0.00,0.007,4,0.007,0.000,3351,411,603,0,0,18,0,0,0
$GC,16177,20.61,14053.2,415.0,7.9,1486,16184,0.00,3.55,0.00,0.007,6,0.007,0.000,3353,2189,603,0,0,20,0,0,0
$GC,16502,20.49,14053.2,386.3,11.0,1517,16516,0.00,2.95,0.00,0.007,4,0.007,0.000,3354,293,604,0,0,15,0,0,0
$GC,16769,20.58,14053.2,359.2,7.4,1540,16775,0.00,3.00,0.00,0.007,6,0.007,0.000,3352,2212,605,0,0,13,0,0,0
$GC,17093,20.66,14053.2,331.3,8.4,1571,17099,0.00,2.80,0.00,0.007,4,0.007,0.000,3353,501,604,0,0,13,0,0,0
$GC,17351,20.66,14053.2,308.1,11.1,1593,17358,0.00,3.30,0.00,0.000,6,0.007,0.000,3354,2289,598,0,0,20,0,0,0
$GC,17676,20.60,14053.2,273.5,9.9,1624,17693,0.00,3.47,0.00,0.007,4,0.007,0.000,3353,526,604,0,0,18,0,0,0
$GC,17945,20.54,14053.2,245.3,9.2,1647,17953,0.00,2.70,0.00,0.007,6,0.007,0.000,3352,2167,604,0,0,15,0,0,0
$GC,18269,20.54,14053.2,217.0,8.7,1678,18284,0.00,3.30,0.00,0.007,4,0.007,0.000,3354,518,619,0,0,16,0,0,0
$GC,18537,20.56,14063.3,197.9,6.7,1701,18546,0.00,3.17,0.00,0.007,6,0.007,0.000,3353,2155,605,0,0,18,0,0,0
$GC,18871,20.57,14070.0,173.4,6.8,1733,18886,0.00,2.95,0.00,0.007,4,0.000,0.000,3351,485,602,0,0,16,0,0,0
$GC,19138,20.47,14070.0,152.6,11.1,1756,19148,0.00,3.88,0.00,0.007,6,0.000,0.000,3350,2446,606,0,0,23,0,0,0
$GC,19472,20.54,14070.0,117.8,8.5,1788,19488,0.00,4.22,0.00,0.007,4,0.007,0.000,3353,445,605,0,0,18,0,0,0
$GC,19740,20.35,14070.0,92.8,12.5,1811,19746,0.00,3.28,0.00,0.007,6,0.007,0.000,3354,2141,604,0,0,17,0,0,0
$GC,20065,20.45,14071.0,66.7,7.0,1842,20071,0.00,2.85,0.00,0.000,4,0.007,0.000,3351,427,605,0,0,12,0,0,0
$GC,20324,20.47,14080.1,44.9,6.7,1864,20332,0.00,2.75,0.00,0.007,6,0.000,0.000,3354,2151,603,0,0,15,0,0,0
$GC,20521,20.53,14080.1,28.4,7.7,1883,20536,0.00,3.25,0.00,0.007,4,0.007,0.000,3353,473,607,0,0,19,0,0,0
$GC,20789,20.55,14096.4,12.5,6.5,1918,20804,0.00,3.12,0.00,0.007,6,0.007,0.000,3356,2144,605,0,0,13,0,0,0
$GC,20872,20.47,14096.4,5.9,9.7,1932,20886,0.00,2.90,0.00,0.007,4,0.007,0.000,3356,325,607,0,0,13,0,0,0
$STATE,20912,end climb,SURFACE_DEPTH_REACHED
$STATE,20912,begin surface coast
$FINISH,1.3,1.013122
$STATE,20958,end surface coast,CONTROL_FINISHED_OK
$STATE,20959,begin surface
$SM_CCo,21053,0.00,0.000,0,0,603,466.81
$SM_GC,0.04,14.65,0.00,0.00,0.000,0.007,0.007,465,2243,603,-10.09,6.13,466.81
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1254847442,16.750000,16.733889,80,0,0,0,0,0,735,0,0,0,0,0
$RAFOS,3,1254846843,16.583334,16.567499,80,0,0,0,0,0,856,0,0,0,0,0
$RAFOS,2,1254846241,16.416666,16.400278,80,0,0,0,0,0,556,0,0,0,0,0
$RAFOS,1,1254845646,16.250000,16.235001,80,0,0,0,0,0,717,0,0,0,0,0
$RAFOS,0,1254845050,16.083334,16.069445,80,0,0,0,0,0,865,0,0,0,0,0
$RAFOS_FIX,6730.232910,-5554.499512,061009,161601,5,80,12.59
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078135846
$INTERNAL_PRESSURE,16.2709
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,233.878
$10V_AH,10.7,36.358
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,69.076
$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,30.075,235.950,512.925,0.000,0.000,0.000,0.000,155.965,0.000,0.000,31.343,3314.470,14195.103,1129.596,2172.467,682.994,33.345,1371.593,0.000,2059.286,2160.000,3.326,0.000
$DEVICE_MAMPS,119.000,60.000,8016.031,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,336384
$DATA_FILE_SIZE,66035,1947
$CAP_FILE_SIZE,244359,8
$CFSIZE,260165632,247472128
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,34,1172,0,0
$SOUNDSPEED,1462.4
$GPS,061009,201118,6655.331,-5746.452,18,1.1,18,18.0